Adept sMI6 Option The Adept sMI6 motion control option (p/n 01838-000) provides an integrated automation control platform designed to improve the performance of automation systems. Our motion control system combines advanced motion controls with a graphical user interface and integrated support for machine vision and conveyor tracking. The sMI6 option connects to the Adept TM TM SmartController system via the Adept SmartServo , HARDWARE (continued) network, Adept's distributed controls platform built on Optional MP6 Interface Kit (01840-000) IEEE 1394. Set of 3 field-wiring motion-interconnect panels, DIN- rail mountable, with 2.5M interface cables Image State-of-the-Art Motion Technology (1 set per sMI6) Our advanced motion technology was designed directly from the real-time control of high-speed robotic SOFTWARE workcells. The Adept SmartMotion system provides the Language & Operating System following capabilities: Adept V+, version 16.0 or later • 24 axes of motion, 15 independent mechanisms Multitasking O.S. with configurable priority  Standard and custom kinematic modules Straight-line motion interpolation  Coordinated and straight-line motions World and Tool coordinates  Control in World and Tool coordinates Transformations (6 degrees of freedom)  Manual jog modes  Velocity and acceleration feed-forward terms Kinematics  Programmable acceleration and deceleration profiles Mechanism specifications and diagnostic software (S-curve or trapezoidal) X/Y/Z/theta kinematic device module 6-Axis Joints device module HARDWARE Over 25 optional kinematics modules Controller The sMI6 option is compatible with any Adept Optional Kinematic Features SmartController system including: SCARA, 6-axis articulated, Palletizer, Parallelogram, SmartMotion CS Controller Bundle (01058-001) Cylindrical SmartMotion CX Controller Bundle (01058-002) Backlash compensation See individual data sheets for more details. Linear compensation Perpendicular compensation sMI6 Option (01838-000) Split-axis (dual motor capability) Amplifier & encoder channels per unit: 6 + sMI6 units per system (max): 4 V Extensions Option   Axes per system (max): 24 Multiple mechanism support (15 maximum)   Conveyor Belt Tracking + Amplifier Drive Signals 28 V user tasks Command ±10 VDC analog ALTER support Resolution 16-bit, instrument grade, high linearity PERFORMANCE Axis Interface Signals Servo Loop Dedicated interface signals for each axis, optically All digital control isolated (5 per axis plus 1 per sMI6) Closure Rate: 8KHz PID (Proportional Integral Differential) with System Interface Signals FeedForward High-power enable - N/O output Velocity and acceleration feed-forward External Emergency-Stop input Velocity or torque drive compatible High-speed position-latch input Mechanism Parameters Encoder Channels User-defined axis limits, encoder resolution, duty-cycle Type: A/B quadrature encoder, incremental, index limits, envelope limits. optional User-defined acceleration profiles allow S-curve or Voltage: 5VDC RS-422 line drive trapezoidal velocity profiles. Frequency: 32 MHz edge rate max Configuration 3011 Triad Drive Livermore CA 94551 Maximum of 24 total axes per system PHONE: FAX: 925.245.3400 | 925.960.0452 ADEPT TECHNOLOGY, INC. EMAIL: info@adept.com | WEB: www.adept.com Specifications subject to change without notice. 07/10/2003