Data Sheet

The robot controller
Main Features
Multi-processor
High voltage micro-step drives
Extensive Input-Output - control everything else as well
Millisecond and microsecond timers and interrupts
External emergency stop circuit
Flash memory
Brown-out protection
Free teach pad
Connect via RS232, USB, Bluetooth or TCP/IP
Axis Drives
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.
Free Teach Pendant
Although the majority of functions are invoked from the computer a simple teachpad is
provided for fine positioning of the robot. The teachpad provides the means to select and
move any joint or operate the gripper or any peripheral. Movement speed can be slowed
right down for fine positioning of the robot.
Alternatively in Cartesian mode the teach pad allows 'jogging' in any X Y or Z direction in
increments from 25mm at a time down to 0.1mm for accurate positioning, or to change
the angle of pitch yaw or roll in increments from 0.1 deg to 25 deg. A desired robot pose
can then be learned by pressing the tick key. A programmable function key is also
provided. The stop key is linked in to the safety circuit.
Bluetooth Teach Console
The optional 7-inch tablet teach console with Android software allows the
user to position the robot wirelessly using a touch screen. The Android pad
connects to the controller via bluetooth. Features include the ability to jog the
robot in X Y Z in increments from 0.1 to 100mm, and the hand pitch yaw and
roll in increments from 0.1 to 10deg.
The current Cartesian position is constantly updated on screen.
Increase/decrease increments,
Tool/World coordinates,
Grip/ungrip,
Add or delete positions in a route,
Operate peripherals,
Switch to PC and back to access higher levels,
Stop button (always live through bluetooth).