Mechatronics Center Robot Business Team 1 6. Controller Architecture 다축 서보제어 ( 위치 /...
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Transcript of Mechatronics Center Robot Business Team 1 6. Controller Architecture 다축 서보제어 ( 위치 /...
Mechatronics CenterRobot Business Team1
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
Mechatronics CenterRobot Business Team2
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
Mechatronics CenterRobot Business Team3
CPU & Fan
16M SIMMFDD
RS232C
VGA
Keyboard
Main CPU Board Overall control & management
System Booting, Interpreting, Kinematics, Trajectory planning
I/O & Communication management, etc.
Mechatronics CenterRobot Business Team4
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)
Mechatronics CenterRobot Business Team5
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)
Mechatronics CenterRobot Business Team6
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)
Mechatronics CenterRobot Business Team7
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)
Mechatronics CenterRobot Business Team8
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