Multi-Axes Electric Drive Robot Controller
Original Publication Date: 1988-Apr-01
Included in the Prior Art Database: 2005-Feb-15
This article describes a multi-processor-based control system for industrial robot use utilizing common components to allow both sensing and control on both the leading and the trailing edge of a signal to provide noise immunity. The control system disclosed herein is comprised of microprocessors, programmable peripheral interface (PPI) modules and the necessary software to accommodate the noise immunity function the overall approach provides. The noise immunity provided is of particular interest in an industrial environment where EMI, RFI, ESD, PLT, and PLD problems are common. The basic bus structure of the system is straightforward. The data bus ports on the PPIs are connected to the local data bus interface on each microprocessor (master and slave alike).