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Robot Function Control System Architecture

IP.com Disclosure Number: IPCOM000046031D
Original Publication Date: 1983-May-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 3 page(s) / 97K

Publishing Venue

IBM

Related People

Barnett, JA: AUTHOR

Abstract

A microprocessor system architecture is described which is modular in concept and, therefore, expandable. Also described are two unique stepper motor control concepts.

This text was extracted from a PDF file.
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Robot Function Control System Architecture

A microprocessor system architecture is described which is modular in concept and, therefore, expandable. Also described are two unique stepper motor control concepts.

Fig. 2 illustrates the modular and expandable concept of this robot axis or function control system. This architecture features a supervisor microprocessor 10 communicating with a host system and directing each of the nine axes or function control microprocessors 1228.Any of the ten microprocessors can be selected individually to receive or transmit data to or from the host control 30. A single keyboard/ display unit 32 is utilized to provide manual communication linkage to any selected microprocessor.

The Remote Stepper Motor Command Control Unit (RSMCCU) 34 is interfaced with the supervisor l0. This device provides a means of manipulating any robot function from a remote control source, to position from one intercept to another intercept and load the totalized number of steps (stored in a bidirectional up/down counter inputed by A quad B motor feedback) into supervisor memory. This RSMCCU consists of:

Select Axis - 4-Bit Address

Direction - May Be: Left/Right, Up/Down, CW/CCW, Open/Close

Single Step - For Slow Fine Positioning

Low Speed - For Short Moves

High Speed - For Long Moves

Manual - To Determine Proper Displacement Between Two

Points

Auto - To Verify Proper Displacement

Reset - To Enable Error Recovery

Load - Proper Displacement is Established, Load Count

To Memory

Send To Home - Initialize The Function

With this concept, the system can be programmed by performing a task, remotely addressing and controlling one function at a time.

The supervisor 10 performs the controlling commands to and from the function controls (see Figs. 2 and 3). The supervisor selects the function control microprocessor with the four-bit axis address bus. An 8-bit or l6-bit position data bus is bidirectional. This provides displacement information (motor step count) to and from the function control microprocessors. The supervisor will direct an axis which has been selected when to proceed. The supervisor will receive "axis move complete" and "axis at home" information from the function control microprocessors. The function control microprocessors will alert the supervisor of an axis error condition via a five-bit error code bus.

The axis or function controller architecture is illustrated in Fig. 3. This controller implements four main functions:

1. The microprocessor with its associated hardware

1

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PIAs (Peripheral Interface Adapters), ACIAs

(Asynchronous Communication Interface Adapters), TIMER,

EPROM (electronically programmable read-only memory...