Main Computer. This board is the “BIG BOSS” of the system. The main computer performs all high level decision making. It runs the application program and creates the motion “poses” that the system uses for to get through its program. Robot Computer. This board actually contains two computers, the Servo computer and the I/O computer. This board controls the Drive system and also controls all I/O communications. Memory Board. There are two different memory boards available for the S4 system. One has 4MB and the other has 6MB of RAM. The type of board used depends upon customer requirements. Battery Back-up. The computer system is battery backed by two 3.6 volt lithium batteries located below the computer boards and plugged into the back plane. The robot computer will switch between the batteries to always have battery back-up protection. System Board. This board has all of the safety circuits contained on it. It contains both of the Run Chain circuits and also Motor Temperature circuits. Also contained on this board are the sensor inputs.
主要的电脑。这个板子是系统的“大老板”。主计算机执行所有高级决策。它运行应用程序，并创建运动“姿势”，系统用于通过它的程序。机器人的计算机。这个板子实际上包含两台计算机，伺服计算机和I/O计算机。这个板控制驱动器系统，也控制所有的I/O通信。内存。S4系统有两种不同的内存板可供选择。一个有4MB内存，另一个有6MB内存。使用的板类型根据客户的要求而定。电池备用。计算机系统由位于计算机板下方的两块3.6伏锂电池支持，并插入背板。机器人计算机将在电池之间切换，以始终有电池备份保护。系统板。这块板子上有所有的安全电路。它包含运行链电路和电机温度电路。这个板上还包含传感器输入。
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