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PCI-7258現(xiàn)貨 in stock! 歡迎來(lái)電咨詢~??！

PCI-7258,

PCI-7258

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　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?，F(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。即由繼電器由線圈和輔助觸點(diǎn)兩部分組成。當(dāng)線圈通電的時(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的控制接線完善和技術(shù)創(chuàng)新是一大難題。

　　PLC控制接線簡(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)滿足高性能工業(yè)機(jī)器人的要求。
 

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1785-ME16 PLC-5 16 K Words Memory Memory Module

193-RA3 Reset Adaptor

20-COMM-L PowerFlex Architecture LonWorks Adapter

2090-CSBM1DE-18AF30 Kinetix Cable Single DSL 2090-Series

20AC011A3AYNADC0 PowerFlex 70 AC Drive 20A

GA647IFSTRN00150 GCA iFIX Std HMI 150 I/O Run

GP647IFPLRN00900 GCP iFIX Plus SCADA 900 I/O Run

IC600BF930RR 115Vac Protected Output Module (4 points)

IC647HSTCR5000KM Collector Redundancy Option for Historian - Standard Server 5,000,000 Points (M4 Key)

IC647TPR700 CIMPLICITY HMI ProServer 700 I/O Runtime System

IC693PIF400 High Perbance PC/AT Interface (PCIF) to Series 90-30 I/O with softw are

IC756MDV000K-99 DV Development - Alpha OpenVMS Op Sys, Korean, Version 9.9

MicroLogix 1000/1761 System 1761-CBL-AM00 CABLE: MICROLOGIX 1000 CONTROLLER TO PORT 2

PLC-5/1771 System 1771-NB4T HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1792D-8BVT8D 8 SINK/SOURCE INPUTS, 8 SOURCING 0.5AMP OUTS

Communications 9351-AIXRT INTERCHANGE FOR AIX RUNTIME

Operator Interface D6190-6.5.20DE CONTROLVIEW STATIST. PROCESS CNTL USER MNL(GERMAN)

Support 9356-STD2350R SUPT REINSTATEMENT CONTRACT FOR 9356STD2350

Support 9392-CDRSENE DATADISC CD-ROM SUBSCRIPTION

EtherNet/IP Products 9355-WABSNENE RSLINX SINGLE NODE

RSI Software Products 9301-2SE3500KOU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9356-SQLSAP250U1R UPGRADE: OUT-SUPT: RSSQL GATEWAY SAP TO SAP PREM

Motion Control TL-A130P-BJ34AA MOTOR, SERVO, 0.32NM, 5000RPM, 17BIT SERIAL FEEDBA

44A737558 Series 90-30 State Logic CSE313A,B,C Upgrade latest revision CSE313D

IC200CBL602 CABLE EXPANSION SHIELDED 2 CONNECTORS 2M

IC694MDL241 INPUT MODULE 24 VAC 16 POINT

MSI-UNIV-WEB-100-43 Univ Web(RTIP/Dash/Web/Excel) 100 Pak-43

VSPC32-MON50 VisualSPC Monitor, 50 license pack.

20BD034A3AYNANC0 PowerFlex 700 AC Drive 34 A at 25 Hp 20B

20G11GD052AA0NNNNN PowerFlex 755 AC Packaged Drive

22D-CCB PowerFlex 40P B Frame Cover Kit

140CRA21220 Quantum DIO站適配器和電源,24VDC,獨(dú)立,3A,雙電纜

290D-FBP-G1-3 Direct Online Starter

E5EZ-Q3 NEW 外型：48×96mm開(kāi)孔；45×92電源：100V-240VAC

1492-SPM2C005 MCB Supplementary Protector 0.5 A

軟啟動(dòng)器 3RW30181BB04

電機(jī)啟動(dòng)器 3VU16402MK00

150-F135NBDB SMC Flex Smart Motor Controller

1732D-8X81212D ArmorBlock 16 Point Combination Block

1771-ODD 1771 16 Point Digital Output Module

193-ED1AB E1 Plus 0.1-0.5 A IEC Overload Relay

198E-PNT IEC Neutral Enclosure Accessory

2090-CPWM6DF-16AA15 TL-Series 15m Standard Power Cable

2094-PRS5 Kinetix 6000 Slim Power Rail

DT1000-16D 15in IPC 5/100 w/128MB RAM and Windows 2000, No CD or Floppy. Includes : (1) License VisualMEM ShopFloor, (1) VMEM-GMOD and (1) VMEM-IMOD/DT.

GFK-1034 Series 90-30 Genius Bus Controller User's Manual

IC210NAR010 AC (85 to 264VAC) Power Source, 6 AC in/4out (Relay 8 Amp), not expandable,no LCD/Keypad, no cover.

IC647BDP000 Batch Development Pak

IC647PRTHE002C Proficy Portal Historian Edition Client Pack 2 Users (M1 Key)

IC693CPU360 CPU 360 Module (240K Bytes configurable user memory, 4K I/O, 8 Racks), no built-in Serial Ports .22msec/K, The battery for the CPU is now i ncluded in the CPU backplane box.

IC754VSI12MTD View Intermediate 12 Inch Mono Touch DC

MSI-EFF-100 Efficiency Management Clients 100 Pack

SLC/1746 System 1746-RL58 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-IC16

Distributed I/O 1734-TB3Q10 TEN 12-POSITION IP20 SCREW TERMINAL BASES

Application-specific products 9307-EMCHTENE RSENERGYMETRIX CHARTPLUS

Operator Interface 2711-NDRC DH+/RIO CONNECTOR FOR PV1200/1400E/1000E

Support 9302-MGXR SUPT REINSTATEMENT CONTRACT FOR 9302MGX

Support 9510-PBENR SUPT REINSTATEMENT CONTRACT FOR 9510PBEN

DeviceNet Products 1784-PCD1 DEVICENET PCMCIA CABLE (PC CARD CONNECTOR TO

RSI Software Products 9301-2SE3350U2 UPGRADE: IN-SUPT: RSVIEW32 RUNTIME 300 TO 5000

RSI Software Products 9310-CPSAUTOENE RSTESTSTAND ENTERPRISE AUTOMOTIVE

Motion Control MPL-SSN-A9B9 KIT,SHAFT SEAL,FOR MPL-A9XX AND MPL-B9XX MTRS

Silver Series 1747-PT1 HAND HELD TERMINAL - INCLUDES 6 FT/1.8 M CABLE

HE693DNT250 DeviceNet Scanner (master) module for Series 90-30.

IC648CTL970 CIMPLICITY Control 90-70 Annual Maintenance

QPI2D100L2P QUICKPANEL MONO 10.5" LCD

ST-4214 STXi analog output module 4 Channels, 4~20mA, 12bit

20BC170A0ANNANA0 PowerFlex 700 AC Drive 20B

20F1AGC205JA0NNNNN PowerFlex 753 AC Packaged Drive

22A-D8P7N104 PowerFlex 4 3.7 kW (5 Hp) AC Drive

140DAI45300C Quantum 開(kāi)關(guān)量AC輸入,32點(diǎn),48VAC,8點(diǎn)成組隔離,CC

284D-FVD2P3B-10-CR-SB DeviceNet Variable Frequency Drive

WS02-OPCC1-E OPC SERVER

1492-RXIM24-8R BUL.1667-PANELCONNECT INP

WinCC 上位監(jiān)控軟件 6AV6381-1BM06-0DV0 "WinCC?V6.0 RC?128?（128 個(gè)外部變量）"

變送器 3RS17222ET00

1497B-A1-M13-0-N 50VA 120x240-24V 60Hz CPT

1606-XLRED40 1606 Power Supply

1768-PB3 CompactLogix L4x DC In Power Supply

188-K4D010 Miniature Circuit Breaker 1 A

194R-B32-1753 BS88 194R Disconnect Switch

2090-CPBM7DF-10AF15 MP-Series 15m Continuous-Flex Cable

2090-XXNPMP-14S09 MP-Series 9 m Length Power Cable

CBL-13-MP-30 Power cable for MTR-1220 or MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series stepping motors. 30 feet

GC647WFL025 Proficy GlobalCare Complete for Proficy Workflow - 25 User License

IC200SET001 Ethernet to Serial Interface

IC646TBLSS40K Proficy Troubleshooter for Inbligent Historian for Hist 40000 Points

IC647NMB000 MODBUS PLUS OPC Server

IC693ACC306 EPROM Chips (qty 4)

IC698RMX016CA RX7I REDUNDANT MEMORY EXCHANGE 16MB CONFORMAL COATED

IC800VMCB2100 Motor power and brake power cable for 2 kW VersaMotion servo motor- 10 meter

SLC/1746 System 1746-OA16 AC OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6155R-14SXPH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBK2DC SLC FIXED CLUTCH/BRAKE KIT DC I/O

Operator Interface 2711-T5A5L1 PV550 MONO TOUCH, RS232 (DH485)

Support 9301-2SE2300ESR SUPT REINSTATEMENT CONTRACT FOR 93012SE2300ES

Support 9307-64MGDBCR SUPT REINSTATEMENT CONTRACT FOR 930764MGDBCENE

DeviceNet Products 1732D-IB8M8 DEVICENET 24VDC 8 INPUT W/M8

RSI Software Products 9301-2SE250ITU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-BNT03UB1 UPGRADE: IN-SUPT: RSBATCH 03 UNITS TO BUNDLE

Motion Control MPL-B310P-SJ24AA MOTOR,SERVO,1.58 NM,5000RPM,SINGL,460V,BRK,4.1KG

Motion Control 2090-XXNPY-16S07 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,7M

GFK-0121 Genius Hand-Held Monitor User's Manual