Installation and Commissioning

System DescriptionComputer System2 Computer SystemThe computer system is made up of three computers on two circuit boards. Thecomputers comprise:- Main computer board –contains the main computer of the robot and controls the entire robot.- Robot computer board –contains the I/O computer which acts as a link between the main computer,the world around and the axis computer that regulates the velocity of therobot axes.To find out where the various boards are located, see Electronics unit on page 8.The computers are the data processing centre of the robot. They possess all the functionsrequired to create, execute and store a robot program. They also contain functionsfor coordinating and regulating the axis movements. Figure 10 shows how thecomputer system communicates with the other units.MaincomputerboardMain computerMemoryboardRobotcomputerboardAxis computerI/O computerNetwork I/OcomputerTeach pendantDriveunitsI/O unitsSerial measurementboardDisk driveFigure 10 The interfaces of the computer system.Product Manual 11