控制器是機(jī)器人的核心部分，實(shí)現(xiàn)對(duì)機(jī)器人的動(dòng)作操作、信號(hào)通信和狀態(tài)監(jiān)控等功能。下面以FANUC F-200iB為例，對(duì)其控制系統(tǒng)內(nèi)部結(jié)構(gòu)（見(jiàn)圖2）和各部分的功能進(jìn)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(guò)該單元的系統(tǒng)電源分配功能對(duì)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(hù)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(hù)回路，對(duì)整個(gè)系統(tǒng)進(jìn)行電路保護(hù)。
（3）伺服放大器 不僅提供伺服電機(jī)驅(qū)動(dòng)和抱閘電源，并且與絕對(duì)值編碼器實(shí)現(xiàn)實(shí)時(shí)數(shù)據(jù)轉(zhuǎn)換，與主控機(jī)間采用光纖傳輸數(shù)據(jù)，進(jìn)行實(shí)時(shí)信號(hào)循環(huán)反饋。
（4）輸入/輸出模塊 標(biāo)配為ModuleA/B，另外也可通過(guò)在擴(kuò)展槽安裝Profibus板、過(guò)程控制板與PLC及外圍設(shè)備進(jìn)行通信。
（5）主控單元 整個(gè)控制系統(tǒng)的中樞部分，包括主板、CPU、FROM/SRAM組件及伺服卡，負(fù)責(zé)控制器內(nèi)部及外圍設(shè)備的信號(hào)處理和交換。
（6）急停電路板 用來(lái)對(duì)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(jìn)行控制。
（7）示教器 包括機(jī)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(jī)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(lái)越廣泛。
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