Controller System - Yamaha RCX141 User Manual

3. Controller system

The basic block diagram of the RCX robot controller system is shown below.
Fig. 2-3-1
CN3
HEATSINK
MOTOR
CN1
XM
CN3
YM
CN4
ZM
CN6
RM
CN7
CN2
CN3
ROB I/O XY
ROB I/O ZR
SAFETY
CN10
CN10
MPB
COM
STD.DIO
OP.BOARD
OP.BOARD
CN5 TB1
D POWER BOARD ASSY
CN10 CN7
DRIVER2 BOARD ASSY
CN5
CN8
DRIVER1 BOARD ASSY
CN9 CN5
CN13 CN9
CPU BOARD ASSY
CN4
CN1
OP.BOARD
CN2
CN1
OP.BOARD
CN2
CN2
CN1
CN2
CN5
CN1
CN2
CN1
CN2
5
2-
2