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A20B-2002-0860
A20B-2002-0860
產(chǎn)品價(jià)格:¥220
上架日期:2019-10-09 15:34:45
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    A20B-2002-0860

    A20B-2002-0860


     機(jī)器人誕生之日起人們就不斷地嘗試著說(shuō)明到底什么是機(jī)器人。但隨著機(jī)器人技術(shù)的飛速發(fā)展和信息時(shí)代的到來(lái),機(jī)器人所涵蓋的內(nèi)容越來(lái)越豐富,機(jī)器人的定義也不斷充實(shí)和創(chuàng)新。機(jī)器人技術(shù)作為20世紀(jì)人類(lèi)最偉大的發(fā)明之一,自20世紀(jì)60年代初問(wèn)世以來(lái),經(jīng)歷40多年的發(fā)展已取得長(zhǎng)足的進(jìn)步。隨著近年來(lái)制造業(yè)的不斷發(fā)展,工業(yè)機(jī)器人已成為智能制造和工業(yè)自動(dòng)化的關(guān)鍵技術(shù)和重要產(chǎn)品,也是數(shù)控機(jī)床走向自動(dòng)化更高階段的重要一環(huán)。

      隨著電子控制技術(shù)的不斷發(fā)展,PLC正向高速度、容量大等物聯(lián)網(wǎng)及智能通信方向發(fā)展,通過(guò)物聯(lián)網(wǎng),能實(shí)現(xiàn)PLC、變頻器、遠(yuǎn)程I/O等與上位機(jī)算機(jī)進(jìn)行連接,來(lái)構(gòu)造出一種多級(jí)式分布系統(tǒng)。

      1

      舉個(gè)例子

      三菱工業(yè)電機(jī)中的CC-Link構(gòu)建的一種開(kāi)放性面向現(xiàn)場(chǎng)控制的總線(xiàn)網(wǎng)路系統(tǒng),DIN是德國(guó)工業(yè)標(biāo)準(zhǔn),使用導(dǎo)軌是工業(yè)電氣元器件的一種安裝方式,安裝支持此標(biāo)準(zhǔn)的電器元器件可方便地卡在導(dǎo)軌上而無(wú)需用螺絲固定,維護(hù)也很方便,一般來(lái)說(shuō),常用的導(dǎo)軌寬度是3.5CM。現(xiàn)如今,很多的電器元器件都有采用這種標(biāo)準(zhǔn),比如有PLC、斷路器、開(kāi)關(guān)、接觸器等。

      工業(yè)機(jī)器人不是孤立工作的,一個(gè)機(jī)器人工作站,往往需要外圍設(shè)備的配合,比如工裝夾具、傳送帶、焊接變位機(jī)、移動(dòng)導(dǎo)軌等等,這些角色相互之間要怎么配合,就需要互相協(xié)調(diào)。比如AGV小車(chē)、自動(dòng)化立體倉(cāng)庫(kù)、噴涂設(shè)備、裝配設(shè)備等等。

      2

      工業(yè)機(jī)器人的自動(dòng)控制系統(tǒng)

      1、底層控制器

      底層控制器作為控制系統(tǒng)的核心,其選擇的合適與否對(duì)整個(gè)系統(tǒng)來(lái)說(shuō)十分重要,其性能直接影響了控制系統(tǒng)的可靠性、數(shù)據(jù)處理速度、數(shù)據(jù)采集的實(shí)時(shí)性等。移動(dòng)機(jī)器人運(yùn)行環(huán)境較惡劣,干擾源眾多,對(duì)運(yùn)動(dòng)控制器的實(shí)時(shí)性和可靠性要求較高,所以選擇一種穩(wěn)定可靠地運(yùn)動(dòng)控制器至關(guān)重要,既要滿(mǎn)足系統(tǒng)要求,又要具有良好的可擴(kuò)展性和兼容性。

      為實(shí)現(xiàn)機(jī)器人對(duì)外部設(shè)備的有效控制,底層控制器提供了相應(yīng)的設(shè)備底層控制函數(shù),這些控制函數(shù)可以直接訪(fǎng)問(wèn)機(jī)器人的硬件寄存器來(lái)控制機(jī)器人的運(yùn)行,而這些控制函數(shù)可以使得設(shè)備驅(qū)動(dòng)程序不再依賴(lài)于具體硬件,所以,通過(guò)調(diào)用控制函數(shù)接口就可以實(shí)現(xiàn)對(duì)機(jī)器人的有效控制。

      2、電氣系統(tǒng)

      在對(duì)輪式全向移動(dòng)機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后,根據(jù)移動(dòng)機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動(dòng)機(jī)器人的電氣系統(tǒng)主要包括三個(gè)部分:主電路、伺服驅(qū)動(dòng)系統(tǒng)電路和PLC控制系統(tǒng)電路。

      移動(dòng)機(jī)器人控制系統(tǒng)主電路通過(guò)PLC和繼電器實(shí)現(xiàn)控制。即由繼電器由線(xiàn)圈和輔助觸點(diǎn)兩部分組成。當(dāng)線(xiàn)圈通電的時(shí)候,其對(duì)應(yīng)的常開(kāi)觸點(diǎn)閉合,常閉觸點(diǎn)斷開(kāi)。

      3、I/O配置段

      I/O配置段包括I/O刷新周期(典型為4ms)和I/O數(shù)據(jù)映像區(qū)大小信息,通過(guò)軟PLC編程系統(tǒng)的工程配置模塊進(jìn)行可視化配置,以適應(yīng)不同機(jī)器人應(yīng)用程序?qū)/O設(shè)備的不同需求。其主要是機(jī)器人將其他信號(hào)作為末端執(zhí)行器I/O使用,末端執(zhí)行器I/O鏈接到機(jī)器人手臂末端的連接器上,保證其功能。

      4、PLC程序

      在底層控制器中,使用編程軟件STEP 7 PROFESSIONAL V12的PTO運(yùn)動(dòng)控制指令,使用位置控制方式,控制4個(gè)轉(zhuǎn)向伺服電機(jī),從而控制4個(gè)車(chē)輪的轉(zhuǎn)向角;另外,使用擴(kuò)展模擬量輸出模塊輸出電壓值,控制4個(gè)輪毅電機(jī),驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。排除硬件的因素外,程序的好壞直接決定著運(yùn)動(dòng)性能的高。因此程序的編寫(xiě)是整個(gè)設(shè)計(jì)中最為重要的環(huán)節(jié)之一。

      3

      PLC要滿(mǎn)足工業(yè)機(jī)器人的高性能要求還有待改善

      機(jī)器人控制器可以理解為完成機(jī)器人控制功能的結(jié)構(gòu)實(shí)現(xiàn),因此機(jī)器人控制器是機(jī)器人最為核心的“心臟”,它從一定程度上影響著機(jī)器人的發(fā)展,高性能的工業(yè)機(jī)器人不單要實(shí)現(xiàn)PTP控制,而且還要實(shí)現(xiàn)CP控制。雖然說(shuō),采用基于PC的運(yùn)動(dòng)控制器和基于DSP運(yùn)動(dòng)控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動(dòng)控制,但是卻無(wú)法滿(mǎn)足高性能工業(yè)機(jī)器人的各項(xiàng)要求指標(biāo),而電路設(shè)計(jì)以及編程相當(dāng)復(fù)雜,因此,PLC的控制接線(xiàn)完善和技術(shù)創(chuàng)新是一大難題。

      PLC控制接線(xiàn)簡(jiǎn)單,只要通過(guò)運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對(duì)機(jī)器人的運(yùn)動(dòng)控制,因此,PLC想要在機(jī)器人多軸運(yùn)動(dòng)協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢(shì),還是需要一定的時(shí)間。因?yàn)楦咝阅芄I(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動(dòng)運(yùn)動(dòng),不單單是實(shí)現(xiàn)PTP、CP的控制,還要達(dá)到在多軸協(xié)調(diào)控制、速度、加速度、運(yùn)動(dòng)精度等方面的要求。

      目前,在PLC中,日本立石公司的PLC和ABB公司的PLC在微小型控制方面功能強(qiáng)大;等西門(mén)子公司的PLC雖然具備運(yùn)動(dòng)控制的功能,但遠(yuǎn)遠(yuǎn)不及MITSUBISHI PLC,因?yàn)镸ITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù),使之具有完整的運(yùn)動(dòng)控制功能,通過(guò)高速度的背板,處理器與伺服接口模塊可以進(jìn)行通訊,從而實(shí)現(xiàn)高度的集成操作及位置環(huán)和速度環(huán)的閉環(huán)控制。達(dá)到從簡(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng),來(lái)滿(mǎn)足高性能工業(yè)機(jī)器人的要求。

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    Operator Interface 2711P-B6M20A PV PLUS 600 GRAYSCALE, KEY/TOUCH, ETHERNET, AC PS

    Support 9323-PA2GS SUPT RENEWAL CONTRACT FOR 9323PA2G

    Support 9358-PB03R SUPT REINSTATEMENT CONTRACT FOR 9358PB03ENE

    Support F1772-LZPSERC FIRMWARE UPGRADE FOR 1772-LZP PLC2 PROCESSOR MODUL

    RSI Software Products 9324-RLD6U7DEE RSLOGIX 5000 FULL TO PRO UPGRADE, GERMAN

    RSI Software Products 9305-RSVADFCITE RSVIEW32 ACTIVE DISPLAY FLOATING CLIENT (ITALIAN)

    RSI Software Products 9358-SYNSE10E SYNCHRONIZATION UTILITY (10)

    Motion Control 2094-BC01-MP5 MODULE, INTEGRATED, 400/460V, 6KW CONV. 4A INV.

    A06B-0153-B075#7076 A30/3000 Servo Motor, IP67 Sealing, 64K Serial Encoder

    IC200UDR005 28 point; (16) 24VDC In, (11) Relay Out, (1) 24VDC Out, AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

    IC752CBT013RR Datapanel 320T ME (Mono Expansion)w/ Advanced software: 320x240 1/4 VGA Mono LCD with 386SX/40. Analog touch screen w/ text, bitmaps, bar graphs, real time clock. With 2M memory & PC/104. With Real Time Trends & Host Communications.

    MTR-1N32-I-E-D-S-0RR Stepping Motor Nema34 Encoder

    ZA06B-0116-B203 B1/6000is servo motor with 64k serial encoder

    20BD481A3ANNNNC1 PowerFlex 700 AC Drive 20B

    20G11TF370JN0NNNNN PowerFlex 755 AC Packaged Drive

    25-PM1-D024 PowerFlex 520 11kW (15Hp) Power Module

    372SPU78001PDEV Quantum PROWORX 32 ONLINE OFFLINE SGL USER PKG

    FRN0.1E1S-2J 0.3KVA 0.8A 0.1KW 3相AC220V/50Hz/60Hz

    K8AB-PM2 三相相序、電壓及缺相保護(hù),額定輸入380、400、415或480VAC

    1492-SPM3D020 MCB Supplementary Protector 2 A

    軟啟動(dòng)器 3RW40282BB04

    SIMATIC 存儲(chǔ)卡 6ES7 954-8LE02-0AA0 12 MB

    150-SD1NUR SMC-50 SOLID STATE MOTOR CONTROLLER 361A

    1738-8CFGM8 ArmorPoint 8 Point Combination Module

    1783-US6T2H Stratix 2000 6+2 port unmanaged switch

    193-EXP-DIO-42-240 E300 240V AC Digital Expansion Module

    20-750-NEMA1-F2 PowerFlex 750 Frame 2 Conduit Box Kit

    2090-CPWM7DF-16AF04 MP-Series 4 m Length Power Cable

    20AB-DB1-D PowerFlex 70 Resistor Kit

    A20B-2002-0860

    GA647IFESGRNUNLMT GCA iFIX Optn: ESig & ERec Unl I/O Run

    GP646IFCLNTCRO010 GCP iFIX iClient Read Only 25 PK Keyless Runtime Version

    IC600BF802RR 24-48Vac/dc Input Module (8 points)

    IC647HSTCC1KM Calculation Collector for Historian - Standard Server 1000 Points (M4 Key)

    IC647TBLCPVC001 Virtual Campus for Proficy Troubleshooter and Cause+ - 1 User

    IC693MDL753CA Conbal Coated Output module, 12/24VDC POS logic, 32 points. Interfaceis Fujitsu connector.

    IC756LDV000K-912 DV Development - Inb/Linux RedHat Op Sys, Korean, Version 9.12

    Pico Controllers 1760-SIM INPUT SIMULATOR FOR 12 I/O DC PICO CONTROLLER

    PLC-5/1771 System 1771-OD16K CONFORMALLY COATED, 120V AC ISOLATED OUTPUT MODULE

    Distributed I/O 1791-0A32 BLOCK I/O, 120V AC, 32 POINT MODULE (32 OUTPUT)

    Communications 1786-RPA CONTROLNET MODULAR REPEATER ADAPTER

    Operator Interface 2706-PRIOK REMOTE I/O COMMUNICATION MODULE FOR 2706-P7X & P9X

    Support 9701-VWSCWAS SUPT RENEWAL CONTRACT FOR 9701VWSCWAENE

    Support 9324-RL0100ESR SUPT REINSTATEMENT CONTRACT FOR 9324RL0100ES

    EtherNet/IP Products 2711P-K15C4B1 PV PLUS 1500, KEYPAD, ENET, AC PS, STD MEM

    RSI Software Products 9301-2SE340PTU1R RSVIEW32 RUNTIME 1500-32K UPGRADE OUT-SUPT (PT)

    RSI Software Products 9356-PRO2350U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO PROF.5000 TAG

    Motion Control F-4050-Q-H04AA MOTOR/ENCODER/BRAKE

    4360-N 4360 WITH NEMA 4

    IC200ACC303 I/O SHORTING BAR QTY 2

    IC693DNM200 DeviceNet Master

    TGT-E000-0-0 Target Rack Expansion Module, 10' Rack Linker Cable

    VDOCS-ADM VisualDocs Administration (includes integrated viewer)

    20BD014A3AYYANC0 PowerFlex 700 AC Drive 14 A at 10 Hp 20B

    20G11BF710JN0NNNNN PowerFlex 755 AC Packaged Drive

    22C-B145A103 PowerFlex 400- 37 kW (50 HP) AC Drive

    140XCA71709 Quantum 背板擴(kuò)展電纜, 3M

    285-BRC25-M10 Cable,ArmorStart Source Brake Cable

    H7ET-NFV 7位液晶顯示累積計(jì)時(shí)器,電壓(24-240AC)輸入、外部/手動(dòng)復(fù)位、999999.9h-3999d23.9h可切換

    1492-SPM1D100-N MCB Supplementary Protector 10 A

    通用型變頻器 6SE6 440-2UD25-5CA1 5.5 KW,185 x 245 x 195

    電機(jī)啟動(dòng)器 3VU13403NL00

    150-C43NCR SMC-3 43A Smart Motor Controller

    1609-SBAT Bul 1609 UPS Standard 12VDC Battery

    1771-IAD 1771 16 Point Digital Input Module

    193-EC2PB E3 Plus 0.4-2.0 A Overload Relay

    198-MS24 Start/Stop, On/Off Push Button Kit

    2090-CPBM7E7-16AF15 MP-Series 15 m Length Cable

    2094-AM01-S Kinetix 6000 Axis Module

    CW0DT1005 Industrial Key Board for DuraTouch, QWERTY Keyboard, Elastomer Type

    GFK-0487 Series 90 PCM Development Software (PCOP) User's Manual

    IC200UEX636-24 Qty of 24, 6 channel Analog expansion. (4) Analog bs & (2) Analog outputs. 120/240

    IC647APXM APX:Moore APACS

    IC647PFL300 Proficy Process Systems Standard Edition 3000 I/O with iFIX

    IC693CHS398LT Base, Expansion, 5 Slots (LT)

    IC754UEX001 VersaMax Micro Expansion I/O Interface for QP Control

    MA15/D/2/SI AC15AMP PWR SRG PROTECT (240AC)

    SLC/1746 System D1761-6.4 AIC + ADVANCED INTERFACE CONVERTER USER MANUAL

    Distributed I/O 1734D-IB8XOW8 24 VDC 8 SINK IN 8 RELAY OUT, DNET COMMS, SCREW

    Application-specific products 1803-EEM02 EEM,16 ANALOG, 4 TO 20 MA

    Operator Interface 2711-T10G12 PV1000 GRAYSCALE TOUCH, PBUS & RS232 PRINT

    Support 9301-2SE3500JPS SUPT RENEWAL CONTRACT FOR 93012SE3500JP

    Support 9381-PEDEQPENR SUPT REINSTATEMENT CONTRACT FOR 9381PEDEQPEN

    DeviceNet Products 1790D-N0C2 DNET LDX, 2 OUTPUT ANALOG CURRENT BSE,D-SHELL CONN

    RSI Software Products 9301-2SE330ITU1R RSVIEW32 RUNTIME 300-1500 UPGRADE OUT-SUPT (IT)

    RSI Software Products 9358-PBEPB30ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 30 UNITS

    Motion Control MPL-B640F-MJ24AA MOTOR,SERVO,36.0NM,3000RPM,MULTI,460V,BRK

    Motion Control 2090-UXLF-HV350 AC LINE FILTER,ULTRA,50 AMPS, 460V, 3 PHASE

    GQSJ2D100S2P QUICKSTART KIT 5" STN GE LABEL

    IC646NRV000 Report Manger Integrated Viewer

    MTR-3T67-G-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

    ST-2124 STXi output module 4 points, TTL, 5VDC/20mA Non inverting

    20BC085A0AYNANC1 PowerFlex 700 AC Drive 85 A 45 kW 20B

    20F11RD5P0AA0NNNNN PowerFlex 753 AC Packaged Drive

     

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