KUC755AE117励磁控制模块
MFC的性能特点•设计为ISA卡•通过CAN总线接口的系统和用户I/O•联网机器人控制器的以太网连接•DeviceNet/CAN总线连接•KCP和PC之间的接口•ESC和PC之间接口•最多容纳两个DSE-IBS卡（最多12个机器人轴）•生成NMI（不可屏蔽中断），用于在Windows95和VxWorks•DSE-IBS 3卡接管多达8个轴的驱动控制，从而减少主处理器的工作量。DSE-IBS 3任务•实际位置传感•位置控制•速度控制•向KSD提供电流设定值•从27 V电源生成所有必要的工作电压•8轴旋转变压器馈电•电机绕组中8个温度传感器（KYT 84）的隔离电源•最多8个轴的R/D转换（12位分辨率）•8的A/D转换温度传感器（12位分辨率）•评估2个EMT通道（1个EMT）•解析器开路监测•电机温度监测•通过RS422串行接口与DSEAT通信•在停用控制器时备份EEPROM上的以下数据：•工作时数计（$ROBRUNTIME）•绝对位置增量•解析剂位置增量•调整数据（偏移、对称）–模块只能在控制柜关闭且中间电路放电的情况下交换。还必须拔下接头。–模块包含静电敏感器件（ESD）。为了防止电子部件被静电放电损坏，请勿裸手触摸
KPS-600包括：
•电源接触器•带启动电路的电源•镇流器电路•制动控制（所有6个机器人轴共用，2个外部轴分开）•DSE-IBS和伺服驱动IBS接口•电压分布24 V•电池电路采集以下信号：•模拟测量变量：散热器温度内部温度镇流器温度中间电路电压•二进制信号：机器人外围双金属触点控制柜风扇KPS-27负责向以下部件提供27 V电源：•电机制动器•外围•机器人控制器•伺服控制器•电池电源滤波器（干扰抑制滤波器）的主要功能是允许有用信号（在这种情况下为50 Hz电源电压）以并且有效地抑制主要来自功率模块的噪声信号（高频传导干扰）（低通特性）。控制器试图用剩余的中间电路电压在路径上制动机器人。当中间电路电压不再足够时，短路制动被激活通过旋转变压器进行位置记录：轴位置以循环绝对方式保存。=>分解器位置在电机旋转三分之一圈内消失。=>必须计算电机的三分之一转数。这将以增量形式生成位置值。
Performance features of the MFC
• Designed as ISA card • System and user I/Os via CAN bus interface • Ethernet connection for networking robot controllers • DeviceNet/CAN bus connection • Interface between the KCP and the PC • Interface between the ESC and the PC • Accommodation of max. two DSE-IBS cards (for max.12 robot axes) • Generation of an NMI (non-maskable interrupt) for switching between Windows95 and VxWorks • A DSE-IBS 3 card takes over the drive control of up to 8 axes, thus reducing the workload of the main processor. DSE-IBS 3 tasks • Actual position sensing • Position control • Speed control • Supplies current setpoints to the KSD • Generation of all necessary operating voltages from the 27 V supply • Resolver power infeed for 8 axes • Isolated supply to 8 temperature sensors (KYT 84) in the motor windings • R/D conversion of up to 8 axes (12-bit resolution) • A/D conversion of 8 temperature sensors (12-bit resolution) • Evaluation of 2 EMT channels (1 EMT) • Open-circuit monitoring of the resolvers • Motor temperature monitoring • Communication with the DSEAT via an RS422 serial interface • Backup of the following data on an EEPROM on deactivating the controller: • Operating hours meter ($ROBRUNTIME) • Absolute position in increments • Resolver position in increments • Adjustment data (offset, symmetry) – The module may only be exchanged with the control cabinet switched off and the intermediate circuit discharged. The connectors must also be unplugged. – The module contains electrostatic sensitive devices (ESD). In order to protect the electronic components from being destroyed by electrostatic discharge, do not touch them with bare hands
The KPS-600 incorporates:
•Mains contactor •Power supply with starting circuit •Ballast circuit •Brake control (in common for all 6 robot axes and separate for 2 external axes) •Interface to DSE-IBS and servo drive IBS •Voltage distribution 24 V •Battery circuit The following signals are acquired: •Analog measured variables: Heat sink temperature Interior temperature Ballast temperature Intermediate circuit voltage •Binary signals: Robot periphery Bimetal contacts Control cabinet fans The KPS-27 is responsible for the 27 V power supply to the: •Motor brakes •Periphery •Robot controller •Servo controllers •Batterys The principal function of mains filters (interference suppressor filters) is to allow the useful signal (in this case the 50 Hz supply voltage) to pass through as cleanly as possible and to effectively suppress noise signals (higher-frequency, conducted interference) primarily from the power module (low-pass character).The controller attempts to brake the robot on the path with the remaining intermediate circuit voltage. When the intermediate circuit voltage is no longer sufficient, short-circuit braking is activated Position recording via resolver: Axis positions are saved on a cyclically absolute basis. => The resolver position is absoulte within one third of a revolution of the motor. => The number of one third revolutions of the motor must be counted. This yields a position value in increments.
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