Kuka KR C1, Руководство пользователя

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Hardware
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Hardware R2.2.8 11.98.02 en
1.2 Structure
The controller contains all the components and functions which are required to operate the
robot. It comprises the processor and power units, which are both installed in a common con-
trol cabinet.
1.2.1 Processor unit
The processor unit includes the modules highlighted in Fig. 1.
Q1
A1
CD and floppy drives
Swing frame
Interfaces
Fig. 1 Processor unit
With its fitted components, the processor unit performs all the functions of the control
hardware. These are:
-- Windows user interface with visual display and input
-- Program creation, correction, archiving, and maintenance
-- Diagnosis, start--up assistance
-- Sequence control
-- Trajectory planning
-- Control of the servo power unit
-- Monitoring functions
-- Parts of the safety logic
-- Communication with external units (other controllers, host computers, PCs, network)
The control hardware is composed of the following modules:
-- Standard PC hardware with Pentium processor
-- Multi--function card (MFC)
-- Digital servo--electronics (DSEAT)
-- Resolver/digital converter (RDC) on the robot