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　機器人誕生之日起人們就不斷地嘗試著說明到底什么是機器人。但隨著機器人技術的飛速發展和信息時代的到來，機器人所涵蓋的內容越來越豐富，機器人的定義也不斷充實和創新。機器人技術作為20世紀人類最偉大的發明之一，自20世紀60年代初問世以來，經歷40多年的發展已取得長足的進步。隨著近年來制造業的不斷發展，工業機器人已成為智能制造和工業自動化的關鍵技術和重要產品，也是數控機床走向自動化更高階段的重要一環。

　　隨著電子控制技術的不斷發展，PLC正向高速度、容量大等物聯網及智能通信方向發展，通過物聯網，能實現PLC、變頻器、遠程I/O等與上位機算機進行連接，來構造出一種多級式分布系統。

　　1

　　舉個例子

　　三菱工業電機中的CC-Link構建的一種開放性面向現場控制的總線網路系統，DIN是德國工業標準，使用導軌是工業電氣元器件的一種安裝方式，安裝支持此標準的電器元器件可方便地卡在導軌上而無需用螺絲固定，維護也很方便，一般來說，常用的導軌寬度是3.5CM。現如今，很多的電器元器件都有采用這種標準，比如有PLC、斷路器、開關、接觸器等。

　　工業機器人不是孤立工作的，一個機器人工作站，往往需要外圍設備的配合，比如工裝夾具、傳送帶、焊接變位機、移動導軌等等，這些角色相互之間要怎么配合，就需要互相協調。比如AGV小車、自動化立體倉庫、噴涂設備、裝配設備等等。

　　2

　　工業機器人的自動控制系統

　　1、底層控制器

　　底層控制器作為控制系統的核心，其選擇的合適與否對整個系統來說十分重要，其性能直接影響了控制系統的可靠性、數據處理速度、數據采集的實時性等。移動機器人運行環境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩定可靠地運動控制器至關重要，既要滿足系統要求，又要具有良好的可擴展性和兼容性。

　　為實現機器人對外部設備的有效控制，底層控制器提供了相應的設備底層控制函數，這些控制函數可以直接訪問機器人的硬件寄存器來控制機器人的運行，而這些控制函數可以使得設備驅動程序不再依賴于具體硬件，所以，通過調用控制函數接口就可以實現對機器人的有效控制。

　　2、電氣系統

　　在對輪式全向移動機器人控制系統硬件進行選型以后，根據移動機器人的硬件組成進行電氣系統設計。移動機器人的電氣系統主要包括三個部分：主電路、伺服驅動系統電路和PLC控制系統電路。

　　移動機器人控制系統主電路通過PLC和繼電器實現控制。即由繼電器由線圈和輔助觸點兩部分組成。當線圈通電的時候，其對應的常開觸點閉合，常閉觸點斷開。

　　3、I/O配置段

　　I/O配置段包括I/O刷新周期(典型為4ms)和I/O數據映像區大小信息，通過軟PLC編程系統的工程配置模塊進行可視化配置，以適應不同機器人應用程序對I/O設備的不同需求。其主要是機器人將其他信號作為末端執行器I/O使用，末端執行器I/O鏈接到機器人手臂末端的連接器上，保證其功能。

　　4、PLC程序

　　在底層控制器中，使用編程軟件STEP 7 PROFESSIONAL V12的PTO運動控制指令，使用位置控制方式，控制4個轉向伺服電機，從而控制4個車輪的轉向角；另外，使用擴展模擬量輸出模塊輸出電壓值，控制4個輪毅電機，驅動機器人運動。排除硬件的因素外，程序的好壞直接決定著運動性能的高。因此程序的編寫是整個設計中最為重要的環節之一。

　　3

　　PLC要滿足工業機器人的高性能要求還有待改善

　　機器人控制器可以理解為完成機器人控制功能的結構實現，因此機器人控制器是機器人最為核心的“心臟”，它從一定程度上影響著機器人的發展，高性能的工業機器人不單要實現PTP控制，而且還要實現CP控制。雖然說，采用基于PC的運動控制器和基于DSP運動控制器能夠實現機器人的運動控制，但是卻無法滿足高性能工業機器人的各項要求指標，而電路設計以及編程相當復雜，因此，PLC的控制接線完善和技術創新是一大難題。

　　PLC控制接線簡單，只要通過運動控制指令就能實現對機器人的運動控制，因此，PLC想要在機器人多軸運動協調控制、網絡通訊方面取得優勢，還是需要一定的時間。因為高性能工業機器人主要是各關節的驅動運動，不單單是實現PTP、CP的控制，還要達到在多軸協調控制、速度、加速度、運動精度等方面的要求。

　　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強大；等西門子公司的PLC雖然具備運動控制的功能，但遠遠不及MITSUBISHI PLC，因為MITSUBISHI PLC結合物聯網及高科技術，使之具有完整的運動控制功能，通過高速度的背板，處理器與伺服接口模塊可以進行通訊，從而實現高度的集成操作及位置環和速度環的閉環控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業機器人的要求。
 

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ROCKY-3703EVR

1492-SPM3B050 MCB Supplementary Protector 5 A

光電隔離，40pin 前連接器"

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1497A-A11-M6-1-N Control Power Transformer

1732E-8CFGM8R ARMORBLOCK 8 POINT CONFIGURABLE

1756-OB16D ControlLogix 16 Pt 24V DC D/O Module

188-K1B250-N Miniature Circuit Breaker 25 A

194E-FA80 194E Load switch

2090-CFBM7DF-CDAF04 MP-Series 4m Feedback Cable

2090-U5EK-DN Ultra 5000 Breakout Board Kit

BC646MVD000 ME View View OPC Driver License w/Global Care and Software Key

GC647AUR002 GC Universal Reporting Client 2 Pak

IC200ACC403 Battery for 23 and 28 point Micro for data retention

IC646CSPR001 Proficy Cause+ for Intelligent HMI/SCADA Runtime Server - 1X monitored KPI

IC647IFPLRNUNLMTM iFIX Plus SCADA Unlimited Runtime (M4 Part)

IC660MLA101 Label for IC660BBA101 (Qty 100)

IC697ALG440RR Analog Input Expander, Current, 16 Channels

IC758WMM010 iGlobalCare Complete 6-10 Users (same site): DataViews for Windows

FlexLogix System 1794-CE1 EXTENDER CABLE FOR TERMINAL BASES, 1FT/.3M

GuardPLC Systems 1755-OF8 GUARDPLC 2000 - ANALOG OUTPUT MODULE

Process Control 1757-UPGSIFW UPGRADE MA500 QUICKBUILDER I/F

Operator Interface 2711P-T12C6B1 PV PLUS 1250, TOUCH, RIO/DH, AC PS, STD MEM

Support 9220-TAS SUPT RENEWAL CONTRACT FOR 9220TA

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Support F1785-V30BSERC FIRMWARE UPGRADE FOR 1785-V30B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350JPU3 RSVIEW32 WORKS 1500-5K UPGRADE IN-SUPT (JP)

RSI Software Products 9701-VWSTJPE RSVIEW STUDIO FOR RSVIEW ENTERPRISE (JAPANESE)

RSI Software Products 9399-WABCPG RSLINX C SDK PROGRAMMER'S GUIDE

Motion Control 8720MC- -HAS1 ANALOG DIAL HIM

BC646MRB159 Logic PC Runtime 1,500 I/O

IC300OSW003 Cscape PDA Software with Palm III Series Cable

IC754ACC12MNT Mounting Clips (10) & PWR Conn, 12 QuickPanel View & Control"

MTR-3T45-H-R-B-M-0RR Servo Motor Metric 24V Brake

PCI-6703

FB2504

NORCO-740 NORCO-740AE

PSB-810EAV-J

AP-540TX

SOL2MEVCLB

1492-LD4DF IEC Term Blck 6.1x76x52.2mm Spr Clp

1494F-L1 Door Hardware Kit

軟啟動器 3RW44352BC44

ET 200SP 6ES7193-6AG00-0AA0 BA 2× LC 玻璃光纖，光纖最遠距離 2 KM

1585D-D4UBJM-2 Micro D-Code, QD Style Ethernet Media

1747-SDN SLC DeviceNet Scanner Module

1794-CJC2 Flex I/O Accessories

194E-AA20-P11 194E Load switch

2080-LC10-12AWA Micro810 12 I/O Smart Relay Controller

2090-CSWM1DF-14AA15 Kinetix 15m Smartlink Single Cable

20AC2P1C0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MPM001 Proficy GlobalCare Complete for Logic Developer - PLC Nano/Micro

HE693OIU177 Compact VF OIU powered by 24VDC with Numeric Keypad

IC609SJR121RR Series One Junior 24Vdc Src In/Rly Out, 115Vac Power

IC647HSTSC15KM Server to Server Collector for Historian - Standard Server 15000 Points (M4 Key)

IC660BBA026RR Curr Src Analog Input Block, 24/48Vdc Power, 6 Inputs, Ph B

IC694MDL741CA Conformal Coated Output module 12/24 VDC 0.5 amp 16 points NEG logic.

IC756WDJ009E-23 DV Development Sys VB and Java, English, Version 2.3

MicroLogix 1500/1769 System 1769-ECR RIGHT END CAP/TERMINATOR

PLC-5/1771 System 1771-CE 1771 I/O CHASSIS CABLE FOR 1771-P2 POWER SUPPLY

Distributed I/O 1797-IJ2 2-CHANNEL EX HIGH RESOLUTION FREQUENCY MODULE

Operator Interface 2711P-B6C1D PV PLUS 600 COLOR, KEY/TOUCH, SRIO, DC PS

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Support F1772-LWSERD FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD3U7ENE RSLOGIX 5000, STANDARD TO PRO UPGRADE, ENGLISH

RSI Software Products 9305-RSVADDCDEE RSVIEW32 ACTIVE DISPLAY DEDICATED CLIENT (GERMAN)

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Motion Control 2092-DA2 DRIVE, 2.4A/7.2A, ULTRA1500 DIGITAL SERVO DRIVE

A06B-0141-B075#7008 AC12/2000 Servo Motor, 32K Serial Encoder

IC200UAR028-24 Qty of 24, 28 point PLC< (16) 120VAC In, (12) Relay Out (2 at 10 amp & 10 at 2 amp), 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752BTS450RR Display Station 1085 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 1.2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win NT

MTR-1362-N-A-E-0RR Stepping Motor Nema34

NI 9218

ROCKY-3702V-R4

CBP-6405R

WAFER-6612-R10-BULK

PBP-10P7 NORCO-840AE

MATROX 906-01

NORCO-740AE

1492-SPM3C320-N MCB Supplementary Protector 32 A

軟啟動器 3RW40462BB14

熱電偶模擬量輸入信號板 6ES7 231-5QA30-0XB0 SB 1231 AI 1 x 16 位 熱電偶

150-SC2NBR SMC-50 SOLID STATE MOTOR CONTROLLER 260A

1734-TOP3S POINT I/O Terminal Base

1783-SFP100LX 100LX SFP Fiber Transceiver

193-ESM-VIG-30A-CT E300/E200 30 Amp Sensing Module

20-750-I2B-C770D740 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA12 MP-Series 12m Servo Power Cable

2099-BM11-S Kinetix 7000 Servo Drive

GA647IFESGCLNTS GCA iFIX Optn: ESig & ERec iClientTS

GP-2102NT/OBG GagePort Digital NT 2-port input (Owens Brockway OEM)

IC5007TAX0110 PanelPC 17 inch Standard Unit with Windows XP and Stainless Steel Bezel

IC647HSTCC10000KM Calculation Collector for Historian - Standard Server 10,000,000 Points (M4 Key)

IC647SST001 Scheduler SAP Toolkit

IC693MDL742LT 12/24 Vdc Output, 1 Amp, Positive Logic (16 Points), Fused (LT)

IC756LDV000E-97 DV Development - Intel/Linux RedHat Op Sys, English, Version 9.7

Pico Controllers 1760-IB12XOB8 18 I/O EXPANSION MODULE, DC

PLC-5/1771 System 1771-OB 12-24V DC OUTPUT MODULE, 8 OUTPUTS

Distributed I/O 1791P-4B4P PROFIBUS 24 VDC CBLOCK I/O, 4 IN SINK 4 OUT SOURCE

Communications 6001-F1E SOFTWARE DRIVER FOR 1784-KT

Operator Interface 2706-PDHPK DH+ COMMUNICATION MODULE FOR 2706-P7X & P9X

Support 9701-VWSB000AS SUPT RENEWAL CONTRACT FOR 9701VWSB000AENE

Support 9515-RSNHS500R SUPT REINSTATEMENT CONTRACT FOR 9515RSNHS500ENE

EtherNet/IP Products 2711P-K7C4D1 PV PLUS 700, KEYPAD, ENET, DC PS, STD MEM

RSI Software Products 9301-2SE340ITU3R RSVIEW32 RUNTIME 150-32K UPGRADE OUT-SUPT (IT)

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Motion Control 1326AB-B740E-M2K7L MOTOR,SERVO,460V,50.0NM,3400RPM,MULTI,BRK,IP67

4162-L-8 4162 Continuous Lens Kit. For (8) 4162s

HMI-KPN-302/B QUICKPANEL KEYPAD FOR 10.5" BLANK

IC693CPU363 CPU 363 Module (240K Bytes configurable user memory)

SPS-50W Discontinue - POWER SUPPY 24VDC 2.1AMP UL, CUL, CE

AKD-P00607-NBEC-0000

AIMB-542VE-00A1E

PCM-3730

ElanVital EVM-3507-00

BTX-400P4

MC8041A

VPM-54416-32M

1492-SPM1D040-N MCB Supplementary Protector 4 A

通用型變頻器 6SE6 440-2UC33-7FA1 "37 KW,350 x 850 x 320"

電機啟動器 3VU13403MH00

150-C37FBD Encl. SMC-3 37 A Smart Motor Controller

1609-P10000E Uninterruptible Power Supply P UPS Acces

1771-CD 1771-P2 Power Supply Cable

193-EC1PB E3 0.4-2.0 A Overload Relay

198-F1 IEC Mounting Foot Enclosure Accessory

2090-CPBM7E7-14AF15 MP-Series 15 m Length Cable

2093-PRS8S Kinetix 2000 8 Axis Slim Power Rail

CP9I-0MEB-0070-AZ Alpha 50HVis shielded motor power cable (7 meter)

GFK-0263 Logicmaster 90-70 Programming Software User's Manual

IC200UEX213 28 point expansion. (16) 12VDC In, (12) Relay Out, 12VDC Power Supply (included IC200CBL501)

IC647ANS001 PA new SFL allows 1 Production Unit in PA plant model to use 1 of the 11 server functions

IC647PDCH025 Ruggedized PDC Historian Base with 2500 Tags

IC693CHS392RR Base, Expansion, 10 Slots

IC754CSL06CTD 6 inch TFT QuickPanel Control/ Loaded/ 24VDC

KIT-GFS-351-CN QP View & Control Workshop Student Kit

SLC/1746 System D1746-UM010BENP BARREL TEMPERATURE CONTROL MODULE USER MANUAL

Distributed I/O 1734-PDN DEVICENET INTERFACE MODULE

Application-specific products 1405-M620-240 MINI POWERMONITOR M620 240V

Operator Interface 2711-T10C20 PV1000 COLOR TOUCH, ENET & RS232 PRINT

Support 9301-2SE3400ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE3400ZH

Support 9381-PA2500KENS SUPPORT RENEWAL CONTRACT FOR 9381PA2500KEN

DeviceNet Products 1790D-8BV8B DNET LDX ,24VDC,8 UNIV IN/8 SRCE OUT BASE, D-SHELL

RSI Software Products 9301-2SE3303JPE RSVIEW32 RUNTIME 1500 WITH RSLINX (JAPANESE)

RSI Software Products 9358-PBANT30ENE RSBATCH NT FOR PROCESSLOGIX ARCHIVER 30 UNITS

Motion Control MPL-B540K-SK22AA MOTOR,SERVO,19.4 NM,4000RPM,SINGL,460V,16.5KG

Motion Control 2090-UCSR-A300 ACTIVE SHUNT REGULATOR,ULTRA 300W

GQPL2D200C2P QUICKPANEL COLOR 12.1" TFT GE LABEL

IC646MSP005 Logic Developer - State Professional 5 Pack

MTR-3T44-J-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-1218 STXi input module 8 points, Positive Logic, 12V/ 24VDC

SCXI-1104C

ISA接口 3440522410

886LCD/ATX F845G

MS-9128

A812PG

PSC-486

1492-RCDA2C25 Residual Current Device 25 A

存儲卡 6ES7952-1KL00-0AA0 FEPROM 存儲卡， 2M

變送器 3RS11211DW30

1497-G-AXSX-3-N Control Circuit Transformer

1606-XLBUFFER 1606 1606-XL Buffer Module Power Supply

1762-OB32T MicroLogix 32 Point D/O Module

188-K3D040 Miniature Circuit Breaker 4 A

194L-HC4L-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-06AA30 MP-Series 30m Power and Brake Cable

2090-XXNPMF-10S60 Kinetix Drives 60m Standard Cable

BC647TPD700 CIMPLICITY HMI ProServer 700 I/O Development and Runtime System with Proficy GlobalCare

GC647PRTHE100 GlobalCare Complete - Proficy Portal Historian Edition Client Pack 100 Users Ver 3.0

IC200MDL741LT OUTPUT 24VDC POS LOGIC 0.5A PER PT (1 GROUP OF 16) W/ESCP 16PT (LT)

IC646PEW100 OpenProcess Engineering Workstation

IC647MRA700 View Runtime 700 I/O with USB Hardware key

IC677DBO085 Profibus VersaMax IP Modular slave with (8) 24VDC outputs

IC697RCM711 Hot Standby Redundancy Communications Module

IC800SSI216RP2RR 16A, 230V, Profibus S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-L531 SLC 5/03,WITH 8K USER INSTRUCTION CAPACITY

Industrial Computers 6181H-15TS2KH VERSAVIEW 15" DISPLAY COMPUTER HAZARDOUS LOCATIONS

Application-specific products 9358-PBA10ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 10 UNITS

Operator Interface 2711-B5A9 PV550 MONO KEY&TOUCH, RS232 (DH485) & RS232 PRINT

Support 9303-3CS0EFFS SUPP RENEWAL CNTRCT FOR 9303-3CS0EFF

Support 9391-SDVEKS 9391-SDVEK SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 2711-K5A15L2 PV550 MONOCHROME KEY, CNET & RS232 PRINT

RSI Software Products 9301-2SE2500KOU3 RSVIEW32 WORKS 300-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9358-BEBNT30ENE RSBATCH / EPROCEDURE FOR NT BUNDLE 30 UNITS

Motion Control MPL-A4540C-HK22AA MOTOR,SERVO,10.2NM,1500RPM,ENCDR,230V,9.5KG

Motion Control 2090-XXNFMP-S15 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,15M

CBL-OIJR-12-RA Serial Cable, Operator Interface Panel (OIP) to S2K, Rt. Ang, 12 Ft.

IC641PCC010 Toolkit for integration of Visual Basic Applications

IC800SLT004 SL Amplifier Breakout Terminal Block for Third Party Controller Interface

PR-PAT-ABB01 Proficy PAT - Driver For Ethernet-Coupled Abb Bomem Ftir Spectrometers

PXI-6052E

PCA-6113P4R

080-0190-02-A

PC-612304

84G3711

SP-320-24

1492-MR6X8 IEC 6 x 8 mm Marker Card

1495-J6 CONTACT,AUXILIARY FOR STRTOR CONTACTOR

行程開關 3SE53120SB11

運行版軟件 6AV2105-0FA04-0AA0 SIMATIC WinCC Runtime 專業版 2048 PowerTags V14

1585J-M4TBJM-3 RJ45 Ethernet Media

1756-OF4 ControlLogix 4 Point A/O I or V Module

188-K1C020-N Miniature Circuit Breaker 2 A

194E-G3707 194E 52 mm Metal Load Switch Shaft

2090-CFBM7DF-CEAA01 MP-Series 1m Servo Feedback Cable

2090-UXBK-D1501 Ultra series 1m Cable Breakout Board Kit

BC646OEM0401 OEM Edge Renewal - Historian

GC647DMS001 GC DataMart 1 PA Connection

IC200ALG261 Analog input 15 bit differential voltage 8 channel

IC646IFCLNTCRO010C iFIX iClient Read Only 10 PK Keyless (M1Component Part)

IC647IFPLSRUNLMTC iFIX Plus SCADA Unlimited Server (M1Component Part)

IC660MLD120 Label for IC660BBD120 (Qty 100)

IC697BEM731RR Series 90-70 Genius I/O Bus Controller

IC800APK080 SVU1-80 Alpha series 80 amp amplifier kit

ControlLogix/1756 System 1756-L55M13 LOGIX5555 PROCESSOR WITH 1.5MBYTE MEMORY

Industrial Computers 6182H-7BEH4B VVCE 700, KEY/TOUCH, EXT MEM, ENET, AC

Process Control 9358-BHIST01ENE RSBIZWARE BATCHHISTORIAN - 3 UNITS

Operator Interface 2711P-B15C6B2 PV PLUS 1500, KEY/TOUCH, RIO/DH, AC PS, EXT MEM

Support 9240-MON16R SUPT REINSTATEMENT CONTRACT FOR 9240MON16

Support 6310-MSS 6310-MS SOFTWARE SUPPORT RENEWAL

Support F1794-ACNR15SERB FIRMWARE UPGRADE FOR 1794-ACNR15 I/O MODULE

RSI Software Products 9301-2SE2350U3 UPGRADE: IN-SUPT: RSVIEW32 WORKS 1500 TO 5000

RSI Software Products 9351-DKTSRT INTERCHANGE SOFTWARE FOR MS-DOS RUNTIME

RSI Software Products 9399-WGGUG RSSERVER FOR GE FANUC GENIUS I/O USER GUIDE

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