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JANCD-CG31-1現(xiàn)貨 in stock! 歡迎來電咨詢~??！

JANCD-CG31-1,

JANCD-CG31-1

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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(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，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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IC647SI7M SI7:Siemens SIMATIC S7

IC693MDL655LT 24 Vdc Input, Neg/Pos Logic, 1 ms, (32 pts) (LT)

IC756HDV000K-98 DV Development - HP/UX Op Sys, Korean, Version 9.8

MSI-SDK SDK Connections

PLC-5/1771 System 1771-IC INPUT MODULE, 48V DC, 8 INPUT

Distributed I/O 1790P-T4T0 PROFIBUS,4 INPUT THERMOCOUPLE BASE, TERMINAL BLOCK

Communications 1784-CP2 CABLE ASSY, 10 FT/3.20 M, 1784-KTP, -KT, -KT2, -KL

Operator Interface 2727-T7P30D1FEU MOBILEVIEW TABLET T750 - EUROPEAN

Support 9305-RSVADFVCJPS SUPT RENEWAL CONTRACT FOR 9305RSVADFVCJP

Support 9515-RSCHM500R SUPT REINSTATEMENT CONTRACT FOR 9515RSCHM500ENE

EtherNet/IP Products 2711-B5A20 PV550 MONO KEY&TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE3400ZHU2 RSVIEW32 RUNTIME 300-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9515-RSNHS025ENE RSMACC NETWORK HEALTH FOR 25 NETWORKS

Motion Control 1326AB-B520E-S2K5L MOTOR,SERVO,460V,13.0NM,3000RPM,SINGL,BRK,IP67

4161-4-24-+/- BCD To 7 SEG Display . 3 Numeric Digits & 1 +/- Digit, 24VDC. Dust Seal

HMI-CAB-C58-2 CABLE AEG MODICON SLOT PR

IC693CBL314 Cable, I/O Expansion, 15 Meters, Shielded

QSI31200E2P QUICKSTART KIT 9" EL

TRM-21006666 14 point connector for S2K digital I/O connector TB2

20BC8P7A0NYNACC1 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF050JN0NNNNN PowerFlex 753 AC Packaged Drive

22B-E1P7F104 PowerFlex 40 0.75 kW (1 Hp) AC Drive

140ACO13000C Quantum 模擬量輸出, 8通道, 高密度, CC

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

E2E-X5MF1 5mm,非屏蔽電感式,三線,常開200mA PNP 電源:10-30VDC圓M12

1492-SPM1C150-N MCB Supplementary Protector 15 A

通用型變頻器 6SE6 430-2UD33-0DB0 "30 KW,275 x 520 x 245"

電機啟動器 3VU13401NJ00

150-C16NCD SMC-3 16A Smart Motor Controller

1608P-100A400V4S 100 A Pro DySC Sag Corrector

1769-SDN CompactLogix DeviceNet Scanner Module

193-CB1 Configuration Terminal Accessory

194R-R4 Operating Shaft

2090-CPBM7E7-08AF04 4 m Length SpeedTec Extension Cable

2090-XXTPMP-16S15 MP-Series 15 m Length Power Cable

CP3I-0WEB-0140-AZ Shielded motor power cable for B8HVis/B12Hvis/A8HVis/A12HVis motors (straight connector). 14 meters

GF-905692 Connecting FlashCable to Mitutoyo Angled Connection (RIGHT).

IC200UER008 VersaMax Micro Expansion 8 Output Expansion (8) Relay Outputs, 24VDC Power Supply (includes IC200CBL501)

IC647ACV103 9 to 25 Pin Convertor Connector (use XT cables on PS/2 class computers )

IC647PCL000 Proficy Process Systems Standard Edition 5000+ I/O with CIMPLICITY

IC693CBL304 Cable, Port Expansion, Used With PCM300

IC754ACC08MNT Mounting Clips (6) & PWR Connector 8in

IMC-313X-X-DRR IMC-D Series Servo Motor Controller, 3 Amp

SLC/1746 System 9399-CCAUG CONTROLGUARDIAN ARCHIVER5 USERS GUIDE

Open Automation Systems 1789-STRT1 SOFTLOGIX 5800 STARTER KIT ENGLISH

Application-specific products 1404-M805A-000-02 MASTER MODULE-PQ-120/240V P/S-CLASS 0.2

Operator Interface 2711-K10G15 PV1000 GRAYSCALE KEY, CNET & RS232 PRINT

Support 9301-2SE3300ITS SUPT RENEWAL CONTRACT FOR 93012SE3300IT

Support 9381-P10KENS SUPT RENEWAL CONTRACT FOR 9381P10KEN

DeviceNet Products 1792D-CB18PT MAXUM ROUND MEDIA 18MM BASE,

RSI Software Products 9301-2SE3300FRU1 RSVIEW32 RUNTIME 300-1500 UPGRADE IN-SUPT (FR)

RSI Software Products 9358-EP30U1 UPGRADE: IN-SUPT: RSBIZWARE EPROCEDURE 03 TO 30

Motion Control MPL-B4540F-MJ22AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,460V,9.5KG

Motion Control 2090-XXNRB-14F1P3 RBM TO DRIVE CABLE, .3M

GQPI31200E2P QUICKPANEL 9" EL GE LABEL

IC646MRA700 View 700 Tag Runtime System

MTR-1N32-I-N-D-S-0 Stepping Motor Nema34, Series Wdg

R1-SP-N10 Proficy Process Systems Short Circuit Segment protector DIN-rail mount with 10 spur outputs and removeable terminal blocks from Pepp

20BC043A3NYNAEC0 PowerFlex 700 AC Drive 43 A at 22 kW 20B

20F11ND052AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF026-CS PowerFlex EMC Filter

2711P-RN15S PV Plus 700 to 1500 CNet Comms Module

281A-F12Z-10C-RRW-3FR ArmorStart Direct Online RVSG Starter

C200H-IA221 輸入單元, 8點, 200 -240 VAC

1492-PDM3141 115 A Power Distribution Block

通訊處理器 6GK7443-5DX04-0XE0 CP443-5 擴展型，PROFIBUS DP

變送器 3RS10202DW20

1497-C-BASX-0-N Control Circuit Transber