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TEXAS INSTRUMENTS 5056660現(xiàn)貨 in stock! 歡迎來電咨詢~??！

TEXAS INSTRUMENTS 5056660,

TEXAS INSTRUMENTS 5056660

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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)采集的實時性等。移動機(jī)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(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。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和繼電器實現(xiàn)控制。即由繼電器由線圈和輔助觸點兩部分組成。當(dāng)線圈通電的時候，其對應(yīng)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(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(shè)計中最為重要的環(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?qū)崿F(xiàn)機(jī)器人的運動控制，但是卻無法滿足高性能工業(yè)機(jī)器人的各項要求指標(biāo)，而電路設(shè)計以及編程相當(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，只要通過運動控制指令就能實現(xiàn)對機(jī)器人的運動控制，因此，PLC想要在機(jī)器人多軸運動協(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。因為高性能工業(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動運動，不單單是實現(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雖然具備運動控制的功能，但遠(yuǎn)遠(yuǎn)不及MITSUBISHI PLC，因為MITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，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(jìn)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(dá)到從簡單的點到點的運動到復(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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20F1ANF034AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-E012H204 PowerFlex 40 7.5 kW (10 Hp) AC Drive

140AVI03000 Quantum 模擬量輸入, 8通道, 雙極性, 多量程

284E-FVD6P0Z-25-RR-3-DB1-EMI EtherNet Variable Frequency Drive

E2E-X14MD1 14mm,電感式，兩線，常開 100 mA 電源：12-24VDC圓M18

1492-SPM1C080-N MCB Supplementary Protector 8 A

通用型變頻器 6SE6 420-2UD31-1CA1 "11 KW，185 x 245 x 195"

電機(jī)啟動器 3VU13401MK00

150-C135NBD SMC-3 135A.. Smart Motor Controller

1608P-050A380V4S 50 A Pro DySC Sag Corrector

1769-RL2 CompactLogix Replacement Part

191E-AND3-CB25C-R 1.6-2.5 A Economy Rev Starter W/Ckt-Bkr

194R-R11 194R Standard Operating Shaft

2090-CPBM7DF-16AF60 MP-Series 60 m Length Cable

2090-XXTPMP-16S03 MP-Series 3 m Length Power Cable

CP2I-0WPB-0140-AZ Power cable with straight connector for A2HVis, A4HVis, B2HVis and B4HVis motors. 14 meters

GF-6012R Connecting FlashCable to Surtronic 3+.

IC200UEI016 VersaMax Micro Expansion 16 point Input (16) 24VDC In, 24VDC Power Supply (includes IC200CBL501).

IC647ABK001 PA Spare Key

IC647PATYOKG Proficy PAT - Driver For Yokogawa

IC693CBK003 Cable Kit for High Density I/O Modules (includes CBL331 and CBL332)

IC754ACC06BEZ01 SS-Bezel for 6 Inch Mono & TFT QP-V & C

IMC-313D-X-DRR IMC-D Series Servo Motor Controller, DeviceNet, 3 Amp

SLC/1746 System 1747-PSD PROGRAM STORAGE DEVICE-SLC 5/03 THRU 5/05

Open Automation Systems 1784-PM02AETP01 1784PM02AE TERMPANEL WITH 1 METER CABLE

Application-specific products 1404-M605B-CNT 1404-M6 CONTROLNET PM3000 24V P.S.

Operator Interface 2711-K10G10 PV1000 GRAYSCALE KEY, DNET & RS232 PRINT

Support 9301-2SE3300DES SUPT RENEWAL CONTRACT FOR 93012SE3300DE

Support 9380-RSBVBR SUPT REINSTATEMENT CONTRACT FOR 9380RSBVB

DeviceNet Products 1792D-CB12 MAXUM MEDIA BASE W/12MM CONNECTORS

RSI Software Products 9301-2SE3300DEU2 RSVIEW32 RUNTIME 150-1500 UPGRADE IN-SUPT (DE)

RSI Software Products 9358-EP03ENE RSBIZWARE EPROCEDURE 03 UNITS

Motion Control MPL-B4530K-RK24AA MOTOR,SERVO,8.36 NM,4000RPM,RSLVR,460V,BRK

Motion Control 2090-XB33-16 RESISTIVE BRAKE MODULE, 33A, 16 OHM

GQPH-DEM-S02 QUICKPANEL 6" HAND HELD STN GE LABEL

IC646MRA000 View Runtime 8,000 I/O

MTR-1N31-I-E-A-S-0 Stepping Motor Nema34, Parallel Wdg, Encoder, Parallel Wdg

QPLCTAE0000 12.1 inch Color TFT/ TCP/ Ethernet/ CF Card/ 110VAC

20BC043A3AYNACC1 PowerFlex 700 AC Drive 43 A at 22 kW 20B

20F11ND014AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF018-CS PowerFlex EMC Filter

2711P-RL7C2 PanelView Plus Accessory

280S-PWRM35E-M1 ArmorStart Three-Phase Power Media

C200H-ID002 輸入單元, 8點, 無電壓接點NPN

1492-PDLC1 Power Distribution Block Accessory

通訊處理器 6ES7441-1AA04-0AE0 CP441-1，PtP-串行通訊，1 個通道，支持 3964RASCII 協(xié)議及打印機(jī)

變送器 3RS10201DD10

1497-B-BASX-3-N Control Circuit Transber

1585J-M8UBJM-6 RJ45 Ethernet Media

1761-L32BWA MicroLogix 1000 32 Point Controller

188-K3C040-N Miniature Circuit Breaker 4 A

194L-E32-1753 32 A 194L Load Switch

2090-CPBM7DF-02AA05 5 m Length DIN Power and Brake Cable

2090-XXNFN-S03 N-Series Universal Flying Lead Cable

BC647PSC025 Proficy Process Systems 250 I/O with Cimplicity

GC647PCM005 GlobalCare Complete for Proficy Change Management Server - 5 Concurrent Users

IC200MDL241 Input 240VAC (2 group of 8) 16 point.

IC646NTS025 Terminal Services - 25 Pack License

IC647MGS001 Proficy Maintenance Gateway Server

IC676CBLPBB050 IP67 Profibus Cordset - 5 Meters

IC697MEM732 Exp. RAM, 256K Bytes, Non-volatile Flash, 32 Bit (Used w/78X CPUs)

IC800SSI104D2RR 4.3A, 115/230V, DeviceNet S2K Servo Controller for S-Series Motors

ControlLogix/1756 System 1756-STRT3ES CONTROLLOGIX STARTER KIT SPANISH

Industrial Computers 6182H-15TEH4D VVCE 1500, TOUCH, EXT MEM, ENET, DC

Process Control 1757-DNBUPG05 DEVICENET LIC UPG 5 DNB

Operator Interface 2711-B5A10L1 PV550 MONO KEY&TOUCH, DNET & RS232 PRINT

Support 9326-AD5WDR SUPT REINSTATEMENT CONTRACT FOR 9326AD5WDENE

Support 9371-EHYD3S SUPT RENEWAL CONTRACT FOR 9371EHYD3

ControlNet Products 1788-CN2DN CONTROLNET TO DEVICENET LINKING DEVICE

RSI Software Products 9301-2SE2500DEU1 RSVIEW32 WORKS 32K-100K UPGRADE IN-SUPT (DE)

RSI Software Products 9358-BANT10ENE RSBATCH ARCHIVER 10 UNITS

Motion Control MPL-A4520P-MK22AA MOTOR,SERVO,6.10 NM,5000RPM,MULTI,230V,6.8KG

Motion Control 2090-UXNPBMP-10S03 CABLE,460V,NON-FLEX,MOTOR POWER,MP,10 GAUGE,3M

CBL-38-MP-30 Power Cable, MTR-3S8x Series Servo Motors, 30 Ft.

IC641CTL130 Logicmaster 90-30 to Control 90-30 Upgrade

IC800SLM010N1NE25 100W, 115 VAC SL Servo Motor, 2.5K Quad Encoder

OC647IPWRPLRNUNLMTM iPower Option - Nwk Unlmt I/O Run

20AD8P0A3AYNNNG0 PowerFlex 70 AC Drive 8 A at 5 Hp 20A