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PXI-2567現(xiàn)貨 in stock! 歡迎來電咨詢~??！

PXI-2567,

PXI-2567

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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(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)建的一種開放性面向現(xiàn)場(chǎng)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(duì)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(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(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(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(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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4161-4-24 BCD To 7 SEG Display . 4 Digit, 24VDC. Dust Seal

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IC693CBL311 Cable, APM300/MCS300 Digital I/O, 24 Pin, 3 Meters

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TM693SWP151 Trimation - Sequence of Events Recorder Software

20BC8P7A0AYNANC1 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF046JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-E019H204 PowerFlex 40 11 kW (15 Hp) AC Drive

140ACO02000 Quantum 模擬量輸出, 4通道, 4-20mA, 通道隔離

284E-FVD7P6Z-25-CR-3 EtherNet Variable Frequency Drive

E2E-X7D1-N NEW 7mm,電感式,兩線,常開100mA 電源:10-30VDC圓M18

1492-SPM1C130 MCB Supplementary Protector 13 A

通用型變頻器 6SE6 430-2UD31-5CA0 "15 KW,185 x 245 x 195"

電機(jī)啟動(dòng)器 3VU13401MN00

150-C16FBD-8L Encl. SMC-3 16 A Smart Motor Controller

1608P-100A380V4E 100 A Pro DySC Sag Corrector

1769-RTB45 CompactLogix 5370 L1 Replacement Part

191S-ANEJ3-CB25C 1.6-2.5 A Compact Rev Starter W/Ckt-Bkr

194R-R2M 194R Extended Length Operating Shaft

2090-CPBM7E7-08AF01 1 m Length SpeedTec Extension Cable

2090-XXTPMP-16S07 MP-Series 7 m Length Power Cable

CP3B-0WPB-0070-AZ Power cable for B8/3000is motor. 7 meters

GF-905409 Connecting FlashCable to Mitutoyo Caliper (all except 500-15x/ 500-17x , 551 & 552 series).

IC200UEO016 VersaMax Micro Expansion 16 point (16) 24VDC Source ESCP Outputs, 24VDC Power Supply (includes IC200CBL501)

IC647ABS001 PA Batch Analysis Server

IC647PBBDF0 PPS Boiler Bookshelf - Dual Fuel

IC693CBL301 Rack Expansion Cable, I/O Expansion, 2 Meters

IC754ACC06GASE Gasket for 6-Inch Euro QP-View & Control

IMC-313P-X-D 3 amp IMC enhanced servo motor controller with Devicenet

SLC/1746 System 9399-APSMAN SLC 500 APS MANUAL SET

Open Automation Systems 1746-BAS BASIC MODULE FOR PROGRAMMABLE CONTROLLER

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Support 9301-2SE3300FRR SUPT REINSTATEMENT CONTRACT FOR 93012SE3300FR

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DeviceNet Products 1792D-CB18 MAXUM ROUND MEDIA 18MM BASE, PASSTHRU FOR DNET

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RSI Software Products 9358-EP10U1 UPGRADE: IN-SUPT: RSBIZWARE EPROCEDURE 03 TO 10

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IC646MRA150 View 150 Tag Runtime System

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QPM3D200B2P 6 inch Blue Monochrome Mini/ TCP Label/ 24VDC

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20F11ND027AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF021-BS PowerFlex EMC Filter

2711P-RMCS PanelView Plus 7 Accessory

280S-RA35 ArmorStart Three-Phase Power Media

C200H-ID212 輸入單元,16點(diǎn), 24 VDC

1492-PDLM1 Marking Strip

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變送器 3RS10201DW00

1497-B-M4-3-N Control Circuit Transber

1585J-M8UBJM-9 RJ45 Ethernet Media

1761-NET-AIC MicroLogix and SLC Communication Adaptor

188-K3C060-N 6 A Miniature Circuit Breaker

194L-E40-1754 40 A 194L Load Switch

2090-CPBM7DF-02AA12 12 m Length DIN Power and Brake Cable

2090-XXNFT-S02 TL-Series 2 m Length Feedback Cable

BC647PSC100 Proficy Process Systems 1000 I/O with CIMPLICITY with Global Care

GC647PCM025 GlobalCare Complete for Proficy Change Management Server - 25 Concurrent Users

IC200MDL243 Input 120VAC isolated 16 point.

IC646NTY000 Toyopuc TCP/IP Communications

IC647MHWU01 Machine Edition S/W to H/W Key Upgrade - Order must include customers contact inbation as well as software serial numbers

IC676CBLPBF020 IP67 Profibus Cordset - 2 Meters - Female Connector w/Leads

IC697MEM733 Expansion RAM, 256K Bytes, CMOS, 32 Bit (Used w/78X CPUs)

IC800SSI104P2RR 4.3A, 115/230V, Profibus S2K Servo Controller for S-Series Motors

ControlLogix/1756 System 1756-STRT3PT CONTROLLOGIX STARTER KIT PORTUGUESE

Industrial Computers 6182H-15TRH15B VVCE 1500, TOUCH, STD MEM, CNET, AC

Process Control 1757-DNBUPG20 DEVICENET LIC UPG 20 DNB

Operator Interface 2711-B5A12 PV550 MONO KEY&TOUCH, PBUS & RS232 PRINT

Support 9303-23S0E01S SUPPORT RENEWAL CONTRACT FOR 9303-23S0E01

Support 9371-EJIC3R SUPT REINSTATEMENT CONTRACT FOR 9371EJIC3

ControlNet Products 9220-WINTA CONTROLNET AND DEVICENET TRAFFIC ANALYZER

RSI Software Products 9301-2SE2500DEU4 RSVIEW32 WORKS 150-100K UPGRADE IN-SUPT (DE)

RSI Software Products 9358-BANT30ENE RSBATCH ARCHIVER 30 UNITS

Motion Control MPL-A4520P-SJ24AA MOTOR,SERVO,6.10 NM,5000RPM,SINGL,230V,BRK,9.5KG

Motion Control 2090-UXNPBMP-10S30 CABLE,460V,NON-FLEX,MOTOR POWER,MP,10 GAUGE,30M

CBL-3C-L1D-FLY-30 S2K Feedback Cable, Special for 3rd Party Motors with Hall Commutating Encoders, Flying Leads, 30 Feet

IC641CTL901 CIMPLICITY Control Offline Programmer

IC800SLM020N1KE25 200W, 115 V S-Series ServoMotor, 5.66 in-lb (0.64 Nm)

OC647IPWRSTDV00900M iPower Option - Std 900 I/O Dev

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20DD065A0NYNACGNE PowerFlex 700S AC Drive 65 A 50 Hp 20D

20P41AD207RA0NNN PowerFlex 460V AC 125 HP DC Drive

2711P-B10C4D9 PanelView Plus Terminal

280-PWRM24G-M6 ArmorConnect 3-PH Power Media drop cable

MT5Z-ST121B-EC NEW 黑白STN LCD 分辨率: 320×240點(diǎn),5.7英寸

1492-MCBA390 90 A Ul489 Miniature Circuit Breaker

1494V-DS600 Disconnect Switch

軟啟動(dòng)器 3RW44586BC44

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1585D-M8UGJM-4 Gigabit Ethernet Media

1756-M02AE ControlLogix 2 Axis Analog Servo Module