TEXAS INSTRUMENTS 500-5114現(xiàn)貨 in stock! 歡迎來(lái)電咨詢(xún)~！！

TEXAS INSTRUMENTS 500-5114,

TEXAS INSTRUMENTS 500-5114

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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(lèi)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(kāi)放性面向現(xiàn)場(chǎng)控制的總線(xiàn)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(kāi)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(chē)、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(mǎn)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(fǎng)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(lài)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(xiàn)圈和輔助觸點(diǎn)兩部分組成。當(dāng)線(xiàn)圈通電的時(shí)候，其對(duì)應(yīng)的常開(kāi)觸點(diǎn)閉合，常閉觸點(diǎn)斷開(kāi)。

　　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(chē)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(xiě)是整個(gè)設(shè)計(jì)中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿(mǎn)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(mǎn)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(xiàn)完善和技術(shù)創(chuàng)新是一大難題。

　　PLC控制接線(xiàn)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(mén)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(mǎn)足高性能工業(yè)機(jī)器人的要求。
 

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20AC015A3AYNAEC0 PowerFlex 70 AC Drive 20A

GA647TPD915 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 1500 I/O Development and Runtime System

GP647IFPRSR00300 GCP iFIX Profsnl SCADA 300 I/O Srv

IC600CB511RR 16K Register Memory Module (for use in Model 600 or 6000)

IC647HSTCS40KM Historian Enterprise Corporate Server 40000 Points (M4 Key)

IC647TSSRV010 Proficy Troubleshooter 10 User Server License

IC693PWR331 Power Supply, 24 Vdc, High Capacity. Battery not included. Battery is now included in the CPU backplane box.

IC756RDV000E-98 DV Development - Irix Op Sys, English, Version 9.8

MicroLogix 1000/1761 System D1761-UM006DENP MICROLOGIX ETHERNET INTERFACE USER MANUAL

PLC-5/1771 System 1771-OFE2 ANALOG OUTPUT MODULE

Distributed I/O 1794-ASB REMOTE I/O ADAPTER W/24V DC POWER SUPPLY

Communications 9355-WAB1END RSLINX 1.7 FOR AB

Operator Interface D6190-6.5.5DE CONTROLVIEW A-B DRIVERS USER MANUAL (GERMAN)

Support 9358-BBKEY03S SUPT RENEWAL CONTRACT FOR 9358BNTK03ENE

Support 9392-SWC SOFTWARE CONNECTION MAGAZINE (12 MONTHS)

RSI Software Products 9324-RL01U3ESE UPGRADE: IN-SUPT: SPANISH RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500ZHE RSVIEW32 RUNTIME 100K (CHINESE)

RSI Software Products 9356-STD2350U2R UPGRADE: OUT-SUPT: RSSQL STD 300 TO STD 5000 TAG

Motion Control Y-1003-2-H04AA MOTOR,SERVO,0.35 NM,4500RPM,ENCDR,230V,BRK,1.2KG

510-1000-041 POWER SUPPLY 24VDC 2AMP

IC200CPU001LT CPU 12K USER PROG 1.80MSEC/K BOOLEAN ONE RS232 AND ONE RS485 SERIAL PORTS (LT)

IC694MDL930 OUTPUT MODULE RELAY 4AMP 8 POINT ISOLATED

MSI-WEB-25-43 Web or Excel Reping Clients 25 Pack-43

VSPCSE-IMP10 VisualSPC SE Importer, 10 license pack.

20BD052A3AYNAEC0 PowerFlex 700 AC Drive 52 A 40 Hp 20B

20G11LC910AN0NNNNN PowerFlex 755 AC Packaged Drive

22D-E3P0H204 PowerFlex 40P 1.5 kW (2 Hp) AC Drive

Quantum Communication Accessories 網(wǎng)絡(luò)通訊及附件

291D-FAZ-G1-3FR Direct Online Reversing Starte

MK4NJ-CR NEW 220VAC，有阻容吸收回路，4開(kāi)4閉，觸點(diǎn)5A 中國(guó)制

1492-SPM2D005 MCB Supplementary Protector 0.5 A

軟啟動(dòng)器 3RW30371BB04

電機(jī)啟動(dòng)器 3VU16400CH00

150-F251NCDB SMC Flex Smart Motor Controller

1732E-16CFGM12QCR ArmorBlock 16 Point Configurable QC

1771-P6S 1771 Power Supply

193-EEED E1 Plus 5.4-27 A IEC Overload Relay

199-MSMV1 Surge Suppressor

2090-CPWM7DF-08AF05 5 m Length SpeedTec Pwr and Brake Cable

2097-F6 Kinetix 300/350 15.0 A Line EMI Filter

EN84-2481-3040M 1000 ft., Proplex Stranded Ethernet Cable

GFK-1534 Manual VersaMax Profibus-DP Network Communications

IC220ALG320 ANALOG OUT, 16 BIT, VOLTAGE/CURRENT, 1CH (REQUIRES 1 IC220TBK203)

IC647CGMV00 GM Viewer Site License (not for general use)

IC647PRTOSIM Proficy Portal OSI PI Connector (M4 Key)

IC693DSM314 DSM314 motion controller module

IC756ADV001K-98 DV Development - AIX Op Sys Addt'l User, Korean, Version 9.8

MSI-MAINT 5 Day x 9 Hour Support

SLC/1746 System 1746-RT35 TERMINAL BLOCK FOR THE 1746-NR8 MODULE

Distributed I/O 1738-OB8EM12 24VDC 8 SOURCING OUTPUTS WITH M12 CONNECTORS

Communications 2760-SFC1 PROTOCOL CARTRIDGE (RS-232 & RS-422)

Operator Interface 2711-NP3 MOUNTING STUDS PV1400

Support 9302-SCAS SUPT RENEWAL CONTRACT FOR 9302SCA

Support 9324-RL5300ITS SUPT RENEWAL CONTRACT FOR 9324RL5300IT

DeviceNet Products 2706-P44R INVIEW MESSAGE DISPLAY. 1 OR 2 LINE

RSI Software Products 9301-2SE335DEU3R RSVIEW32 RUNTIME 1500-5K UPGRADE OUT-SUPT (DE)

RSI Software Products 9371-DOCXENE RSWIRE DOCX DOCUMENT VIEWER

Motion Control MPG-A025-031M24 MOTOR,SERVO,GEAR RATIO 31,100NM,168RPM,MULTI,BRK

Silver Series 1789-SL5 SOFTLOGIX5 SOFTWARE-BASED PROGRAMMABLE CONTROLLER

HE693RTD600 RTD Input, 6 channel, 3-wire, 0.5癈 res., -100 to +850癈 range (Pt-100)

IC660ELB906 PCIM (XT/AT Interface Board) & S/W Driver (IC641GBE647)

QPICGDE0000 10.4" Color TFT, Ethernet, CF Card, 24VDC, UL, cUL, CE

ST-5272 STXi Serial Interface module RS-485, 2 Channels,32 Bytes,

20BC205A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1ANC140JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-A8P0C104 PowerFlex 40 1.5 kW (2 Hp) AC Drive

140DDI67300 Quantum 開(kāi)關(guān)量 DC 輸入, 24點(diǎn), 125 VDC, 3組隔離

284D-FVD4P0B-N-R-3-DB-EMI Cntl Mod. Variable Frequency Drive

E3S-2E4 2m,對(duì)射型 , 晶體管輸出80mA, 電源:12-24VDC水平安裝

1492-SJS TERM BLCK Side Jumper INSLG Sleeve

人機(jī)界面 6AV6545-0CA10-0AX0 TP270-6 觸摸屏，256 色，5.7 英寸，320? 240

6ES78331FC000YM2

1497B-A14-M15-0-N Control Power Transformer

1606-XLS480E-D Power Supply XLS 480 W Power Supply

1769-IF16C CompactLogix 16 Pt A/I Current Module

189-AL20 MCB Accessory Auxiliary Contact

194R-HM1-N1 194R 100-400 A Operating Handle

2090-CPBM7DF-12AA40 MP-Series 40m Power and Brake Cable

2090-XXNPMP-16S25 MP-Series 25 m Length Power Cable

CBL-30-JP-06 AC power cord with 3-prong plug to flying lead. 6 feet

GF-0205 Connecting FlashCable to Fowler Maxcal / Digitrix.

IC200TBX214 Tool box, 14 point, (IC200UDR001) 24VDC In/Relay Out, AC powered (requires AC power), VersaMax SE (IC200SET001) with all software, cables and manuals. (IC640VPS002 and IC646MPM001)

IC646TBSPMPS700 Smart Process Monitoring Process+ server 700 loops

IC647NSJ000 Siemens MPI OPC Server

IC693ACC333 TBQC Base for IC693MDL340

IC752CAB202 AB Micrologix cable for DataPanel 150/160/240

IC800VMCP1100 Power cable for 1 kW VersaMotion servo motor- 10 meter

SLC/1746 System 1746-OX8 (8) ISOLATED RELAY OUTPUT - 5-250V AC, 5-125V DC

Industrial Computers 6189V-ACPSWS AC POWER SUPPLY ATX STANDARD (6180W WORKSTATION)

Application-specific products 1400-SP LOCAL DISPLAY POWERMONITOR SOFTWARE

Operator Interface 2711-B6C3L1 PV600 COLOR KEY&TOUCH, DH485 & RS232 PRINT

Support 9301-2SE2400ESS SUPT RENEWAL CONTRACT FOR 93012SE2400ES

Support 9307-EMCHTR SUPT REINSTATEMENT CONTRACT FOR 9307EMCHTENE

DeviceNet Products 1734-IB4 24V DC 4 CHANNEL SINK INPUT MODULE

RSI Software Products 9301-2SE250ZHU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60U3R UPGRADE: OUT-SUPT: RSBATCH 30 TO 60

Motion Control MPL-B330P-RJ24AA MOTOR,SERVO,4.18 NM,5000RPM,RSLVR,460V,BRK,6.8KG

Motion Control 2090-U3BK-D4403 BREAKOUT BOARD KIT,CONTROL,CN1,ULTRA 3000,3M

GFK-0712 Series 90 Digital Event Recorder User's Manual

IC646CXV000 X11Viewer Option for Windows 95 and Windows NT-Intel

MSCPX-312806W2 Marathon Exp CPU,566 MHz CPU, 128M, 6G, Win 2000, 2 PCI/ISA, 1 PCI, 1 ISA

PSPC-DC50/E-220L Prof Shop Floor SPC DC 50 User eSig 220v

20BC015A3AYNACC1 PowerFlex 700 AC Drive 20B

20F11FC085JA0NNNNN PowerFlex 753 AC Packaged Drive

2198-KITCON-IOSP CONKIT,K5500,I/O,SPRING TRM