Adept SmartMotion - High-Performance Motion Controller

Adept`s advanced motion technology is designed directly for the real-time control of high-speed robotic workcells. Sophisticated motion control features of the SmartMotion™ system can be combined with an integrated graphical user interface, machine vision and conveyor tracking.

A variety of kinematic modules are available that allow simple programming of complex mechanisms including tool offsets and world coordinates. Multiple mechanisms can be coordinated from one controller.

Complete Automation Control Platform: While most motion controllers stop with basic commands, Adept recognizes that real-world automation systems require coordination of motion control with real-time sensory feedback, workcell logic, I/O, and operator control functions.

• Amplifier drive signal command

  ±10 VDC analog

• Amplifier drive signal resolution

  16-bit, instrument grade, high linearity

• Axis interface signals

  Dedicated signals for each axis, optically isolated (5 per axis, 1 per sMI6)

• Encoder channel frequency

  32 MHz edge rate max

• Encoder channel type

  Incremental A/B quadrature, index optional

• Encoder channel voltage

  5VDC, RS-422 line drive, differential or single-ended

• Encoder power

  User supplied

• Maximum axes per system

  24 (requires four sMI6 modules)

• Mechanism parameters

  User-defined axis limits Duty-cycle limits Envelope limits User-defined acceleration profiles allow S-curve or trapezoidal velocity profiles

• Number of axes of control per module

  sMI6: 6

• Servo gain parameters

  Proportional gain Proportional pole Proportional zero Integral gain Maximum integrator value Maximum integrator step Velocity feed forward gain Acceleration feed forward gain DAC output filter

• Servo loop rate

  8kHz

• Trajectory generation

  Default is 16 ms. User-configurable to 2 ms, 4 ms, 8 ms with optional Enhanced Trajectory Control software license