Robots need sensors to detect various states. Internal sensor signals are used to reflect the actual motion state of the robotic arm joints, while external sensor signals are used to detect changes in the working environment.
Composition of industrial robot control system
1. Control Computer: The dispatching and command mechanism of the control system. It is generally a microcomputer or microprocessor, such as the Pentium series CPU or other types of CPUs, with 32-bit and 64-bit versions.
2. Teach pendant: It is responsible for setting the working trajectory and parameters of the teach pendant robot, as well as all human-computer interaction operations. It has its own independent CPU and storage unit, and communicates with the host computer via serial communication.
3. Control panel: Consists of various operation buttons and status indicator lights, and only performs basic functions.
4. Hard disk and floppy disk storage: peripheral storage for storing the robot's working program.
5. Digital and analog inputs and outputs: Inputs or outputs of various status and control commands.
6. Printer interface: Records various information that needs to be output.
7. Sensor interface: Used for automatic information detection to achieve compliant robot control, generally force, touch and vision sensors.
8. Axis Controller: Controls the position, speed, and acceleration of each joint of the robot.
9. Auxiliary equipment control: Control of auxiliary equipment used in conjunction with the robot, such as gripper positioners.
10. Communication interface: Enables information exchange between the robot and other devices, generally including serial interface, parallel interface, etc.
11. Network Interface
1) Ethernet interface: Enables direct PC communication between multiple robots or a single robot via Ethernet, with a data transmission rate of up to 10 Mbit/s. After application programming using Windows library functions on the PC, it supports TCP/IP communication protocol and loads data and programs into each robot controller through the Ethernet interface.
2) Fieldbus interface: Supports a variety of popular fieldbus specifications, such as Devicenet, ABRemoteI/O, Interbus-S, profibus-DP, M-NET, etc.
