User`s guide

Chapter 1 - Introduction
14 Adept Quattro s650H Robot User’s Guide, Rev A
Figure 1-2. Major Robot Components, Isometric View
Quattro Robot Base
The Adept Quattro s650H 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 Display Panel is mounted on the
side of the robot base.
Adept AIB
The power amplifiers for the Adept Quattro s650H 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
Outer
Arms
Platform
(springs not
shown)
Cable Cover
(IP-66 option)
Inner
Arms
Motor
Cover
AIB
Mounting
Pads
Base
Ball Joints
(springs not
shown)