PH266-E1現貨 in stock! 歡迎來電咨詢~��！

PH266-E1,

PH266-E1

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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展和信息時代的到來，機器人所涵蓋的內容越來越豐富，機器人的定義也不斷充實和創新。機器人技術作為20世紀人類最偉大的發明之一，自20世紀60年代初問世以來，經歷40多年的發展已取得長足的進步。隨著近年來制造業的不斷發展，工業機器人已成為智能制造和工業自動化的關鍵技術和重要產品，也是數控機床走向自動化更高階段的重要一環。

　　隨著電子控制技術的不斷發展，PLC正向高速度、容量大等物聯網及智能通信方向發展，通過物聯網，能實現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。

　　1

　　舉個例子

　　三菱工業電機中的CC-Link構建的一種開放性面向現場控制的總線網路系統，DIN是德國工業標準，使用導軌是工業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，就需要互相協調。比如AGV小車、自動化立體倉庫、噴涂設備、裝配設備等等。

　　2

　　工業機器人的自動控制系統

　　1、底層控制器

　　底層控制器作為控制系統的核心，其選擇的合適與否對整個系統來說十分重要，其性能直接影響了控制系統的可靠性、數據處理速度、數據采集的實時性等。移動機器人運行環境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩定可靠地運動控制器至關重要，既要滿足系統要求，又要具有良好的可擴展性和兼容性。

　　為實現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，這些控制函數可以直接訪問機器人的硬件寄存器來控制機器人的運行，而這些控制函數可以使得設備驅動程序不再依賴于具體硬件，所以，通過調用控制函數接口就可以實現對機器人的有效控制。

　　2、電氣系統

　　在對輪式全向移動機器人控制系統硬件進行選型以后，根據移動機器人的硬件組成進行電氣系統設計。移動機器人的電氣系統主要包括三個部分：主電路、伺服驅動系統電路和PLC控制系統電路。

　　移動機器人控制系統主電路通過PLC和繼電器實現控制。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數據映像區大小信息，通過軟PLC編程系統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對I/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行器I/O使用，末端執行器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個轉向伺服電機，從而控制4個車輪的轉向角；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節之一。

　　3

　　PLC要滿足工業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，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展，高性能的工業機器人不單要實現PTP控制，而且還要實現CP控制。雖然說，采用基于PC的運動控制器和基于DSP運動控制器能夠實現機器人的運動控制，但是卻無法滿足高性能工業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對機器人的運動控制，因此，PLC想要在機器人多軸運動協調控制、網絡通訊方面取得優勢，還是需要一定的時間。因為高性能工業機器人主要是各關節的驅動運動，不單單是實現PTP、CP的控制，還要達到在多軸協調控制、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結合物聯網及高科技術，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，從而實現高度的集成操作及位置環和速度環的閉環控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業機器人的要求。
 

150-C43NBR SMC-3 43A Smart Motor Controller

1585D-M4TBJM-20 Micro D-Code, QD Style Ethernet Media

1747-SN SLC Remote I/O Scanner Module

1784-PCM5 Data Highway Plus Cable

190E-CNEJ1-CC16C 10-16 A Economy Starter W/Ckt-Bkr

20-IP54DR-600 DOOR, IP54/N12, FOR 600MM WIDE POWERFLEX

2090-CPWM4E2-14TR MP-Series 0.5m Length Transition Cable

2090-SCVG50-0 Kinetix 50-50m Fiber Optic Cable

BC646MPP010 Logic Developer PLC Professional 10 pack with Proficy GlobalCare Complete

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IC641VPP710 VersaPro Professional Edition 10 Pack - Windows Programming Software f or Series 90-70, Series 90-30, and VersaMax PLCs

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IC660EBS100RR Ph B 115Vac/125Vdc 8 CKT Isolated Electronic Asm

IC697ACC720 Blank Slot Filler, full slot rack (qty. 6)

IC756WRE499J-28 Runtime License for Windows 100+ Users, Per User, Japanese v2.8

FlexLogix System 1794-IRT8 NON-ISOLATED, THERMOCOUPLE/RTD/MV INPUT MODULE

PLC-5/1771 System D6200-6.4.18ES PLC5 STRUCT.TEXT SFTW REL.1.0 USER MANUAL(SPANISH)

Process Control 1757-SWKIT5000 PROCESSLOGIX SOFTWARE KIT RELEASE 500

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Support F1785-L60BSERB FIRMWARE UPGRADE FOR 1785-L60B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230ESU2R RSVIEW32 WORKS 150-1500 UPGRADE OUT-SUPT (ES)

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IC300OCS064 OCS with 2x20 LCD Display and with 16-keypad. Built in I/O no expansion. High Speed Counter and PWM/PT. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A neg. logic) With CAN Network

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MTR-3T22-G-R-B-M-S MTR series metric servo motor with resolver and brake and shaft seal

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20G1AJC540JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-A2P5N104 PowerFlex 525 0.4kW (0.5Hp) AC Drive

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GC646MBTS99 Proficy GlobalCare Complete for CIMPLICITY Machine Edition Traditional Development Suite - Unlimited Site License

HE693ADC405 Discontinued Part. Check with GE IP on migration path.

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IC655CPU500RR Series Five CPU (with 4K Reg and I/O Rack Terminator)

IC694MDL240CA Conformal Coated Input module 120 VAC 16 point

IC756SDV010E-97 DV Draw Development on Solaris Op Sys, English, Version 9.7

MicroLogix 1500/1769 System 1769-OA16 16PT.120/240 VAC OUTPUT

PLC-5/1771 System 1785-TBM THICK-WIRE TRANSCEIVER CABLE KIT, 49.2FT/15M, STD

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Communications D1770-6.5.18 DH-485 COMMUNICATION MODULE USER MANUAL

Support 9311-PLC2S SUPT RENEWAL CONTRACT FOR 9311PLC2

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Motion Control 8720SM-030S4JAS1 30 KW/63.1 AMP, 750 VDC, AC MOTOR WITH SRS60 ENC.

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IC200PBI001 REMOTE I/O Profibus-DP NETWORK INTERFACE UNIT

IC697VAL348 Analog Output, 8 channel, 16bit, Voltage bipolar 0 to +/-10VDC

MTR-1337-E-A-E-0RR Stepping Motor Nema34 Encoder

ZA06B-0063-B503 B4/4000is servo motor with 24 VDC brake and 128k serial encoder

20BD156A3AYNANC0 PowerFlex 700 AC Drive 20B

20G11NE032AA0NNNNN PowerFlex 755 AC Packaged Drive

23C-D060A10ENNBANN-LR Fan/Pump Packaged Drive 23C

140CFU08000 Quantum CABLEFAST 保險, 0.8 AMP

294E-FD2P5Z-G2-3-SB Variable Frequency Drive

HL-5200 觸點:1開/1閉,5A 250VAC機械壽命:1000萬次?撞壓式?頂部滾珠柱塞型

1492-SPM3C005 MCB Supplementary Protector 0.5 A

軟啟動器 3RW40371TB05

中央處理單元 6ES7 215-1BG40-0XB0 CPU 1215C AC/DC/ 繼電器

150-F970NBE SMC Flex Smart Motor Controller

1734-OA2 POINT I/O 2 Point Digital Output Module

1783-HMS4EG8CGR Stratix 5400 12 Port Managed Switch

193-ERR E1 Plus Remote Reset Module

20-750-ENC-1 PowerFlex 750 Encoder Option module

2090-CPWM7DF-14AA09 MP-Series 9m SpeedTec Standard Cable

2098-DSD-150-SE Ultra 3000 Servo Drive

GA646PCM010 GlobalCare Assist for Change Management 10 user pack

GFN-016 Series 90-30 Workshop Student Guide

IC220TBK204 TERMINAL STRIP SET, SPRING STYLE, AC POWER TERMINAL

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IC647SHR010 "Scheduler Prepay 10+ hours,per hour"

IC693MDL653RR 24 Vdc Input, Neg/Pos Logic, 2msec Filter (32 Points)

IC756HDV000E-97 DV Development - HP/UX Op Sys, English, Version 9.7

MSI-ROLL-43 Roll Map Base Application-43

PLC-5/1771 System 1771-IADK CONFORMALLY COATED, INPUT 120V AC 16 SLOT

Distributed I/O 1790D-T4R0 DNET LDX, 4 INPUT RTD BSE, TERM BLOCK

Communications 1771-KF DATA HWY RS-232C INTERFACE MODULE (STAND ALONE)

Operator Interface 2727-MRMB1 MOBILEVIEW MOUNTING BRACKET

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4161-3-24-.8-N12 BCD To 7 SEG Display . 3 Digit, (.8") 24VDC. NEMA 12

HMI-CAB-C107 CABLE PLC-5 CHANNEL 0

IC693CBL306 Cable, Extension, 1 Meter (Use with MDL652-653, MDL750-751)

QPM2D100L2P/B QUICKPANEL MINI MONO LCD BLANK

TGT-S000-1-1 Target series system module with 2 MB RAM

20BC8P7A0AYNACC1 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF030JN0NNNNN PowerFlex 753 AC Packaged Drive

22B-E012F104 PowerFlex 40 7.5 kW (10 Hp) AC Drive

140ATI03000C Quantum TC 輸入, 8通道, 類型 J,K,E,T,S,R,B, CC

284E-FVD6P0Z-25-RR-3-DB-SB-EMI EtherNet Variable Frequency Drive

E2E-X8MD1 8mm, 非屏蔽電感式,二線,常開100mA NPN 電源:10-30VDC圓M12

1492-SPM1C080 MCB Supplementary Protector 8 A

通用型變頻器 6SE6 420-2UD27-5CA1 "7.5 KW，185 x 245 x 195"

電機啟動器 3VU13401MJ00

150-C108NCD SMC-3 108A Smart Motor Controller

1608P-050A380V4E 50 A Pro DySC Sag Corrector

1769-RL1 CompactLogix Replacement Part

191E-AND3-CB16C-R 1.0-1.6 A Economy Rev Starter W/Ckt-Bkr

194R-R10 194R Extended Length Operating Shaft

2090-CPBM7DF-16AF50 MP-Series 50 m Length Cable

2090-XXTPMP-14S40 MP-Series 40 m Length Power Cable

CP2I-0WPB-0070-AZ Power cable with straight connector for A2HVis, A4HVis, B2HVis and B4HVis motors. 7 meters

GF-5750R Connecting FlashCable to Heidenhain Digital Readout.

IC200UEI008 VersaMax Micro Expansion 8 point (8) 24VDC In, 24VDC Power Supply (includes IC200CBL501).

IC647ABHM ABH:Allen Bradley Data Highway

IC647PATSZ00 Proficy PAT - Driver For Selected Carl Zeiss Spectrometers: Inquire With Proficy Rx Regarding Available Models

IC693CBK002 Cable Kit for High Density I/O Modules (includes CBL329 and CBL330)

IC754ACC0512MEM Compact Flash for QP-View & Ctrl - 512MB

IMC-313D-X-D 3 amp IMC servo motor controller with Devicenet

SLC/1746 System 1746-SIM SLC 500 16-POINT DC INPUT SIMULATOR

Industrial Computers 6189-KBPEPS1 PANELMOUNT KEYBOARD AND MOUSE STAINLESS STEEL

Application-specific products 1404-M605B-000 MASTER MODULE - PQ 24V POWER SUPPLY

Operator Interface 2711-K10C9L1 PV1000 COLOR KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE3200ZHS SUPT RENEWAL CONTRACT FOR 93012SE3200ZH

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RSI Software Products 9301-2SE3300DEE RSVIEW32 RUNTIME 1500 (GERMAN)

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Motion Control MPL-B4530K-RJ24AA MOTOR,SERVO,8.36 NM,4000RPM,RSLVR,460V,BRK,11KG

Motion Control 2090-SR040-18 40 OHM, 1800W

GQPH2D100S2P QUICKPANEL 6" STN HAND HELD GE LABEL

IC646MPSS99 Logic Developer - PLC Standard Unlimited Seat Site License

MTR-1350-N-D-E-0 Stepping Motor Nema34, Series Wdg

QPLCGAE0000 12.1 inch Color TFT/ GE Fanuc/ Ethernet CF CARD/ 110VAC

20BC043A0AYNAND0 PowerFlex 700 AC Drive 43 A at 22 kW 20B

20F11NC8P7JA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF018-BL PowerFlex EMC Filter

2711P-RL10C2 PanelView Plus Accessory

280S-PWRM35A-M4 ArmorStart Three-Phase Power Media

C200H-CN422 編程器連接電纜,4m

1492-PDL3194 335 A Power Distribution Block

模擬量輸入/輸出模塊 6ES7432-1HF00-0AB0 AO/8 13BIT，光隔離，U/I

變送器 3RS10101CK20

1497-B-BASX-0-N Control Circuit Transformer

1585J-M8UBJM-5 RJ45 Ethernet Media

1761-L32AWA MicroLogix 1000 32 Point Controller

188-K3C030-N Miniature Circuit Breaker 3 A

194L-E25-2503 25 A 194L Load Switch

2090-CPBM6DF-16AA25 TL-Series 25m Power and Brake Cable

2090-XXNFMP-S60 MP-Series 60 m Length Feedback Cable

BC647PPSOPC Proficy Process Systems EGD OPC Server

GC647PCM001 GlobalCare Complete for Proficy Change Management Server - 1 Concurrent User

IC200MDL240 Input 120VAC (2 group of 8) 16 point.

IC646NTS005 Terminal Services - 5 Pack License

IC647MGM005 Enterprise Adapter for Maximo 6.2.2

IC676CBLPBB010 IP67 Profibus Cordset - 1 Meter

IC697MEM731 Expansion RAM, 128K Bytes, CMOS, 32 Bit (Used w/78X CPUs)

IC800SSD420RS1RR 20A, 480V, S2K Servo Drive for MTR Series Motors

ControlLogix/1756 System 1756-STRT3DE CONTROLLOGIX STARTER KIT GERMAN

Industrial Computers 6182H-15TEH4B VVCE 1500, TOUCH, EXT MEM, ENET, AC

Process Control 1757-DNBUPG03 DEVICENET LIC UPG 3 DNB

Operator Interface 2711-B5A10 PV550 MONO KEY&TOUCH, RIO & RS-232 PRINT

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IC641CFG200 VersaPro Remote I/O Manager Branding Toolkit

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2711P-B10C22D9P-B PanelView Plus 7 Graphic Terminal

280-PWRM24G-M14 ArmorConnect 3-PH Power Media drop cable

NS8-TV00B-V1 彩色TFT LCD 分辨率：640×480點, 256色8英寸

1492-MCBA355 Miniature Circuit Breaker, 55 A

1494V-DR644 NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動器 3RW44582BC45

運行版軟件 6AV6612-0AA00-0AL0 SIMATIC WinCC Comfort

1585D-M8UGJM-2 Gigabit Ethernet Media

1756-L83E ControlLogix 10MB controller

1799-MP32 Distributed I/O Mounting Plate

194E-FA32E-P22-PE 194E Load switch

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2090-TCR47-M40 MP-Series Power Connector Crimping Tool

BC646MPT001 GE Compare Single License with Proficy GlobalCare Complete

GC647ARC001 GC PA Reporting Client

HMI-KPN-201/B Keypad: 5 inch & 6 inch/ Blank Label

IC641VUG701 Logicmaster 90-70 Subscription to VersaPro Professional Edition Upgrad e

IC647IFPLDV00900K iFIX Plus SCADA 900 I/O Development (M1 Kit Part)

IC660ELB922 Single-slot PCIM (XT/AT Interface Board) 2-channel

IC697ACC800 Fiber Optic Cable for Reflective Memory module (IC697VRM015). Five fe et long.

IC756XDV000E64-925 DataViews Development on Solarisx86 64 bit Op Sys, English v9.25

FlexLogix System 1794-TB32S TERMINAL BASE FOR 32 POINT MODULES - SPRING CLAMP

PLC-5/1771 System 1771-FD FUSE KIT FOR 1771-WHF, QTY. 8 FUSES (3A)

Process Control 1757-UPGS300 UPGRADE 300PT SERVER

Operator Interface 2711P-K12C15B2 PV PLUS 1250, KEYPAD, CNET, AC PS, EXT MEM

Support 6006-G1DBR SUPT REINSTATEMENT CONTRACT FOR 6006G1DB

Support 2711-ND3FRR SUPT REINSTATEMENT CONTRACT FOR 2711ND3FR

Support F1785-L80BSERC FIRMWARE UPGRADE FOR 1785-L80B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350DEE RSVIEW32 WORKS 5K (GERMAN)

RSI Software Products 9701-VWSS100JPU1 RSVIEW SE 25 TO 100 UPG JAPANESE

RSI Software Products 9399-SLXGR RSSIDEWINDERX GETTING RESULTS GUIDE

Motion Control 8720MC -B021-AN- 21 AMP B CHASSIS DRIVE, OPEN ENCL., LESS OPTIONS

BC646MPS005 Logic Developer - PLC Standard Bundled 1 Year SAFE - 5 Pack

IC300OCS100 OCS with 2x20 LCD Display, and 17-key tactile feel keypad. Supports up to 4 SmartStack I/O Boards, full ladder instruction set and CsCAN Networking.

IC752WTA050 Display Station 2000 Series - 10.4" active matrix VGA (640x480), resistive touchscreen, Pentium 233MHz, 128MB RAM, 6 GB HD, PCI/ISA expansion slots, Ethernet, 300 pt ct CIMPLICITY HMI, Win NT

MTR-3T42-H-R-B-M-0RR Servo Motor Metric 24V Brake

ZA66L-6001-0026#L5R003 A22/3000HVi & A12/4000HVis & A22/4000HVis, Fiber Optic Cable (Sheathed) 5M

20DB052A0EYNANANE PowerFlex 700S AC Drive 52 A 20 Hp 20D

20G1ALC567AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-B5P0N104 PowerFlex 525 0.75kW (1Hp) AC Drive