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6. 6. Controller ArchitectureController Architecture

다축 서보제어 ( 위치 / 속도 / 전류 ) I/O 제어

RTOS (Lynx) & PC Based H/W

모션 ( 가감속 / 속도조정 )

Kinematics/Dynamics

Interpolator

I/O Manager

Interpreter (FARAL Language)

로봇 운용 S/W (TP/Ethernet/File 관리 )

RS 422

PC(Monitoring용 )

RS422

ISA Bus

PWM

BSC

BSI’s

MI/O

PC CPUB’d

( 전용서보 Amp.)

User I/O

TP

TP S/W

SRCP H/W

Architecture SRCP S/W

Architecture

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Controller Outside Specifications

비상정지 스위치

T/P 연결용 커넥터

RS232C 통신포트용 커넥터

먼지 방지 필터부 고정나사

공기 흡입구

운반용 손잡이

T/P E-STOP 전환 스위치

DISPLAY창

모터 전원 연결 커넥터

F.G 단자대

AC 입력 커넥터

전원 스위치

BSC보드

MAIN보드

MIO2보드

USER I/O보드

외부 E-STOP 연결 커넥터

OPTION 추가 SLOT

센서 연결 커넥터

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CPU & Fan

16M SIMMFDD

RS232C

VGA

Keyboard

Main CPU Board Overall control & management

System Booting, Interpreting, Kinematics, Trajectory planning

I/O & Communication management, etc.

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Limit Sensor 신호입력 Teach PendantE-STOP 신호출력

RS232C-#1

S-RAM backupbatteryLimit Sensor 공급,

전류/전압 setting pinLimit SensorOutput voltage setting pin

System I/O

S1

FND

RS232C-#2

RS232C-#3

S2

24V 입력

MI/O (Memory & I/O) Board System S/W storage in flash-ROM (2M byte)

Data back-up : Parameter, User program, Location (512K byte)

System I/O (EMG & Limit sensor) & Communication ports (RS232 x 3)

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BSC(Bus Sevo Control) Board Position/Velocity/Current control for AC servo motors

50MHz DSP(TMS 320C31) & private ASICs(4), Encoder ASIC

Servo control up to 4axis/1board

Multi BSC boards can be used for over 5 axis or multiple robots

Emergency Stop Signal Input.1~4축 Motor Brake Control.

1,2축 SERVO AMP Control.3,4축 SERVO AMP Control.

1,2축 Encoder Signal Input.

3,4축 Encoder Signal Input.

BSC Booting.(JP2)

Encoder C/Reset.(SW4)

상위제어기설정(SW3) BSC Map 설정.(SW2)

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BSI(Bus Sevo Inverter) Module

2축모터 전원공급 커넥터 AC220V 전원입력 커넥터BSC와의 연결 1축모터 전원공급 커넥터

TB

Servo control PWM signal amplifying module

Up to 1Kw capacity, 1axis & 2axis modules (220V 1) CSDP amp module can be used for over 1Kw power

capacity

(up to 5Kw, 220V 3)

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User I/O Board

Address설정 DIP SW

USER I/O 커넥터

MAPPING I/O 커넥터

User configurable digital I/O (32/32) isolated by photo-coupler

Maximum I/O points : 128/128 (by using 4 boards)

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Back Plane Board

DC 전원공급 커넥터

PCI SlotPCISA Slot

ISA Slot

DC 전원공급 단자(사용안함)

- 5V+5V +12V - 12V

Base board connecting all control boards

Consisting with ISA & PCI slots, power status LEDs