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E7BVD074YZ,

E7BVD074YZ

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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。
 

1753-HHT GuardPLC Handheld Terminal

1771-WHFB 1771 Field Wiring Arm

1797-OB4D FlexEx 4 Point Module

194E-A32-1753-6G 32 A 194E Load switch

198-MR6 IEC MANUAL Enclosure Accessory

2090-CSBM1DF-18AA03 Kinetix Cable Single DSL 2090-Series

2090-XXTFMP-S30 MP-Series 30 m Length Feedback Cable

GA647IFCLNTSRO100 GCP iFIX iClient Read Only 1 PK Keyed Runtime Version

GC647IFSTDV00300 GCC iFIX Std HMI 300 I/O Dev

IC200CHS121 I/O interposing fuse style 16 point

IC646MSS005 Logic Developer State Standard 5 Pack

IC647IFSTRN00150K iFIX Standard HMI 150 I/O Runtime (M1 Kit Part)

IC670CHS102 I/O Base, Box Style, Hot Insertion obsolete. Recommended replacement is IC670CHS101 I/O Base, Barrier Style.

IC697GDH701 CIMPLICITY 70 Graphic Display Hardware Package (Repeat Systems)

IC800SKCPVL050 Power cable for SLM350 or SDM500 or SLM500 S-series servo motor to an S2K. 5 meters

ControlLogix/1756 System 1756-HSC 2 CHANNEL / 4 OUTPUT HIGH SPEED COUNTER (36 PIN)

Industrial Computers 6182H-12BEH4D VVCE 1250, KEY/TOUCH, EXT MEM, ENET, DC

Process Control 1757-PE1400RED2 PLX BACKUP SERVER ON DELL PE1400

Operator Interface 2711P-RGT7 PV PLUS/VVCE PROTECTIVE ANTIGLARE OVERLAYS QTY 3

Support 9355-WABOEMFRR SUPT REINSTATEMENT CONTRACT FOR 9355WABOEMFR

Support 9354-SS105S 9354-SS105 SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 1734-IA2 120 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE2400PTU3 RSVIEW32 WORKS 150-32K UPGRADE IN-SUPT (PT)

RSI Software Products 9357-ANETMDAD3E RSNETWORX MD FOR CNET,DNET,ENET ADD-ON

Motion Control MPL-A330P-MK22AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,230V,5.0KG

Motion Control 2090-UXNBMP-18S15 CABLE,ULTRA,NON-FLEX,MOTOR BRAKE,MP 15 MTR.

CBL-136 Cable. Mitsubishi A Series Prog. Port (RS-422)

IC600RR551RR RPU Rack With Power Supply, 115-230Vac

IC800SKCEZ050 Encoder Cable, S2K to 200-750W S-Series Servo Motors, 5 Meters

OC647IFESGSR00150C iFIX Optn: ESig & ERec 150 I/O Server (M1Component Part)

20AD052F3AYNANC0 PowerFlex 70 AC Drive 52 A at 40 Hp 20A

20DC5P0A3EYYAEASE PowerFlex 700S AC Drive 20D

20P21AD010RA0NNN PowerFlex 10 A DC Drive

2711-CBL-PM10 PanelView 300 10m Operate and Prog Cable

280-PWRM22E-M8 ArmorStart Three-Phase Power Media

FX2N-4AD-TC 4通道热电耦模拟量输入模块

1492-M8X5 IEC 8 x 5 mm Marker Card

1494U-C314 1494U 30A-100A 4' Cable Mechanism

软启动器 3RW44532BC36

SIMATIC STEP 7 V14 6ES7822-1AA04-0YA5 SIMATIC STEP 7 专业版 V14 浮动授权

1585D-M4UBDE-80 Micro D-Code, QD Style Ethernet Media

1756-IC16 ControlLogix 16 Pt 48V DC D/I Module

1794-TB62DS Flex Terminal Base

194E-E16-1756 16 A 194E Load switch

2090-CFBM4DF-CDAF05 MP-Series 5m Feedback Cable

2090-KFBM7-CAAA MP-Series Feedback Connector Kit

BC5005TAX0000 15 Inch Intelligence Industrial Computer - Bundled - Standard Series - w/ Windows XP

GC646TJT000 Proficy GlobalCare Complete for HMI Tracker Server - Intel

HMI-BEZ-202 Stainless Steel Bezel: 9 inch Mono (QPI2xxxxE2P)/ NEMA 4X

IC641CFG100 VersaPro Remote I/O Manager

IC647I3EM I3E:IEEE 488.2

IC660CBB903RR Series Six Bus Controller without Diagnostics, Ph B

IC695FTB1B032 Fiber terminal Block kit includes the IC695FTB001 base plus two IC694TBS032 high density box style screw terminal blocks

IC756WRE024J-12 DV-Centro Runtime WinNT Jap v1.2.1

FlexLogix System 1794-ACNR15 REDUNDANT MEDIA ADAPTER FOR CONTROLNET

PLC-5/1771 System D1771-6.5.77 THERMOCOUPLE/MILLIVOLT INPUT MODULE(1771-IXE/B)MNL

Process Control 1757-PLXNX APPLICATION TOOLKIT

Operator Interface 2711P-T7C15D1 PV PLUS 700, TOUCH, CNET, DC PS, STD MEM

Support 6626-PLPS 6626-PLP SOFTWARE SUPPORT RENEWAL

Support GML-CCR SUPT REINSTATEMENT CONTRACT FOR GMLCC

Support F1785-L20C15SERF FIRMWARE UPGRADE FOR 1785-L20C15 PLC5 PROCESSOR MO

RSI Software Products 9301-2SE220KOU1R RSVIEW32 WORKS 150-300 UPGRADE OUT-SUPT (KO)

RSI Software Products 9701-VWSB100ENU2 RSVIEW SE STATION 100 - SE SRV 100 DISP+CLIENT

RSI Software Products 9399-HISTGR RSBIZWARE HISTORIAN GETTING RESULTS GUIDE

Motion Control 2098-DSD-HV150X-DN HIGH VOLTAGE DRIVE, 34A/68A, ULTRA3000 W/DNET,INDE

BC646MBL001 Machine Edition View for Quick Panel, Lite Dev. Suite

IC300DIQ711 16 DC Inputs (12/24vdc), 12 DC Outputs (5/12/24vdc,o.5A neg. logic with ESCP)

IC752MNL000 Mature. Datapanel Performance Series Operator's Manual

MTR-3S46-H-R-B-E-SRR Servo Motor 24V Brake, Seal

ZA06B-6114-K200#E Encoder connector for BM0.5 or BM1 servo motor

20BP260A0ANNANC0 PowerFlex 700 AC Drive 20B

20G1ABC460AN0NNNNN PowerFlex 755 AC Packaged Drive

25A-B048N104 PowerFlex 523 11kW (15Hp) AC Drive

2711P-T12W22A9P-B PanelView Plus 7 Graphic Terminal

OPC-G11S-PG2(反馈卡)

1492-JG2Q 1.5 square mm Ground Terminal Block

1492-WFB4250 IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW44223BC35

性能信号模块 6ES7 522-5FF00-0AB0 DQ 8：数字量输出模块，可控硅 DQ 8 x 230 VAC/ 2A ST (TRIAC), 35mm 模块，不含前连接器

156-B45AA1 45 A Contactor

1746-NI16I SLC 16 Point Analog Input Module

1786-XT ControlNet Media BNC Terminator

193-T1DC60P 45-60 A IEC Bimetallic Overload Relay

20-IP54DR-600 DOOR, IP54/N12, FOR 600MM WIDE POWERFLEX

2090-CSBM1DF-14AF08 Kinetix Cable Single DSL 2090-Series

20AC022A3AYNANG0 PowerFlex 70 AC Drive 22 A at 11 kW 20A

GA647TRT935 Proficy GlobalCare Assist for CIMPLICITY HMI Server 35,000 I/O Runtime System

GPA-602-F1 LVDT Expansion Unit (Full Bridge F1 Blocks), includes G-0602 connectin g cable.

IC600CM552RR 2K Combined Memory Module

IC647HSTCSEO150KM eSignature Option for Historian - Enterprise Corporate Server 150000 Points (M4 Key)

IC647WFL002 Proficy Workflow - 2 User License

IC694ACC310 RX3i Blank filler module

IC756RDV001K-98 DV Development - Irix Op Sys Addt'l User, Korean, Version 9.8

MicroLogix 1200 System 1762-L40BXB MICROLOGIX 1200, 40 PT.

PLC-5/1771 System 1771-LC4B LOOP CONTROLLER W/RTD OPTION,240V AC SUPPLY

Distributed I/O 1794-IM8 220V AC INPUT MOD, 8 PT.

Communications 9355-WABOEMFRE RSLINX OEM - FRENCH

Operator Interface D6195-6.5.3DE CONTROLVIEW BUILDER SOFTWARE USER MANUAL (GERMAN)

Support 9358-BEPB60S SUPT RENEWAL CONTRACT FOR 9358BEPBNT60ENE

Support F1770-KF2SERB FIRMWARE UPGRADE FOR 1770-KF2 COMMUNICATION MODULE

RSI Software Products 9324-RL0300NXENE RSLOGIX 500 STANDARD; RSNETWORX FOR CONTROLNET

RSI Software Products 9301-2SE350DEU1R RSVIEW32 RUNTIME 32K-100K UPGRADE OUT-SUPT (DE)

RSI Software Products 9358-HSTS2300U2 UPGRADE: IN-SUPT: HISTORIAN 300 TO 1500 TAG

Motion Control W-4030-P-H00AA MOTOR,SERVO,WASHDOWN,AF,2.8 NM,3000RPM,12.0KG

601 Numeric Keypad, Flat Membrane keys. NEMA 4

IC200MDD840LT MIXED 24VDC POS LOG INPUT GRP 20PT / OUTPUT RELAY 2.0A PER PT GRP 12PT (LT)

IC695PSD040 Power supply 24VDC 40 watts occupies one slot on system base

MTR-1220-E-D-E-0 MTR series NEMA 23 stepping motor with series winding connection and encoder

VSPCSE-SF50 VisualSPC SE ShopFloor includes Attribute Data Collection, Measurement Systems Analysis and A-681 interface cable. 50 license pack.

20BD077A0ANNAND0 PowerFlex 700 AC Drive 77 A 60 Hp 20B

20G11NC011JA0NNNNN PowerFlex 755 AC Packaged Drive

22F-A8P0N113 PowerFlex 4M- 1.5 kW (2 HP) AC Drive

990NAD21110 Quantum MB+ 站电缆,2.4M

291E-FBZ-G1 Direct Online Reversing Starte

PF113A-E 导轨安装型，MK3P-I

1492-SPM2D300 MCB Supplementary Protector 30 A

软启动器 3RW30472BB14

电机启动器 3VU16401CN00

150-F361NBDB SMC Flex Smart Motor Controller

1732E-OB16M12 ArmorBlock 16 Point Output

1771-WD FIELD WIRING ARM, 12 TRMLS, TIN PLATED

193-EELZ E1 Plus 100-500 A Overload Relay

20-750-APS PowerFlex 750 Auxillary Power Supply

2090-CPWM7DF-10AA05 MP-Series 5m Servo Power Cable

2097-V32PR2 Kinetix 300 Servo Drive

ET-GT-3ES-2ST 2 RJ45 Ports, 1 Multimode Fiber Port Ethernet Switch

GFK-1911 VersaPoint Profibus NIU User's Manual

IC220MDD841 ABSOLUTE ENCODER INPUT, 4IN/4OUT 24VDC (REQUIRES 1 IC220TBK202)

IC647CSPR050 Proficy Cause+ for Intelligent HMI/SCADA Runtime Server - 50X monitored KPIs

IC647PSF050 Proficy Process Systems 500 I/O with iFIX

IC693MDL231RR 240 Vac Isolated Input (8 Points)

IC756CDV000J-98 DV Development - Compaq True64 Op Sys, Japanese, Version 9.8

MSI-MGMT-50 Production Management Clients 50 Pack

PLC-5/1771 System 1785-L40E ETHERNET/IP PLC-5/40 CONTROLLER, 48K WORD SRAM

Distributed I/O 1738-ADN18 DEVICENET ADAPTER WITH MINI CONNECTORS

Communications 1787-USADPTR U.S. P/S ADAPTER FOR 1770-KFD

Operator Interface 2711-NR5K CUTOUT ADAPTER TO MOUNT 1000/1000E/6182 12" KEYPAD

Support 9304-WVD256S SUPT RENEWAL CONTRACT FOR 9304WVD256

Support 9324-RLD25U6ESE RSLOGIX 5000 LITE SPANISH TO FULL UPGRADE

DeviceNet Products 2711-K5A10L1 PV550 MONOCHROME KEY, DNET & RS232 PRINT

RSI Software Products 9301-2SE335PTU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (PT)

RSI Software Products 9371-EDESI1U5R UPGRADE: OUT-SUPT: RSWIRE DET IEC/ACAD TO DES IEC

Motion Control MPG-B025-031M24 MOTOR,SERVO,GEAR RATIO 31,100NM,156RPM,MULTI,BRK

Silver Series 2711-T14C10 PV1400 COLOR TOUCH, DNET & RS232 PRINT

HE693STP104 One axis stepper positioning module for Series 90-30 with Normally Closed Limit Inputs

IC670MDL240 120VAC Input 16 Pt. Grouped

QPJ2D100L2P QUICKPANEL JR. MONO 5" LCD

ST-7408 STXi Potential Distribution module for Shield module, with module ID type with LED

20BC2P1A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1ANC302JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-B033N104 PowerFlex 40- 7.5 kW (10 HP) AC Drive

140DAO84210C Quantum 开关量AC输出,16点,110-230VAC,隔离,4组

284D-FVD6P0Z-25-CR-3-DB-SB-EMI DeviceNet Variable Frequency Drive

E3F3-D31 10cm,扩散反射式, 明通，PNP 晶体管输出100mA电源：10-30VDC直径18mm

1492-SPM1B050-N MCB Supplementary Protector 5 A

6ED1055-1HB00-0BA0 LOGO!DM8 24R, 4DI/4DO

6ES73325HD014AB1

1497B-A9-M15-3-N Control Power Transformer

1606-XLSBAT2 1606 26 Ah UPS Battery Power Supply

1769-L16ER-BB1B CompactLogix 384KB DI/O Controller

190-PY Circuit-Breaker Disconnect Accessory

194R-J30-1753S 194R Disconnect Switch

2090-CPBM7DF-14AA90 MP-Series 90m Standard Cable

2090-XXNPN-16S05 N-Series 5 m Length Motor Power Cable

CBL-3P-MP-10 Power cable for MTR-3S60-H series servo motors. 10 feet

GF-0817R Connecting FlashCable to Promeasure Scale.

IC200UAA003-24 Qty of 24, 14 point PLC, (8) 120VAC In, (6) 120VAC Out, 120V/240VAC Po (6) AC Out, AC Power supply.

IC646TBSPMSW010 Smart Process Monitoring SPC+ Web Clients 10 Pack

IC647NVC000 CIMPLICITY HMI Digital Graphical Replay (DGR)

IC693ALG221CA Conformal Coated Analog Input module, four point current.

IC752CGE203 VersaMax Nano/Micro, RF-45, RS-232 to DataPanel 150/160/240E

IC800VMM04LNKSE25 400 W VersaMotion servo motor (1.27 Nm)

SLC/1746 System 1746-NT4 THERMOCOUPLE/MV INPUT MODULE FOR PROGRAMMABLE CTRL

Industrial Computers 6189V-FANFIL1 FAN FILTER (1500W) 5-PACK (WORKSTATION)

Application-specific products 1403-LM05A MASTER MODULE FOR POWERMONITOR

Operator Interface 2711-K6C16L1 PV600 COLOR KEY, DF1 & RS232 PRINT

Support 9301-2SE2500ESS SUPT RENEWAL CONTRACT FOR 93012SE2500ES

Support 9380-RSB10000S SUPT RENEWAL CONTRACT FOR 9380RSB10000

DeviceNet Products 1734-IE2C 24V DC 2 CHANNEL ANALOG CURRENT INPUT MODULE

RSI Software Products 9301-2SE3103FRE RSVIEW32 RUNTIME 150 WITH RSLINX (FRENCH)

RSI Software Products 9358-BPC10U1 UPGRADE: IN-SUPT: RSBIZWARE PC PHASES 03 TO 10

Motion Control MPL-B420P-SJ22AA MOTOR,SERVO,4.74 NM,5000RPM,SINGL,460V,5.0KG

Motion Control 2090-S-BLHD SERCOS FIBER CABLE BULKHEAD ADAPTOR 2 PER

GFK-0846 Pro-Log GRI Genius I/O Interface for the Allen-Bradley PLC Reference Manual

IC646MDB159 Logic Developer 1500 Tag Runtime & Development System

MSDIS-1211 Discontiuned, Marathon 12", HiBrite Display, Keypad and Touch

PSPC-MONITOR50 Prof Shop Floor SPC Monitor 50 User

20BC022A0NYNANC0 PowerFlex 700 AC Drive 22 A at 11 kW 20B

20F11GC060AA0NNNNN PowerFlex 753 AC Packaged Drive

2198-S130-ERS3 Kinetix 5700 Single Axis Inverter

2711P-RDB7CK PanelView Plus Display Module

280D-F12Z-10C-CRW-3 ArmorStart Direct Online Starter

CQM1-II101 扩展从站单元

1492-NM40BL TERM BLCK End Barrier

微存储卡 6ES7953-8LG11-0AA0 MMC 微存储卡 128K 用于 S7-300/C7/ET200S IM151CPU,3.3V NFLASH

变送器 3RS18002AP00

TIA 博途 WinCC 选件 6AV2107-0GA00-0BB0 SIMATIC WinCC Logging for Runtime Advanced

1585J-M8PBJM-20X 1585J Ethernet Media Cables

1760-L18DWD-EX Pico 18 Point Controller

188-K2D005 Miniature Circuit Breaker 0.5 A

194L-E12-1754 12A 194L Load Switch

2090-CNSSPRS-AA04 Kinetix 6000M network cable

2090-XNSM-W Kinetix Safe Off Header Connector Kit

BC647MVD000 ME View View OPC Driver License w/Global Care and Hardware Key

GC647IPWRPLRN00300M iPower Option - Nwk 300 I/O Run Globalcare Complete part

IC200DEM064 VersaMax Micro 64 Demo Carrying Case. Demo includes Micro 64 (IC200UDD064, DC supply, DC in and DC out) PowerCube stepper amplifier, stepping motor (MTR-1216-N-D-E-0), stepper cable (CBL-12-MP-10), PowerCube Flying Lead interface cable (IC800PCUBC02

IC646NDP000 CIMPLICITY NT distributor demo - 10 pack

IC647IFXPECLNT iFIX for Embedded XP Client Option

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