1.1 Product Description J2 (-) (+) J1 (-) (+) J3 (+) (-) (-) (+) J4 Figure 1-2. Robot Joint Motions eMotionBlox-40M The eMotionBlox-40M (eMB-40M) Distributed Servo Controller contains the amplifiers to power the high-power motors of the Cobra 450, 500, and 650 robots, and runs the eV+ oper- ating system for motion control of the robot. The eMB-40M features:
l Four AC servo motor amplifiers l Emergency stop circuitry l High servo rate, to deliver low positional errors and superior path-following l Sine wave commutation delivers low cogging torque and improved path-following l Digital feed-forward design maximizes efficiency, torque, and velocity l Integral temperature sensors and status monitoring for maximum reliability l Two-digit diagnostics display for easy troubleshooting NOTE: The eMB-40M has connectors for the Motor Power and Robot Encoder cables that are connected to the robot interface panel at the factory. You will need to connect the free ends of these to the eMB-40M. 12 Cobra 450, 500, and 650 User's Guide 19148-000 Rev.
E Key Meaning Key Meaning 1 1st Joint J3 3rd Joint 2 2nd Joint J4 4th Joint