Installation and Commissioning

StructureSystem Description1.3 Electronics unitAll control and supervisory electronics, apart from the serial measurement board,which is located inside the manipulator, are gathered together inside the controller.DC linkDrive module 3Drive module 2Drive module 1SupplyunitRobot computerMemory boardMain computerOptional boardOptional boardTransformerFigure 8 The location of the electronics boards and units behind the front door.The computer unit (supply unit + board backplane) comprises the following parts:• Robot computer board –contains computers used to control the manipulator motion and I/O communication.• Memory board –contains extra RAM memory, there are three sizes, 8 and 16 MB.• Main computer board –contains 8 MB RAM memory and the main computer, which controls the entirerobot system.• Optional boards-Communication boards, containing circuits for network and field bus communication.• Supply unit–4 regulated and short-circuit-protected output voltages.Drive system:• DC link–converts a three-phase AC voltage to a DC voltage.• Drive module –controls the torque of 2-3 motors.When the maximum capacity for external axes is utilized, a second control cabinet isused. The external axes cabinet comprises AC connection, main switch, contactors,transformer, DC-link, drive module(s), and supply unit, but no computer unit.8 Product Manual