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TEXAS INSTRUMENTS 575-4532現(xiàn)貨 in stock! 歡迎來電咨詢~??！

TEXAS INSTRUMENTS 575-4532,

TEXAS INSTRUMENTS 575-4532

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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。現(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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198E-DF1286 TYPE 3, 3R, 4, 12 Metal Hinged Enclosure

2090-CPWM6DF-16AA02 TL-Series 2m Standard Power Cable

2094-EN02D-M01-S0 Kinetix 6200/6500 Control Module

DNR120AS12-I 12V, 10A POWER SUPPLY

GFK-0868 MMS-Ethernet Communications for the Series 90-70 PLC User's Manual

IC210EDS001 DeviceNet slave communications expansion module, 24V DC power source

IC647AUR010 PA Universal Reporting Client 10 Pak

IC647PRTEE010M Proficy Portal Enterprise Edition Client Pack 10 Users (M4 Key)

IC693CPU341RR CPU 341 Module, (80K Bytes user memory), 10K Reg., 3 msec/K

IC754VSB06CTD VIEW BASIC 6IN TFT TOUCH DC

MSI-DEMO Proficy Plant Apps Demo Software

SLC/1746 System 1746-RL51 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OB16

Distributed I/O 1734-VHSC5 5 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS

Application-specific products 9307-8MGDBPENE RSEMETRIX MGR(0-8 METERS),W/1MSSQL PROCESSOR LIC

Operator Interface 2711-NC13 5METER RS232 OPERATING/PROGRAMMING CABLE

Support 9302-H1S SUPT RENEWAL CONTRACT FOR 9302H1

Support 9510-PB1000ENS SUPT RENEWAL CONTRACT FOR 9510PB1000EN

DeviceNet Products 1799-DNETSCON 5-POSITION OPEN STYLE PLUG/LOCKING SCREWS FOR DN

RSI Software Products 9301-2SE3350KOU3 RSVIEW32 RUNTIME 1500-5K UPGRADE IN-SUPT (KO)

RSI Software Products 9307-EMDB1C RSEMETRIX ONE CLIENT LICENSE

Motion Control MPL-B980C-MJ24AA MOTOR,SERVO,122.0NM,1500RPM,MULTI,460V,BRK

Silver Series 1398-DDM-150X DRIVE,150A,PEAK,ULTRA 200 W/INDEXING

HE693ADC415 4ch., 4-20mA/0-20mA Analog Input, 700Vac Isolation, 14-bit resolution

IC647CBL703 Cable, Workstation Intf. to Series 90-70 CPU, Parallel, 10 feet

QPH2D100L2P QUICKPANEL 6" MONO LCD HAND HELD

ST-3708 STXi analog b module 8 Channels, RTD Connector Type

20BC140A3ANNACC0 PowerFlex 700 AC Drive 20B

20F1AGC104JA0NNNNN PowerFlex 753 AC Packaged Drive

22A-D4P0H204 PowerFlex 4- 1.5 kW (2 HP) AC Drive

140DAI34000 Quantum 開關量 AC 輸入, 16點, 24 VAC, 隔離

284D-FVD1P4B-10-CR-SB DeviceNet Variable Frequency Drive

CJ1W-AD041-V1 4點模擬量輸入單元（1-5V,0-5V,0-10V,-10-10V,4-20MA）分辨率：1/4000

1492-RTB16N 16 Pole RTB Plug Assembly

WinCC 上位監(jiān)控軟件 6XV1850-0AH10 ITP 電纜/每米

變送器 3RS17032CD00

1497A-A4-M6-0-N 150VA 240x480-120 60Hz CPT

1606-XLP60EQT AC DC In 24 to 48VDC Out 60W Low Temp PS

1768-KY1 CompactLogix L43/L45 Replacement Key

188-K4C200 Miniature Circuit Breaker 20 A

194R-30-NN 194R30A UL 40A IEC 4th Power Pole Module

2090-CPBM7DF-10AA60 MP-Series 60m Standard Cable

2090-XXNPMP-10S90 MP-Series 90 m Length Power Cable

CBL-13-ED-20 Encoder cable for MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series stepping motors connected to IMC or S2K. 20 feet

GC647SVW001 Scheduler Desktop View Client

IC200PWR102 POWER SUPPLY WITH EXPANDED 3.3VDC 120/240VAC INPUT

IC646TBLSS150K Proficy Troubleshooter for Inbligent Historian for Hist 150000 Points

IC647NGS000 CIMPLICITY HMI SHARP TCP/IP Communications Driver

IC693ACC300 Input Simulator Module

IC698CRE040 1.8GHz CPU, Ethernet, Redundancy

IC800VMCB1030 Motor power and brake power cable for 1 kW VersaMotion servo motor- 3 meter

SLC/1746 System 1746-IO4 COMBINATION MODULE FOR PROGRAMMABLE CONTROLLER