Kuka KR C1 - Control Cabinet Structure; Processor Unit

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Hardware

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Hardware R2.2.8 1 1.98.02 en

1.2 Structure

The controller contains all the components and functions which are required to operate the

robot. It comprises the processor and power units, which are both installed in a common con-

trol cabinet.

1.2.1 Processor unit

The processor unit includes the modules highlighted in Fig. 1.

CD and floppy drives

Swing frame

Interfaces

Fig. 1 Processor unit

With its fitted components, the processor unit performs all the functions of the control

hardware. These are:

-- Windows user interface with visual display and input

-- Progr am cr e at ion, co r r e ct io n , a r c h ivi n g, and maint enan c e

-- Diagnosis, start--up assistance

-- Sequence control

-- Trajectory planning

-- Control of the servo power unit

-- Monitoring functions

-- Part s of the saf et y logic

-- Communication with external units (other controllers, host computers, PCs, network)

The control hardware is composed of the following modules:

-- Standard PC hardware with Pentium processor

-- Multi--function card (MFC)

-- Digital servo--electronics (DSEAT)

-- Resolv er / d i g it al conv e r t er (RDC ) on the robot