NI PXIe-5105现货 in stock! 欢迎来电咨询~！！

NI PXIe-5105,

NI PXIe-5105

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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。
 

RSI Software Products 9301-PCI2000ETH APPLICOM PCI2000ETH ETHERNET INTERFACE 1 PROTOCOL

Motion Control MPL-B4540F-MK22AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,460V

Silver Series 1789-SLX RSSIDEWINDERX

IC200MDL241 INPUT 240VAC (2 GROUPS OF 8) 16PT

IC641LCN053 Runtime license for DEC VAX/VMS

IC800SLCBV050 Power/Brake Cable, 1000 W SL Servo Motor with Brake, 5 Meters

MTR-3T55-H-R-B-M-0RR Servo Motor Metric 24V Brake

NI 5731

PXI-6722

PCL-841

NS301+CP256DH-8P-AB 907-120-05

R2Z-6400P-R

SNF486DLC

EBC-855-G

1492-MS8X12V1-10 Connection Products

模拟量输入/输出模块SM 6ES7 331-1KF01-0AB0 AI/8，电压、电流、电阻、PT100，光电隔离，40pin前连接器

行程开关 3SE53220SD21

运行版软件 6AV2107-3DB04-0AE0 SIMATIC WinCC Client for Runtime 专业版 V14 Upgrade V11..V13 -> V14

1585J-M8CBJM-5 RJ45 Ethernet Media

1756-PSCA2XT Extended Temp Redundant Supply Adapter

188-K1D100-N Miniature Circuit Breaker 10 A

194E-Y25M-1753-6G 25 A 194E Load switch

2090-CFBM7E7-CDAF25 MP-Series 25 m Length Feedback Cable

2090-UXNFBY-S07 Y-Series 7 m Length Feedback Cable

BC646TPR915 ProServer 1500 I/O Runtime Sys with Proficy GlobalCare

GC647IFPLDV00300 GCC iFIX Plus SCADA 300 I/O Dev

IC200CBL510 I/O Expansion cable, 1 meter long

IC646MPP001 Logic Developer PLC Professional

IC647IFPRSR00900K iFIX Profsnl SCADA 900 I/O Server (M1 Kit Part)

IC660TSA100 Terminal Assembly for IC660BBA100

IC697CPM914RR CPU, 32 MHz, 12K Discrete I/O, 512K RAM (Expandable), 80486DX

IC800MCUB12310XN 175 oz-in stepping Motorcube with pulse/direction interface

ControlLogix/1756 System 1756-OA8D 74-132 VAC DIAGNOSTIC OUTPUT 8 PTS (20 PIN)

Industrial Computers 6182H-10BRH4D VVCE 1000, KEY/TOUCH, STD MEM, ENET, DC

Process Control 9358-PBPCNT30ENE RSBATCH NT FOR PROCESLGIX PC BASED PHASES 30 UNITS

Operator Interface 2711P-RBB7 PV PLUS 700 KEY/TOUCH REPLACEMENT BEZEL

Support 9355-TKTOPCR SUPT REINSTATEMENT CONTRACT FOR 9355TKTOPC

Support 9351-OSFRTR SUPT REINSTATEMENT CONTRACT FOR 9351OSFRT

ControlNet Products 1786-FSKIT V-PIN CONNECTOR KIT

RSI Software Products 9301-2SE2400DEU3 RSVIEW32 WORKS 150-32K UPGRADE IN-SUPT (DE)

RSI Software Products 9355-WABGWEU3 UPGRADE IN-SUPT RSLINX PRO TO RSLINX GW

Motion Control MPL-A320H-HJ22AA MOTOR,SERVO,2.94NM,3500RPM,ENCDR,230V,4.0KG

Motion Control 2090-DANPT-16S05 CABLE, NON-FLEX, MTR PWR, CABLE-MTD CONN, 16AWG, 0

BC647MPSU01 Logic Developer PLC Standard Edition - Upgrade from LogicMaster, VersaPro, or CIMPLICITY Control. Includes Proficy GlobalCare Complete and a hardware key

IC5005TBW2000 Discontinued - Order a BC5002TBW0000 & Appropriate CIM PE License

IC800MCUB12210XD Stepping Motor Cube, 100 oz-in with DeviceNet Option, NEMA 23

OC647IFDBTKTC iFIX Optn: Database Dynamo Toolkit (M1Component Part)

PCIe-8431/16 (RS485/422)

TM5800-800M-6.8W

NUPRO-935A/DV

D56622-305

AR-B1564A

FPD-15AT(SR)

1492-M5X5H1-20 Connection Products

1494H-DN3H2 Heavy Duty Fusible Safety Switch

软启动器 3RW44456BC36

ET 200SP 6ES7193-6BP00-0DA0 基座单元 BU15-P16+A0+2D，类型A0，直插式端子，用于新负载组，15mm宽

1585D-M4TBDM-60 Micro D-Code, QD Style Ethernet Media

1756-EN2TXT CLX ENET/IP MODULE - TP, X-ENVT

1794-OE8H Flex 8 Point Analog Output Module

194E-CA63EX-PE-TN 194E Load switch

2090-CBKS8-16AA03 Kinetix 6000M manual brake release cable

2090-DANFCT-S15 TL-Series 15m Feedback Cable

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

GC646PCMS05 GlobalCare Complete for Change Management Electronic Signature Module 5 Pack

HE697RTM701 RTU master/slave module

IC630MDL368RR Analog Output Module, 0-10Vdc (2 channels)

IC647HSTSS5KM-35 Historian v3.5 Standard Server 5000 Points (M4 Key)

IC660BLC003 Cable w/Connectors Alpha 9823 3 Ft

IC695ALG808 Isolated Analog Output module, 8 channels, that is configurable for voltage and current. Requires high capacity terminal block IC694TBB032 or IC694TBS032.

IC756WDV009K-99 DV Development Sys Visual Basic, Korean, Version 9.9

CompactLogix System 1769-CLL3 3.28 FT (1 M) LEFT-TO-LEFT BUS EXPANSION CABLE

PLC-5/1771 System 9399-RL53GRES RSLOGIX 5 GETTING RESULTS GUIDE (SPANISH)

Distributed I/O D1794-6.5.4 8 INPUT RTD MODULE USER MANUAL

Operator Interface 2711P-T6M5D PV PLUS 600 GRAYSCALE, TOUCH, RS232, DC PS. INCL U

Support 6411-DDMCR 6411-DDMC SOFTWARE SUPPORT REINSTATEMENT

Support 9358-PLTM2100S SUPT RENEWAL CONTRACT FOR 9358PLTM2100ENE

Support F1784-KTC15SERA FIRMWARE UPGRADE FOR 1784-KTC15 COMMUNICATION MODU

RSI Software Products 9301-2SE2200ESE RSVIEW32 WORKS 300 (SPANISH)

RSI Software Products 9701-VWSB000DEU1 RSV SE STATION 25 - UNLTD DISP UPGRADE (GERMAN)

RSI Software Products 9399-APSMAN SLC 500 APS MANUAL SET

Motion Control 2098-DSD-HV220X HIGH VOLTAGE DRIVE, 47A/94A, ULTRA3000 W/INDEXING

ABK3D200C2P/SER QUICKPANEL 6" TFT W/SER

IC220TBK201 TERMINAL STRIP SET, SPRING STYLE, NIU

IC752DPH003RR Datapanel H with Advanced software, 640x200 LCD with CCFT backlight. Text, bitmaps, bar graphs, real time clock. With Real Time Trends & Host Communications.

MTR-3S33-G-R-B-E-SRR Servo Motor Nema34 Flg 24V Brake Seal

NI 9853

SBC-741L

ADAM-4052

FNP300-1012S122

ROCKY-3732EV

SBC-945/L2B

1492-J70 70 square mm Feed-Through Terminal Block

1492-UF3 TERM BLCK GMT-Style Fused

软启动器 3RW40742BB44

CPU 模块 6ES7 677-2AA41-0FK0 CPU 1515SP PC，4 GB RAM，16 GB CFAST，Windows 7 嵌入版 64 位 + HMI 128PT

153H-C361XBD-57-8L SMC-3 Pump Panel w/Line Prot.Module, CB

1746-A13 SLC 13 Slots Chassis

1786-BNCJI CNet Media TNC Bulkhead Connector

193-T1AA50 0.35-0.5 A IEC Bibllic Overload Relay

20-COMM-S PowerFlex RS485 DF1 Comm Adapter

2090-CSBM1DF-10AF10 Kinetix Cable Single DSL 2090-Series

20AC011A3AYNANC1 PowerFlex 70 AC Drive 20A

GA647IFUBSTS GCA iFIX iClientTS User Base Support

GP647IFPLSR00300 GCP iFIX Plus SCADA 300 I/O Srv

IC600BF943RR 4-20mA Analog Output Module (4 channels)

IC647HSTCR5KM Collector Redundancy Option for Historian - Standard Server 5000 Points (M4 Key)

IC647TPR950 CIMPLICITY HMI ProServer 5000 I/O Runtime

IC693PTM101 Power Transducer Module (Includes module, interface, 1m cable)

IC756MDV001J-98 DV Development - Alpha OpenVMS Addt'l User, Japanese, Version 9.8

MicroLogix 1000/1761 System 1761-NET-AIC AIC+ ADVANCED INTERFACE CONVERTER

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

Distributed I/O 1792D-CB18P MAXUM ROUND MEDIA 18MM BASE, PASSTHRU FOR DNET

Communications 9351-ICDOC INTERCHANGE DOCUMENTATION SET (RELEASE 6.0)

Operator Interface D6190-6.5.25DE CONTROLVIEW DOS SYS.INSTAL.MANUAL-CVX,RTX(GERMAN)

Support 9358-B03S SUPT RENEWAL CONTRACT FOR 9358B03ENE

Support 9392-CDRSITE DATADISC ENGLISH/ITALIAN BUNDLE

RSI Software Products 9323-L3300DU UPGRADE: IN-SUPT: 6200-3 BOTH TO AI-3 BOTH

RSI Software Products 9301-2SE3500PTU1 REVIEW32 RUNTIME 32K-100K UPGRADE IN-SUPT (PT)

RSI Software Products 9356-SQLSAPECENE RSSQL FOR SAP SOLUTIONS ENTERPRISE CONNECTOR

Motion Control TL-A2530P-BJ32AA MOTOR, SERVO, 2.6NM, 5000RPM, 17BIT SERIAL FEEDBAC

44A739466 Series 90-30 State Logic CSE331 Upgrade to latest revision

IC200CHS005 I/O CARRIER SPRING STYLE

IC694MDL632 INPUT MODULE 125 VDC 8 POINT POS/NEG LOGIC

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

cFP-PWM-520

PCA-6144S

CIF50-DNM

X6DH8-XG2

DOC LMB-370ZX

GA-4LXWL

D12-16U(PC)EH

1492-SPM2C050 MCB Supplementary Protector 5 A

软启动器 3RW30261BB14

电机启动器 3VU16402MQ00

150-F201FBD Encl. SMC Flex Smart Motor Controller

1732D-IB16M12MINI ArmorBlock 16 Point Input Block

1771-OM 1771 8 Point Digital Output Module

193-ED1DP E1 Plus 3.2-16 A IEC Overload Relay

199-FSMA1 Industrial Relay R-C Surge Suppressor

2090-CPWM7DF-08AA02 MP-Series 2m Standard Power Cable

2094-SE02F-M00-S1 Kinetix 6200/6500 Control Module

DT1009 Industrial Keyboard (for environments with industrial solvents)

GFK-1062 Series 90-70 High Speed Counter Manual (IC697HSC700)

IC210NDR024 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog bs. Not expandable,no LCD/Keypad, no cover.

IC647BSP010 Batch Small Server Pak (10 Units)

IC647PRTHE010M Proficy Portal Historian Edition Client Pack 10 Users (M4 Key)

IC693CPU363CA CPU363 conbal coated. CPU supports 240K of memory, 2 serial ports and up to 4,096 I/O.

IC756ADV000E-99 DV Development - AIX Op Sys, English, Version 9.9

MSI-EFF-25-43 Efficiency Mang Clients 25 Pack-43

SLC/1746 System 1746-RL71 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OV32

Distributed I/O 1734-EP24DC 24V DC POWER/BUS EXTENSION MODULE

Application-specific products 9307-RSP32RENE RSPOWER32 RUNTIME

Operator Interface 2711-NF4 FUNCTION KEY STRIP PV600

Support 9302-NETR SUPT REINSTATEMENT CONTRACT FOR 9302NET

Support 9510-PPKCENR SUPT REINSTATEMENT CONTRACT FOR 9510PPKCEN

DeviceNet Products 1787-PCABL PROBE CABLE FOR 1770KFD

RSI Software Products 9301-2SE3350ZHE RSVIEW32 RUNTIME 5K (CHINESE)

RSI Software Products 9326-AD10APENE APPLICATION MANAGEMENT ADD-ON 10 USER

Motion Control MPG-A004-031S22 MOTOR,SERVO,GEAR RATIO 31,14NM,194RPM,SINGL,230V

Silver Series 1756-L1M2 LOGIX5550 PROCESSOR WITH 1M BYTE EXPANSION MEMORY

HE693IBM235 Terminal Emulation Software on 3.5" disk, (included with module)

IC648MNT076 Annual Software Maintenance for LM 90-70 Standard Serial Communications

QPI31200C2P/B QUICKPANEL COLOR 10.5" TFT BLANK

ST-4474 STXi analog output module 4 Channels, 0~10Vdc, 12bit, Sensor Connect

USB-6289

850SW 13000129-002

1070005457-02

P5P43TD

ADLINK DAQ-2206

EmCORE-i6419

1492-RXIMTS2024-16R 20-Pin Relay IFM RTB 24V DC 16 Relays

WinCC 上位监控软件 6AV6381-1BQ06-0DV0 "WinCC?V6.0 RC?64K?（64K 外部变量）"

6ES78221AA030YA5

1497B-A11-M11-0-N Control Power Transber

1606-XLS240-UPS 1606 Power Supply

1769-ASCII CompactLogix ASCII Interface Module

188-K4D060 6 A Miniature Circuit Breaker

194R-C30-1753-PYN2 194R Disconnect Switch

2090-CPBM7DF-10AF40 MP-Series 40 m Length Cable

2090-XXNPMP-14S25 MP-Series 25 m Length Power Cable

CBL-14-ET-10 Encoder cable for MTR-1300 or MTR-1N series splashproof stepping motor. 10 feet

GEK-90486-2 Genius I/O Discrete and Analog Blocks User's Manual - Volume 2

IC200TBX010 Tool box, 10 point, (IC200NDR001) 24VDC In/Relay Out, 24VDC Powered (r equires an external 24VDC Power Supply) With software, manuals and cab les (IC640VPS002 and IC646MPM001)

IC646TBLSS75K Proficy Troubleshooter for Inbligent Historian for Hist 75000 Points

IC647NMKCHN CIMPLICITY HMI Media Kit for Chinese

IC693ACC310 Filler Module, Blank Slot

IC750LCD220RR PANELWARE 2-Line x 20-Character LCD Dislplay

IC800VMCB3100 Motor power and brake power cable for 3 kW VersaMotion servo motor- 10 meter

SLC/1746 System 1746-OB16E ELECTRONICALLY PROTECTED DC OUTPUT MODULE

Industrial Computers 6155R-7SXPH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBM33 SLC PROGRAMMABLE PRESS CONTROL 16 POINT KIT

Operator Interface 2711-B6C10 PV600 COLOR KEY&TOUCH, DNET & RS232 PRINT

Support 9301-2SE2300ITR SUPT REINSTATEMENT CONTRACT FOR 93012SE2300IT

Support 9307-8MGDBCS SUPT RENEWAL CONTRACT FOR 93078MGDBCENE

DeviceNet Products 1734-PDN DEVICENET INTERFACE MODULE

RSI Software Products 9301-2SE250JPU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BNT10UB1 UPGRADE: IN-SUPT: RSBATCH 10 UNITS TO BUNDLE

Motion Control MPL-B320P-MK22AA MOTOR,SERVO,2.94 NM,5000RPM,MULTI,460V

Motion Control 2090-XXNPY-16S25 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,25M

GFK-0466 Logicmaster 90 Series 90-30 and 90-20 Programming SW User's Manual

IC641VPP950 VersaPro Professional Edition 50 Seat Site License - Windows Programming Software for Series 90-70, Series 90-30 and VersaMax PLCs

MSC-C-V Obsolete - 4-20 mA in / 0-10 Vout

PSPC-DC25/E-220L Prof Shop Floor SPC DC 25 User eSig 220v

PXI-8433/2

SMC 8432BTA 60-600719-002

PXI-4070

NOVO-7865L

92-005346-OX

60-001-9004S

1492-N1 TERM BLCK Breakaway MTG Rail

通讯处理器CP 6ES7 341-1CH01-0AE0 CP341，标准串行通讯模块，RS422/485 接口，最高 76.8kbit/s,15 针 D 型接口,可加载 ModbusRTU及 DataHighway 驱动

行程开关 3SE53221SB21

TIA 博途 WinCC 选件 6AV2107-0CA00-0BB0 SIMATIC WinCC Sm@rtServer for Runtime Advanced

1585J-M8HBJM-0M4 RJ45 Ethernet Media

1756-TBS6H ControlLogix 36 Pin Spring TRM Block

188-K1D500-N Miniature Circuit Breaker 50 A

194E-Y40M-1753-6N 40 A 194E Load switch

2090-CHBIFS8-12AA03 Kinetix 6000M IPIM Hybrid Cable

2090-UXNPBMP-10S15 MP-Series 15 m Length Power Cable

BC647MBP001 Machine Edition Professional Development Suite with Proficy GlobalCare Complete and USB Hardware key

GC647IFPRDV00150 GCC iFIX Profsnl SCADA 150 I/O Dev

IC200CHS002 I/O carrier box style

IC646MPTS99 GE Compare Unlimited Seat Site License

IC647IFSTDV00150C iFIX Standard HMI 150 I/O Development (M1Component Part)

IC670ALG320 Analog Output, Current/Voltage, 4 Channel, Grouped

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