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PH266-E1現(xiàn)貨 in stock! 歡迎來(lái)電咨詢~??！

PH266-E1,

PH266-E1

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　機(jī)器人誕生之日起人們就不斷地嘗試著說(shuō)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(shí)代的到來(lái)，機(jī)器人所涵蓋的內(nèi)容越來(lái)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(wèn)世以來(lái)，經(jīng)歷40多年的發(fā)展已取得長(zhǎng)足的進(jìn)步。隨著近年來(lái)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(dòng)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(dòng)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(guò)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(lái)構(gòu)造出一種多級(jí)式分布系統(tǒng)。

　　1

　　舉個(gè)例子

　　三菱工業(yè)電機(jī)中的CC-Link構(gòu)建的一種開(kāi)放性面向現(xiàn)場(chǎng)控制的總線網(wǎng)路系統(tǒng)，DIN是德國(guó)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(wú)需用螺絲固定，維護(hù)也很方便，一般來(lái)說(shuō)，常用的導(dǎo)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(biāo)準(zhǔn)，比如有PLC、斷路器、開(kāi)關(guān)、接觸器等。

　　工業(yè)機(jī)器人不是孤立工作的，一個(gè)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(dòng)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(chē)、自動(dòng)化立體倉(cāng)庫(kù)、噴涂設(shè)備、裝配設(shè)備等等。

　　2

　　工業(yè)機(jī)器人的自動(dòng)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(duì)整個(gè)系統(tǒng)來(lái)說(shuō)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(shí)性等。移動(dòng)機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對(duì)運(yùn)動(dòng)控制器的實(shí)時(shí)性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)動(dòng)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(duì)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(wèn)機(jī)器人的硬件寄存器來(lái)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(dòng)程序不再依賴于具體硬件，所以，通過(guò)調(diào)用控制函數(shù)接口就可以實(shí)現(xiàn)對(duì)機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對(duì)輪式全向移動(dòng)機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動(dòng)機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動(dòng)機(jī)器人的電氣系統(tǒng)主要包括三個(gè)部分：主電路、伺服驅(qū)動(dòng)系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動(dòng)機(jī)器人控制系統(tǒng)主電路通過(guò)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(shí)候，其對(duì)應(yīng)的常開(kāi)觸點(diǎn)閉合，常閉觸點(diǎn)斷開(kāi)。

　　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(guò)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)/O設(shè)備的不同需求。其主要是機(jī)器人將其他信號(hào)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(dòng)控制指令，使用位置控制方式，控制4個(gè)轉(zhuǎn)向伺服電機(jī)，從而控制4個(gè)車(chē)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(gè)輪毅電機(jī)，驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。排除硬件的因素外，程序的好壞直接決定著運(yùn)動(dòng)性能的高。因此程序的編寫(xiě)是整個(gè)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(shuō)，采用基于PC的運(yùn)動(dòng)控制器和基于DSP運(yùn)動(dòng)控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動(dòng)控制，但是卻無(wú)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(jiǎn)單，只要通過(guò)運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對(duì)機(jī)器人的運(yùn)動(dòng)控制，因此，PLC想要在機(jī)器人多軸運(yùn)動(dòng)協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢(shì)，還是需要一定的時(shí)間。因?yàn)楦咝阅芄I(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動(dòng)運(yùn)動(dòng)，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(dòng)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(mén)子公司的PLC雖然具備運(yùn)動(dòng)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(dòng)控制功能，通過(guò)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(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來(lái)滿足高性能工業(yè)機(jī)器人的要求。
 

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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

Support 9380-RSBVB500R SUPT REINSTATEMENT CONTRACT FOR 9380RSBVB500

DeviceNet Products 1792D-8BVT8CD MAXUM 8IN/8OUT WITH POINT LEVEL DIAGNOSTICS

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

RSI Software Products 9358-BV01ENE RSBIZWARE BATCH VIEW ADDITIONAL CLIENTS

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 Transber

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

Support 9326-AD5USS SUPT RENEWAL CONTRACT FOR 9326AD5USENE

Support 9371-EHYD3R SUPT REINSTATEMENT CONTRACT FOR 9371EHYD3

ControlNet Products 1797-ACNR15 REDUNDANT MEDIA CONTROLNET EX ADAPTER

RSI Software Products 9301-2SE2500DEE RSVIEW32 WORKS 100K (GERMAN)

RSI Software Products 9358-BANT03ENE RSBATCH ARCHIVER 03 UNITS

Motion Control MPL-A4520P-MJ24AA MOTOR,SERVO,6.10 NM,5000RPM,MULTI,230V,BRK,9.5KG

Motion Control 2090-UXNPBMP-10S01 CABLE,460V,NON-FLEX,MOTOR POWER,MP,10 GAUGE,1M

CBL-38-MP-20 Power Cable, MTR-3S8x Series Servo Motors, 20 Ft.

IC641CFG200 VersaPro Remote I/O Manager Branding Toolkit

IC800SLM010N1BE25 100W, 115 VAC SL Servo Motor, Holding Brake, 2.5K Quad Encoder

OC647IPWRPLRN00900M iPower Option - Nwk 900 I/O Run

20AD8P0A3AYNNNC0 PowerFlex 70 AC Drive 8 A at 5 Hp 20A

20DD052A3NYNACGNE PowerFlex 700S AC Drive 52 A 40 Hp 20D

20P41AD167RA0NNN PowerFlex 460V AC 100 HP DC Drive

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(diǎn), 256色8英寸

1492-MCBA355 Miniature Circuit Breaker, 55 A

1494V-DR644 NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動(dòng)器 3RW44582BC45

運(yùn)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

2090-CFBM7DD-CEAF01 1 m Length SpeedTec Flexible Cable

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 Subbion 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