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BLVM640N,

BLVM640N

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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(shí)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(zhǎng)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(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(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(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、自動(dòng)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(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(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(dòng)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(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(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，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)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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ControlLogix/1756 System D1775-6.5.5 I/O SCANNER-COMMUNICATION ADPT.MOD.(1775S5,SR5)MNL

Industrial Computers 6182H-15TEH15B VVCE 1500, TOUCH, EXT MEM, CNET, AC

Process Control 1757-DNBUPG01 DEVICENET LIC UPG 1 DNB

Operator Interface 2711-START300U START KIT PV300U PV300, PB32,CABLES

Support 9326-AD5US SUPT RENEWAL CONTRACT FOR 9326AD5UENE

Support 9371-EDETJSAR SUPT REINSTATEMENT CONTRACT FOR 9371EDETJSA

ControlNet Products 1797-TPYS CONTROLNET EX Y-TAP STRAIGHT

RSI Software Products 9301-2SE240ZHU5R RSVIEW32 WORKS 5K-32K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BA60U3 UPGRADE: IN-SUPT: RSBIZWARE ARCHIVER 30 TO 60

Motion Control MPL-A4520P-HK24AA MOTOR,SERVO,6.10NM,5000RPM,ENCRD,230V,BRK,9.5KG

Motion Control 2090-UXNPAN-16R15 CABLE,NON-FLEX, MOTOR POWER, N,R/A,16AWG,15M

CBL-34-MP-30 Power Cable, MTR-3N(All), MTR-3S3x & MTR-3S43H Series Servo Motors, 30 Ft.

IC640VPS002 VersaPro programming software and documentation for VersaMax Micro and Nano Only. Programming cable (IC200CBL500) included. CD bat

IC800SLM005N3BE25 50W, 115/230 VAC SL Servo Motor, Holding Brake, 2.5K Quad Encoder

OC647IPWRPLDVUNLMTM iPower Option - Nwk Unlmt I/O Dev

20AD8P0A3AYNANC0 PowerFlex 70 AC Drive 8 A at 5 Hp 20A

20DD052A3EYNACCNK PowerFlex 700S AC Drive 52 A 40 Hp 20D

20P41AD100RA0NNN PowerFlex 460V AC 60 HP DC Drive

2711P-B10C22A9P-B PanelView Plus 7 Graphic Terminal

280-PWRM24F-M6 ArmorConnect 3-PH Power Media drop cable

MPT5-MG00(B) 單色STN LCD 分辨率: 320×240點(diǎn),4.7英寸

1492-MCBA345 45 A UL489 Miniature Circuit Breaker

1494V-DR622 NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動(dòng)器 3RW44582BC44

運(yùn)行版軟件 6AV2103-4RX04-0AE5 SIMATIC WinCC V7.0..V7.3 RC 153600 ->WinCC 專業(yè)版 max. PowerTags V14 Combo 和 WinCC RT 專業(yè)版 153600 PowerTags

1585D-M8UGJM-10 Gigabit Ethernet Media

1756-L7SPK Logix L7SP SIL 3 PLe Safety Partner

1799-MP20 Distributed I/O Mounting Plate

194E-FA32E-P22 194E Load switch

2090-CFBM7DD-CEAA60 MP-Series 60m Servo Feedback Cable

2090-SR120-09 Kinetix 120 Ohm Shunt Resistor

BC646MPSS99 Logic Developer PLC Standard Unlimited Seat Site License with Proficy GlobalCare Complete

GC647AQC999 GC Quality Client - UNL

HMI-JBX-201 JUNCTION BOX HAND HELD

IC641VPSCAM VersaPro Cam Editor

IC647IFPLDV00300M iFIX Plus SCADA 300 I/O Development (M4 Part)

IC660ELB921 Single-slot PCIM (XT/AT Interface Board) 1-channel

IC697ACC744 Rack Cooling Fan, 24 VDC

IC756XDV000CS-925 DataViews Development on Solarisx86 Op Sys, Simplified Chinese v9.25

FlexLogix System 1794-TB3 TERMINAL BASE, 3-WIRE

PLC-5/1771 System D6300-6.5.1 PLC2 TP PLC5 CONVERSION SW(62002CV5)USER'S MANUAL

Process Control 1757-UPGRT10 UPGRADE 10 USER OI EXTENSION

Operator Interface 2711P-B12C6D2 PV PLUS 1250, KEY/TOUCH, RIO/DH, DC PS, EXT MEM

Support 6006-A1DBR SUPT REINSTATEMENT CONTRACT FOR 6006A1DB

Support 2711-ND3ESR SUPT REINSTATEMENT CONTRACT FOR 2711ND3ES

Support F1785-L66LSERB FIRMWARE UPGRADE FOR 1785-L66L PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230ZHU2R RSVIEW32 WORKS 150-1500 UPGRADE OUT-SUPT (ZH)

RSI Software Products 9701-VWSS100FRU1 RSVIEW SE 25 TO 100 DISPLAY UPGRADE (FRENCH)

RSI Software Products 9399-SLIDERUG RSSLIDER USERS GUIDE

Motion Control 8720MC -B021-AA- 21 AMP B CHASSIS DRIVE, ENCLOSURE, LESS OPTIONS

BC646MPS001 Logic Developer - PLC Standard

IC300OCS087 MiniOCS with 2x20 LCD & 16 keypad & onboard IO (no expansion) 8 DC Inputs (pos/neg) with CsCAN, 8 DC Outputs (pos), 4 ISO analog in (20mA), 2 ISO analog out (20mA)

IC752WPB204 Same as IC752WFB204 without touch

MTR-3T42-H-R-B-M-0 MTR series metric servo motor with resolver and brake

ZA66L-6001-0026#L50R03 A22/3000HVi & A12/4000HVis & A22/4000HVis, Fiber Optic Cable (Sheathed) 50M

20DB042A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ALC540JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-B2P5N104 PowerFlex 525 0.4kW (0.5Hp) AC Drive

2711R-APK7 PanelView 800 Adapter Plate Kit for 7-In

6SE6420-2UD21-1AA1 1.1KW

1492-L3T-Y IEC Term Blck 5.1x64.5x31.3mm Spr Clp

1494C-DJ622-A4-B2-D-E-F 200 A Flange Mtd Cable Switch

軟啟動(dòng)器 3RW44271BC46

備品備件 6ES7 592-3AA00-0AA0 跳線，20 片 / 包

1585BX-M8UB-5 Variant 1 Ethernet Media

1747-L511 SLC 5/01 1K Controller

1790D-TN4C0 CompactBlock LDX Analog Input Base Block

194E-A63-3753 63 A 194E Load switch

20-VB00601 PowerFlex DPI Interface Board

2090-CSWM1DE-18AA01 Kinetix Cable Single DSL 2090-Series

20AC072C3AYNANC0 PowerFlex 70 AC Drive 72 A at 37 kW 20A

GC646MDB300 Proficy GlobalCare Complete for Logic Developer PC w/Runtime 300 I/O

HE693CBL222 RS-232 cable for 9-pin personal computer serial port

IC600RB752RR RPU Device Switch Module

IC647HSTESEO5000KM eSignature Option for Historian - Enterprise Server 5,000,000 Points (M4 Key)

IC655MDL576RR 115/230Vac Isolated Output (16 points)

IC694MDL632CA Conbal Coated Input module 125 VDC 8 point NEG/POS logic.

IC756URT099 Unix DV Tools Runtime 50-99, Per User

MicroLogix 1500/1769 System 1769-IF8 8 CHANNEL ANALOG VOLTAGE/CURRENT INPUT MODULE

PLC-5/1771 System 1771-CX20 PLC-5 LOCAL CABLE

Distributed I/O 1797-CE1S BUS EXTENDER CABLE FOR BUS ISOLATOR - 1 FOOT

Communications D5000-6.2.10 PI INSTALLATION MANUAL

Support 9313-ST5S SUPT RENEWAL CONTRACT FOR 9313ST5

Support 9358-EP03R SUPT REINSTATEMENT CONTRACT FOR 9358EP03ENE

Support F1771-SDNSERB FIRMWARE UPGRADE FOR 1771-SDN MODULE

RSI Software Products 9324-RLD2U3ITE RSLOGIX 5000 MINI TO STD UP, ITA

RSI Software Products 9304-WVD128D WINTELLIGENT VIEW 128 DEVELOPMENT

RSI Software Products 9358-PLTM2500U1 UPGRADE: IN-SUPT: PLANTMETRICS 5 TO 100 WORKCELL