Adept Motion Control
Adept controls offer the following sophisticated motion control features:
- LINEAR CIRCULAR INTERPOLATION: With Adept systems, users can quickly and
easily program custom mechanisms, as well as Adept robots, to perform
straight-line motion and circular motion in three-dimensional Cartesian space.
- SPLIT-AXIS DRIVE: Custom mechanisms sometimes require two motors to drive
a single axis. These custom mechanisms include large gantry robots and smaller
high-speed, high-precision linear motor-based robots. Adept's split-axis drive
feature makes control of such configurations transparent to the application software,
since it automatically coordinates the drive of the two motors.
- BACKLASH COMPENSATION: Backlash compensation allows users to specify a backlash
distance in software. The system software will automatically add the backlash distance
to each move. A typical use for this feature is to compensate for backlash in gear
- LINEAR COMPENSATION: With linear compensation, it is possible to map certain
linear axes of the robot to correct for linearity errors. You can map each joint
separately using, for example, a laser interferometer to determine precise positions
equidistant along the joint.
- ORTHOGONALITY COMPENSATION: Most linear-axis robots have two or more perpendicular
(or orthogonal) axes. These systems often have some amount of skew between axes. That
is, the axes are not precisely 90° apart. Correcting this skew with hardware becomes
very difficult and expensive. With Adept's orthogonality compensation, which is a
cost-effective software solution, a coupling matrix is used to provide skew compensation.
- ADVANCED SERVO LIBRARY: The Advanced Servo Library is a set of routines that
allow you to perform robot control outside of the normal V+ command set.