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Mechatronics Center Robot Business Team 1 6. Controller Architecture 다축 서보제어 ( 위치 / 속도 / 전류 ) I/O 제어 RTOS (Lynx) & PC Based H/W 모션 ( 가감속 / 속도조정 ) Kinematics/Dynamics.

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Presentation on theme: "Mechatronics Center Robot Business Team 1 6. Controller Architecture 다축 서보제어 ( 위치 / 속도 / 전류 ) I/O 제어 RTOS (Lynx) & PC Based H/W 모션 ( 가감속 / 속도조정 ) Kinematics/Dynamics."— Presentation transcript:

1 Mechatronics Center Robot Business Team 1 6. Controller Architecture 다축 서보제어 ( 위치 / 속도 / 전류 ) I/O 제어 RTOS (Lynx) & PC Based H/W 모션 ( 가감속 / 속도조정 ) Kinematics/Dynamics Interpolator I/O Manager Interpreter (FARAL Language) 로봇 운용 S/W (TP/Ethernet/File 관리 ) RS 422 PC (Monitoring 용 ) RS422 ISA Bus PWM BSC BSI ’ s MI/O PC CPU B ’ d ( 전용서보 Amp.) User I/O TP TP S/W  SRCP H/W Architecture  SRCP S/W Architecture

2 Mechatronics Center Robot Business Team 2  Controller Outside Specifications

3 Mechatronics Center Robot Business Team 3  Main CPU Board Overall control & management System Booting, Interpreting, Kinematics, Trajectory planning I/O & Communication management, etc.

4 Mechatronics Center Robot Business Team 4  MI/O (Memory & I/O) Board System S/W storage in flash-ROM (2M byte) Data back-up : Parameter, User program, Location (512K byte) System I/O (EMG & Limit sensor) & Communication ports (RS232 x 3)

5 Mechatronics Center Robot Business Team 5  BSC(Bus Sevo Control) Board Position/Velocity/Current control for AC servo motors 50MHz DSP(TMS 320C31) & private ASICs(  4), Encoder ASIC Servo control up to 4axis/1board Multi BSC boards can be used for over 5 axis or multiple robots

6 Mechatronics Center Robot Business Team 6  BSI(Bus Sevo Inverter) Module Servo control PWM signal amplifying module Up to 1Kw capacity, 1axis & 2axis modules (220V 1  ) CSDP amp module can be used for over 1Kw power capacity (up to 5Kw, 220V 3  )

7 Mechatronics Center Robot Business Team 7  User I/O Board User configurable digital I/O (32/32) isolated by photo-coupler Maximum I/O points : 128/128 (by using 4 boards)

8 Mechatronics Center Robot Business Team 8  Back Plane Board Base board connecting all control boards Consisting with ISA & PCI slots, power status LEDs


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