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CIMR-JU4A0001BAA現(xiàn)貨 in stock! 歡迎來電咨詢~??！

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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)自動化的關鍵技術和重要產(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軌上而無需用螺絲固定，維護也很方便，一般來說，常用的導軌寬度是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、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，往往需要外圍設備的配合，比如工裝夾具、傳送帶、焊接變位機、移動導軌等等，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、噴涂設備、裝配設備等等。

　　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)機器人對外部設備的有效控制，底層控制器提供了相應的設備底層控制函數(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。當線圈通電的時候，其對應的常開觸點閉合，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，以適應不同機器人應用程序?qū)/O設備的不同需求。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構實現(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，而電路設計以及編程相當復雜，因此，PLC的控制接線完善和技術創(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結合物聯(lián)網(wǎng)及高科技術，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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194E-FA40EX-P11 194E Load switch

2090-CFBM7DD-CEAF20 Kinetix 20m Flexible Cable

2090-U3BC-D4403 Ultra 3000 Breakout Board Cable

BC646MRA300 View Runtime 300 I/O with Proficy GlobalCare Complete

GC647ASC002 GC SDK 2 Pak

IC200ACC200 VersaMax Modular blank power supply housing. No electronics in housing.

IC646APS30100 CSense Predictive Soft Sensor 100 KPI's

IC647IFPLRN00150K iFIX Plus SCADA 150 I/O Runtime (M1 Kit Part)

IC660MCA512 Hand-Held Monitor 220Vac Power Adapter

IC697ADC701 CIMPLICITY 90-ADS Coprocessor (Repeat Systems)

IC756XRT009 Inb x86 Dv Tools Runtime 2-9, Per User

FlexLogix System 1794-TBNF FUSED NEMA TERMINAL BASE

GuardPLC Systems 1754-L28BBB GUARDPLC 1200 - PACKAGED SAFETY CONTROLLER, 28 I/O

Process Control 1757-UPGSIFK UPGRADE GE FAUNC 90 ENET QUICKBUILDER I/F

Operator Interface 2711P-K12C6D1 PV PLUS 1250, KEYPAD, RIO/DH, DC PS, STD MEM

Support 6640-NAA0S 6640-NAA0 SOFTWARE SUPPORT RENEWAL

Support 1784-DP2R SUPPORT PLAN 1784-DP2 REINSTATEMENT

Support F1785-L80ESERD FIRMWARE UPGRADE FOR 1785-L80E PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350FRU1 RSVIEW32 WORKS 150-5K UPGRADE IN-SUPT (FR)

RSI Software Products 9701-VWSS250FRU1 RSVIEW SE 25 TO 250 DISPLAY UPGRADE (FRENCH)

RSI Software Products 9399-WAB32LUGES RSLINX LITE USER GUIDE (SPANISH)

Motion Control 8720MC -D065-AN- 65 AMP C CHASSIS DRIVE, OPEN ENCL., LESS OPTIONS

BC646MQPU01 Machine Edition View for Quick Panel, upgrade from QuickDesigner (1 user)

IC300OCS391 OCS351 DEMO KIT WITH CASE

IC752WTE000 Display Station 2000 Series - 10.4" active matrix VGA (640x480) resistive touchscreen, Pentium 233MHz, 64MB RAM, 6.4 GB HD, Ethernet, 300pt count CIMPLICITY HMI, field detachable front/rear housing and Win NT

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

20AC8P7A0AYNANC1 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC011A3EYNANANE PowerFlex 700S AC Drive 20D

20G1ALD485AN2NNNNN PowerFlex 755 AC Packaged Drive

25B-D017N114 PowerFlex 525 7.5kW (10Hp) AC Drive

2711T-JBIP20DC MobileView Accessory, Junction Box

FR-E540-1.5K 3.2 KVA 4A 1.5 KW 3相AC380V/50Hz/60Hz

1492-L6 IEC Term Blck 8.1x65x38mm Spr Clp

1494F-D100 Disconnect Switch

軟啟動器 3RW44342BC45

電源 6ES7 507-0RA00-0AB0 PS：60 W，額定輸入電壓 AC / DC 120 / 230 V

1585BZ-MCAP Variant 1 Metal Plug Dust Cap

1747-L552 SLC 5/05 32K Controller

1794-ACNR15 Flex Controlnet Adapter

194E-AA00E-TN-PE 194E Load switch

2071-AP8 Kinetix 3 800W Component Servo Drive

2090-CSWM1DF-14AA05 Kinetix Cable Single DSL 2090-Series

20AC2P1A0AYNANC1 PowerFlex 70 AC Drive 20A

GC646MFL001 FANUC Ladder III-C with Proficy GlobalCare Complete

HE693HHP232 Hand Held Programmer Emulation Software (and hardware)

IC600YR560RR 19 inch I/O Rack with High Capacity P/S/ 115-230Vac (11 Slots)

IC647HSTMK035 Historian Media Kit v3.5

IC660BBA021 Block 24/48Vdc RTD Input 6 Channels

IC694MDL655CA Conbal Coated Input module 24 VDC POS/NEG logic 32 points. 1msec filter. Interface is a Fujitsu connector.

IC756WDC009J-23 DV Development Sys VB, Java, C++, Japanese, Version 2.3

MicroLogix 1500/1769 System 1761-NET-AIC AIC+ ADVANCED INTERFACE CONVERTER

PLC-5/1771 System 1784-PCM6 1784-PCMK DH+COMMUNICATION CABLE(8 PIN DIN)