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PX243-01AA-C3,

PX243-01AA-C3

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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。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)可以使得設備驅動程序不再依賴于具體硬件，所以，通過調用控制函數(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(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(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運動控制器能夠實現(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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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 Inbligent 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 開關量輸入, 8點, 本安型,CC

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

E3S-VS1E4 色標檢測型 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 Transber

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