GF-3215R現貨 in stock! 歡迎來電咨詢~！！

GF-3215R,

GF-3215R

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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。
 

2090-CPWM7DF-16AA09 MP-Series 9m Servo Power Cable

2098-DSD-150-SE Ultra 3000 Servo Drive

EDS-308-MM-SC-T C1 D2 6-port 10/100, 2 port multi-mode SC fiber (-40 to 75 deg C op temp)

GF-2232R Connecting FlashCable to DWM-IV, Heise, Omega, Toledo, Weightronix (B are Ended).

IC200ALG263 Analog input 15 bit voltage 15 channel

IC647AEC005 PA Efficiency Client 5 Pak

IC647M32M M32:Moore MYCRO 320 Independent Computer Interface

IC647TIDM TID:Texas Instrument Direct

IC693NIU004 Series 90-30 Ethernet NIU (Ethernet I/O)

IC756LDV010E-99 DV Draw Development on Intel/Linux RedHat Op Sys, English, Version 9.9

MicroLogix 1000/1761 System 1761-L10BWB 10 I/O MICROLOGIX 1000

PLC-5/1771 System 1771-OWNA CONTACT OUTPUT MODULE 32 POINT (NORMALLY OPEN)

Distributed I/O 1791-N4V2 BLOCK I/O, 120V AC, 6 POINT ANALOG MODULE

Communications 1786-FSKIT V-PIN CONNECTOR KIT

Operator Interface 9399-RSVSPCGR RSVIEW32 SPC GETTING RESULTS GUIDE

Support 9356-PRO2350S SUPT RENEWAL CONTRACT FOR 9356PRO2350

Support 9324-RL0LDRENR SUPT REINSTATEMENT CONTRACT FOR 9324RL0LDREN

EtherNet/IP Products 9351-DKTS INTERCHANGE FOR MSL-DOS

RSI Software Products 9301-2SE3500FRU1 RSVIEW32 RUNTIME 32K-100K UPGRADE IN-SUPT (FR)

RSI Software Products 9356-PRO2500U2R UPGRADE: OUT-SUPT: RSSQL STD.300 TO PROF.70000 TAG

Motion Control N-4214-2-H00AA MOTOR,NEMA 42,14 LB-IN,4500 RPM

44A731203-G03 Upgrade Kit Genius IC660BBA023

IC200ALG331 Analog Output Module, 16 Bit Voltage/Current, 1500VAC Isolation, 4 Channels

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

Silver Series 9500-CPAKMENE CONTROLPAK RT - MEDIUM SYSTEM

VSPC32-ADMIN SP VisualSPC Administration Bundle includes Attributes, Analyst, Designer , Wizard, Importer and Reports.

20BD027A0AYNANC0 PowerFlex 700 AC Drive 27 A at 20 Hp 20B

20G11FD052AA0NNNNN PowerFlex 755 AC Packaged Drive

22C-D260A103 PowerFlex 400- 132 kW (200 HP) AC Drive

MA0329001 Quantum CONNECTOR SET,CASSETTE,W/BOOTS

285-BRCF25-M8 Source Brake Cordset Flex Cable

E6B2-CWZ1X 5VDC,線性驅動輸出.600P/R

1492-SPM2B010 MCB Supplementary Protector 1 A

變頻器選件 6SE6 400-1PC00-0AA0 PC 至變頻器連接組件 MM420/440

電機啟動器 3VU16400MN00

150-CF147 SMC-3 Accessory

1715-IF16 1715 16 Point Analog Input Module

1771-NBSC 1771 Analog Module

193-EC4ZZ E3 Plus 9-5000 A Current Relay

198-WT2 ModCenter IEC Wiring Kit

2090-CPWM4DF-16AF09 MP-Series 9m Power Cable

2094-BL75S Kinetix Line Interface Module

DEMOCD00014 Proficy Shop Floor SPC - DEMO CD

GFK-0777 Analog-100 Brushless Servo Amplifier Instruction Manual

IC210DAR010 AC (85 to 264VAC) Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, with LCD/Keypad

IC647ASC010 PA SDK 10 Pak

IC647PPSOF3 Proficy Process Systems Operator Console with iFIX - 3 Pak

IC693CPU313 5-Slot Base With Turbo CPU in base (.6 msec), 1K Registers, (12K Bytes User Program) Battery included

IC754VGI06SKD View Interm 6In STN Keypad DC GEF Ovrlay

MSI-DASHBOARD-10 Dashboard Client 10 Pack

SLC/1746 System 1746-R16 REPLACEMENT COVER & LABEL FOR CTLG # 1747-ASB

Distributed I/O 1734-OX2 24V DC COIL N.O./N.C. DPST RELAY MODULE

Application-specific products 1803-EEM30 EEM,48 PULSES, 24V DC

Operator Interface 2711-ND3 PANELBUILDER32 SOFTWARE

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Support 9381-PP250KENS SUPPORT RENEWAL CONTRACT FOR 9381PP250KEN

DeviceNet Products 1791D-0V16PX 24 VDC COMPACTBLOCK I/O EXPANSION, 16 OUT SINK

RSI Software Products 9301-2SE3350FRU2 RSVIEW32 RUNTIME 300-5K UPGRADE IN-SUPT (FR)

RSI Software Products 9380-RSBCNS2 2-DAYS MISCELLANEOUS SERVICES FOR RSBATCH

Motion Control MPL-B880C-SJ22AA MOTOR,SERVO,110.0NM,1500RPM,SINGL,460V

Silver Series 1398-DDM-010 DRIVE,10A PEAK, ULTRA 200

HE660GGM100 RTU/Modbus slave device with (1) Genius + (1) RTU/Modbus port

IC646TPD150 Pro Server 150 I/O Point Development and Run Time System

QDA-UPD-001 QUICKDESIGNER ADV UPGRADE FROM 3.X

ST-3214 STXi analog input module 4 Channels, 4~20mA, 12-bit

20BC105A3ANNANC0 PowerFlex 700 AC Drive 20B

20F14NC302AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-B4P5F104 PowerFlex 4 0.75 kW (1 Hp) AC Drive

140CPS21400 Quantum 電源, 24 VDC, 可累加, 8A

284D-FHD2P3Z-10-CR-3 DeviceNet Variable Frequency Drive

CJ1W-ID211 16點輸入單元，24VDC

1492-RIFM20F-F24A-2 Connection Products

WinCC 上位監控軟件 6GK1704-1CW63-3AA0 通用以太網卡 S7 驅動

變送器 3RS17002AD00

1497A-A11-M6-3-N Control Power Transformer

1606-XLP15E Power Supply XLP 15 W Power Supply

1764-RPLTB2 MicroLogix Replacement Part

188-K4B400 Miniature Circuit Breaker 40 A

194L-HE6I-175 IEC CONTROL AND LOAD SW ACTUATOR TYPE I

2090-CPBM7DF-10AA01 MP-Series 1m Standard Cable

2090-XXNPMP-10S01 MP-Series 1 m Length Power Cable

CB4N-0WPM-0140-AZ AHVi and AHVis Motor Brake Power Cable with Straight Connector, 14 M

GC647SLE999 GCScheduler Server Large

IC200PNS002 PROFINET Scanner (PNS) module interfaces a remote node of VersaMax modules to a PROFINET IO Controller. Two 100Mbps Multi-Mode fiber (MMF) ports. Requires Proficy Machine Edition 7.0.

IC646TBLCLT025 Proficy Troubleshooter for Intelligent Historian Standard, Enterprise and Corporate Clients Access 25 Users

IC647NDH000 CIMPLICITY HMI AB DH PLUS Driver

IC690CDR003 InfoLink For PLC Legacy Products CD, single user license

IC698CHS017 RX7i 17 Slot Rack Wall (Rear) Mount

IC800VMA202 2 kW VersaMotion servo amplifier

SLC/1746 System 1746-IA8 AC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6181P-2P2KHDC VERSAVIEW 1200P NON DISPLAY COMPUTER 2 SLOT

Application-specific products 9358-PBPCNT30ENE RSBATCH NT FOR PROCESLGIX PC BASED PHASES 30 UNITS

Operator Interface 2711-K5A5L1 PV550 MONOCHROME KEY, RS232 (DH485)

Support 9301-2SE2100ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE2100ZH

Support 9500-CPAKSENS SUPT RENEWAL CONTRACT FOR 9500CPAKSEN

ControlNet Products 9904-OSC CONTROLNET CNA10 OSCILLATOR (1000 PIECE REEL)

RSI Software Products 9301-2SE2503PTE RSVIEW32 WORKS 100K WITH RSLINX (PORTUGUESE)

RSI Software Products 9358-BEPNT60U3 UPGRADE: IN-SUPT: EPROCEDURE FOR NT 30 TO 60

Motion Control MPL-A540K-MK22AA MOTOR,SERVO,19.4 NM,4000RPM,MULTI,230V,16.5KG

Motion Control 2090-XXNPMP-16S01 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,16 GAUGE,1M

GC646MDC000 Proficy GlobalCare Complete for Logic Developer - PC & View Development/Runtime 8,000 I/O""

IC641SWP050 MS Windows SRTP/VME Host Drivers, Qty. 1

IC800SSI407RP2 7.2A, 480V, Profibus S2K Servo Controller for MTR Series Motors

PSPC-DC/E-220 Prof Shop Floor SPC DC 1 User eSig 220v

20BB192A0ANNANC0 PowerFlex 700 AC Drive 20B

20DH1K430ENNBNANE PowerFlex 700S AC Drive 20D

2198-DB80-F Kinetix 5700 80A Line Filter

2711P-K6C5A8 PanelView Plus 6 Graphic Terminal

280-PWRM35E-M2 ArmorStart Three-Phase Power Media

C60P-EDR-A C60P擴展，32點入，28點出?（繼電器）.已停產

1492-MS6X12V51-100 Connection Products

數字量輸入/輸出模塊SM 6ES7 322-1BL00-0AA0 DO/32 24VDC，0.5A，晶體管輸出，光電隔離，40pin前連接器

行程開關 3SE53123SD13

運行版軟件 6AV2105-2DD14-0AC0 SIMATIC WinCC Runtime 專業版 Powerpack Runtime Advanced 512 PowerTags -> Runtime 專業版 512 PowerTags ASIA V14

1585J-M8CBJM-13 RJ45 Ethernet Media

1756-PBR2 ControlLogix Power Supply Bundle

188-K1D020-N Miniature Circuit Breaker 2 A

194E-Y16-1753-4N 16 A 194E Load switch

2090-CFBM7E7-CDAF01 MP-Series 1m Feedback Cable

2090-UXNFBMP-S25 MP-Series 25 m Length Feedback Cable

BC646TPD150 ProServer 150 I/O Develop/Runtime Systems with Proficy GlobalCare

GC647IFESGSR00300 GCC iFIX Optn: ESig & ERec 300 I/O Srv

IC200BEM104 VersaMax AS-Interface Network Master to interface a VersaMax PLC or I/O NIU to AS-Interface network. The AS-i module supports 31 slave devices.

IC646MOP001 Logic Developer PC with View for 8000 I/0 Development only

IC647IFPRSR00075C iFIX Profsnl SCADA 75 I/O Server (M1Component Part)

IC660TBD024 Terminal Assembly for IC660BBD024

IC697CMM712RR Serial Communications Module for State Logic

IC800MCUB12160XNRR Stepping MotorCube 50 oz-in, Pulse/Direction

ControlLogix/1756 System 1756-IC16 30-60 VDC INPUT 16 PTS (20 PIN)

Industrial Computers 6182H-7TRH6B VVCE 700, TOUCH, STD MEM, RIO/DH, AC

Process Control 9358-PBNT60ENE RSBATCH NT FOR PROCESSLOGIX 60 UNITS

Operator Interface 2711P-RAK6 CUTOUT ADAPTER TO MOUNT PV PLUS 600 KEYPAD

Support 9352-WPM200R SUPT REINSTATEMENT CONTRACT FOR 9352WPM200

Support 9351-AIXRTS SUPT RENEWAL CONTRACT FOR 9351AIXRT

ControlNet Products 1786-TPS CONTROLNET T-TAP/STRAIGHT

RSI Software Products 9301-2SE235KOU3R RSVIEW32 WORKS 1500-5K UPGRADE OUT-SUPT (KO)

RSI Software Products 9355-WABEU1 UPGRADE: IN-SUPT RSLINX OEM TO RSLINX PROFESSIONAL

Motion Control MPL-A310P-HJ24AA MOTOR,SERVO,1.58NM,5000RPM,ENCR,230V,BRK,4.1KG

Motion Control 2090-DANFCT-S07 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 07M

BC647MPP001 Logic Developer PLC Professional. with Proficy GlobalCare Complete and a hardware key

IC5002TAX0000 12" Unbundled Intelligence Industrial Computer with WIN XP Standard Series

IC800CBL067 B0.5/3000 Motor Power Cable, 14 Meters

OC647HSTSCADA300 Proficy Historian for SCADA 300 pts

20AD014A3AYYANC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC140A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ANE063AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-D030N104 PowerFlex 527 15kW (20Hp) AC Drive

280-PWRM22A-M015 ArmorStart Three-Phase Power Media

FX1S-30MT 主機16入/14出 晶體管輸出

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1494H-CA3H2 Heavy Duty Fusible Safety Switch

軟啟動器 3RW44446BC46

ET 200SP 6ES7136-6DB00-0CA0 故障安全型模塊F-DQ 4x24VDC/2A PM 高性能型，基座單元類型A0

1585D-M4TBDM-18 Micro D-Code, QD Style Ethernet Media

1756-CPR2D ControlLogix Redundant Supply Cable Down

1794-OB16 Flex 16 Point Digital Output Module

194E-CA40 194E Load switch

2085-IF4 Micro800 4 Point Analog Input Module

2090-DANBT-18S05 TL-Series 5 m Length Brake Cable

20AC5P0C3AYNANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MVSS99 Proficy GlobalCare Complete for View Standard Edition - Site License

HE693THM665 Discontinued Part. Check with GE IP on migration path.

IC630MDL306RR 24Vdc Sink Input Module, D Connector, w/LEDs (32 points)

IC647HSTSS3KM-35 Historian v3.5 Standard Server 2500 Points (M4 Key)

IC660BLA024 Cover w/Label for IC660BBA024

IC695ALG616RS Refurbished Analog Input module, 16 channels single ended, 8 channels differential, channels are configurable for voltage and current. Can be configured for Current: 0 to 20mA, 4 to 20mA, +/- 20mA; Voltage: +/- 10V, 0 to 10V, +/- 5V, 0 to 5V, 1 to 5

IC756WDV009E-26 DV Dev Sys VB, English v2.6

CompactLogix System 1769-OF2 2 CHANNEL ANALOG CURRENT/VOLTAGE OUTPUT MODULE

PLC-5/1771 System 9399-L5MAN 9399-L5MAN PLC-5 A.I. SERIES MANUAL SET

Distributed I/O 1799-ZCIOB ZONE CONTROL I/O CARD W/SOURCING OUTPUTS AND ZIP

Operator Interface 2711P-T6C5D PV PLUS 600 COLOR, TOUCH, RS232, DC PS. INCL USB,

Support 9343-S5200R SUPT REINSTATEMENT CONTRACT FOR 9343S5200

Support 9358-PBPC10S SUPT RENEWAL CONTRACT FOR 9358PBPC10ENE

Support F1779-KP2 FIRMWARE UPGRADE FOR 1779-KP2 COMMUNICATION MODULE

RSI Software Products 9301-2SE2103FRE RSVIEW32 WORKS 150 WITH RSLINX (FRENCH)

RSI Software Products 9701-VWMR075ENU1 RSVIEW ME STATION RUNTIME 15 TO 75 DISPLAY

RSI Software Products 9399-2SE32GRES RSVIEW32 GETTING RESULTS GUIDE (SPANISH)

Motion Control 2098-DSD-150X DRIVE, 65A/150A, ULTRA3000 W/INDEXING

ABI31200C2P/DVN QUICKPANEL 10.5" TFT W/DVN

IC200USB002 VersaMax Micro 64, RS-485 communications option board with (2) 0 - 10VDCanalog input channels built-in. The option board also supports program storage memory module. Compatible with VersaMax Micro 64 only.

IC752DPA060 Mature, order QuickPanel instead. DataPanel 1060 with resistive touch. 10.4" VGA (640x480) active matrix TFT color display. No bezel - mounts from inside panel. Supports all WinCfg functionality.

MTR-3S32-G-R-0-E-S MTR series servo motor with resolver and shaft seal

ZA06B-0273-B200 Alpha 40/4000HVis servo motor with straight shaft and key

20BE017A0AYNAND0 PowerFlex 700 AC Drive 17 A at 15 Hp 20B

20G14ND248AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PMFC-FB PowerFlex 520 Fr B Power Mod Front Cover

2711P-RP8DK PV Plus 6 512MB DC C Coated Logic Module

FRN7.5G11S-4CX 14 KVA 18 A 7.5 KW 3相AC380V/50Hz/60Hz

1492-J6 6 square mm Feed-Through Terminal Block

1492-SPM3D630-N MCB Supplementary Protector 63 A

軟啟動器 3RW40566BB45

CPU 模塊 6ES7 513-1AL01-0AB0 CPU 1513-1 PN，300 KB 程序，1.5 MB 數據；40 ns；集成 2x PN 接口

152H-C251FBD-54 251 A Encl. Smart Mtr Ctrlr Fusible

1738-OB8EM8 ArmorPoint 8 Point Output Module

1785-ENET PLC-5 Ethernet Interface Module

193-NREEJZ E1 Plus Replacement Overload Relay

20-COMM-C PowerFlex ControlNet Comm Adapter

2090-CSBM1DE-18AA15 Kinetix Cable Single DSL 2090-Series

20AC011A0AYNADC0 PowerFlex 70 AC Drive 20A

GA647IFSTDV00075 GCA iFIX Std HMI 75 I/O Dev

GP647IFPLDV00300 GCP iFIX Plus SCADA 300 I/O Dev

IC600BF915RR Axis Positioning Module Type 1 (Resolver Feedback)

IC647HSTCR20KM Collector Redundancy Option for Historian - Standard Server 20000 Points (M4 Key)

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