NI 9402现货 in stock! 欢迎来电咨询~！！

NI 9402,

NI 9402

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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。
 

ACS6162

Neterion X3120

1492-PDME1111 115 A Enclosed Power Distribution Block

1494G-BF3J6-421 NEMA 1494G Enclosed Disconnect

变送器 3RS18001AQ00

CPU 模块 6ES7 512-1DK01-0AB0 CPU 1512SP-1 PN，200KB 程序，1 MB 数据；48 ns；集成 1x PN 接口 ( 可用 ET 200SP 总线适配器再拓展 2 个 PN 接口 )

1585D-D4AC9-0M5 Ethernet Media

1756-PA75R ControlLogix AC Redundant Power Supply

1783-BMS12T4E2CGL Stratix 5700 18 port managed switch

193-EIOGP-42-24D E300/E200 24V DC Control Module

20-750-DCBB1-F6 PowerFlex 750 Frame 6 DC Busbar Kit

2090-CPWM7DF-10AF75 MP-Series 75 m Length Power Cable

2098-DSD-010 Ultra 3000 1kW Servo Drive

G-0001-AS-15 15 Foot Gage Extension Cable

GFK-2084 Analog I/O Products (Built-In Test) Configuration Guide

IC220PWR011 SEGMENT TERMINAL, 24VDC (REQUIRES 1 IC220TBK087)

IC647DNP001 DNP3 Master Protocol for 1000 points

IC647ROC100C ROC:Fisher Remote Operations Controller for 500 Units

IC693MDL632 125 Vdc Input (8 Points)

IC756DVE000E-97 EO GECK (Graphical Editor Construction Kit) - Unix, English, Version 9 .7

MSI-QUAL Quality Management Clients

PLC-5/1771 System 1771-ALX PLC-5 LOCAL I/O ADAPTER MODULE

Distributed I/O 1790-T8BV8BX LDX I/O,24VDC, 8 UNIV IN/8 SRCE OUT EXPN, TERM BLK

Communications 1785-TR10BT AUI TO TW PAIR ENET TRANS

Operator Interface 2711E-NKSW1 REPLACEMENT RUN/PROGRAM SWITCH

Support 9305-RSVADDCJPS SUPT RENEWAL CONTRACT FOR 9305RSVADDCJP

Support 9324-RLD700R SUPT REINSTATEMENT CONTRACT FOR 9324RLD700ENE

DeviceNet Products 9355-WABSNENE RSLINX SINGLE NODE

RSI Software Products 9301-2SE3400ITU2 RSVIEW32 RUNTIME 300-32K UPGRADE IN-SUPT (IT)

RSI Software Products 9371-RSWD2U1 UPGRADE: IN-SUPT: RSWIRE DET JIC ACAD TO PRF PACK

Motion Control 1326AB-B410J-S2K4L MOTOR,SERVO,460V,2.7NM,7250RPM,SINGL,BRK,IP67

2224-LV Greyline OS, 2 Line, (20) 5MM Chars, LCD. ASCII /Serial Interface, 10-30 VDC, NEMA 4

HE800ACC008 Cage-clamp (screw) style I/O plug, 8-terminal. (Qty 1)

IC693ACC308 Rack Adaptor Bracket, Series 90-30 10 Slot to 19" (Front Mount)

QPK3D200C2P QUICKPANEL 6" TFT COLOR

TGT-000A-2-0RR Target 2-Axis Motion Control Module

SCC-SG11

Eicon card S94 800-287-03

X7DCA-3

DX1006-1-4-2

P1A-6300P

OLYMPUS MK300-PUO08

1492-SPM1B400-N MCB Supplementary Protector 40 A

直流电源 6EP1437-2BA00 3 相 400-500VAC 输入，24VDC/30A 输出

电机启动器 3VU13400ME00

1497D-A15-M22-0-N 1En Purpose Transber

1607-XT50D1A ArmorPower Single 24VDC Output 50W PS

1769-OB16P CompactLogix 16 Pt 24VDC Prot D/O Module

190S-AND2-CB40C 2.5-4.0 A Compact Comb Starter W/Ckt-Bkr

194R-N30-1753-PYS1 Non-Fused 194R Disconnect Switch

2090-CPBM7DF-16AA12 MP-Series 12m Standard Cable

2090-XXTFMP-S07 MP-Series 7 m Length Feedback Cable

CBL-T7-MB-30 Power/brake cable for MTR-3T10 or MTR-3T20 or MTR-3T40 series servo motors. 30 feet

GF-3041 Connecting FlashCable to Mark 10 BG/BGI Force Gage.

IC200UDR001 14 point PLC,(8) 24VDC In, (6) Relay Out,120V/240 AC Power Supply

IC646TPR700 ProServer 700 I/O Point Runtime System

IC647PATASD0 Proficy PAT - Driver For ASD

IC693ALG442LT Analog Combo Module 4IN/2OUT (LT)

IC752DVT240 VT100 Firmware: DataPanel 240, GE Fanuc Label, Allows DataPanel to be used as standard data entry terminal. UL, cUL, CE, UL1604

IFIXONNODE300C iFIX Upgrade to On-Node 300 Tag Standard Edition Historian with Alarm & Event Option, M1 Key

SLC/1746 System 1746-BAS-T BASIC MODULE (HIGH SPEED)

Industrial Computers 6186-M17SSTR VERSAVIEW 17 INCH MONITOR, RESISTIVE TOUCH SCREEN

Application-specific products 1404-M505A-232 MASTER MODULE - PQ 232 COM

Operator Interface 2711-T6C9L1 PV600 COLOR TOUCH, RS232 (DH485) & RS232 PRINT

Support 9301-2SE3100PTS SUPT RENEWAL CONTRACT FOR 93012SE3100PT

Support 9380-RSBEDEQPR SUPT REINSTATEMENT CONTRACT FOR 9380RSBEDEQP

DeviceNet Products 1738-ADN12 DEVICENET ADAPTER M12

RSI Software Products 9301-2SE3200ZHU1 RSVIEW32 RUNTIME 150-300 UPGRADE IN-SUPT (ZH)

RSI Software Products 9358-BPCNT60U1R UPGRADE: OUT-SUPT: RSBATCH PC-BASED 03 TO 60

Motion Control MPL-B4520P-SJ24AA MOTOR,SERVO,6.1 NM,5000RPM,SINGL,460V,BRK,9.5KG

Motion Control 2090-SCVG150-0 SERCOS FBR CABL,CONN,STNDRD PVC JKT,GLASS,150.0M

GFK-2251 Panel C Industrial Computer User's Manual

IC646MGRS10 Electronic Signature option for a 10 users Procify Change Management system.

MTR-1324-E-D-E-0 Stepping Motor Nema34, Series Wdg, Encoder

QPICTAE0000 10.4 inch Color TFT/ TCP/ Ethernet/ CF Card/ 110VAC

PXIe-5162

MM-5425/512

SOM-4486

DC2405M

PEAK 600VL

IBM X3250M3

1492-PD3C263 350 A Power Distribution Block

中央处理单元 6ES7414-4HJ04-0AB0 CPU414-4H,1.4MB RAM，60ns，电源 24VDC，MPI/PROFIBUS-DP 主站接口

变送器 3RS17061FE00

1495-N77 10 A Electrical Interlock Kit

1585J-M8TBJM-20 RJ45 Ethernet Media

1761-CBL-AM00 MicroLogix Cable

188-K3B160 Miniature Circuit Breaker 16 A

194L-E16-1754 16 A 194L Load Switch

2090-CPBM4DF-16AF12 MP-Series 12m Length Cable

2090-XXNFMF-S12 Kinetix Drives 12m Standard Cable

BC647OEM0411 OEM Edge Program Renewal Additional Key - Historian

GC647PATAXSO Proficy PAT - Driver For All Axsun Technologies Near-Ir Spectrometers - Assist Support

IC200MDD844 Mixed 24VDC POS LOG b group 16 point / 24 VDC output 16 point.

IC646NRF000 Allen-Bradley RF Antenna Communications

IC647MBEC MBE:Modicon Modbus Ethernet 7X

IC670TBM001 Aux. Terminal Strip, Qty. 2, Barrier Style

IC697MDL671 Interrupt Input Module, 14 points

IC800SLR001 External regeneration resistor rated 50 ohm100 Watt for SL and S2K series

ControlLogix/1756 System 1756-BA1 LOGIX5000 BATTERY ASSEMBLY

Industrial Computers 6182H-15BEH6D VVCE 1500, KEY/TOUCH, EXT MEM, RIO/DH, DC

Process Control 1757-DNBEXP05 DEVICENET MODULE EXPANSION, 3-5 MAX

Operator Interface 2711P-ST6BC PV PLUS 600 COLOR, KEY/TOUCH STARTER KIT

Support 9326-AD10USR SUPT REINSTATEMENT CONTRACT FOR 9326AD10USENE

Support 9371-EDDL3S SUPT RENEWAL CONTRACT FOR 9371EDDL3

ControlNet Products 1734-TBQ10 10 MODULE BASES W/ REMOVABLE IEC SCREW TERMINALS

RSI Software Products 9301-2SE240ITU1R RSVIEW32 WORKS 1500-32K UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-B60U2R UPGRADE: OUT-SUPT: RSBIZWARE BATCH 10 TO 60

Motion Control MPL-A430P-SJ22AA MOTOR,SERVO,5.42 NM,5000RPM,SINGL,230V,6.4KG

Motion Control 2090-UXNFDN23-K30 CABLE,ULTRA,NON-FLEX, MOTOR FEEDBACK,N,SKW,30M

CBL-15-MP-30 Power Cable, MTR-1Nxx SPLASHPROOF Stepping Motors, 30 Ft.

IC610PRG120RR LCD Portable Programmer 230Vac (order Prgm. Pack separaby)

IC800SLCEZ050 Encoder Cable, 30-750 W SL Servo Motor, 5 Meters

OC647IFRCPC iFIX Optn: Recipe (M1Component Part)

PXI-2567

PCI748

Inb S3420GP

8170-735-511

SAGP-865EV

TeKnologue PC4304B

1492-MCAA330 30 A UL489 Miniature Circuit Breaker

1494V-DH644-A NEMA Flange Mtd Rod Switch Disconnect Sw

软启动器 3RW44566BC34

工程组态编程软件 6AV2102-2AA04-0BD5 SIMATIC WinCC Advanced Powerpack WinCC Comfort -> WinCC Advanced V14

1585D-M4UBJM-30 Micro D-Code, QD Style Ethernet Media

1756-L71K ControlLogix 2 MB Controller

1799-12SPCON Embedded Input/Output Accessories

194E-FA00E-PE-TN 194E Load switch

2090-CFBM6DF-CBAA09 TL-Series 9m Feedback Cable

2090-SCNP25-0 Kinetix 25-25m Fiber Optic Cable

BC646MPHS01 Logic Developer PDA Site Lisc Seat - 1 seat

GC647AEC999 GC Efficiency Client - UNL

HMI-CAB-C93 CABLE GE FANUC CMM SNP

IC641SWP745 GMR Phase 4 System and Configuration Software

IC647IFCLNTSRO100M iFIX iClientTS Read Only 100 PK (M4 Part)

IC660EBD110RR Ph B 115Vac 16 CKT Input Electronic Assembly

IC697ACC621 115VAC fan tray to be used with Series 90-70 or RX7i short racks.

IC756WRE499E-23 DataViews Runtime for Windows 100+, Per User, English, Version 2.3

FlexLogix System 1794-OW8K CONFORMAL COATED, RELAY CONTACT OUT, 8 PT ISOLATED

PLC-5/1771 System D6200-6.4.11IT PLC5 PROG. SW INSTRUCTION SET REFERENCE (ITALIAN)

Process Control 1757-PLXSRU300 PLX REDUNDANT SERVER 100 TO 300 POINT EXPANSION

Operator Interface 2711P-T10C4B1 PV PLUS 1000, TOUCH, ENET, AC PS, STD MEM

Support 1788-FFCTS SUPT RENEWAL CONTRACT FOR 1788FFCT

Support 2707-NPR SUPT REINSTATEMENT CONTRACT FOR 2707NP

Support F1785-L46BSERB FIRMWARE UPGRADE FOR 1785-L46B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2303KOE RSVIEW32 WORKS 1500 WITH RSLINX (KOREAN)

RSI Software Products 9701-VWSS000ENU3 RSVIEWSE 250 TO UNLIMITED DISPLAY UPGRADE IN-SUPT

RSI Software Products 9399-RSBACLRG RSBATCH ACTIVE X CONTROLS LIBRARY REF. GUIDE

Motion Control 1394C-SJT05-L-RL MOD,SYSTEM,5KW,IMCS SINGLE AXIS,W/RIO,W/AXIS LINK

BC646MDE700 Logic Developer - PC & View Development/Runtime (HRT) 700 I/O

IC300OCS052 OCS with 2x20 LCD Display and with 16-key tactpad. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A pos. logic with ESCP) and 4 In/2 Out Analog, Voltage. No Network.

IC752WBB253 Display Station 2000 Series - 12.1" active matrix SVGA (800x600) resistive touch screen with integrated keypad, Pentium 350 MHz, 128 MB RAM, 6.4 GB HD, expansion slots, Ethernet, with unlimited point count CIMPLICITY HMI R&D and Win '95

MTR-3T21-G-R-0-M-S MTR series metric servo motor with resolver and shaft seal

PCI-6221

ICES 101 COM-ETX

TIANDY TC-T324-XL

cPS-H325 / AC HAC250P-490 (E)

PCI-P2FV

ADT-8949B1

1492-L3-BL IEC Term Blck 5.1x59.5x31.3mm Spr Clp

1493-N1 Overload Relay Reset Kit

软启动器 3RW44253BC36

附件 6ES7 954-8LC02-0AA0 存储卡：4 MB

1585-C8UB-S600 Cable Spool Ethernet Media

1746-RT25R SLC Replacement Terminal Block

1790D-8BV8B CompactBlock LDX 16 Point Comb Block

194E-A25-1753-R 25 A 194E Load switch

20-PP11006 WIRE 1 (BRIDGE)

2090-CSBM1DF-18AF08 Kinetix Cable Single DSL 2090-Series

20AC043A3AYYANG0 PowerFlex 70 AC Drive 43 A at 22 kW 20A

GC646IFCLNTCRO100 GCC iFIX iClientTS Read Only 1 PK Runtime Version

HE670ADC810 Discontinued Part. Check with GE IP on migration path.

IC600LX616RR 8K Logic/8K Register Memory Module

IC647HSTES75KM Historian Enterprise Server 75000 Points (M4 Key)

IC655APU521RR Axis Positioning Module, Encoder Input, Servo Input

IC694DNM200 DeviceNet Master Module for RX3i. Module can only be located in the CPUbase. The module is on the high speed serial bus.

IC756SDV001J-99 DV Development - Solaris Op Sys Addt'l User, Japanese, Version 9.9

MicroLogix 1500/1769 System 1769-IA16 16 POINT 120 VAC INPUT MODULE

PLC-5/1771 System 1771-PT2 FIBER OPTIC CABLE

Distributed I/O 1794-TB3 TERMINAL BASE, 3-WIRE

Communications 9399-WABOUGFR RSLINX OEM USER GUIDE (FRENCH)

Support 9310-BL100S 9310-BL100 SOFTWARE SUPPORT CONTRACT RENEWAL

Support 9358-BTDS03S SUPT RENEWAL CONTRACT FOR 9358BTDS03ENE

Support F1771-M1 FIRMWARE UPGRADE FOR 1771-M1 I/O MODULE

RSI Software Products 9324-RLD0U7ESE RSLOGIX 5000 SERVICE ED TO PRO, UPG, ESP

RSI Software Products 9301-2SE350ZHU4R RSVIEW32 RUNTIME 150-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-MTRCK03U2R UPGRADE: OUT-SUPT: RSBW MATERIALTRACK 3 TO 10

Motion Control 8720SM-018S3FAS3 18.5 KW/41.4 AMP, 750 VDC, AC MOTOR WITH SNS60

840-RC-08 8" Ribbon Cable. Term Both Ends W/16 Pin DIP Plugs

IC200MDL744 OUTPUT 5/12/24VDC NEG LOGIC 0.5A PER PT (2 GROUPS OF 16) 32PT

IC697VAL304 Analog Output, Isolated, 4 channel, 12 bit, Voltage - bipolar +/-2.5VDC, +/-5VDC, +/-10VDC. Removable terminal block, no cable required

MTR-1331-J-E-D-E-SRR Stepping Motor Nema34 Encoder Splashproof

KCPI-3130

IPC-586VDH

SHT-16B-CT/CPCI

PROx 1603-G3A

3C900B-COMBO

CAN-PCI/200

DALSA VA50E-04

1492-SPM3B320-N MCB Supplementary Protector 32 A

软启动器 3RW40372BB05

中央处理单元 6ES7 211-1AE40-0XB0 CPU 1211C DC/DC/DC

150-F85NBDB SMC Flex Smart Motor Controller

1734-IM4 POINT I/O 4 Point Digital Input Module

1783-ETAP1F 3-PORT ENET/IP TAP - 2 TP/1 FIBER

193-EPE E1 Plus Panel Mount Adaptor

20-750-EMC3-F5 PF753 & PF755 FR 5 EMC CORES W PLATE

2090-CPWM7DF-12AA60 MP-Series 60m Power Cable

2098-DSD-030X-DN Ultra 3000 3 kW with DeviceNet Drive

GA646IFCLNTCRO010 GCA iFIX iClient Read Only 25 PK Keyless Runtime Version

GFK-2207 Stepping MotorCube with DeviceNet Interface Manual

IC220TBK085 I/O TERMINAL STRIP, 8 POSITION SPRING STYLE, RELAY, QTY 10

IC647G90M G90:GE Fanuc SNP

IC647SDR001 Scheduler Day rate

IC693MDL645LT 24 Vdc Input, Neg/Pos Logic (16 Points) (LT)

IC756DVE010J-99 EO GECK (Graphical Editor Construction Kit) - Inb x87, Japanese, Ver sion 9.9

MSI-QUAL-SV Quality Management Server Software

PLC-5/1771 System 1771-AM1 1 SLOT I/O CHASSIS ASSEMBLY

Distributed I/O 1790D-T8BV8V DNET LDX 24VDC,8 UNIV IN/8 SINK OUT BASE, TERM BLK

Communications 1770-CP RS-232C MODEM ADAPTER CABLE, 16.5FT/5.03M

Operator Interface 2727-G7P20D1Q6 MOBILEVIEW GUARD G750

Support 9305-RSVADFCITS SUPT RENEWAL CONTRACT FOR 9305RSVADFCIT

Support 9515-RSAAMPRVR SUPT REINSTATEMENT CONTRACT FOR 9515RSAAMPRVENE

EtherNet/IP Products 2706-P43C INVIEW MESSAGE DISPLAY. 1 LINE, 20 CHARACTERS

RSI Software Products 9301-2SE3400PTU1 RSVIEW32 RUNTIME 1500-32K UPGRADE IN-SUPT (PT)

RSI Software Products 9515-RSCHM075ENE RSMACC CHANGE MGMT FOR UP TO 75 DEVICES

Motion Control 1326AB-B430G-M2K4L MOTOR,SERVO,460V,6.4NM,5000RPM,MULTI,BRK,IP67

3415-24 Greyline OS, 4 Line, (20) 9MM Chars, VFD, Quick Connect, 24VDC, NEMA 4

HMI-BEZ-205 BEZEL 12.1" STAINLESS STEEL

IC693ALG392 High Density Analog Output (8 Channels)

QPLCBDE0000 12.1" Color TFT, Blank Label, Ethernet CF CARD, 24Vdc, UL,cUL,CE,UL1604