PCI-7258现货 in stock! 欢迎来电咨询~！！

PCI-7258,

PCI-7258

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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。
 

2711P-RDK15C PanelView Plus Display Module

280-PWRM35A-M10 ArmorConnect 10 Meter M35 Patchcord

6SE6440-2UD13-7AA1 0.37KW

C200H-OA221 输出单元, 8点, 可控硅 1A 200VAC

1492-PD3141 175 A Power Distribution Block

1494V-RA3 Connecting Rod

软启动器 3RW44261BC34

变送器 3RS17022AD00

1497A-A13-M7-0-N Control Power Transformer

1606-XLP50B Power Supply XLP 50 W Power Supply

1766-L32BXB MicroLogix 1400 32 Point Controller

188-K4C030 Miniature Circuit Breaker 3 A

194L-HE8N-175 194L Control and Load Switch Actuator

2090-CPBM7DF-10AA09 MP-Series 9m Standard Cable

2090-XXNPMP-10S12 MP-Series 12 m Length Power Cable

CBL-12-MP-10 Power cable for MTR-1216 or MTR-1221 or MTR-1231 stepping motors. 10 feet

GC647SPT001 GCScheduler Proficy Plant Apps Adapter

IC200PWR002 POWER SUPPLY WITH EXPANDED 3.3VDC 24VDC INPUT

IC646TBLH010 Proficy Troubleshooter for Intelligent Historian 10 Seats

IC647NETC NET:Netpac

IC690RBK001 Rechargable battery kit. Includes battery (IC690RBT001) and battery charger (IC690CRG001). The rechargable battery is compatible with PAC controllers, Series 90-30 and Series 90-70.

IC698CPE010 Do not quote. Product discontinued. RX7i 300mhz CPU with Ethernet 10/100

IC800VMACONMTRP VersaMotion amplifier motor power replacement connector (100 W to 1 kW models)

SLC/1746 System 1746-IH16 DC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6180W-15BS2KH VERSAVIEW 15-INCH WORKSTATION, KEYPAD & TOUCH

Application-specific products 6556-MLCBKDC MICRO LOGIX C/B KIT DC

Operator Interface 2711-K5A8L3 PV550 MONOCHROME KEY, DH+ & RS232 PRINT

Support 9301-2SE2200FRR SUPT REINSTATEMENT CONTRACT FOR 93012SE2200FR

Support ABTS-W100R ABT-SW100 PATHFINDER SW SUPPORT REINSTATEMENT

ControlNet Products 9399-CNETGR RSNETWORX FOR CONTROLNET GETTING RESULTS GUIDE

RSI Software Products 9301-2SE250DEU5R RSVIEW32 WORKS 5K-100K UPGRADE OUT-SUPT (DE)

RSI Software Products 9358-BERP02U1R UPGRADE: OUT-SUPT: RSBW BATCH ERP 1 TO 3 SERVER

Motion Control MPL-A560F-MJ22AA MOTOR,SERVO,26.8NM,3000RPM,MULTI,230V

Motion Control 2090-XXNPMP-16S09 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,16 GAUGE,9M

GC646MRC000 Proficy GlobalCare Complete for Logic PC & View Runtime 8,000 I/O""

IC641SWP057 Toolkit for DEC Alpha/VMS C Applications

IC800STI105S1 5 Amp S2K Series Stepper Amplifier/Controller, 115 VAC

PSPC-DC10/E Prof Shop Floor SPC DC 10 User w/ eSig

20BB2P2A0AYNBNC0 PowerFlex 700 AC Drive 20B

20DJ096A0ENNANANE PowerFlex 700S AC Drive 96 A 75 Hp 20D

2198-H015-ERS2 Kinetix 5500 12.5 Amp Servo Drive

2711P-K6M5D8 PanelView Plus 6 6 Gray Key DC RS232

280-PWRM35E-M4 ArmorStart Three-Phase Power Media

CP1W-ME05M 内存盒

1492-MS8X12H11-20 Connection Products

光电隔离，40pin 前连接器"

行程开关 3SE53220SB22

运行版软件 6AV2105-3FF04-0AE0 SIMATIC WinCC Runtime 专业版 2048 PowerTags V14 Upgrade V11..V13 -> V14

1585J-M8CBJM-2 RJ45 Ethernet Media

1756-PH75 ControlLogix 125V DC Power Supply

188-K1D060-N 6 A Miniature Circuit Breaker

194E-Y25-1753-6G 25 A 194E Load switch

2090-CFBM7E7-CDAF09 MP-Series 9 m Length Feedback Cable

2090-UXNFBY-S01 Y-Series 1 m Length Feedback Cable

BC646TPR000 ProServer Unlimited Runtime Sys with Proficy GlobalCare

GC647IFGLBLCLN020M iFIX WebSpace 20 Additional Clients (GC Complete)

IC200CBL120 Cable I/O non-shielded 2 connectors 2.0M for connector-style carrier

IC646MPH101 Logic Developer PDA Single Liscense w/ Adapters

IC647IFPRSR00150M iFIX Profsnl SCADA 150 I/O Server (M4 Part)

IC660TBR101RR Relay Output, Normally Open, 16 Circuit, Term Asm. only

IC697CMM742RR Series 90-70 Ethernet Interface, Type 2

IC800MCUB12210XNRR Stepping MotorCube 100 oz-in, Pulse/Direction

ControlLogix/1756 System 1756-IV16 10-30 VDC SOURCING INPUT 16 PTS (20 PIN)

Industrial Computers 6182H-10BEH6B VVCE 1000, KEY/TOUCH, EXT MEM, RIO/DH, AC

Process Control 9358-PBPC10ENE RSBIZWARE BATCH FOR PLX PC BASED PHASE 10 UNITS

Operator Interface 2711P-RAT15 PVP/VVCE1500 TOUCH TO PV1400E TOUCH ADAPTER

Support 9352-WSD100R SUPT REINSTATEMENT CONTRACT FOR 9352WSD100

Support 9351-HPUSR SUPT REINSTATEMENT CONTRACT FOR 9351HPUS

ControlNet Products 1786-FS20 200 MICRON CABLE ASSEMBLY 20 METERS (65.6 FT)

RSI Software Products 9301-2SE235ZHU3R RSVIEW32 WORKS 1500-5K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9355-WABGWENE RSLINX GATEWAY - ENGLISH

Motion Control MPL-A310P-MK24AA MOTOR,SERVO,1.58 NM,5000RPM,MULTI,230V,BRK,4.2KG

Motion Control 2090-DANFCT-S30 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 30M

BC647MPS001 Logic Developer PLC Standard Edition with Proficy GlobalCare Complete and a hardware key

IC5005TAW0000 15" Intelligence Industrial PC, Standard Series Win2000

IC800MCC23P050 Motor Cube Power Cable, 5 Meters

OC647IFAFLOVC iFIX Optn: SCADA Synchronization (M1Component Part)

20AD022A3AYNADC0 PowerFlex 70 AC Drive 22 A at 15 Hp 20A

20DC1K0N0ENNBNANE PowerFlex 700S AC Drive 20D

20G1ANE192AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-D2P3N104 PowerFlex 527 0.75kW (1Hp) AC Drive

280-PWRM22A-M14 ArmorConnect 14 Meter M22 Patchcord

FX1S-14MR-D 直流主机8入/6出 继电器输出

1492-M5X12V1-50 Connection Products

1494H-DA3H6 Safety Switch, 100 ,600V FUSE,Type 1

软启动器 3RW44452BC46

ET 200SP 6ES7138-6AA00-0BA0 TM Count 1x24V，高速计数模块，基座单元类型A0

1585D-M4TBDM-35 Micro D-Code, QD Style Ethernet Media

1756-EN2TK CLX HI-CAP ENET/IP MODULE - TP

1794-OB8EP Flex 8 Point Digital Output Module

194E-CA63 194E Load switch

2085-OB16 Micro800 16 Point Source Output Module

2090-DANFCT-S04 TL-Series 4m Feedback Cable

ABICTAE0000/ABD 10.5 Inch Color TFT, TCP Label, 110VAC, with AB DataHighway Plus

GC646PCM025 GlobalCare Complete for Change Management 25 user pack

HE693THM889 8 ch. J, K, N, T, E, R, S, 0.5degC resolution, degC/F units, open circui t alarms

IC630MDL352RR 24Vdc Sink Output Module, 1 Amp (16 points)

IC647HSTSS500M-35 Historian v3.5 Standard Server 500 Points (M4 Key)

IC660BLA104 Cover w/Label for IC660BBA104

IC695ALG704CA Conformal Coated Analog Output Module,4 channel voltage/current. Module does not include terminal block.

IC756WDV009J-99 DV Development Sys Visual Basic, Japanese, Version 9.9

CompactLogix System 1761-NET-DNI DEVICENET INTERFACE (DNI)

PLC-5/1771 System 9399-PLC5PG PLC 5, 6200 SERIES PROGRAMMING GUIDE

Distributed I/O D1794-6.5.12 FLEX I/O THRMCPLE/RTD/MILLIVLT INPUT MOD USER MANL

Operator Interface 2711P-T6M20D PV PLUS 600 GRAYSCALE, TOUCH, ETHERNET, DC PS

Support 6403-DDMCR 6403-DDMC SOFTWARE SUPPORT REINSTATEMENT

Support 9358-PBRE01S SUPT RENEWAL CONTRACT FOR 9358PBRE01ENE

Support F1779-KP5SERA FIRMWARE UPGRADE FOR 1779-KP5 COMMUNICATION MODULE

RSI Software Products 9301-2SE2104 RSVIEW32 WORKS 150 WITH RSLINX SINGLE NODE

RSI Software Products 9701-VWSB000ADEE RSVIEW SE STATION UNLIMITED DISPLAY (GERMAN)

RSI Software Products 9399-AIIG A I SERIES INSTALLATION GUIDE

Motion Control 2098-DSD-HV100X HIGH VOLTAGE DRIVE, 23A/46A, ULTRA3000 W/INDEXING

ABICTDE0000/ABR 10.5" Color TFT, TCP Label, 24Vdc, with AB Remote I/O, UL,cUL,CE, UL1604

IC220TBK082 I/O TERMINAL STRIP, 8 POSITION SPRING STYLE W/COLOR, QTY 10

IC752DPA262 Mature, order QuickPanel instead. DataPanel 1062IR with infrared touch. 10.4" VGA (640x480) active matrix TFT color display. Black bezel mounting from front of panel. Supports all WinCfg functionality.

MTR-3S33-G-R-0-E-ERR Servo Motor Nema34 Flg Explosion-Proof

ZA06B-0371-B577#7008 A1/3000 servo motor with 64k serial encoder

20BE052A0AYNANA0 PowerFlex 700 AC Drive 52 A 50 Hp 20B

20G14NF020JA0NNNNN PowerFlex 755 AC Packaged Drive

25-PTG1-FC PowerFlex 520 Fr C Power Terminal Guard

2711P-RR256 PV Plus Logic Module 128 MB Ram Module

FRN37G11S-4CX 57 KVA 75 A 37KW 3相AC380V/50Hz/60Hz

1492-J6-RE 6 square mm Feed-Through Terminal Block

1492-TIFM40F-24-2 Connection Products

软启动器 3RW40736BB44

CPU 模块 6ES7 510-1DJ01-0AB0 CPU 1510SP-1 PN，100KB 程序，750 KB 数据；72 ns；集成 1x PN 接口 ( 可用 ET 200SP 总线适配器再拓展 2 个 PN 接口 )

153H-C135XBD-50 153H-C135XBD-50

1738-OW4M12AC ArmorPoint 4 Point Output Module

1785-ME16 PLC-5 16 K Words Memory Memory Module

193-RA3 Reset Adaptor

20-COMM-L PowerFlex Architecture LonWorks Adapter

2090-CSBM1DE-18AF30 Kinetix Cable Single DSL 2090-Series

20AC011A3AYNADC0 PowerFlex 70 AC Drive 20A

GA647IFSTRN00150 GCA iFIX Std HMI 150 I/O Run

GP647IFPLRN00900 GCP iFIX Plus SCADA 900 I/O Run

IC600BF930RR 115Vac Protected Output Module (4 points)

IC647HSTCR5000KM Collector Redundancy Option for Historian - Standard Server 5,000,000 Points (M4 Key)

IC647TPR700 CIMPLICITY HMI ProServer 700 I/O Runtime System

IC693PIF400 High Performance PC/AT Interface (PCIF) to Series 90-30 I/O with softw are

IC756MDV000K-99 DV Development - Alpha OpenVMS Op Sys, Korean, Version 9.9

MicroLogix 1000/1761 System 1761-CBL-AM00 CABLE: MICROLOGIX 1000 CONTROLLER TO PORT 2

PLC-5/1771 System 1771-NB4T HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1792D-8BVT8D 8 SINK/SOURCE INPUTS, 8 SOURCING 0.5AMP OUTS

Communications 9351-AIXRT INTERCHANGE FOR AIX RUNTIME

Operator Interface D6190-6.5.20DE CONTROLVIEW STATIST. PROCESS CNTL USER MNL(GERMAN)

Support 9356-STD2350R SUPT REINSTATEMENT CONTRACT FOR 9356STD2350

Support 9392-CDRSENE DATADISC CD-ROM SUBSCRIPTION

EtherNet/IP Products 9355-WABSNENE RSLINX SINGLE NODE

RSI Software Products 9301-2SE3500KOU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9356-SQLSAP250U1R UPGRADE: OUT-SUPT: RSSQL GATEWAY SAP TO SAP PREM

Motion Control TL-A130P-BJ34AA MOTOR, SERVO, 0.32NM, 5000RPM, 17BIT SERIAL FEEDBA

44A737558 Series 90-30 State Logic CSE313A,B,C Upgrade latest revision CSE313D

IC200CBL602 CABLE EXPANSION SHIELDED 2 CONNECTORS 2M

IC694MDL241 INPUT MODULE 24 VAC 16 POINT

MSI-UNIV-WEB-100-43 Univ Web(RTIP/Dash/Web/Excel) 100 Pak-43

VSPC32-MON50 VisualSPC Monitor, 50 license pack.

20BD034A3AYNANC0 PowerFlex 700 AC Drive 34 A at 25 Hp 20B

20G11GD052AA0NNNNN PowerFlex 755 AC Packaged Drive

22D-CCB PowerFlex 40P B Frame Cover Kit

140CRA21220 Quantum DIO站适配器和电源,24VDC,独立,3A,双电缆

290D-FBP-G1-3 Direct Online Starter

E5EZ-Q3 NEW 外型：48×96mm开孔；45×92电源：100V-240VAC

1492-SPM2C005 MCB Supplementary Protector 0.5 A

软启动器 3RW30181BB04

电机启动器 3VU16402MK00

150-F135NBDB SMC Flex Smart Motor Controller

1732D-8X81212D ArmorBlock 16 Point Combination Block

1771-ODD 1771 16 Point Digital Output Module

193-ED1AB E1 Plus 0.1-0.5 A IEC Overload Relay

198E-PNT IEC Neutral Enclosure Accessory

2090-CPWM6DF-16AA15 TL-Series 15m Standard Power Cable

2094-PRS5 Kinetix 6000 Slim Power Rail

DT1000-16D 15in IPC 5/100 w/128MB RAM and Windows 2000, No CD or Floppy. Includes : (1) License VisualMEM ShopFloor, (1) VMEM-GMOD and (1) VMEM-IMOD/DT.

GFK-1034 Series 90-30 Genius Bus Controller User's Manual

IC210NAR010 AC (85 to 264VAC) Power Source, 6 AC in/4out (Relay 8 Amp), not expandable,no LCD/Keypad, no cover.

IC647BDP000 Batch Development Pak

IC647PRTHE002C Proficy Portal Historian Edition Client Pack 2 Users (M1 Key)

IC693CPU360 CPU 360 Module (240K Bytes configurable user memory, 4K I/O, 8 Racks), no built-in Serial Ports .22msec/K, The battery for the CPU is now i ncluded in the CPU backplane box.

IC754VSI12MTD View Intermediate 12 Inch Mono Touch DC

MSI-EFF-100 Efficiency Management Clients 100 Pack

SLC/1746 System 1746-RL58 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-IC16

Distributed I/O 1734-TB3Q10 TEN 12-POSITION IP20 SCREW TERMINAL BASES

Application-specific products 9307-EMCHTENE RSENERGYMETRIX CHARTPLUS

Operator Interface 2711-NDRC DH+/RIO CONNECTOR FOR PV1200/1400E/1000E

Support 9302-MGXR SUPT REINSTATEMENT CONTRACT FOR 9302MGX

Support 9510-PBENR SUPT REINSTATEMENT CONTRACT FOR 9510PBEN

DeviceNet Products 1784-PCD1 DEVICENET PCMCIA CABLE (PC CARD CONNECTOR TO

RSI Software Products 9301-2SE3350U2 UPGRADE: IN-SUPT: RSVIEW32 RUNTIME 300 TO 5000

RSI Software Products 9310-CPSAUTOENE RSTESTSTAND ENTERPRISE AUTOMOTIVE

Motion Control MPL-SSN-A9B9 KIT,SHAFT SEAL,FOR MPL-A9XX AND MPL-B9XX MTRS

Silver Series 1747-PT1 HAND HELD TERMINAL - INCLUDES 6 FT/1.8 M CABLE

HE693DNT250 DeviceNet Scanner (master) module for Series 90-30.

IC648CTL970 CIMPLICITY Control 90-70 Annual Maintenance

QPI2D100L2P QUICKPANEL MONO 10.5" LCD

ST-4214 STXi analog output module 4 Channels, 4~20mA, 12bit

20BC170A0ANNANA0 PowerFlex 700 AC Drive 20B

20F1AGC205JA0NNNNN PowerFlex 753 AC Packaged Drive

22A-D8P7N104 PowerFlex 4 3.7 kW (5 Hp) AC Drive

140DAI45300C Quantum 开关量AC输入,32点,48VAC,8点成组隔离,CC

284D-FVD2P3B-10-CR-SB DeviceNet Variable Frequency Drive

WS02-OPCC1-E OPC SERVER

1492-RXIM24-8R BUL.1667-PANELCONNECT INP

WinCC 上位监控软件 6AV6381-1BM06-0DV0 "WinCC?V6.0 RC?128?（128 个外部变量）"

变送器 3RS17222ET00

1497B-A1-M13-0-N 50VA 120x240-24V 60Hz CPT

1606-XLRED40 1606 Power Supply

1768-PB3 CompactLogix L4x DC In Power Supply

188-K4D010 Miniature Circuit Breaker 1 A

194R-B32-1753 BS88 194R Disconnect Switch

2090-CPBM7DF-10AF15 MP-Series 15m Continuous-Flex Cable

2090-XXNPMP-14S09 MP-Series 9 m Length Power Cable

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GC647WFL025 Proficy GlobalCare Complete for Proficy Workflow - 25 User License

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