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IC647IFPRSR00075C現(xiàn)貨 in stock! 歡迎來電咨詢~??！

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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。但隨著機器人技術的飛速發(fā)展和信息時代的到來，機器人所涵蓋的內容越來越豐富，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)自動化的關鍵技術和重要產(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、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。比如AGV小車、自動化立體倉庫、噴涂設備、裝配設備等等。

　　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)機器人對外部設備的有效控制，底層控制器提供了相應的設備底層控制函數(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)可以使得設備驅動程序不再依賴于具體硬件，所以，通過調用控制函數(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對I/O設備的不同需求。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個轉向伺服電機，從而控制4個車輪的轉向角；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構實現(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運動控制器能夠實現(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，而電路設計以及編程相當復雜，因此，PLC的控制接線完善和技術創(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)機器人主要是各關節(jié)的驅動運動，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結合物聯(lián)網(wǎng)及高科技術，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。

上億庫存，國內外近千個倉庫，公司部分產(chǎn)品型號如下，歡迎聯(lián)系哦~！

2090-XXNPMF-16S90 Kinetix Drives 90m Standard Cable

DEMOCD00012 Proficy PlantTV DEMO CD

GC646MRB075 Proficy GlobalCare Complete for Logic PC Runtime 75 I/O

GP646IFCLNTCRO005 GCP iFIX iClient Read Only 10 PK Keyless Runtime Version

IC200MDL244 Input 240VAC isolated 8 point

IC646TBSPMPW010 Smart Process Monitoring Process+ Web Clients 10 Pack

IC647SDB001 Scheduler Extra Server Database

IC660TBD025 Terminal Assembly for IC660BBD025

IC697CMM721RR Series 90-70 Carrierband Lan Interface (MAP 30)

IC800MCUB12210XD 100 oz-in NEMA 23 stepping Motorcube with Devicenet interface

ControlLogix/1756 System 1756-IG16 0-5 VDC TTL INPUT (LOW TRUE) 16 PTS (20 PIN)

Industrial Computers 6182H-7TRH6D VVCE 700, TOUCH, STD MEM, RIO/DH, DC

Process Control 9358-PBNTK03ENE RSBATCH NT FOR PROCESSLOGIX BACK-UP KEY 03 UNITS

Operator Interface 2711P-RAK7 PVP700/VVCE700 KEY/COMBO TO PV900 KEY ADAPTER

Support 9352-WPM200S SUPT RENEWAL CONTRACT FOR 9352WPM200

Support 9351-AIXS SUPT RENEWAL CONTRACT FOR 9351AIX

ControlNet Products 1786-TPYR CONTROLNET Y-TAP/RIGHT ANGLE

RSI Software Products 9301-2SE235PTU1R RSVIEW32 WORKS 150-5K UPGRADE OUT-SUPT (PT)

RSI Software Products 9355-WABEU1R UPGRADE: OUT-SUPT RSLINX OEM TO RSLINX PRO

Motion Control MPL-A310P-HJ24AA MOTOR,SERVO,1.58NM,5000RPM,ENCR,230V,BRK,4.1KG

Motion Control 2090-DANFCT-S07 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 07M

BC647MPP001 Logic Developer PLC Professional. with Proficy GlobalCare Complete and a hardware key

IC5002TAX0000 12" Unbundled Inbligence Industrial Computer with WIN XP Standard Series

IC800CBL067 B0.5/3000 Motor Power Cable, 14 Meters

OC647HSTSCADA300 Proficy Historian for SCADA 300 pts

20AD014A3AYYANC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC140A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ANE063AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-D030N104 PowerFlex 527 15kW (20Hp) AC Drive

280-PWRM22A-M015 ArmorStart Three-Phase Power Media

FX1S-30MT 主機16入/14出 晶體管輸出

1492-M5X12H1-10 Connection Products

1494H-CA3H2 Heavy Duty Fusible Safety Switch

軟啟動器 3RW44446BC46

ET 200SP 6ES7136-6DB00-0CA0 故障安全型模塊F-DQ 4x24VDC/2A PM 高性能型，基座單元類型A0

1585D-M4TBDM-18 Micro D-Code, QD Style Ethernet Media

1756-CPR2D ControlLogix Redundant Supply Cable Down

1794-OB16 Flex 16 Point Digital Output Module

194E-CA40 194E Load switch

2085-IF4 Micro800 4 Point Analog Input Module

2090-DANBT-18S05 TL-Series 5 m Length Brake Cable

20AC5P0C3AYNANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MVSS99 Proficy GlobalCare Complete for View Standard Edition - Site License

HE693THM665 Discontinued Part. Check with GE IP on migration path.

IC630MDL306RR 24Vdc Sink Input Module, D Connector, w/LEDs (32 points)

IC647HSTSS3KM-35 Historian v3.5 Standard Server 2500 Points (M4 Key)

IC660BLA024 Cover w/Label for IC660BBA024

IC695ALG616RS Refurbished Analog Input module, 16 channels single ended, 8 channels differential, channels are configurable for voltage and current. Can be configured for Current: 0 to 20mA, 4 to 20mA, +/- 20mA; Voltage: +/- 10V, 0 to 10V, +/- 5V, 0 to 5V, 1 to 5

IC756WDV009E-26 DV Dev Sys VB, English v2.6

CompactLogix System 1769-OF2 2 CHANNEL ANALOG CURRENT/VOLTAGE OUTPUT MODULE

PLC-5/1771 System 9399-L5MAN 9399-L5MAN PLC-5 A.I. SERIES MANUAL SET

Distributed I/O 1799-ZCIOB ZONE CONTROL I/O CARD W/SOURCING OUTPUTS AND ZIP

Operator Interface 2711P-T6C5D PV PLUS 600 COLOR, TOUCH, RS232, DC PS. INCL USB,

Support 9343-S5200R SUPT REINSTATEMENT CONTRACT FOR 9343S5200

Support 9358-PBPC10S SUPT RENEWAL CONTRACT FOR 9358PBPC10ENE

Support F1779-KP2 FIRMWARE UPGRADE FOR 1779-KP2 COMMUNICATION MODULE

RSI Software Products 9301-2SE2103FRE RSVIEW32 WORKS 150 WITH RSLINX (FRENCH)

RSI Software Products 9701-VWMR075ENU1 RSVIEW ME STATION RUNTIME 15 TO 75 DISPLAY

RSI Software Products 9399-2SE32GRES RSVIEW32 GETTING RESULTS GUIDE (SPANISH)

Motion Control 2098-DSD-150X DRIVE, 65A/150A, ULTRA3000 W/INDEXING

ABI31200C2P/DVN QUICKPANEL 10.5" TFT W/DVN

IC200USB002 VersaMax Micro 64, RS-485 communications option board with (2) 0 - 10VDCanalog b channels built-in. The option board also supports program storage memory module. Compatible with VersaMax Micro 64 only.

IC752DPA060 Mature, order QuickPanel instead. DataPanel 1060 with resistive touch. 10.4" VGA (640x480) active matrix TFT color display. No bezel - mounts from inside panel. Supports all WinCfg functionality.

MTR-3S32-G-R-0-E-S MTR series servo motor with resolver and shaft seal

ZA06B-0273-B200 Alpha 40/4000HVis servo motor with straight shaft and key

20BE017A0AYNAND0 PowerFlex 700 AC Drive 17 A at 15 Hp 20B

20G14ND248AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PMFC-FB PowerFlex 520 Fr B Power Mod Front Cover

2711P-RP8DK PV Plus 6 512MB DC C Coated Logic Module

FRN7.5G11S-4CX 14 KVA 18 A 7.5 KW 3相AC380V/50Hz/60Hz

1492-J6 6 square mm Feed-Through Terminal Block

1492-SPM3D630-N MCB Supplementary Protector 63 A

軟啟動器 3RW40566BB45

CPU 模塊 6ES7 513-1AL01-0AB0 CPU 1513-1 PN，300 KB 程序，1.5 MB 數(shù)據(jù)；40 ns；集成 2x PN 接口

152H-C251FBD-54 251 A Encl. Smart Mtr Ctrlr Fusible

1738-OB8EM8 ArmorPoint 8 Point Output Module

1785-ENET PLC-5 Ethernet Interface Module

193-NREEJZ E1 Plus Replacement Overload Relay

20-COMM-C PowerFlex ControlNet Comm Adapter

2090-CSBM1DE-18AA15 Kinetix Cable Single DSL 2090-Series

20AC011A0AYNADC0 PowerFlex 70 AC Drive 20A

GA647IFSTDV00075 GCA iFIX Std HMI 75 I/O Dev

GP647IFPLDV00300 GCP iFIX Plus SCADA 300 I/O Dev

IC600BF915RR Axis Positioning Module Type 1 (Resolver Feedback)

IC647HSTCR20KM Collector Redundancy Option for Historian - Standard Server 20000 Points (M4 Key)

IC647TPD935 CIMPLICITY HMI ProServer 35,000 I/O Development & Runtime

IC693PCM311CA Conbal Coated Programmable Coprocessor module, 2 serial ports, 256K of memory

IC756MDV000J-97 DV Development - Alpha OpenVMS Op Sys, Japanese, Version 9.7

MicroLogix 1000/1761 System 1761-L32BWA 32 I/O MICROLOGIX 1000

PLC-5/1771 System 1771-IRK CONFORMALLY COATED,RTD INPUT MODULE,3-WIRE RTD'S

Distributed I/O 1792D-88HC 8 SINK/SOURCE INPUTS, 8 SOURCING 5-10 AMP OUTPUTS

Communications 6630-PMC MAP STATION MANAGER PERSONALITY MODULE AND CORE

Operator Interface D6190-6.5.19 CONTROLVIEW SIEMENS DRIVER USER MANUAL

Support 9356-STD2100S SUPT RENEWAL CONTRACT FOR 9356STD2100

Support 1789-L30S SUPT RENEWAL CONTRACT FOR 1789L30

EtherNet/IP Products 9355-RSLETENE RSLINX ENTERPRISE

RSI Software Products 9301-2SE3500JPU3 RSVIEW32 RUNTIME 300-100K UPGRADE IN-SUPT (JP)

RSI Software Products 9356-PRO2500U9R UPGRADE: OUT-SUPT: RSSQL PROF.32000 TO 70000 TAG

Motion Control TL-A110P-BJ32AA MOTOR, SERVO, 0.1NM, 5000RPM, 17BIT SERIAL FEEDBAC

44A735710-001 Emergency Handling - PLC

IC200CBL230 CABLE I/O NON-SHIELDED 1 CONNECTORS 3.0M

IC694APU300 HIGH SPEED COUNTER MODULE 200KHZ A B AND C TYPE

MSI-SOL-PROVIDER-43 MSI-SOL-PROVIDER-43

VSPC32-IMS VisualSPC Importer for Giddings and Lewis (OEM).

20BD034A0AYYANC0 PowerFlex 700 AC Drive 34 A at 25 Hp 20B

20G11GC2P1JA0NNNNN PowerFlex 755 AC Packaged Drive

22D-B033N104 PowerFlex 40P- 7.5 kW (10 HP) AC Drive

140CRA21110 Quantum DIO站適配器和電源,115/230VAC,獨立,3A

290D-FAP-G1-3 Direct Online Starter

熱電偶/PT100輸入，繼電器輸出，3個報警

1492-SPM2B250 MCB Supplementary Protector 25 A

軟啟動器 3RW30162BB04

電機啟動器 3VU16401MQ00

150-F108NBRB SMC Flex Smart Motor Controller

1732D-16CFG1212W Armor WeldBlock 16 Point Block

1771-NT2 1771 Analog Module

193-EC5PB E3 Plus 0.4-2 A Overload Relay

198E-DF14168 Ip66/Nema 4/4X/12 Metal Hinged Enclosure

2090-CPWM6DF-16AA03 TL-Series 3m Standard Power Cable

2094-EN02D-M01-S1 Kinetix 6200/6500 Control Module

DNR240PS24-I FIELD PSU 24VDC 10A

GFK-0870 Host Communications Toolkit for C/C++ Applications User's Manual

IC210EMS001 Modbus RTU slave communications expansion module, 24V DC power source

IC647AUR025 PA Universal Reporting Client 25 pak

IC647PRTEE025C Proficy Portal Enterprise Edition Client Pack 25 Users (M1 Key)

IC693CPU350 CPU 350 Module (32K Bytes user memory, 4K I/O, 8 Racks), no built-in S erial Ports .22msec/K, The battery for the CPU is now included in the CPU backplane box.

IC754VSB06MTD View Basic 6 inch Mono Touch DC

MSI-DEMO-43 Proficy Plant Apps Demo Software-43

SLC/1746 System 1746-RL52 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OG16

Distributed I/O 1734-FPD FIELD POTENTIAL DISTRIBUTOR

Application-specific products 9307-EM10K3PXENE RSENERYMETRIX 3RD PARTY OPC (65 - 10K METERS)

Operator Interface 2711-NC14 10METER RS232 OPERATING/PROGRAMMING CABLE

Support 9302-HCOR SUPT REINSTATEMENT CONTRACT FOR 9302HCO

Support 9510-PB2500ENR SUPT REINSTATEMENT CONTRACT FOR 9510PB2500EN

DeviceNet Products 1761-NET-DNI DEVICENET INTERFACE (DNI)

RSI Software Products 9301-2SE3350PTE RSVIEW32 RUNTIME 5K (PORTUGUESE)

RSI Software Products 9307-EMRPTENE RSENERGY METRIX REPORTPLUS

Motion Control MPL-B980D-MJ22AA MOTOR,SERVO,162.7NM,2000RPM,MULTI,460V

Silver Series 1398-HMI-001 TOUCHPAD INTERFACE MODULE, ULTRA

HE693ADC816 8 channel, +/- 10VDC HS, 16-bit resolution

IC647CBL704 Cable, Workstation Intf. to Series 90 CPU, Serial, 10 feet (3m)

QPH2D100L2P/B QUICKPANEL 6" MONO LCD HAND HELD BLANK

ST-3802 STXi analog b module 2 Channels, Thermocouple

20BC140A3ANNAEC0 PowerFlex 700 AC Drive 20B

20F1AGC104JN0NNNNN PowerFlex 753 AC Packaged Drive

22A-D4P0N104 PowerFlex 4- 1.5 kW (2 HP) AC Drive

140DAI34000C Quantum 開關量 AC 輸入, 16點, 24 VAC, 隔離, CC

284D-FVD1P4B-10-RR-3-DB1-SB-EMI DeviceNet Variable Frequency Drive

CJ1W-DA041 4點模擬量輸出單元（1-5V,0-5V,0-10V,-10-10V,4-20MA）分辨率：1/4000

1492-RTB16P 16-Pole Push-In Style Rtb

WinCC 上位監(jiān)控軟件 6GK1901-0DA20-0AA0 BFOC 連接器套件，（20 件）

變送器 3RS17032DD00

1497A-A4-M6-1-N Control Power Transber

1606-XLP72E Power Supply XLP 72 W Power Supply

1768-L43 CompactLogix L43 2MB Memory Controller

188-K4C250 Miniature Circuit Breaker 25 A

194R-60-C3 194R60 A Line or Load Terminal Shield

2090-CPBM7DF-10AA90 90 m Length SpeedTec Standard Cable

2090-XXNPMP-14S01 MP-Series 1 m Length Power Cable

CBL-13-ED-30 Encoder cable for MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series stepping motors connected to IMC or S2K. 30 feet

GC647TDV000 Proficy GlobalCare Complete for Proficy GlobalCare Complete for CIMPLICITY HMI Server No Limit Development and Runtime System

IC200PWR102CA Conbal Coated POWER SUPPLY WITH EXPANDED 3.3VDC 120/240VAC INPUT

IC646TBLSS15K Proficy Troubleshooter for Inbligent Historian for Hist 15000 Points

IC647NGT000 CIMPLICITY HMI OMRON TCP/IP Communications Driver

IC693ACC300LT Input Simulator Module (LT)

IC698ETM001 RX7i Standalone Ethernet Module 10/100

IC800VMCB1050 Motor power and brake power cable for 1 kW VersaMotion servo motor- 5 meter

SLC/1746 System 1746-IO8 COMBINATION MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6180W-7P2KHDC VERSAVIEW 6180W NON-DISPLAY COMPUTER, 7 SLOT

Application-specific products 6556-PA0PMCDC CLUTCH/BRAKE PACKAGE-CONTROLNET

Operator Interface 2711-T5A15L1 PV550 MONO TOUCH, CNET & RS232 PRINT

Support 9301-2SE2200R SUPT REINSTATEMENT CONTRACT FOR 93012SE2200

Support 1760-PICOSOFTR SUPT REINSTATEMENT CONTRACT FOR 1760PICOSOFT

DeviceNet Products 1788-MCHKR NETWORK MEDIACHECKER (ENET, CNET, DNET, DH+/RIO)

RSI Software Products 9301-2SE250FRU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-BIZUC0PENE RSBIZWARE UNLIM RUNTIME CLIENT - NO SQL SERVER

Motion Control MPL-B310P-RJ22AA MOTOR,SERVO,1.58 NM,5000RPM,RSLVR,460V,3.5KG

Motion Control 2090-XXNPY-16S01 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,1M

GC646TDV935 Proficy GlobalCare Complete for Server 35,000 I/O Develop/Runtime System""

IC641SWP310 Chinese Version of LogicmasterTM 90-30 Release 4.51

IMC-313E-X-D IMC-D Series Servo Motor Controller, Enhanced, 3 Amp

PSPC-DC100/E-220 Prof Shop Floor SPC DC 100 Usr eSig 220v

20BC011A0AYNAEC1 PowerFlex 700 AC Drive 20B

20DM170N0ENNBNANE PowerFlex 700S AC Drive 20D

2198-H040-D-T K5500 FR1,2 DC bus connector

2711P-RAAT10 PanelView Plus 7 Series Accessory

280-PWRM35F-M35 ArmorConnect 3-PH Power Media trnk cable

CQM1H-CPU11 主機，最大I/O點；256點，程序容量；3.2K字 不支持內裝板

1492-MS8X12V51-100 Connection Products

模擬量輸入/輸出模塊SM 6ES7 331-7PF11-0AB0 AI/8 熱電偶，光電隔離，40pin 前連接器

行程開關 3SE53220SE21

運行版軟件 6AV2105-4FF04-0AE0 SIMATIC WinCC Runtime 專業(yè)版 V14 Upgrade WinCC V7.0..V7.3 Runtime 2048 PowerTags -> WinCC Runtime 專業(yè)版 2048 PowerTags V14

1585J-M8CBJM-8M5 RJ45 Ethernet Media

1756-RM2K CLX Redundancy Module

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