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Robot Control Circuit Interfaced to a Standard Processor Card

IP.com Disclosure Number: IPCOM000060367D
Original Publication Date: 1986-Mar-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 31K

Publishing Venue

IBM

Related People

Alewine, NJ: AUTHOR [+6]

Abstract

A technique is described whereby a closed-loop servo logic circuit card is used with a standard master/slave processor and a standard interface bus to provide analog-to-digital and digital-to-analog feedback and control capabilities, so as to enable the system to function as a robot-positioning controller. The circuit is unique in that it provides separate analog power distribution that isolates the high-resolution analog input from standard bus logic noise and uses industry standard bus interfaces. Logic card 10, as shown in the figure, is designed to interface to standard bus 11 for digital logic power and ground only. Communications to processor card 12 is through connector 13. Processor card 12 is a ZT 8830, manufactured by Ziatech Corp. Connectors 14 and 15 on the logic card interface to the drive circuitry of the robot.

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Robot Control Circuit Interfaced to a Standard Processor Card

A technique is described whereby a closed-loop servo logic circuit card is used with a standard master/slave processor and a standard interface bus to provide analog-to-digital and digital-to-analog feedback and control capabilities, so as to enable the system to function as a robot-positioning controller. The circuit is unique in that it provides separate analog power distribution that isolates the high-resolution analog input from standard bus logic noise and uses industry standard bus interfaces. Logic card 10, as shown in the figure, is designed to interface to standard bus 11 for digital logic power and ground only. Communications to processor card 12 is through connector 13. Processor card 12 is a ZT 8830, manufactured by Ziatech Corp. Connectors 14 and 15 on the logic card interface to the drive circuitry of the robot. Robot axis information to logic card 10 is supplied from the center-tap of potentiometer 16 on the robot and has a signal range of +10 volts to -10 volts. A three-stage operational amplifier on logic card 10 provides noise filtration so that a clean signal is converted by analog- to-digital converter (ADC) 17 to a sixteen-bit digital word. Status output is provided by ADC 17 to operate a one-shot that strobes the position word into a latch. This causes a bit to be set in a programmable peripheral interface status register so that the data can be read by processor card 12. When pro...