User`s manual

10-13
10
Appendix
10. Appendix
10.4 Internal block diagram of robot driver
B2
B1
84
PC
PWM
RS232C
TM2
L1C
L2C
ENC
A/D
CHARGE
U
W
M
TM2
RB
(+)
(+)1
L1
L3
(–)
I/O
L2
A/D
V
Single-phase/
3-phase 200 V
Regenerative braking resistor (option)
Power rectifier (rectifier circuit)
Control power
supply
Regenerate braking circuit
Pulse train
Position command
Sensor output
I/O
Servo ON
etc.
Origin sensor
(Bit input/output)
I/O interface (bit input/output)
(serial communication)
Operator
Servo sequence control Auto tuning, etc. Data processing, etc.
Robot driver
Position sensor
signal
processing
Current
signal
processing
Current
control
Speed
control
Position
control
Protective circuit
Gate driver
Power amplifier (inverter)
Monitor
converter
DB circuit
RBR
(Not provided for 100W and 200W type)
(TOP for Windows)
PC
Note 1)
Sensor
Note 1: For 750W to 1.5kW type At 750W or more, a thyristor is used as relay 84.
R/D