PX243-01AA-C3現(xiàn)貨 in stock! 歡迎來電咨詢~！！

PX243-01AA-C3,

PX243-01AA-C3

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　機(jī)器人誕生之日起人們就不斷地嘗試著說明到底什么是機(jī)器人。但隨著機(jī)器人技術(shù)的飛速發(fā)展和信息時代的到來，機(jī)器人所涵蓋的內(nèi)容越來越豐富，機(jī)器人的定義也不斷充實(shí)和創(chuàng)新。機(jī)器人技術(shù)作為20世紀(jì)人類最偉大的發(fā)明之一，自20世紀(jì)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(jìn)步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機(jī)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(jī)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(shí)現(xiàn)PLC、變頻器、遠(yuǎn)程I/O等與上位機(jī)算機(jī)進(jìn)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(jī)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(biāo)準(zhǔn)，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(biāo)準(zhǔn)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(hù)也很方便，一般來說，常用的導(dǎo)軌寬度是3.5CM。現(xiàn)如今，很多的電器元器件都有采用這種標(biāo)準(zhǔn)，比如有PLC、斷路器、開關(guān)、接觸器等。

　　工業(yè)機(jī)器人不是孤立工作的，一個機(jī)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(jī)、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(jī)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(shí)時性等。移動機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對運(yùn)動控制器的實(shí)時性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)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(kuò)展性和兼容性。

　　為實(shí)現(xiàn)機(jī)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(jī)器人的硬件寄存器來控制機(jī)器人的運(yùn)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(shí)現(xiàn)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動機(jī)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(jī)器人控制系統(tǒng)主電路通過PLC和繼電器實(shí)現(xiàn)控制。即由繼電器由線圈和輔助觸點(diǎn)兩部分組成。當(dāng)線圈通電的時候，其對應(yīng)的常開觸點(diǎn)閉合，常閉觸點(diǎn)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(jìn)行可視化配置，以適應(yīng)不同機(jī)器人應(yīng)用程序?qū)�I/O設(shè)備的不同需求。其主要是機(jī)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(jī)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(yùn)動控制指令，使用位置控制方式，控制4個轉(zhuǎn)向伺服電機(jī)，從而控制4個車輪的轉(zhuǎn)向角；另外，使用擴(kuò)展模擬量輸出模塊輸出電壓值，控制4個輪毅電機(jī)，驅(qū)動機(jī)器人運(yùn)動。排除硬件的因素外，程序的好壞直接決定著運(yùn)動性能的高。因此程序的編寫是整個設(shè)計(jì)中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機(jī)器人的高性能要求還有待改善

　　機(jī)器人控制器可以理解為完成機(jī)器人控制功能的結(jié)構(gòu)實(shí)現(xiàn)，因此機(jī)器人控制器是機(jī)器人最為核心的“心臟”，它從一定程度上影響著機(jī)器人的發(fā)展，高性能的工業(yè)機(jī)器人不單要實(shí)現(xiàn)PTP控制，而且還要實(shí)現(xiàn)CP控制。雖然說，采用基于PC的運(yùn)動控制器和基于DSP運(yùn)動控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動控制，但是卻無法滿足高性能工業(yè)機(jī)器人的各項(xiàng)要求指標(biāo)，而電路設(shè)計(jì)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(yùn)動控制指令就能實(shí)現(xiàn)對機(jī)器人的運(yùn)動控制，因此，PLC想要在機(jī)器人多軸運(yùn)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?yàn)楦咝阅芄�業(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動運(yùn)動，不單單是實(shí)現(xiàn)PTP、CP的控制，還要達(dá)到在多軸協(xié)調(diào)控制、速度、加速度、運(yùn)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(qiáng)大；等西門子公司的PLC雖然具備運(yùn)動控制的功能，但遠(yuǎn)遠(yuǎn)不及MITSUBISHI PLC，因?yàn)镸ITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，使之具有完整的運(yùn)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(jìn)行通訊，從而實(shí)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(dá)到從簡單的點(diǎn)到點(diǎn)的運(yùn)動到復(fù)雜的齒輪傳動，來滿足高性能工業(yè)機(jī)器人的要求。
 

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Support 9358-BCMPN01R SUPT REINSTATEMENT CONTRACT FOR 9358BCMPN01ENE

Support F1403-MMVER2X FIRMWARE UPGRADE FOR 1403-MMV POWERMONITOR MODULE

RSI Software Products 9324-RL01U3PTER UPGRADE: OUT-SUPT: PORTUGUESE RS500 START TO RS500

RSI Software Products 9301-2SE3503DEE RSVIEW32 RUNTIME 100K WITH RSLINX (GERMAN)

RSI Software Products 9358-HSTCLTENE RSBIZWARE HISTORIAN SINGLE USER RUN TIME CLIENT

Motion Control Y-2012-2-H00AA MOTOR,SERVO,1.35 NM,4500RPM,ENCDR,230V,2.31KG

5401 Greyline Micro MC. 2 Lines, (20) 5MM Chars. LCD. Quick Connect. NEMA 4

IC200DTX450 Operator Interface with up to 200 stored messages. 2 x 16 character LCD backlight display and 6 function keys

IC695CHS016 RX3i BASE 16 SLOTS

MSI-WEB-UNL-43 Unltd Site Clients - Web or Excel Rep-43

VSPCSE-OPC10 Secure Edition OPC Client Option includes VisualSPC Importer (licensin g is per client PC), Support for up to 10 Points/Tags.

20BD065A0AYNAND0 PowerFlex 700 AC Drive 65 A 50 Hp 20B

20G11LE825JN0NNNNN PowerFlex 755 AC Packaged Drive

22F-A011N103 PowerFlex 4M- 2.2 kW (3 HP) AC Drive

490NAC72100 Quantum MODBUS+避雷裝置

291D-FBZ-G1-3FR Direct Online Reversing Starte

MK3HP 防爆繼電器 DC24V AC110V 3開/3閉，觸點(diǎn)：

1492-SPM2D060 MCB Supplementary Protector 6 A

軟啟動器 3RW30382BB04

電機(jī)啟動器 3VU16400CP00

150-F317NBD SMC Flex Smart Motor Controller

1732E-IB16M12 ArmorBlock 16 Point Input Block

1771-RTP1 1771 Remote Terminal Panel

193-EEGF E1 Plus 18-90 A Overload Relay

20-750-1132C-2R PowerFlex 750 Series 24V DC EIO Kit

2090-CPWM7DF-08AF25 MP-Series 25m Continuous-Flex PWR Cable

2097-R6 Kinetix 300/350 75 Ohm Shunt Resistor

ENP2115M010 Male Industrial/Male Industrial, 1 meter

GFK-1687 User Manual-Mini OCS Hardware Manual

IC220BEM485 RS-485 Communications Module interfaces serial I/O devices to a VersaPoint I/O Station. Requires a NIU that supports PCP services, not compatible with IC220EBI002 Ethernet NIU. Supports the following protocols Transparent, End-to-end, Dual buffer,

IC647CSPC005 Proficy Cause+ for Intelligent HMI/SCADA Client Enabler - 5X CALs

IC647PSC000 Proficy Process Systems 5000+ I/O with CIMPLICITY

IC693MCD001 Beta series servo demo case

IC756ADV010J-99 DV Draw Development on AIX Op Sys, Japanese, Version 9.9

MSI-MGMT-100 Production Management Clients 100 Pack

PLC-5/1771 System 1771-DXPS CONTROL COPROCESSOR - SERIAL EXPANDER MODULE

Distributed I/O 1738-IR2M12 24VDC 2 INPUT RTD WITH M12 CONNECTORS

Communications 1784-PCD DEVICENET PCMCIA COMM CARD

Operator Interface 2711-NV6T ANTIGLARE OVERLAY PV1000 TOUCH

Support 9304-WRM300R 9304-WRM300 SOFTWRE SUPPORT CONTRACT REINSTATEMENT

Support 9393-EGLX500R SUPT REINSTATEMENT CONTRACT FOR 9393EGLX500

DeviceNet Products 2706-PDNETK DEVICENET COMMUNICATION MODULE FOR 2706-P7X & P9X

RSI Software Products 9301-2SE335ITU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (IT)

RSI Software Products 9371-EDES2 RSWIRE DESIGNER/JIC FOR AUTOCAD 14-14.01

Motion Control MPG-B010-031M22 MOTOR,SERVO,GEAR RATIO 31,25NM,208RPM,MULTI,460V

Silver Series 2711-K14C12 PV1400 COLOR KEY, PBUS & RS232 PRINT

HE693SER300 Slot One Sequential Event Recorder

IC670ALG620 RTD 4 Channel Isolated 3 wire

QPI-DEM-L02 QUICKPANEL DEMO 10.5" MONO LCD

ST-5651 STXi 1 Channels, Pulse Out module, 0.5A/5V (RS422), 20Khz

20BC260A0ANNAED0 PowerFlex 700 AC Drive 20B

20F1ANC205AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-B012N104 PowerFlex 40- 2.2 kW (3 HP) AC Drive

140DII33000C Quantum 開關(guān)量輸入, 8點(diǎn), 本安型,CC

284D-FVD6P0B-25-RR-3-DB-SB-EMI DeviceNet Variable Frequency Drive

E3S-VS1E4 色標(biāo)檢測型 1.2CM晶體管輸出NPN最大80MA電源12-24VDC

1492-SPM1B010 MCB Supplementary Protector 1 A

人機(jī)界面 6AV6545-0DB10-0AX0 MP370 觸摸面板，256 色，15.1 英寸，800? 600

6ES73317KF024AB2

1497B-A6-M13-0-N Control Power Transformer

1606-XLS480G-3 36-42V Dc 480 Watt Power Supply

1769-IG16 CompactLogix 16 Pt TTL DC D/I Module

189-ASCR3 MCB Accessory Signal Contact

194R-HM4E 194R 100-400-625 A Operating Handle

2090-CPBM7DF-14AA07 MP-Series 7m Standard Cable

2090-XXNPMP-8S05 MP-Series 5 m Length Power Cable

CBL-3C-L1D-FLY-10 S2K flying lead feedback cable for special for 3rd party motors with hall commutating encoders. 10 feet

GF-0304 Connecting FlashCable to Edmunds Trendsetter (for use with the Combo G agePort). Contact Dave Chapman X5472 for additional electrical testing.

IC200TBX340 Tool box, Micro 40, operator interface and software. Includes (IC200UDR140) 24VDC In/Relay Out, requires 120/240VAC power, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with VersaMax DataPanel DP 45 (IC200DTX450) with Proficy Logic

IC646TBSPMPW025 Smart Process Monitoring Process+ Web Clients 25 Pack

IC647NST000 CIMPLICITY HMI Stratus High Availability Server License

IC693ACC350 Redundant Power Supply Adapter (RPSA) Module. The RPSA replaces the p ower supply on a CPU base or expansion base and connects to a Redundan t Power Supply Base.

IC752CBT050RR Datapanel 320T CB (Color Base): 320x240 1/4 VGA Passive Color with 803 86SX/40 PC processor. Analog touch screen with text, bitmaps, bar gra phs, real time clock.

IC800VMCP3030 Power cable for 3 kW VersaMotion servo motors- 3 meter

SLC/1746 System 1746-NI8 (8) ANALOG INPUT FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-CPUSTD2 STANDARD SBC (W/CPU AND COOLER) (1400R)

Application-specific products 1403-CF010 10 M F LINK FOR POWERMONITOR

Operator Interface 2711-K6C1 PV600 COLOR KEY, RIO & RS232 PRINT

Support 9301-2SE2400PTR SUPT REINSTATEMENT CONTRACT FOR 93012SE2400PT

Support 9323-1003ENS SUPT RENEWAL CONTRACT FOR 93231003EN

DeviceNet Products 1734-OB2EP 24V DC 2 AMP 2 CHANNEL SOURCE OUTPUT MODULE

RSI Software Products 9301-2SE3100ITE RSVIEW32 RUNTIME 150 (ITALIAN)

RSI Software Products 9358-BNTK30U1R UPGRADE: OUT-SUPT: RSBATCH BACK-UP KEY 03 TO 30

Motion Control MPL-B420P-MJ22AA MOTOR,SERVO,4.74 NM,5000RPM,MULTI,460V,5.0KG

Motion Control 2090-UXBB-DM09 BREAKOUT BOARD, CN3, ULTRAX000 DRIVE MOUNTED