Adept s650H Quattro - Manual (Page 14)

Chapter 1 - Introduction
14 Adept Quattro s650 Robot User’s Guide, Rev B
Figure 1-2. Major Robot Components, Isometric View
Quattro Robot Base
The Adept Quattro s650 robot base is an aluminum casting that houses the four drive
motors, and supports the AIB (Amplifiers-In-Base). It provides four mounting pads for
attaching the base to a rigid support frame. The status LED and status panel are mounted
on the side of the robot base.
Adept AIB
The power amplifiers for the Adept Quattro s650 robot are embedded in the base of the
robot. This amplifier section is known as the AIB distributed motion control platform, and
provides closed-loop servo control of the robot amplifiers, as well as robot I/O.
Adept AIB features:
• On-board digital I/O: 12 inputs, 8 outputs
• Low EMI for use with noise-sensitive equipment
• No external fan
• 8 kHz servo rate
• Sine wave commutation
• Digital feed-forward design
• Temperature sensors on all amplifiers and motors
AIB
Motor Cover
Platform
Tool
Flange
Ball
Joints
Inner Arm
Outer
Arms
Base
Mounting Pads