5. Design and function
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The controller unit can be set up flexibly through the use of several plug-in modules.
The Robotino
®
–
PC 104 processor, compatible with MOPSlcdVE, 300 MHz, and Linux operating
system with real-time kernel, SDRAM 128 MB
controller unit consists of 3 components:
–
Compact flash card with C++ API for controlling Robotino
–
Wireless LAN access point
®
The controller unit is equipped with the following interfaces:
Ethernet, 2 ea. USB and VGA. These are used to connect a keyboard, a mouse and a
monitor screen. The operating system and the C++ library can thus be accessed
without a PC, if a WLAN connection is not possible or not desired. The Ethernet
connection cannot be used with the basic version.
1
2
3
VGA socket connector (1)
USB ports 1 and 2 (2)
Ethernet interface (3)
The I/O circuit board establishes communication between the controller unit and the
sensors, the drive units and the I/O interface included with Robotino
®
.
Each of the motors in the individual drive units are controlled by a PID controller.
Each motor can be controlled individually.
Signals from the step encoder, all permanently installed sensors and all sensors and
actuators which are connected to the I/O interface are forwarded to the controller
unit or the additional actuators.
5.5
The controller unit
5.6
I/O circuit board module
