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IB890-R現(xiàn)貨 in stock! 歡迎來電咨詢~??！

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　機(jī)器人誕生之日起人們就不斷地嘗試著說明到底什么是機(jī)器人。但隨著機(jī)器人技術(shù)的飛速發(fā)展和信息時代的到來，機(jī)器人所涵蓋的內(nèi)容越來越豐富，機(jī)器人的定義也不斷充實和創(chuàng)新。機(jī)器人技術(shù)作為20世紀(jì)人類最偉大的發(fā)明之一，自20世紀(jì)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(jìn)步。隨著近年來制造業(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(yuǎn)程I/O等與上位機(jī)算機(jī)進(jìn)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(jī)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(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)軌上而無需用螺絲固定，維護(hù)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(biāo)準(zhǔn)，比如有PLC、斷路器、開關(guān)、接觸器等。

　　工業(yè)機(jī)器人不是孤立工作的，一個機(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(jī)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(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對運(yùn)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(yùn)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(kuò)展性和兼容性。

　　為實現(xiàn)機(jī)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(jī)器人的硬件寄存器來控制機(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(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計。移動機(jī)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(jī)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(dāng)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(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)動控制指令，使用位置控制方式，控制4個轉(zhuǎn)向伺服電機(jī)，從而控制4個車輪的轉(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個輪毅電機(jī)，驅(qū)動機(jī)器人運(yùn)動。排除硬件的因素外，程序的好壞直接決定著運(yùn)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(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(yùn)動控制器和基于DSP運(yùn)動控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動控制，但是卻無法滿足高性能工業(yè)機(jī)器人的各項要求指標(biāo)，而電路設(shè)計以及編程相當(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控制接線簡單，只要通過運(yùn)動控制指令就能實現(xiàn)對機(jī)器人的運(yùn)動控制，因此，PLC想要在機(jī)器人多軸運(yùn)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(jī)器人主要是各關(guān)節(jié)的驅(qū)動運(yùn)動，不單單是實現(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；等西門子公司的PLC雖然具備運(yùn)動控制的功能，但遠(yuǎn)遠(yuǎn)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(yùn)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(jìn)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(dá)到從簡單的點到點的運(yùn)動到復(fù)雜的齒輪傳動，來滿足高性能工業(yè)機(jī)器人的要求。
 

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BC646MPP005 Logic Developer PLC Professional 5 Pack with Proficy GlobalCare Complete

GC647APC010 GC ProductionClient 10 Pak

HMI-CCT-205 BACKLIGHT TUBE 12.1 inch Color TFT (QPL2xxxxC2P)

IC641VPP700 VersaPro Professional Edition - Windows Programming Software for Serie s 90-70, Series 90-30, and VersaMax PLCs

IC647IFGLBLSRVRM-50 iFIX WebSpace Server including iClient Dev and 2 Web Users(M4 Key)

IC660EBR101RR Electronic Assembly Normally Open

IC697ACC715 Kit, VME Integrator, J2 Backplane Mounting

IC756WRE499J-23 DataViews Runtime for Windows 100+, Per User, Japanese, Version 2.3

FlexLogix System 1794-IR8 RTD INPUT MODULE, 8 POINT

PLC-5/1771 System D6200-6.4.18DE PLC-5 STRUCTURED TEXT REL 1.0 USER MANUAL (GERMAN)

Process Control 1757-SRM SYSTEM REDUNDANCY MODULE

Operator Interface 2711P-T10C6D1 PV PLUS 1000, TOUCH, ENET, DC PS, STD MEM

Support 6001-A1DCS SUPT RENEWAL CONTRACT FOR 6001A1DC

Support 2711-END1UR UPGRADE: OUT-SUPT: PB 1200/1200E TO PB 1400E

Support F1785-L60BSERA FIRMWARE UPGRADE FOR 1785-L60B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230ESU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (ES)

RSI Software Products 9701-VWSS000JPU3 RSVIEW SE 250 TO UNLTD UPG JAPANESE

RSI Software Products 9399-RSBPHRG RSBATCH PHASE LOGIC REF. GUIDE

Motion Control 1394C-SJT10-D MODULE,SYSTEM,10KW,SERVO,W/SERCOS INTF,NO HIM

BC646MPC001 Logic Developer - PLC Configuration Tools

IC300OCS063 OCS with 2x20 LCD Display and with 16-keypad. Built in I/O no expansion. High Speed Counter and PWM/PT. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A pos. logic) With CAN network.

IC752WFB254 Display Station 2020 Series - w/ touch - 12.1" SVGA (800x600), Pentium 350 MHz, 128 MB RAM, 6.4 GB HD, expansion slots, Ethernet, floppy drive, CD ROM front access, built-in keypad, HMI for CNC, HSSB card, Win NT

MTR-3T22-G-R-0-M-SRR Servo Motor Metric, Seal

ZA06B-6150-H030 Alpha 30kW PSM-30HVi Power Supply

20D-P2-CKS1 PowerFlex 700S Phase II Cassette Kit

20G1AJC460JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-A011N114 PowerFlex 525 2.2kW (3Hp) AC Drive

2711P-T9W21D8S PanelView Plus 7 Standard 900W

6SE6430-2UD33-0DB0 30KW

1492-L3Q IEC Term Blck 5.1x79x31.3mm Spr Clp

1494C-CM5 Cable Mechanism

軟啟動器 3RW44261BC45

附件 6ES7 954-8LT03-0AA0 存儲卡：32GB

1585BP-F8BF 1585 Ethernet Media Accessory

1746-RT32 SLC Replacement Terminal Block

1790D-T0V16 CompactBlock LDX 16 Point O/P Base Block

194E-A32-1753-Q 32 A 194E Load switch

20-PP13000 WIRE SET ASSY FI13

2090-CSBM1DF-18AF14 Kinetix Cable Single DSL 2090-Series

20AC060A0AYNANC0 PowerFlex 70 AC Drive 60 A at 30 kW 20A

GC646MBSS99 Proficy GlobalCare Complete for ME Standard Development Suite - Site License

HE690PGM100 Programmable Memory for HPL

IC600PM502RR Standard I/O Rack Power Supply, 115-230Vac

IC647HSTESEO1250KM eSignature Option for Historian - Enterprise Server 1,250,000 Points (M4 Key)

IC655CHS508RR Base Unit, 8 Slots

IC694MDL240 Input module 120 VAC, 16 points.

IC756SDV010E-925 "DV-Draw Development on Solaris Op Sys, English v9.20"

MicroLogix 1500/1769 System 1769-IQ6XOW4 COMBO 6PT 24 VDC SNK/SRC IN, 4PT VAC/VDC RELAY OUT

PLC-5/1771 System 1785-TAS THIN-WIRE TRANSCEIVER CABLE KIT, 49.2FT/15M, STD

Distributed I/O 1794-TB3K CONFORMALLY COATED, TERMINAL BASE 3-WIRE

Communications 9399-WGSUG RSSERVER FOR GE FANUC SERIES 90 USER'S GUIDE

Support 9311-PLC2R SUPT REINSTATEMENT CONTRACT FOR 9311PLC2

Support 9358-BTDS60S SUPT RENEWAL CONTRACT FOR 9358BTDS60ENE

Support F1771-OFE1SERA FIRMWARE UPGRADE FOR 1771-OFE1 I/O MODULE

RSI Software Products 9324-RLD200ESE RSLOGIX 5000 MINI, ESP

RSI Software Products 9301-RSVWSENE RSVIEW32 WEBSERVER

RSI Software Products 9358-PLTM2300ENE RSBIZ PLNTMET SEV 25 CELL

Motion Control 8720SM-022S3GAS3 22 KW/48 AMP, 750 VDC, AC MOTOR WITH SNS60 ENC.

840-RC-48 48" Ribbon Cable. Term Both Ends W/16 Pin DIP Plugs

IC200NDR001 10 point (6) DC In, (4) Relay Out, DC Power Supply

IC697VAL328 Analog Output, isolated, 8 channel, 12 bit, Voltage - polar 0-10VDC, 0-5VDC. Removable terminal block, no cable required

MTR-1337-0-D-E-0RR Stepping Motor Nema34 Dble Shft

ZA06B-0063-B203#0100 B4/4000is Servo Motor with Straight Shaft, Key and IP67 Sealing

20BD156A3AYNAEC0 PowerFlex 700 AC Drive 20B

20G11NE022AA0NNNNN PowerFlex 755 AC Packaged Drive

23C-D038A103NNBANN-LR Fan/Pump Packaged Drive 23C

140CFU00600 Quantum CABLEFAST 保險, 1/16 AMP

294E-FD2P5Z-G1-SB Variable Frequency Drive

HL-5100 觸點:1開/1閉,5A 250VAC機(jī)械壽命:1000萬次?撞壓式?頂部柱塞型

1492-SPM3B630-N MCB Supplementary Protector 63 A

軟啟動器 3RW40371BB05

中央處理單元 6ES7 214-1AG40-0XB0 CPU 1214C AC/DC/RLY

150-F86L SMC Accessory

1734-IV8 POINT I/O 8 Point Digital Input Module

1783-HMS4EG8CGN Stratix 5400 12 Port Managed Switch

193-ERID E1 Plus Remote Indication Display

20-750-EMCSSM1-F8 PF755,FR8-10,SAFE SPEED MONITOR EMC CORE

2090-CPWM7DF-14AA07 MP-Series 7m SpeedTec Standard Cable

2098-DSD-150 Ultra 3000 Servo Drive