UFC762AE101 3BHE006412R0101 包括机器人控制器的通用I/O端口和EtherCAT扩展I/O板

描述

UFC762AE101 3BHE006412R0101 包括机器人控制器的通用I/O端口和EtherCAT扩展I/O板

主板运动控制模块的功能主要包括以下几个方面：

运动控制：这是运动控制模块的核心功能，UFC762AE101 3BHE006412R0101 用于控制机器人的运动。它接收来自控制器的运动命令，进行运动学解算或者轨迹规划运算，得到在每个伺服控制周期内各个关节的角度值，并发送到伺服驱动系统，使机器人的末端可以在三维空间中完成指定的路径或者姿态变化。

I/O控制：包括机器人控制器的通用I/O端口和EtherCAT扩展I/O板，主要负责对外界信号进行响应或输出、比如机器人末端工具启动与停止控制、机器人的急停信号、生产线传感器的检测信号响应等。

故障处理：对故障做初步处理并根据发生故障的类型向用户上报故障代码，或者接受用户输入的故障复位指令。

控制器参数设置：主要是对控制器的配置参数做一些设置，如EtherCAT通信对象映射参数，串口通信波特率等。

此外，UFC762AE101 3BHE006412R0101 还有一些特定类型的运动控制器具有一些特殊功能。例如，PLC主要功能是对开关量进行逻辑控制，并有简单的运动控制功能；独立式运动控制器配有显示屏、按键和功能完善的控制指令，并有各种通信接口，控制电动机运动的能力比PLC强大；PCI总线型运动控制卡的功能最强，但其工作的稳定性可靠性较差。

UFC762AE101 3BHE006412R0101 包括机器人控制器的通用I/O端口和EtherCAT扩展I/O板

The functions of the motherboard motion control module mainly include the following aspects:

Motion control: This is the core function of the motion control module, UFC762AE101 3BHE006412R0101 is used to control the movement of the robot. It receives motion commands from the controller, performs kinematic calculation or trajectory planning operations, obtains the Angle value of each joint in each servo control cycle, and sends it to the servo drive system, so that the end of the robot can complete the specified path or attitude change in three-dimensional space.

I/O control: including the universal I/O port of the robot controller and EtherCAT extended I/O board, mainly responsible for the response or output of external signals, such as the robot end tool start and stop control, the robot emergency stop signal, the detection signal response of the production line sensor.

Troubleshooting: Perform preliminary troubleshooting and report the fault code to the user based on the fault type, or accept the fault reset instruction entered by the user.

Controller parameter Settings: Mainly set some configuration parameters of the controller, such as EtherCAT communication object mapping parameters, serial port communication baud rate, etc.

In addition, UFC762AE101 3BHE006412R0101 also has some specific types of motion controllers with some special functions. For example, the main function of PLC is to carry out logical control of the switching quantity, and has a simple motion control function; The independent motion controller is equipped with a display screen, keys and functional control instructions, and has a variety of communication interfaces, the ability to control motor movement is stronger than PLC; PCI bus motion control card has the strongest function, but its stability and reliability are poor.