Controller System; Basic Configuration - Yamaha RCX40 User Manual

3. Controller system

3.1

Basic configuration

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