Specifications - Eshed Robotec Controller-PC User Manual

Specifications

The following table gives the specifications of the Controller-PC.
Type of Control
Number of Servo Axes
Groups of Control
Axis Drivers
Path / Trajectory Control
Speed Control
Control Parameters
Power Requirements
Internal Power Supplies
Power Box Weight
Power Box Dimensions
Ambient Operating Temperature
Microcontrollers
Communication
User's Manual
9709
Controller-PC Specifications
Item
Real-time;
Multi-tasking;
PID (proportional, integral, differential);
PWM (pulse width modulation).
Maximum: 8
8 axes can be divided into 2 control groups: robot axes
and peripheral axes. Axis interpolation in robot and
peripherals groups.
PWM H-bridge drivers
15 KHz, 3A standard; 7A peak
24V (depending on input voltage and load)
CP: Joint; Linear; Circular.
1.5 ms control cycle parameter. Software controlled
acceleration/deceleration. PID parameters.
Speed and Travel time definitions.
Speed programmed as a percentage of range.
Servo control
Speed, velocity profile, smoothing
Axis position error
Gripper operation
Thermic, impact, limit protection
Homing
Encoder interface
Cartesian calculations
110/220V AC (+15%, -10%), 50/60Hz, 180W max.
Servo: 24V (depending on input voltage and load)
Digital: 5V, +15V, -12V
7 kg
L=315mm; W=223.5mm; H=117
2°–40°C (36°–104°F)
Servo Control Card: PIC 17C42 per axis
Power Box: PIC 17C42 on I/O card
2 integrated RS232 channels: one for teach pendant;
one for power box I/O card.
3
Specification
Controller-PC