adept technology Adept Cobra i600, User Manual, Page: 16 / 150

Chapter 1 - Introduction
16 Adept Cobra i600/i800 Robot User’s Guide, Rev E
Figure 1-2. Robot Joint Motions
Adept Amps-in-Base (AIB)
The amplifiers for the Adept Cobra i-series robots are embedded in the base of the robot.
This amplifier section is known as the AIB (amp-in-base). It provides power amplifiers
and full servo control.
Adept AIB features:
• On-board digital I/O
• Low EMI for use with noise-sensitive equipment
• No external fan for quiet robot operation
• 8 kHz servo rate delivers low positional errors and superior path following
• Sine wave commutation lowers cogging torque and improves path following
• Digital feed-forward design maximizes efficiency, torque, and velocity
• Temperature sensors for all amplifiers and motors for maximum reliability and
easy troubleshooting
Figure 1-3. Adept AIB
Joint 1
Inner
Link
Outer
Link
Joint 2
Joint 4
Joint 3
AIB on Adept Cobra
i600 Robot