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PCI-6031E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(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(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(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(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(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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Motion Control MPL-A320H-HJ24AA MOTOR,SERVO,2.94NM,3500RPM,ENCR,230V,BRK,5.1KG

Motion Control 2090-DANPT-16S07 CABLE, NON-FLEX, MTR PWR, CABLE-MTD CONN, 16AWG, 0

BC647MQP001 View Development for QuickPanels with Proficy GlobalCare Complete and a hardware key

IC5005TBX0000 15" Unbundled Inbligence Industrial Computer with WIN XP Perbance Series

IC800MCUB12210XE Stepping MotorCube 100 oz-in, Pulse/Direction, Encoder Feedback

OC647IFDBTKTM iFIX Optn: Database Dynamo Toolkit (M4 Part)

20AD022A3AYNANG0 PowerFlex 70 AC Drive 22 A at 15 Hp 20A

20DC260A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ANF082JA0NNNNN PowerFlex 755 AC Packaged Drive

25C-E012N104 PowerFlex 527 7.5kW (10Hp) AC Drive

280-PWRM22B-M025 ArmorStart Three-Phase Power Media

FX1N-232-BD RS232C 通信用適配器

1492-M5X5H1-50 Connection Products

1494H-DN3H6 Heavy Duty Fusible Safety Discon Switch

軟啟動器 3RW44456BC46

ET 200SP 6ES7193-6BP00-0BA0 基座單元 BU15-P16+A0+2B，類型A0，直插式端子，15mm寬

1585D-M4TBDM-80 Micro D-Code, QD Style Ethernet Media

1756-EN3TR ControlLogix Ethernet Motion Module

1794-OF4I Flex 4 Point Analog Output Module

194E-CA63EX-TN-PE 194E Load switch

2090-CBUSPSS Kinetix 6000M network bulkhead connector

2090-DANPT-16S01 TL-Series 1 m Length Power Cable

ABICTDE0000/DVN 10.5 inch Color TFT/ TCP Label/ 24VDC/ with DeviceNet/ UL/ cUL/ CE/ UL1604

GC646PCMS10 GlobalCare Complete for Change Management Electronic Signature Module 10 Pack

HE697THM160 Series 90-70 Thermocouple Input Module, 16 Channel

IC630MDL375RR 115/230Vac Output Module (16 points)

IC647HSTSS75KM Historian Standard Server 75000 Points (M4 Key)

IC660BLD021 Cover w/Label for IC660BBD021

IC695CBL001 Energy Pack Cable, 3 ft. (0.91m)

IC756WET100E-23 Custom Editor Toolkit, English, Version 2.3

CompactLogix System 1769-CRL3 3.28 FT (1M) RIGHT-TO-LEFT BUS EXPANSION CABLE

PLC-5/1771 System 9399-RL53GRIT RSLOGIX 5 GETTING RESULTS GUIDE(ITALIAN)

Distributed I/O D1794-6.5.7 FLEX I/O THERM'CPL/MILLV'T MOD.1794-IT8 USR MANUAL

Operator Interface 2711P-T6M8D PV PLUS 600 GRAYSCALE, TOUCH, DH+, DC PS

Support 6411-SDSCR 6411-SDSC SOFTWARE SUPPORT REINSTATEMENT

Support 9358-PLTM2200S SUPT RENEWAL CONTRACT FOR 9358PLTM2200ENE

Support F1784-KTCX15SERA FIRMWARE UPGRADE FOR 1784-KTCX15 COMMUNICATION MOD

RSI Software Products 9301-2SE2200FRE RSVIEW32 WORKS 300 (FRENCH)

RSI Software Products 9701-VWSB000DEU2 RSV SE STATION 100 - UNLTD DISP UPGRADE (GERMAN)

RSI Software Products 9399-APSQS APS QUICK START GUIDE FOR REL 6.01

Motion Control 2098-IPD-005 DRIVE, 2.5A/7.5A, ULTRA5000

ABKSTDN0000/ABD 6" Color STN, TCP Label, 24Vdc, with AB DH Plus,UL,cUL,CE,UL1604

IC220TBK203 TERMINAL STRIP SET, SPRING STYLE, ANALOG OUT

IC752DPJ000 Mature Product, Order Datapanel 160, IC752DSX000. DataPanel J+, 256x64 LCD with EL backlight. Various sizes of text, bitmaps, bar graphs, real time clock. Includes an integrated keypad for data entry. No touch capability.

MTR-3S34-G-R-0-E-ERR Servo Motor Nema34 Flg Explosion-Proof

ZA06B-6073-K214 AHVi Amplifier Motor Encoder Feedback Connector (JF1)

20BE062A0ANNAND0 PowerFlex 700 AC Drive 62 A 60 Hp 20B

20G14NF082JA0NNNNN PowerFlex 755 AC Packaged Drive

25-RF014-BL PowerFlex 520 13.8A 480V EMC Filter Kit

2711P-RTBDC2 PanelView Plus DC 2 Pin Terminal Block

FRN110G11S-4CX 160KVA 210A 110KW 3相AC380V/50Hz/60Hz

1492-JC3 2.5 square mm Comb Style Terminal Block

1492-W10 IEC Term Blck 8x47.6x41mm Screw

軟啟動器 3RW40742BB35

CPU 模塊 6ES7 677-2AA41-0FL0 CPU 1515SP PC，4 GB RAM，16 GB CFAST，Windows 7 嵌入版 64 位 + HMI 512PT

153H-C43FBD-45 43 A Encl. Smart Mtr Ctrlr CB

1746-A4 SLC 4 Slots Chassis

1786-BNCP CNet Media Barrel Plug-to-Plug TNC

193-T1AA63 0.45-.63 A IEC Bibllic Overload Relay

20-DA1-A0 PowerFlex 700 24V AC-DC IO Kit

2090-CSBM1DF-10AF14 Kinetix Cable Single DSL 2090-Series

20AC011A3AYYAEC0 PowerFlex 70 AC Drive 20A

GA647TDV000 Proficy GlobalCare Assist for CIMPLICITY HMI Server No Limit Development and Runtime System

GP647IFPLSR00900 GCP iFIX Plus SCADA 900 I/O Srv

IC600BF944RR 12K ASCII/Basic I/O Module

IC647HSTCR750KM Collector Redundancy Option for Historian - Standard Server 750,000 Points (M4 Key)