IC5002CAC0001現貨 in stock! 歡迎來電咨詢~��！

IC5002CAC0001,

IC5002CAC0001

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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新。機器人技術作為20世紀人類最偉大的發明之一，自20世紀60年代初問世以來，經歷40多年的發展已取得長足的進步。隨著近年來制造業的不斷發展，工業機器人已成為智能制造和工業自動化的關鍵技術和重要產品，也是數控機床走向自動化更高階段的重要一環。

　　隨著電子控制技術的不斷發展，PLC正向高速度、容量大等物聯網及智能通信方向發展，通過物聯網，能實現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。

　　1

　　舉個例子

　　三菱工業電機中的CC-Link構建的一種開放性面向現場控制的總線網路系統，DIN是德國工業標準，使用導軌是工業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�，F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

　　工業機器人的自動控制系統

　　1、底層控制器

　　底層控制器作為控制系統的核心，其選擇的合適與否對整個系統來說十分重要，其性能直接影響了控制系統的可靠性、數據處理速度、數據采集的實時性等。移動機器人運行環境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩定可靠地運動控制器至關重要，既要滿足系統要求，又要具有良好的可擴展性和兼容性。

　　為實現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，這些控制函數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，通過調用控制函數接口就可以實現對機器人的有效控制。

　　2、電氣系統

　　在對輪式全向移動機器人控制系統硬件進行選型以后，根據移動機器人的硬件組成進行電氣系統設計。移動機器人的電氣系統主要包括三個部分：主電路、伺服驅動系統電路和PLC控制系統電路。

　　移動機器人控制系統主電路通過PLC和繼電器實現控制。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數據映像區大小信息，通過軟PLC編程系統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行器I/O使用，末端執行器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節之一。

　　3

　　PLC要滿足工業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，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展，高性能的工業機器人不單要實現PTP控制，而且還要實現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機器人的運動控制，但是卻無法滿足高性能工業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對機器人的運動控制，因此，PLC想要在機器人多軸運動協調控制、網絡通訊方面取得優勢，還是需要一定的時間。因為高性能工業機器人主要是各關節的驅動運動，不單單是實現PTP、CP的控制，還要達到在多軸協調控制、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結合物聯網及高科技術，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，從而實現高度的集成操作及位置環和速度環的閉環控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業機器人的要求。
 

1493-N1 Overload Relay Reset Kit

通用型變頻器 6SE6 440-2UD41-6GB1 160 KW,326 x 1533 x 545

ET 200SP 6ES7193-6AP00-0AA0 BA 2×SCRJ (用于PROFINET 高性能接口模塊，光纖接口）

150-F60NBR SMC Flex Smart Motor Controller

1585J-M4TBJM-1M5 RJ45 Ethernet Media

1756-L63XT ControlLogix XT 8 MB Memory Controller

1794-IE4XOE2XT Flex XT 4 Input 2 Output Analog Module

193-ESM-I-100A-T E300/E200 100 Amp Sensing Module

194E-Y32-1753-6G 32 A 194E Load switch

2090-CFBM7E7-CEAF03 3 m Length SpeedTec Extension Cable

2090-UXNFBY-S30 Y-Series 30 m Length Feedback Cable

BC646TRT075 Server 75 I/O Runtime System with Proficy GlobalCare

GC647IFPLRN00150 GCC iFIX Plus SCADA 150 I/O Run

IC200CBL550 Communications cable (RJ-45 to DB-9 pin RS-232, 2 Meters) between Vers aMax Micro/Nano and VersaMax DP 20 only

IC646MPP101 Logic Developer PLC Professional with Programming Cable

IC647IFPRSRUNLMTM iFIX Profsnl SCADA Unlimited Server (M4 Part)

IC660TSS100 Terminal Assembly for IC660BBS100/101

IC697CPU731 CPU, 12 MHz, 512 Discrete I/O, Fixed Memory (32K Bytes)

IC800PCUBC02S050 Powercube flying lead interface cable configured for 200 steps/revolution and power save enabled. 5 meters

ControlLogix/1756 System 1756-OB16I 10-30 VDC ISOLATED OUTPUT 16 PTS (36 PIN)

Industrial Computers 6182H-10KEH15D VVCE 1000, KEYPAD, EXT MEM, CNET, DC

Process Control 9358-PBVNT01ENE RSBATCH NT FOR PLX BATCH VIEW ADDITIONAL CLIENTS

Operator Interface 2711P-RBK7 PV PLUS 700 KEYPAD REPLACEMENT BEZEL

Support 9355-WAB1ENR SUPT REINSTATEMENT CONTRACT FOR 9355WAB1EN

Support 9351-SLRSRTR SUPT REINSTATEMENT CONTRACT FOR 9351SLRSRT

ControlNet Products 1786-RPFS CONTROLNET FIBER REPEATER - SHORT

RSI Software Products 9301-2SE2400ESU2 RSVIEW32 WORKS 300-32K UPGRADE IN-SUPT (ES)

RSI Software Products 9355-WABGWFRE RSLINX GATEWAY - FRENCH

Motion Control MPL-A320H-MJ22AA MOTOR,SERVO,2.26 NM,3500RPM,MULTI,230V,4.0KG

Motion Control 2090-DANPT-16S15 CABLE, NON-FLEX, MTR PWR, CABLE-MTD CONN, 16AWG, 1

BC647MVSU01 View Standard Edition - Upgrade from QuickDesigner. Includes Proficy GlobalCare Complete and a hardware key

IC5008TAW2000 Discontinued - Order a BC5008TAW0000 & Appropriate CIM PE License

IC800MCUB12310XE Stepping MotorCube 175 oz/in, Pulse/Direction Encoder Feedback

OC647IFESGCLNTCRNC iFIX Optn: ESig & ERec iClient Runtime (M1Component Part)

20AD022A3AYYANG1 PowerFlex 70 AC Drive 22 A at 15 Hp 20A

20DC261A0EYNBNANE PowerFlex 700S AC Drive 20D

20G1ANF171AN0NNNNN PowerFlex 755 AC Packaged Drive

25C-E027N104 PowerFlex 527 18.5kW (25Hp) AC Drive

280-PWRM22B-M2 ArmorConnect 3-PH Power Media drop cable

FX2N-128MR-001 主機64入/64出?繼電器輸出

1492-M5X5H31-40 Connection Products

1494H-EA3H6 Heavy Duty Fusible Safety Discon Switch

軟啟動器 3RW44462BC35

ET 200SP 6ES7193-6BP00-0DA1 基座單元 BU15-P16+A0+2D/T，類型A1，直插式端子，用于新負載組，帶有溫度測量，15mm寬

1585D-M4TBJM-0M5 Micro D-Code, QD Style Ethernet Media

1756-ESMCAPK ControlLogix Energy Storage Module CAP

1794-OG16 Flex 16 Point Digital Output Module

194E-CA80-P11-PE 194E Load switch

2090-CCMDSDS-48AA01 Comms Cable Kinetix 3 Drv to Drv 1.0m

2090-DANPT-16S04 TL-Series 4 m Length Power Cable

ABKCTDE0000/ABR 6 inch TFT QuickPanel TCP w/AB RIO 24VDC

GC646PCMS50 GlobalCare Complete for Change Management Electronic Signature Module 50 Pack

HE700GEN200 Dual-channel Genius interface module for VME.

IC630PWR310RR 115/230Vac Power Supply Unit

IC647HSTSSEO1000KM eSignature Option for Historian - Standard Server 1,000,000 Points (M4 Key)

IC660BLD024 Cover w/Label for IC660BBD024

IC695CHS012 RX3i 12 slot universal base

IC756WET100E-275 "Custom Editor Toolkit, English, v2.7.5"

CompactLogix System 1769-PA2 PWR SUPPLY 120/240 VAC INPUT 2 AMP @ 5 VDC OUTPUT

PLC-5/1771 System 9399-WEGR RSEMULATE GETTING RESULTS GUIDE

Process Control

Operator Interface 2711P-B7C15D1 PV PLUS 700, KEY/TOUCH, CNET, DC PS, STD MEM

Support 6413-DDMCS 6413-DDMC SOFTWARE SUPPORT RENEWAL

Support 9358-PLTM2400R SUPT REINSTATEMENT CONTRACT FOR 9358PLTM2400ENE

Support F1784-PCIDS 1784-PCIDS/A FIRMWARE UPDATE

RSI Software Products 9301-2SE2200ITU1 RSVIEW32 WORKS 150-300 UPGRADE IN-SUPT (IT)

RSI Software Products 9701-VWSB000ENU2 RSVIEW SE STATION 100 - UNLTD DISP UPGRADE

RSI Software Products 9399-CCAUG CONTROLGUARDIAN ARCHIVER5 USERS GUIDE

Motion Control 2098-IPD-030 DRIVE, 15A/30A, ULTRA5000

ABKSTDN0000/SER 6" Color STN, TCP Label, 24Vdc, with HMI-CAB-C52 & HMI-CAB-C83,UL,cUL,CE,UL1604

IC300ADC020 2 channel Analog Inputs, Current (0-20mA, 4-20mA), 12 bit

IC752DPK000 Mature. Order Datapanel 150, IC752DFT000 instead. DataPanel K - 256x64 LCD with EL backlight. Various sizes of text only. Includes integrated keypad for data entry. No touch capability.

MTR-3S34-G-R-B-E-S MTR series servo motor with resolver and brake and shaft seal

ZA06B-6077-K155 Noise filter for Alpha servo PSM-11HVi power supply module (required for CE)

20BE077A0ANNANC0 PowerFlex 700 AC Drive 77 A 75 Hp 20B

20G14NF171JA0NNNNN PowerFlex 755 AC Packaged Drive

25-RF021-BL PowerFlex 520 21.1A 230V EMC Filter Kit

2711P-RTMC PanelView Plus 700 to 1500 Mounting Clip

FRN200G11S-4CX 287KVA 377A 200KW 3相AC380V/50Hz/60Hz

1492-JD3-BR IEC 2-Ckt Feed-Through Blk, 2.5mm

1492-W10-RE IEC Term Blck 8x47.6x41mm Screw

軟啟動器 3RW40746BB44

CPU 模塊 6ES7 806-2CD02-0YA0 S7-1500 軟件控制器用 ODK V2.0，使用 C/C++ 擴展 S7-1500 軟件控制器的功能

153H-C85XBD-47 SMC-3 ENCLOSED COMBINATION 85A

1746-C7 SLC Rack Interconnect Cable

1786-FS10 ControlNet Fiber Optic Cable

193-T1AB13 0.9-1.3 A IEC Bimetallic Overload Relay

20-FI13301 PowerFlex 700S/H Fan Inverter Kit

2090-CSBM1DF-10AF25 Kinetix Cable Single DSL 2090-Series

20AC011C0AYNANC0 PowerFlex 70 AC Drive 20A

GA647TDV150 Proficy GlobalCare Assist for CIMPLICITY HMI Server 150 I/O Development and Runtime System

GP647IFPRDV00150 GCP iFIX Profsnl SCADA 150 I/O Dev

IC600BF947RR I/O Link Local (Series One or Series Three I/O)

IC647HSTCS1000KM Historian Enterprise Corporate Server 1000000 Points (M4 Key)

IC647TRT150 CIMPLICITY HMI Server 150 I/O Runtime System

IC693PWR321LT Power Supply, 120/240 Vac, 125 Vdc, Standard (LT)

IC756MDV001K-99 DV Development - Alpha OpenVMS Addt'l User, Korean, Version 9.9

MicroLogix 1000/1761 System 9399-RL50GR RSLOGIX 500 GETTING RESULTS GUIDE

PLC-5/1771 System 1771-NIV HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1792D-KPLT KEMPF INTERFACE PLATE

Communications 9351-SLRSRT INTERCHANGE FOR SOLARIS RUNTIME

Operator Interface D6190-6.5.29 CONTROLVIEW POWER MONITORING USER MANUAL

Support 9358-B30S SUPT RENEWAL CONTRACT FOR 9358BNT30ENE

Support 9392-CDRSNLE DATADISC ENGLISH/NETHERLANDS BUNDLE

RSI Software Products 9310-WED200ENE RSLOGIX EMULATE 5000

RSI Software Products 9301-2SE3500PTU5 RSVIEW32 RUNTIME 5K-100K UPGRADE IN-SUPT (PT)

RSI Software Products 9356-STD2200U1 UPGRADE: IN-SUPT: RSSQL STAND.150 TAG TO 300 TAG

Motion Control TL-SSN-1 KIT, SHAFT SEAL, TL-X1XX MTRS

44C742238-004 Cable, Alpha and Beta Series Motor Holding Brake, 14 Meters

IC200CHS014 I/O INTERPOSING BOX STYLE THERMOCOUPLE COLD JUNCTION COMPENSATION

IC694MDL655 INPUT MODULE 24VDC 32 POINT POS/NEG LOGIC

MSI-UNIV-WEB-50-43 Univ Web(RTIP/Dash/Web/Excel) 50 Pak-43

VSPC32-SF50 VisualSPC ShopFloor includes Attribute Data Collection, Measurement Sy stems Analysis and A-681 interface cable. 50 license pack.

20BD040A3AYNANC1 PowerFlex 700 AC Drive 40 A at 30 Hp 20B

20G11JF1K4JN4NNNNN PowerFlex 755 AC Packaged Drive

22D-D024N104 PowerFlex 40P- 11 kW (15 HP) AC Drive

140NOM21200 Quantum MB+ 網絡適配器, 1MB, 1MB+, 雙電纜

290E-FAZ-G1-3 Direct Online Starter

MY4J 24VDC，110VAC，220VAC，4開4閉，觸點 5A

1492-SPM2C100 MCB Supplementary Protector 10 A

軟啟動器 3RW30271BB14

電機啟動器 3VU16403MH00

150-F201NBR SMC Flex Smart Motor Controller

1732D-OB16M12M12 ArmorBlock 16 Point Output Block

1771-OW16 1771 8 Point Digital Output Module

193-ED1FD E1 Plus 9-45 A IEC Overload Relay

199-FSMA9 Industrial Relay MOV Surge Suppressor

2090-CPWM7DF-08AA07 MP-Series 7m Standard Power Cable

2094-XNBRKT-1 Kinetic 6000 mounting bracket

EDS-305-M-SC-T C1 D2 4-port 10/100, 1 port multi-mode SC fiber (-40 to 75 deg C op temp)

GFK-1186 TCP/IP Ethernet Communications for the Series 90 PLC Station Manager Manual

IC220ACC003 POINT LABELS NUMBERED 1-100 QTY 10

IC647BSU020 Batch Server Pak Upgrade (10 to 20 Units)

IC647PRTHE050M Proficy Portal Historian Edition Client Pack 50 Users (M4 Key)

IC693CPU366 CPU 366 Module (240K Bytes configurable Supports Profibus DP Master (Version 1 supported). One Profibus port and one RS-232 service port.

IC756ADV000K-97 DV Development - AIX Op Sys, Korean, Version 9.7

MSI-EFF-50 Efficiency Management Clients 50 Pack

SLC/1746 System 1746-RT25R REPLACEMENT TERMINAL BLOCK (RED)

Distributed I/O 1738-IB4M8 24VDC 4 SINKING INPUTS WITH M8 CONNECTORS

Application-specific products 9399-PWRGR RSPOWER GETTING RESULTS GUIDE

Operator Interface 2711-NL2 BACKLIGHT LAMP PV900 COLOR

Support 9302-PMOS SUPT RENEWAL CONTRACT FOR 9302PMO

Support 9510-PPKEWENS SUPT RENEWAL CONTRACT FOR 9510PPKEWEN

DeviceNet Products 1788-DNBO DEVICENET LOGIX DAUGHTERCARD - OPEN CONNECTOR

RSI Software Products 9301-2SE3353DEE RSVIEW32 RUNTIME 5K WITH RSLINX (GERMAN)

RSI Software Products 9326-AD1USENE RSAUTOMATION DESKTOP 1 USER W/ SQL SERVER

Motion Control MPG-A004-091S24 MOTOR,SERVO,GEAR RATIO 91,15NM,66RPM,SINGL,BRK

Silver Series 1769-L20 COMPACTLOGIX5320 PROCESSOR, 64 KBYTE MEMORY,

HE693ISOBLK DIN rail mounted cold junction compensation block for thermocouple input modules.

IC655MDL533RR 5/12 VDC (TTL) Input (64 points)

QPI3D200C2P QUICKPANEL COLOR 10.5" TFT

ST-5101 STXi High Speed Counter module, 1 Channel, 5VDC 1.5MHz

20BC170A3ANNANA0 PowerFlex 700 AC Drive 20B

20F1AGC456JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-A012F104 PowerFlex 40 2.2 kW (3 Hp) AC Drive

140DAI74000C Quantum 開關量 AC 輸入, 16點, 48 VAC, 隔離, CC

284D-FVD2P3D-10-RR-3-DB-SB-EMI DeviceNet Variable Frequency Drive

E3JK-D11 30cm,擴散反射式,NPN晶體管輸出100mA，電源:10-30VDC

1492-SJ5A-10 IEC Term Blck 10 pole Side Jumper

人機界面 6ES7841-0CC04-0YA5 S7-PLCSIM 仿真工具

6ES78221AA030YE5

1497B-A11-M15-3-N Control Power Transformer

1606-XLS240E Power Supply XLS 240 W Power Supply

1769-CLL1 CMPLX 0.3 m Left to Left Bus Exp Cable

188-K4D160 Miniature Circuit Breaker 16 A

194R-D125-1753 Disconnect, Fused, Din-Type, 125 A

2090-CPBM7DF-12AA02 MP-Series 2m Power and Brake Cable

2090-XXNPMP-14S90 MP-Series 90 m Length Power Cable

CBL-14-MP-20 Power cable for MTR-1235 or MTR-1300 or MTR-1400 series splashproof stepping motors. 20 feet

GF-0190S-10 Connecting FlashCable to Federal Maxum Plus, 10 ft.

IC200TBX028 Tool box, 28 point, (IC200UDR005) 24VDC In/Relay Out, AC powered (requires AC power),with software, manuals and cables (IC640VPS002 and IC646MPM001)

IC646TBPAS100 Production Accounting Server 100 mass balance streams

IC647NMX000 CIMPLICITY HMI Modbus TCP/IP Communications Driver

IC693ACC315 Battery Adapter Kit (battery not included) for CPU31* and CPU32*

IC750VFD240RR PANELWARE 2-Line x 40-Character VFD Dislplay

IC800VMCE100 Encoder cable for 100 W to 750 W VersaMotion servo motors- 10 meter

SLC/1746 System 1746-OB8 DC OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6155R-NSXPH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SDTAM DTAM KIT FOR SCBK2 PRESS KIT

Operator Interface 2711-B6C14L1 PV600 COLOR KEY&TOUCH, MBUS & RS232 PRINT

Support 9301-2SE2300PTR SUPT REINSTATEMENT CONTRACT FOR 93012SE2300PT

Support 9307-EM10K3PXS SUPT RENEWAL CONTRACT FOR 9307EM10K3PXENE

DeviceNet Products 1734D-IA8XOA8S 120 VAC 8 IN 8 OUT, DNET COMMS, SPRING

RSI Software Products 9301-2SE250KOU2R RSVIEW32 WORKS 1500-100K UPGRADE OUT-SUPT (KO)

RSI Software Products 9358-BNT30U1R UPGRADE: OUT-SUPT: RSBATCH 03 TO 30

Motion Control MPL-B320P-RK22AA MOTOR,SERVO,2.94 NM,5000RPM,RSLVR,460V

Motion Control 2090-K6CK-D15MF CONNECTOR, MOTOR FDBK DSHELL/TERMBLOCK, 15M FILTER

GFK-0485 90-30 Demo Case User's Manual

IC641VPS305 VersaPro 5 Pack - Windows Programming Software for Series 90-30 and VersaMax PLCs

MSC-POT-C Obsolete - 1KW in / 4-20 mA out

PSPC-DC5-220 Prof Shop Floor SPC DC 5 User 220v

20BC011A3AYYANC0 PowerFlex 700 AC Drive 20B

20DW098A0ENNANANE PowerFlex 700S AC Drive 98 A 90 kW 20D

2198-H070-P-T K5500 FR3 control power conn.

2711P-RAT12E2 PanelView Plus Accessory

280-PWRM35H-M025 ArmorStart Three-Phase Power Media

CQM1H-ME16K EEPROM 16K 字

1492-N17 TERM BLCK End Barrier WHT

通訊處理器CP 6ES7 870-1AB01-0YA1 ModbusRTU 從站，單授權，不包含軟件

行程開關 3SE53221SG21

TIA 博途 WinCC 選件 6AV2107-0KF00-0BB0 SIMATIC WinCC WebNavigator for Runtime Professional 10 Clients

1585J-M8HBJM-15 RJ45 Ethernet Media

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