1Controlcabinet(continued)
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Hardware R2.2.8 1 1.98.02 en
G Standard PC Hardware
With its powerful Pentium processor and main memory, the standard PC hardware forms the
basis of the processor unit. The standard PC also includes a hard disk for storing the entire
control software, including online help and online documentation, a floppy disk drive f or
archiving purposes and a CD--ROM drive for reading the CD--ROM supplied in the cabinet.
The CD--ROM contains the operating system, Windows, the control software including the
relevant technological process, the online help and the complete documentation for the con-
trol cabinet and the robot.
G Multi--function card
The multi--function card incorporates the system and user I/Os and an Ethernet controller,
and forms the interface between the KCP and the PC. The card is designed as a PC plug--in
card and accommodates up to two DSEAT modules.
G Digital servo--electronics (DSEAT)
The DSEAT module fitted on the multi--function card with its own DSP (digital signal proces-
sor) is responsible for control of a servo power module with phase current command values
and parameterization data, processing of the error and situation information read by the
servo power module and communication with the module for R/D conversion.
G Resolver/digital converter (RDC)
Installed on the robot base, the R/D converter with its own DSP (digital signal processor)
performs the functions of resolver power supply, R/D conversion, open--circuit monitoring of
the resolvers and monitoring of the motor temperature. This converter communicates with
the DSEAT via a serial interface.
1.2.2 Power unit
The power unit comprises the areas highlighted in Fig. 2 and Fig. 3.
G Power infeed with mains filter, main switch with fuse and m.c.b.
G Basic modules and servo power modules
G Safety module (on processor unit)
G Back--up battery for control hardware
For data protection, the computer is supplied with power by a battery for a maximum of 10x1
minute in the event of power failure.
G Transformer (optional)
G Fans for cooling the cabinet
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