控制器是機(jī)器人的核心部分，實(shí)現(xiàn)對(duì)機(jī)器人的動(dòng)作操作、信號(hào)通信和狀態(tài)監(jiān)控等功能。下面以FANUC F-200iB為例，對(duì)其控制系統(tǒng)內(nèi)部結(jié)構(gòu)（見(jiàn)圖2）和各部分的功能進(jìn)行分析：
（1）電源供給單元 變壓器向電源分配單元輸入230V交流電，通過(guò)該單元的系統(tǒng)電源分配功能對(duì)控制箱內(nèi)部各工作板卡輸出210V交流電及±15V、＋24V直流電。
（2）安全保護(hù)回路 由變壓器直接向急停單元供電，并接入內(nèi)部各控制板卡形成保護(hù)回路，對(duì)整個(gè)系統(tǒng)進(jìn)行電路保護(hù)。
（3）伺服放大器 不僅提供伺服電機(jī)驅(qū)動(dòng)和抱閘電源，并且與絕對(duì)值編碼器實(shí)現(xiàn)實(shí)時(shí)數(shù)據(jù)轉(zhuǎn)換，與主控機(jī)間采用光纖傳輸數(shù)據(jù)，進(jìn)行實(shí)時(shí)信號(hào)循環(huán)反饋。
（4）輸入/輸出模塊 標(biāo)配為ModuleA/B，另外也可通過(guò)在擴(kuò)展槽安裝Profibus板、過(guò)程控制板與PLC及外圍設(shè)備進(jìn)行通信。
（5）主控單元 整個(gè)控制系統(tǒng)的中樞部分，包括主板、CPU、FROM/SRAM組件及伺服卡，負(fù)責(zé)控制器內(nèi)部及外圍設(shè)備的信號(hào)處理和交換。
（6）急停電路板 用來(lái)對(duì)緊急停止系統(tǒng)、伺服放大器的電磁接觸器以及預(yù)備充電進(jìn)行控制。
（7）示教器 包括機(jī)器人編程在內(nèi)的所有操作都能由該設(shè)備完成，控制器狀態(tài)和數(shù)據(jù)都顯示在示教盒的顯示器上。
圖2 M-10iA機(jī)器人弧焊應(yīng)用
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現(xiàn)貨 TRICONEX 3511 Foxboro 控制處理器 CP40B 卡件 勁爆價(jià)
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POWER SUPPLY FUJITSU FDS-03FS FUJI FUJITSU DENSO WORKING
POWER SUPPLY FUJITSU FDS-05-05FW2 WORKING
POWER SUPPLY FUJITSU FDS-15-36BW FUJI FUJITSU DENSO WORKING
POWER SUPPLY FUJITSU FDS-15FSH FUJI FUJITSU DENSO
POWER SUPPLY FUJITSU FDS-18ES FUJI FUJITSU DENSO WORKING
POWER SUPPLY FUJITSU FDS-40000EP2 FUJI FUJITSU DENSO WORKING
POWER SUPPLY FUJITSU FDS-XBS FUJI FUJITSU DENSO WORKING
Projector Lamp for FUJITSU SP-LAMP-003
Projector Lamp for FUJITSU XP60
Projector Lamp for FUJITSU XP70
PULSE CODER FUJITSU FUNUC type 0301-t002/ no. p-960085
QL200 PIC ICSP Microchip LCD USB MCD ICD Development Board /Learning Board Kit
QL200 PIC Microchip LCD USB MCU ICD Development Board
QVS VPG-H Device Tester HDMI VIDEO PATTERN GENERATOR
Rectifier Semiconductor Device 5961-00-947-3769
REEL OF 4715 FAIRCHILD TRANSISTORS 110015-G SOT23
REFURBISHEDFZ200R65KF1 EUPEC / INFINEON MODULE
RELAY PANEL A04B-0018-C204 A04B0018C204 FUJITSU FANUC CNC VERT MILL
RELIANCE ELECTRIC DDS-PF COMPACT MODELING DIGITAL LOCATION CONTROL DEVICE F-TYPE
ROMM BOARD A20B-0008-0480 A A20B00080480A FUJITSU FANUC CNC VERT MILL
SD20/24 PAL WITH ALTERA PLE3-12 MASTER PROGRAMMING UNIT
SDC 1704 ANALOG DEVICES I.C. CONVERTER - ALT P/N AP1750-0300
Semiconductor Rectifier Device - P/N 11467821 80 Volt
Shop of measuring resistance 0.1-10000 Ohms - Device
SINGER C574000286 / 5962-01-067-9331 GOLD MICROCHIP PARTS -1
SL541B SL541 SL541B-CM Zarb Plessey obsolete device Genuine factory product
SmartPro 5000U 5000U Plus Univeral Programmer USD2.0 10000 Device
SmartPro 5000U 5000U Plus Univeral Programmer USD2.0 10000 Device
SmartPro 5000U Univeral Programmer USD2.0 10000 Device
SmartPro X8 plus X8 X8plus Univeral Programmer USD2.0 10000 Device
SmartPro X8 Univeral Programmer USD2.0 10000 Device
SmartPro X8Plus X8 X8 Plus Univeral Programmer USD2.0 10000 Device
Snagg RFID Microchip Retrofit Kit PACK OF 5 protect from guitar theft
SPT9689AIP Manu:FAIRCHILD Encapsulation:PLCC20DUAL ULTRAFAST VOLTAGE
SST39SF020A-45-4C-WHE 168 MICROCHIP 1027 DC FACT SEALED BAG ROHS PRODUCT
ST Cortex-M3 STM32F207 Development Board With Network USB Device Host CAN
SV Probe Inc C48-2 Rev A 888008 Motherboard Test Fixture - Das Device
SV Probe Inc C48-2 Rev A 888008-9 Motherboard Probe Card for Das Device
T1059N26TOF EUPEC / INFINEON THYRISTOR MODULE
T1601N35TOF INFINEON SCR MODULE
T930S16TKC EUPEC / INFINEON THYRISTOR MODULE
TAPE READER UNIT A13B-0070-B001 A13B 0070 B001 FUJITSU FANUC CNC VERT MILL
TD180N16KOF EUPEC / INFINEON MODULE
TD250N16KOF EUPEC / INFINEON POWER MODULE
TD285N12KOF EUPEC / INFINEON POWER MODULE
TD330N16KOF EUPEC / INFINEON POWER MODULE
TD500N12KOF EUPEC / INFINEON POWER MODULE
TD500N16KOF EUPEC / INFINEON POWER MODULE
TeamPOS 2000 A Motherboard
Tek/Pl/Pro-Log/Analog Devices RTI-1260 Circuit Board
TFXPD Fairchild Electric to Pneumatic Transducer
TIP41C TIP 41C FAIRCHILD AMPS Transistor TO-220
TMS 370 374 375 device programmer ETL compatible
TOP2007 Programmer 2000Device for MCU PIC Flash EEprom
TOP2009 Programmer 2500Device for MCU PIC Flash EEprom
TOP2009 Programmer 2500Device for MCU PIC Flash EEprom
TOP2009 Programmer 2500Device for MCU PIC Flash EEprom
TOP2009 Programmer 2500Device for MCU PIC Flash EEprom
TOP2011Programmer 2500Device for MCU PIC Flash EEprom
TOP2011Programmer 2500Device for MCU PIC Flash EEprom
TOP3000 Programmer 4500Device for MCU PIC Flash EEprom
TOP3000 Programmer 4500Device for MCU PIC Flash EEprom
TOP3100 Programmer 5000Device for MCU PIC Flash EEprom
TOP3100 Programmer 5000Device for MCU PIC Flash EEprom
Transistor Devices inc. SPS 1676 transistor device
TT121N16KOF EUPEC / INFINEON POWER MODULE
TT131N16KOF EUPEC / INFINEON POWER MODULE
TT170N16KOF EUPEC / INFINEON POWER MODULE
TT170N18KOF EUPEC / INFINEON 6SY7000-0AB03
TT180N16KOF EUPEC / INFINEON POWER MODULE
TT210N18KOF EUPEC / INFINEON 6SY7000-0AB04
TT215N20KOF EUPEC / INFINEON 6SY7000-0AB07
TT250N1200KOF EUPEC / INFINEON POWER MODULE
TT250N14KOF EUPEC / INFINEON POWER MODULE
TT250N16KOF EUPEC / INFINEON POWER MODULE
TT25N12LOF EUPEC / INFINEON MODULE
TT330N16KOF EUPEC / INFINEON POWER MODULE
TT500N12KOF EUPEC / INFINEON POWER MODULE
TT500N16KOF EUPEC / INFINEON POWER MODULE
TT85N18KOF EUPEC / INFINEON 6SY7000-0AB01
TT85N20KOF EUPEC / INFINEON 6SY7000-0AB05
TT92N12KOFB4 EUPEC / INFINEON POWER MODULE
TT92N16KOF EUPEC / INFINEON POWER MODULE
TTB6C135N16LOF EUPEC / INFINEON POWER MODULE
TZ600N16KOF EUPEC / INFINEON MODULE
UA109KMQB FAIRCHILD
UA1458HC FAIRCHILD
UA1558HM FAIRCHILD
UA308HC FAIRCHILD
UA702HMQB UA702 Fairchild Wideband DC Amplifier
UA708HC FAIRCHILD
UA710DMQB FAIRCHILD
UA714HC FAIRCHILD
UA725HC FAIRCHILD
UA725HM FAIRCHILD
UA726HC UA726 Fairchild NPN Monolithic Transistor Pair - Temperature Controlled
UA740EHC FAIRCHILD
UA747HC FAIRCHILD
UA759U1C Fairchild UA759 LM759 LM759CP POWER OP AMP IC
UA796HC FAIRCHILD
V23848-H18-C56 x 5 iSFP OC-3/OC-12 MUILTRATE 1310nm 155 TO 622Mbit/s INFINEON
VARIABLE INDUCTANCE FROM ANTENNA MATCHING DEVICE
Very Rare Fairchild 6800 CPU White Ceramic & Gold 6800LQR
Virtex-E 1.8V FPGA-Brand -Factory Sealed Packs of 60
WE ARE BUYING FUJITSU FLASHWAVE 4500 7500 Series
Wellon WL-FBGA56-56P FBGA56 Spansion Fujitsu adapter
Wellon WL-FBGA56-56P FBGA56 Spansion Fujitsu adapter
Wellon WL-FBGA56-56P FBGA56 Spansion Fujitsu adapter
WESTINGHOUSE WL 22809 HOLLOW CATHODE DEVICE NIB
WESTINGHOUSE WL 22968 HOLLOW CATHODE DEVICE NIB
WESTINGHOUSE WL 23059 HOLLOW CATHODE DEVICE NIB
with HC705 Device Programming Adaptor & Interface Card
WSI MagicPro III Device Programmer Module
WTC/TECHNITRON FAIRCHILD VALVE CONTROL SYSTEM 812346
XC2V3000-4BF957C Xilinx FPGA XC2V30004BF957C 34pcLot
XC2V3000-4BF957C Xilinx FPGA XC2V30004BF957C 4pc
XC2VP20-6FF1152I XC2VP20 XILINX
XC2VP506FF1517C Xilinx XC2VP50-6FF1517C VIRTEX-II PRO
XC2VP76FF672C XILINX XC2VP7-6FF672C VIRTEX II -
XC3S200AN-4FT256C BGA XILINX IC
XC4044XL1BG352C 50 Xilinx XC4044XL-1BG352C
XC4313PQ240C5271 Xilinx XC4313-PQ240C Fact Seal Bag 120
XC4VLX100-10FF1148C - XILINX - Logic - Progamable CMOS Technology 1.2V 1148-Pin
XC4VSX55-10FF1148I XC4VSX55 XILINX
XCCACE-TQG144I TQFP-144 XILINX IC
XCF32P XCF32PVOG48C TSSOP-48 XILINX IC
XCV400-6BG560C IC FPGA 2.5V C-TEMP 560-BGA by XILINX
Xeltec Superpro Universal Device Programmer with Manuals and Computer Card
Xeltek - SupePro 501S NCluster Universal IC Device Chip Programmer
Xeltek - SuperPro 5000 Universal IC Device Chip Programmer
Xeltek - SuperPro 5000 Universal IC Device Chip Programmer
Xeltek - SuperPro 5000E Universal IC Device Chip Programmer
Xeltek - SuperPro 5000E Universal IC Device Chip Programmer
Xeltek - SuperPro 5004EGP IC Device Chip Gang Programmer
Xeltek - SuperPro 5004EGP IC Device Chip Gang Programmer
Xeltek - SuperPro 500P Universal IC Device Chip Programmer
Xeltek - SuperPro 500P Universal IC Device Chip Programmer
Xeltek - SuperPro 501S Universal IC Device Chip Programmer
Xeltek - SuperPro 501S Universal IC Device Chip Programmer
Xeltek - SuperPro M Universal IC Device Chip Programmer
Xeltek - SuperPro M Universal IC Device Chip Programmer
xeltek SuperPro 500P Programmer Ultra-High Speed Economy Universal Device
Xilinx Avnet Virtex-6 LX130T Evaluation Kit AES-V6EV-LX130T-G
Xilinx Digilent Spartan 3A Starter Kit w/ Power Supply
Xilinx DLC7 Parallel Cable IV
Xilinx DLC7 Parallel Cable IV
XILINX IC XC2018PG84DKI-70C
Xilinx ML605 Virtex 6 Evaluation Kit
XILINX P/N XC2S300E-6PQ208I BENT PINS 15 pieces
Xilinx Part# XC17S30LPC FPGA 210 piece -
Xilinx Platb Cable USB Compatible FPGA CPLD JTAG
Xilinx Platb USB Cable & ALTERA USB Blaster 2 in 1 Combo Download Cable JTAG
Xilinx Platb USB Cable & ALTERA USB Blaster 2 in 1 Combo Download Cable JTAG
XILINX Vertex-II 2 Pro XC2VP20 with 128 MB Memory
XILINX VIRTEX 5 XC5VLX50 FPGA ON-BOARD IC CHIP.
XILINX VIRTEX 6 XC6VLX195T FFG1156 AGW1041 EX ROHS READY FOR REBALL VIRTEX6
Xilinx Virtex XCV200E FPGA IC XCV200E-6FG456
Xilinx Virtex-4 FX Evaluation Platb ML403
XILINX VIRTEX-4 IC XC4VLX25-10FF668CS2
XILINX VIRTEX-4 XC4VLX100 ON BOARD IC CHIP
XILINX VIRTEX-4 XC4VLX80 FFG1148DNQ0937 FC4008413A2 IN FACTORY SEALED BAG
Xilinx Virtex-5 FPGA Source-Synchronous Interfaces Tool Kit HW-V5-ML550-UNI-G
Xilinx Virtex-5 XC5VLX50T FFG1136FGU1029
Xilinx Virtex-5 XC5VLX85T FFG1136FGU1017
Xilinx Virtex-6 XC6VLX130T FFG784AGW1025
Xilinx Virtex-6 XC6VLX195T FFG784AGW1025
xilinx virtex-ii pro xc2vp50 ff1152bgb0409
XILINX VIRTX-II PRO XC2VPX70
Xilinx Vitrex4 FPGA XC4VFX60-10FFG1152C ES 6 LOT
XILINX XC17256LPC PARTS -17
XILINX XC2C128-7VQ100C CPLD
XILINX XC2C128-7VQ100C CPLD
Xilinx XC2S15-5TQ1441
Xilinx XC2S3000 FG676AMT0217 FPGA Virtex-II™ Family
XILINX XC2V1000-4BG575 VIRTEX-II PRO 676 PIN FPGA
XILINX XC2V2000 XILINX XC2V1000
Xilinx XC2V3000-5BG728C FPGA Virtex-II Family 3M Gates 32256 Cells D/C 0241
Xilinx XC2VP100 FF1704CGB0 FPGA VIRTEX-II PRO 1704-FBGA
Xilinx XC2VP30 5ff1152C Sealed vacum pakage with 4 unit
Xilinx XC2VP50 - 5FF1152C VIRTEXIIPRO FPGA 50K 1152FBGA
Xilinx XC2VP70 FF1704CGB FPGA VIRTEX-II PRO 1704-FBGA
XILINX XC3090-50PG175C GOLD PROCESSORS PARTS -1
XILINX XC3130APC44C-5 PARTS -6
XILINX XC3195-5PG175C X31057M XC3195-5 PG175C AIG9404
Xilinx XC3195A-PC84AKJ Field Prog.Gate Arrays FPGA's
XILINX XC4008EPQ160CKJ PARTS FACTORY TRAY -1
Xilinx XC4010E Quad Pack 160 Pin FPGA
Xilinx XC4010EPC84CKM Field Prog.Gate Arrays FPGA's
XILINX XC4013EHQ240CKM PARTS -1
XILINX XC4013XLA-PQ160AKP FPGA PARTS QUANTITY-1
Xilinx XC4044XLA Pulled
XILINX XC4062XL-2BG432C 3.3V FPGA 432-FBGA
Xilinx XC4VFX40-11FFG672C Virtex®-4 672-Pin FCBGA 90nm
XILINX XC4VLX40-10FF48CES IN FACTORY SEALED BAG .4
Xilinx XC4VLX60-11FF1148C - 9
XILINX XC9510810PQ160CES PARTS FACTORY TRAY -2
Xilinx XC95144XV-7TQ100C XC95144XV 95144 PLD IC X 10
XILINX XCR3256XL-12FT256I 256 Macrocell CPLD 3
XILINX XCV300-4FG456C Virtex 312 I/O 2.5V FPGA 456-FBGA
XILINX XCV300-6FG456C Virtex 312 I/O 2.5V FPGA 456-FBGA
Xilinx XCV3200E-7FG1156CES XCV3200E7FG1156CES -
YAMATAKE-HONEYWELL MICRO MULTIPLE LIMIT SWITCH FUJITSU FANUC CNC VERT MILL
YAMATAKE-HONEYWELL MULTIPLE LIMIT SWITCH LDV-3510 FUJITSU FANUC CNC VERT MILL
YAMATAKE-HONEYWELL MULTIPLE LIMIT SWITCH LDV-5410 FUJITSU FANUC CNC VERT MILL
