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PXIe-5654現(xiàn)貨 in stock! 歡迎來電咨詢~?。?

PXIe-5654,

PXIe-5654

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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(dǎo)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(dǎo)軌上而無需用螺絲固定，維護也很方便，一般來說，常用的導(dǎo)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(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、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(yīng)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(yīng)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(yīng)不同機器人應(yīng)用程序?qū)/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(fù)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(luò)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(fù)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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Support F6008-LTV FIRMWARE UPGRADE FOR 6008-LTV PLC5 PROCESSOR MODUL

RSI Software Products 9301-2SE2353ITE RSVIEW32 WORKS 5K WITH RSLINX (ITALIAN)

RSI Software Products 9351-WES INTERCHANGE FOR WINDOWS

RSI Software Products 9399-WL5UG WINTELLIGENT LOGIC 5 USER GUIDE

Motion Control 2090-CDNPBMP-8S30 CABLE, 460V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,30M

BC646MSP101 Logic Developer - State Professional w/1 Yr of SAFE w/Programming Cable

IC300TIU201 Graphical Operator Control Station Two serial ports, (1) RS-232 and (1) RS-485/RS-232 port, (1) CAN port, 3 meg of screen memory. (4) SmartStack support. No controller support.

IC754VSI10MTD 10" Monochrome Quickpanel View Intermediate, Touch, 24VDC

MTR-3T66-H-R-B-M-0RR Servo Motor Metric 24V Brake

20AD011A3AYNAEG1 PowerFlex 70 AC Drive 11 A at 7.5 Hp 20A

20DC043A0EYNANANK PowerFlex 700S AC Drive 20D

20G1ANC367AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-A4P8N114 PowerFlex 527 0.75kW (1Hp) AC Drive

280-MTR22-LC ArmorStart Three-Phase Power Media

FR-F740-S75K 110 KVA 144A 75KW 3相AC380V/50Hz/60Hz

1492-LMJ3 IEC Mini Rail 5.1x35x23.7mm Spr Clp

1494G-DF3N-421 NEMA 1494G Enclosed Disconnect

軟啟動器 3RW44432BC44

ET 200SP 6ES7132-6GD50-0BA0 RQ 4x24VUC/2A 繼電器輸出，一常開和一常閉觸點，標準型，基座單元類型 A0

1585D-E4UBDE-9 Ethernet Media M12 Patchcord

1756-A13K ControlLogix 13 Slots Chassis

1794-IF4I Flex 4 Point Analog Input Module

194E-AA80E-P11 194E Load switch

2080-LC50-24QBB Micro850 24 I/O EtherNet/IP Controller

2090-CSWM1DF-18AA12 Kinetix 12m Smartb Single Cable

20AC3P5C0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MRA150 Proficy GlobalCare Complete for View Runtime 150 I/O

HE693SER300 Discontinued Part. Check with GE IP on migration path.

IC610MDL116RR Analog Input Module, 4-20mA/1-5Vdc (4 channels)

IC647HSTSS100M-35 Historian v3.5 Standard Server 100 Points (M4 Key)

IC660BBD025 Block 5/12/24Vdc Sink I/O Block 32 Circuits

IC694TBS132 Spring clamp style High Density Terminal Block with extended depth for l arge wires - 36 Connections

IC756WDN009K-99 DV Development Sys VB, Java, C++, C, Korean, Version 9.9

CompactLogix System 1769-ADN 1769 COMPACT I/O DEVICENET ADAPTER

PLC-5/1771 System 1771-PS7K CONFORMALLY COATED, MULTIVOLTAGE 1771 RACK PWR SPL

Distributed I/O 1798-BP6 FLEXARMOR 6 SLOT BASE PLATE

Operator Interface 2711P-K6C3A PV PLUS 600 COLOR, KEYPAD, DH485, AC PS

Support 9323-PLC5S SUPT RENEWAL CONTRACT FOR 9323PLC5

Support 9358-PBA30R SUPT REINSTATEMENT CONTRACT FOR 9358PBA30ENE

Support F1775-L1SERB FIRMWARE UPGRADE FOR 1775-L1 PLC3 PROCESSOR MODULE

RSI Software Products 9324-RLD700NXPTE RSLOGIX 5000 PRO EDITION, PORTUGUESE

RSI Software Products 9305-RSVADSESE RSVIEW32 ACTIVE DISPLAY SERVER (SPANISH)

RSI Software Products 9322-ECCBENE ENTERPRISE CONTROLS CONTROL BUNDLE

Motion Control 2094-PR8 POWER RAIL, 230V OR 460V, 8 AXIS

A06B-6089-H106 Alpha Series SVU1-130 Amplifier

IC200UEX012-24 Qty of 24, 14 point expansion. (8) 24VDC In, (6) Relay Out, 24VDC Power Supply (includes IC200CBL501)

IC752CBT073RR Datapanel 320T CEG w/ Advanced s/w: 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With Real Time Trends & Host Communications. With 2Meg & Genius PC/104.

MTR-35005685 Custom modified MTR series NEMA 34 stepping motor

ZA06B-0143-B175#7008 A12/3000 servo motor with brake and 64k serial encoder

20BD600N3ANNNNC0 PowerFlex 700 AC Drive 600 A 500 Hp 20B

20G14NC140JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-E1P7 PowerFlex 520 0.75kW (1Hp) Power Module

OFSCSPBLU Quantum OFS LARGE SUBSCRIPTION RENEWAL

FVR0.75E11S-4JE 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

1492-J3-W 2.5 square mm Standard Terminal Block

1492-SPM3D080 MCB Supplementary Protector 8 A

軟啟動器 3RW40382BB04

SIMATIC HMI 系列面板 "6AV2124-0GC01-0AX0

150-SM3 SMC-50 Analog I/O Module

1738-EXT3 ArmorPoint Bus Extension