Adept Amps-In-Base (Aib™); Figure 1-2. Robot Joint Motions; Figure 1-3. Adept Aib - adept technology Adept Cobra i600 User Manual

Introduction
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
12 Adept Cobra i600/i800 Robot User's Guide, Rev G
Joint 2
Joint 1
Inner
Link

Figure 1-2. Robot Joint Motions

AIB on Adept Cobra
i600 Robot

Figure 1-3. Adept AIB

Joint 3
Outer
Link
Joint 4