描述
ABB DSQC 522是机器人控制器内的输入/输出计算机。以下是其产品详情：
功能：
通讯通路管理：拥有一个通往示教器单元的RS485/RS422串行信道，两个CAN信道，一个常规用途的RS232串行信道SIO1，一个通往控制台的RS232串行信道，一个常规用途的RS485/RS422串行信道SIO2，以及一个以太网10兆比特每秒信道（为100兆比特每秒来准备）。
其他功能：具备电源状态监测器和监控计时器功能。监控计时器回路可监控软件的锁闭情况，超时时间典型地为100毫秒，若超时，则将启动WD_ENABLE。CPLD监测来自电源的两个状态信号，ACOK和DCOK，从而能在发生电源故障的时候，为机器人的控制系统提供早期警报。
处理器：输入/输出计算机建造在一台Motorola MPC860T Communications Controller的附近，MPC860T上面的CPU是一个32位的PowerPC设备，该设备结合了存储器管理单元（MMUs）和指令缓存、数据缓存。MPC860有一个外部的32位地址总线和多达32位的数据总线（动态总线规格：8,16和32位）。
CAN总线：为了与外部单元实现通讯，输入/输出计算机执行两条CAN总线（使用两个Intel 82527串行通讯控制器），在每个CAN控制器与其物理总线之间，都使用了一个Philips 82251驱动电路。
以太网：MPC860T中集成了一个快速以太网控制器，通过一个媒介-独立的接口（MII），将MPC860T连接到以太网收发机上，其10/100兆比特每秒以太网控制器是单独执行的，提供以太网的连通性，而并不影响MPC860内CPM块的性能。
The ABB DSQC 522 is the input/output computer within the robot controller.Product details are as follows:
Functionality:
Communications Channel Management:It provides one RS485/RS422 serial channel to the teach pendant unit,two CAN channels,a general-purpose RS232 serial channel(SIO1),an RS232 serial channel to the control console,a general-purpose RS485/RS422 serial channel(SIO2),and an Ethernet 10 Mbps channel(capable of 100 Mbps).
Other Functions:It features a power supply status monitor and a watchdog timer.The watchdog timer loop monitors software lockouts,typically with a 100 millisecond timeout.If this timeout expires,WD_ENABLE is asserted.The CPLD monitors two status signals from the power supply,ACOK and DCOK,to provide the robot control system with an early warning in the event of a power failure.Processor:The I/O computer is built around a Motorola MPC860T Communications Controller.The CPU in the MPC860T is a 32-bit PowerPC device that incorporates a memory management unit(MMU)and instruction and data caches.The MPC860 has an external 32-bit address bus and up to a 32-bit data bus(dynamic bus sizes:8,16,and 32 bits).
CAN Bus:To communicate with external units,the I/O computer implements two CAN buses(using two Intel 82527 serial communications controllers).A Philips 82251 driver circuit is used between each CAN controller and its physical bus.Ethernet:The MPC860T integrates a Fast Ethernet controller that connects the MPC860T to Ethernet transceivers through a Media Independent Interface(MII).The 10/100 Mbit/s Ethernet controller is implemented separately,providing Ethernet connectivity without affecting the performance of the CPM blocks within the MPC860.
ABB Model: GBU72 3BHE055094R0002 Model: 3BHE055094R0002 GBU72 Model: GBU72 Model: 3BHE055094R0002 Model: 3BHE031197R0001 Model: 3BHB030310R0001 Model: 73BHE055094R0002 GBU72 Model: 73BHE055094R0002 Model: GBU72 Model: ABB PCS6000 PRODUCT FAMLIY ABB 5SHY4045L0006 3BHB030310R0001 3BHE039203R0101 GVC736CE101
