圖1中最左邊的圖就是要加工的零件，其重量約12.0KG。用戶要求先按圖1中間圖所示的工裝給兩臺臥加上下料。然后從立加上取下零件檢驗(yàn)其加工尺寸是否合格。如果經(jīng)檢驗(yàn)零件尺寸合格就把該零件按圖1最右邊的方式把零件放置到立加的工裝上。立加的工作臺上有兩個(gè)完全相同的工裝，從立加的第一個(gè)工裝上取下的零件，要以水平軸為中心轉(zhuǎn)動180度后放置到第二個(gè)工裝上。機(jī)床的排序是按圖2所示的一字?jǐn)[放。根據(jù)上面的要求，沈陽萊茵機(jī)器人為其量體裁衣生產(chǎn)設(shè)計(jì)了一臺如圖2所示的，雙手爪，五自由度的混合機(jī)器人。
圖1: 從左到右三幅圖分別是CAP零件圖，臥加工裝和立加工裝
如圖2所示兩臺臥加對CAP完成相同的加工任務(wù)，平均每3分鐘加工完一個(gè)CAP。用一臺立加對銑削加工完的零件在兩個(gè)面上先鉆孔，然后攻絲（ 3分鐘內(nèi)要完成）。根據(jù)用戶要求，沈陽萊茵機(jī)器人為其量體裁衣生產(chǎn)設(shè)計(jì)了一套雙手爪4D混合機(jī)器人。
圖2：雙手爪五自由度混合型機(jī)器人給兩臺臥加和一臺立加上下料
廈門興潤星貿(mào)易有限公司是一家專業(yè)從事全球知名品牌（DCS系統(tǒng)）（機(jī)器人系統(tǒng)）（大型伺服控制系統(tǒng)）模塊 備件銷售,公司產(chǎn)品內(nèi)容為分布式控制系統(tǒng)(DCS) 、可編程序控制器(PLC)、 MOTOROLA MVME工業(yè)用模組 、工業(yè)控制通訊轉(zhuǎn)換器(Anybus) 、遠(yuǎn)端輸出/輸入模塊(RTU) 、工業(yè)電腦(IPC)、 工業(yè)用低頻螢?zāi)?IPC) 、人機(jī)界面SCSI(50、68、80Pin) AnyBus(Gateway)現(xiàn)已成一家全球性的工業(yè)自動化備件及零部件的銷售企業(yè)。
公司自成立以來始終堅(jiān)持以純電子商務(wù)模式運(yùn)營、縮減中間環(huán)節(jié)、為消費(fèi)者在第一時(shí)間提供優(yōu)質(zhì)的產(chǎn)品及滿意的服務(wù)、為您的生產(chǎn)以及采購工作提供‘安全 快捷 方便’公司擁有完善的物流供應(yīng)系統(tǒng)、現(xiàn)已與眾多國外知名品牌生產(chǎn)廠商建立了良好的合作關(guān)系。
我司能直接從境外進(jìn)貨、能夠提供不同國別、廠商的設(shè)備以及備件、解決您多處尋找的麻煩或?qū)Ξa(chǎn)品質(zhì)量問題的擔(dān)心等、在價(jià)格上我們有很大的優(yōu)勢、產(chǎn)品詳細(xì)信息、竭誠歡迎您來電查詢或使用E-mail
查詢！
二：經(jīng)營理念
潤星以“專業(yè)、 誠信、創(chuàng)新、合作、共贏”的經(jīng)營理念、不斷開發(fā)新產(chǎn)品、為客戶提供優(yōu)質(zhì)服務(wù)、以最大限度追求客戶滿意、并不斷開拓新領(lǐng)域業(yè)務(wù)。
三：應(yīng)用領(lǐng)域
公司經(jīng)銷產(chǎn)品廣泛應(yīng)用于數(shù)控機(jī)械 冶金、石油天然氣、石油化工、化工、造紙印刷、紡織印染、機(jī)械、電子制造、汽車制造、煙草、塑膠機(jī)械、電力、水利、水處理/環(huán)保、市政工程、鍋爐供暖、能源、輸配電、
四：特色服務(wù)：
潤星對停產(chǎn)的“DCS系統(tǒng)備品 備件 PLC模塊 備件”有著強(qiáng)大的優(yōu)勢只要您需要的PLC產(chǎn)品，我們就能幫您找到，公司極具價(jià)格優(yōu)勢。
五：優(yōu)勢品牌：
ABB Robots、FANUC Robots、YASKAWA Robots、KUKA Robots、Mitsubishi
Robots、OTC Robots、Panasonic Robots、MOTOMAN Robots等
ABB：工業(yè)機(jī)器人備件DSQC系列（中二中三，中四， S4C ， S4C ， IRC5）、Bailey INFI 90等。
Westinghouse（西屋）： OVATION系統(tǒng)、WDPF系統(tǒng)、MAX1000系統(tǒng)備件Invensys Foxboro（?？怂共_）：I/A Series系統(tǒng)，F(xiàn)BM（現(xiàn)場輸入/輸出模塊）順序控制、梯形邏輯控制、事故追憶處理、數(shù)模轉(zhuǎn)換、輸入/輸出信號處理、數(shù)據(jù)通信及處理等。
Invensys Triconex: 冗余容錯(cuò)控制系統(tǒng)、基于三重模件冗余（TMR）結(jié)構(gòu)的最現(xiàn)代化的容錯(cuò)控制器。
Siemens(西門子)：Siemens MOORE， Siemens Simatic C1，Siemens數(shù)控系統(tǒng)等
Bosch Rexroth（博世力士樂）：Indramat，I/O模塊,PLC控制器,驅(qū)動模塊等。
Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列
如果您任何需要，我們能夠解決您的缺損部分或交換，歡迎來電查詢!
【來電咨詢】：謝先生（銷售工程師）++工作QQ ：1323360927++ 電話：0592-6895323 18030245308++郵箱：1323360927@qq.com++傳真：0592-56034581（請備注“謝先生”收）以便我及時(shí)聯(lián)系您！
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FANUC A16B-2200-0173 REMOTE BUFFER SERIAL PORT BOARD
FANUC A03B-0801-C104 IF01D INTERFACE MODULE
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ABB DSQC 223 I/O BOARD
FANUC A16B-2200-0250/05C PCB 4 AXES CONTROL (R-H) 10 pcs
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FANUC A20B-0008-0871 BOARD 1 pcs
FANUC A16B-1210-0270/02A RAM BOARD 5 pcs
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SUPER VEXTA 5-PHASE DRIVER-UDK5114N
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GE Fanuc 90-30 10-Slot PLC Complete System Rack CPU 331
? (1) IC693CHS391K EMI Enhanced 10-slot Rack
? (1) IC693PWR321T Std Power Supply
? (1) IC693CPU331X Central Processor Unit
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GE Fanuc 90-30 10-Slot PLC Complete System Rack CPU 331
This system consists of the following:
? (1) IC693CHS391K EMI Enhanced 10-slot Rack
? (1) IC693PWR321-AA Std Power Supply
? (1) IC693CPU331-AA Central Processor Unit
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? (1) IC693ALG220D 4PT Analog Input Module
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? (1) IC693MDL655E Input 32PT Pos / Neg Fast Module
? (2) IC693MDL740E Output 12 / 24 VDC .5 Amp 16PT Pos Modules
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NIB ABB DI820 module S800 I/O 2pcs
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AEG MODICON DAP208 8 DIG O RELAY 2A REV 3 0pcs
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BRAND NEW! ARCHIVE 2150S 150MB SCSI TAPE DRIVE +CASE 3pcs
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TEXAS INSTRUMENT 500-5013 7pcs
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EUROTHERM SSD LINK L5214-2-00 MODEM MODULE ISSUE 1 1pcs
EUROTHERM SSD LINK 5904 UNIVERSAL MICROTACH CONVERTER *1
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EUROTHERM SSD LINK L5206-2-01 GATEWAY REPEATER PLASTIC 2pcs
EUROTHERM SSD LINK L5206-2-02 REPEATER GLASS FO ISSUE 1 2pcs
EUROTHERM SSD LINK ANALOG I/O MODULE L5201-2-02 ISSUE 2 2pcs
EUROTHERM SSD LINK DIGITAL I/P MODULE L5209-2-01 ISSUE2 2pcs
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FANUC POWER SUPPLY BOARD A16B-1212-0531 **NEW** 1pcs
CONTEC FA-PAC PC M11RF RACK MOUNT ISA BUS UNIT 11 SLOT 1pcs THIS COMES WITH CARDS : CONTEC-PI-32L(PC)V
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CONTEC-PI-32L(PC)H
PCL-818L REV.A4
CIO-DIO24HYAMAHA-YDM6420
CHIP STAR-32000007 (24 AXIS CONTROLLER)
ONE OTHER BOARD WITH PROCESSOR AND MEMORY
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6GK7 343-1EX11-0XE0 SIMATIC NET CP 343-1, neu OVP 1pcs
Texas Instruments System 505 PLC 17 Slot Rack 1pcs
505-6660 Power Supply
505-4216 3pcs
505-4616 5pcs
505-4316 5pcs
17 Slot Rack
SIEMENS INTERFACE MODULE ET100 6ES5 308-3UA12 NEW 1pcs
TEXAS INSTRUMENTS TI 500 1102 2151 5011 5001 FULL RACK 1pcs Texas Instruments TI 500 system.
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500-2151 power supply 1pcs
500-5011 110 VAC output cards 5pcs
500-5001 110 VAC b cards 9pcs
Siemens S5 CPU 943B 6ES5 943-7UB21 1pcs
Siemens TI 500-2109 Distributed Base Controller Module 4pcs
SIEMENS/TI 565 PLC Hot Backup Card 560-2128 1pcs
TI Siemens OUTPUT 500-5011 10pcs
Siemens 505-7012 I/O Module 8 15BIT INPUT/4 12BIT Output Analog 1pcs
Siemens CPU 6ES5 928-3UA12 6ES5 928 3UA12 3pcs
Siemens Simatic S5 CPU *6ES5 943-7UA22* K121 1pcs
Siemens Simatic S5 CPU 6ES5 * 942-7UA13* 1pcs
Siemens S5 *6ES5 955-3NC13* Neu !! 1pcs
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Yaskawa Electric Memocon-SC DDSCR-GL20
Yaskawa Memocon DDSCR 130CPU54110 GL 130 CPU 35 1pcs
Allen Bradley DC (10-30V) Input Module 1771-IBD/B New 3pcs
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Allen Bradley 1772-LP3 | PLC 2/30 Complete 2pcs
Refurbished SIEMENS C98043-A1047-L1-29 Control Board 1pcs
SIEMENS C98040-A1045-P3-02-85 DRIVE CARD 4pcs
SIEMENS C98043-A1047-L CONTROL CARD 6pcs
SIEMENS C98040-A1045-P3-26-85 BOARD 6pcs
Fujitsu DL4600 Dot Matrix Printer Parts/Repair 1pcs
Siemens Simatic S5 Netzteil 6ES5 955-3LC11
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DOME 55-MD5FP2-25 DOME IMAGING CONTROLLER BOARD
MTL - Intrinsically Safe-Rack Mounted Modules
New Honeywell 627-7021 48KB CMOS RAM Memory Module Q"ty:1
Honeywell 51204166-125 MU-TDOY23 Digital Output Relay Termination Board Q"ty:2
Honeywell 51304084-125 MU-TPIX12 High Level FTA Pulse Input Termination Board Q"ty:1
NEW Honeywell TDC 3000 51304386-100 Pulse Input Module Q"ty:1
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Honeywell 51304518-100 L APM Advanced Controller Module Q"ty:1
Honeywell TDC 51304685-100 Adv. Communication Module With 51401598-100 Time-Sync Daughter Card Q"ty:1
Honeywell 51401288-200 HPK2-3 68020 Processor Board Q"ty:1
Honeywell 51401551-301 K2LCN-3 68020 Processor Board With 3 Meg Memory. HDW Rev. S Q"ty:1
Honeywell 51401551-301 K2LCN-3 68020 Processor Board Q"ty:1
Honeywell 51401551-601 K2LCN-6 68020 Processor Board With 6 Meg Memory. HDW Rev. R Q"ty:2
Honeywell 51401551-800 K2LCN-8 Module Q"ty:1
Honeywell 80360206-001 CLI Control Board Q"ty:1
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Moore Products Quadlog CCM Critical Control Module Model QLCCM12ABN P/N 16808-21-6 Q"ty:2
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Siemens Simatic S5 Baugruppen 16 Teile
1 mal 921 CPU mit der Besblnummer 6ES5 921-3UA12 Haltegiff abgebrochen.
3 mal 928 CPU mit der Besblnummer 6ES5 928-3UA12
1 mal 946 CPU mit der Besblnummer 6ES5 946-3UA11
4 mal CP 525 mit der Besblnummer 6ES5 525-3UA21
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VMIC VME Bus VMIVME 7648-540 933MHz SBC Q"ty:12
VMIC VME Bus VMIVME 7750 1.26GHz 128MB Single Board Q"ty:1
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TRICONEX 3703E ISOLATED ANALOG INPUT MODULE 3 pcs
TRICONEX 8300A 120V AC/DC Power Supply 1pcs
NEW Yaskawa TAP213S CP-213 Control Pack Module 3 pcs
TVB0004-1/147CON Q"ty:41
TVB3102-1/SIO Q"ty:40
TVB3401-1/CPIB Q"ty:27
TVB6004-1/QMC3 Q"ty"153
TVB9003-1/316 Q"ty:73
710-806050-01 Q"ty:5
710-806051-01 Q"ty:5
770-809195-000 Q"ty:1
3208-000146-11 PST-STD Q"ty:25
3208-000147-11 LAT-1 Q"ty:1
3208-000148-11 LST-2 Q"ty:1
3208-000166-11 PST-OPT Q"ty:27
3208-000250-11 PST-IF Q"ty:1
MVME 147-023 Q"ty:70
MVME 147-011 Q"ty:1
MVME-335 Q"ty:1
AVME-240 Q"ty:34
OMRON PS000 Q"ty:1
UV-250 Q"ty:1
NM010 Q"ty:1
C-820A Q"ty:3
IP000 Q"ty:1
CS010 Q"ty:1
MVME 162-263 Q"ty:4
PRE-411359 Q"ty:16
PRE-412162 Q"ty:4
SL-VMES2 Q"ty:12
OMRON 3Z4L-C6000V2 Q"ty:2
3COM
Etherb III(ISA介面) #3C509B-C
Etherb XL-10BT-PCI #3C900-COMBO-06 149pcs
Etherb XL 10BT PCI Network Card #3C900-TPO Q"ty:6
Fast Ethernet XL PCI 10/100mb #3C905-TX Q"ty:7
Fast Etherb XL PCI #3C905B-TX Q"ty:5
10/100 PCI Ethernet Card #3C905C-TXM Q"ty:4
3C16250 FMS Coaxial Hub (PROVOX Process Network Hub) Q"ty:1
3C16271 FMS TP Hub Q"ty:1
TOKYO SEIMITSU
FA0009B / FA0037C SUB-TTL Q"ty:1
FA0011A Q"ty:1
FA0013A LD.IO Q"ty:1
FA0071.PIO / FA072 SUB.PIO Q"ty:2
FA0094A ETHERNET.CN Q"ty:1
FA0111A CAP SENSOR Q"ty:1
FA0135B LD.PGEN-1 Q"ty:1
Bihl+Wiedemann
AS-i / Ethernet TCP/IP Gateway 2 AS-i Master Q"ty:1
AS-i / PROFIBUS-DP Gateway Q"ty:1
TELEPERMBAUGRUPPEN 15.08.2009
Artikelnummer Stk Artikelnummer Stk
6DT2001-0AC 7 M74001-A210 34
6EC1000-0A 14 M70442-A110 33
6EC1001-01 25 M74002-A120 14
6EC1011-0A 33 M74002-A311 5
6EC1040-0A 16 M74003-A152 11
6EC1110-0A 10 M74003-A161 9
6EC1150-0A 7 M74003-A162 3
6EC1200-0A 14 M74003-A174 2
6EC1220-0A 13 M74003-A180 2
6EC1340-0A 9 M74003-A190 1
6EC1600-5B 16 M74003-A311 11
6EC1621-0A 2 M74003-A330-3 11
6EC1652-0A 22 M70443-A330-7,8,9 9
6EC1700-0A 13 M74005-A410 3
6EC1710-0A 1 M74006-A120 3
6EC2501-0A 6 M74007-A111 30
6EM3105-0A 44 M74007-A310 2
6EM3225-0B 22 M74007-A311 3
6EV5000-1BC 35 M74007-A8311 2
6EV5001-2AC00 32 M74158-A403 3
6EV5001-2BC 2 M74715-A403 8
6EV5002-0BC 20 MRT910D 20
6EV5101-0AC 7
8RM3080-2FA 3
C71458-A6370-A12 3
C71458-A6352-A12 3
C71458-A6354-A22 12
C71458-A6355-A1 1
C71458-A6365-A1 6
C71458-A6366-A1 3
C74158-A327-E063 6
G33928-G0637L 9
C71458-A6351-A3 2
M72148-5890-D800 40
Part No Desc Qty Conditions
6AF7001-0AB EA 01-G Promea Basic Board 1 New With Box
6AF7001-0BC Promea M EBG 1 New With Box
6AF7001-7DA DS/DR Promea Interface Module With Two 20 MA Current Loop Interfaces 5 New With Box
6AV1261-0BA00 Promea MX Coros 2 New With Box
6AV1720-0AB10 Alphanumeric Keyboard IP20 X.27 Interface Desk Top Version International Keyboard 115 Keys 6 Keys Wid Mod Symbols, F. OS-CMXX ERGO Grey 2 New No Box
6DS1205-8AA N-16 M Interface Module For 20-M Local Bus 1 New With Box
6DS1211-8AA N16-M Interface Module for 20m local bus 18 Used
6DS1212-8AB Bus Interface of UI Bus Converter Module 6DS4400-8AB 16 Used
6DS1213-8AA Coupler Module 18 Used
6DS1220-8AA N8-H Local Bus Interface 1 Used
6DS1220-8AB N8-H Local Bus Interface 19 Used
6DS1222-8AA N-AS Interface Module For 2-0M Local Bus Redundant Systems 1 New No Box
6DS1223-8AA N-AS Interface Module For 20-M Local Bus Redundant Systems 12 Used
6DS1322-8BA Teleperm ME, I/O Coupler 55 Used
6DS1322-8BB IO Bus Control Module 1 Used
6DS1332-8AA IO Bus Control Module 5 Used
6DS1332-8BB Teleperm, S Closed Loop 14 Used
6DS1411-8DD Teleperm, S Closed Loop 66 Used
6DS1412-8CC 1 New With Box
6DS1412-8DD K-Loop Controller 34 Used
6DS1603-8AB Digital Output Module With 32 Outouts 400 MA Each (Total Of All Outputs Max: 4000MA) Non Floating 1 Used
6DS1603-8BA Digital Output Module With 32 Outputs 400 MA Each (Total Of All Outputs Max: 4000MA) Non Floating 2 Used
6DS1603-8RR Digital Output Module With 32 Outputs 400 MA Each (Total Of All Outputs Max: 4000MA) Non Floating 1 New With Box
6DS1631-8DC 1 Used
6DS1702-8AA Analog Output Module 32 Used
6DS1703-8AB Measurement Point Extension Module With 14 Inputs Channels For Thermocouples And/Or Pt 100 Resistance Thermometers 55 Used
6DS1703-8RR Measurement Point Extension Module With 14 Inputs Channels For Thermocouples And/Or Pt 100 Resistance Thermometers 1 New With Box
6DS1717-8CC Teleperm ME, Binary Calculation 324 Used
6DS1719-8AA Binary Extention 90 Used
6DS1722-8AB Teleperm ME, Analog Arithmetic 1 Used
6DS1722-8BA Teleperm ME, Analog Arithmetic 102 Used
6DS1722-8DA Teleperm ME, Analog Arithmetic 5 Used
6DS1723-8AL Group Control Module For Group And Subgroup Controls 64 Used
6DS1723-8DC Group Control Module For Group And Subgroup Controls 1 Used
6DS1731-8BC Teleperm ME, Analog Input 2 Used
6DS1731-8DC Teleperm ME, Analog Input 44 Used
6DS1793-8AB 1 Used
6DS3317-8EA Light Pen For OS 265-3 And OS 265-6 Systems 4 New With Box
6DS3324-8AA Alphanumerik Keyboard DS078 1 New With Box
6DS4203-8AA PT89 Printer With Needle Mechanism 2 New With Box
6DS4410-8AB Teleperm Rack 27 Used
6DS8208-8KC Cable connector for local bus 2.5m 2 Used
6DS9016-8CA Teleperm Rack 74 Used
6DS9023-8CA Teleperm Rack 29 Used
6DS9110-8BA 3 Used
6DS9201-8FA Plug connectors with 5 Plugs 26 Used
6DS9201-8FB Plug connectors with 5 Plugs 22 Used
6DS9903-8AB Adapter Module 48/64 Way 1 New With Box
6DS9925-8AA Cable connectors 174 Used
6DS9944-8AA Cable connectors 1 Used
6DT2003-0AC 9 Used
6EC1654-0B Simatic C1 Module 3 Used
6FQ2421-0AE VD11 Iskamatic Power Supply Diode Coupler 54 Used
6FQ2531-0B EU31 Iskamatic Power Supply Monitoring Module 27 Used
6XV1410-0AN30 Cable Between Promea MX-COROS And VDU 2000/OT-/OS-CXX (X.27) 1 New With Box
6XV2157-8BH50 Cable Connector 5M 1 New With Box
C74103-A1900-A351 Diode Module 30 Used
C79040-A310-C201-02-87 19 Used
C79040-A310-C320-02-85 3 Used
C79040-A310-C56-03-88 15 Used
C79040-A6310-C331-01-86 15 Used
C79040-A84-C341-01-86 22 Used
C79040-A96-C474-01-86 7 Used
C79040-A96-C724-4-85 89 Used
C79040-A96-C755-1-85 89 Used
C79451-A3117-B18 22 Used
C79451-A3117-B62 18 Used
C79451-A3117-B64 19 Used
C79451-Z1038-U10 Power Supply, Expansion Board 18 Used
C79451-Z1038-U13 Power Supply 24V/5V, Replacement for C79451-Z1038-U9 9 New With Box
C79451-Z1038-U9 Power Supply 24V/5V 30 Used
C79451-Z1039-U30 Cleaning Set 3 New With Box
C79458-L2207-B6 19 Used
C79458-L422-B21 1 Used
C79458-L442-B21 Cable for EW-BG 6DS1 703-8AB o. -8RR 32 Used
C79458-L442-B22 Cable for EW-BG 6DS1 703-8AB o. -8RR 11 Used
C79458-L442-D21 4 Used
C79458-L445-B8 Bus Adapter 6DS9 016-8RR (EE) an AS220EA 14 Used
Fujinon Fuji EV 1:8 / 145-170 Lens 6x6 6 x 6 4RBL
VERO POWER
VERO POWER
Monovolt PK30 Q"ty:46
Type 116-10016D
Type 116-01215H
Monovolt PK60-III CE Q"ty:140
Type 116-010063D
Type 116-010065J
Type 116-010066F
Conttec
Conttec
0VPU:P3.02
Q"ty:37
3102-122-00 BCB-00
Q"ty:36
3102-109092 DIOB-02
Q"ty:36
3102-005-01 EVP
Q"ty:36
DOME
55-MD5FP2-25 Q"ty:1
BERGER LAHR
WS5-9
WDM3-004
INFRANOR
SMT-BD1 P 220/04 Q"ty:33
MELCHER
LWN1601-6
Input:AC85...264V,2.5A,47...65Hz,PF:0.9fyp Output:DC24V,10A Q"ty: 1
SIG POSITEC
WDM3-004 Q"ty:19
WD3-004 Q"ty:7
384301-9 1 JT8D-17
8915-948 1 FT-8
T77430 NOS
085-101-0007
N1612-009
70085-1010-001
70085-1010-018
70085-1010-026
70085-1010-028
70085-1010-139
70085-1010-155
H 1522-007
H1512-002
H1612-025
RH1512-006
RH1522-007
RH1522-009
ACS06AF10SL-4S(025) 0124
PMT557OAT
PMT557OAT
134B510BE-1
P/N W-35173-003
P/N W-182885-001
P/N W-9654-1
19059-7-1
P/N W-35173-004
