Chapter 1: Introduction Hornet 565 Robot User's Guide, 14608-000 Rev C Page 10 of 156 IB Amplifier The Hornet 565 uses an eAIB amplifier. The robot is powered and controlled using the eAIB. The amplifiers and full servo control for the Hornet 565 are contained in the eAIB, which is embedded in the base of the robot. The eAIB also provides the platform for running the eV+ OS and language. The eAIB features: l On-board digital I/O:
12 inputs, 8 outputs l Low EMI for use with noise-sensitive equipment l No external fan for quiet operation l 8 kHz servo rate to deliver low positional errors and superior path following l Sine-wave commutation to lower cogging torque and improve path following l Digital feed-forward design to maximize efficiency, torque, and velocity l Temperature sensors on all amplifiers and motors for maximum reliability and easy troubleshooting l Hardware-based E-Stop and Teach Restrict controls For improved safety relative to European standards implemented in 2012. Figure 1-2.
eAIB rnet 565 Base The Hornet 565 base is an aluminum casting that houses the four or three drive motors, and supports the eAIB. It provides three mounting pads for attaching the base to a rigid support frame. The Status Display panel is mounted on the side of the robot base.