cRIO-9023现货 in stock! 欢迎来电咨询~！！

cRIO-9023,

cRIO-9023

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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。
 

193-ESM-I-30A-P E300/E200 30 Amp Sensing Module

199-LF1 Terminal Lugs

2090-CPBM7DF-14AA09 MP-Series 9m Standard Cable

2090-SCNP1-0 Kinetix 1-1m Fiber Optic Cable

BC647TRT150 CIMPLICITY HMI Server 150 I/O Runtime System with Proficy GlobalCare

GC646MFL001 FANUC Ladder III-C with Proficy GlobalCare Complete

HMI-CAB-C101 CABLE SIMATIC TI 500 SERIES 9 PIN PROGRAM PORT

IC646NSL825 Proficy SQL 2008 - 25 CALs using Client Access licensing model

IC647HSTCR3KM Collector Redundancy Option for Historian - Standard Server 2500 Points (M4 Key)

IC647TPR150 CIMPLICITY HMI ProServer 150 I/O Runtime System

IC693PIF350 Series 90-30 I/O PCI Bus interface board. Enables users to connect Series 90-30 I/O to a PCI interface board.

IC756MDV000K-98 DV Development - Alpha OpenVMS Op Sys, Korean, Version 9.8

MicroLogix 1000/1761 System 1761-CBL-AC00 CABLE: 9-PIN PORT OF 1761-NET-AIC TO 9-PIN PORT

PLC-5/1771 System 1771-NB4S HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1792D-8BVT8CD MAXUM 8IN/8OUT WITH POINT LEVEL DIAGNOSTICS

Communications 9351-AIX INTERCHANGE FOR AIX

Operator Interface D6190-6.5.20 CNTRLVW STAT. PROCESS CONTROL(SPC)(6190-SPC)MANUAL

Support 9356-STD2300S SUPT RENEWAL CONTRACT FOR 9356STD2300

Support 9392-CDRSDEU UPGRADE TO ENGLISH/GERMAN BUNDLE

EtherNet/IP Products 9355-WABOEMENE RSLINX OEM - ENGLISH

RSI Software Products 9301-2SE3500KOU1 RSVIEW32 RUNTIME 32K-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9356-SQLSAP250U1 UPGRADE: IN-SUPT: RSSQL GATEWAY SAP TO SAP PREMIUM

Motion Control TL-A130P-BJ32AA MOTOR, SERVO, 0.32NM, 5000RPM, 17BIT SERIAL FEEDBA

44A736935 CPU351 Upgrade Kit latest revision

IC200CBL601 CABLE EXPANSION SHIELDED 2 CONNECTORS 1M

IC694MDL240 INPUT MODULE 120 VAC 16 POINT

MSI-UNIV-WEB-100 Universal Web Client(RTIP / Dashboard / Web / Excel Addin) 100 Pak

VSPC32-MON10 VisualSPC Monitor, 10 license pack.

PCM-5824

PCI CARD(C)2000

Kontron PCI-949

NOVO-7845

AS1-3120

INCON-DA

1492-SPM2B630 MCB Supplementary Protector 63 A

软启动器 3RW30172BB14

电机启动器 3VU16402MJ00

150-F135NBD SMC Flex Smart Motor Controller

1732D-8I8O1212D ArmorBlock 16 Point Combination Block

1771-OD16 1771 16 Point Digital Output Module

193-ECPM3 E3 Plus Panel Mount Adaptor

198E-PCK IEC Start Contact Enclosure Accessory

2090-CPWM6DF-16AA12 TL-Series 12m Standard Power Cable

2094-PRS4 Kinetix 6000 Slim Power Rail

DT1000-16C 15in IPC 5/100 w/128MB RAM and Windows 2000, No CD or Floppy. Includes : (1) License VisualSPC SE ShopFloor, (1) A-681 Security Key and (1) G P-2102NT Digital GagePort.

GFK-1029 Logicmaster 90-30 and Logicmaster 90-70 TCP/IP-Ethernet User's Manual Supplement

IC210MDR124 12V DC Power Source, (12) 12VDC in/8 out (Relay, 8 Amp), (4) analog inputs (the analog inputs can be used as 24VDC inputs, Expandable, with LCD/Keypad. The unit has built-in Modbus slave.

IC647BCP000 Batch Client Pak

IC647PRTEE100C Proficy Portal Enterprise Edition Client Pack 100 User (M1 Key)

IC693CPU351RR CPU 351 Module (4K I/O, 8 Racks)

IC754VSI06STD View Intermediate 6 inch STN Touch DC

MSI-EFF-10 Efficiency Management Clients 10 Pack

SLC/1746 System 1746-RL56 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OVP16

Distributed I/O 1734-RTBCJC REPL SCREW TERM BLK CJC REPL SCREW TERM BLK CJC

Application-specific products 9307-EM83PXENE RSENERGYMETRIX 3RD PARTY OPC (0 - 8 METERS)

Operator Interface 2711-NC22 10METER RS232 CABLE, PV TO MICROLOGIX

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Support 9510-PBCENR SUPT REINSTATEMENT CONTRACT FOR 9510PBCEN

DeviceNet Products 1784-CPCIDS COMPACT PCI TO DEVICENET INTERFACE

RSI Software Products 9301-2SE3350U1 UPGRADE: IN-SUPT: RSVIEW32 RUNTIME 150 TO 5000

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Motion Control MPL-SSN-A6B6 KIT,SHAFT SEAL,FOR MPL-A6XXX AND MPL-B6XXX MTRS

Silver Series 1747-DEMO-4 DEMONSTRATION UNIT FOR MODULAR HARDWARE STYLE

HE693DAC410 4ch., +/-10Vdc Analog Output Module, 2000Vac Isolation, 14-bit resolution

IC647WMI320 Workstation Interface (WSI) for PS/2, Series 90 Serial

QPH-DEM-S02 QUICKPANEL DEMO 6" STN HAND HELD

ST-4114 STXi analog output module 4 Channels, 0~20mA,, 12bit

20BC140GJANNANC0 PowerFlex 700 AC Drive 20B

WESO CINT-PCI

Nipron eNSP3-450P

B2501S

BD-IPC941

ICPDAS /PCI-1202LU

1492-RTB8N 8-Pole Screw Style Rtb Plug

WinCC 上位监控软件 6AV6381-1BH06-0DV0 "WinCC?V6.0 RT?8K （8K 外部变量）"

变送器 3RS17212ET00

1497A-A9-M6-3-N 500VA 220x440-120V 60Hz w/Fuses CPT

1606-XLPRED 1606 Power Supply

1768-M04SE CompactLogix 4 Axis Motion Module

188-K4C630 Miniature Circuit Breaker 63 A

194R-B160-1753 Disconnect, Fused, Bs-Type, 160 A

2090-CPBM7DF-10AF09 MP-Series 9m Continuous-Flex Cable

2090-XXNPMP-14S05 MP-Series 5 m Length Power Cable

CBL-13-MP-10 Power cable for MTR-1220 or MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series stepping motors. 10 feet

GC647WFL005 Proficy GlobalCare Complete for Proficy Workflow - 5 User License

IC200PWR202 POWER SUPPLY WITH EXPANDED 3.3VDC 12VDC INPUT

IC646TBLSS300 Proficy Troubleshooter for Intelligent Historian for Hist 300 Points

IC647NLS000 OPC Server

IC693ACC303 Memory Card, 32 KBytes, Use With HHP (qty 1)

IC698PSD300 RX7i Power Supply 300Watt 24VDC

IC800VMCB2030 Motor power and brake power cable for 2 kW VersaMotion servo motor- 3 meter

SLC/1746 System 1746-IV32 DC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6155R-14PXPH VERSAVIEW NON-DISPLAY COMPUTER, 14 SLOT

Application-specific products 6556-SCBK SLC PROGRAMMABLE PRESS CONTROL KIT

Operator Interface 2711-T5A2L1 PV550 MONO TOUCH, DH485

Support 9301-2SE2300DER SUPT REINSTATEMENT CONTRACT FOR 93012SE2300DE

Support 9307-10KMGDBPS SUPT RENEWAL CONTRACT FOR 930710KMGDBPENE

DeviceNet Products 1732D-IB8M12 DEVICENET 24VDC 8 INPUT W/M12

RSI Software Products 9301-2SE250ITU2R RSVIEW32 WORKS 1500-100K UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-BNT03ENE RSBATCH 03 UNITS

Motion Control MPL-B310P-SJ22AA MOTOR,SERVO,1.58 NM,5000RPM,SINGL,460V,3.0KG

Motion Control 2090-XXNPY-16S05 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,5M

GFH-001 Servo Product Specification Guide (Alpha and Beta Series)

IC641SWP719 C Toolkit for Series 90-70 (Professional)

IMC-316E-X-D IMC-D Series Servo Motor Controller, Enhanced, 6 Amp

PSPC-DC10L Prof Shop Floor SPC DC 10 User

20BC011A0AYNAND0 PowerFlex 700 AC Drive 20B

PCI-1734

TEK-AT2

PCA-6120P4

COM-2(PCI)H

XMP-SYNQNET-PCI-RJ

1492-MS8X9 IEC 8 x 9 mm Marker Card

模拟量输入/输出模块SM 6ES7 332-5HD01-0AB0 AO/4 通道，电压、电流，光电隔离，20pin 前连接器

行程开关 3SE53220SG23

运行版软件 6AV2105-4TT04-0AE0 SIMATIC WinCC Runtime 专业版 V14 Upgrade WinCC V7.0..V7.3 Runtime 262144 PowerTags ->WinCC Runtime 专业版 262144 PowerTags V14

1585J-M8FBJM-5 RJ45 Ethernet Media

1756-SPESMNRM L7SP Energy Storage Module-Non Remove

188-K1D250-N Miniature Circuit Breaker 25 A

194E-Y32M-1753-6G 32A 3P LOADSW. IN M/THREAD BOX

2090-CFBM7E7-CEAF09 9 m Length SpeedTec Extension Cable

2090-UXNPAMP-10S03 MP-Series 3 m Length Power Cable

BC646TRT915 Server 1500 I/O Runtime System with Proficy GlobalCare

GC647IFPLSR00075 GCC iFIX Plus SCADA 75 I/O Srv

IC200CBL602 Cable expansion shielded 2M 2 connectors

IC646MPS005 Logic Developer PLC Standard 5 Pack

IC647IFSCTSSPRT03M iFIX TS SCADA Support on SCADA -3 Clients (M4 Part)

IC670ALG230 Analog Input, Current, 8 Channel, Grouped

IC697CPU772RR CPU, 12 MHz, 2K Discrete I/O, Expandable Memory, Floating Pt

IC800PCUBC10S050 Powercube flying lead interface cable configured for 1000 steps/revolution and power save enabled. 5 meters

ControlLogix/1756 System 1756-OB8EI 10-30 VDC ISOLATED ELEC FUSED OUTPUT 8PTS (36 PIN)

Industrial Computers 6182H-10KEH6D VVCE 1000, KEYPAD, EXT MEM, RIO/DH, DC

Process Control 1757-FIMEXP020 FOUNDATION FIELDBUS FIM MODULE EXPANSION

Operator Interface 2711P-RBT15 PV PLUS 1500 TOUCH REPLACEMENT BEZEL

Support 9355-WAB1GWENS SUPT RENEWAL CONTRACT FOR 9355WAB1GWEN

Support 9351-VSR SUPT REINSTATEMENT CONTRACT FOR 9351VS

ControlNet Products 1785-L20C15 PLC-5/20C FOR CONTROLNET PHASE 1.5

RSI Software Products 9301-2SE2400FRE RSVIEW32 WORKS 32K (FRENCH)

RSI Software Products 9355-WABITE RSLINX PRO - ITALIAN

Motion Control MPL-A320H-MK24AA MOTOR,SERVO,2.94 NM,3500RPM,MULTI,230V,BRK,5.1KG

Motion Control 2090-DAPC-D0901 CABLE, NON-FLEX, CN3 SERIAL COMMUNICATIONS, 01M

CBL-113 Cable. Square D Prog. Port (RS-422)

IC5008TBW0000 18" Intelligence Industrial PC, Performance Series Win2000

IC800PCUBC02S030 PowerCube Flying Lead Interface Cable, 200 Steps/Rev & Power Save Enabled, 3 Meters

OC647IFESGCLNTSM iFIX Optn: ESig & ERec iClientTS (M4 Part)

20AD027A0AYNANC0 PowerFlex 70 AC Drive 27 A at 20 Hp 20A

广积 IB780

NuPRO-780

EG2451P-N

IPC-6111P6

PPC-174T

1492-M5X8C Connection Products

1494H-EF3H6 Heavy Duty Fusible Safety Switch

软启动器 3RW44462BC46

ET 200SP 6ES7193-6BP40-0BA1 基座单元 BU15-P16+A0+12B/T，类型A1，直插式端子，带2x5个附加端子，带有温度测量，15mm宽

1585D-M4TBJM-12 Micro D-Code, QD Style Ethernet Media

1756-ESMNSE ControlLogix Energy Storage Module

1794-OV16 Flex 16 Point Digital Output Module

194E-CA80E-PE-TN 194E Load switch

2090-CCMPCDS-23AA03 Comms Cable Kinetix 3 PC to Drive 3m

2090-DANPT-16S09 TL-Series 9m Power Cable

ABKSTDN0000/ABD 6 inch Color STN/ TCP Label/ 24VDC/ with AB DataHighway Plus/ UL/ cUL/ CE/ UL1604

GC646PCN110E Proficy GC for OP Operator Console Runtime S/W 700 I/O

HE800ACC019 Cage-clamp (screw) style I/O plug, 19-terminal. (Qty 1)

IC630PWR324RR 24Vdc Remote Power Supply Unit

IC647HSTSSEO10KM eSignature Option for Historian - Standard Server 10000 Points (M4 Key)

IC660BLD101 Cover w/Label for IC660BBD101

IC695CHS016CA RX3i 16 universal slots backplane with conformal coating.

IC756WET100J-23 Custom Editor Toolkit, Japanese, Version 2.3

CompactLogix System 1769-PB4 24VDC INPUT P0WER SUPPLY: 4A @ 5VDC 2A @ 24VDC

PLC-5/1771 System D1771-6.5.113 BASIC MODULE USER MANUAL

Process Control 1757-FFLD2 2 H1 / HSE FOUNDATION FIELDBUS LINKING DEVICE

Operator Interface 2711P-B7C4B2 PV PLUS 700, KEY/TOUCH, ENET, AC PS, EXT MEM

Support 6500-PS2R SUPT REINSTATEMENT CONTRACT FOR 6500PS2

Support 9358-PLTM2500S SUPT RENEWAL CONTRACT FOR 9358PLTM2500ENE

Support F1785-BCMSERC FIRMWARE UPGRADE FOR 1785-BCM COMMUNICATION MODULE

RSI Software Products 9301-2SE2200KOE RSVIEW32 WORKS 300 (KOREAN)

RSI Software Products 9701-VWSB000FRU1 RSV SE STATION 25 - UNLTD DISP UPGRADE (FRENCH)

RSI Software Products 9399-COMPAREUG RSCOMPARE USERS GUIDE

Motion Control 2098-IPD-HV050 HIGH VOLTAGE DRIVE, 11A/22A, ULTRA5000

AD693SLP300 90-30 State Logic Processor Module (SLP), (46 Kbytes), w/Manual.

IC300ADC920 12 channel Analog Inputs Current, Voltage or Thermistor. Channel selectable. 0-20ma, 0-5VDC, Thermistor (-37 to 115 C/ -35 to 240F), 12 bit Resolution

IC752DSX003RR Datapanel 160 with Advanced Software (Real time trends and Host communications)

MTR-3S35-G-R-B-E-S MTR series servo motor with resolver and brake and shaft seal

ZA06B-6079-H401 Dynamic braking module required for Alpha SVM1-180HVi amplifier

SBC-570

ADAM-3012

boser HS5010

MATROX G45FMDVP32DB

PC-586U (PC)-LV

1492-JD3-W 2.5 mm Double Level Terminal Block

1492-W3 IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW40752BB44

工艺型 CPU 6ES7 511-1UK01-0AB0 CPU 1515TF-2 PN，750 KB 程序，3 MB 数据；30 ns；集成 X1: 2x PN 接口，支持 IRT；X2: 1x PN 接口，支持 RT

156-B20AB1 20 A Single Phase Solid State Contactor

1746-F3 SLC Power Supply Fuse

1786-FS60 ControlNet Fiber Optic Cable

193-T1AB32 2.3-3.2 A IEC Bimetallic Overload Relay

20-FR09104 PowerFlex 700H/S Cover Kit

2090-CSBM1DF-14AA04 Kinetix Cable Single DSL 2090-Series

20AC015A0AYNADC0 PowerFlex 70 AC Drive 20A

GA647TDV935 Proficy GlobalCare Assist for CIMPLICITY HMI Server 35,000 I/O Development and Runtime System

GP647IFPRRN00075 GCP iFIX Profsnl SCADA 75 I/O Run

IC600CB500RR Arithmetic Control Module - ALU2

IC647HSTCS150KM Historian Enterprise Corporate Server 150000 Points (M4 Key)

IC647TRT915 CIMPLICITY HMI Server 1500 I/O Runtime System

IC693PWR322LT Power Supply, 24/48 Vdc, Standard (LT)

IC756MDV010J-97 DV Draw Dvlpnt on Alpha OpenVMS, Japanese, Version 9.7

MicroLogix 1000/1761 System 9399-RL50GRIT RSLOGIX 500 GETTING RESULTS GUIDE (ITALIAN)

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

Distributed I/O 1794-ACN15 SINGLE MEDIA ADAPTER FOR CONTROLNET

Communications 9351-WESRT INTERCHANGE FOR WINDOWS RUNTIME

Operator Interface D6190-6.5.32 CONTROLVIEW TEXAS INST. USERS MANUAL

Support 9358-BA03S SUPT RENEWAL CONTRACT FOR 9358BANT03ENE

Support 9392-CDRSR SUBSCRIPTION RENEWAL FOR DATADISC CD

RSI Software Products 9324-RL0100FRE RSLOGIX 500 STARTER FRENCH CD

RSI Software Products 9301-2SE3500U2R UPGRADE: OUT-SUPT: RSVIEW32 RUNTIME 1500 TO 100K

RSI Software Products 9356-STD2300U1R UPGRADE: OUT-SUPT: RSSQL STAND.150 TAG TO 1500 TAG

Motion Control TL-SSN-4 KIT, SHAFT SEAL, TL-X4XX MTRS

5003-24 Obslete - Message Center. 1 Line, 9MM, Green VFD, 24VDC, NEMA 4

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