Kuka KR C1 - RDC Block Diagram

Hardware
62 of 70
Hardware R2.2.8 1 1.98.02 en
7.2 Block diagram of the RDC
A1 A6 E1 E2 A1 A2
A3
A4 A5 A6 E1 E2
sin cos
Sine--wave
generator
8kHz
Multiplexer 16:1
sin sampling
Multiplexer 16:1
cos sampling
Processor TMS320C32
60 MHz
Local RAM
32K x 32
12 V
1)
Synchronous serial interface
Motor temperature
Resolver interface
EE--pot.
amplitude
adjustment
Logic, DSP
Driver
Amplifier
Multiplexer
A/D converter
SSI interface 1)
Address
decoder
EMT interface
Interface with the controller (DSEAT)
EEPROM
8Kx8
DC
DC
DC
DC
DC
DC
DC
20V..30V
A
A
D
D
Fig. 39 RDC block diagram