Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
25
System Description
A basic robotic system includes a robot and an Equipe Smart Controller
(ESC). Options include a pre-aligner, an optical scanner (or mapper), and
a linear track.
Equipe Smart Controller
The Equipe Smart Controller (ESC) controls all functions of the robot and
optional moving parts. The ESC requires ac power. The ESC power
cable and signal cables provide all power and control signals to the robot:
• The power cable provides 24 V
DC
for vacuum valves and drive current
for the robot motors.
• The signal cables provide the Galil motion controller board with
encoder signals from the servo motors and vacuum solenoid, brake, or
scanner commands to the robot, in addition to +5V and status
indications.
ESC models vary with the number of axes it can control. For example, the
ESC200 controls only a robot while the ESC204T controls a robot and a
track.
Printed Circuit Boards
The controller printed circuit boards include:
• CPU board
•
Galil motion control board(s)
• Amplifier boards for robot and optional pre-aligner
• Input/output boards for robot and optional pre-aligner
CPU Board
The CPU board provides the interface with your host computer. The host
computer is connected to COM Port 1 with a standard 25 to 9-pin
female/female null-modem cable. COM Port 2 is an RJ12 connection,
which accepts the Teach Pendant. An optional COM3 port might connect
to a controller for SMIF modules or load ports.
The CPU Board has an on-board 386 processor, temporary RAM, and
NVSRAM that allows you to store and modify critical files, such as the
parameter files. When you change a parameter such as robot axis speed, it
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