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NI 9246,

NI 9246

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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?，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)/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I(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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EtherNet/IP Products 2711-K10G20L1 PV1000 GRAYSCALE KEY, ENET & RS232 PRINT

RSI Software Products 9301-2SE340DEU2R RSVIEW32 RUNTIME 300-32K UPGRADE OUT-SUPT (DE)

RSI Software Products 9356-PRO2200U5 UPGRADE: IN-SUPT: RSSQL PROF.150 TO 300 TAG

Motion Control 1326AB-B720E-S2L MOTOR,SERVO,460V,30.9NM,3500RPM,SINGL,IP67

4161-6-5+/-N12 BCD TO 7 SEG DISPLAY. 5 NUMERIC DIGITS & 1 +/- DIGIT. 5 VDC. NEMA 12

HMI-CCT-402 Backlight for the 7.5" Color TFT (QPGCxDE0000)

IC693CPU323LT 10-Slot Base With Turbo CPU in base (.6 msec) 12K bytes User Program (LT)

SM1000ATC QUICKMARQUEE CABLE IBM AT PROGRAMMING

TRM-21006679 9 point screw terminal motor or ac power connector for IMC servo controller

20BD011A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1ANF263JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-E6P6N104 PowerFlex 40- 4 kW (5 HP) AC Drive

140HLI34000 Quantum 高速鎖存/計(jì)數(shù)模塊,24 VDC

284G-FVD2P3S-N-RG-CBG-DB1-EMI ArmorStart Spare Parts

E2Q-N15E3-51Q 15mm,電感式,一常開/閉 200mA NPN電源:12-24VDC方40×40

1492-SPM1C500 MCB Supplementary Protector 50 A

通用型變頻器 6SE6 440-2UC17-5AA1 0.75 KW,73 x 173 x 149

電機(jī)啟動器 3VU13402MM00

150-C25FBD Encl. SMC-3 25 A Smart Motor Controller

1609-B600E Uniterruptible Power Supply

1770-KFDG RS-232C to DeviceNet Interface Module

193-EC1CB E3 5-25 A Overload Relay

194R-TL4 Terminal Lugs, 600Mcm, Kit

2090-CPBM7E7-10AF09 MP-Series 9 m Length Pwr and Brake Cable

2093-AM02 Kinetix 2000 Axis Module

CP6B-0WPB-0140-AZ Power cable for B22/2000is motor. 14 meters

GF-AU2.5V Connecting FlashCable to Analog Unipolar +2.5 V (No connector).

IC200UEX015 14 point Exp (8) 12VDC In, (6)12VDC Out, 12VDC Power Supply (includes IC200CBL501)

IC647AEC005 PA Efficiency Client 5 Pak

IC647PCM100 Proficy Change Management Server - 100 Concurrent Users

IC693CBL331 Cable, Left Side, Two - 24 Pin 90 Degree Connectors, 2 Meter

IC754CBF12CTD Control 64MB/64MB 12in Color TFT Blank

IMC-31PP-2-DRR IMC-D Series Servo Motor Controller, Enhanced, DeviceNet 24 Amp

SLC/1746 System 9399-S5SR 9399-S5SR SLC-500 A.I. SERIES SOFTWARE REFERENCE

Distributed I/O 1732D-IB8M12 DEVICENET 24VDC 8 INPUT W/M12

Application-specific products 1404-M805B-232 MASTER MODULE-PQ 232 COM-24V P/S

Operator Interface 2711-T10C1 PV1000 COLOR TOUCH, RIO & RS232 PRINT

Support 9301-2SE3400ESR SUPT REINSTATEMENT CONTRACT FOR 93012SE3400ES

Support 9381-P500KENS SUPPORT RENEWAL CONTRACT FOR 9381P500KEN

DeviceNet Products 1790-T0A8X LDX I/O, 120V AC, 8 OUTPUT EXPANSION, TERM BLK

RSI Software Products 9301-2SE3300U1 RSVIEW RUNTIME 300 TO 1500 UPGRADE: IN-SUPPORT

RSI Software Products 9358-EPBKY30ENE RSBIZWARE EPROCEDURE BACKUP KEY 30 UNITS

Motion Control MPL-B520K-MK22AA MOTOR,SERVO,10.7 NM,4000RPM,MULTI,460V,11.3KG

Motion Control 9101-1392 KIT, TERMINAL BLOCK, J2 TO 25 PIN TB, 1M

GQPJ2D101S2P 5" STN COLOR 24VDC WITH CE MARK GE LABEL

IC646MRD075 Logic PC (HRT) 75 Tag Runtime System

MTR-3T22-G-R-B-M-S MTR-Series Servo Motor, Resolver, Metric, 24V Brake, Seal

SNAP 2C5 PC Port is 25-pin male and CNC port is 25-pin female. This is for Xon/ Xoff communications.

20BC056A3AYNANA0 PowerFlex 700 AC Drive 56 A 30 kW 20B

20F11NE041AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RJ45CBL-C20 PowerFlex RJ45 DSI Cable

281D-F12Z-10C-CR-3FR ArmorStart Direct Online RVSG Starter

C200H-OA222 輸出單元,12點(diǎn), 可控硅 0.3A 200VAC

1492-QP5-10 IEC 10 pole Plug-in Connection Block

連接電纜 6ES7468-1BB50-0AA0 IM 電纜，1.5m

變送器 3RS11011CD20

1497-E-BASX-1-N Control Circuit Transber

1606-XL480E-3W Power Supply XL 480 W Power Supply

1762-L24BWAR MicroLogix 1200 24 Point Controller

188-K3C400-N Miniature Circuit Breaker 40 A

194L-G3573 194L IP66 ABS Thermoplastic Enclosure

2090-CPBM7DF-04AA50 MP-Series 50 m Length Cable

2090-XXNFY-S20 Y-Series 20 m Length Feedback Cable

BC647SPPSK01 Solution Provider Process M4 Key includes 1 physcial M4 key that authorizes Proficy Process System as well as all core products

GC647PRTADO GlobalCare Complete - Proficy Portal ADO Connector Ver 3.0

IC200MDL643 Input 5/12VDC POS/NEG logic (2 groups of 8) 16 points

IC646PCMKIT Proficy Change Management Starter Kit (1 user, Scheduler)

IC647MPP101 Logic Developer PLC Professional with Programming Cable with USB Hardware key

IC676CBLPWM050 IP67 Power Cordset - 5 Meters - Male Connector w/Leads

IC697PWR711 Power Supply, 120/240 Vac,125VDC, 100 Watts

IC800SSI107RP2 7.2 amp 115/230 VAC Profibus S2K servo controller for MTR series motors

SLC/1746 System 1747-L20C 20 I/O FIXED HARDWARE STYLE

Industrial Computers 6189-RDT15C VVCE 1500, TOUCH SCREEN DISPLAY MODULE

Process Control 9399-RSBVWUG RSBATCH VIEW USER'S GUIDE

Operator Interface 2711-B5A2L3 PV550 MONO KEY&TOUCH, DH485

Support 9303-3CS0E10UR UPGRADE: OUT-SUPT: DRIVEMANAGER TO DRIVEMANAGER32

Support 9371-RSWD2R SUPT REINSTATEMENT CONTRACT FOR 9371RSWD2

ControlNet Products 2706-P72CN2 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

RSI Software Products 9301-2SE2500ITU2 RSVIEW32 WORKS 1500-100K UPGRADE IN-SUPT (IT)

RSI Software Products 9358-BBKEY03ENE RSBIZWARE BATCH BACK-UP KEY 03 UNITS

Motion Control MPL-A4530K-HJ24AA MOTOR,SERVO,8.36NM,4000RPM,ENCDR,230V,BRK,11KG

Motion Control 2090-UXPC-D0901 CABLE,9/9 POS,45 DEG D/STRAIGHT D,1M

CBL-3T-RD-10 Resolver Cable for MTR-3T Series Servo Motors, 10 Ft.

IC641HBR300 Max-ON "Lite" Software for 90-30 Hot Stand By Redundancy