GPG4N5002562现货 in stock! 欢迎来电咨询~！！

GPG4N5002562,

GPG4N5002562

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　机器人诞生之日起人们就不断地尝试着说明到底什么是机器人。但随着机器人技术的飞速发展和信息时代的到来，机器人所涵盖的内容越来越丰富，机器人的定义也不断充实和创新。机器人技术作为20世纪人类最伟大的发明之一，自20世纪60年代初问世以来，经历40多年的发展已取得长足的进步。随着近年来制造业的不断发展，工业机器人已成为智能制造和工业自动化的关键技术和重要产品，也是数控机床走向自动化更高阶段的重要一环。

　　随着电子控制技术的不断发展，PLC正向高速度、容量大等物联网及智能通信方向发展，通过物联网，能实现PLC、变频器、远程I/O等与上位机算机进行连接，来构造出一种多级式分布系统。

　　1

　　举个例子

　　三菱工业电机中的CC-Link构建的一种开放性面向现场控制的总线网路系统，DIN是德国工业标准，使用导轨是工业电气元器件的一种安装方式，安装支持此标准的电器元器件可方便地卡在导轨上而无需用螺丝固定，维护也很方便，一般来说，常用的导轨宽度是3.5CM。现如今，很多的电器元器件都有采用这种标准，比如有PLC、断路器、开关、接触器等。

　　工业机器人不是孤立工作的，一个机器人工作站，往往需要外围设备的配合，比如工装夹具、传送带、焊接变位机、移动导轨等等，这些角色相互之间要怎么配合，就需要互相协调。比如AGV小车、自动化立体仓库、喷涂设备、装配设备等等。

　　2

　　工业机器人的自动控制系统

　　1、底层控制器

　　底层控制器作为控制系统的核心，其选择的合适与否对整个系统来说十分重要，其性能直接影响了控制系统的可靠性、数据处理速度、数据采集的实时性等。移动机器人运行环境较恶劣，干扰源众多，对运动控制器的实时性和可靠性要求较高，所以选择一种稳定可靠地运动控制器至关重要，既要满足系统要求，又要具有良好的可扩展性和兼容性。

　　为实现机器人对外部设备的有效控制，底层控制器提供了相应的设备底层控制函数，这些控制函数可以直接访问机器人的硬件寄存器来控制机器人的运行，而这些控制函数可以使得设备驱动程序不再依赖于具体硬件，所以，通过调用控制函数接口就可以实现对机器人的有效控制。

　　2、电气系统

　　在对轮式全向移动机器人控制系统硬件进行选型以后，根据移动机器人的硬件组成进行电气系统设计。移动机器人的电气系统主要包括三个部分：主电路、伺服驱动系统电路和PLC控制系统电路。

　　移动机器人控制系统主电路通过PLC和继电器实现控制。即由继电器由线圈和辅助触点两部分组成。当线圈通电的时候，其对应的常开触点闭合，常闭触点断开。

　　3、I/O配置段

　　I/O配置段包括I/O刷新周期(典型为4ms)和I/O数据映像区大小信息，通过软PLC编程系统的工程配置模块进行可视化配置，以适应不同机器人应用程序对I/O设备的不同需求。其主要是机器人将其他信号作为末端执行器I/O使用，末端执行器I/O链接到机器人手臂末端的连接器上，保证其功能。

　　4、PLC程序

　　在底层控制器中，使用编程软件STEP 7 PROFESSIONAL V12的PTO运动控制指令，使用位置控制方式，控制4个转向伺服电机，从而控制4个车轮的转向角；另外，使用扩展模拟量输出模块输出电压值，控制4个轮毅电机，驱动机器人运动。排除硬件的因素外，程序的好坏直接决定着运动性能的高。因此程序的编写是整个设计中最为重要的环节之一。

　　3

　　PLC要满足工业机器人的高性能要求还有待改善

　　机器人控制器可以理解为完成机器人控制功能的结构实现，因此机器人控制器是机器人最为核心的“心脏”，它从一定程度上影响着机器人的发展，高性能的工业机器人不单要实现PTP控制，而且还要实现CP控制。虽然说，采用基于PC的运动控制器和基于DSP运动控制器能够实现机器人的运动控制，但是却无法满足高性能工业机器人的各项要求指标，而电路设计以及编程相当复杂，因此，PLC的控制接线完善和技术创新是一大难题。

　　PLC控制接线简单，只要通过运动控制指令就能实现对机器人的运动控制，因此，PLC想要在机器人多轴运动协调控制、网络通讯方面取得优势，还是需要一定的时间。因为高性能工业机器人主要是各关节的驱动运动，不单单是实现PTP、CP的控制，还要达到在多轴协调控制、速度、加速度、运动精度等方面的要求。

　　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强大；等西门子公司的PLC虽然具备运动控制的功能，但远远不及MITSUBISHI PLC，因为MITSUBISHI PLC结合物联网及高科技术，使之具有完整的运动控制功能，通过高速度的背板，处理器与伺服接口模块可以进行通讯，从而实现高度的集成操作及位置环和速度环的闭环控制。达到从简单的点到点的运动到复杂的齿轮传动，来满足高性能工业机器人的要求。
 

AS-3271G

10001x100

ROCKY-3703EVR

1492-SPM3B050 MCB Supplementary Protector 5 A

光电隔离，40pin 前连接器"

变送器 3RS18002HW00

1497A-A11-M6-1-N Control Power Transformer

1732E-8CFGM8R ARMORBLOCK 8 POINT CONFIGURABLE

1756-OB16D ControlLogix 16 Pt 24V DC D/O Module

188-K1B250-N Miniature Circuit Breaker 25 A

194E-FA80 194E Load switch

2090-CFBM7DF-CDAF04 MP-Series 4m Feedback Cable

2090-U5EK-DN Ultra 5000 Breakout Board Kit

BC646MVD000 ME View View OPC Driver License w/Global Care and Software Key

GC647AUR002 GC Universal Reporting Client 2 Pak

IC200ACC403 Battery for 23 and 28 point Micro for data retention

IC646CSPR001 Proficy Cause+ for Intelligent HMI/SCADA Runtime Server - 1X monitored KPI

IC647IFPLRNUNLMTM iFIX Plus SCADA Unlimited Runtime (M4 Part)

IC660MLA101 Label for IC660BBA101 (Qty 100)

IC697ALG440RR Analog Input Expander, Current, 16 Channels

IC758WMM010 iGlobalCare Complete 6-10 Users (same site): DataViews for Windows

FlexLogix System 1794-CE1 EXTENDER CABLE FOR TERMINAL BASES, 1FT/.3M

GuardPLC Systems 1755-OF8 GUARDPLC 2000 - ANALOG OUTPUT MODULE

Process Control 1757-UPGSIFW UPGRADE MA500 QUICKBUILDER I/F

Operator Interface 2711P-T12C6B1 PV PLUS 1250, TOUCH, RIO/DH, AC PS, STD MEM

Support 9220-TAS SUPT RENEWAL CONTRACT FOR 9220TA

Support 2755-ASNR SUPT REINSTATEMENT CONTRACT FOR 2755ASN

Support F1785-V30BSERC FIRMWARE UPGRADE FOR 1785-V30B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350JPU3 RSVIEW32 WORKS 1500-5K UPGRADE IN-SUPT (JP)

RSI Software Products 9701-VWSTJPE RSVIEW STUDIO FOR RSVIEW ENTERPRISE (JAPANESE)

RSI Software Products 9399-WABCPG RSLINX C SDK PROGRAMMER'S GUIDE

Motion Control 8720MC- -HAS1 ANALOG DIAL HIM

BC646MRB159 Logic PC Runtime 1,500 I/O

IC300OSW003 Cscape PDA Software with Palm III Series Cable

IC754ACC12MNT Mounting Clips (10) & PWR Conn, 12 QuickPanel View & Control"

MTR-3T45-H-R-B-M-0RR Servo Motor Metric 24V Brake

PCI-6703

FB2504

NORCO-740 NORCO-740AE

PSB-810EAV-J

AP-540TX

SOL2MEVCLB

1492-LD4DF IEC Term Blck 6.1x76x52.2mm Spr Clp

1494F-L1 Door Hardware Kit

软启动器 3RW44352BC44

ET 200SP 6ES7193-6AG00-0AA0 BA 2× LC 玻璃光纤，光纤最远距离 2 KM

1585D-D4UBJM-2 Micro D-Code, QD Style Ethernet Media

1747-SDN SLC DeviceNet Scanner Module

1794-CJC2 Flex I/O Accessories

194E-AA20-P11 194E Load switch

2080-LC10-12AWA Micro810 12 I/O Smart Relay Controller

2090-CSWM1DF-14AA15 Kinetix 15m Smartlink Single Cable

20AC2P1C0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MPM001 Proficy GlobalCare Complete for Logic Developer - PLC Nano/Micro

HE693OIU177 Compact VF OIU powered by 24VDC with Numeric Keypad

IC609SJR121RR Series One Junior 24Vdc Src In/Rly Out, 115Vac Power

IC647HSTSC15KM Server to Server Collector for Historian - Standard Server 15000 Points (M4 Key)

IC660BBA026RR Curr Src Analog Input Block, 24/48Vdc Power, 6 Inputs, Ph B

IC694MDL741CA Conformal Coated Output module 12/24 VDC 0.5 amp 16 points NEG logic.

IC756WDJ009E-23 DV Development Sys VB and Java, English, Version 2.3

MicroLogix 1500/1769 System 1769-ECR RIGHT END CAP/TERMINATOR

PLC-5/1771 System 1771-CE 1771 I/O CHASSIS CABLE FOR 1771-P2 POWER SUPPLY

Distributed I/O 1797-IJ2 2-CHANNEL EX HIGH RESOLUTION FREQUENCY MODULE

Operator Interface 2711P-B6C1D PV PLUS 600 COLOR, KEY/TOUCH, SRIO, DC PS

Support 9323-PA1GR SUPT REINSTATEMENT CONTRACT FOR 9323PA1G

Support 9358-HSTS2400S SUPT RENEWAL CONTRACT FOR 9358HSTS2400

Support F1772-LWSERD FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD3U7ENE RSLOGIX 5000, STANDARD TO PRO UPGRADE, ENGLISH

RSI Software Products 9305-RSVADDCDEE RSVIEW32 ACTIVE DISPLAY DEDICATED CLIENT (GERMAN)

RSI Software Products 9358-PMSEE NET PROCESS MONITOR

Motion Control 2092-DA2 DRIVE, 2.4A/7.2A, ULTRA1500 DIGITAL SERVO DRIVE

A06B-0141-B075#7008 AC12/2000 Servo Motor, 32K Serial Encoder

IC200UAR028-24 Qty of 24, 28 point PLC< (16) 120VAC In, (12) Relay Out (2 at 10 amp & 10 at 2 amp), 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752BTS450RR Display Station 1085 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 1.2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win NT

MTR-1362-N-A-E-0RR Stepping Motor Nema34

NI 9218

ROCKY-3702V-R4

CBP-6405R

WAFER-6612-R10-BULK

PBP-10P7 NORCO-840AE

MATROX 906-01

NORCO-740AE

1492-SPM3C320-N MCB Supplementary Protector 32 A

软启动器 3RW40462BB14

热电偶模拟量输入信号板 6ES7 231-5QA30-0XB0 SB 1231 AI 1 x 16 位 热电偶

150-SC2NBR SMC-50 SOLID STATE MOTOR CONTROLLER 260A

1734-TOP3S POINT I/O Terminal Base

1783-SFP100LX 100LX SFP Fiber Transceiver

193-ESM-VIG-30A-CT E300/E200 30 Amp Sensing Module

20-750-I2B-C770D740 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA12 MP-Series 12m Servo Power Cable

2099-BM11-S Kinetix 7000 Servo Drive

GA647IFESGCLNTS GCA iFIX Optn: ESig & ERec iClientTS

GP-2102NT/OBG GagePort Digital NT 2-port input (Owens Brockway OEM)

IC5007TAX0110 PanelPC 17 inch Standard Unit with Windows XP and Stainless Steel Bezel

IC647HSTCC10000KM Calculation Collector for Historian - Standard Server 10,000,000 Points (M4 Key)

IC647SST001 Scheduler SAP Toolkit

IC693MDL742LT 12/24 Vdc Output, 1 Amp, Positive Logic (16 Points), Fused (LT)

IC756LDV000E-97 DV Development - Intel/Linux RedHat Op Sys, English, Version 9.7

Pico Controllers 1760-IB12XOB8 18 I/O EXPANSION MODULE, DC

PLC-5/1771 System 1771-OB 12-24V DC OUTPUT MODULE, 8 OUTPUTS

Distributed I/O 1791P-4B4P PROFIBUS 24 VDC CBLOCK I/O, 4 IN SINK 4 OUT SOURCE

Communications 6001-F1E SOFTWARE DRIVER FOR 1784-KT

Operator Interface 2706-PDHPK DH+ COMMUNICATION MODULE FOR 2706-P7X & P9X

Support 9701-VWSB000AS SUPT RENEWAL CONTRACT FOR 9701VWSB000AENE

Support 9515-RSNHS500R SUPT REINSTATEMENT CONTRACT FOR 9515RSNHS500ENE

EtherNet/IP Products 2711P-K7C4D1 PV PLUS 700, KEYPAD, ENET, DC PS, STD MEM

RSI Software Products 9301-2SE340ITU3R RSVIEW32 RUNTIME 150-32K UPGRADE OUT-SUPT (IT)

RSI Software Products 9356-PRO2350 RSSQL PRF VER WTH 5000 TG

Motion Control 1326AB-B740E-M2K7L MOTOR,SERVO,460V,50.0NM,3400RPM,MULTI,BRK,IP67

4162-L-8 4162 Continuous Lens Kit. For (8) 4162s

HMI-KPN-302/B QUICKPANEL KEYPAD FOR 10.5" BLANK

IC693CPU363 CPU 363 Module (240K Bytes configurable user memory)

SPS-50W Discontinue - POWER SUPPY 24VDC 2.1AMP UL, CUL, CE

AKD-P00607-NBEC-0000

AIMB-542VE-00A1E

PCM-3730

ElanVital EVM-3507-00

BTX-400P4

MC8041A

VPM-54416-32M

1492-SPM1D040-N MCB Supplementary Protector 4 A

通用型变频器 6SE6 440-2UC33-7FA1 "37 KW,350 x 850 x 320"

电机启动器 3VU13403MH00

150-C37FBD Encl. SMC-3 37 A Smart Motor Controller

1609-P10000E Uninterruptible Power Supply P UPS Acces

1771-CD 1771-P2 Power Supply Cable

193-EC1PB E3 0.4-2.0 A Overload Relay

198-F1 IEC Mounting Foot Enclosure Accessory

2090-CPBM7E7-14AF15 MP-Series 15 m Length Cable

2093-PRS8S Kinetix 2000 8 Axis Slim Power Rail

CP9I-0MEB-0070-AZ Alpha 50HVis shielded motor power cable (7 meter)

GFK-0263 Logicmaster 90-70 Programming Software User's Manual

IC200UEX213 28 point expansion. (16) 12VDC In, (12) Relay Out, 12VDC Power Supply (included IC200CBL501)

IC647ANS001 PA new SFL allows 1 Production Unit in PA plant model to use 1 of the 11 server functions

IC647PDCH025 Ruggedized PDC Historian Base with 2500 Tags

IC693CHS392RR Base, Expansion, 10 Slots

IC754CSL06CTD 6 inch TFT QuickPanel Control/ Loaded/ 24VDC

KIT-GFS-351-CN QP View & Control Workshop Student Kit

SLC/1746 System D1746-UM010BENP BARREL TEMPERATURE CONTROL MODULE USER MANUAL

Distributed I/O 1734-PDN DEVICENET INTERFACE MODULE

Application-specific products 1405-M620-240 MINI POWERMONITOR M620 240V

Operator Interface 2711-T10C20 PV1000 COLOR TOUCH, ENET & RS232 PRINT

Support 9301-2SE3400ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE3400ZH

Support 9381-PA2500KENS SUPPORT RENEWAL CONTRACT FOR 9381PA2500KEN

DeviceNet Products 1790D-8BV8B DNET LDX ,24VDC,8 UNIV IN/8 SRCE OUT BASE, D-SHELL

RSI Software Products 9301-2SE3303JPE RSVIEW32 RUNTIME 1500 WITH RSLINX (JAPANESE)

RSI Software Products 9358-PBANT30ENE RSBATCH NT FOR PROCESSLOGIX ARCHIVER 30 UNITS

Motion Control MPL-B540K-SK22AA MOTOR,SERVO,19.4 NM,4000RPM,SINGL,460V,16.5KG

Motion Control 2090-UCSR-A300 ACTIVE SHUNT REGULATOR,ULTRA 300W

GQPL2D200C2P QUICKPANEL COLOR 12.1" TFT GE LABEL

IC646MSP005 Logic Developer - State Professional 5 Pack

MTR-3T44-J-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-1218 STXi input module 8 points, Positive Logic, 12V/ 24VDC

SCXI-1104C

ISA接口 3440522410

886LCD/ATX F845G

MS-9128

A812PG

PSC-486

1492-RCDA2C25 Residual Current Device 25 A

存储卡 6ES7952-1KL00-0AA0 FEPROM 存储卡， 2M

变送器 3RS11211DW30

1497-G-AXSX-3-N Control Circuit Transformer

1606-XLBUFFER 1606 1606-XL Buffer Module Power Supply

1762-OB32T MicroLogix 32 Point D/O Module

188-K3D040 Miniature Circuit Breaker 4 A

194L-HC4L-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-06AA30 MP-Series 30m Power and Brake Cable

2090-XXNPMF-10S60 Kinetix Drives 60m Standard Cable

BC647TPD700 CIMPLICITY HMI ProServer 700 I/O Development and Runtime System with Proficy GlobalCare

GC647PRTHE100 GlobalCare Complete - Proficy Portal Historian Edition Client Pack 100 Users Ver 3.0

IC200MDL741LT OUTPUT 24VDC POS LOGIC 0.5A PER PT (1 GROUP OF 16) W/ESCP 16PT (LT)

IC646PEW100 OpenProcess Engineering Workstation

IC647MRA700 View Runtime 700 I/O with USB Hardware key

IC677DBO085 Profibus VersaMax IP Modular slave with (8) 24VDC outputs

IC697RCM711 Hot Standby Redundancy Communications Module

IC800SSI216RP2RR 16A, 230V, Profibus S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-L531 SLC 5/03,WITH 8K USER INSTRUCTION CAPACITY

Industrial Computers 6181H-15TS2KH VERSAVIEW 15" DISPLAY COMPUTER HAZARDOUS LOCATIONS

Application-specific products 9358-PBA10ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 10 UNITS

Operator Interface 2711-B5A9 PV550 MONO KEY&TOUCH, RS232 (DH485) & RS232 PRINT

Support 9303-3CS0EFFS SUPP RENEWAL CNTRCT FOR 9303-3CS0EFF

Support 9391-SDVEKS 9391-SDVEK SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 2711-K5A15L2 PV550 MONOCHROME KEY, CNET & RS232 PRINT

RSI Software Products 9301-2SE2500KOU3 RSVIEW32 WORKS 300-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9358-BEBNT30ENE RSBATCH / EPROCEDURE FOR NT BUNDLE 30 UNITS

Motion Control MPL-A4540C-HK22AA MOTOR,SERVO,10.2NM,1500RPM,ENCDR,230V,9.5KG

Motion Control 2090-XXNFMP-S15 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,15M

CBL-OIJR-12-RA Serial Cable, Operator Interface Panel (OIP) to S2K, Rt. Ang, 12 Ft.

IC641PCC010 Toolkit for integration of Visual Basic Applications

IC800SLT004 SL Amplifier Breakout Terminal Block for Third Party Controller Interface

PR-PAT-ABB01 Proficy PAT - Driver For Ethernet-Coupled Abb Bomem Ftir Spectrometers

PXI-6052E

PCA-6113P4R

080-0190-02-A

PC-612304

84G3711

SP-320-24

1492-MR6X8 IEC 6 x 8 mm Marker Card

1495-J6 CONTACT,AUXILIARY FOR STRTOR CONTACTOR

行程开关 3SE53120SB11

运行版软件 6AV2105-0FA04-0AA0 SIMATIC WinCC Runtime 专业版 2048 PowerTags V14

1585J-M4TBJM-3 RJ45 Ethernet Media

1756-OF4 ControlLogix 4 Point A/O I or V Module

188-K1C020-N Miniature Circuit Breaker 2 A

194E-G3707 194E 52 mm Metal Load Switch Shaft

2090-CFBM7DF-CEAA01 MP-Series 1m Servo Feedback Cable

2090-UXBK-D1501 Ultra series 1m Cable Breakout Board Kit

BC646OEM0401 OEM Edge Renewal - Historian

GC647DMS001 GC DataMart 1 PA Connection

IC200ALG261 Analog input 15 bit differential voltage 8 channel

IC646IFCLNTCRO010C iFIX iClient Read Only 10 PK Keyless (M1Component Part)

IC647IFPLSRUNLMTC iFIX Plus SCADA Unlimited Server (M1Component Part)

IC660MLD120 Label for IC660BBD120 (Qty 100)

IC697BEM731RR Series 90-70 Genius I/O Bus Controller

IC800APK080 SVU1-80 Alpha series 80 amp amplifier kit

ControlLogix/1756 System 1756-L55M13 LOGIX5555 PROCESSOR WITH 1.5MBYTE MEMORY

Industrial Computers 6182H-7BEH4B VVCE 700, KEY/TOUCH, EXT MEM, ENET, AC

Process Control 9358-BHIST01ENE RSBIZWARE BATCHHISTORIAN - 3 UNITS

Operator Interface 2711P-B15C6B2 PV PLUS 1500, KEY/TOUCH, RIO/DH, AC PS, EXT MEM

Support 9240-MON16R SUPT REINSTATEMENT CONTRACT FOR 9240MON16

Support 6310-MSS 6310-MS SOFTWARE SUPPORT RENEWAL

Support F1794-ACNR15SERB FIRMWARE UPGRADE FOR 1794-ACNR15 I/O MODULE

RSI Software Products 9301-2SE2350U3 UPGRADE: IN-SUPT: RSVIEW32 WORKS 1500 TO 5000

RSI Software Products 9351-DKTSRT INTERCHANGE SOFTWARE FOR MS-DOS RUNTIME

RSI Software Products 9399-WGGUG RSSERVER FOR GE FANUC GENIUS I/O USER GUIDE

Motion Control 8720MC-MCM SPARE MAIN CONTROL MODULE KIT

BC646MRD300 Logic PC Runtime (HRT) 300 I/O

IC300RCS210 Remote Control Station (OCS without Keypad and display) Supports up to 4 SmartStack I/O Boards, full ladder instruction set, and CsCAN Networking.

IC754VKB06MTD Starter Kit - 6" Monochrome QuickPanel View Basic, Touch, 24VDC