Adept SmartMotion Technical Specifications
  • 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
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