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NI 9207現(xiàn)貨 in stock! 歡迎來電咨詢~！！

NI 9207,

NI 9207

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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(shí)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(shí)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(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，來構(gòu)造出一種多級式分布系統(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(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、自動(dòng)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(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整個(gè)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(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(dòng)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(shí)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(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，其對應(yīng)的常開觸點(diǎn)閉合，常閉觸點(diǎn)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(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，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控制接線簡單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對機(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，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)到從簡單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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2090-CPWM7DF-08AA02 MP-Series 2m Standard Power Cable

2094-SE02F-M00-S1 Kinetix 6200/6500 Control Module

DT1009 Industrial Keyboard (for environments with industrial solvents)

GFK-1062 Series 90-70 High Speed Counter Manual (IC697HSC700)

IC210NDR024 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog bs. Not expandable,no LCD/Keypad, no cover.

IC647BSP010 Batch Small Server Pak (10 Units)

IC647PRTHE010M Proficy Portal Historian Edition Client Pack 10 Users (M4 Key)

IC693CPU363CA CPU363 conbal coated. CPU supports 240K of memory, 2 serial ports and up to 4,096 I/O.

IC756ADV000E-99 DV Development - AIX Op Sys, English, Version 9.9

MSI-EFF-25-43 Efficiency Mang Clients 25 Pack-43

SLC/1746 System 1746-RL71 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OV32

Distributed I/O 1734-EP24DC 24V DC POWER/BUS EXTENSION MODULE

Application-specific products 9307-RSP32WENE RSPOWER32 WORKS

Operator Interface 2711-NF5 FUNCTION KEY STRIP PV1400 COLOR

Support 9302-NETS SUPT RENEWAL CONTRACT FOR 9302NET

Support 9510-PPKCENS SUPT RENEWAL CONTRACT FOR 9510PPKCEN

DeviceNet Products 1787-PLUG10R DEVICENET 10 POSITION CONNECTOR WITH JACK SCREWS

RSI Software Products 9301-2SE3350ZHU1 RSVIEW32 RUNTIME 150-5K UPGRADE IN-SUPT (NZ)

RSI Software Products 9326-AD10UENE RSAUTOMATION DESKTOP 10 USER

Motion Control MPG-A004-031S24 MOTOR,SERVO,GEAR RATIO 31,14NM,194RPM,SINGL,BRK

Silver Series 1756-L1M3 LOGIX5550 PROCESSOR WITH 2MBYTE EXPANSION MEMORY

HE693IBM235 Terminal Emulation Software on 3.5" disk, (included with module)

IC648MNT076 Annual Software Maintenance for LM 90-70 Standard Serial Communications

QPI31200C2P/B QUICKPANEL COLOR 10.5" TFT BLANK

ST-4474 STXi analog output module 4 Channels, 0~10Vdc, 12bit, Sensor Connect

20BC170A0AYNANC0 PowerFlex 700 AC Drive 20B

20F1AGC302JA0NNNNN PowerFlex 753 AC Packaged Drive

22A-V2P3H204 PowerFlex 4 0.4 kW (0.5 Hp) AC Drive

140DAI54300C Quantum 開關(guān)量AC輸入,16點(diǎn),115VAC,8點(diǎn)成組隔離,CC

284D-FVD2P3B-N-R Cntl Mod. Variable Frequency Drive

E3JK-R4M2 4m,反射式, 觸點(diǎn)輸出3A （暗通）電源:24-240V AC/DC

1492-RXIMTS2024-16R 20-Pin Relay IFM RTB 24V DC 16 Relays

WinCC 上位監(jiān)控軟件 6AV6381-1BQ06-0DV0 "WinCC?V6.0 RC?64K?（64K 外部變量）"

6ES78221AA030YA5

1497B-A11-M11-0-N Control Power Transber

1606-XLS240-UPS 1606 Power Supply

1769-ASCII CompactLogix ASCII Interface Module

188-K4D060 6 A Miniature Circuit Breaker

194R-C30-1753-PYN2 194R Disconnect Switch

2090-CPBM7DF-10AF40 MP-Series 40 m Length Cable

2090-XXNPMP-14S25 MP-Series 25 m Length Power Cable

CBL-14-ET-10 Encoder cable for MTR-1300 or MTR-1N series splashproof stepping motor. 10 feet

GEK-90486-2 Genius I/O Discrete and Analog Blocks User's Manual - Volume 2

IC200TBX010 Tool box, 10 point, (IC200NDR001) 24VDC In/Relay Out, 24VDC Powered (r equires an external 24VDC Power Supply) With software, manuals and cab les (IC640VPS002 and IC646MPM001)

IC646TBLSS75K Proficy Troubleshooter for Inbligent Historian for Hist 75000 Points

IC647NMKCHN CIMPLICITY HMI Media Kit for Chinese

IC693ACC310 Filler Module, Blank Slot

IC750LCD220RR PANELWARE 2-Line x 20-Character LCD Dislplay

IC800VMCB3100 Motor power and brake power cable for 3 kW VersaMotion servo motor- 10 meter

SLC/1746 System 1746-OB16E ELECTRONICALLY PROTECTED DC OUTPUT MODULE

Industrial Computers 6155R-7SXPH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBM33 SLC PROGRAMMABLE PRESS CONTROL 16 POINT KIT

Operator Interface 2711-B6C10 PV600 COLOR KEY&TOUCH, DNET & RS232 PRINT

Support 9301-2SE2300ITR SUPT REINSTATEMENT CONTRACT FOR 93012SE2300IT

Support 9307-8MGDBCS SUPT RENEWAL CONTRACT FOR 93078MGDBCENE

DeviceNet Products 1734-PDN DEVICENET INTERFACE MODULE

RSI Software Products 9301-2SE250JPU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BNT10UB1 UPGRADE: IN-SUPT: RSBATCH 10 UNITS TO BUNDLE

Motion Control MPL-B320P-MK22AA MOTOR,SERVO,2.94 NM,5000RPM,MULTI,460V

Motion Control 2090-XXNPY-16S25 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,25M

GFK-0466 Logicmaster 90 Series 90-30 and 90-20 Programming SW User's Manual

IC641VPP950 VersaPro Professional Edition 50 Seat Site License - Windows Programming Software for Series 90-70, Series 90-30 and VersaMax PLCs

MSC-C-V Obsolete - 4-20 mA in / 0-10 Vout

PSPC-DC25/E-220L Prof Shop Floor SPC DC 25 User eSig 220v

20BC011A3AYNANC0 PowerFlex 700 AC Drive 20B

20DM920N0ENNBNANE PowerFlex 700S AC Drive 920 A 900 kW 20D

2198-H070-D-T K5500 FR3 DC Bus Connector

2711P-RAK6 PanelView Plus Accessory

280-PWRM35G-M30 ArmorConnect 3-PH Power Media trnk cable

CQM1-PA203 電源. 100 - 240V AC

1492-N1 TERM BLCK Breakaway MTG Rail

通訊處理器CP 6ES7 341-1CH01-0AE0 CP341，標(biāo)準(zhǔn)串行通訊模塊，RS422/485 接口，最高 76.8kbit/s,15 針 D 型接口,可加載 ModbusRTU及 DataHighway 驅(qū)動(dòng)

行程開關(guān) 3SE53221SB21

TIA 博途 WinCC 選件 6AV2107-0CA00-0BB0 SIMATIC WinCC Sm@rtServer for Runtime Advanced

1585J-M8HBJM-0M4 RJ45 Ethernet Media

1756-TBS6H ControlLogix 36 Pin Spring TRM Block

188-K1D500-N Miniature Circuit Breaker 50 A

194E-Y40M-1753-6N 40 A 194E Load switch

2090-CHBIFS8-12AA03 Kinetix 6000M IPIM Hybrid Cable

2090-UXNPBMP-10S15 MP-Series 15 m Length Power Cable

BC647MBP001 Machine Edition Professional Development Suite with Proficy GlobalCare Complete and USB Hardware key

GC647IFPRDV00150 GCC iFIX Profsnl SCADA 150 I/O Dev

IC200CHS002 I/O carrier box style

IC646MPTS99 GE Compare Unlimited Seat Site License

IC647IFSTDV00150C iFIX Standard HMI 150 I/O Development (M1Component Part)

IC670ALG320 Analog Output, Current/Voltage, 4 Channel, Grouped

IC697CPU788RR CPU, 100 Triplex (voted) I/O, GMR Redundancy

IC800S2KDEM1 S2K encoder-based case demo with 4.3 amp Devicenet controller and Motorcube

ControlLogix/1756 System 1756-OX8I N.O./N.C. ISOLATED RELAY OUTPUT 8 PTS (36 PIN)

Industrial Computers 6182H-10KRH6D VVCE 1000, KEYPAD, STD MEM, RIO/DH, DC

Process Control 1757-FIMUL010 FOUNDATION FIELDBUS FIM MODULE USAGE LICENSE

Operator Interface 2711P-RDK12C PV PLUS 1250, KEYPAD DISPLAY MODULE

Support 9355-WABENR SUPT REINSTATEMENT CONTRACT FOR 9355WABEN

Support 9351-WESS SUPT RENEWAL CONTRACT FOR 9351WES

ControlNet Products 1756-CNBR CONTROLNET REDUNDANT BRIDGE MODULE

RSI Software Products 9301-2SE2400ITU2 RSVIEW32 WORKS 300-32K UPGRADE IN-SUPT (IT)