CN105739378A - Modular industrial robot controller base board - Google Patents
Modular industrial robot controller base board Download PDFInfo
- Publication number
- CN105739378A CN105739378A CN201610044790.2A CN201610044790A CN105739378A CN 105739378 A CN105739378 A CN 105739378A CN 201610044790 A CN201610044790 A CN 201610044790A CN 105739378 A CN105739378 A CN 105739378A
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- pin
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- europlug
- adapter
- pvdd
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25341—Single chip programmable controller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
Abstract
The invention discloses a modular industrial robot controller base board mainly comprising a connector J1 connected with a core control board, a European socket J5 connected with an IO board, a European socket J4 connected with a communication board, a European socket J8 connected with a power board, and fixed holes. By designing the base board, connection, communication and power supply of the core control board, the IO board, the communication board and the power board of an industrial robot controller are realized. A power supply module, a core control module, an IO module and a communication module are integrated on different circuit boards to improve the stability, reliability and maintainability of the controller.
Description
Technical field
The invention belongs to Industrial Robot Technology field, specifically a kind of modularity industrial robot controller base plate.
Background technology
Industrial robot application in modern factories is more and more general.Along with technique is more and more higher to the requirement of robot, the control of robot becomes to become increasingly complex, accordingly, the requirement of the controller of industrial robot is also more and more higher.Whether advanced person is heavily dependent on its controller in robot, and the cost of robot controller determines the price of robot on largely, the industrial robot general purpose controller of one low cost of exploitation is very necessary.State's outer controller research and development are relatively flourishing, commercially occupy leading position, and controller mostly adopts integrated mode.Modular controller also has, but the degree of modularity is not high, and continuity between generations is poor.Fast development along with integrated chip technology, embedded technology, interfacing and communication bus technology, the quick increase of the market demand, and manufacturer's competition both at home and abroad is more and more fierce, the update of controller is more and more frequent, but the update of existing controller always needs to carry out eliminating of entirety, this mode construction cycle is long, and development cost is high, poor reliability, serious waste of resources.This is just badly in need of a kind of better versatility, safeguards easier a kind of controller.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of reliable and stable base plate to the controller of industrial robot, is attached other module, increases the maintainability of controller, reliability, it is made to update faster, by modularity, in the long run, the effect of controller cost is reduced.
The present invention provides a kind of modularity industrial robot controller base plate, and it mainly realizes the connection between core control panel, I O board, communication board and power panel, communication and power supply.Core control panel is connected by CPCI back panel connector J1, I O board is connected by Europlug J5, communication board is connected by Europlug J4, and power panel is connected by Europlug J8, and back panel connector J1, Europlug J5, Europlug J4, Europlug J8 are fixed on chassis.
nullThe adapter J1 of described modularity industrial robot controller base plate adopts CPCI110 back panel connector，Effective pin has 110，The present invention uses the pin a2 of 80 therein: adapter J1 and connects IO_I_0，The pin a3 of adapter J1 connects IO_I_2，The pin a4 of adapter J1 connects IO_I_4，The pin a5 of adapter J1 connects IO_I_6，The pin a6 of adapter J1 connects IO_I_8，The pin a7 of adapter J1 connects IO_I_10，The pin a8 of adapter J1 connects IO_I_12，The pin a9 of adapter J1 connects IO_I_14，The pin a10 of adapter J1 connects IO_I_16，The pin a11 of adapter J1 connects IO_I_18，The pin a12 of adapter J1 connects IO_I_20，The pin a13 of adapter J1 connects IO_I_22，The pin a14 of adapter J1 connects IO_I_24，The pin a15 of adapter J1 connects IO_I_26，The pin a16 of adapter J1 connects IO_I_28，The pin a17 of adapter J1 connects IO_I_30，The pin a18 of adapter J1 connects IO_I_32，The pin a19 of adapter J1 connects IO_I_34，The pin a20 of adapter J1 connects IO_I_36，The pin a21 of adapter J1 connects IO_I_38，The pin b2 of adapter J1 connects IO_I_1，The pin b3 of adapter J1 connects IO_I_3，The pin b4 of adapter J1 connects IO_I_5，The pin b5 of adapter J1 connects IO_I_7，The pin b6 of adapter J1 connects IO_I_9，The pin b7 of adapter J1 connects IO_I_11，The pin b8 of adapter J1 connects IO_I_13，The pin b9 of adapter J1 connects IO_I_15，The pin b10 of adapter J1 connects IO_I_17，The pin b11 of adapter J1 connects IO_I_19，The pin b12 of adapter J1 connects IO_I_21，The pin b13 of adapter J1 connects IO_I_23，The pin b14 of adapter J1 connects IO_I_25，The pin b15 of adapter J1 connects IO_I_27，The pin b16 of adapter J1 connects IO_I_29，The pin b17 of adapter J1 connects IO_I_31，The pin b18 of adapter J1 connects IO_I_33，The pin b19 of adapter J1 connects IO_I_35，The pin b20 of adapter J1 connects IO_I_37，The pin b21 of adapter J1 connects IO_I_39，The pin d2 of adapter J1 connects DA0_NSYNC_BI，The pin d3 of adapter J1 connects SSPRXD_BI，The pin d4 of adapter J1 connects DA1_NSYNC_BI，The pin d5 of adapter J1 connects DA3_NSYNC_BI，The pin d6 of adapter J1 connects AD_CS_BI，The pin d7 of adapter J1 connects SSPSCLK2_BI，The pin d8 of adapter J1 connects CAN2_N，The pin d9 of adapter J1 connects CAN1_N，The pin d10 of adapter J1 connects RS485_1_P，The pin d11 of adapter J1 connects RS232_TX1，The pin d12 of adapter J1 connects RS232_RX4，The pin d13 of adapter J1 connects DBG_RXD，The pin d14 of adapter J1 connects I2C3_SDA，The pin d15 of adapter J1 connects A_PC_AI，The pin d16 of adapter J1 connects A_ALM_AI，The pin d17 of adapter J1 connects A_D_BI，The pin d18 of adapter J1 connects B_PC_AI，The pin d19 of adapter J1 connects B_ALM_AI，The pin d20 of adapter J1 connects B_D_BI，The pin d21 of adapter J1 connects C_PC_AI，The pin e2 of adapter J1 connects SSPTXD_BI，The pin e3 of adapter J1 connects SSPSCLK_BI，The pin e4 of adapter J1 connects DA2_NSYNC_BI，The pin e5 of adapter J1 connects SSPTXD2_BI，The pin e6 of adapter J1 connects SSPRXD2_BI，The pin e7 of adapter J1 connects CAN2_P，The pin e8 of adapter J1 connects CAN1_P，The pin e9 of adapter J1 connects AD_INT_BI，The pin e10 of adapter J1 connects RS485_1_N，The pin e11 of adapter J1 connects RS232_RX1，The pin e12 of adapter J1 connects DBG_TXD，The pin e13 of adapter J1 connects I2C3_SCL，The pin e14 of adapter J1 connects RS232_TX4，The pin e15 of adapter J1 connects A_RDY_AI，The pin e16 of adapter J1 connects A_EN_BI，The pin e17 of adapter J1 connects A_P_BI，The pin e18 of adapter J1 connects B_RDY_AI，The pin e19 of adapter J1 connects B_EN_BI，The pin e20 of adapter J1 connects B_P_BI，The pin e21 of adapter J1 connects C_RDY_AI.
nullThe Europlug J4 of described modularity industrial robot controller base plate adopts 96 pin Europlugs: the pin A1 of Europlug J4 connects PVDD_+15V，The pin B1 of Europlug J4 connects PGND，The pin C1 of Europlug J4 connects PGND，The pin B2 of Europlug J4 connects FPGA_VREF1N0，The pin C2 of Europlug J4 connects FPGA_VREF3N0，The pin A3 of Europlug J4 connects CAN2_P，The pin B3 of Europlug J4 connects AGND，The pin C3 of Europlug J4 connects FPGA_VREF3N1，The pin A4 of Europlug J4 connects CAN1_P，The pin B4 of Europlug J4 connects CAN2_N，The pin C4 of Europlug J4 connects AGND，The pin A5 of Europlug J4 connects I2C3_SDA，The pin B5 of Europlug J4 connects CAN1_N，The pin C5 of Europlug J4 connects GPIO_162，The pin A6 of Europlug J4 connects H_P_BI，The pin B6 of Europlug J4 connects I2C3_SCL，The pin C6 of Europlug J4 connects H_D_BI，The pin A7 of Europlug J4 connects G_D_BI，The pin B7 of Europlug J4 connects G_P_BI，The pin C7 of Europlug J4 connects VDD_3P3，The pin A8 of Europlug J4 connects RS232_TX1，The pin B8 of Europlug J4 connects RS485_1_N，The pin C8 of Europlug J4 connects RS485_1_P，The pin A9 of Europlug J4 connects D_P_BI，The pin B9 of Europlug J4 connects RS232_RX1，The pin C9 of Europlug J4 connects D_D_BI，The pin A10 of Europlug J4 connects DBG_TXD，The pin B10 of Europlug J4 connects C_P_BI，The pin C10 of Europlug J4 connects C_D_BI，The pin A11 of Europlug J4 connects F_P_BI，The pin B11 of Europlug J4 connects DBG_RXD，The pin C11 of Europlug J4 connects E_D_BI，The pin A12 of Europlug J4 connects B_P_BI，The pin B12 of Europlug J4 connects B_D_BI，The pin C12 of Europlug J4 connects A_P_BI，The pin A13 of Europlug J4 connects RS232_TX4，The pin B13 of Europlug J4 connects A_D_BI，The pin C13 of Europlug J4 connects E_P_BI，The pin A14 of Europlug J4 connects A_EN_BI，The pin B14 of Europlug J4 connects RS232_RX4，The pin C14 of Europlug J4 connects F_D_BI，The pin A15 of Europlug J4 connects D_EN_BI，The pin B15 of Europlug J4 connects B_EN_BI，The pin C15 of Europlug J4 connects C_EN_BI，The pin A16 of Europlug J4 connects G_EN_BI，The pin B16 of Europlug J4 connects F_EN_BI，The pin C16 of Europlug J4 connects E_EN_BI，The pin A17 of Europlug J4 connects H_RDY_AI，The pin B17 of Europlug J4 connects G_ALM_AI，The pin C17 of Europlug J4 connects H_EN_BI，The pin A18 of Europlug J4 connects VDDP_5P0，The pin B18 of Europlug J4 connects F_ALM_AI，The pin C18 of Europlug J4 connects E_ALM_AI，The pin A19 of Europlug J4 connects D_ALM_AI，The pin B19 of Europlug J4 connects VDDP_5P0，The pin C19 of Europlug J4 connects E_RDY_AI，The pin A20 of Europlug J4 connects AD_CS_BI，The pin B20 of Europlug J4 connects VDD_5P0，The pin C20 of Europlug J4 connects SSPRXD2_BI，The pin A21 of Europlug J4 connects GND，The pin B21 of Europlug J4 connects D_RDY_AI，The pin C21 of Europlug J4 connects GND，The pin A22 of Europlug J4 connects C_ALM_AI，The pin B22 of Europlug J4 connects C_PC_AI，The pin C22 of Europlug J4 connects B_PC_AI，The pin A23 of Europlug J4 connects H_PC_AI，The pin B23 of Europlug J4 connects G_PC_AI，The pin C23 of Europlug J4 connects SSPSCLK2_BI，The pin A24 of Europlug J4 connects AD_INT_BI，The pin B24 of Europlug J4 connects SSPTXD2_BI，The pin C24 of Europlug J4 connects DA3_NSYNC_BI，The pin A25 of Europlug J4 connects DA2_NSYNC_BI，The pin B25 of Europlug J4 connects DA1_NSYNC_BI，The pin C25 of Europlug J4 connects DA0_NSYNC_BI，The pin A26 of Europlug J4 connects H_ALM_AI，The pin B26 of Europlug J4 connects G_RDY_AI，The pin C26 of Europlug J4 connects VDD_3P3，The pin A27 of Europlug J4 connects F_RDY_AI，The pin B27 of Europlug J4 connects C_RDY_AI，The pin C27 of Europlug J4 connects B_ALM_AI，The pin A28 of Europlug J4 connects A_ALM_AI，The pin B28 of Europlug J4 connects A_RDY_AI，The pin C28 of Europlug J4 connects B_RDY_AI，The pin A29 of Europlug J4 connects F_PC_AI，The pin B29 of Europlug J4 connects E_PC_AI，The pin C29 of Europlug J4 connects AGND，The pin A30 of Europlug J4 connects PVDD_24V，The pin B30 of Europlug J4 connects SSPTXD_BI，The pin C30 of Europlug J4 connects SSPSCLK_BI，The pin A31 of Europlug J4 connects D_PC_AI，The pin B31 of Europlug J4 connects PVDD_-15V，The pin C31 of Europlug J4 connects A_PC_AI，The pin A32 of Europlug J4 connects PVDD_24V，The pin B32 of Europlug J4 connects SSPRXD_BI，The pin C32 of Europlug J4 connects PGND.
nullThe Europlug J5 of described modularity industrial robot controller base plate adopts 48 pin Europlugs: the pin A1 of Europlug J5 connects GPIO_18，The pin B1 of Europlug J5 connects IO_O_24，The pin C1 of Europlug J5 connects PGND，The pin A2 of Europlug J5 connects GPIO_I_15，The pin B2 of Europlug J5 connects IO_O_25，The pin C2 of Europlug J5 connects PGND，The pin A3 of Europlug J5 connects GPIO_I_14，The pin B3 of Europlug J5 connects IO_O_26，The pin C3 of Europlug J5 connects PGND，The pin A4 of Europlug J5 connects GPIO_23，The pin B4 of Europlug J5 connects GPIO_22，The pin C4 of Europlug J5 connects PGND，The pin A5 of Europlug J5 connects GPIO_21，The pin B5 of Europlug J5 connects GPIO_20，The pin C5 of Europlug J5 connects PGND，The pin A6 of Europlug J5 connects IO_I_15，The pin B6 of Europlug J5 connects IO_I_14，The pin C6 of Europlug J5 connects IO_I_12，The pin A7 of Europlug J5 connects IO_I_13，The pin B7 of Europlug J5 connects IO_O_27，The pin C7 of Europlug J5 connects PVDD_24V，The pin A8 of Europlug J5 connects IO_O_28，The pin B8 of Europlug J5 connects IO_O_29，The pin C8 of Europlug J5 connects PVDD_24V，The pin A9 of Europlug J5 connects IO_O_30，The pin B9 of Europlug J5 connects IO_O_31，The pin C9 of Europlug J5 connects PVDD_24V，The pin A10 of Europlug J5 connects IO_I_39，The pin B10 of Europlug J5 connects IO_O_32，The pin C10 of Europlug J5 connects PVDD_24V，The pin A11 of Europlug J5 connects IO_I_38，The pin B11 of Europlug J5 connects IO_O_33，The pin C11 of Europlug J5 connects GPIO_156，The pin A12 of Europlug J5 connects IO_I_37，The pin B12 of Europlug J5 connects IO_O_34，The pin C12 of Europlug J5 connects GPIO_59，The pin A13 of Europlug J5 connects IO_O_35，The pin B13 of Europlug J5 connects IO_I_36，The pin C13 of Europlug J5 connects GPIO_157，The pin A14 of Europlug J5 connects IO_O_36，The pin B14 of Europlug J5 connects IO_O_37，The pin C14 of Europlug J5 connects GPIO_158，The pin A15 of Europlug J5 connects IO_O_38，The pin B15 of Europlug J5 connects IO_O_39，The pin C15 of Europlug J5 connects GPIO_159，The pin A16 of Europlug J5 connects GPIO_25，The pin B16 of Europlug J5 connects GPIO_24，The pin C16 of Europlug J5 connects GPIO_160.
nullThe Europlug J8 of described modularity industrial robot controller base plate adopts 48 pin Europlugs: the pin A1 of Europlug J8 connects VDD_3P3，The pin B1 of Europlug J8 connects VDD_3P3，The pin C1 of Europlug J8 connects VDD_3P3，The pin A2 of Europlug J8 connects GND，The pin B2 of Europlug J8 connects GND，The pin C2 of Europlug J8 connects GND，The pin A3 of Europlug J8 connects GND，The pin B3 of Europlug J8 connects GND，The pin C3 of Europlug J8 connects GND，The pin A4 of Europlug J8 connects VDD_5P0，The pin B4 of Europlug J8 connects VDD_5P0，The pin C4 of Europlug J8 connects VDD_5P0，The pin A5 of Europlug J8 connects VDD_3V0_BAT，The pin B5 of Europlug J8 connects PVDD_12V，The pin C5 of Europlug J8 connects PVDD_12V，The pin A6 of Europlug J8 connects PGND，The pin B6 of Europlug J8 connects PGND，The pin C6 of Europlug J8 connects PGND，The pin A7 of Europlug J8 connects PVDD_+15V，The pin B7 of Europlug J8 connects PVDD_+15V，The pin C7 of Europlug J8 connects PVDD_+15V，The pin A8 of Europlug J8 connects AGND，The pin B8 of Europlug J8 connects AGND，The pin C8 of Europlug J8 connects AGND，The pin A9 of Europlug J8 connects PVDD_-15V，The pin B9 of Europlug J8 connects PVDD_-15V，The pin C9 of Europlug J8 connects PVDD_-15V，The pin A10 of Europlug J8 connects VDDP_5P0，The pin B10 of Europlug J8 connects VDDP_5P0，The pin C10 of Europlug J8 connects VDDP_5P0，The pin A11 of Europlug J8 connects PGND，The pin B11 of Europlug J8 connects PGND，The pin C11 of Europlug J8 connects PGND，The pin A12 of Europlug J8 connects PGND，The pin B12 of Europlug J8 connects PGND，The pin C12 of Europlug J8 connects PGND，The pin A13 of Europlug J8 connects PGND，The pin B13 of Europlug J8 connects PGND，The pin C13 of Europlug J8 connects PGND，The pin A14 of Europlug J8 connects PVDD_24V，The pin B14 of Europlug J8 connects PVDD_24V，The pin C14 of Europlug J8 connects PVDD_24V，The pin A15 of Europlug J8 connects PVDD_24V，The pin B15 of Europlug J8 connects PVDD_24V，The pin C15 of Europlug J8 connects PVDD_24V，The pin A16 of Europlug J8 connects PVDD_24V，The pin B16 of Europlug J8 connects PVDD_24V，The pin C16 of Europlug J8 connects PVDD_24V.
M1, M2, M3, M4 are four anchor pad, and it is directly connected to base plate (CHASSIS), connect PGND by electric capacity C8.
It is an advantage of the current invention that:
(1) the invention enables controller to update and do not need overall replacing, only part of module need to be upgraded, reduce development cost, shorten the effect of construction cycle；
(2) due to the fact that adjustable point carries out maintenance maintenance so that difference in functionality is integrated into different modules, maintenance maintenance is relatively easy；
(3) base plate provides a variety of voltages, and a variety of communication interfaces, enough input/output ports, versatility is better；
(4) base plate makes each module throwback to continue, and the reliability of controller is secure, even if certain module breaks down, it is possible to replace does not affect being normally carried out of work at once.
Accompanying drawing explanation
Fig. 1 is the catenation principle figure of adapter J1.
Fig. 2 is the catenation principle figure of Europlug J4.
Fig. 3 is the catenation principle figure of Europlug J5.
Fig. 4 is the catenation principle figure of Europlug J8.
Fig. 5 is fixing hole schematic diagram.
Fig. 6 is a kind of modularity industrial robot controller base arrangement sketch.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 6, a kind of modularity industrial robot controller base plate of the present invention, it mainly realizes the connection between core control panel, I O board, communication board and power panel, communication and power supply.Core control panel is connected by CPCI back panel connector J1, I O board is connected by Europlug J5, communication board is connected by Europlug J4, and power panel is connected by Europlug J8, and back panel connector J1, Europlug J5, Europlug J4, Europlug J8 are fixed on chassis.
nullAs shown in Figure 1，The adapter J1 of described modularity industrial robot controller base plate adopts CPCI110 back panel connector，Effective pin has 110，The present invention uses the pin a2 of 80 therein: adapter J1 and connects IO_I_0，The pin a3 of adapter J1 connects IO_I_2，The pin a4 of adapter J1 connects IO_I_4，The pin a5 of adapter J1 connects IO_I_6，The pin a6 of adapter J1 connects IO_I_8，The pin a7 of adapter J1 connects IO_I_10，The pin a8 of adapter J1 connects IO_I_12，The pin a9 of adapter J1 connects IO_I_14，The pin a10 of adapter J1 connects IO_I_16，The pin a11 of adapter J1 connects IO_I_18，The pin a12 of adapter J1 connects IO_I_20，The pin a13 of adapter J1 connects IO_I_22，The pin a14 of adapter J1 connects IO_I_24，The pin a15 of adapter J1 connects IO_I_26，The pin a16 of adapter J1 connects IO_I_28，The pin a17 of adapter J1 connects IO_I_30，The pin a18 of adapter J1 connects IO_I_32，The pin a19 of adapter J1 connects IO_I_34，The pin a20 of adapter J1 connects IO_I_36，The pin a21 of adapter J1 connects IO_I_38，The pin b2 of adapter J1 connects IO_I_1，The pin b3 of adapter J1 connects IO_I_3，The pin b4 of adapter J1 connects IO_I_5，The pin b5 of adapter J1 connects IO_I_7，The pin b6 of adapter J1 connects IO_I_9，The pin b7 of adapter J1 connects IO_I_11，The pin b8 of adapter J1 connects IO_I_13，The pin b9 of adapter J1 connects IO_I_15，The pin b10 of adapter J1 connects IO_I_17，The pin b11 of adapter J1 connects IO_I_19，The pin b12 of adapter J1 connects IO_I_21，The pin b13 of adapter J1 connects IO_I_23，The pin b14 of adapter J1 connects IO_I_25，The pin b15 of adapter J1 connects IO_I_27，The pin b16 of adapter J1 connects IO_I_29，The pin b17 of adapter J1 connects IO_I_31，The pin b18 of adapter J1 connects IO_I_33，The pin b19 of adapter J1 connects IO_I_35，The pin b20 of adapter J1 connects IO_I_37，The pin b21 of adapter J1 connects IO_I_39，The pin d2 of adapter J1 connects DA0_NSYNC_BI，The pin d3 of adapter J1 connects SSPRXD_BI，The pin d4 of adapter J1 connects DA1_NSYNC_BI，The pin d5 of adapter J1 connects DA3_NSYNC_BI，The pin d6 of adapter J1 connects AD_CS_BI，The pin d7 of adapter J1 connects SSPSCLK2_BI，The pin d8 of adapter J1 connects CAN2_N，The pin d9 of adapter J1 connects CAN1_N，The pin d10 of adapter J1 connects RS485_1_P，The pin d11 of adapter J1 connects RS232_TX1，The pin d12 of adapter J1 connects RS232_RX4，The pin d13 of adapter J1 connects DBG_RXD，The pin d14 of adapter J1 connects I2C3_SDA，The pin d15 of adapter J1 connects A_PC_AI，The pin d16 of adapter J1 connects A_ALM_AI，The pin d17 of adapter J1 connects A_D_BI，The pin d18 of adapter J1 connects B_PC_AI，The pin d19 of adapter J1 connects B_ALM_AI，The pin d20 of adapter J1 connects B_D_BI，The pin d21 of adapter J1 connects C_PC_AI，The pin e2 of adapter J1 connects SSPTXD_BI，The pin e3 of adapter J1 connects SSPSCLK_BI，The pin e4 of adapter J1 connects DA2_NSYNC_BI，The pin e5 of adapter J1 connects SSPTXD2_BI，The pin e6 of adapter J1 connects SSPRXD2_BI，The pin e7 of adapter J1 connects CAN2_P，The pin e8 of adapter J1 connects CAN1_P，The pin e9 of adapter J1 connects AD_INT_BI，The pin e10 of adapter J1 connects RS485_1_N，The pin e11 of adapter J1 connects RS232_RX1，The pin e12 of adapter J1 connects DBG_TXD，The pin e13 of adapter J1 connects I2C3_SCL，The pin e14 of adapter J1 connects RS232_TX4，The pin e15 of adapter J1 connects A_RDY_AI，The pin e16 of adapter J1 connects A_EN_BI，The pin e17 of adapter J1 connects A_P_BI，The pin e18 of adapter J1 connects B_RDY_AI，The pin e19 of adapter J1 connects B_EN_BI，The pin e20 of adapter J1 connects B_P_BI，The pin e21 of adapter J1 connects C_RDY_AI.
nullAs shown in Figure 2，The Europlug J4 of described modularity industrial robot controller base plate adopts 96 pin Europlugs: the pin A1 of Europlug J4 connects PVDD_+15V，The pin B1 of Europlug J4 connects PGND，The pin C1 of Europlug J4 connects PGND，The pin B2 of Europlug J4 connects FPGA_VREF1N0，The pin C2 of Europlug J4 connects FPGA_VREF3N0，The pin A3 of Europlug J4 connects CAN2_P，The pin B3 of Europlug J4 connects AGND，The pin C3 of Europlug J4 connects FPGA_VREF3N1，The pin A4 of Europlug J4 connects CAN1_P，The pin B4 of Europlug J4 connects CAN2_N，The pin C4 of Europlug J4 connects AGND，The pin A5 of Europlug J4 connects I2C3_SDA，The pin B5 of Europlug J4 connects CAN1_N，The pin C5 of Europlug J4 connects GPIO_162，The pin A6 of Europlug J4 connects H_P_BI，The pin B6 of Europlug J4 connects I2C3_SCL，The pin C6 of Europlug J4 connects H_D_BI，The pin A7 of Europlug J4 connects G_D_BI，The pin B7 of Europlug J4 connects G_P_BI，The pin C7 of Europlug J4 connects VDD_3P3，The pin A8 of Europlug J4 connects RS232_TX1，The pin B8 of Europlug J4 connects RS485_1_N，The pin C8 of Europlug J4 connects RS485_1_P，The pin A9 of Europlug J4 connects D_P_BI，The pin B9 of Europlug J4 connects RS232_RX1，The pin C9 of Europlug J4 connects D_D_BI，The pin A10 of Europlug J4 connects DBG_TXD，The pin B10 of Europlug J4 connects C_P_BI，The pin C10 of Europlug J4 connects C_D_BI，The pin A11 of Europlug J4 connects F_P_BI，The pin B11 of Europlug J4 connects DBG_RXD，The pin C11 of Europlug J4 connects E_D_BI，The pin A12 of Europlug J4 connects B_P_BI，The pin B12 of Europlug J4 connects B_D_BI，The pin C12 of Europlug J4 connects A_P_BI，The pin A13 of Europlug J4 connects RS232_TX4，The pin B13 of Europlug J4 connects A_D_BI，The pin C13 of Europlug J4 connects E_P_BI，The pin A14 of Europlug J4 connects A_EN_BI，The pin B14 of Europlug J4 connects RS232_RX4，The pin C14 of Europlug J4 connects F_D_BI，The pin A15 of Europlug J4 connects D_EN_BI，The pin B15 of Europlug J4 connects B_EN_BI，The pin C15 of Europlug J4 connects C_EN_BI，The pin A16 of Europlug J4 connects G_EN_BI，The pin B16 of Europlug J4 connects F_EN_BI，The pin C16 of Europlug J4 connects E_EN_BI，The pin A17 of Europlug J4 connects H_RDY_AI，The pin B17 of Europlug J4 connects G_ALM_AI，The pin C17 of Europlug J4 connects H_EN_BI，The pin A18 of Europlug J4 connects VDDP_5P0，The pin B18 of Europlug J4 connects F_ALM_AI，The pin C18 of Europlug J4 connects E_ALM_AI，The pin A19 of Europlug J4 connects D_ALM_AI，The pin B19 of Europlug J4 connects VDDP_5P0，The pin C19 of Europlug J4 connects E_RDY_AI，The pin A20 of Europlug J4 connects AD_CS_BI，The pin B20 of Europlug J4 connects VDD_5P0，The pin C20 of Europlug J4 connects SSPRXD2_BI，The pin A21 of Europlug J4 connects GND，The pin B21 of Europlug J4 connects D_RDY_AI，The pin C21 of Europlug J4 connects GND，The pin A22 of Europlug J4 connects C_ALM_AI，The pin B22 of Europlug J4 connects C_PC_AI，The pin C22 of Europlug J4 connects B_PC_AI，The pin A23 of Europlug J4 connects H_PC_AI，The pin B23 of Europlug J4 connects G_PC_AI，The pin C23 of Europlug J4 connects SSPSCLK2_BI，The pin A24 of Europlug J4 connects AD_INT_BI，The pin B24 of Europlug J4 connects SSPTXD2_BI，The pin C24 of Europlug J4 connects DA3_NSYNC_BI，The pin A25 of Europlug J4 connects DA2_NSYNC_BI，The pin B25 of Europlug J4 connects DA1_NSYNC_BI，The pin C25 of Europlug J4 connects DA0_NSYNC_BI，The pin A26 of Europlug J4 connects H_ALM_AI，The pin B26 of Europlug J4 connects G_RDY_AI，The pin C26 of Europlug J4 connects VDD_3P3，The pin A27 of Europlug J4 connects F_RDY_AI，The pin B27 of Europlug J4 connects C_RDY_AI，The pin C27 of Europlug J4 connects B_ALM_AI，The pin A28 of Europlug J4 connects A_ALM_AI，The pin B28 of Europlug J4 connects A_RDY_AI，The pin C28 of Europlug J4 connects B_RDY_AI，The pin A29 of Europlug J4 connects F_PC_AI，The pin B29 of Europlug J4 connects E_PC_AI，The pin C29 of Europlug J4 connects AGND，The pin A30 of Europlug J4 connects PVDD_24V，The pin B30 of Europlug J4 connects SSPTXD_BI，The pin C30 of Europlug J4 connects SSPSCLK_BI，The pin A31 of Europlug J4 connects D_PC_AI，The pin B31 of Europlug J4 connects PVDD_-15V，The pin C31 of Europlug J4 connects A_PC_AI，The pin A32 of Europlug J4 connects PVDD_24V，The pin B32 of Europlug J4 connects SSPRXD_BI，The pin C32 of Europlug J4 connects PGND.
nullAs shown in Figure 3，The Europlug J5 of described modularity industrial robot controller base plate adopts 48 pin Europlugs: the pin A1 of Europlug J5 connects GPIO_18，The pin B1 of Europlug J5 connects IO_O_24，The pin C1 of Europlug J5 connects PGND，The pin A2 of Europlug J5 connects GPIO_I_15，The pin B2 of Europlug J5 connects IO_O_25，The pin C2 of Europlug J5 connects PGND，The pin A3 of Europlug J5 connects GPIO_I_14，The pin B3 of Europlug J5 connects IO_O_26，The pin C3 of Europlug J5 connects PGND，The pin A4 of Europlug J5 connects GPIO_23，The pin B4 of Europlug J5 connects GPIO_22，The pin C4 of Europlug J5 connects PGND，The pin A5 of Europlug J5 connects GPIO_21，The pin B5 of Europlug J5 connects GPIO_20，The pin C5 of Europlug J5 connects PGND，The pin A6 of Europlug J5 connects IO_I_15，The pin B6 of Europlug J5 connects IO_I_14，The pin C6 of Europlug J5 connects IO_I_12，The pin A7 of Europlug J5 connects IO_I_13，The pin B7 of Europlug J5 connects IO_O_27，The pin C7 of Europlug J5 connects PVDD_24V，The pin A8 of Europlug J5 connects IO_O_28，The pin B8 of Europlug J5 connects IO_O_29，The pin C8 of Europlug J5 connects PVDD_24V，The pin A9 of Europlug J5 connects IO_O_30，The pin B9 of Europlug J5 connects IO_O_31，The pin C9 of Europlug J5 connects PVDD_24V，The pin A10 of Europlug J5 connects IO_I_39，The pin B10 of Europlug J5 connects IO_O_32，The pin C10 of Europlug J5 connects PVDD_24V，The pin A11 of Europlug J5 connects IO_I_38，The pin B11 of Europlug J5 connects IO_O_33，The pin C11 of Europlug J5 connects GPIO_156，The pin A12 of Europlug J5 connects IO_I_37，The pin B12 of Europlug J5 connects IO_O_34，The pin C12 of Europlug J5 connects GPIO_59，The pin A13 of Europlug J5 connects IO_O_35，The pin B13 of Europlug J5 connects IO_I_36，The pin C13 of Europlug J5 connects GPIO_157，The pin A14 of Europlug J5 connects IO_O_36，The pin B14 of Europlug J5 connects IO_O_37，The pin C14 of Europlug J5 connects GPIO_158，The pin A15 of Europlug J5 connects IO_O_38，The pin B15 of Europlug J5 connects IO_O_39，The pin C15 of Europlug J5 connects GPIO_159，The pin A16 of Europlug J5 connects GPIO_25，The pin B16 of Europlug J5 connects GPIO_24，The pin C16 of Europlug J5 connects GPIO_160.
nullAs shown in Figure 4，The Europlug J8 of described modularity industrial robot controller base plate adopts 48 pin Europlugs: the pin A1 of Europlug J8 connects VDD_3P3，The pin B1 of Europlug J8 connects VDD_3P3，The pin C1 of Europlug J8 connects VDD_3P3，The pin A2 of Europlug J8 connects GND，The pin B2 of Europlug J8 connects GND，The pin C2 of Europlug J8 connects GND，The pin A3 of Europlug J8 connects GND，The pin B3 of Europlug J8 connects GND，The pin C3 of Europlug J8 connects GND，The pin A4 of Europlug J8 connects VDD_5P0，The pin B4 of Europlug J8 connects VDD_5P0，The pin C4 of Europlug J8 connects VDD_5P0，The pin A5 of Europlug J8 connects VDD_3V0_BAT，The pin B5 of Europlug J8 connects PVDD_12V，The pin C5 of Europlug J8 connects PVDD_12V，The pin A6 of Europlug J8 connects PGND，The pin B6 of Europlug J8 connects PGND，The pin C6 of Europlug J8 connects PGND，The pin A7 of Europlug J8 connects PVDD_+15V，The pin B7 of Europlug J8 connects PVDD_+15V，The pin C7 of Europlug J8 connects PVDD_+15V，The pin A8 of Europlug J8 connects AGND，The pin B8 of Europlug J8 connects AGND，The pin C8 of Europlug J8 connects AGND，The pin A9 of Europlug J8 connects PVDD_-15V，The pin B9 of Europlug J8 connects PVDD_-15V，The pin C9 of Europlug J8 connects PVDD_-15V，The pin A10 of Europlug J8 connects VDDP_5P0，The pin B10 of Europlug J8 connects VDDP_5P0，The pin C10 of Europlug J8 connects VDDP_5P0，The pin A11 of Europlug J8 connects PGND，The pin B11 of Europlug J8 connects PGND，The pin C11 of Europlug J8 connects PGND，The pin A12 of Europlug J8 connects PGND，The pin B12 of Europlug J8 connects PGND，The pin C12 of Europlug J8 connects PGND，The pin A13 of Europlug J8 connects PGND，The pin B13 of Europlug J8 connects PGND，The pin C13 of Europlug J8 connects PGND，The pin A14 of Europlug J8 connects PVDD_24V，The pin B14 of Europlug J8 connects PVDD_24V，The pin C14 of Europlug J8 connects PVDD_24V，The pin A15 of Europlug J8 connects PVDD_24V，The pin B15 of Europlug J8 connects PVDD_24V，The pin C15 of Europlug J8 connects PVDD_24V，The pin A16 of Europlug J8 connects PVDD_24V，The pin B16 of Europlug J8 connects PVDD_24V，The pin C16 of Europlug J8 connects PVDD_24V.
As it is shown in figure 5, M1, M2, M3, M4 are four anchor pad, it is directly connected to base plate (CHASSIS), connects PGND by electric capacity C8.
Claims (2)
1. a modularity industrial robot controller base plate, realize the connection between core control panel, I O board, communication board and power panel, communication and power supply, core control panel is connected by CPCI back panel connector J1, I O board is connected by Europlug J5, communication board is connected by Europlug J4, power panel is connected by Europlug J8, and back panel connector J1, Europlug J5, Europlug J4, Europlug J8 are fixed on chassis；
nullThe adapter J1 of described modularity industrial robot controller base plate adopts CPCI110 back panel connector，The pin a2 of adapter J1 connects IO_I_0，The pin a3 of adapter J1 connects IO_I_2，The pin a4 of adapter J1 connects IO_I_4，The pin a5 of adapter J1 connects IO_I_6，The pin a6 of adapter J1 connects IO_I_8，The pin a7 of adapter J1 connects IO_I_10，The pin a8 of adapter J1 connects IO_I_12，The pin a9 of adapter J1 connects IO_I_14，The pin a10 of adapter J1 connects IO_I_16，The pin a11 of adapter J1 connects IO_I_18，The pin a12 of adapter J1 connects IO_I_20，The pin a13 of adapter J1 connects IO_I_22，The pin a14 of adapter J1 connects IO_I_24，The pin a15 of adapter J1 connects IO_I_26，The pin a16 of adapter J1 connects IO_I_28，The pin a17 of adapter J1 connects IO_I_30，The pin a18 of adapter J1 connects IO_I_32，The pin a19 of adapter J1 connects IO_I_34，The pin a20 of adapter J1 connects IO_I_36，The pin a21 of adapter J1 connects IO_I_38，The pin b2 of adapter J1 connects IO_I_1，The pin b3 of adapter J1 connects IO_I_3，The pin b4 of adapter J1 connects IO_I_5，The pin b5 of adapter J1 connects IO_I_7，The pin b6 of adapter J1 connects IO_I_9，The pin b7 of adapter J1 connects IO_I_11，The pin b8 of adapter J1 connects IO_I_13，The pin b9 of adapter J1 connects IO_I_15，The pin b10 of adapter J1 connects IO_I_17，The pin b11 of adapter J1 connects IO_I_19，The pin b12 of adapter J1 connects IO_I_21，The pin b13 of adapter J1 connects IO_I_23，The pin b14 of adapter J1 connects IO_I_25，The pin b15 of adapter J1 connects IO_I_27，The pin b16 of adapter J1 connects IO_I_29，The pin b17 of adapter J1 connects IO_I_31，The pin b18 of adapter J1 connects IO_I_33，The pin b19 of adapter J1 connects IO_I_35，The pin b20 of adapter J1 connects IO_I_37，The pin b21 of adapter J1 connects IO_I_39，The pin d2 of adapter J1 connects DA0_NSYNC_BI，The pin d3 of adapter J1 connects SSPRXD_BI，The pin d4 of adapter J1 connects DA1_NSYNC_BI，The pin d5 of adapter J1 connects DA3_NSYNC_BI，The pin d6 of adapter J1 connects AD_CS_BI，The pin d7 of adapter J1 connects SSPSCLK2_BI，The pin d8 of adapter J1 connects CAN2_N，The pin d9 of adapter J1 connects CAN1_N，The pin d10 of adapter J1 connects RS485_1_P，The pin d11 of adapter J1 connects RS232_TX1，The pin d12 of adapter J1 connects RS232_RX4，The pin d13 of adapter J1 connects DBG_RXD，The pin d14 of adapter J1 connects I2C3_SDA，The pin d15 of adapter J1 connects A_PC_AI，The pin d16 of adapter J1 connects A_ALM_AI，The pin d17 of adapter J1 connects A_D_BI，The pin d18 of adapter J1 connects B_PC_AI，The pin d19 of adapter J1 connects B_ALM_AI，The pin d20 of adapter J1 connects B_D_BI，The pin d21 of adapter J1 connects C_PC_AI，The pin e2 of adapter J1 connects SSPTXD_BI，The pin e3 of adapter J1 connects SSPSCLK_BI，The pin e4 of adapter J1 connects DA2_NSYNC_BI，The pin e5 of adapter J1 connects SSPTXD2_BI，The pin e6 of adapter J1 connects SSPRXD2_BI，The pin e7 of adapter J1 connects CAN2_P，The pin e8 of adapter J1 connects CAN1_P，The pin e9 of adapter J1 connects AD_INT_BI，The pin e10 of adapter J1 connects RS485_1_N，The pin e11 of adapter J1 connects RS232_RX1，The pin e12 of adapter J1 connects DBG_TXD，The pin e13 of adapter J1 connects I2C3_SCL，The pin e14 of adapter J1 connects RS232_TX4，The pin e15 of adapter J1 connects A_RDY_AI，The pin e16 of adapter J1 connects A_EN_BI，The pin e17 of adapter J1 connects A_P_BI，The pin e18 of adapter J1 connects B_RDY_AI，The pin e19 of adapter J1 connects B_EN_BI，The pin e20 of adapter J1 connects B_P_BI，The pin e21 of adapter J1 connects C_RDY_AI；
nullThe Europlug J4 of described modularity industrial robot controller base plate adopts 96 pin Europlugs，The pin A1 of Europlug J4 connects PVDD_+15V，The pin B1 of Europlug J4 connects PGND，The pin C1 of Europlug J4 connects PGND，The pin B2 of Europlug J4 connects FPGA_VREF1N0，The pin C2 of Europlug J4 connects FPGA_VREF3N0，The pin A3 of Europlug J4 connects CAN2_P，The pin B3 of Europlug J4 connects AGND，The pin C3 of Europlug J4 connects FPGA_VREF3N1，The pin A4 of Europlug J4 connects CAN1_P，The pin B4 of Europlug J4 connects CAN2_N，The pin C4 of Europlug J4 connects AGND，The pin A5 of Europlug J4 connects I2C3_SDA，The pin B5 of Europlug J4 connects CAN1_N，The pin C5 of Europlug J4 connects GPIO_162，The pin A6 of Europlug J4 connects H_P_BI，The pin B6 of Europlug J4 connects I2C3_SCL，The pin C6 of Europlug J4 connects H_D_BI，The pin A7 of Europlug J4 connects G_D_BI，The pin B7 of Europlug J4 connects G_P_BI，The pin C7 of Europlug J4 connects VDD_3P3，The pin A8 of Europlug J4 connects RS232_TX1，The pin B8 of Europlug J4 connects RS485_1_N，The pin C8 of Europlug J4 connects RS485_1_P，The pin A9 of Europlug J4 connects D_P_BI，The pin B9 of Europlug J4 connects RS232_RX1，The pin C9 of Europlug J4 connects D_D_BI，The pin A10 of Europlug J4 connects DBG_TXD，The pin B10 of Europlug J4 connects C_P_BI，The pin C10 of Europlug J4 connects C_D_BI，The pin A11 of Europlug J4 connects F_P_BI，The pin B11 of Europlug J4 connects DBG_RXD，The pin C11 of Europlug J4 connects E_D_BI，The pin A12 of Europlug J4 connects B_P_BI，The pin B12 of Europlug J4 connects B_D_BI，The pin C12 of Europlug J4 connects A_P_BI，The pin A13 of Europlug J4 connects RS232_TX4，The pin B13 of Europlug J4 connects A_D_BI，The pin C13 of Europlug J4 connects E_P_BI，The pin A14 of Europlug J4 connects A_EN_BI，The pin B14 of Europlug J4 connects RS232_RX4，The pin C14 of Europlug J4 connects F_D_BI，The pin A15 of Europlug J4 connects D_EN_BI，The pin B15 of Europlug J4 connects B_EN_BI，The pin C15 of Europlug J4 connects C_EN_BI，The pin A16 of Europlug J4 connects G_EN_BI，The pin B16 of Europlug J4 connects F_EN_BI，The pin C16 of Europlug J4 connects E_EN_BI，The pin A17 of Europlug J4 connects H_RDY_AI，The pin B17 of Europlug J4 connects G_ALM_AI，The pin C17 of Europlug J4 connects H_EN_BI，The pin A18 of Europlug J4 connects VDDP_5P0，The pin B18 of Europlug J4 connects F_ALM_AI，The pin C18 of Europlug J4 connects E_ALM_AI，The pin A19 of Europlug J4 connects D_ALM_AI，The pin B19 of Europlug J4 connects VDDP_5P0，The pin C19 of Europlug J4 connects E_RDY_AI，The pin A20 of Europlug J4 connects AD_CS_BI，The pin B20 of Europlug J4 connects VDD_5P0，The pin C20 of Europlug J4 connects SSPRXD2_BI，The pin A21 of Europlug J4 connects GND，The pin B21 of Europlug J4 connects D_RDY_AI，The pin C21 of Europlug J4 connects GND，The pin A22 of Europlug J4 connects C_ALM_AI，The pin B22 of Europlug J4 connects C_PC_AI，The pin C22 of Europlug J4 connects B_PC_AI，The pin A23 of Europlug J4 connects H_PC_AI，The pin B23 of Europlug J4 connects G_PC_AI，The pin C23 of Europlug J4 connects SSPSCLK2_BI，The pin A24 of Europlug J4 connects AD_INT_BI，The pin B24 of Europlug J4 connects SSPTXD2_BI，The pin C24 of Europlug J4 connects DA3_NSYNC_BI，The pin A25 of Europlug J4 connects DA2_NSYNC_BI，The pin B25 of Europlug J4 connects DA1_NSYNC_BI，The pin C25 of Europlug J4 connects DA0_NSYNC_BI，The pin A26 of Europlug J4 connects H_ALM_AI，The pin B26 of Europlug J4 connects G_RDY_AI，The pin C26 of Europlug J4 connects VDD_3P3，The pin A27 of Europlug J4 connects F_RDY_AI，The pin B27 of Europlug J4 connects C_RDY_AI，The pin C27 of Europlug J4 connects B_ALM_AI，The pin A28 of Europlug J4 connects A_ALM_AI，The pin B28 of Europlug J4 connects A_RDY_AI，The pin C28 of Europlug J4 connects B_RDY_AI，The pin A29 of Europlug J4 connects F_PC_AI，The pin B29 of Europlug J4 connects E_PC_AI，The pin C29 of Europlug J4 connects AGND，The pin A30 of Europlug J4 connects PVDD_24V，The pin B30 of Europlug J4 connects SSPTXD_BI，The pin C30 of Europlug J4 connects SSPSCLK_BI，The pin A31 of Europlug J4 connects D_PC_AI，The pin B31 of Europlug J4 connects PVDD_-15V，The pin C31 of Europlug J4 connects A_PC_AI，The pin A32 of Europlug J4 connects PVDD_24V，The pin B32 of Europlug J4 connects SSPRXD_BI，The pin C32 of Europlug J4 connects PGND；
nullThe Europlug J5 of described modularity industrial robot controller base plate adopts 48 pin Europlugs，The pin A1 of Europlug J5 connects GPIO_18，The pin B1 of Europlug J5 connects IO_O_24，The pin C1 of Europlug J5 connects PGND，The pin A2 of Europlug J5 connects GPIO_I_15，The pin B2 of Europlug J5 connects IO_O_25，The pin C2 of Europlug J5 connects PGND，The pin A3 of Europlug J5 connects GPIO_I_14，The pin B3 of Europlug J5 connects IO_O_26，The pin C3 of Europlug J5 connects PGND，The pin A4 of Europlug J5 connects GPIO_23，The pin B4 of Europlug J5 connects GPIO_22，The pin C4 of Europlug J5 connects PGND，The pin A5 of Europlug J5 connects GPIO_21，The pin B5 of Europlug J5 connects GPIO_20，The pin C5 of Europlug J5 connects PGND，The pin A6 of Europlug J5 connects IO_I_15，The pin B6 of Europlug J5 connects IO_I_14，The pin C6 of Europlug J5 connects IO_I_12，The pin A7 of Europlug J5 connects IO_I_13，The pin B7 of Europlug J5 connects IO_O_27，The pin C7 of Europlug J5 connects PVDD_24V，The pin A8 of Europlug J5 connects IO_O_28，The pin B8 of Europlug J5 connects IO_O_29，The pin C8 of Europlug J5 connects PVDD_24V，The pin A9 of Europlug J5 connects IO_O_30，The pin B9 of Europlug J5 connects IO_O_31，The pin C9 of Europlug J5 connects PVDD_24V，The pin A10 of Europlug J5 connects IO_I_39，The pin B10 of Europlug J5 connects IO_O_32，The pin C10 of Europlug J5 connects PVDD_24V，The pin A11 of Europlug J5 connects IO_I_38，The pin B11 of Europlug J5 connects IO_O_33，The pin C11 of Europlug J5 connects GPIO_156，The pin A12 of Europlug J5 connects IO_I_37，The pin B12 of Europlug J5 connects IO_O_34，The pin C12 of Europlug J5 connects GPIO_59，The pin A13 of Europlug J5 connects IO_O_35，The pin B13 of Europlug J5 connects IO_I_36，The pin C13 of Europlug J5 connects GPIO_157，The pin A14 of Europlug J5 connects IO_O_36，The pin B14 of Europlug J5 connects IO_O_37，The pin C14 of Europlug J5 connects GPIO_158，The pin A15 of Europlug J5 connects IO_O_38，The pin B15 of Europlug J5 connects IO_O_39，The pin C15 of Europlug J5 connects GPIO_159，The pin A16 of Europlug J5 connects GPIO_25，The pin B16 of Europlug J5 connects GPIO_24，The pin C16 of Europlug J5 connects GPIO_160；
nullThe Europlug J8 of described modularity industrial robot controller base plate adopts 48 pin Europlugs，The pin A1 of Europlug J8 connects VDD_3P3，The pin B1 of Europlug J8 connects VDD_3P3，The pin C1 of Europlug J8 connects VDD_3P3，The pin A2 of Europlug J8 connects GND，The pin B2 of Europlug J8 connects GND，The pin C2 of Europlug J8 connects GND，The pin A3 of Europlug J8 connects GND，The pin B3 of Europlug J8 connects GND，The pin C3 of Europlug J8 connects GND，The pin A4 of Europlug J8 connects VDD_5P0，The pin B4 of Europlug J8 connects VDD_5P0，The pin C4 of Europlug J8 connects VDD_5P0，The pin A5 of Europlug J8 connects VDD_3V0_BAT，The pin B5 of Europlug J8 connects PVDD_12V，The pin C5 of Europlug J8 connects PVDD_12V，The pin A6 of Europlug J8 connects PGND，The pin B6 of Europlug J8 connects PGND，The pin C6 of Europlug J8 connects PGND，The pin A7 of Europlug J8 connects PVDD_+15V，The pin B7 of Europlug J8 connects PVDD_+15V，The pin C7 of Europlug J8 connects PVDD_+15V，The pin A8 of Europlug J8 connects AGND，The pin B8 of Europlug J8 connects AGND，The pin C8 of Europlug J8 connects AGND，The pin A9 of Europlug J8 connects PVDD_-15V，The pin B9 of Europlug J8 connects PVDD_-15V，The pin C9 of Europlug J8 connects PVDD_-15V，The pin A10 of Europlug J8 connects VDDP_5P0，The pin B10 of Europlug J8 connects VDDP_5P0，The pin C10 of Europlug J8 connects VDDP_5P0，The pin A11 of Europlug J8 connects PGND，The pin B11 of Europlug J8 connects PGND，The pin C11 of Europlug J8 connects PGND，The pin A12 of Europlug J8 connects PGND，The pin B12 of Europlug J8 connects PGND，The pin C12 of Europlug J8 connects PGND，The pin A13 of Europlug J8 connects PGND，The pin B13 of Europlug J8 connects PGND，The pin C13 of Europlug J8 connects PGND，The pin A14 of Europlug J8 connects PVDD_24V，The pin B14 of Europlug J8 connects PVDD_24V，The pin C14 of Europlug J8 connects PVDD_24V，The pin A15 of Europlug J8 connects PVDD_24V，The pin B15 of Europlug J8 connects PVDD_24V，The pin C15 of Europlug J8 connects PVDD_24V，The pin A16 of Europlug J8 connects PVDD_24V，The pin B16 of Europlug J8 connects PVDD_24V，The pin C16 of Europlug J8 connects PVDD_24V.
2. a kind of modularity industrial robot controller base plate according to claim 1, described base plate is provided with four anchor pad, and anchor pad connects PGND by electric capacity C8.
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