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Cerebellum Automation is now part of Adept Technology, Inc.
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Add-ons to Adept SmartController systems
Add-ons are software pieces delivered by Cerebellum Automation to Adept equipment users.
They add new functionality to Adept SmartController systems. These softwares typically require
low level access and run at the servo code level.
Add-ons are provided as a software package that can always be evaluated for free for a limited time.
Production licenses are then sold on a per controller basis.
Cerebellum assumes directly the support for these features.
Available Add-ons:
The SSI (Synchronous Serial Interface) feature allows connecting SSI absolute encoders or
drives with SSI emulation to the Adept sMI6.
As of today, this feature has been tested with the following drives:
- Bosch-Rexroth Indramat, Ecodrive series.
- Kollmorgen ServoStar series.
(see the Add-ons User Manuel)
Modbus I/O's: this add-on allows to connect cheap and distributed I/O's to any Adept SmartServo product (SmartAmp,
MotionBlox10, MotionBlox40, sMI6, sCobra, iCobra, AdeptSix...). The I/O's are mapped as V+ signals for transparent integration.
The serial port on the servo node is used to keep all the port on the SmartController free. The ModBus software can also be configured
as a slave to interface to PLC or other supervision system.
FireWire I/O's: this add-on leverages the IEEE 1394 high speed network to provide a high quantity of fast I/O's.
Like the Modbus add-on, this one does a direct mapping of remote I/O's to V+ signals. It has been developed for
the Wago coupler.
the S-Curve Add-on allows to use smooth trajectory even for axes that are not under V+ controller (i.e. those under ASL
or CALIBRATE control). In addition, the S-Curve trajectory can be called at any time during the motion (e.g. when the axis is moving),
enabling a change in the destination after the axis has departed. Whatever the conditions (position, velocity, and acceleration)
at which this add-on is called, it will compute a smooth trajectory that stays within the given velocity, acceleration and jerk
limits. A PC demo of this algorithm is available here.
E-Gearing and E-Caming in a V+ system: it allows to coordinate the motion of one or multiple axes relative
to another one (master). It uses the above S-Curve algorithm to guaranty a smooth engaging, whatever the initial conditions
of the master or the slave (moving / still, accelerating, decelerating, ramping acceleration...)
Access to Serial Ports on the servo boards: This add-on gives access to 2 additional fast serial ports (up to 115kbps)
on each Adept sMI6, MotionBlox or sCobra.
Force Sensing permits to close the servo loop based on force feedback. This is very useful for insertion and
other precision assembly tasks. See our case study (french).
Stepper control: used with an Adept sMI6 this add-on generates Pulses and Direction signal to Stepper drives;
with a MotionBlox, it controls directly the phases of a stepper motor.
Tracking of a speed varying conveyor can prove to be very useful when a robot is operating at the output of
a machine that changes speed very often.
Cerebellum Automation can develop other add-ons upon request. Don't hesitate to
contact us with your problem, and we will find a solution together.
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