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NI 9425現(xiàn)貨 in stock! 歡迎來電咨詢~??！

NI 9425,

NI 9425

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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(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)標準，使用導(dǎo)軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標準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準，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，而電路設(shè)計以及編程相當復(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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Support 9324-RLD250DEE RSLOGIX 5000 LITE EDITION GERMAN

DeviceNet Products 2711-B5A10L2 PV550 MONO KEY&TOUCH, DNET & RS232 PRINT

RSI Software Products 9301-2SE335KOU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (KO)

RSI Software Products 9371-EDESI1U4 UPGRADE: IN-SUPT: RSWIRE DET IEC STD TO DES IEC

Motion Control MPG-B010-091S22 MOTOR,SERVO,GEAR RATIO 91,35NM,71RPM,SINGL,460V

Silver Series 2711-K14C8 PV1400 COLOR KEY, DH+ & RS232 PRINT

HE693STG884 8-ch. +/-25mV, +/-50mV, +/-100mV with 16-bit resolution + weighing func.

IC670CHS004 TC Cold Junction Compensation Base

QPI-PBS-201 MODULE PROFIBUS DP SLAVE W/O MEMORY RETENTION

ST-7118 STXi Potential Distribution module module, 24VDC, 8 points, 10A

20BC260A3AYNACC0 PowerFlex 700 AC Drive 20B

20F1ANC260JN0NNNNN PowerFlex 753 AC Packaged Drive

22B-B024N104 PowerFlex 40- 5.5 kW (7.5 HP) AC Drive

140DAO84010 Quantum 開關(guān)量AC輸出,16點,24-115VAC,隔離,4A/點

284D-FVD6P0D-25-CR-EMI DeviceNet Variable Frequency Drive

E3F3-T31 5m 對射式，明通，PNP晶體管輸出100 mA，電源：10-30VDC 直徑18mm

1492-SPM1B040 MCB Supplementary Protector 4 A

6ED1052-1FB00-0BA5 "LOGO!230RC 8DI/4DO,230V,10A 繼電器輸出"

6ES73317PF114AB2

1497B-A9-M14-0-N 500VA 240x480-120x240V 60Hz CPT

1606-XLS960F-3 380 to 480VAC In 48 to 54VDC Out 960W PS

1769-IQ6XOW4 CMPLX 10 Pt 24VDC D/I Relay D/O Module

190-HM4 Circuit-Breaker Accessory

194R-J30-1753 194R Disconnect Switch

2090-CPBM7DF-14AA30 MP-Series 30m Standard Cable

2090-XXNPMP-8S30 MP-Series 30 m Length Power Cable

CBL-3C-RD-10 Resolver cable for MTR-3S or MTR-3N series servo motors. 10 feet

GF-0800-1 Connecting FlashCable to Generic Torque (bare-ended cable).

IC200TBX540 Tool box, Micro 40, QuickPanel color touch screen and software. Includes (IC200UDR140) 24VDC In/Relay Out, requires 120/240VAC power, (IC200UEM001) Ethernet option board, QuickPanel Display (IC754VSI06STD) with Proficy software, manuals and cables (

IC646TBSPMSW001 Smart Process Monitoring SPC+ Web Client

IC647NTS050 CIMPLICITY HMI Terminal Services 50 User Pack

IC693ALG220LT Analog Input, Voltage/Current, 4 Channels (LT)

IC752CGE101 SNP 485 cable for DataPanel 30/50

IC800VMM02LBKSE25 200 W VersaMotion servo motor with 24 VDC holding brake (0.64 Nm)

SLC/1746 System 1746-NO8V 8 CHANNEL ANALOG VOLTAGE OUTPUT FOR SLC 500

Industrial Computers 6189V-DIMM512 DIMM MEMORY 512MB

Application-specific products 1403-DMB DISPLAY UNIT FOR POWERMONITOR

Operator Interface 2711-K6C15 PV600 COLOR KEY, CNET & RS232 PRINT

Support 9301-2SE2500DER SUPT REINSTATEMENT CONTRACT FOR 93012SE2500DE

Support 9323-P1003ENR SUPT REINSTATEMENT CONTRACT FOR 9323P1003EN

DeviceNet Products 1734-OW2 24 VDC COIL N.O. DPST RELAY MODULE

RSI Software Products 9301-2SE3103 RSVIEW32 RUNTIME 150 WITH RSLINX

RSI Software Products 9358-BNTK60U3R UPGRADE: OUT-SUPT: RSBATCH BACK-UP KEY 30 TO 60

Motion Control MPL-B420P-RJ24AA MOTOR,SERVO,4.74 NM,5000RPM,RSLVR,460V,BRK,7.7KG

Motion Control 2090-UXBK-D1515 BREAKOUT BOARD KIT,MTR FDBK,CN2,ULTRA X000,15M

GFK-0825 Field Control Distributed I/O and Control System Genius Field Processor User's Manual

IC646MDB000 Logic Developer PC w/Runtime 8,000 I/O

MSDIS-1200 Marathon 12" Display, Touch

PSPC-MONITOR25/E Prof Shop Floor SPC Monitor 25 User eSig

20BC022A0AYNANC1 PowerFlex 700 AC Drive 22 A at 11 kW 20B

20F11GC030JA0NNNNN PowerFlex 753 AC Packaged Drive

2198-R031 Kinetix 5700 3.1kW Shunt Resistor

2711P-RDB12CK PanelView Plus Display Module

280D-F12Z-10B-RR-3 ArmorStart Direct Online Starter

CQM1-IPS01 模擬單元專用電源 供1單元

1492-NM16 TERM BLCK End Barrier

前連接器 6ES7392-1AJ00-0AA0 20 針前連接器，螺釘型

變送器 3RS18001HP00

TIA 博途 WinCC 選件 6AV2107-2LK00-0BD0 SIMATIC WinCC DataMonitor for Runtime Professional Powerpack 25 -> 50 Clients

1585J-M8PBJM-1X 1585J Ethernet Media Cables