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SPD4209,

SPD4209

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在我国工业机器人的使用集中在汽车工业和电子电气工业等领域，弧焊机器人、点焊机器人、搬运机器人等在生产中的应用相对广泛。今天我们从技术的方向，说一下工业机器人的技术性能的特点。

　　智能型，现在使用的传统的工业机器人速度虽然不快却能保质保量，但市场的发展对工业机器人的要求越来越高，在保质保量的同时如何让机器人更好的理解人的意图，可以相对自主的去理解和规划任务；如何让机器人在外围环境发生变化的情况下自动适应变化；如何通过触觉视觉听觉等去判断零部件的装配质量等等。对绝大部分的工业来说，在机电方面工业机器人能达到低于0.1毫米的运动精度(指重复运动到点精度)，抓取达到一吨的物体，伸展达到三四米，就可以圆满完成任务。随着机器人性能的提升，高精度数控机床，激光校准设备，或特殊环境(高温或极低温)设备等，传统的工业机器人还不能做到。

　　人机合作，我们现在最常见的是为机器人配备笼子，当笼门打开时，机器人收到信号就会自动暂停。虽然笼子并不贵，但要考虑产线排布或是增加产线面积，这些方面影响了生产的效率。工业机器人能安全地和人一起工作已经成为发展的方向。易用性，想要操作机器人就要去学习工业机器人的编程，企业想要使用机器人就要花大价钱去培训学习，这在很大的程度上制约了工业机器人的推广，机器人的易用性开始得到人们的重视，如何能让人经过简短的培训，就能像玩iPhone一样很快操作机器人，就成为了厂商们大力投资的方向。

　　成本，机器人的成本从几万到上百万都有，这个成本虽低于高端专业制造设备，但也往往对国内小集成商们来说价格还是很高的。从这几年来看，工业机器人十分受到制造业的欢迎，机器人自动化很快就会得到普及，很多的国内厂商开始对机器人的技术周守进行突破，希望打破国外品牌对我国市场的垄断。通用性，很多的工业机器人不能满足小型厂商的生产变化，只能适应大批量的生产，这就是通用型的不足，一台机器人通过改变编程就可以进行生产的变化，是很多机器人厂商现在研究的目标。
 

188-K3C250-N Miniature Circuit Breaker 25 A

194E-E25-1753-6N 25 A 194E Load switch

194R-NU100-1753 Disconnect non-fused NEMA 3 poles 100A

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

2090-UXLF-HV330 Ultra Series 30A AC Line Filter

2098-DSD-HV220-SE Ultra 3000 22kW with SERCOS Servo Drive

GC-8451-SW-CF MTL8000 CONFIG. SOFTWARE

HMI-COV-202 FRONT SHEET COVER FOR 10.5 inch (QPI2xxxx-C2P/ - L2P/ -S2P)/ 10 per pack

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

IC647BDD000 Batch Demo 25 Pack CD

IC647PRTEE100M Proficy Portal Enterprise Edition Client Pack 100 User (M4 Key)

IC693CPU352RR CPU 352 Module (4K I/O, 8 Racks, Floating Point Math)

IC754VSI12CTD View Intermediate 12 inch Color TFT Touch DC

MSI-EFF-10-43 Efficiency Mang Clients 10 Pack-43

SLC/1746 System 1746-RL57 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OAP12

Distributed I/O 1734-RTBS REPLACEMENT IEC SPRING TERMINAL BLOCK

Application-specific products 9307-EM8MGRENE RSENERGYMETRIX MANAGER (0 - 8 METERS)

Operator Interface 2711-NB3 REAL TIME CLOCK

Support 9302-LLFS SUPT RENEWAL CONTRACT FOR 9302LLF

Support 9510-PBCENS SUPT RENEWAL CONTRACT FOR 9510PBCEN

DeviceNet Products 1784-PCD DEVICENET PCMCIA COMM CARD

RSI Software Products 9301-2SE3350U1R UPGRADE: OUT-SUPT: RSVIEW32 RUNTIME 150 TO 5000

RSI Software Products 9307-RSPRTD RSPOWER RT FOR AB PM1 PM2 POWER MONITORING DEVICES

Motion Control MPL-SSN-A8B8 KIT,SHAFT SEAL,FOR MPL-A8XX AND MPL-B8XX MTRS

Silver Series 1747-MNET MODULE,INTERFACE FOR PRGRMMABLE CONTROLLER

HE693DAC420 4ch., 4-20mA/0-20mA Analog Output, 2000Vac Isolation, 13-bit resolution

IC647WMI920 Workstation Interface (WSI) for PS/2, Series 90-70 Parallel/Serial

QPI211V0C2P QUICKPANEL COLOR 10.5" TFT VIDEO

ST-4212 STXi analog output module 2 Channels, 4~20mA, 12-bit

20BC170A0ANNACC0 PowerFlex 700 AC Drive 20B

20F1AGC205AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-D8P7H204 PowerFlex 4 3.7 kW (5 Hp) AC Drive

140DAI45300 Quantum 开关量AC输入,32点,48VAC,8点成组隔离

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

WS02-CXPC1-E5.0 Windows版(2000/xp)

1492-RTB8P 8-Pole Push-In Style Rtb

WinCC 上位监控软件 6AV6381-1BF06-0DV0 "WinCC?V6.0 RT?64K?（64K 外部变量）"

变送器 3RS17221ET00

1497A-A9-M7-0-N Control Power Transber

1606-XLRED20-30 1606 Power Supply

1768-PA3 CompactLogix L4x AC/DC In Power Supply

188-K4D005 Miniature Circuit Breaker 0.5 A

194R-B20-1753 BS88 194R Disconnect Switch

2090-CPBM7DF-10AF12 MP-Series 12 m Length Cable

2090-XXNPMP-14S07 MP-Series 7 m Length Power Cable

CBL-13-MP-20 Power cable for MTR-1220 or MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series stepping motors. 20 feet

GC647WFL010 Proficy GlobalCare Complete for Proficy Workflow - 10 User License

IC200PWR202LT POWER SUPPLY WITH EXPANDED 3.3VDC 12VDC INPUT (LT)

IC646TBLSS30K Proficy Troubleshooter for Inbligent Historian for Hist 30000 Points

IC647NMA000 CIMPLICITY HMI Marquee Device Communications

IC693ACC305 EEPROM Chips (qty 4)

IC698RMX016 PACSystems RX7i Redundant Memory Xchange 16MB Memory

IC800VMCB2050 Motor power and brake power cable for 2 kW VersaMotion servo motor- 5 meter

SLC/1746 System 1746-IV8 DC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6155R-14S2KH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBK2 SLC FIXED CLUTCH/BRAKE KIT

Operator Interface 2711-T5A3L1 PV550 MONO TOUCH, DH485 & RS232 PRINT

Support 9301-2SE2300DES SUPT RENEWAL CONTRACT FOR 93012SE2300DE

Support 9307-64MGDBCR SUPT REINSTATEMENT CONTRACT FOR 930764MGDBCENE

DeviceNet Products 1732D-IB8M8 DEVICENET 24VDC 8 INPUT W/M8

RSI Software Products 9301-2SE250ITU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-BNT03UB1 UPGRADE: IN-SUPT: RSBATCH 03 UNITS TO BUNDLE

Motion Control MPL-B310P-SJ24AA MOTOR,SERVO,1.58 NM,5000RPM,SINGL,460V,BRK,4.1KG

Motion Control 2090-XXNPY-16S07 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,7M

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

20DM261N0ENNBNANE PowerFlex 700S AC Drive 20D

2198-H040-P-T K5500 FR1,2 control power con

2711P-RAAT7 PanelView Plus 7 Series Accessory

280-PWRM35G-M10 ArmorStart Three-Phase Power Media

CQM1H-CTB41 高速计数器板 4点3

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-FIMEXP035 FOUNDATION FIELDBUS FIM MODULE EXPANSION

Operator Interface 2711P-RBT7 PV PLUS 700 TOUCH REPLACEMENT BEZEL

Support 9355-WAB1OEMENR SUPT REINSTATEMENT CONTRACT FOR 9355WAB1OEMEN

Support 9351-VSRTR SUPT REINSTATEMENT CONTRACT FOR 9351VSRT

ControlNet Products 1785-L40C15 PLC-5/40C FOR CONTROLNET PHASE 1.5

RSI Software Products 9301-2SE2400FRU1 RSVIEW32 WORKS 1500-32K UPGRADE IN-SUPT (FR)

RSI Software Products 9355-WABJBENE RSLINX OEM/RSJUNCTIONBOX BUNDLE

Motion Control MPL-A320H-SJ22AA MOTOR,SERVO,2.26 NM,3500RPM,SINGL,230V,4.0KG

Motion Control 2090-DAPC-D0903 CABLE, NON-FLEX, CN3 SERIAL COMMUNICATIONS, 03M

CBL-114-1 Cable. Allen Bradley PLC5 Channel 0 (RS-232)

IC5008TBW2000 Discontinued - Order a BC5008TBW0000 & Appropriate CIM PE License

IC800PCUBC02S050 PowerCube Flying Lead Interface Cable, 200 Steps/Rev & Power Save Enabled, 5 Meters

OC647IFESGDV00075C iFIX Optn: ESig & ERec 75 I/O Development (M1Component Part)

20AD027A0AYYANC0 PowerFlex 70 AC Drive 27 A at 20 Hp 20A

20DC300A0ENNBNANE PowerFlex 700S AC Drive 20D

20G1ANF263JA0NNNNN PowerFlex 755 AC Packaged Drive

25C-E3P0N104 PowerFlex 527 1.5kW (2Hp) AC Drive

280-PWRM22B-M8 ArmorStart Three-Phase Power Media

FX2N-32MR-001 主机16入/16出?继电器输出

1492-M6X10 IEC 6 x 10 mm Marker Card

1494H-EF3N Heavy Duty Non-Fus Safety Discon Switch

软启动器 3RW44466BC34

ET 200SP 6ES7193-6BP20-0BB0 基座单元 BU20-P12+A4+0B，类型B0，直插式端子，带4个AUX端子，适用于继电器输出模块，20mm宽

1585D-M4TBJM-15 Micro D-Code, QD Style Ethernet Media

1756-ESMNSEK ControlLogix Energy Storage Module NSE

1794-OV16P Flex 16 Point Digital Output Module

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

2090-CCMUSDS-48AA01 Kinetix 3 cable to 1203-USB 1m

2090-DANPT-16S12 TL-Series 12 m Length Power Cable

ABKSTDN0000/ABR 6 inch Color STN/ TCP Label/ 24VDC/ with AB Remote I/O/ UL/ cUL/ CE/ UL1604

GC646PDS100E Proficy GC for OP CAD Designer EWS Software

HE800ACC106 Cage-clamp (screw) style I/O plug, 6-terminal. (Qty 10)

IC640BLD304RR Series Six Terminator Board

IC647HSTSSEO1250KM eSignature Option for Historian - Standard Server 1,250,000 Points (M4 Key)

IC660BLD110 Cover w/Label for IC660BBD110

IC695CMM002 RX3i serial communications module. Two isolated RS-232/485 port. Supports Serial Read/Write and Modbus Master/Slave. Requires Unversal Backplane.

IC756WET100J-99 Custom Editor Toolkit, Japanese, Version 9.9

CompactLogix System 1769-ECL LEFT END CAP/TERMINATOR

PLC-5/1771 System D1771-6.5.115 ANALOG INPUT MODULE (1771-IFE, SER C) USER MANUAL

Process Control 1757-FFLD4 4 H1 / HSE FOUNDATION FIELDBUS LINKING DEVICE

Operator Interface 2711P-B7C4D1 PV PLUS 700, KEY/TOUCH, ENET, DC PS, STD MEM

Support 6500-PS2S SUPT RENEWAL CONTRACT FOR 6500PS2

Support 9358-PLTM2600R SUPT REINSTATEMENT CONTRACT FOR 9358PLTM2600ENE

Support F1785-BEMSERA FIRMWARE UPGRADE FOR 1785-BEM COMMUNICATION MODULE

RSI Software Products 9301-2SE2200KOU1 RSVIEW32 WORKS 150-300 UPGRADE IN-SUPT (KO)

RSI Software Products 9701-VWSB000FRU2 RSV SE STATION 100 - UNLTD DISP UPGRADE (FRENCH)

RSI Software Products 9399-COMPGR RSBIZWARE COMPLIANCE TRACK GETTING RESULTS GUIDE

Motion Control 2098-IPD-HV100 HIGH VOLTAGE DRIVE, 23A/46A, ULTRA5000

BC5002TAN0000 12 Inch Inbligence Industrial Computer - Bundled - Standard Series - w/ Windows NT

IC300ASC100 ASCII BASIC. Three ports, two active at any one time. 64K of program memory.

IC752DTX300 DataPanel 30, 2 x 20 LCD message center, used DataDesigner to program messages

MTR-3S35-G-R-B-E-SRR Servo Motor Nema34 24V Brake, Seal

ZA06B-6079-K811 Motor power straight connector for B8/3000is or B12/3000is motor

20BE144A0ANNAND0 PowerFlex 700 AC Drive 20B

20G14TC540JN0NNNNN PowerFlex 755 AC Packaged Drive

25-RF033-DL PowerFlex 520 33A 480V EMC Filter Kit

2711P-RW3 PanelView Plus Accessory

FRN 1 5 P11S-4CX 2 3 KVA 30A 15 KW 3相AC380V/50Hz/60Hz

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 Bibllic 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 Y-1002-1-H00AA MOTOR,SERVO,0.17 NM,4500RPM,ENCDR,115V,0.91KG

5003S Obsolete - Message Center. 1 Line, 9MM, Green VFD. SLAVE Unit. NEMA 4

IC200CHS101 I/O INTERPOSING DISCONNECT SYTLE, 16 PT

IC694MDL734 OUTPUT MODULE 125VDC 1AMP 6 POINTS ISOLATED POS/NEG LOGIC

MSI-WEB-10 Web or Excel Reporting Clients 10 Pack

VSPCSE-ADMIN50 VisualSPC SE Administration Bundle includes Attributes, Analyst, Desig ner, Wizard, Importer and Reports. 50 license pack.

20BD052A0AYNAEC0 PowerFlex 700 AC Drive 52 A 40 Hp 20B

20G11LC1K0JN0NNNNN PowerFlex 755 AC Packaged Drive

22D-D4P0H204 PowerFlex 40P- 1.5 kW (2 HP) AC Drive

140NWM10000 Quantum TSX QUANTUM FCHMI MODULE

290E-FBP-G2 Direct Online Starter

LY4J 24VDC，110VAC，220VAC，4开4闭，触点10A

1492-SPM2C200 MCB Supplementary Protector 20 A

软启动器 3RW30281BB14

电机启动器 3VU16403MM00

150-F201NZD SMC Flex Smart Motor Controller

1732DS-IB8 Guard I/O 8 Point Digital Comb Module

1771-P4R 1771 Power Supply

193-EECB E1 Plus 1-5 A IEC Overload Relay

199-LF1 Terminal Lugs

2090-CPWM7DF-08AA20 MP-Series 20m Standard Power Cable

2094-XNLIM-2 Kinetix 6000 Connector Set

EDS-308-M-SC-T C1 D2 7-port 10/100, 1 port multi-mode SC fiber (-40 to 75 deg C op temp)

GFK-1277 Genius Modular Redundancy User's Manual

IC220ACC101 MOTOR STARTER BRAKE MODULE AC/DC

IC647BWI005 Batch Opt: WorkInstruction Pilot Server Pak (5 Units)

IC647PRTKIT002M Proficy Portal Enterprise Edition Starter Kit 2 User (M4 Key)

IC693CPU374 CPU 374 Module (240K Bytes configurable user memory) The battery for the CPU is now included in the CPU backplane box, Embedded Ethrnet 10/ 100Mbs w/built-in switch. No serial ports. Note: The CPU37x CPUs may not work with Horner Electric modules

IC756ADV001E-98 DV Development - AIX Op Sys Addt'l User, English, Version 9.8

MSI-EFF-UNL Unltd Site Clients - Efficiency Mgmt

SLC/1746 System 1746-RT29 REPLACEMENT TERMINAL BLOCK - RIO COMMUNICATION

Distributed I/O 1738-IV4M12 24VDC 4 SOURCING INPUT WITH M12 CONNECTORS

Communications 1788-CN2FF CONTROLNET TO FIELDBUS LINKING DEVICE

Operator Interface 2711-NM232 32MB FLASH ATA MEMORY CARD

Support 9302-RT15S SUPT RENEWAL CONTRACT FOR 9302RT15

Support 9324-RL5300ENS SUPT RENEWAL CONTRACT FOR 9324RL5300EN

DeviceNet Products 2706-P22R INVIEW PANEL MOUNT DISPLAY

RSI Software Products 9301-2SE3353JPE RSVIEW32 RUNTIME 5K WITH RSLINX (JAPANESE)

RSI Software Products 9326-AD25WDENE WIRING DIAGRAM GENERATOR ADD-ON 25 USER

Motion Control MPG-A010-031S24 MOTOR,SERVO,GEAR RATIO 31,26NM,157RPM,SINGL,BRK

Silver Series 1770-HT8 HART 8 CHANNEL NON-ISOLATED TERMINAL BLOCK

HE693OIU197 Compact VF Fenius OIU w/numeric keypad, powered by 24VDC

IC660BBR101 Block Relay Output Normally Open 16 Circuits

QPI3D200S2P QUICKPANEL COLOR 10.5" STN

ST-5211 STXi Serial Interface module RS-232C, 1 Channel

20BC1P3A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1AGD361AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-A2P3N104 PowerFlex 40- 0.4 kW (0.5 HP) AC Drive

140DDI35300 Quantum 开关量 DC 输入, 32点, 24 VDC, 4组隔离

284D-FVD4P0B-10-CR-DB-SB DeviceNet Variable Frequency Drive

E3JM-DS70M4 70cm,扩散反射式,触点输出3A 电源:24-240V AC/DC