控制器是機器人的核心部分，實現(xiàn)對機器人的動作操作、信號通信和狀態(tài)監(jiān)控等功能。下面以FANUC F-200iB為例，對其控制系統(tǒng)內(nèi)部結(jié)構(gòu)（見圖2）和各部分的功能進行分析：
（1）電源供給單元 變壓器向電源分配單元輸入230V交流電，通過該單元的系統(tǒng)電源分配功能對控制箱內(nèi)部各工作板卡輸出210V交流電及±15V、＋24V直流電。
（2）安全保護回路 由變壓器直接向急停單元供電，并接入內(nèi)部各控制板卡形成保護回路，對整個系統(tǒng)進行電路保護。
（3）伺服放大器 不僅提供伺服電機驅(qū)動和抱閘電源，并且與絕對值編碼器實現(xiàn)實時數(shù)據(jù)轉(zhuǎn)換，與主控機間采用光纖傳輸數(shù)據(jù)，進行實時信號循環(huán)反饋。
（4）輸入/輸出模塊 標配為ModuleA/B，另外也可通過在擴展槽安裝Profibus板、過程控制板與PLC及外圍設(shè)備進行通信。
（5）主控單元 整個控制系統(tǒng)的中樞部分，包括主板、CPU、FROM/SRAM組件及伺服卡，負責(zé)控制器內(nèi)部及外圍設(shè)備的信號處理和交換。
（6）急停電路板 用來對緊急停止系統(tǒng)、伺服放大器的電磁接觸器以及預(yù)備充電進行控制。
（7）示教器 包括機器人編程在內(nèi)的所有操作都能由該設(shè)備完成，控制器狀態(tài)和數(shù)據(jù)都顯示在示教盒的顯示器上。
圖2 M-10iA機器人弧焊應(yīng)用
隨著科學(xué)技術(shù)的發(fā)展，ＰＬＣ在工業(yè)控制中的應(yīng)用越來越廣泛。
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INDRAMAT DKS01.1-W050A-DL01-01-FW
DDS02.1-W050-DA01-01-FW INDRAMAT DIGITAL CONTROLLER *1Y
INDRAMAT DRIVE HDS03.2-W100N-HS12-01-FW
Indramat Servo Drive HDS04.2-W200N-HS32-01-FW CNC
INDRAMAT SERVO DRIVE HDS03.2-W075N-HS45-01-FW
INDRAMAT HDS03.2-W075N-HS12-01-FW USPP HDS032W075NHS120
HDS03.2-W100N-HS32-01-FW INDRAMAT **1YR. WRTY
One-day shipping available
INDRAMAT DDS02.1-W050-DA01-01-FW SERVO DRIVE ***XLNT***
/REFURB REXROTH INDRAMAT HDS03.2-W075N-HS12-01-FW
One-day shipping available
INDRAMAT HDD02.2-W040N-HD32-01-FW SERVO CONTROL **RFB**
INDRAMAT DDS03.1W/030-DS01-02FW USPP DDS031W030DS0102
Indramat HDS04.1-W200N-HS12-01-FW
INDRAMAT HDS03.2-W100N-HS32-01-FW USPP HDS032W100NHS320
HDD02.2-W040N-HD12-01-FW INDRAMAT *1YR.WRTY*
One-day shipping available
INDRAMAT DRIVE DKC01.3-100-7-FW
INDRAMAT DKC11.1-040-7-FW USPP DKC1110407FW
REXROTH INDRAMAT PPC-RO2.2N-N-V2-NN-NN-FW PPCR022N
INDRAMAT SERVO DRIVE HDS03.2-W075N-HS32-01-FW
INDRAMAT DKC01.1-040-7-FW / DKC1.1-040-7-FW****NIB****
INDRAMAT HDD02.2-W040N-HD32-01-FW SERVO CONTROL *XLNT*
INDRAMAT HDS03.2-W100N-HS12-01-FW SERVO CONTROL **RFB**
INDRAMAT DDS02.1-W015-RA01-02-FW SERVO DRIVE ***XLNT***
INDRAMAT HDS03.1-W075N-HS12-01-FW AC SERVO AMP **XLNT**
INDRAMAT HDS03.2-W100N-HS12-01-FW USPP HDS032W100NHS120
HDS03.2-W075N-HS32-01-FW INDRAMAT *1 YR WARRANTY*
One-day shipping available
HDS03.2-W075N-HS45-01-FW INDRAMAT *1 YR WARRANTY*
One-day shipping available
HDS03.1-W075N-HS12-01-FW INDRAMAT **1YR. WRTY
One-day shipping available
INDRAMAT HDS02.1-W040N-HS12-01-FW SERVO CONTROL *RFB*
Indramat HDS03.2-W100N-HS32-01-FW
Indramat HDS03.2-W100N-HS79-01-FW
HDS02.1-W040N-HS12-01-FW INDRAMAT
One-day shipping available
INDRAMAT DDC01.2-N200A-DS50-01-FW USPP DDC012N200ADS50A
INDRAMAT HDS02.1-W040N-HD12-01-FW SERVO CONTROL *XLNT*
INDRAMAT HDD02.2-W040N-HD12-01-FW SERVO CONTROL **RFB**
INDRAMAT HDS AC SERVO DRIVE HDS04.2-W200N-HS45-01-FW
One-day shipping available
Bosch Rexroth/ Indramat DDS3.1-W030-DS01-01-FW
Indramat HDS03.1-W100N-HS79-01-FW
INDRAMAT BTV20.2CA-64B-33C-D-FW USPP BTV202CA64B33CDF
INDRAMAT SERVO DRIVE HDS02.2-W040N-HS12-01-FW
REXROTH INDRAMAT DKC02.3-040-7-FW DKC0230407FW
INDRAMAT DKS01.1-W030B-DL01-00-FW USPP DKS011W030BDL010
INDRAMAT DKC01.1-040-7-FW USPP DKC0110407FW
INDRAMAT DKC1.1-040-7-FW USPP DKC110407FW
INDRAMAT DDS02.2-W100-BE12-01-FW NSFP DDS022W100BE1201
Indramat HDS03.1-W100N-HS32-01-FW
INDRAMAT PPC-R01.2-N-N-T2-FW NSFP PPCR012NNT2FW
Indramat CLM01.3-x-0-2-0-FW
Indramat CLM01.3-x-0-2-0-FW
Indramat Servo Drive HDS04.2-W200N-HS45-01-FW CNC
INDRAMAT Digital AC Servo Controller DKC11.1-040-7-FW
Expedited shipping available
/REFURB REXROTH INDRAMAT DKC04.3-040-7-FW SERVO DRIV
One-day shipping available
INDRAMAT PPCR022N-N-NN-NN-NN-FW USPP PPCR022NNNNNNNNF
INDRAMAT DDS02.1-A100-DS01-02-FW NSFP DDS021A100DS0102
INDRAMAT DDS02.1-A100-DS03-02-FW NSFP DDS021A100DS0302
HDS02.2-W040N-HS12-01-FW INDRAMAT
One-day shipping available
Indramat HDD02.2 AC Controller HDD02.2-W040N-HD12-01-FW
INDRAMAT DDS02.1-W050-DA02-01-FW SERVO CONTROLLER
INDRAMAT HDC01.1-A040N DRIVE HDC01.1-A040N-I0B1-01-FW
INDRAMAT ECODRIVE AC CONTROLLER DKC02.3-040-7-FW
Indramat HDS02.2-W040N-HS12-01-FW
Indramat HDS02.2-W040N-HS32-01-FW
Indramat HDD02.2 AC Controller HDD02.2-W040N-HS12-01-FW
Indramat HDS03.2 AC Controller HDD02.2-W075N-HS12-01-FW
Indramat HDS03.2 AC Controller HDS03.2-W075N-HS32-01-FW
INDRAMAT DKC01.3-100-7-FW USPP DKC0131007FW
INDRAMAT HDS AC SERVO DRIVE HDS03.2-W100N-HS32-01-FW
One-day shipping available
INDRAMAT PLCB02-02-FW USPP PLCB0202FW
INDRAMAT DDS02.2-W100-BE12-01-FW USPP DDS022W100BE1201
INDRAMAT DDS02.2-W100-BE24-01-FW USPP DDS022W100BE2401
INDRAMAT DDS02.2-W100-BE24-02-FW USPP DDS022W100BE2402
Indramat DKC02.3-040-7-FW AC Controller - Excellent !!
INDRAMAT HDS03.2-W100N-HS32-01-FW SERVO DRIVE **XLNT**
INDRAMAT SOT OPERATOR INTERFACE E2A-FW
INDRAMAT CCD01.1-KE02-01-FW USPP CCD011KE0201FW
INDRAMAT SERVO DRIVE DKC01.1040-7-FW
Indramat Servo Drive HDS02.2-W040N-HS32-01-FW CNC
INDRAMAT DRIVE DKC01.3-0407-FW
INDRAMAT HDS02.2-WO40N-HS12-01-FW NSFP HDS022WO40NHS120
Indramat Servo Drive HDS02.2-W040N-HS24-01-FW
One-day shipping available
Indramat DKC11.3-100-7-FW SERVO DRIVE W/ LINE FILTER
INDRAMAT HDS AC SERVO DRIVE HDS03.2-W075N-HS12-01-FW
One-day shipping available
INDRAMAT HDD AC SERVO DRIVE HDD02.2-W040N-HD12-01-FW
One-day shipping available
DKC04.3-040-7-FW INDRAMAT ECO DRIVE
One-day shipping available
INDRAMAT DDS02.1-W100-DS01-02-FW USPP DDS021W100DS0102
INDRAMAT SERVO DRIVE HDS02.2-W040N-HS12-01-FW
INDRAMAT RECO-G06-01-FW USPP RECOG0601FW
Indramat AC Servo Controller CLM01.3-X-0-2-0-FW
One-day shipping available
REXROTH/INDRAMAT DKC04.3-040-7-FW SERVO DRIVE ***NIB***
Indramat AC Servo Controller DKC01 1-040-7-FW ! WOW !
INDRAMAT DKC04.3-100-7-FW USPP DKC0431007FW
INDRAMAT APRB02-02-FW USPP APRB0202FW
Indramat DKC02.3-040-7-FW DKC02.30407FW Eco Drive
One-day shipping available
INDRAMAT DDS02.1-W100-DS01-02-FW K04/96 Z36 269973
INDRAMAT MTS-R02.2-M2-B1-S4-N-N-FW USPP MTSR022M2B1S4NN
Indramat Servo Drive Controller DDS02.1-A200-DS46-00-FW
INDRAMAT DKC06.3-040-7-FW USPP DKC0630407FW
INDRAMAT CONTROLLER MTC-R02.1-M1-A2-A2-NN-FW
INDRAMAT DKC04.3-040-7-FW USPP DKC0430407FW
Indramat DKC01.1-040-7-FW Servo Drive Rebuilt
INDRAMAT DKC04.3-040-7-FW ECO DRIVE ***XLNT***
INDRAMAT BTV30.2PA-64R-10C-D-FW 9 SLOT RACK ***XLNT***
INDRAMAT MTS-R02.1-M1-B1-S4-NN-FW USPP MTSR021M1B1S4NNF
Indramat Servo Drive DDS02.1-A150-DS01-02-FW #7078
Indramat DDS02.1-W015-DA01-01-FW DDS02.1W015D Servo
One-day shipping available
Rexroth Indramat EcoDrive DKC03.3-040-7-FW
INDRAMAT CONTROLLER MTS-R02 . 1-M1-B1-S4-NN-FW
REXROTH INDRAMAT BOARD CSB01.1C-SE-ENS-EN1-NN-S-NN-FW
Expedited shipping available
Indramat: DKC01.1-040-7-FW Digital AC Servo Controller
Indramat Servo Controller - HDS02.2-W040N-HS12-01-FW
