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SH68-68-EP現(xiàn)貨 in stock! 歡迎來(lái)電咨詢~??！

SH68-68-EP,

SH68-68-EP

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　機(jī)器人誕生之日起人們就不斷地嘗試著說(shuō)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(lái)，機(jī)器人所涵蓋的內(nèi)容越來(lái)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(wèn)世以來(lái)，經(jīng)歷40多年的發(fā)展已取得長(zhǎng)足的進(jìn)步。隨著近年來(lái)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(guò)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(lái)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(guó)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(wú)需用螺絲固定，維護(hù)也很方便，一般來(lái)說(shuō)，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(cāng)庫(kù)、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(lái)說(shuō)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(wèn)機(jī)器人的硬件寄存器來(lái)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(guò)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(guò)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(guò)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(shuō)，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(wú)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(jiǎn)單，只要通過(guò)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(guò)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(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來(lái)滿足高性能工業(yè)機(jī)器人的要求。
 

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CPM1A-20CDR-D-V1 20點(diǎn)主機(jī) DC24V 12點(diǎn)入，8 點(diǎn)繼電器輸出

1492-MCGAT215 Ground Fault Circuit Breaker

1494V-H1 Disconnect Switch Handle

軟啟動(dòng)器 3RW44656BC34

運(yùn)行版軟件 6AV2104-0LA04-0AA0 SIMATIC WinCC Runtime Advanced 16384 PowerTags V14

1585J-M4HBJM-2 RJ45 Ethernet Media

1756-OA16K ControlLogix 16 Point Digital Output

188-K1B160-N Miniature Circuit Breaker 16 A

194E-FA63E-P11 194E Load switch

2090-CFBM7DD-CEAF90 90 m Length SpeedTec Flexible Cable

2090-U3CC-D4401 Ultra 3000 1m Interface Cable

BC646MSP101 Logic Developer State Professional with Programming Cable with Proficy GlobalCare Complete

GC647ASC999 GC SDK - UNL

IC200ACC304 I/O cable connector kit, quantity 2 for custom connector-style I/O carrier.

IC646CSPC005 Proficy Cause+ for Inbligent HMI/SCADA Client Enabler - 5X CALs

IC647IFPLRN00900K iFIX Plus SCADA 900 I/O Runtime (M1 Kit Part)

IC660MLA024 Label for IC660BBA024 (Qty 100)

IC697ALG320 Analog Output, Voltage/Current, 4 Channels

IC758URM020 iGlobalCare Complete 11-20 Users: DataViews for Unix/Linux

FlexLogix System 1788-DNBO DEVICENET LOGIX DAUGHTERCARD - OPEN CONNECTOR

GuardPLC Systems 1755-PB720 GUARDPLC 2000 - POWER SUPPLY, 20.4-28.8 VDC

Process Control 1757-UPGSIFQ UPGRADE SIEMENS S5&TI QUICKBUILDER I/F

Operator Interface 2711P-T12C4B1 PV PLUS 1250, TOUCH, RIO/DH, AC PS, STD MEM

Support 9220-CNA30FS SUPPORT RENEWAL CONTRACT FOR 9220-CNA30F

Support 2755-ASNDER SUPT REINSTATEMENT CONTRACT FOR 2755ASNDE

Support F1785-LT3SERA FIRMWARE UPGRADE FOR 1785-LT3 PLC5 PROCESSOR MODUL

RSI Software Products 9301-2SE2350ITU3 RSVIEW32 WORKS 1500-5K UPGRADE IN-SUPT (IT)

RSI Software Products 9701-VWSTDEU1 RSV STUDIO FOR ME - ENT SERIES UPGRADE (GERMAN)

RSI Software Products 9399-WAB32UGES RSLINX USER GUIDE (SPANISH)

Motion Control 8720MC -D120-AN- 120 AMP D CHASSIS DRIVE,OPEN ENCL., LESS OPTIONS

BC646MRA700 View Runtime 700 I/O

IC300OCS995 OCS100 Demo Kit, incl. DIQ616, buttons & LEDs

IC752WTG592 Display Station 2000 Series - 15" active matrix SGA (1024x768) resistive touchscreen

MTR-3T44-J-R-B-M-0RR Servo Motor Metric 24V Brake

20AC8P7A3AYNACC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC015A0EYYANANE PowerFlex 700S AC Drive 20D

20G1ALF330JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D1P4N104 PowerFlex 525 0.4kW (0.5Hp) AC Drive

2715-B7CA PanelView 5500 6.5 in. Graphic Terminal

FR-A740-1.5K 3KVA 4A 1.5KW

1492-LD32P IEC Term Blck 5.1x80.5x45mm Spr Clp

1494F-FS100 100 A Fuse Block

軟啟動(dòng)器 3RW44346BC36

ET 200SP 6ES7155-6AR00-0AN0 IM155-6 PN 基本型，含服務(wù)模塊，集成 2xRJ45 接口

1585D-D4UBJM-0M6 Micro D-Code, QD Style Ethernet Media

1747-PBASE SLC Basic Development Software

1794-APBDPV1 Flex Profibus Adapter

194E-AA16E-PE-TN 194E Load switch

2080-IQ4 Micro800 4 Point IEC Digital Input

2090-CSWM1DF-14AA12 Kinetix Cable Single DSL 2090-Series

20AC2P1A3AYNNNC0 PowerFlex 70 AC Drive 20A

GC646MOSS99 QuickPanel Control Development Software - Site License with Proficy GlobalCare Complete

HE693MIX800 Discontinued Part. Check with GE IP on migration path.

IC609SJR102RR Series One Junior 24Vdc Sink In, 115/230Vac Out,115Vac P/S

IC647HSTSC1250KM Server to Server Collector for Historian - Standard Server 1,250,000 Points (M4 Key)

IC660BBA025 Block 24/48Vdc Analog Current Source 6 Outputs

IC694MDL740 Output module 12/24 VDC 0.5 amps 16 points, positive logic.

IC756WDJ001E-28 DataViews Development System for Visual Basic & Java 1 User, English v2.8

MicroLogix 1500/1769 System 1764-DAT DATA ACCESS TOOL

PLC-5/1771 System 1784-CP10 CABLE ASSY, 10FT/3.20M, IBM AT OR COMPATIBLE CMPTR

Distributed I/O 1797-IRT8 EX RTD/THERMOCOUPLE/MV INPUT MODULE, 16 BIT, 8 PT.

Operator Interface 2711P-K4M5A PV PLUS 400 GRAYSCALE, KEYPAD, RS232, AC PS. INCL

Support 9323-PA1ES SUPT RENEWAL CONTRACT FOR 9323PA1E

Support 9358-HSTS2350R SUPT REINSTATEMENT CONTRACT FOR 9358HSTS2350

Support F1772-LWSERA FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300NXPTE RSLOGIX 5000 STD., RSNETWORX BUNDLE, PTG

RSI Software Products 9304-WVR256D WINTELLIGENT VIEW 256 ADDITIONAL RUNTIME

RSI Software Products 9358-PLTM2600U5R UPGRADE: OUT-SUPT: PLANTMETRICS 100 TO 200 WORKCEL

Motion Control 1756-M08SE 1756 8 AXIS SERCOS SERVO MODULE

A06B-0128-B575#7076 A6/3000 Servo Motor, IP67 Sealing, 64K Serial Encoder

IC200UAR014 14 point PLC, (8) 120VAC In, (6) Relay Out (2 at 10 amp and 4 at 2 amp), 120V/240VAC Power Supply

IC752BTS400 Display Station 1084 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win 95

MTR-1362-0-A-E-0RR Stepping Motor Nema34 Dbl Shft

ZA06B-0086-B503 B22/2000HVis servo motor with 24 VDC brake and 128k serial encoder

20BD365A3ANNNNC0 PowerFlex 700 AC Drive 20B

20G11TC750JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-A4P8 PowerFlex 520 0.75kW (1Hp) Power Module

140XTS33200 Quantum IP20 本安型藍(lán)色線端子, 40點(diǎn)

FRN 0.75E1S-4C 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

61F-G 自動(dòng)供水和排水控制?電源:110/220VAC

1492-SPM3C300 MCB Supplementary Protector 30 A

軟啟動(dòng)器 3RW40462TB05

數(shù)字量輸入 / 輸出信號(hào)板 6ES7 223-0BD30-0XB0 SB 1223 DI 2x24 V DC，DQ 2x24 V DC

150-SC1NUD SMC-50 SOLID STATE MOTOR CONTROLLER 210A

1734-TBS POINT I/O Terminal Base

1783-RMS06T Stratix 8300 6 Port Ethernet Switch

193-ESM-VIG-100A-T E300/E200 100 Amp Sensing Module

20-750-I2B-C540D485 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA04 MP-Series 4m Servo Power Cable

2099-BM07-S Kinetix 7000 30kW Servo Drive

GA647IFCLNTSRO050 GCA iFIX iClientTS Read Only 100 PK Runtime Version

GP-0602NT-SDP8SB GagePort Digital NT 2-port b (for Solartron Digital Probes) - Sale s BOM.

IC5005TBX0110 PanelPC 15 inch Perbance Unit with Windows XP and Stainless Steel Bezel

IC647HSTAE50KM Alarm and Events Option for Historian - Standard Server 50000 Points (M4 Key)

IC647SSC005 Scheduler Shop Floor 5 more users

IC693MDL741CA Conbal Coated Output module 12/24 VDC 0.5 amp 16 points NEG logic.

IC756HDV010K-98 DV Draw Development on HP/UX Op Sys, Korean, Version 9.8

Pico Controllers 1760-MM1 MEMORY MODULE FOR 12 I/O PICO CONTROLLER

PLC-5/1771 System 1771-OA 120V AC OUTPUT MODULE, 8 OUTPUTS

Distributed I/O 1791D-N4CV2X 24 VDC CB I/O EXPANSION, ANALOG COMBO, 4 IN/2 OUT

Communications 1785-KA3 PLC-2 DATA HWY PLUS COMMUNICATION ADAPTER MODULE

Operator Interface 2706-PCNETP CONTROLNET COMMUNICATION MODULE FOR 2706-P22R