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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。
 

MTR-1350-E-D-E-0 MTR series NEMA 34 stepping motor with series winding connection and encoder

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PXIe-6544

ROCKY-4786E2V

DIALOGIC D/82JCT-U D82JCTUW

TPCM7000-E

PWS-801-1R

IOBP-G412-R10-NOCB-BULK

RUBY-9911VG2A

1492-JKD4 4 mm Knife Disconnect Terminal Block

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

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緊湊型信號模塊 6ES7 523-1BL00-0AA0 DI16/DQ16：數字量輸入 / 輸出模塊，16x 24VDC/16x 24VDC/ 0.5A BA, 25mm 模塊，含前連接器

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

IC600DM706RR DP Prom Type 1A Module (DPU)

IC647HSTES10000KM Historian Enterprise Server 10,000,000 Points (M4 Key)

IC647WIMM WIM:Westinghouse IMPACC

IC694ALG232LT Low Temperature. RX3i Efficiency 16-Channel Advanced Analog Voltage Input module provides 16 single-ended or 8 differential input channels. 0 to 10 V (unipolar), -10 to +10V (bipolar) with 16 bit resolution. Advanced diagnostics. Requires Proficy? M

IC756SDV000CS-99 DV Development - Solaris Op Sys, Simplified Chinese, Version 9.9

MicroLogix 1200 System 1762-IF4 4 CHANNEL CURRENT/VOLTAGE ANALOG INPUT MODULE

PLC-5/1771 System 1771-TCM TEMPERATURE CONTROL MODULE

Distributed I/O 1794-OB8EPK CONFORMAL COAT, 24VDC SOURCE OUT ELECT FUSED, 8 PT

Communications 9399-INTWINUG INTERCHANGE FOR WINDOWS USER GUIDE

Support 6200-APIR SUPT REINSTATEMENT CONTRACT FOR 6200API

Support 9358-BIZUC0PR SUPT REINSTATEMENT CONTRACT FOR 9358BIZUC0PENE

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

RSI Software Products 9324-RL5ENU1R UPGRADE: OUT-SUPT: WIN LOGIC 5 TO RSLOGIX 5

RSI Software Products 9301-2SE350FRU4R RSVIEW32 RNTM 150-100K UP

RSI Software Products 9358-HSTS2400U2R UPGRADE: OUT-SUPT: HISTORIAN 300 TO 32K TAG

Motion Control 8720SM-011S1DAS3 SPARE PART ONLY - GMS ITEM

78005102 Target Spare Module

IC200MDD849 MIXED OUTPUT RELAY 2.0A PER PT ISOLATED 8PT / INPUT 120VAC ISO 8PT

IC697CGR772 Hot Standby Genius Dual Bus CPU, 486DX4, 2K Discrete I/O, 512K byte fixed user memory, Floating Pt.

MTR-1235-E-D-E-0 MTR series NEMA 23 stepping motor with series winding connection and encoder

DAQ-MS02

AWS-8129

Dialogic D/600JCT-2E1-75

DIALOGIC SPCI4/02

CONTEC PIO-16/16T(PCI)

W26361-W94-X-02

BUS-PC(PCI)A

1492-SPM3B040 MCB Supplementary Protector 4 A

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電機啟動器 3VU16402CR00

150-F480NBD SMC Flex Smart Motor Controller

1734-AENT POINT I/O Ethernet 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 input 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

直流電源 6EP1333-2BA00 120/230VAC 輸入，24VDC/5A 輸出

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 6189V-SLFD144 FLOPPY DISK DRIVE SLIM

Application-specific products 1404-M405A-000 MASTER MODULE FOR POWERMONITOR

Operator Interface 2711-K6C9 PV600 COLOR KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE2500ZHS SUPT RENEWAL CONTRACT FOR 93012SE2500ZH

Support 9380-RSBAR1000R SUPT REINSTATEMENT CONTRACT FOR 9380RSBAR1000

DeviceNet Products 1734-FPD FIELD POTENTIAL DISTRIBUTOR

RSI Software Products 9301-2SE3200FRU1 RSVIEW32 RUNTIME 150-300 UPGRADE IN-SUPT (FR)

RSI Software Products 9358-BPC60U3R UPGRADE: OUT-SUPT: RSBIZWARE PC PHASES 30 TO 60

Motion Control MPL-B430P-SJ24AA MOTOR,SERVO,6.55 NM,5000RPM,SINGL,460V,BRK,8.2KG

Motion Control 2090-SCNP10-0 SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,10.0M

GFK-1277 Genius Modular Redundancy Flexible Triple Modular Redundant (TMR) System User's Manual

IC646MDD300 Logic Developer PC (HRT) 300 Tag Runtime & Development System

MSP-VOL-IN1 Obsolete - 0-10 VDC in / Pulse out

QPI-IBS-201 Communication Module for 7 inch/ 9 inch/ 10 inch & 12 inch: Interbus-S Slave

PXIe-4339

DSRVR/2

ACE450F AC4-OBA2E-00

FB16M-LS-C2D30-2G1

MORQ/16VD Y7250-00

EM-6330

1492-PD3163 325 A Power Distribution Block

電源模塊 6ES7405-0KA02-0AA0 PS405 輸入電壓 24/48/60VDC 10A

變送器 3RS17051KW00

TIA 博途數字化選件 6ES7823-0BA00-1DA0 SIMATIC OPC UA S7-1500 large ( CPU-1517 / CPU-1518 (F) )

1585J-M8QBJM-3 RJ45 Ethernet Media

1760-OW2 Pico 2 Point Combination Module

188-K2D400 Miniature Circuit Breaker 40 A

194L-E12-4511 12A 194L Load Switch

2090-CPBM4DF-14AF03 MP-Series 3 m Length Pwr and Brake Cable

2090-XXNBTN-S N-Series to TL-Series Transition Cable

BC647OEM0211 OEM Edge Program Renewal Additional Key - CIMPLICITY

GC647MGM001 Enterprise Adapter for Maximo 5.2 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

Operator Interface 2711P-RY2032 PV PLUS REPLACEMENT BATTERY

Support 9357-ENETL3S SUPT RENEWAL CONTRACT FOR 9357ENETL3

Support 9363-SNAPSHOTR SUPT REINSTATEMENT CONTRACT FOR 9363SNAPSHOT

ControlNet Products 1734-VHSC24 24 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS

RSI Software Products 9301-2SE240DEU2R RSVIEW32 WORKS 300-32K UPGRADE OUT-SUPT (DE)

RSI Software Products 9358-B30ENE RSBIZWARE BATCH 30 UNITS

Motion Control MPL-A430H-SJ24AA MOTOR,SERVO,6.55 NM,3500RPM,SINGL,230V,BRK,8.2KG

Motion Control 2090-UXNFBY-S15 CABLE,ULGRF50ON-FLEX,MOTOR FEEDBACK,Y,15M

CBL-14-ET-10 MTR-1300 and MTR-1N Series SPLASHPROOF Stepping Motor Encoder Feedback Cable, 10 Ft.

IC610MDL135RR U.L. Listed 115Vac Input (6 points)

IC800SLA5002 5000W, 230VAC SL Series Amplifier

OC647IFGLBLDPNSRVENM-55 iFIX WebSpace v5.5 Dependent Server Enabler

PXI-2548

COMMELL FS-97B

PCI-1752U

SNP-9041

METEOR2/4

RIO-3309S

1492-MCAA240 40 A UL489 Miniature Circuit Breaker

1494U-NC 1494U 10A N.C. Auxiliary Contact

軟啟動器 3RW44556BC44

Safety Advanced V14 6ES7833-1FB14-0YH5 STEP 7 Safety Basic V14 SP1 SW DL

1585D-M4UBDM-70 1585D Ethernet Media Patchcord

1756-JMPR ControlLogix Jumper Bar

1797-PS2N2 FlexEx Power Supply

194E-E63-1753-6N 63 A 194E Load switch

2090-CFBM6DD-CCAA12 TL-Series 12m Feedback Cable

2090-SCEP15-0 Kinetix 15-15m Fiber Optic Cable

BC646MFL001 FANUC Ladder IIIC with Proficy GlobalCare Complete

GC647ADC025 GC Dashboard Client 25 Pak

HMI-CAB-C58 CABLE MODICON 984 SLOT

IC641SWP064 Series 90 PCM Flow Computer Software

IC647IFCLNTSRO010C iFIX iClientTS Read Only 10 PK (M1Component Part)

IC660EBD020RR Ph B 24/48Vdc and 24Vdc 16 CKT Src Electronic Asm

IC695PSD140CA 24VDC Multipurpose Power Supply CONFORMAL COATED is suitable for use in load-sharing and redundancy application. It must be installed in a PACsystems RX3i (IC695catalog number) Universal Backplane. It can be used as the only power supply in the back

IC756WRE099E-275 "Runtime License for Windows 50-99 Users, Per User, English v2.7.5"

FlexLogix System 1794-OB16P 24V DC SOURCE OUTPUT MODULE (PROTECTED), 16 POINT

PLC-5/1771 System D1785-6.5.24 CONTROLNET PLC-5 HOT BACKUP USER MANUAL

Process Control 1757-PLXSIFY PLX DPR RECORDERS QUICKBUILDER INTERFACE

Operator Interface 2711P-K10C4B2 PV PLUS 1000, KEYPAD, ENET, AC PS, EXT MEM

Support 9324-FW5DDENR SUPT REINSTATEMENT CONTRACT FOR 9324FW5DDEN

Support 2706-NP1S SUPT RENEWAL CONTRACT FOR 2706NP1

Support F1785-L40CSERC FIRMWARE UPGRADE FOR 1785-L40C PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300U2 UPGRADE: IN-SUPT: RSVIEW WORKS 150 TO 1500

RSI Software Products 9701-VWSCWAENE RSVIEW SE CLIENT

RSI Software Products 9399-RL50GRDE RSLOGIX 500 GETTING RESULTS GUIDE (GERMAN)

Motion Control 1394C-AM03 MODULE,AXIS,2KW,3.0A CONT,6.0A PEEK

BC646MDC700 Logic Developer - PC & View Development/Runtime 700 I/O

IC300OCS031 OCS with 2x20 LCD Display and with 16 keypad. Built in I/O no expansion. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A pos. logic with ESCP). No network

IC752SKT007 Mature, order QuickPanel instead. DataPanel 320T CEG Starter Kit: Includes Datapanel 320T Passive Color Expansion with 2MB & Genius (CBT070), download & communication cables, WinCfg, user & programming manuals

MTR-3T11-G-R-0-M-S MTR series metric servo motor with resolver and shaft seal

PCI-6071E

NBP 20016

PC104-FD-32-DF

WCF681

SBC81610

SHB-960

1492-L2 IEC Term Blck 3.5x51.5x29.5mm Spr Clp

1492-XIM24-16RF Expander Module / 16 Relays 24Vdc Fused

軟啟動器 3RW44243BC36

接口模塊 6ES7 155-5AA00-0AB0 IM 155-5 2PN 接口，PROFINET 接口模塊

1585-C8HB-S100 Cable Spool Ethernet Media

1746-P4 SLC Rack Mounting Power Supply

1790-T0A8X CompactBlock LDX Expansion Block

194E-A100-PE 194E Earthing-Grounding Terminal

20-PP10016 MOTOR CABLE V, PF700H, PF700S

2090-CSBM1DF-18AA20 Kinetix 20m Smartlink Single Cable

20AC037A3AYNANC0 PowerFlex 70 AC Drive 20A

GC-8841-LC-MT SafetyNet Logic Workbench

HE300SFW100 Drive configuration software for GEN100 and RSL100.

IC600KD533RR Amber OptiBasic OIT, Ver 31

IC647HSTES250KM Historian Enterprise Server 250000 Points (M4 Key)

IC650AEL003RR Series Six Controller Board with Faceplate (MAP30) **

IC694APU300 High speed counter module 200KHZ A B and C type.

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