FORM 2
THE PATENTS ACT, 1970 (39 of 1970) & THE PATENTS RULES, 2003
COMPLETE SPECIFICATION (See sec t io n 10, ru le 13) 1. Title of the invention: ROBOTIC CONTROLLER WITH MULTIPLE AXIS MOTION
CONTROL
2. Applicant(s)
NAME NATIONALITY ADDRESS
TAL MANUFACTURING Indian Tal Manufacturing Solutions Ltd. A
SOLUTIONS LI MITED TATA Enterprise TATA Motors
Campus Chinchwad Pune 411033,
India
3. Preamble to the description
COMPLETE SPECIFICATION
The following specification particularly describes the invention and the manner in which it
is to be performed.

TECHNICAL FIELD
[0001] The present subject matter relates to a robotic controller, and
particularly but not exclusively, to the robotic controller to provide multiple axis motion control.
BACKGROUND
[0002] Ever growing utilization of robotic systems has significant impact on a
wide range of sectors, such as industrial sector, service sector, educational sector, mining sector, military sector, healthcare sector and the like. As the complexity of the deliverable services increases, the robotic systems need to be operated with high accuracy, repeatability, and flexibility. Therefore, the robotic system has to be controlled with high accuracy, repeatability, and flexibility. The robotic system is controlled by a robotic controller that provides intelligence for operating the robotic system. Typically, the robotic controller is a combination of hardware and software to program and control the robotic system.
[0003] A typical robotic controller may include a processor unit containing
one or more processors, a feedback unit that takes a set of feedback signals from the sensor units provided in the robotic controller, and an interfacing unit that provides connectivity to a set of links that control the axes movements of the robot as well as communication with the peripherals to the robot. The desired movement of the robotic system is visualized as a frame within which each linkage is adapted to operate with a certain angle along the specific axis. Parameters of the frame and desired speed of the movement is then configured into the processing unit. Based on the configured parameters and the desired speed, the processing unit provides the intelligence to cause accurate movement of a link of the robotic system. By controlling each linkage, the robotic system may be operated in multiple degrees of freedom. The feedback unit provides a feedback signal to the processing unit to ensure repeatability of the movements. The interfacing unit establishes

communication with external device over communication protocol making the robotic system flexible to operate.
BRIEF DESCRIPTION OF DRAWINGS
[0004] Fig. 1 illustrates a block diagram of a robotic controller coupled to a
plurality of linkages of a robotic system, in accordance with a present subject matter.
[0005] Fig. 2 illustrates schematic of a standard robotic controller in
accordance with the present subject matter.
[0006] Fig. 3 illustrates a schematic of a standard motion controller in
accordance with the present subject matter.
[0007] Fig. 4 represents a block diagram of the robotic controller, in
accordance with the present subject matter.
[0008] Fig. 5 exemplifies an implementation of the robotic controller for
controlling a plurality of robotic systems of a same type, in accordance with the present subject matter.
[0009] Fig. 6 exemplifies an implementation of the robotic controller for
controlling a plurality of robotic systems of multiple types, in accordance with the present subject matter.
DETAILED DESCRIPTION
[0010] Conventional robotic controllers are capable of controlling motion of a
plurality of linkages integrated with a robotic system. A standard robotic system, particularly industrial robotic system, may include about five linkages, and may be operated up to six degrees of freedom (DOF). Certain parameters, such as location of the robotic system, location of a target assembly on which robotic operation has to performed, desired speed of the operation, real-time coordinates of the robotic system, desired coordinates of the system, and the like, are taken into consideration while visualising a desired frame for operation. The parameters are then provided to a central processing unit (CPU) of the robotic controller.

[0011] A kinematic module is embedded within the CPU. The kinematic
module is provided to calculate robotic kinematics. Typically, the kinematic module is provisioned with geometrical aspects of the desired frame of the robotic system. The kinematic module generates geospatial reference variables, for example, Cartesian coordinates, corresponding to the desired frame. The CPU converts the geospatial reference variables into a form of digital signal. The digital signal is then processed at a digital signal processing unit where the digital signal is converted into a control signal after taking into account a feedback signal corresponding to each geospatial reference variable from appropriate sensor unit. The control signal is sent to a drive unit to control motion of the linkages according to the desired frame. Usually, linkages which are externally coupled to the robotic system are often controlled using a programmable logic controller (PLC) to control the linkages. The PLC is also programmed to control peripheral devices connected to the robotic system along with safety interlocks and user interface through a suitable Man Machine Interface.
[0012] However, a programming language of the PLC controller is a vendor-
specific proprietary programming language. Likewise, the PLC controller has to be programmed in its vendor-specific platform. To program and control the PLC controller the service of a specialized and trained programmer is used. Therefore, utilization of a separate PLC controller in addition to the robotic controller do not result into a cost effective controlling unit. Further, the PLC controller programming is a sequential programming, i.e., a single program can run at a time. Therefore, the PLC controller can control a single linkage or a peripheral device at a time. In today’s continuously advancing robotic sector, the sequential programming of the PLC controller can be considered as a time consuming controller. Furthermore, industrial robotic systems are generally complex where four to six shafts are connected in parallel and/or in series. For high speed response of the robotic linkages, the axes linkages of the robot have to be controlled concurrently. The PLC controller may not

be able to control such complex robotic system with high efficiency and precision in real time with concurrent control of the axes linkages.
[0013] In absence of the PLC controller, typical robotic controllers can
control a limited set of linkages integrated with the robotic system. Therefore, about five axis motion control, corresponding to the linkages integrated with the robotic system, can be provided. Further, due to incapability of the robotic controller to provide up to ‘n’ axis motion control, the robotic controller is restricted to control a single robotic system in real-time.
[0014] The present subject matter relates to a robotic controller that may
provide ‘n’ axis motion control by using a motion controller integrated with a robotic controller which results in effective and economic controlling unit. Particularly, the present subject matter enhances the robotic controller by providing a control unit for controlling linkages integrated with the robotic system and linkages externally coupled to the robotic system. As the control unit can control integrated linkages and externally coupled linkages, cumulatively the robotic controller can provide ‘n’ axis motion control.
[0015] According to one implementation of the present subject matter, a
robotic controller is coupled to a robotic system to direct the linkages integrated with the robotic system, and linkages and a plurality of peripheral devices externally coupled to the robotic system.
[0016] According to an embodiment, the robotic controller includes a central
processing unit (CPU) and a control unit. In one implementation, a kinematic model is embedded into the CPU. The kinematic model refers to analytical representation of motion of the linkages and calculates the robotic kinematics. The analytical representation of the motion can be represented in a form of geospatial reference variable of each linkage. According to one implementation of the present subject matter, parameters of the linkage, such as desired motion of the linkages and speed of operation, are configured into the kinematic model. The kinematic model calculates

joint positions and trajectories of the linkage, and based on the configured parameters, generates a prediction module. The prediction module represents joint coordinates describing desired configuration of the linkages. The prediction module is then fed to the control unit in real-time.
[0017] The control unit includes a first motion control module 108 and a
second motion control module 110. In one implementation, the first motion control module 108 is provided to control motion of the linkages integrated with the robotic system, is referred as to internal linkages hereinafter. Examples of the internal linkages may include, but may not be limited to, a base assembly, a shoulder assembly, an elbow assembly, a wrist assembly, and an end-effector. The end-effector may be defined as a suitable motion actuator device like a motor shaft, gripper actuators, etc. that perform the end point activity of a movement associated with the robotic action. Directional movement and desired speed of the operation of each linkage has to be controlled precisely to optimize the performance of the robotic system. Parameters, used for controlling the directional movement and the speed of operation pertaining to the internal linkages under each of the parametric conditions, are embedded into the CPU.
[0018] In another implementation of the present subject matter, the second
motion control module is provided to control motion of the linkages externally coupled to the robotic system, referred as to external linkages hereinafter, and peripheral devices coupled to the robotic system. In one implementation, the second motion control module can be a processor of a standard motion controller integrated with the robotic controller. An example of the external linkages may include external multi axis robot.
[0019] In one implementation, a communication module is embedded with a
second control unit. The communication module is further coupled to the communication port to establish communication with the plurality of peripheral device coupled to the robotic system. Examples of the peripheral devices may

include, but may not be limited to, a drive unit for driving the external linkages or a vision camera mounted on an external linkage. Directional movement and desired speed of the operation of each external linkage and functioning of each peripheral device have to be controlled precisely to optimize performance of the robotic system. Parameters, used for controlling the directional movement and speed of operation of the external linkage functioning of the peripheral devices under each of the parametric conditions, are provided to the CPU.
[0020] The control unit converts inputs from the prediction module into
appropriate control signals. The control signals are used for trajectory generation and
then interpolation. Interpolated signal is then fed to a respective drive unit of the
linkages. Thus, the robotic controller can control the internal and external linkages
and the peripheral devices in order to achieve desired operation of the robotic system.
[0021] Integration of the processor of the standard motion controller
eliminates requirement of the PLC controller to be used in addition with the robotic controller. The processor of the standard motion controller is used as a second control unit to control the external linkages and the peripheral devices. The first control unit and the second control unit can be programmed using a same language and on same platform. A single programmer can control and program the both control units. Thus, integration of the processor with the robotic controller results into an economic and flexible controlling unit. Further, the processor is a multi-tasking processor, and is not limited to the sequential programming. Therefore, the second control unit can control a plurality of robotic systems simultaneously which further results in a time effective robotic controller.
[0022] As the kinematic model is embedded within the robotic controller, the
kinematic model is capable of generating prediction modules for the first motion control module and the second motion control module. Based on the prediction modules, the first motion control module and the second motion control module can provide intelligence to control the internal linkages, the external linkages, and the

peripheral devices with high accuracy, repeatability, and flexibility. Further, an inherent control unit of the robotic which is used as the first control unit has capability to control up to six axis motion control. Whereas, the processor of the standard motion controller has capability of ‘n’ axis motion control. Therefore, integration of the inherent control unit and the processor of the standard motion control results in a control unit can control up to ‘n’ axis motion control.
[0023] The above mentioned implementations are further described herein with reference to the accompanying figures. It should be noted that the description and figures relate to exemplary implementations, and should not be construed as a limitation to the present subject matter. It is also to be understood that various configurations may be devised that, although not explicitly described or shown herein, embody the principles of the present subject matter. Moreover, all statements herein reciting principles, aspects, and embodiments of the present subject matter, as well as specific examples, are intended to encompass equivalents thereof.
[0024] Fig. 1 illustrates a block diagram of a robotic controller 100 coupled to
a plurality of linkages of a robotic system in accordance with the present subject
matter. In an implementation of the subject matter, the robotic controller 100 includes
a central processing unit (CPU) 102 and a control unit 104. A kinematic model 106 is
embedded into the CPU 102. The kinematic model refers to analytical representation
of motion of the linkages. Formulation of accurate kinematic model for a robotic
system is crucial for analyzing behavior of the robotic system. In an embodiment, the
control unit may be provided with one or more CPUs so as to do parallel computing,
and thus speed up execution of the robotic motions. In another embodiment each
linkage axes may be segregated in control to a specific CPU of the multiple CPUs
and the kinematic module associated with the axis linkage embedded into that CPU.
[0025] First, desired movements of the robotic system are visualized in the
form of a desired frame. Parameters of the desired frame are provided to the Kinematic model. The parameters may include, but may not be limited to, a location

of the robotic system, location of a target assembly on which robotic operation has to perform, the desired speed of the operation, the real-time coordinates of the robotic system, and the desired coordinates of the system. The kinematic model can calculate robotic kinematics. Classes of the robotic kinematic may include, but may not be limited to, articulated kinematics, Cartesian kinematics, parallel kinematics, and SCARA kinematics. For illustrative purpose, the robotic system is assumed to be a Cartesian robot built on the Cartesian kinematics.
[0026] The kinematic module realizes the desired frame in Cartesian
coordinates. A set of the Cartesian coordinates is referred as to a Cartesian space. The Cartesian space formulates a frame defining the desired movement, referred as to a Cartesian frame herein after. Based on the Cartesian frame, the prediction module can predict a module, presented in the form of instruction readable by the control unit 104, defining the desired movements of each linkage and desired speed of the operation. For operating the robotic system precisely in accordance with the desired frames and the desired speed of the operation, the prediction module is fed to the control unit 104.
[0027] The control unit 104 includes a first motion control module 108 and a
second motion control module 110. The control unit 104 can convert the prediction module into programmable instructions where the programmable instructions can be processed to control the linkages and peripheral devices.
[0028] The first motion control module 108 is coupled to a plurality of
linkages and actuators integrated with the robotic system 112, referred as to internal linkages 112, collectively, and an internal linkage 112, individually. Typically, the robotic system may include five internal linkages, namely, a base assembly, a shoulder assembly, an elbow assembly, a wrist assembly, and an end-effector. All linkages collectively offer around five DOF. To operate the robotic system to perform a particular task, each linkage of the robotic system is moved in specific dimensions at certain angle with predetermined speed. For example, if robotic system is

programmed to pick and place objects, an end-effector of the robotic system will be a gripper that can pick the object at one location and place the object at another location. For such operation, each linkage of the robotic system has to be manipulated in such way that the end-effector will reach to the object to pick the object up. Thereafter, each linkage of the robotic system has to be re-manipulated in such a way that the end-effector will reach to a target location to place the object. To carry out such an operation, instructions to manipulate and re-manipulate the linkages at certain speeds are provided by the prediction module. Instructions from the prediction module to control the internal linkages 112 are fed to the first motion control module 108. The first motion control module 108 converts the instruction from the prediction module into the corresponding programmable instructions to control the internal linkages 112.
[0029] According to one implementation, the second motion control module
110 is coupled to a plurality of linkages externally coupled to the robotic system 112, referred as to external linkages 114, collectively, and an external linkage 114, individually. Example of the external linkages 114 may include a configuration where external linkages, for example, linkages of surgical robot, are coupled to the robotic system. The second motion control module 110 is further coupled to a plurality of peripheral device 116. An example of the peripheral device may include a bed side monitor coupled to a robotic controller of the surgical robot, for providing real-time physiological parameters of a patient to be operated, to the robotic controller of the surgical robot. In such configurations, the second motion control module 110 provides intelligence and connectivity for operating the surgical robot. The surgical robot can be a mechanical structure formed of a plurality of linkages and an end-effector. In one example, the surgical robot may be performing a knee surgery. To carry out the surgery, each linkage of the surgical robot has to be manipulated in such a way that the end-effector, say a surgical tool holder, can reach to the exact location where the surgery has to be carried out. For performing the surgery with high

accuracy, the CPU of the robotic system generates the prediction module for the external linkages 114. The prediction module is then fed to the second motion control module 110. The second motion control module 110 converts the instructions from the prediction module into corresponding computer readable instructions to control the external linkages 114.
[0030] In one implementation, a communication module 118 is embedded
with the control unit 104. The communication module 118 is provided to establish communication with the plurality of peripheral devices 116. The communication module 118 is coupled to the peripheral devices 116 through a communication port 120.
[0031] It would be understood that the first motion control module 108 and
the second motion control module 110 forms a single control unit that can control the
internal as well as external linkages, eliminating need of two separate controllers. The
first motion control module 108 and the second motion control module 110 can be
programmed using a same programming language and a same programming platform.
Thus, the control unit provides an economical and effective way of controlling the
robotic system. The control unit is further described with relation to existed standard
robotic controller and a standard motion controller in subsequent description.
[0032] Fig. 2 illustrates schematic of a standard robotic controller 200 in
accordance with the present subject matter. The standard robotic controller 200, typically used for controlling existing robotic systems 202, mainly comprises a CPU 202 and a standard control unit 203. A mechanical structure of the robotic system 201 is coupled to the CPU 202. Dimensional parameters and geospatial parameters of each linkage of the robotic system are provided to the CPU 202. As described in relation with Fig. 1, the CPU 202 includes a kinematic model 204 that realizes a desired frame in Cartesian coordinates and generates a Cartesian frame. Based on the Cartesian frame, the kinematic generates a prediction model 206. The prediction model 206 can predict a module, presented in the form of instruction readable by the

standard control unit 203, defining the desired movements of each linkage and desired speed of the operation. The instructions from the prediction module are then provided to the standard control unit 203. At block 210, the standard control unit 203 converts the instructions from the prediction module into programmable instructions. Further, at block 212, the standard control unit 208 converts the programmable instructions into firmware. The firmware provides a drive signal to a drive unit at block 214. The drive unit controls the corresponding mechanical linkage according to the drive signal. It can be understood from the Fig. 2, a standard robotic controller 200 can have an inherent control unit which can control the mechanical linkages coupled to the CPU 202. The standard robotic controller 200, when considered alone and not in combination with another external controller, may not be able to control the peripheral devices and mechanical linkages externally coupled to the robotic system.
[0033] Fig. 3 illustrates a schematic of a standard motion controller 300 in
accordance with the present subject matter. Typically, a motion controller is used to control movement of a plurality of linkages coupled to the motion controller and peripheral devices. The standard motion controller 300 includes a motion processor 302 that processes the instructions received from a user in order to control the coupled linkages and/or peripheral devices. The processed instructions are provided to block 304 for trajectory generation. A signal from the trajectory generation is then provided for the interpolation at a block 306. The interpolated signal is further provided to a drive unit 308. The drive unit generates a control signal to control the coupled linkages. A communication unit 310 is also coupled to the motion processor to provide communication interface. The communication unit 310 enables the motion processor 302 to communicate over a plurality of communication protocols and/or communication devices, such as Digital Inputs and Outputs 312, Analog Inputs and Outputs 314, Serial Communication 316, Ethernet 318, and DeviceNet 320. Serial Communication 316 may enable the motion processor to establish communication

with external devices, such as a Teach Pendant 322. Further, Ethernet may enable the Motion Processor 302 to communicate with a plurality of computing devices connected in a network.
[0034] The motion controller presents an economical option to control a
plurality of linkages and communicate with a plurality of peripheral devices. However, the motion controller as such standalone controller is not suitable for controlling the robotic systems. The motion processor is not capable of realizing the desired movements in Cartesian space, and further, generating a prediction module that can provide the instructions to operate the linkage. Therefore, the motion controller cannot control the linkages with high accuracy. In comparison with the standard robotic controller 200, the motion controller 300 is less expensive, and yet has capability to control a plurality of linkages and peripheral devices coupled to the motion controller without compromising the accuracy and intelligence embedded for controlling the robotic system.
[0035] Fig. 4 represents a block diagram of the robotic controller 100, in
accordance with the present subject matter. The robotic controller 100 is configured to control a plurality of internal linkages 112, a plurality of external linkages 114, and a plurality of peripheral devices 116. As described earlier in relation with Fig. 1, the robotic controller 100 comprises a CPU 102 and a control unit 104. The CPU is configured to provide intelligence to the control unit 104 for controlling a plurality of linkages and peripheral devices 116 with high accuracy, repeatability, and flexibility. The kinematic model 204 is embedded with the CPU 102 for generating the intelligence. As described in detail in relation with Fig. 1, the desired movements of the robotic system are visualized in the form of a frame. Based on the inputs, the kinematic model 106 generates a Cartesian frame. Further, the Cartesian frame is input to the prediction module. The prediction module can predict a module, presented in the form of instruction readable by the control unit 104, defining the

desired movements of each linkage and desired speed of the operation. The prediction module is then input to the control unit 104.
[0036] The control unit 104 is capable of realizing the inputs provided by the
prediction module. The control unit 104 can convert the prediction module output
into a set of computer readable instructions where the computer readable instructions
can be processed to control the linkages and peripheral devices. The control unit 104
comprises a first motion control module 108 and a second motion control module
110. In one implementation, the first motion control module 108 can be a standard
control unit of a standard robotic controller which is capable of controlling the
internal linkages 112. Inputs, received from the prediction module 206 for controlling
the internal linkages, are provided to the first motion control module 108. The first
motion control module 108 converts the inputs into the computer readable
instructions that can be processed further to control the internal linkages 112.
[0037] In another implementation, the second motion control module 110 can
be a motion processor, typically used for controlling the external linkages 114 and peripheral devices 116. Inputs, received from the prediction module 206 for controlling the external linkages 114, are provided to the second motion control module 110. The second motion control module 110 converts the inputs into the computer readable instructions that can be processed further to control the external linkages 114.
[0038] However, the typical motion processor cannot realize the prediction
module in real-time. According to the implementation, the motion processor is enhanced to realize the prediction module and convert it into the programmable instructions. Therefore, it would be understood by a person skilled in the art that the CPU 102 provides adequate intelligence to control the robotic system, and the control unit 104 generates the computer readable instruction based on the intelligence. Thus, the second control unit 110, i.e., enhanced motion processor, can control the external linkages 114 and the peripheral devices 116 with high accuracy, repeatability, and

flex ibility. Further, utilization of the motion processor to control the external linkages
114 and the peripheral devices 116 presents an economical robotic controller.
[0039] The computer readable instructions received from the control unit 104
are provided to a trajectory generation block 304. Based on the computer readable
instructions, the trajectory generation block 304 calculates points along a path of the
desired movement. The calculated points may then be used to generate appropriate
control signals to control a motor to move along the path. At an interpolation block
306, interpolation is performed on the generated trajectory data using the spline
method of interpolation or an equivalent method so as to interpolate between points
generated on the generated trajectory to maintain smooth motion. The interpolated
signal is then provided to the drive signal that generates an appropriate control signal
to control the internal linkages, external linkages, and/or peripheral devices.
[0040] Fig. 5 exemplifies an implementation of the robotic controller 100 for
controlling a plurality of robotic systems of a same type, in accordance with the present subject matter. As would be known, the types of robots may include, but may not be limited to, articulated robots, Cartesian robots, cylindrical robots, polar robots, SCARA robots, and DELTA robots. According to the implementation, the robotic controller 100 can be coupled to a plurality of robotic systems of a same type. For example, the robotic system can be implemented to control a first robotic system of type A 500, a second robotic system of type A 502, a third robotic system of type A 504. As the robotic controller 100 is capable of multi-tasking, control signals to each of the coupled robotic system can be provided in order to control the internal linkages, the external linkages, and a plurality of peripheral devices coupled to each robotic system. Therefore, the present implementation enhances a method of controlling the plurality of robotic systems by eliminating a need of a separate control unit for each robotic system.
[0041] Fig. 6 exemplifies an implementation of the robotic controller 100 for
controlling a plurality of robotic systems of multiple types, in accordance with the

present subject matter. As described in relation with Fig. 5, the types of robots may include articulated robots, Cartesian robots, cylindrical robots, polar robots, SCARA robots, and DELTA robots. Each type of the robot may require a separate control unit to control that particular type of robot which can incur an additional cost. According to the present subject matter, the robotic controller 100 can be implemented to control a plurality of robotic systems of multiple types. For example, the robotic system can be implemented to control a first robotic system of type A 600, a second robotic system of type B 602, a third robotic system of type C 604. Capability of the robotic controller 100 of controlling the plurality of robotic systems of multiple types provides economically effective and flexible control system.
[0042] Although examples for the present disclosure have been described in
language specific to structural features and/or methods, it should be understood that the appended claims are not necessarily limited to the specific features or methods described. Rather, the specific features and methods are disclosed and explained as examples of the present disclosure.

I/We Claim:
1. A robotic controller (100) to control motion of a robotic system in a plurality
of axis, the robotic controller unit comprising:
a central processing unit (CPU) (102) having an embedded kinematic module (106) to provide a prediction model of geospatial reference variables of each linkage of the robotic system; and
a control unit (104), coupled to the CPU (102), comprising
a first motion control module (108) to control motion of a plurality of linkages and actuators (112) integrated with the robotic system,
a second motion control module (110) to control motion of a plurality of linkages (114) externally coupled to the robotic system, and
a communication module (118) connected to a communication port (120) to establish communication with a plurality of peripheral devices (116) coupled to the robotic system; wherein the prediction model is fed to the control unit in real-time.
2. The robotic controller (100) as claimed in claim 1 is capable of performing multitasking in re al-t ime.
3. The robotic controller (100) as claimed in claim 2, wherein the multitasking enables the robotic controller unit to control a plurality of robotic systems of a same type in real-time.
4. The robotic controller (100) as claimed in claim 2, wherein the multitasking enables the robotic controller unit to control, in real-time, a plurality of robotic systems of different types.

5. The robotic controller (100) as claimed in claim 1, wherein a number of the plurality of axis is based on a number of linkages integrated with the robotic system and a number of linkages externally coupled to the robotic system.
6. The robotic controller (100) as claimed in claim 1, wherein an individual prediction module is provided for each robotic system to be controlled.
7. The robotic controller (100) as claimed in claim 1, wherein the prediction module is adapted to predict Cartesian movement.
8. The robotic controller (100) as claimed in claim 1, wherein the embedded kinematic module utilizes at least one of a world coordinate system, a TCP coordinate system, and a user coordinate system.
9. The robotic controller (100) as claimed in claim 1 is capable of supporting at least one of CANopen, Ethernet (10/100) base-T, Ethernet IP, MODBUS-RTU, MODBUS-TCP/IP, RS232/RS485, and Hostlink communication protocols.
10. The robotic controller (100) as claimed in claim 1 is capable of communicating with a teach pendant unit.
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