Structure System Description
10 Product Manual
1.3 Electronics unit
All control and supervisory electronics, apart from the serial measurement board,
which is located inside the manipulator, are gathered together inside the controller.
Figure 10 The location of the electronics boards and units behind the front door.
The computer unit (supply unit + board backplane) comprises the following parts:
• Robot computer board –
contains computers used to control the manipulator motion and I/O communi-
cation.
• Memory board –
contains extra RAM memory, there are three sizes, 8 and 16 MB.
• Main computer board –
contains 8 MB RAM memory and the main computer, which controls the entire
robot system.
• Optional boards-
Communication boards, containing circuits for network and field bus commu-
nication.
• Supply unit–
4 regulated and short-circuit-protected output voltages.
Drive system:
• DC link–
converts a three-phase AC voltage to a DC voltage.
• Drive module –
controls the torque of 2-3 motors.
When the maximum capacity for external axes is utilized, a second control cabinet is
used. The external axes cabinet comprises AC connection, main switch, contactors,
Transformer
DC link
Drive module 3
Drive module 2
Drive module 1
Supply
unit
Robot computer
Main computer
Optional board
Optional board
Memory board
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