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LRS-55-24

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　PLC控制系統(tǒng)的設備與調(diào)試，觸及到各項作業(yè)，而且只能按序進行，一環(huán)緊扣一環(huán)，稍有不小心都將導致調(diào)試失利，不但延誤工期，甚至會損壞設備。本文介紹了在現(xiàn)場實踐中總結(jié)出的PLC控制系統(tǒng)的設備與調(diào)試技能經(jīng)驗，并對現(xiàn)場經(jīng)常出現(xiàn)的設備、調(diào)試相關(guān)問題，提出評論定見和解決計劃。

　　一、體系的設備與調(diào)試

　　合理安排體系設備與調(diào)試程序，是確保高效優(yōu)質(zhì)地完成設備與調(diào)試任務的要害。

　　1、前期技能準備

　　體系設備調(diào)試前的技能準備作業(yè)越充沛，設備與調(diào)試就會越順暢。前期技能準備作業(yè)包含下列內(nèi)容：

　　(1)熟悉PC隨機技能材料、原文材料，深化了解其功用、功用及各種操作要求，制定操作規(guī)程。

　　(2)深化了解規(guī)劃材料、對體系工藝流程，特別是工藝對各生產(chǎn)設備的操控要求要有全面的了解，在此基礎(chǔ)上，按子體系制造工藝流。程聯(lián)鎖圖、體系功用圖、體系工作邏輯框圖、這將有助于對體系工作邏輯的深刻了解，是前期技能準備的重要環(huán)節(jié)。

　　(3)熟悉各工藝設備的功用、規(guī)劃與設備狀況，特別是各設備的操控與動力接線圖，并與什物相對照，以及時發(fā)現(xiàn)過錯并糾正。

　　(4)在全面了解規(guī)劃計劃與PC技能材料的基礎(chǔ)上，列出PC輸入輸出點號表(包含內(nèi)部線圈一覽表，I/O所在位置，對應設備及各I/O點功用)。

　　(5)研讀規(guī)劃提供的程序，對邏輯雜亂的部分輸入、輸出點制造時序圖，一些規(guī)劃中的邏輯過錯，在制造時序圖時即可發(fā)現(xiàn)。

　　(6)分子體系編制調(diào)試計劃，然后在團體評論的基礎(chǔ)上綜合成為全體系調(diào)試計劃。

　　2、PLC商檢

　　商檢應有甲乙兩頭共同進行，應承認設備及備品、備件、技能材料、附件等的類型、數(shù)量、規(guī)范，其功用是否無缺待實驗室及現(xiàn)場調(diào)試時驗證。商檢成果，兩頭應簽署交換清單。

　　3、實驗室調(diào)試

　　(1)PLC的實驗室設備與注冊制造金屬支架，將各作業(yè)站的輸入、輸出模塊固定其上，按設備提要以同軸電纜將各站與主機、編程器、打印機等相銜接，查看接線正確，供電電源等級與PLC電壓選擇相契合后，按開機程序送電，裝入體系配置帶，承認體系配置，裝入編程器裝載帶、編程帶等，按操作規(guī)程將體系注冊，此刻即可進行各項操作實驗。

　　(2)鍵入作業(yè)程序

　　(3)模仿I/O輸入、輸出，查看修正程序本進程的意圖在于驗證輸入的作業(yè)程序的正確性，該程序的邏輯所表達的工藝設備的聯(lián)鎖聯(lián)系是否與規(guī)劃的工藝操控要求相符，程序是否疏通。若不相符或不能工作完成全進程，闡明程序有誤，應進行修正。在這一進程中，對程序的了解將逐漸加深，為現(xiàn)場調(diào)試作好了準備，同時也可以發(fā)現(xiàn)程序不合理和不完善的部分，以便進一步優(yōu)化。

　　調(diào)試辦法有兩種：

　?、倌７罗k法：按規(guī)劃做一塊調(diào)試板，以鈕子開關(guān)模仿輸入節(jié)點，以小型繼電器模仿生產(chǎn)工藝設備的繼電器與接觸器，其輔佐接點模仿設備工作時的回來信號節(jié)點。其長處是具有模仿的真實性，可以反映出開關(guān)速度差異很大的現(xiàn)場機械觸點和PLC內(nèi)的電子觸點相互銜接時，是否會發(fā)作邏輯誤動作。其缺陷是需求添加調(diào)試費用和部分調(diào)試作業(yè)量。

　?、趶娭棉k法：使用PLC強置功用，對程序中觸及現(xiàn)場的機械觸點(開關(guān))，以強置的辦法使其“通”、“斷”，迫使程序工作。其長處是調(diào)試作業(yè)量小，簡便，不需另外添加費用。缺陷是邏輯驗證不全面，人工強置模仿現(xiàn)場節(jié)點“通”、“斷”，會構(gòu)成程序工作不能連續(xù)，只能分段進行。

　　依據(jù)我們現(xiàn)場調(diào)試的經(jīng)驗，對部分重要的現(xiàn)場節(jié)點采納模仿辦法，其他的選用強置辦法，取二者之長互補。邏輯驗證階段要著重逐日填寫調(diào)試作業(yè)日志，內(nèi)容包含調(diào)試人員、時刻、調(diào)試內(nèi)容、修正記載、毛病及處理、交代驗收簽字，以樹立調(diào)試作業(yè)責任制，留下調(diào)試的第一手材料。關(guān)于規(guī)劃程序的修正部分，應在規(guī)劃圖上注明，及時征求規(guī)劃者的定見，力求準確表現(xiàn)規(guī)劃要求。
 

NI 9145

PXI-8511

SSP-6(16MB) ED5P920-30 LAY1AM1 AYC43

97-9029-04 EPC2x25

摩莎 CP-114

CAT54IT-1.00

SV6-B75A6

1492-N15 TERM BLCK Jumper 2 Pole

通訊處理器CP 6ES7 870-1AA01-0YA1 ModbusRTU 主站，單授權(quán)，不包含軟件

行程開關(guān) 3SE53221SE21

TIA 博途 WinCC 選件 6AV2107-0KD00-0BB0 SIMATIC WinCC WebNavigator for Runtime Professional 3 Clients

1585J-M8HBJM-1 RJ45 Ethernet Media

1757-SRC1 System Redundancy Module

188-K1D630-N Miniature Circuit Breaker 63 A

194E-Y63-1753-6N 63 A 194E Load switch

2090-CHBIFS8-12AA07 Kinetix 6000M IPIM hybrid cable

2090-UXNPBMP-8S03 MP-Series 3 m Length Power Cable

BC647MBT001 Machine Edition Traditional Development Suite with Proficy GlobalCare Complete and USB Hardware key

GC647IFPRDV00900 GCC iFIX Profsnl SCADA 900 I/O Dev

IC200CHS003 I/O carrier connector style

IC646MQPS99 Machine Edition View for Quick Panel Unlimited Site License

IC647IFSTDV00150M iFIX Standard HMI 150 I/O Development (M4 Part)

IC670ALG330 Analog Output, Current, 8 Channel

IC697CPU789RR CPU, 2K Triplex (voted) I/O, GMR Redundancy

IC800SKCBV050 Power/brake cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor connected to an S2K. 5 meters

ControlLogix/1756 System 1756-IF4FXOF2F FAST ANALOG 4 CUR-VOLT IN/2 CUR-VOLT OUT (36 PIN)

Industrial Computers 6182H-10TEH15D VVCE 1000, TOUCH, EXT MEM, CNET, DC

Process Control 1757-FIMUL035 FOUNDATION FIELDBUS FIM MODULE USAGE LICENSE

Operator Interface 2711P-RDT10C PV PLUS 1000, TOUCH SCREEN DISPLAY MODULE

Support 9355-WABESR SUPT REINSTATEMENT CONTRACT FOR 9355WABES

Support 9351-WKTSRTR SUPT REINSTATEMENT CONTRACT FOR 9351WKTSRT

ControlNet Products 1771-ACNR15 CONTROLNET 1.5 AND BEYOND, 1771 I/O ADAPTER

RSI Software Products 9301-2SE2400ITU5 RSVIEW32 WORKS 5K-32K UPGRADE IN-SUPT (IT)

RSI Software Products 9355-WABOEU1 UPGRADE: IN-SUPT: 9351WES TO RSLINX OEM CD

Motion Control MPL-A320P-MJ22AA MOTOR,SERVO,2.94 NM,5000RPM,MULTI,230V,4.0KG

Motion Control 2090-U3BC-D4409 BREAKOUT BOARD CABLE,CN1,ULTRA 3000,9M

CBL-123 Cable. IBM COMP. To Operator Workstation, 25 PIN PC COMM.Port

IC600CP620RR 19" Series Six Plus CPU 115-230Vac Power Supply (11 Slots)

IC800SDM100M2KE25 1000W, 230V S-Series Servo Motor, 43 in-lb (4.8 Nm)

OC647IFESGDVUNLMTC iFIX Optn: ESig & ERec Unl I/O Development (M1Component Part)

PCMCIA-232/4

ROBO-698

AP-520

DPS-300AB-44-B

OBOKIS80200B200

GX1LCD/S PLUS PCB no 20101095

1492-M6X12V1-100 Connection Products

1494R-N14 Lug Kit

軟啟動器 3RW44472BC35

ET 200SP 6ES7193-6LF30-0AW0 參考標識牌，一組16個

1585D-M4TBJM-75 Micro D-Code, QD Style Ethernet Media

1756-IA16IK ControlLogix 16 Point Digital Input

1794-TB32 Flex Terminal Base

194E-E-P22 194E 2 NO-2 NC Auxiliary Contact Block

2090-CDNFDMP-S90 MP-Series 90 m Length Feedback Cable

2090-K60CLAMP-1 Kinetix 6000 Low Profile Connector Kit

AD641OTP308 OnTOP Trouble Shooting Software Module for 90-30 State Logic CPU

GC646PME050 GlobalCare Complete for PCM Machine Edition Version 50 User

HE800CBL012 I/O Extension Cable, 12-pin, 0.5m. For use in conjunction with TRM512

IC640HWC716 LM 90-70 Enet TCP/IP for Win 95/98/NT w/ cables, CD docs

IC647HSTSSEO20KM eSignature Option for Historian - Standard Server 20000 Points (M4 Key)

IC660BLS101 Cover w/Label for IC660BBS101

IC695CPE310CA Conbal Coated. CPE310 2 slot CPU, 1.1Ghz processor,10 Meg memory, 1 RS-232 port, 1 RS- 485 port,1 Ethernet port (SRTP programmer support only) and USB master port for application upload/download only.Replacement for IC695CPU310. CPE310 ships with

IC756WET200E-99 Custom Datasource Toolkit, English, Version 9.9

CompactLogix System 1769-RL1 REPLACEMENT DOOR LABELS FOR DISC. I/O (2 PER KIT)

PLC-5/1771 System D1771-6.5.126 REF MANUAL PLASTIC MOLDIN

Process Control 1757-PLXCGX200 DELL PROCESSLOGIX SERVER

Operator Interface 2711P-K7C15D1 PV PLUS 700, KEYPAD, CNET, DC PS, STD MEM

Support 6556-SCBS SUPPORT RENEWAL CONTRACT FOR 6556-SCB

Support 9358-SCHVWENR SUPT REINSTATEMENT CONTRACT FOR 9358SCHVWEN

Support F1785-KESERB FIRMWARE UPGRADE FOR 1785-KE COMMUNICATION MODULE

RSI Software Products 9301-2SE2203DEE RSVIEW32 WORKS 300 WITH RSLINX (GERMAN)

RSI Software Products 9701-VWSB025AENE RSVIEW SE STATION 25 DISPLAY

RSI Software Products 9399-EDSDUG RSWIRE DETAILER SYSTEM MANUAL

Motion Control 2098-DSD-020X-DN DRIVE, 10A/30A, ULTRA3000 W/DEVICENET/INDEX

BC5005TAX0000 15" Bundled Inbligence Industrial Computer with WIN XP Standard Series

IC300DAC002 2 channel Analog Outputs, Current (4-20mA), 14 bit

IC752ECD400RR Display Station 1462 - 14" VGA (640x480) resistive touch screen, Pentium 133, 32MB, 1.2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win 95

MTR-3S45-G-R-0-C-SRR Servo Motor Nema56C with Seal

PC-FP3

ASC386SX

ADAM-5013

IB865-R

ADT852

S319 P51-15-K

1492-JD3PTP IEC 2-Ckt Feed-Through Blk,Plug-In,2.5mm

1492-W4-BL IEC Term Blck 8x47.6x41mm Screw

軟啟動器 3RW40762BB35

安全 CPU 模塊 6ES7 511-1FK01-0AB0 SIMATIC S7-1500F，CPU 1511F-1 PN，中央控制單元，工作存儲器 225KB，1MB 數(shù)據(jù)

156-B25CB2 25 A Contactor

1746-HT IMC 110 Termination Panel

1786-TCAP ControlNet Media Dummy Load Connector

193-T1AC20 15-20 A IEC Bibllic Overload Relay

20-FR10052 BUSBAR PM, FR10, PF700H, PF700S

2090-CSBM1DF-14AA12 Kinetix Cable Single DSL 2090-Series

20AC015A3AYNAEC1 PowerFlex 70 AC Drive 20A

GA647TPD935 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 35,000 I/O Development and Runtime

GP647IFPRSR00900 GCP iFIX Profsnl SCADA 900 I/O Srv

IC600CB512RR Expanded Logic Control

IC647HSTCS5000KM Historian Enterprise Corporate Server 5,000,000 Points (M4 Key)

IC647TSSRV025 Proficy Troubleshooter 25 User Server License

IC693PWR331CA Conbal Coated Power Supply 24VDC, added capacity

IC756RDV000E-99 DV Development - Irix Op Sys, English, Version 9.9

MicroLogix 1000/1761 System 1761-RPL-DIN REPLACEMENT DIN LATCHES (SET OF 2)

PLC-5/1771 System 1771-OFE2K CONFORMALLY COATED, ANALOG OUPUT MODULE

Distributed I/O 1794-ASB2 FLEX I/O 2 MODULE 24V DC RIO ADAPTER

Communications 9355-WABCENE RSLINX C SDK FOR ALLEN-BRADLEY, CD

Operator Interface D6190-6.5.5RU CONTROLVIEW A-B DRIVERS USER MNL (RUSSIAN)

Support 9358-BBKEY10R SUPT REINSTATEMENT CONTRACT FOR 9358BBKEY10ENE

Support 9392-SWCR SUBSCRIPTION RENEWAL FOR 9392-SWC

RSI Software Products 9324-RL01U3ESER UPGRADE: OUT-SUPT: SPANISH RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500ZHU1 RSVIEW32 RUNTIME 32K-100K UPGRADE IN-SUPT (ZH)

RSI Software Products 9356-STD2350U3 UPGRADE: IN-SUPT: RSSQL STD 1500 TO STD 5000 TAG

Motion Control Y-2006-1-H00AA MOTOR,SERVO,0.69 NM,4500RPM,ENCDR,115V,1.72KG

5208A Message Display. 1 Line. 15MM. Green VFD. ASCII/Serial Interface. NEMA 4

IC200CPU002 CPU 20K USER PROG 1.80MSEC/K BOOLEAN ONE RS232 AND ONE RS485 SERIAL PORTS

IC694MDL931 OUTPUT MODULE RELAY 3AMP FORM B-C 8 POINT ISOLATED

MSI-WEB-43 Web or Excel Reping Clients-43

cRIO-9035

PCA-6772

PIO-DA8U

HSC-1621LDN

F7003-0301

GT800-PCI-11

PCA-6775

1492-SPM2D010 MCB Supplementary Protector 1 A

軟啟動器 3RW30371BB14

電機啟動器 3VU16400CJ00

150-F25NBD SMC Flex Smart Motor Controller

1732E-16CFGM12QCWR ArmorBlock 16 Point Configurable

1771-P6S1 1771 Power Supply

193-EEEE E1 Plus 5.4-27.0 A Overload Relay

199-MSMV2 Surge Suppressor

2090-CPWM7DF-08AF07 7 m Length SpeedTec Pwr and Brake Cable

2097-MEM Kinetix 300/350 12 Memory Module

ENHSAURR8 Waterproof Machine Mount, 8 Port Switch

GFK-1535 Manual VersaMax Genius Network Communications

IC220ALG321 ANALOG OUT, 16 BIT, VOLTAGE, 1CH (REQUIRES 1 IC220TBK061)

IC647CSAS00 SAIC CIMPLICITY Server Site License (For SAIC Only)

IC647PRTPRFYM Proficy Portal SQL Connector for use with other Proficy products (M4 Key)

IC693LBR301 90-30 Documentation Library (paper manuals covering most options)

IC756ADV010E-97 DV Draw Development on AIX Op Sys, English, Version 9.7

MSI-MAINT-UNL 7 Day x 24 Hour Support

PLC-5/1771 System

Distributed I/O 1738-OV4EM12 24VDC 4 SINKING OUTPUTS WITH M12 CONNECTORS

Communications 1785-KA5 COMMUNICATION MODULE DATA HWY PLUS TO DATA HWY 485

Operator Interface 2711-NV3T ANTIGLARE OVERLAY PV900 TOUCH

Support 9302-SMDS SUPT RENEWAL CONTRACT FOR 9302SMD

Support 9324-RL5300PTS SUPT RENEWAL CONTRACT FOR 9324RL5300PT

DeviceNet Products 2706-P72CN2 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

RSI Software Products 9301-2SE335ESU2R RSVIEW32 RUNTIME 300-5K UPGRADE OUT-SUPT (ES)

RSI Software Products 9371-EDES1 RSWIRE DESIGNER JIC STAND ALONE

Motion Control MPG-A025-031S24 MOTOR,SERVO,GEAR RATIO 31,100NM,168RPM,SINGL,BRK

Silver Series 1789-SL52 SOFTLOGIX5 NT-BASED CONTROLLER, 2 COMM CHANNELS

HE693RTD660 6 channel RTD b module for Series 90-30 with 700VDC bus-isolation and 0.05癈 resolution.

IC670ALG230 Analog Input Current 8 Pt. Grouped

QPICTAE0000 10.4" Color TFT, TCP, Ethernet, CF Card, 110VAC

ST-5422 STXi PWM Out module, 2A/24V, Source, 2 Channels 2.5Khz

USB-8476

SINO-B3

EFAP-S350

NComputing X350

FB2500

DWVPXOUT8-OF

1492-SM5X10 IEC 5 x 10 mm Marker Card

人機界面 6AV6542-0AG10-0AX0 MP270B 鍵控，256 色，10.4 英寸，640? 480

6ES73311KF024AB1

1497B-A3-M12-0-N Control Power Transber

1606-XLS480EC AC or DC In 24 to 28VDC Out 480W CC PS

1769-IF4 CompactLogix 4 Pt A/I C and V Module

189-ALOA2 MCB Accessory Lockout Attachment

194R-HM4 194R 100-400-625 A Operating Handle

2090-CPBM7DF-14AA01 MP-Series 1m Standard Cable

2090-XXNPMP-16S40 MP-Series 40 m Length Power Cable

CBL-34-MP-20 Power cable for MTR-3N or MTR-3S30 or MTR-3S43-H series servo motors. 20 feet

GF-0220R Connecting FlashCable to Brown & Sharpe Digit Dial, Fowler Ultra Digit , Mahr.

IC200TBX223 Tool box, 23 point, (IC200UAL006) 24VDC In/Relay Out, AC powered (requires AC power), VersaMax SE (IC200SET001) with all software, cables and manuals. (IC640VPS002 and IC646MPM001)

IC646TBSPMPS800 Smart Process Monitoring Process+ server 800 loops

IC647NSL001 Proficy SQL 2005 - 1 Client Access License (order as separate item, not an option)

IC693ACC334 Faceplate provides a 24 pin fale Fujitsu connector for cable connection. Faceplate replaces I/O module terminal block (20 screw terminal connector).

IC752CBT000RR Datapanel 320T MB (Mono Base): 320x240 1/4 VGA Monochrome LCD with 803 86SX/40 PC processor. Analog touch screen with text, bitmaps, bar gra phs, real time clock.

IC800VMCP1200 Power cable for 1 kW VersaMotion servo motor- 20 meter

SLC/1746 System 1746-FIO4I (2) FAST ANALOG INPUTS, (2) ANALOG CURRENT OUPUTS

Industrial Computers 6189V-CDROM CD-ROM DRIVE

Application-specific products 1402-LS51 LINE SYNCHRONIZATION MODULE (LSM)

Operator Interface 2711-B6C5 PV600 COLOR KEY&TOUCH, RS232 (DH485)

Support 9301-2SE2400FRR SUPT REINSTATEMENT CONTRACT FOR 93012SE2400FR

Support 9307-EMCHTS SUPT RENEWAL CONTRACT FOR 9307EMCHTENE

DeviceNet Products 1734-IB8 24V DC 8 CHANNEL SINK INPUT MODULE

RSI Software Products 9301-2SE250ZHU4R RSVIEW32 WORKS 150-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60UB1 UPGRADE: IN-SUPT: RSBATCH 60 UNITS TO BUNDLE

Motion Control MPL-B330P-RK22AA MOTOR,SERVO,4.18 NM,5000RPM,RSLVR,460V

Motion Control 2090-U3BK-D4409 BREAKOUT BOARD KIT,CONTROL,CN1,ULTRA 3000,9M

GFK-0726 90-30 PLC State Logic Processor User's Guide

IC646FXMU01 Proficy Change Management 1 User System

MSCPX-425606NT Marathon Exp CPU,850 MHz CPU, 128M, 6G, Win NT, 2 PCI/ISA, 1 PCI, 1 ISA

PSPC-DC50/EL Prof Shop Floor SPC DC 50 User w/ eSig

PXIe-2526

ACL-8112PG

超微X8DAE

ST-350U-AC

HIVERTEC HPC-DIO64

CHANCE-M64

1492-N38 TERM BLCK 2 Pole Uninsulated Jumper

接口模塊 6ES7360-3AA01-0AA0 IM360,接口模塊，用于主機架，可擴展 3 個機架

行程開關(guān) 3SE53223SG23

TIA 博途 WinCC 選件 6AV2107-2KK00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 25 -> 50 Clients

1585J-M8HBJM-78 RJ45 Ethernet Media

1760-L12AWA-NC Pico 12 Point AC Controller

188-K2C020 Miniature Circuit Breaker 2 A

194L-A16-1753 16 A 194L Load Switch

2090-CHBP8S8-12AAP5 Kinetix 6000M IDM Hybrid Cable

2090-UXTBMP-18S20 MP-Series 20 m Length Brake Cable

BC647MPS001 Logic Developer PLC Standard with Proficy GlobalCare Complete with USB Hardware key

GC647IFSTDV00300 GCC iFIX Std HMI 300 I/O Dev

IC200CHS121 I/O interposing fuse style 16 point

IC646MSS005 Logic Developer State Standard 5 Pack

IC647IFSTRN00150K iFIX Standard HMI 150 I/O Runtime (M1 Kit Part)

IC670CHS102 I/O Base, Box Style, Hot Insertion obsolete. Recommended replacement is IC670CHS101 I/O Base, Barrier Style.

IC697GDH701 CIMPLICITY 70 Graphic Display Hardware Package (Repeat Systems)

IC800SKCPVL050 Power cable for SLM350 or SDM500 or SLM500 S-series servo motor to an S2K. 5 meters

ControlLogix/1756 System 1756-HSC 2 CHANNEL / 4 OUTPUT HIGH SPEED COUNTER (36 PIN)

Industrial Computers 6182H-12BEH4D VVCE 1250, KEY/TOUCH, EXT MEM, ENET, DC

Process Control 1757-PE1400RED2 PLX BACKUP SERVER ON DELL PE1400

Operator Interface 2711P-RGT7 PV PLUS/VVCE PROTECTIVE ANTIGLARE OVERLAYS QTY 3

Support 9355-WABOEMFRR SUPT REINSTATEMENT CONTRACT FOR 9355WABOEMFR

Support 9354-SS105S 9354-SS105 SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 1734-IA2 120 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE2400PTU3 RSVIEW32 WORKS 150-32K UPGRADE IN-SUPT (PT)

RSI Software Products 9357-ANETMDAD3E RSNETWORX MD FOR CNET,DNET,ENET ADD-ON

Motion Control MPL-A330P-MK22AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,230V,5.0KG