ReTRoC stands for Real Time Robot Controller, It is the heart of the Smile.Tech Robótica Platform, by handling all high level real time tasks, it assures smoothness and performance whatever the application.
Hardware Features:
- Logic power supply: 8VDC to 24VDC
- Motor power supply: 10 to 45VDC
- Processor: ESP32 Dual Core @240Mhz
- Storage: micro SD
- Connectivity: Serial USB + WiFi
- Display: 1.3″ 240x240px Color
- Connection to actuators: RS-485
- Maximum number of slaves: 31
- Maximum number of joints: 16
- Digital Inputs: 3 NPN
- Digital Outputs: 2 NPN (Up to 30V) (PWM capable)
- Analog Input: 1 (0 to 10V)
- Analog Output: 1 (0 to 3.3V)
Software Features:
- Advanced motion control
- Extended ISO code interpreter
- Pre loaded Parametric Kinematic Models for Delta, SCARA and Anthropomorphic Arm
- Gripper Kinematics included in model
- Force Sensing
- Energy Saving Vacuum Control
- Supports multiple simultaneous clients through USB and WiFi
More available on request
Connections
C01 – Power | |
| GND | Ground – 0VDC |
| PL | Power for Logic – 10VDC to 24VDC |
| PM | Power for Motor – 10VDC to 45VDC * |
* Power supply voltage should limit the velocity of motors.
C02 – Torque Off | |
| PL | Power for Logic (Out) |
| TO2 | Torque Off 2 |
| /TO1 | Not Torque Off 1 |
| GND | Ground – 0VDC |
| C03 – RS485 COM | |
| A | RS485 A Signal |
| B | RS485 B Signal |
C04.1 to C04.9 – Slave Connectors | |
| PM | Power for Motor – 10VDC to 45VDC * |
| PL | Power for Logic – 10VDC to 24VDC |
| GND | Ground – 0VDC |
| TO2 | Torque Off 2 |
| /TO1 | Not Torque Off 1 |
| A | RS485 A Signal |
| B | RS485 B Signal |
C05/C06 – External/Gripper I/O ** | |
| PL | Power for Logic (Out) |
| 5V | 5VDC |
| AO0 | Analog Output 0 |
| AI0 | Analog Input 0 |
| DO1 | Digital Output 1 |
| DO0 | Digital Output 0 |
| DI2 | Digital Input 2 |
| DI1 | Digital Input 1 |
| DI0 | Digital Input 0 |
| GND | Ground – 0VDC |
** C04 and C06 are internally connected.
Dimensions
Notes:
- Dimensions in mm
