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PCMCIA-232

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　機(jī)器人誕生之日起人們就不斷地嘗試著說(shuō)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(lái)，機(jī)器人所涵蓋的內(nèi)容越來(lái)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(wèn)世以來(lái)，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(lái)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(guò)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(lái)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(wú)需用螺絲固定，維護(hù)也很方便，一般來(lái)說(shuō)，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(cāng)庫(kù)、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(lái)說(shuō)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(wèn)機(jī)器人的硬件寄存器來(lái)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(guò)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(guò)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(guò)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)�I/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(shuō)，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(wú)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(guò)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�業(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(guò)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(lái)滿足高性能工業(yè)機(jī)器人的要求。
 

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DeviceNet Products 9355-RSLETENE RSLINX ENTERPRISE

RSI Software Products 9301-2SE3400FRU2 RSVIEW32 RUNTIME 300-32K UPGRADE IN-SUPT (FR)

RSI Software Products 9371-RSWD1U1 UPGRADE: IN-SUPT: RSWIRE DET JIC STDAL TO DES PRF

Motion Control 1326AB-B410G-M2L MOTOR,SERVO,460V,2.7NM,5000RPM,MULTI,IP67

2125 Greyline OS, 4 Line, (20) 5MM Chars, VFD, Quick Connect, NEMA 4

HE693XTADP 9-pin to 25-pin adapter for HE693SNPCBL, HE693CBL222 and 25-pin serial ports

IC677DBM442 Profibus VersaMax IP Modular slave with (8) 24VDC inputs

QPK2D100L2P/S QUICKPANEL MONO 6" LCD WITH EPOXY SEAL

STXPBS925 STXi Profibus with 16 24VDC source (Negative Logic) input and 16 isolated relay output, expandable to 8 additional modules.

20BC3P5A0NYNANC0 PowerFlex 700 AC Drive 20B

20F1AND302AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-D012F104 PowerFlex 40 5.5 kW (7.5 Hp) AC Drive

140DIO33000C Quantum 開關(guān)量輸出, 8點(diǎn), 本安型,CC

284E-FVD2P3Z-10-DRN-DB1-SB-EMI EtherNet Variable Frequency Drive

E3Z-R81 4m 反射式 晶體管輸出 PNP 100Ma 電源DC12-24V

1492-SPM1B300 MCB Supplementary Protector 30 A

直流電源 6EP1336-3BA00 120/230VAC 輸入，24VDC/20A 輸出

6SL32101KE175UF1

1497D-A15-M10-0-N Gen Purpose Transformer

1606-XLSRED80HE XLS Redundancy Module

1769-L36ERM CompactLogix 3 MB Motion Controller

190S-AND2-CB10C Compact Comb Starter W/Ckt-Bkr

194R-LNC8 Terminal Shroud, 4P, 125A

2090-CPBM7DF-16AA03 MP-Series 3m Standard Cable

2090-XXNPY-16S25 Y-Series 25 m Length Power Cable

CBL-OIJR-06-RA Serial cable with right angle connector for Operator Interface Panel connected to an S2K controller. 6 feet

GF-2530R Connecting FlashCable to Sony LH xx (w/RS-232).

IC200UDD120 28 point PLC,(16) 24VDC In, (12) 24VDC Out ESCP(2 at 1.0 amp and 10 at 0.70 amp), 24VDC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC646TPD935 35,000 I/O Point Development System

IC647OPMC OPM:Opto 22 Mistic

IC693ALG392CA Conformal Coated Analog Output module, eight channels voltage/current.

IC752DPJ000RR Datapanel J+, 256x64 LCD with EL backlight. Various sizes of text, bi tmaps, bar graphs, real time clock. Includes an integrated keypad for data entry. No touch capability.

IC800VMMCONP003 VersaMotion motor power and brake connector (1 kW and 2 kW models)

SLC/1746 System 1747-PIC CONVERTER RS 232/DH 485

Industrial Computers 6186-M15SSTR VERSAVIEW 15 INCH MONITOR, RESISTIVE TOUCH SCREEN

Application-specific products 1404-M405B-232 MASTER MODULE - PQ 24V POWER SUPPLY 232 COM

Operator Interface 2711-T6C20L1 PV600 COLOR TOUCH, ENET & RS232 PRINT

Support 9301-2SE3100ITR SUPT REINSTATEMENT CONTRACT FOR 93012SE3100IT

Support 9380-RSBAR5000S SUPT RENEWAL CONTRACT FOR 9380RSBAR5000

DeviceNet Products 1734-TB3SQ10 TEN 12-POSITION IP20 SPRING TERNIMAL BASES

RSI Software Products 9301-2SE3200PTE RSVIEW32 RUNTIME 300 (PORTUGUESE)

RSI Software Products 9358-BPCNT30U1R UPGRADE: OUT-SUPT: RSBATCH PC-BASED 03 TO 30

Motion Control MPL-B4520P-RJ22AA MOTOR,SERVO,6.1 NM,5000RPM,RSLVR,460V,7.7KG

Motion Control 2090-SCNP8-0 SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,8.0M

GFK-1885A ViewStation/ControlStation CE II (6") HW User's Guide

IC646MDE700 Logic Developer - PC & View (HRT) 700 Tag Runtime & Development System

MTR-1221-N-D-E-0 Stepping Motor Nema23, Series Wdg

QPI3D200E2P/B 9 inch Monochrome EL/ Blank Label/ 24VDC/ UL/ cUL/ CE/ UL1604

20BC030A3AYNAEC0 PowerFlex 700 AC Drive 30 A at 15 kW 20B

20F11NC015AA0NNNNN PowerFlex 753 AC Packaged Drive

21G1ALC567JN2NNNNN-ND-L1-P3-P11-P14 PowerFlex Air Cooled 755 Packaged Drive

2711P-RFK12 PanelView Plus Accessory

280G-F12D-10B-RRG-CBG ArmorStart 280/1 Starter

C200HW-BI051 擴(kuò)展機(jī)板?可安裝5個(gè)I/O單元

1492-PD3C112 255 A Power Distribution Block

中央處理單元 6ES7412-1XF04-0AB0 CPU412-1，144KB，100ns，電源 24VDC， MPI/PROFIBUS-DP 主站接口

變送器 3RS17252FD00

TIA 博途數(shù)字化選件 6ES7823-1AA04-0YA5 TIA Portal Multiuser V14

1585J-M8TBJM-15 RJ45 Ethernet Media

1760-USB-GFX PicoGFX USB Programmer Cable

188-K3B100 Miniature Circuit Breaker 10 A

194L-E12-C34 Terminal Cover 3 Pole 12 - 16 A

2090-CPBM4DF-16AF04 MP-Series 4 m Length Pwr and Brake Cable

2090-XXNFMF-S04 Kinetix Drives 4m Standard Cable

BC647OEM0401 OEM Edge Program Renewal - Historian

GC647NXV001 Proficy GlobalCare Complete for Tracker Order Execution Management Web Viewer

IC200MDD842 Mixed 24VDC POS LOG input group 16 point / output 24VDC 0.5 amp with ESCPoutput 16 point.

IC646NMR000 Modbus RTU Communications

IC647M32C M32:Moore MYCRO 320 Independent Computer Interface

IC670MFP100 Micro Field Processor

IC697MDL653 24 Vdc Input, Positive/Negative Logic (32 Points)

IC800SLMCONKITVL connector kit for 3.5 kW to 5 kW S-series servo motors without brake

ControlLogix/1756 System 1751-SL4SP SYNCHLINK FIBER 4-PORT SPLITTER BLOCK

Industrial Computers 6182H-15BEH15D VVCE 1500, KEY/TOUCH, EXT MEM, CNET, DC

Process Control 1757-PFBUPG100 PROFIBUS LIC UPG 100 IOMS

Operator Interface 2711P-ST15B PANELVIEW PLUS 1500 KEY/TOUCH STARTER KIT

Support 9326-AD10APR SUPT REINSTATEMENT CONTRACT FOR 9326AD10APENE

Support 9371-EDBA3S SUPT RENEWAL CONTRACT FOR 9371EDBA3

ControlNet Products 1734-RTBS REPLACEMENT IEC SPRING TERMINAL BLOCK

RSI Software Products 9301-2SE240FRU1R RSVIEW32 WORKS 1500-32K UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-B60ENE RSBIZWARE BATCH 60 UNITS

Motion Control MPL-A430P-MJ22AA MOTOR,SERVO,5.42 NM,5000RPM,MULTI,230V,6.4KG

Motion Control 2090-UXNFDN23-K01 CABLE,ULTRA,NON-FLEX, MOTOR FEEDBACK,N,SKW,1M

CBL-154 Cable. IBM COMP. To Operator Workstation, 9 Pin PC COMM. Port

IC610MDL156RR 24Vdc Sink Output, D Connector, with LEDs (16 points)

IC800SLCBVL100 Power/Brake Cable, 3500W and 5000W SL Servo Motors with Brake, 10 Meters

OC647IFGLBLRLYCLNPKM-55 iFIX WebSpace v5.5 Relay Client Pack 10 Users

20AD3P4C3AYNANC0 PowerFlex 70 AC Drive 3.4 A at 2 Hp 20A

20DD014A3EYNACANE PowerFlex 700S AC Drive 20D

20P41AB073RA0NNN PowerFlex DC Drive 230V AC 20 HP

2711-NV4 PanelView Accessory

280-PWRM24A-M2 ArmorConnect 3-PH Power Media drop cable

3G3MV-A4075 NEW 14KVA 18A 7.5KW 3相AC380-460V/50HZ/60HZ

1492-MCAA2H25 Miniature Circuit Breaker, 25 A