Driving and control all-in-one machine

Abstract

The utility model discloses a driving control all-in-one machine which comprises a case, a driving control circuit structure is arranged in the case, and the driving control circuit structure comprises a power input terminal, a circuit breaker, a filter board assembly and a main power board assembly which are electrically connected in sequence. The main power board assembly is electrically connected with the heat dissipation assembly, the bus capacitor board assembly, the brake resistor assembly, the driving power board assembly, the driving control board assembly, the control interface board assembly and the expansion power board assembly, and the driving power board assembly is electrically connected with the driving control board assembly. The control interface board assembly is electrically connected with the IO interface board assembly, the upper controller assembly, the digital display board assembly and the drive control board assembly. The driver and the controller are designed into an all-in-one machine, the system design difficulty can be reduced, the design time can be shortened, when the industrial robot system is installed through the system, the workload of wiring installation is greatly reduced, complex wiring layout is avoided, and installation convenience is improved.

Description

Technical Field

[0001] This application relates to the technical field of industrial robots, and particularly to an industrial robot servo system for controlling and driving industrial robots, specifically to an integrated drive and control unit. Background Art

[0002] With the rapid development of the industrial automation control industry, industrial robots have been increasingly widely used. An industrial robot system usually consists of a controller, a servo drive, a robot body, and connecting cables, etc. Among them: The controller is mainly responsible for processing input signals (such as sensor data, user instructions, etc.) and issuing control commands to guide the actions of the robot. It is the "brain" of the system; The servo drive mainly receives commands from the controller and controls the operation of the servo motor to achieve precise movement and positioning. It is equivalent to the "muscle" of the robot; The robot body is the mechanical part that actually performs tasks, including joints, end effectors, etc., and directly interacts with the external environment; The connecting cables are used to connect these components to each other, transmit power and control signals, and ensure that all parts of the system can work in coordination. During the working process, the controller calculates the motion trajectory and speed of the robot according to the program and feedback information, and then accurately adjusts the state of the motor through the servo drive to ensure that the robot moves along the predetermined path and speed. That is, the controller and the servo drive jointly achieve the control of the robot.

[0003] Therefore, industrial robots can perform precise operations according to complex instructions. Applying them in industrial production can improve production efficiency, reduce labor costs, maintain highly consistent operation standards, reduce human errors, thereby improving product quality and consistency, increasing production flexibility, and at the same time ensuring the safety and reliability of operations.

[0004] In actual application scenarios, factory enterprise users usually purchase controllers and servo drives and cooperate with the robot body for system design. However, due to the complex system structure, it is inevitable to cause inconvenience during installation. Here, a more complex electromagnetic environment is also generated due to the complicated wiring. Such uncertain factors will cause the equipment to run unstably, resulting in an extended system design time and increased production application costs. Therefore, it is necessary to propose a new technical solution to solve the problems existing in the prior art. Summary of the Utility Model

[0005] This application provides an integrated drive and control unit to solve the problems that the current industrial robot system has a complex structure, resulting in high system design difficulty and inconvenient installation.

[0006] To achieve the above object, this application provides the following technical solutions:

[0007] The present application provides a drive control integrated machine, including a chassis, wherein a drive control circuit structure is arranged inside the chassis. The drive control circuit structure includes a power input terminal, a circuit breaker, a filter board assembly, and a main power board assembly that are electrically connected in sequence. The main power board assembly is electrically connected to a heat dissipation assembly, a bus capacitor board assembly, a braking resistor assembly, a drive power board assembly, a drive control board assembly, a control interface board assembly, and an extended power board assembly respectively. The drive power board assembly is electrically connected to the drive control board assembly. The control interface board assembly is electrically connected to an IO interface board assembly, an upper controller assembly, a digital display board assembly, and the drive control board assembly respectively.

[0008] In the above technical solution, further, one or more of the drive power board assemblies are provided in the drive control circuit structure, and each drive power board assembly is electrically connected to the drive control board assembly.

[0009] Furthermore, the multiple drive power board assemblies are respectively drive power board assemblies with different numbers of axes.

[0010] Further, the drive power board assembly is a 2-axis drive power board assembly, a 4-axis drive power board assembly, or a 6-axis drive power board assembly.

[0011] Further, the heat dissipation assembly is a fan assembly, a heat sink, a heat pipe, a coolant system, or a thermal conductive adhesive.

[0012] Further, the input connection end of the power input terminal is arranged on the box wall of the chassis for electrical connection with an external power supply; the output end of the power input terminal is electrically connected to the input end of the circuit breaker, the output end of the circuit breaker is electrically connected to the output end of the filter board assembly, and the output end of the filter board assembly is connected to an input connection end of the main power board assembly.

[0013] Furthermore, several input connection ends are provided on the main power board assembly, and the output end of the heat dissipation assembly, the output end of the bus capacitor board assembly, and the output end of the braking resistor assembly are respectively electrically connected to different input connection ends of the main power board assembly.

[0014] Furthermore, several output connection ends are provided on the main power board assembly, and the input ends of the drive power board assembly, the drive control board assembly, the control interface board assembly, and the extended power board assembly are respectively electrically connected to different output connection ends of the main power board assembly.

[0015] Furthermore, the output end of the drive power board assembly is electrically connected to the input end of the drive control board assembly, and the output end of the drive control board assembly is electrically connected to the input end of the control interface board assembly.

[0016] Furthermore, the control interface board assembly has multiple output terminals, and the IO interface board assembly, the upper controller assembly, and the digital display board assembly are respectively electrically connected to different output terminals of the control interface board assembly.

[0017] Further, the drive power board assembly includes a power supply output terminal and a brake terminal.

[0018] Further, the drive control board assembly includes debugging terminals and encoder terminals.

[0019] Further, the control interface board assembly includes PC debugging terminals, a teach pendant terminal, EtherCAT terminals, and safety IO terminals.

[0020] Further, the IO interface board assembly includes IO interface terminals.

[0021] Compared with the prior art, the present application has at least the following beneficial effects:

[0022] 1. Based on further analysis and research of the prior art, it is recognized that in traditional industrial robot systems, the driver and the controller are designed separately, and the compatibility and connection methods of each component need to be considered separately. Therefore, the structure is complex, the design difficulty is large, the required design time is long, and the wiring of the designed product is complicated and inconvenient for installation. For this reason, the present application provides an integrated drive and control unit. By integrating the driver and the controller into one unit, the design process of R & D personnel can be simplified, the system design difficulty can be reduced, the design time required can be reduced, the system design efficiency can be improved, the design cost can be reduced, the repeated adjustment and testing time in the design stage can be reduced, and the product listing speed can be accelerated. In addition, in the present application, the driver and the controller are integrally designed, and the corresponding circuit modules are all integrated in a chassis, making the overall structure compact, the volume small, and the space utilization rate high, which is beneficial to flexible layout and equipment configuration. Compared with the traditional system installation process, when installing an industrial robot system using the present application, the staff only needs to connect the external wiring terminals of the chassis to the cables of external devices, which greatly reduces the workload of wiring installation, avoids complicated wiring layout, not only improves the convenience of installation, but also reduces the possibility of line interference, and helps to improve the reliability of the overall system.

[0023] 2. The integrated design of the driver and the controller in the present application not only reduces the number and complexity of cables, but also avoids complicated wiring layout. Since the distance between components is shortened, signal transmission is more stable, the complexity of the electromagnetic environment caused by wiring is reduced, and the possibility of line interference is reduced, thereby improving the operation stability of the device and the reliability of the overall system.

[0024] 3. Using the drive control integrated machine provided by the present application, the development team can perform prototyping and testing more quickly, while reducing the time for debugging between different components. Such high efficiency also promotes the possibility of rapid iteration and optimization.

[0025] 4. The drive control integrated machine provided by the present application is designed to support the flexible combination of different types of drive power board components, and can realize drive control applications from 2 axes to 6 axes according to requirements. This flexibility enables customers to select appropriate configurations according to specific needs, meeting diverse market demands. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. It should be understood that the specific shapes and structures shown in the drawings generally should not be regarded as limiting conditions when implementing the present application; for example, those skilled in the art are capable of making routine adjustments or further optimizations to the addition / removal / attribution division of certain units (components), specific shapes, positional relationships, connection methods, dimensional ratio relationships, etc. based on the technical concepts disclosed in the present application and the exemplary drawings.

[0027] Figure 1 It is a system architecture diagram of the drive control integrated machine provided by the present application in an embodiment.

[0028] DESCRIPTION OF THE REFERENCE NUMERALS

[0029] 1. Chassis; 2. Power input terminal; 3. Circuit breaker; 4. Filter board assembly; 5. Fan assembly; 6. Bus capacitor board assembly; 7. Brake resistor assembly; 8. Main power board assembly; 9. Drive power board assembly; 91. Power supply output terminal for power; 92. Brake terminal; 10. Drive control board assembly; 101. Debugging terminal; 102. Encoder terminal; 11. Control interface board assembly; 111. PC debugging terminal; 112. Teach pendant terminal; 113. EtherCAT terminal; 114. Safety IO terminal; 12. IO interface board assembly; 121. IO interface terminal; 13. Upper controller assembly; 14. Digital display board assembly; 15. Extended power board assembly. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following will further elaborate on the present application through specific embodiments in conjunction with the drawings.

[0031] In the description of the present application: Unless otherwise specified, the meaning of "a plurality of" is two or more. Expressions such as "including", "comprising", "having" and the like in the present application also mean "not limited to" (certain units, components, materials, steps, etc.).

[0032] To solve the problems existing in the prior art, the present application provides a drive control integrated machine. The application of the drive control integrated machine can reduce the system design time of R & D personnel, reduce the system design difficulty, reduce the design cost, and can reduce the cable routing during system installation and reduce the installation difficulty. In addition, different types of drive power board components can be flexibly combined in the drive control integrated machine provided by the present application to realize the application of 2-axis drive control to 6-axis drive control. Therefore, it can meet the application requirements of 4-axis industrial robots and 6-axis industrial robots, and can also meet the various needs of users through the flexible combination of different types of drive power board components in practical applications. The system architecture composition of the drive control integrated machine will be described in detail below.

[0033] In this embodiment, the drive control integrated machine mainly includes a chassis 1, and a drive control circuit structure is arranged in the chassis 1. As Figure 1 , the drive control circuit structure includes a power input terminal 2, a circuit breaker 3, a filter board component 4 and a main power board component 8 that are electrically connected in sequence. The main power board component 8 is electrically connected to a heat dissipation component, a bus capacitor board component 6, a braking resistor component 7, a drive power board component 9, a drive control board component 10, a control interface board component 11 and an extended power board component 15 respectively. The drive power board component 9 is electrically connected to the drive control board component 10. The control interface board component 11 is electrically connected to an IO interface board component 12, an upper controller component 13, a digital display board component 14 and the drive control board component 10 respectively. One or more drive power board components 9 are provided in the drive control circuit structure, and each drive power board component 9 is electrically connected to the drive control board component 10.

[0034] By designing the driver and the controller as an integrated machine, the present application can effectively solve the problems of the complexity of system structure design, equipment instability and complex installation faced by factory enterprise users during the procurement and installation processes.

[0035] In the above drive control circuit structure, the power input terminal 2 is used to connect to an external power source to provide the power required by the system. The circuit breaker 3 is used to protect the circuit and prevent electrical faults caused by overload or short - circuit conditions. The filter board assembly 4 ensures a stable power supply and protects other electronic devices by filtering out high - frequency noise and interference in the power source. The heat dissipation assembly provides a heat dissipation function to prevent the system from overheating and ensure that each component operates within a normal temperature range. The bus capacitor board assembly 6 is used to store and stabilize electrical energy, smooth voltage fluctuations, and provide instantaneous current support. The braking resistor assembly 7 absorbs excess energy during motor braking to prevent voltage from rising and ensure system safety. The main power board assembly 8 distributes the input power to each module and is responsible for the power management of the entire system. The drive power board assembly 9 is used to drive the motor to operate and provides the necessary power and control signals for the motor. The drive control board assembly 10 is used to control the operation of the motor, including the adjustment of parameters such as position, speed, and acceleration. The control interface board assembly 11 is used to provide an interface with the upper - level controller or other devices for signal transmission and communication. The IO interface board assembly 12 can process input and output signals and connect sensors, switches, and other peripheral devices. The upper - level controller assembly 13 is responsible for the control and coordination of the overall system and usually includes functions such as program logic and data processing. The digital display board assembly 14 is used to display system status, fault information, or other important data for easy monitoring by operators. The extended power board assembly 15 can provide additional power outputs to support the requirements of other additional devices or modules in the system. The drive control circuit structure in this application ensures the stability and efficiency of the industrial robot system through the joint cooperation of these components, and these components can be purchased from the market.

[0036] The drive power board assembly has two major functions. One is to convert the control signal into a high - power signal to directly drive the motor, playing a role in power amplification. The other is to provide protection mechanisms such as overload and short - circuit protection, playing a protection function. In an industrial robot system, the design and configuration of different types of drive power board assemblies can achieve different types of drive control (such as 2 - axis, 4 - axis, 6 - axis). Different types of drive power board assemblies can be compatible with various motors (such as servo motors and stepper motors) to meet different application requirements, and multiple control interfaces are also set on the drive power board assembly to facilitate effective communication with the upper - level controller and other components. In this application, multiple drive power board assemblies can be drive power board assemblies with different numbers of axes respectively. The drive power board assembly 9 in this application can be a 2 - axis drive power board assembly, a 4 - axis drive power board assembly, or a 6 - axis drive power board assembly.

[0037] Therefore, the drive control all - in - one machine provided in this application can support the flexible combination of different types of drive power board assemblies, and can achieve drive control applications from 2 - axis to 6 - axis according to requirements. This flexibility enables customers to select appropriate configurations according to specific needs to meet diverse market demands.

[0038] In this embodiment, the heat dissipation component in the drive control circuit structure may be a fan assembly 5, a heat sink, a heat pipe, a coolant system or a thermal conductive adhesive. In this application, the fan assembly 5 is preferably used.

[0039] Continue to refer to Figure 1 , the detailed connection structure of the above drive control circuit structure is as follows: The input connection end of the power input terminal 2 is arranged on the box wall of the chassis 1 for electrical connection with an external power supply; the output end of the power input terminal 2 is electrically connected to the input end of the circuit breaker 3, the output end of the circuit breaker 3 is electrically connected to the output end of the filter board assembly 4, and the output end of the filter board assembly 4 is connected to an input connection end of the main power board assembly 8. There are several input connection ends on the main power board assembly 8. The output end of the heat dissipation component, the output end of the bus capacitor board assembly 6, and the output end of the braking resistor component 7 are respectively electrically connected to different input connection ends of the main power board assembly 8. There are several output connection ends on the main power board assembly 8. The input end of the drive power board assembly 9, the input end of the drive control board assembly 10, the input end of the control interface board assembly 11, and the input end of the extended power board assembly 15 are respectively electrically connected to different output connection ends of the main power board assembly 8. The output end of the drive power board assembly 9 is electrically connected to the input end of the drive control board assembly 10, and the output end of the drive control board assembly 10 is electrically connected to the input end of the control interface board assembly 11. The control interface board assembly 11 has multiple output ends, and the IO interface board assembly 12, the upper controller assembly 13, and the digital display board assembly 14 are respectively electrically connected to different output ends of the control interface board assembly 11.

[0040] In the above embodiment, the drive power board assembly 9 is responsible for converting electrical energy into power capable of driving the motor, while the drive control board assembly 10 is responsible for signal processing and control logic. Therefore, connecting the output end of the drive power board assembly 9 to the input end of the drive control board assembly 10 enables the drive control board assembly 10 to receive power and signals from the drive power board assembly 9, so as to effectively control the movement and operation of the robot system.

[0041] In the above embodiment, the control interface board assembly 11 is responsible for processing signals from the drive control board assembly 10 and transmitting them to external devices or systems, thereby ensuring the coordination and normal function of the entire robot system. Therefore, connecting the output end of the drive control board assembly 10 to the input end of the control interface board assembly 11 enables the drive control board assembly 10 to transmit control signals to the control interface board assembly 11, so as to achieve communication and coordination with other systems or components.

[0042] In the above embodiments, the IO interface board component 12 is responsible for the input and output signal interaction with external devices. The upper controller component 13 is used for control and monitoring, and is connected to the control interface board component 11 to receive and send instructions. The digital display board component 14 can visually display the system status or parameters to the user, and it obtains data through the control interface board. Therefore, electrically connecting the IO interface board component 12, the upper controller component 13, and the digital display board component 14 to the output terminals of the control interface board component 11 respectively enables them to work effectively in coordination, ensuring the normal operation and information exchange of the robot system.

[0043] In the above embodiments, the drive power board component 9 includes a power supply output terminal 91 and a brake terminal 92. Among them, the power supply output terminal 91 is a port connected to the motor or other actuators, responsible for transmitting power to these devices to drive their operation; through these terminals, the drive power board component 9 can provide the necessary current and voltage to make the motor work at a predetermined speed and torque. The brake terminal 92 is used to connect the brake (usually a braking device), and the function of the brake is to quickly lock the motor when the motor stops working or fails, to prevent the load from slipping or the motor from rotating accidentally. Therefore, the combination of the power supply output terminal 91 and the brake terminal 92 enables the drive power board component 9 to have the dual functions of driving and protecting.

[0044] In the above embodiments, the drive control board component 10 includes a debugging terminal 101 and an encoder terminal 102. Among them, the debugging terminal 101 is used to connect debugging tools or perform troubleshooting, configuration settings, etc. It can be connected to debugging equipment to help engineers debug programs, read error messages, perform system adjustments, etc. during system development or operation; through the debugging terminal 101, engineers can perform real-time monitoring and parameter adjustment on the drive control board component 10 to ensure that the system can achieve the best performance during operation. The encoder terminal 102 is used to connect the encoder. The encoder is a device that measures the speed, position, and direction of the motor. The encoder helps the drive control board to understand the working state of the motor in real time by providing feedback signals, so as to achieve precise control; through the encoder terminal 102, the drive control board component 10 can receive feedback information from the encoder, and then adjust the working state of the motor to achieve precise positioning and speed control, etc. Therefore, the debugging terminal 101 and the encoder terminal 102 enable the drive control board component 10 to have higher flexibility, adjustment ability, and fault handling ability in the control system.

[0045] In the above embodiments, the control interface board assembly 11 includes a PC debugging terminal 111, a teach pendant terminal 112, an EtherCAT terminal 113, and a safety IO terminal 114. Among them, the PC debugging terminal 111 is used to connect a computer or debugging device for setting, monitoring, and troubleshooting the control system. The teach pendant terminal 112 is used to connect a teach pendant (also known as a handheld programmer, a device for manually controlling the movement of a robot or automation equipment). The EtherCAT (Ethernet Control Automation Technology) terminal is used to connect to an EtherCAT network, supporting efficient real-time communication. Through the EtherCAT terminal 113, the control interface board can perform high-speed and low-latency data exchange with other EtherCAT devices (such as sensors, drivers, and controllers). The safety IO terminal 114 is used to connect safety input and output devices, such as emergency stop buttons and safety door switches. Therefore, through the PC debugging terminal 111, the teach pendant terminal 112, the EtherCAT terminal 113, and the safety IO terminal 114, the control interface board assembly 11 can be efficiently connected to a computer, a manual operation device, a network device, and a safety device, thereby realizing comprehensive system control and management.

[0046] In the above embodiments, the IO interface board assembly 12 includes an IO interface terminal 121. The IO interface board assembly 12 is responsible for connecting the signals of devices such as sensors, switches, and drivers to the control system to facilitate data transmission and processing. The IO interface terminal 121 is a contact or connection point on the IO interface board assembly 12 for connecting external devices and signal lines. They can be plugs, sockets, or terminal blocks, responsible for signal exchange with external devices, enabling the system to receive input information and generate corresponding outputs.

[0047] In summary, the present application provides a drive control integrated machine. By designing the driver and controller as an integrated machine, the design process of R & D personnel can be simplified, the system design difficulty can be reduced, the design time required can be reduced, the system design efficiency can be improved, the design cost can be reduced, the repeated adjustment and testing time in the design stage can be reduced, and the product launch speed can be accelerated; in addition, in the present application, the driver and controller are integrally designed, and the corresponding circuit modules are all integrated in a chassis, making the overall structure compact, with a small volume and high space utilization rate, which is conducive to flexible layout and equipment configuration; compared with the traditional system installation process, when installing an industrial robot system using the present application, the staff only needs to connect the external wiring terminal outside the chassis to the cable of the external device, greatly reducing the workload of wiring installation and avoiding complex wiring layouts. This not only improves the convenience of installation but also reduces the possibility of line interference, contributing to improving the reliability of the overall system.

[0048] The technical features of the above embodiments can be combined arbitrarily (as long as there is no contradiction in the combination of these technical features). For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described; these embodiments not explicitly written should also be regarded as within the scope described in this specification.

[0049] In the foregoing, the present application has been described in a relatively specific and detailed manner through general descriptions and specific embodiments. It should be understood that based on the technical concept of the present application, several conventional adjustments or further innovations can also be made to these specific embodiments; but as long as they do not depart from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the scope of protection of the claims of the present application.

Claims

1. An integrated drive control unit, characterized in that, It includes a chassis (1), and a drive control circuit structure is arranged inside the chassis (1). The drive control circuit structure includes a power input terminal (2), a circuit breaker (3), a filter board assembly (4), and a main power board assembly (8) that are electrically connected in sequence. The main power board assembly (8) is electrically connected to a heat dissipation assembly, a bus capacitor board assembly (6), a braking resistor assembly (7), a drive power board assembly (9), a drive control board assembly (10), a control interface board assembly (11), and an extended power board assembly (15) respectively. The drive power board assembly (9) is electrically connected to the drive control board assembly (10). The control interface board assembly (11) is electrically connected to an IO interface board assembly (12), an upper controller assembly (13), a digital display board assembly (14), and the drive control board assembly (10) respectively.

2. The integrated drive control unit according to claim 1, wherein, One or more of the drive power board assemblies (9) are provided in the drive control circuit structure, and each drive power board assembly (9) is electrically connected to the drive control board assembly (10).

3. The integrated drive control machine according to claim 2, wherein The multiple drive power board assemblies are drive power board assemblies with different numbers of axes respectively.

4. The integrated drive controller according to claim 2 or 3, characterized in that, The drive power board assembly is a 2-axis drive power board assembly, a 4-axis drive power board assembly, or a 6-axis drive power board assembly.

5. The integrated drive control unit according to claim 1, characterized in that, The heat dissipation assembly is a fan assembly (5), a heat sink, a heat pipe, a coolant system, or a thermal conductive adhesive.

6. The integrated drive control unit according to claim 1, wherein The input connection end of the power input terminal (2) is arranged on the box wall of the chassis (1) for electrical connection with an external power supply. The output end of the power input terminal (2) is electrically connected to the input end of the circuit breaker (3). The output end of the circuit breaker (3) is electrically connected to the output end of the filter board assembly (4). The output end of the filter board assembly (4) is connected to an input connection end of the main power board assembly (8). A plurality of the input connection ends are provided on the main power board assembly (8). The output end of the heat dissipation assembly, the output end of the bus capacitor board assembly (6), and the output end of the braking resistor assembly (7) are electrically connected to different input connection ends of the main power board assembly (8) respectively. A plurality of output connection ends are provided on the main power board assembly (8). The input end of the drive power board assembly (9), the input end of the drive control board assembly (10), the input end of the control interface board assembly (11), and the input end of the extended power board assembly (15) are electrically connected to different output connection ends of the main power board assembly (8) respectively.

7. The integrated drive control unit according to claim 6, characterized in that, The output end of the drive power board assembly (9) is electrically connected to the input end of the drive control board assembly (10). The output end of the drive control board assembly (10) is electrically connected to the input end of the control interface board assembly (11). The control interface board assembly (11) has a plurality of output ends. The IO interface board assembly (12), the upper controller assembly (13), and the digital display board assembly (14) are electrically connected to different output ends of the control interface board assembly (11) respectively.

8. The integrated drive controller according to claim 1, wherein The drive power board assembly (9) includes a power supply output terminal for power (91) and a brake terminal (92). The drive control board assembly (10) includes a debugging terminal (101) and an encoder terminal (102); The control interface board assembly (11) includes a PC debugging terminal (111), a teach pendant terminal (112), an EtherCAT terminal (113), and a safety IO terminal (114); The IO interface board assembly (12) includes an IO interface terminal (121).

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