Control System Configuration; Basic Configuration - Yamaha CEmarking RCX240 Supporting Supplement Manual

3.2 Control system configuration

3.2.1 Basic configuration

The basic block diagram of the RCX robot controller system is shown below.
(1) RCX240
Basic block diagram
MOTOR
XM
YM
ZM
RM
ROB I/O XY
BATT XY
ROB I/O ZR
BATT ZR
SAFETY
RPB
RPB SEL
COM
STD.DIO
TB2 TB1 CN5
DRIVER POWER
CN3 CN10
HEATSINK
CN1
CN3
CN4
DRIVER 2
CN6
CN7
CN2
CN12
CN1
CN3
DRIVER 1
CN4
CN5
CN10 CN7
CN10 CN13
CN16
CPU BOARD
CN4
OP.1
OP.3

3.2 Control system configuration

CN7 CN2
CN5
CN14
CN13
CN7
CN5
OP.2
OP.4
Chapter 3 SYSTEM OVERVIEW
1
2
3
4
CN1
5
CN2
6
3-3