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The controller uses a fast pipelined CPU communicating with a DSP which in turn controls motion via intelligent drive modules, thus freeing the CPU for overall program control and I/O. High voltage MOS micro-stepping drives control the robot motors accurately and without resonance yet pack power and high speeds when required. Robot feedback comprises encoders which connect back to the DSP. The CPU compares these counts with the software counts and makes corrections as necessary. Both the programming system and user's software are stored in flash EPROM but run in fast static RAM.
A computer is needed to program the controller which can be removed after programming is complete. Connection is via serial RS232 or USB (option). During programming data and procedure are saved both to disk and to controller Flash ROM. Once programmed the controller will run on its own.
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| Max. number of axes |
6 |
| Max locations stored |
approx 4,000 |
| Max outputs |
6 expandable to 54 buffered and opto-isolated. |
| Max inputs |
3 expandable to 51 incl. opto-isolated. |
| Baud rate |
programmable 1200 to 56000 baud, default 19200, optional USB |
| Weight |
11.5Kg |
| Temperature |
-10 to +40 deg C |
Axis drives are intelligent MOSFET chopper drives that energize the motors with PWM (pulse width modulated) constant current which recirculates at rest to prevent heating. Microprocessors automatically compensate for low and mid-range resonance. At low and medium speeds they vary phase current sinusoidally in a manner called micro-stepping. As speeds increase they 'morph' from micro-step to full step so that the motors maximum current rating is achieved. See the diagrams below - fig1 shows low speed sinusoidal control of position. You can see the PWM chopping. Fig2 shows the change to full step in progress.
Analog input and output
48 line digital input/output
Opto-isolated input and output conditioners/drivers
Conveyor tracking support
Grip confirmation
| Multi-function I/O expansion brief specifications: |
| Analog inputs |
4 channels, +/- 10 volts, 12 bits |
| Analog outputs |
2 channels, +/- 10 volts, 12 bits |
| Digital I/O |
5 volts CMOS, 48 bits, programmable as output and/or input |
| Options |
8-line opto-isolated input module, 8-line opto-isoated output module |
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more
The K11R5 controls the robot using a software system written in FORTH called ROBOFORTH II. Drivers and interfaces with the DSP and I/O are coded in fast, efficient, interrupt-free machine language but the user interface is high level, using easy to learn English language commands. A computer is needed to program the controller and this can be removed after programming or used as a supervisor running software which sends commands to the controller. To program the robot a Windows based GUI (graphical user interface) project management system, ROBWIN is run in the computer. The resulting program and data are downloaded into the controller which compiles them into a very small memory space, compact and highly efficient.
ROBOFORTH II is a fourth generation list-oriented language based on FORTH. It comprises a dictionary of some 450 words which are strung together in meaningful ways depending on what has to be done. Programming is done by extending the dictionary by defining new words in terms of words already in the dictionary. Program control (branching etc) is structured as in a third generation language. Programs (or rather new word definitions) are entered and edited as files in the computer then downloaded to the controller. With these tools the robot can be adapted to a diverse range of applications.
Among the many features of ROBOFORTH is an object database with which the system keeps track of every object handled and where there are. Software interlocks prevent errors and mistakes such as the robot placing an object where there already is one. All errors can be reprogrammed, for example what happens if the emergency stop is pressed or if the robot encounters an obstruction.
ROBOFORTH has been under continuous development since 1981 and is probably the most extensive and powerful robot programming system in the world.
Each controller is supplied with class 2 E-stop, class 1 and optional class 0 stop circuits. Class 2 E-stop is programmable so that what happens on hitting stop can be strategically determined. The stop circuit is extendable round the work space and may be connected to light curtains etc. The controller is CE marked and for EMC complies with EN55022 class A and FCC part 15 sub-part B class A.
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The new multi-processor ST controller, K11R Mk5, besides providing the power and intelligence to control a robot arm is also designed for integration of your robot and other equipment. The K11R5 can connect to, interface with and control all kinds of equipment such as pneumatics, feeders, plate stacks, conveyors, molding machines and synchronize all activities with the robot. Usually there is no need for a separate PLC. There is an easily used input output register which can be expanded with a range of plug-in cards for analog or digital interfaces, serial, opto-isolated buffers and so on. This means you can easily arrange interlocks or control devices or take measurements while the robot is in motion. And you can add and control additional stepping motor devices such as indexing carousels, accurate bi-directional conveyers.
The controller is designed to be programmed by PCs connected via a serial cable or USB. The controller can also be used as a slave to a supervisory computer; supervising software is easy to write, just requiring PRINTs to send commands to the controller together with a simple protocol or by using the ActiveX modules. One controller can also be slaved to another.