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TEXAS INSTRUMENTS 305-LIC現(xiàn)貨 in stock! 歡迎來電咨詢~??！

TEXAS INSTRUMENTS 305-LIC,

TEXAS INSTRUMENTS 305-LIC

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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(shù)的飛速發(fā)展和信息時代的到來，機器人所涵蓋的內(nèi)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(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等與上位機算機進(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)機器人不是孤立工作的，一個機器人工作站，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、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(guān)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(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(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(jìn)行選型以后，根據(jù)移動機器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)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(qū)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(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)不同機器人應(yīng)用程序?qū)/O設(shè)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(zhuǎn)向伺服電機，從而控制4個車輪的轉(zhuǎn)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(qū)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(shè)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(jié)構(gòu)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?qū)崿F(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(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)對機器人的運動控制，因此，PLC想要在機器人多軸運動協(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)機器人的要求。
 

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C200HW-COM02-V1 通信板RS232端口一個

1492-PDE1C112 200 A Enclosed Power Distribution Block

數(shù)字量輸入/輸出模塊 6ES7421-1EL00-0AA0 DI/32 120V AC,浮點式

變送器 3RS10001CD20

1495-N85 Variable Depth Circuit Breaker Accessory

1585J-M8TBJM-6 RJ45 Ethernet Media

1761-CBL-PM02 MicroLogix Cable

188-K3B320 Miniature Circuit Breaker 32 A

194L-E20-1752 20A 194L Load Switch

2090-CPBM4DF-16AF60 MP-Series 60 m Length Cable

2090-XXNFMF-S60 Kinetix Drives 60m Standard Cable

BC647OEM0510 OEM Edge Program Additional Key - Complete (Approval Required)

GC647PATFS00 Proficy PAT - Driver For Foss Near Infrared Systems Near-Ir Spectrometers - Assist Support

IC200MDD846LT MIXED OUTPUT RELAY 2.0A PER PT ISOLATED 8PT / INPUT 120VAC GRP 8PT (LT )

IC646NSF000 Siemens TCP/IP OPC Server. Supports S7 & S5 controllers

IC647MBS001 Machine Edition Standard Development Suite with USB Hardware key

IC675PDI081 Profibus Station IP67 24VDC Positive Logic 8 Inputs

IC697MDL752 12 Vdc Output, 0.5 Amp, Positive Logic (32 Points)

IC800SSD104RS1RR 4.3A, 115/230V, S2K Servo Drive for MTR Series Motors

ControlLogix/1756 System 1756-DPALEN CONTROLLOGIX SYSTEM DOCUMENTATION SET PRINTED

Industrial Computers 6182H-15BRH6D VVCE 1500, KEY/TOUCH, STD MEM, RIO/DH, DC

Process Control 1757-DNBEXP65 DEVICENET MODULE EXPANSION, 50-65 MAX

Operator Interface 2711P-ST7B PANELVIEW PLUS 700 KEY/TOUCH COMBO STARTER KIT

Support 9326-AD1USR SUPT REINSTATEMENT CONTRACT FOR 9326AD1USENE

Support 9371-EDES3S SUPT RENEWAL CONTRACT FOR 9371EDES3

ControlNet Products 1794-ACN15 SINGLE MEDIA ADAPTER FOR CONTROLNET

RSI Software Products 9301-2SE240JPU3R RSVIEW32 WORKS 150-32K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BA10ENE RSBIZWARE BATCH ARCHIVER 10 UNITS

Motion Control MPL-A4520K-HK22AA MOTOR,SERVO,6.10NM,4000RPM,ENCDR,230V,6.8KG

Motion Control 2090-UXNPAMP-10S01 CABLE,NOGRF50X,MOTOR POWER,MP,10 GAUGE,1M

CBL-203 Modicon 984 Cable

IC630MDL354RR 5-12Vdc (TTL) Sink/Source Output Module (32 points)

IC800SLCIV010 Interface Cable, 1000W SL Amplifier to Terminal Block, 1 Meter

OC647IFWOPCC iFIX Optn: WorkSpace OPC Client (M1Component Part)

20AD5P0A3AYNNNC0 PowerFlex 70 AC Drive 5 A at 3 Hp 20A

20DD022A3NYNACGNE PowerFlex 700S AC Drive 20D

20P41AB700RA0NNN PowerFlex 230V AC 200 HP DC Drive

2711C-K2M PanelView Comp C200 Graphic Terminal

280-PWRM24D-M2 ArmorConnect 3-PH Power Media drop cable

SRT2-ROC16 遠(yuǎn)程I/O端子（繼電器輸出）16點

1492-MCBA280 80A Miniature Circuit Breaker

1494V-DJ622-A-E NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動器 3RW44572BC34

工程組態(tài)編程軟件 6AV2102-3AA04-0AE5 SIMATIC WinCC Advanced V14 Upgrade ：?V11..V13 -> V14

1585D-M4UBJM-70 1585D Ethernet Media Patchcord

1756-L72S Logix 5572S Automation Controller 4M/2M

1799-D10U10B 20 Point Embedded I/P/Output Comb Module

194E-FA16E-PD10 194E Load switch

2090-CFBM7DD-CEAA01 MP-Series 1m Servo Feedback Cable

2090-SCVG150-0 Kinetix 150-150m Fiber Optic Cable

BC646MPP005 Logic Developer PLC Professional 5 Pack with Proficy GlobalCare Complete

GC647APC010 GC ProductionClient 10 Pak

HMI-CCT-205 BACKLIGHT TUBE 12.1 inch Color TFT (QPL2xxxxC2P)

IC641VPP700 VersaPro Professional Edition - Windows Programming Software for Serie s 90-70, Series 90-30, and VersaMax PLCs

IC647IFGLBLSRVRM-50 iFIX WebSpace Server including iClient Dev and 2 Web Users(M4 Key)

IC660EBR101RR Electronic Assembly Normally Open

IC697ACC715 Kit, VME Integrator, J2 Backplane Mounting

IC756WRE499J-23 DataViews Runtime for Windows 100+, Per User, Japanese, Version 2.3

FlexLogix System 1794-IR8 RTD INPUT MODULE, 8 POINT

PLC-5/1771 System D6200-6.4.18DE PLC-5 STRUCTURED TEXT REL 1.0 USER MANUAL (GERMAN)

Process Control 1757-SRM SYSTEM REDUNDANCY MODULE

Operator Interface 2711P-T10C6D1 PV PLUS 1000, TOUCH, ENET, DC PS, STD MEM

Support 6001-A1DCS SUPT RENEWAL CONTRACT FOR 6001A1DC

Support 2711-END1UR UPGRADE: OUT-SUPT: PB 1200/1200E TO PB 1400E

Support F1785-L60BSERA FIRMWARE UPGRADE FOR 1785-L60B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230ESU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (ES)

RSI Software Products 9701-VWSS000JPU3 RSVIEW SE 250 TO UNLTD UPG JAPANESE

RSI Software Products 9399-RSBPHRG RSBATCH PHASE LOGIC REF. GUIDE

Motion Control 1394C-SJT10-D MODULE,SYSTEM,10KW,SERVO,W/SERCOS INTF,NO HIM