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CPCI-8217現(xiàn)貨 in stock! 歡迎來電咨詢~！！

CPCI-8217,

CPCI-8217

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　機器人誕生之日起人們就不斷地嘗試著說明到底什么是機器人。但隨著機器人技術(shù)的飛速發(fā)展和信息時代的到來，機器人所涵蓋的內(nèi)容越來越豐富，機器人的定義也不斷充實和創(chuàng)新。機器人技術(shù)作為20世紀人類最偉大的發(fā)明之一，自20世紀60年代初問世以來，經(jīng)歷40多年的發(fā)展已取得長足的進步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機器人已成為智能制造和工業(yè)自動化的關(guān)鍵技術(shù)和重要產(chǎn)品，也是數(shù)控機床走向自動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，通過物聯(lián)網(wǎng)，能實現(xiàn)PLC、變頻器、遠程I/O等與上位機算機進行連接，來構(gòu)造出一種多級式分布系統(tǒng)。

　　1

　　舉個例子

　　三菱工業(yè)電機中的CC-Link構(gòu)建的一種開放性面向現(xiàn)場控制的總線網(wǎng)路系統(tǒng)，DIN是德國工業(yè)標準，使用導軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標準的電器元器件可方便地卡在導軌上而無需用螺絲固定，維護也很方便，一般來說，常用的導軌寬度是3.5CM�，F(xiàn)如今，很多的電器元器件都有采用這種標準，比如有PLC、斷路器、開關(guān)、接觸器等。

　　工業(yè)機器人不是孤立工作的，一個機器人工作站，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、移動導軌等等，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、自動化立體倉庫、噴涂設(shè)備、裝配設(shè)備等等。

　　2

　　工業(yè)機器人的自動控制系統(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整個系統(tǒng)來說十分重要，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)采集的實時性等。移動機器人運行環(huán)境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運動控制器至關(guān)重要，既要滿足系統(tǒng)要求，又要具有良好的可擴展性和兼容性。

　　為實現(xiàn)機器人對外部設(shè)備的有效控制，底層控制器提供了相應的設(shè)備底層控制函數(shù)，這些控制函數(shù)可以直接訪問機器人的硬件寄存器來控制機器人的運行，而這些控制函數(shù)可以使得設(shè)備驅(qū)動程序不再依賴于具體硬件，所以，通過調(diào)用控制函數(shù)接口就可以實現(xiàn)對機器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機器人控制系統(tǒng)硬件進行選型以后，根據(jù)移動機器人的硬件組成進行電氣系統(tǒng)設(shè)計。移動機器人的電氣系統(tǒng)主要包括三個部分：主電路、伺服驅(qū)動系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動機器人控制系統(tǒng)主電路通過PLC和繼電器實現(xiàn)控制。即由繼電器由線圈和輔助觸點兩部分組成。當線圈通電的時候，其對應的常開觸點閉合，常閉觸點斷開。

　　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，通過軟PLC編程系統(tǒng)的工程配置模塊進行可視化配置，以適應不同機器人應用程序?qū)�I/O設(shè)備的不同需求。其主要是機器人將其他信號作為末端執(zhí)行器I/O使用，末端執(zhí)行器I/O鏈接到機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運動控制指令，使用位置控制方式，控制4個轉(zhuǎn)向伺服電機，從而控制4個車輪的轉(zhuǎn)向角；另外，使用擴展模擬量輸出模塊輸出電壓值，控制4個輪毅電機，驅(qū)動機器人運動。排除硬件的因素外，程序的好壞直接決定著運動性能的高。因此程序的編寫是整個設(shè)計中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機器人的高性能要求還有待改善

　　機器人控制器可以理解為完成機器人控制功能的結(jié)構(gòu)實現(xiàn)，因此機器人控制器是機器人最為核心的“心臟”，它從一定程度上影響著機器人的發(fā)展，高性能的工業(yè)機器人不單要實現(xiàn)PTP控制，而且還要實現(xiàn)CP控制。雖然說，采用基于PC的運動控制器和基于DSP運動控制器能夠?qū)崿F(xiàn)機器人的運動控制，但是卻無法滿足高性能工業(yè)機器人的各項要求指標，而電路設(shè)計以及編程相當復雜，因此，PLC的控制接線完善和技術(shù)創(chuàng)新是一大難題。

　　PLC控制接線簡單，只要通過運動控制指令就能實現(xiàn)對機器人的運動控制，因此，PLC想要在機器人多軸運動協(xié)調(diào)控制、網(wǎng)絡通訊方面取得優(yōu)勢，還是需要一定的時間。因為高性能工業(yè)機器人主要是各關(guān)節(jié)的驅(qū)動運動，不單單是實現(xiàn)PTP、CP的控制，還要達到在多軸協(xié)調(diào)控制、速度、加速度、運動精度等方面的要求。

　　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大；等西門子公司的PLC雖然具備運動控制的功能，但遠遠不及MITSUBISHI PLC，因為MITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，使之具有完整的運動控制功能，通過高速度的背板，處理器與伺服接口模塊可以進行通訊，從而實現(xiàn)高度的集成操作及位置環(huán)和速度環(huán)的閉環(huán)控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業(yè)機器人的要求。
 

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20G1ALF370AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D1P4N114 PowerFlex 525 0.4kW (0.5Hp) AC Drive

2715-B7CD PanelView 5500 6.5 in. Graphic Terminal

FR-A740-2.2K 4.2 KVA 6A 2.2KW

1492-LD3C IEC Term Blck 5.1x69x42.5mm Spr Clp

1494F-FS200 200 A Fuse Block

軟啟動器 3RW44346BC46

ET 200SP 6ES7193-6AR00-0AA0 BA 2×RJ45 (用于PROFINET 接口模塊，標準以太網(wǎng)接口）

1585D-D4UBJM-1 Micro D-Code, QD Style Ethernet Media

1747-RL401 SLC Label Kit

1794-CE1 Flex Extension Cable

194E-AA16E-TN-PE 194E Load switch

2080-IQ4OB4 Micro800 8 Point Digital Combo (Source)

2090-CSWM1DF-14AA13 Kinetix Cable Single DSL 2090-Series

20AC2P1A3AYYAEC0 PowerFlex 70 AC Drive 20A

GC646MOSS99 QuickPanel Control Development Software - Site License with Proficy GlobalCare Complete

HE693MIX800 Discontinued Part. Check with GE IP on migration path.

IC609SJR102RR Series One Junior 24Vdc Sink In, 115/230Vac Out,115Vac P/S

IC647HSTSC1250KM Server to Server Collector for Historian - Standard Server 1,250,000 Points (M4 Key)

IC660BBA025 Block 24/48Vdc Analog Current Source 6 Outputs

IC694MDL740 Output module 12/24 VDC 0.5 amps 16 points, positive logic.

IC756WDJ001E-28 DataViews Development System for Visual Basic & Java 1 User, English v2.8

MicroLogix 1500/1769 System 1764-DAT DATA ACCESS TOOL

PLC-5/1771 System 1784-CP10 CABLE ASSY, 10FT/3.20M, IBM AT OR COMPATIBLE CMPTR

Distributed I/O 1797-IRT8 EX RTD/THERMOCOUPLE/MV INPUT MODULE, 16 BIT, 8 PT.

Operator Interface 2711P-K4M5A PV PLUS 400 GRAYSCALE, KEYPAD, RS232, AC PS. INCL

Support 9323-PA1ES SUPT RENEWAL CONTRACT FOR 9323PA1E

Support 9358-HSTS2350R SUPT REINSTATEMENT CONTRACT FOR 9358HSTS2350

Support F1772-LWSERA FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300NXPTE RSLOGIX 5000 STD., RSNETWORX BUNDLE, PTG

RSI Software Products 9304-WVR256D WINTELLIGENT VIEW 256 ADDITIONAL RUNTIME

RSI Software Products 9358-PLTM2600U5R UPGRADE: OUT-SUPT: PLANTMETRICS 100 TO 200 WORKCEL

Motion Control 1756-M08SE 1756 8 AXIS SERCOS SERVO MODULE

A06B-0128-B575#7076 A6/3000 Servo Motor, IP67 Sealing, 64K Serial Encoder

IC200UAR014 14 point PLC, (8) 120VAC In, (6) Relay Out (2 at 10 amp and 4 at 2 amp), 120V/240VAC Power Supply

IC752BTS400 Display Station 1084 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win 95

MTR-1362-0-A-E-0RR Stepping Motor Nema34 Dbl Shft

ZA06B-0086-B503 B22/2000HVis servo motor with 24 VDC brake and 128k serial encoder

20BD365A3ANNNNC0 PowerFlex 700 AC Drive 20B

20G11TC750JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-A4P8 PowerFlex 520 0.75kW (1Hp) Power Module

140XTS33200 Quantum IP20 本安型藍色線端子, 40點

FRN 0.75E1S-4C 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

61F-G 自動供水和排水控制?電源:110/220VAC

1492-SPM3C300 MCB Supplementary Protector 30 A

軟啟動器 3RW40462TB05

數(shù)字量輸入 / 輸出信號板 6ES7 223-0BD30-0XB0 SB 1223 DI 2x24 V DC，DQ 2x24 V DC

150-SC1NUD SMC-50 SOLID STATE MOTOR CONTROLLER 210A

1734-TBS POINT I/O Terminal Base

1783-RMS06T Stratix 8300 6 Port Ethernet Switch

193-ESM-VIG-100A-T E300/E200 100 Amp Sensing Module

20-750-I2B-C567D545 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA05 MP-Series 5m Servo Power Cable

2099-BM08-S Kinetix 700037kW Servo Drive

GA647IFCLNTSRO100 GCP iFIX iClient Read Only 1 PK Keyed Runtime Version

GP-2102NT GagePort Digital NT 2-port b