描述
一、产品定位与核心功能
1.目标应用场景
工业机器人控制：
作为6轴或协作机器人的主控制器，负责关节电机驱动、轨迹规划、力控反馈，支持高速拾放、精密焊接、复杂装配等任务。
典型应用：汽车焊装线、3C产品组装线、食品包装机械。
CNC机床与加工中心：
替代传统CNC控制器，实现多轴联动控制，支持高速铣削、车削、磨削等工艺，提升加工精度（±0.005mm）和表面质量。
半导体设备：
用于晶圆搬运机器人、光刻机对准系统，通过纳米级定位控制，确保晶圆传输无污染、光刻对准误差<1μm。
医疗自动化：
作为手术机器人、实验室自动化设备的核心控制模块，实现微创手术器械的精准操控、样本分拣的毫秒级响应。
2.核心功能
多轴协同控制：
支持最多16轴同步控制，通过电子齿轮（Electronic Gearing）和凸轮同步（Cam Profiling）技术，实现多轴间高精度相位匹配（例如机器人关节运动与末端执行器动作的精确协调）。
高速实时处理：
内置高性能DSP（数字信号处理器）和FPGA（现场可编程门阵列），处理周期<1ms，满足高速运动控制（如每分钟1000次拾放动作）的实时性要求。
闭环反馈控制：
支持编码器、激光干涉仪、力传感器等多种反馈设备，通过PID+前馈补偿算法，将位置跟踪误差控制在±0.01mm以内。
安全功能集成：
符合ISO 13849-1（PL e级）和IEC 61508（SIL 3级）安全标准，内置紧急停止、安全限速、碰撞检测等功能，保障人机协作安全。
网络通信与集成：
提供EtherCAT、PROFINET、EtherNet/IP等工业以太网协议接口，可与PLC、HMI、视觉系统无缝集成，实现分布式控制架构。
二、技术规格与性能参数
1.硬件配置
处理器：
主处理器：TI Sitara AM5728（双核ARM Cortex-A15+4核DSP C66x），主频1.5GHz，负责运动规划、通信处理。
协处理器：Xilinx Spartan-6 FPGA，负责实时I/O控制、脉冲信号生成。
存储容量：
Flash存储器：256MB（用于程序存储）。
RAM存储器：1GB DDR3（用于数据缓存）。
SD卡槽：支持最大32GB SD卡，用于轨迹数据记录、固件升级。
I/O接口：
数字输入（DI）：16路（24V DC，可扩展至64路），用于限位开关、急停按钮、原点信号。
数字输出（DO）：16路（24V DC，0.5A，可扩展至64路），用于伺服使能、报警指示、电磁阀控制。
模拟输入（AI）：4路（±10V/0-20mA，16位分辨率），用于力传感器、温度传感器信号采集。
模拟输出（AO）：2路（±10V/0-20mA，16位分辨率），用于模拟量伺服驱动控制。
编码器接口：4路（支持A/B/Z相增量式编码器、SSI绝对式编码器，最高频率10MHz）。
脉冲输出：4路（差分信号，最高频率4MHz，用于步进电机或开环伺服控制）。
2.运动控制性能
轴数：
标准配置：6轴（可扩展至16轴）。
控制周期：
位置控制周期：250μs（可配置为500μs/1ms）。
速度控制周期：125μs。
最大脉冲频率：
单轴：4MHz（差分信号）。
位置精度：
闭环控制：±0.01mm（取决于编码器分辨率和机械传动精度）。
开环控制：±0.1mm（步进电机驱动时）。
速度范围：
0-5000rpm（电机侧），支持S曲线加减速，加速度可设为0.1-10g。
3.环境适应性
工作温度：
0℃至+55℃（存储温度：-20℃至+70℃），适应工厂车间（无空调）或户外设备舱。
湿度：
10%-90%RH（无凝露），耐受潮湿环境（如食品加工厂）。
抗振动：
通过IEC 60068-2-6标准振动测试（频率10-55Hz，振幅1.5mm），确保在振动设备上稳定运行。
防护等级：
IP20（标准版），适用于控制柜内安装；可选IP54防护罩（需单独订购），用于户外或粉尘环境。
三、产品特点与优势
1.高精度与高动态性能
纳米级定位控制：
通过高分辨率编码器（如23位绝对式编码器）和亚微秒级同步技术，实现机器人关节的纳米级定位（例如半导体晶圆搬运机器人的±0.1μm重复定位精度）。
前瞻轨迹规划：
内置前瞻算法（Look-Ahead），可提前分析1000个轨迹点，自动调整速度曲线，避免急停导致的机械振动，延长设备寿命。
2.灵活性与易用性
图形化编程界面：
配套ADEPT MotionWorks软件，提供拖拽式编程、3D仿真、碰撞检测功能，无需专业编程知识即可快速开发机器人应用。
多语言支持：
软件界面支持中文、英文、德文、日文等10种语言，操作手册提供多语言版本，方便全球用户使用。
快速参数配置：
通过自动调谐功能，一键完成PID参数、前馈系数、滤波器截止频率的优化，减少现场调试时间（传统调试需2-3天，自动调谐仅需30分钟）。
I.Product Positioning and Core Functions
1.Target Application Scenarios
Industrial Robot Control:
Serves as the main controller for 6-axis or collaborative robots,responsible for joint motor drive,trajectory planning,and force control feedback,supporting tasks such as high-speed pick-and-place,precision welding,and complex assembly.
Typical Applications:Automotive welding lines,3C product assembly lines,and food packaging machinery.
CNC Machine Tools and Machining Centers:
Replaces traditional CNC controllers,enabling multi-axis linkage control and supporting high-speed milling,turning,and grinding processes,improving machining accuracy(±0.005mm)and surface quality.
Semiconductor Equipment:
Used in wafer handling robots and photolithography alignment systems,nanometer-level positioning control ensures contamination-free wafer transfer and photolithography alignment errors of less than 1μm.
Medical Automation:
Serves as the core control module for surgical robots and laboratory automation equipment,enabling precise control of minimally invasive surgical instruments and millisecond-level response for sample sorting.2.Core Functions
Multi-Axis Collaborative Control:
Supports synchronous control of up to 16 axes.Electronic gearing and cam profiling technologies enable high-precision phase matching between multiple axes(for example,precise coordination of robot joint motion with end-effector movement).
High-Speed Real-Time Processing:
Built-in high-performance DSP(digital signal processor)and FPGA(field programmable gate array)delivers a processing cycle of<1ms,meeting the real-time requirements of high-speed motion control(such as pick-and-place operations at 1000 times per minute).
Closed-Loop Feedback Control:
Supports a variety of feedback devices,including encoders,laser interferometers,and force sensors.Utilizing a PID+feedforward compensation algorithm,position tracking error is controlled within±0.01mm.
Integrated Safety Functions:
Compliant with ISO 13849-1(PL e)and IEC 61508(SIL 3)safety standards,it includes built-in functions such as emergency stop,safe speed limit,and collision detection to ensure safe human-robot collaboration.Network Communication and Integration:
Provides industrial Ethernet protocol interfaces such as EtherCAT,PROFINET,and EtherNet/IP,enabling seamless integration with PLCs,HMIs,and vision systems to achieve a distributed control architecture.
II.Technical Specifications and Performance Parameters
1.Hardware Configuration
Processor:
Main processor:TI Sitara AM5728(dual-core ARM Cortex-A15+quad-core DSP C66x),clocked at 1.5GHz,responsible for motion planning and communication processing.
Coprocessor:Xilinx Spartan-6 FPGA,responsible for real-time I/O control and pulse signal generation.
Memory Capacity:
Flash Memory:256MB(for program storage).
RAM Memory:1GB DDR3(for data caching).
SD Card Slot:Supports SD cards up to 32GB for trajectory data recording and firmware upgrades.I/O Interfaces:
Digital Inputs(DI):16 channels(24V DC,expandable to 64 channels)for limit switches,emergency stop buttons,and origin signals.
Digital Outputs(DO):16 channels(24V DC,0.5A,expandable to 64 channels)for servo enable,alarm indication,and solenoid valve control.
Analog Inputs(AI):4 channels(±10V/0-20mA,16-bit resolution)for force sensor and temperature sensor signal acquisition.
Analog Outputs(AO):2 channels(±10V/0-20mA,16-bit resolution)for analog servo drive control.
Encoder Interface:4 channels(supports A/B/Z phase incremental encoders and SSI absolute encoders,with a maximum frequency of 10MHz).
Pulse Outputs:4 channels(differential signals,with a maximum frequency of 4MHz,for stepper motors or open-loop servo control).
2.Motion Control Performance
Number of Axes:
Standard configuration:6 axes(expandable to 16 axes).Control Cycle:
Position Control Cycle:250μs(configurable to 500μs/1ms).
Speed Control Cycle:125μs.
Maximum Pulse Frequency:
Single-Axis:4MHz(differential signal).
Position Accuracy:
Closed-Loop Control:±0.01mm(depending on encoder resolution and mechanical transmission accuracy).
Open-Loop Control:±0.1mm(when driven by a stepper motor).
Speed Range:
0-5000rpm(motor side),supports S-curve acceleration and deceleration,and acceleration can be set from 0.1g to 10g.
3.Environmental Adaptability
Operating Temperature:
0°C to+55°C(Storage Temperature:-20°C to+70°C),suitable for factory floors(without air conditioning)or outdoor equipment cabins.
Humidity:
10%-90%RH(non-condensing),suitable for humid environments(such as food processing plants).Vibration Resistance:
Passes IEC 60068-2-6 vibration testing(frequency 10-55Hz,amplitude 1.5mm),ensuring stable operation on vibrating equipment.
Protection Level:
IP20(standard version),suitable for installation in a control cabinet;optional IP54 protective cover(ordered separately)for outdoor use or in dusty environments.
III.Product Features and Advantages
1.High Precision and High Dynamic Performance
Nano-level Positioning Control:
Using high-resolution encoders(such as 23-bit absolute encoders)and sub-microsecond synchronization technology,nano-level positioning of robot joints is achieved(for example,±0.1μm repeatability for semiconductor wafer handling robots).
Look-Ahead Trajectory Planning:
The built-in look-ahead algorithm analyzes 1,000 trajectory points in advance and automatically adjusts the velocity profile to avoid mechanical vibration caused by sudden stops,extending equipment life.2.Flexibility and Ease of Use
Graphical Programming Interface:
Combined with ADEPT MotionWorks software,it provides drag-and-drop programming,3D simulation,and collision detection,enabling rapid development of robotic applications without specialized programming knowledge.
Multi-Language Support:
The software interface supports 10 languages,including Chinese,English,German,and Japanese.The operating manual is available in multiple languages,making it convenient for users worldwide.
Quick Parameter Configuration:
The auto-tuning function optimizes PID parameters,feedforward coefficients,and filter cutoff frequencies with a single click,reducing on-site commissioning time(traditional commissioning takes 2-3 days,while auto-tuning takes only 30 minutes).
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