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NI 9469,

NI 9469

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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。
 

BC5002TAX0000 12" Bundled Inbligence Industrial Computer with Win XP Standard Series

HE660SER160 Sequential Event Recorder, 16pt 24VDC

IC693CMM301 Genius Communications Module, GCM (256 bits)

MTR-3N33-G-R-0-M-0-MODRR Servo Motor Nema34 Metric Mod=Connector

R1-SP-N10 Proficy Process Systems Short Circuit Segment protector DIN-rail mount with 10 spur outputs and removeable terminal blocks from Pepp

USB-232/4

微视图像 采集卡 E413

X9SCI-LN4F

CP-168EL

ANRITSU MU530001A4 SCAN-MES04

PII-15S-K

1492-NM40BL TERM BLCK End Barrier

微存储卡 6ES7953-8LG11-0AA0 MMC 微存储卡 128K 用于 S7-300/C7/ET200S IM151CPU,3.3V NFLASH

变送器 3RS18002AP00

TIA 博途 WinCC 选件 6AV2107-0GA00-0BB0 SIMATIC WinCC Logging for Runtime Advanced

1585J-M8PBJM-20X 1585J Ethernet Media Cables

1760-L18DWD-EX Pico 18 Point Controller

188-K2D005 Miniature Circuit Breaker 0.5 A

194L-E12-1754 12A 194L Load Switch

2090-CNSSPRS-AA04 Kinetix 6000M network cable

2090-XNSM-W Kinetix Safe Off Header Connector Kit

BC647MVD000 ME View View OPC Driver License w/Global Care and Hardware Key

GC647IPWRPLRN00300M iPower Option - Nwk 300 I/O Run Globalcare Complete part

IC200DEM064 VersaMax Micro 64 Demo Carrying Case. Demo includes Micro 64 (IC200UDD064, DC supply, DC in and DC out) PowerCube stepper amplifier, stepping motor (MTR-1216-N-D-E-0), stepper cable (CBL-12-MP-10), PowerCube Flying Lead interface cable (IC800PCUBC02

IC646NDP000 CIMPLICITY NT distributor demo - 10 pack

IC647IFXPECLNT iFIX for Embedded XP Client Option

IC670MDL331 120VAC 2A Output, 8 Point, Isolated

IC697MDL252 12 Vac Input (32 Points)

IC800SLCEV100 Encoder cable for any 1 kW to 5 kW S-series servo motor. 10 meters

ControlLogix/1756 System 1756-TBE EXTENDED DEPTH TERMINAL BLOCK HOUSING

Industrial Computers 6182H-12KEH6D VVCE 1250, KEYPAD, EXT MEM, RIO/DH, DC

Process Control 1757-PFBUL002 PROFIBUS INTERFACE MODULE USAGE LICENSE

Operator Interface 2711P-RSACDIN PVP AC PWR SUPPL, 85-265VAC, DIN RAIL MOUNT

Support 9357-CNETMD3R SUPT REINSTATEMENT CONTRACT FOR 9357CNETMD3E

Support 9361-PTLSEATS SUPT RENEWAL CONTRACT FOR 9361PTLSEAT

ControlNet Products 1734-OW2 24 VDC COIL N.O. DPST RELAY MODULE

RSI Software Products 9301-2SE2400ZHU2 RSVIEW32 WORKS 300-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9323-LOOP01ENE RSLOOP OPTIMIZER

Motion Control MPL-A420P-SJ22AA MOTOR,SERVO,4.74 NM,5000RPM,SINGL,230V,5.0KG

Motion Control 2090-UXNFBN-R01 CABLE,ULTRA, NON-FLEX,RT ANGLE,1M

CBL-13-MP-30 Power Cable, MTR-1235, 13xx, 14xx & 1N Series Stepping Motors, 30 Ft.

IC600YR560RR 19" I/O Rack with High Capacity P/S, 115-230Vac (11 Slots)

IC800SLA0032 30W, 230 VAC SL Servo Amplifier

OC647IFGLBLCLN005M iFIX WebSpace 5 Additional Users (M4 key)

PXI-2532B

EmCORE-V619

FIC BPI-8

MOXA CI-134IS

IB800 IB800-16M

G2+/MILP/8D/IBM

1492-MCAA125 25 A UL489 Miniature Circuit Breaker

1494U-FC30J Disconnect Switch Accessory

软启动器 3RW44542BC46

SIMATIC STEP 7 V14 6ES7823-1FA00-0YA5 SIMATIC S7-PLCSIM Advanced V1.0

1585D-M4UBDM-10 1585D Ethernet Media Patchcord

1756-IH16I ControlLogix 16 Point D/I Module

1797-EXMK FlexEx Accessories

194E-E32-1753-6G 32 A 194E Load switch

2090-CFBM4DF-CEAA09 MP-Series 9 m Length Feedback Cable

2090-MCNPMP-6S25 MP-Series 25 m Length Power Cable

BC646MBPS99 Machine Edition Professional Development Suite Unlimited Seat Site License with Proficy GlobalCare Complete

GC646VPP799 Proficy GlobalCare Complete for VersaPro Professional Edition - Site License

HMI-CAB-C106 CABLE MICROLOGIX

IC641HBR302 Max-ON Extended Software for 90-30 Hot Stand By Redundancy

IC647IFCLNTCRO001K iFIX iClient Read Only 1 PK Keyed (M1 Kit Part)

IC660EBA026RR Current Source Analog, 24/48Vdc Power, Elec Asm only

IC695NKT002 RX3i Ethernet NIU Kit with two Ethernet modules.

IC756WRE049E-275 "Runtime License for Windows 25-49 Users, Per User, English v2.7.5"

FlexLogix System 1794-IB16D 24V DC SINK DIAGNOSTIC INPUT MODULE, 16PT

PLC-5/1771 System D1771-6.5.99 CONFIGURABLE FLOWMETER MODULE USER MANUAL 1771-CFM

Process Control 1757-PLXSIFH PLX HW MICROMAX LPU QUICKBUILDER INTERFACE

Operator Interface 2711P-B10C15D2 PV PLUS 1000, KEY/TOUCH, CNET, DC PS, EXT MEM

Support 9307-RSPRTR SUPT REINSTATEMENT CONTRACT FOR 9307RSPRT

Support GML-DZS SUPT RENEWAL CONTRACT FOR GMLDZ

Support F1785-L30BSERC FIRMWARE UPGRADE FOR 1785-L30B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300ITE RSVIEW32 WORKS 1500 (ITALIAN)

RSI Software Products 9701-VWSB250ENU2 RSVIEW SE STATION 100 - 250 DISPLAY UPGRADE

RSI Software Products 9399-L5PG 9399-L5PG PLC-5 A.K. SERIES PROGRAMMING GUIDE

Motion Control 2098-IPD-HV220-DN HIGH VOLTAGE DRIVE, 47A/94A, ULTRA5000 DEVICENET

BC646MDA300 View Development /Runtime 300 I/O

IC300FOX404 FOX Fiber Optic Base/Hub

IC752SKT000RR Datapanel K Starter Kit: Includes Datapanel K (DPK000), download & communication cables, WinCfg, user & programming manuals

MTR-3S67-G-R-0-E-SRR Servo Motor with Seal

PCI-5922

LMB-486LH

STI00526 DDAC 16 151-2000-001

HP2-6460P

FB4000V1.1

RUBY-9911VG2A

1492-JKD4 4 mm Knife Disconnect Terminal Block

1492-WMG4 IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW44233BC45

紧凑型信号模块 6ES7 523-1BL00-0AA0 DI16/DQ16：数字量输入 / 输出模块，16x 24VDC/16x 24VDC/ 0.5A BA, 25mm 模块，含前连接器

1585-C4HB-S300 1585 Ethernet Cable

1746-OB16E SLC 16 Point Protected Output Module

1788-FBJB4R 1788 Redundant FF 4 Way Junction Box

194E-25-C3 194E 3 Pole Terminal Cover

20-PP01083 PLASTIC TRML BASE W/FILTER CAPS, FRAME 9

2090-CSBM1DF-18AA01 Kinetix Cable Single DSL 2090-Series

20AC030A3AYNANC0 PowerFlex 70 AC Drive 30 A at 15 kW 20A

GC-8459-EV-MT W/B-EBIM 30 DAY EVAL

GQPK3D200L2P 6 inch Monochrome/ GE Fanuc Label/ 24VDC/ UL/ cUL/ CE/ UL1604

IC600DM707RR DP Prom Type 1B Module (DPU)

IC647HSTES1000KM Historian Enterprise Server 1,000,000 Points (M4 Key)

IC647WKM001RR Workmaster II Sys Unit, 2 MB RAM, 60 MB HD, MS-DOS

IC694ALG233 RX3i Efficiency 16-Channel Advanced Analog Current Input module provides 16 single-ended or 8 differential b channels. 0 - 20mA and 4 - 20mA with 16 bit resolution. Advanced diagnostics. Requires Proficy? Machine Edition Logic Developer 6.5 SIM

IC756SDV000CT-99 DV Development - Solaris Op Sys, Traditional Chinese, Version 9.9

MicroLogix 1200 System 1762-IR4 4 CHANNEL, RTD/RESISTANCE MODULE

PLC-5/1771 System 1771-TCMR RTD TEMP CONTROL MODULE

Distributed I/O 1794-OC16 FLEX 48 VDC OUTPUT MDL

Communications 9399-LINXGR RSLINX GETTING RESULTS GUIDE

Support 6200-APIS SUPT RENEWAL CONTRACT FOR 6200API

Support 9358-BIZUC0PS SUPT RENEWAL CONTRACT FOR 9358BIZUC0PENE

Support F1771-DBSERA FIRMWARE UPGRADE FOR 1771-DB I/O MODULE

RSI Software Products 9324-RL5ENU2 UPGRADE: OUT-SUPT: WINLOGIC5 OFFLINE TO RSLOGIX5

RSI Software Products 9301-2SE350FRU5R RSVIEW32 RUNTIME 5K-100K UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-HSTS2400U3 UPGRADE: IN-SUPT: HISTORIAN 1500 TO 32K TAG

Motion Control 8720SM-011S1DBS3 SPARE PART ONLY - GMS ITEM

788 SLDERLSS Field CONN Adapter, Used W/995, 4161 (2-4 Digits), 4162. Screw Term O/I'S For Data LNS

IC200MDL140 INPUT 120VAC (1 GROUP OF 8) 8PT

IC697CGR935 Hot Standby Genius Dual Bus CPU, 486DX4, 12K Discrete I/O, 1M fixed user memory, Floating Pt.

MTR-1235-E-D-E-0RR Stepping Motor Nema23 Encoder

DAQPad-6015

AWS-8129H1-XAE

D/300SC-E1 75 83-0110-003

Dialogic D120JCTLSW

PCI-9074

beckhoff 工控机主板 M845B

CONTEC BUS-PC(PCI)

1492-SPM3B040-N MCB Supplementary Protector 4 A

软启动器 3RW40272BB05

电机启动器 3VU16403CG00

150-F480NBDB SMC Flex Smart Motor Controller

1734-AENTR POINT I/O Dual Port Network Adaptor

1783-BMS06SL Stratix 5700 6 Port Managed Switch

193-EGJ E1 Plus Ground Fault and Jam Module

20-750-BUS5-F9 PF755 FR9,IP00,DC IN,INPUT TERMINATION

2090-CPWM7DF-10AF05 MP-Series 5 m Length Power Cable

2097-V34PR3-LM Kinetix 350 1.0kW Servo Drive

ET-GT-9ES-2SC 8 RJ45 Ports, 1 Multimode Fiber Port Ethernet Switch

GFK-2060 VMIC

IC220MDL752 OUTPUT, 24VDC POSITIVE LOGIC 0.5A, 4PT (REQUIRES 1 IC220TBK123)

IC647DMC100 DataMart 100 Reporting Clients

IC647REAM REA:Reliance Electric Automate 15/20/30/40

IC693MDL330LT 120/240 Vac Output, 2 Amp (8 Points) (LT)

IC756CDV001K-99 DV Development - Compaq True64 Op Sys Addt'l User, Korean, Version 9.9

MSI-PROD-25 Product Management Clients 25 Pack

PLC-5/1771 System 1771-DRS1 CONTROL COPROCESSOR, STATIC RAM MEMORY EXPANSION

Distributed I/O 1790-15CMCBL LDX I/O LONGER RIBBON CABLE, 15CM (LOTS OF 5)

Communications 1788-CNF CONTROLNET LOGIX DAUGHTER CARD

Operator Interface 2711-NC1 PANELBUILDER UPLOAD/DOWNLOAD CABLE

Support 9305-RSVADDCDER SUPT REINSTATEMENT CONTRACT FOR 9305RSVADDCDE

Support 9324-RLD300ENS SUPT RENEWAL CONTRACT FOR 9324RLD300EN

DeviceNet Products 2711-T10C10 PV1000 COLOR TOUCH, DNET & RS232 PRINT

RSI Software Products 9301-2SE3400ESU1 RSVIEW32 RUNTIME 1500-32K UPGRADE IN-SUPT (ES)

RSI Software Products 9371-EPCO3 RSWIRE ISA LIBRARY

Motion Control MPF-AIR-TOOL TOOL, AIR PURGE COVER INSERTION AND

2025-128-C Greyline OS, 4 Line, (20) 4MM Chars, LCD, Quick Connect, 128K Memory W/CLOCK/DATE, NEMA 4

HE693THM668 6 channel thermocouple b module for Series 90-30 with 0.1癈 resolution and bus/channel isolation.

IC670TBM002 Aux. Terminal Strip, Qty. 2 Box Style

QPJ-IBS-201 MODULE INTERBUS-S SLAVE

STXPBS332 STXi Profibus with 24VDC source output, 32 points, expandable to 8 additional modules.

SCC-TC02

PCI-8319A

SS4200-E

SAGP-8650EV-R10

03-20766

GE-400-PG-LP

1492-SPM1B160 MCB Supplementary Protector 16 A

直流电源 6EP1333-2BA00 120/230VAC 输入，24VDC/5A 输出

6ES73183FL010AB0

1497D-A13-M22-0-2 2000VA 480-120x240V 60Hz w/Taps GPT

1606-XLSDNET8 1606 XLS 8 A DeviceNet Psy Power Supply

1769-L31 CompactLogix 512KB Controller

190E-BNKJ2-CC10X 6.3-10.0 A Economy Starter W/Ckt-Bkr

194R-LNC18 194R UL Finger Safe Terminal Covers

2090-CPBM7DF-14AF50 MP-Series 50 m Length Cable

2090-XXNPY-16S04 Y-Series 4 m Length Power Cable

CBL-ER-AD-03 Auxiliary encoder cable for S2K sales demo case

GF-2232R Connecting FlashCable to DWM-IV, Heise, Omega, Toledo, Weightronix (B are Ended).

IC200UDD040 VersaMax Micro 40 point PLC,(24) 24VDC In, (16) 24VDC Outputs with ESCP protection, 24VDC Power Supply. (1) serial port and (1)optional communication port. Requires Machine Edition 5.7 or higher. Battery (IC200ACC414) is required for data retenti

IC646TPD000 ProServer Unlimited I/O Point Development System

IC647OMRC OMR:Omron Host Link

IC693ALG390RR Analog Output, Voltage, 2 Channels

IC752DPA060RR Datapanel 1060 with resistive touch. 10.4 inch VGA (640x480) active matri x TFT color display. No bezel - mounts from inside panel. Supports a ll WinCfg functionality.

IC800VMM30MBKSE25 3 kW VersaMotion motor, brake

SLC/1746 System 1747-AIC ISOLATED LINK COUPLER FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6186-M12AL VERSAVIEW 12 INCH MONITOR, TEMPERED GLASS

Application-specific products 1404-M405A-232 MASTER MODULE FOR POWERMONITOR

Operator Interface 2711-K6C9L1 PV600 COLOR KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE3100DER SUPT REINSTATEMENT CONTRACT FOR 93012SE3100DE

Support 9380-RSBAR1000S SUPT RENEWAL CONTRACT FOR 9380RSBAR1000

DeviceNet Products 1734-RTB REPLACEMENT IEC SCREW TERMINAL BLOCK

RSI Software Products 9301-2SE3200ITE RSVIEW32 RUNTIME 300 (ITALIAN)

RSI Software Products 9358-BPCNT03ENE RSBATCH PC-BASED PHASES 03 UNITS

Motion Control MPL-B430P-SK22AA MOTOR,SERVO,6.55 NM,5000RPM,SINGL,460V

Motion Control 2090-SCNP15-0 SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,15.0M

GFK-1291 Field Control Distributd I/O & Control Systems Profibus Interface Unit User's Manual

IC646MDD700 Logic Developer PC (HRT) 700 Tag Runtime & Development Systems

MSP-VOL-IN2 Obsolete - 0-5 VDC in / Pulse out

QPI-MBP-201 Communication Module for 7 inch/ 9 inch/ 10 inch & 12 inch: Modicon Modbus Plus/ UL/ c UL/ UL1604

PXIe-4463

Matrox DSDTI/2/25

SBC 686LCD/S

PCI254-1022-4-PSN

IP-5SA2-RS-R30

SAMSUNG SRCP BBC4P

1492-PD3183 335 A Power Distribution Block

电源模块 6ES7405-0KR00-0AA0 PS405 输入电压 24/48/60VDC 10A 冗余/宽槽

变送器 3RS17052FD00

TIA 博途数字化选件 6AV2107-0PX04-0AA5 SIMATIC Visualization Architect V14

1585J-M8RB-2M5 RJ45 Ethernet Media

1760-PICOSOFTM Pico programming MED Software

188-K2D500 Miniature Circuit Breaker 50 A

194L-E12-4513 12A 194L Load Switch

2090-CPBM4DF-14AF07 MP-Series 7 m Length Pwr and Brake Cable

2090-XXNFLT-S03 TL-Series 3 m Length Feedback Cable

BC647OEM0300 OEM Edge Program - Machine Edition (Approval Required)

GC647MGP001 Proficy Plant Applications Adaptor Assisted Support

IC200GBI001 REMOTE I/O Genius NETWORK INTERFACE UNIT

IC646NLS000 OPC Server

IC647JYCC JYC:Johnson Yokogawa YS 100 Series

IC670MDL730RR 24VDC 2.0A Output Pos. Logic, 8 pt Electronic Short Circuit Protect

IC697MDL640RR 125 Vdc Input (16 Points)

IC800SLCPVL050 Power cable for SLM350 or SDM500 or SLM500 S-series servo motor. 5 meters

ControlLogix/1756 System 1756-PAR2 85-265VAC REDUNDANT POWER SUPPLY ASSEMBLY

Industrial Computers 6182H-12TRH15B VVCE 1250, TOUCH, STD MEM, CNET, AC

Process Control 1757-PFBUPG005 PROFIBUS LIC UPG 5 IOMS

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