Controller System; Rcx142 - Yamaha RCX142 User Manual

3. Controller system

The basic block diagram of the RCX robot controller system is shown below.
3.1

RCX142

Fig. 2-3-1
HEATSINK
MOTOR
XM
CN3
YM
CN4
ZM
CN6
RM
CN7
ROB I/O XY
ROB I/O ZR
SAFETY
CN10
CN10
MPB
COM
STD.DIO
OP.BOARD
OP.BOARD
CN5
D POWER BOARD ASSY
CN3 CN10 CN7
CN1
DRIVER2 BOARD ASSY
CN2 CN5
CN3 CN8
DRIVER1 BOARD ASSY
CN9 CN5
CN13 CN9
CPU BOARD ASSY
CN4
CN1
OP.BOARD
CN2
CN1
OP.BOARD
CN2
TB1
CN2
CN1
CN2
CN5
CN1
CN2
CN1
CN2
5
2-
2