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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。
 

IC693ACC341 Redundant Power Supply Base with 0.5 meter cable to connect to Power Supply Adapter module. Supports any Series 90-30 power supply.

MTR-1337-N-D-E-S MTR series NEMA 34 splashproof stepping motor with series winding connection

PR-PAT-DX-1.2 Proficy DX, PAT Software, Non Pharm

PXI-2521

SBC81822

VTRON VGP-351

PCI-749D

PCI-6S AT PCI-7S

PCI-GPIB

LV-67C

1492-PD3141 175 A Power Distribution Block

電源模塊 6ES7405-0DA02-0AA0 PS405 輸入電壓 24V DC 4A

變送器 3RS17051KD00

TIA 博途數字化選件 6ES7823-0BA00-1CA0 SIMATIC OPC UA S7-1500 medium ( CPU-1515 / CPU-1516 (F) )

1585J-M8PBJM-8X 1585J Ethernet Media Cables

1760-NDC Pico Protective Cover

188-K2D320 Miniature Circuit Breaker 32 A

194L-E12-4501 12A 194L Load Switch

2090-CPBM4DF-14AF02 MP-Series 2 m Length Pwr and Brake Cable

2090-XXLF-X330B Kinetix 6200/6500 Line Filter

BC647OEM0210 OEM Edge Program Additional Key - CIMPLICITY (Approval Required)

GC647IPWRTSUSBSEM iPower Option - TS Base Globalcare Complete part

IC200ETM001CA EXPANSION TRANSMITTER CONFORMAL COATED

IC646NGU000 Gage Port Mitutoyo Communications

IC647ITMC ITM:Intermec Barcode Readers

IC670MDL644RR 24VDC Pos/Neg Logic Fast Input 16 pt. Grouped

IC697MDL350RR 120 Vac Output, 05 Amp (32 Points)

IC800SLCPV050 Power cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor. 5 meters

ControlLogix/1756 System 1756-PA75 85-265V AC POWER SUPPLY (5V @ 13 AMP)

Industrial Computers 6182H-12TEH6B VVCE 1250, TOUCH, EXT MEM, RIO/DH, AC

Process Control 1757-PFBUPG002 PROFIBUS LIC UPG 2 IOMS

Operator Interface 2711P-RW2 PV PLUS INTERNAL CF W/ OS & ME, 128 MB

Support 9357-DNETMDU3S SUPT RENEWAL CONTRACT FOR 9357DNETMDU3E

Support 9363-PORTALR SUPT REINSTATEMENT CONTRACT FOR 9363PORTAL

ControlNet Products 1734-IK 24 VDC INCREMENTAL ENCODER MODULE

RSI Software Products 9301-2SE2403ZHE RSVIEW32 WORKS 32K WITH RSLINX (CHINESE)

RSI Software Products 9358-B10UB1 UPGRADE: IN-SUPT: RSBIZWARE BATCH 10 UNT TO BUNDLE

Motion Control MPL-A430H-MK24AA MOTOR,SERVO,6.55 NM,3500RPM,MULTI,230V,BRK,8.2KG

Motion Control 2090-UXNFBY-S03 CABLE,ULGRF50ON-FLEX,MOTOR FEEDBACK,Y,3M

CBL-14-ED-20 Encoder Cable, MTR-1235, 13xx, 14xx & 1N Series Splashproof Stepping Motors to IMC-D or S2K, 20 Ft.

IC610MDL126RR 115Vac Isolated Input (4 points)

IC800SLA2502 2500W, 230VAC SL Series Amplifier

OC647IFGLBLCLN020M-55 iFIX WebSpace Client v5.5 - Additional 20 Users

PXI-2546

MB945

PCIE-9450-R30

ATP-24A

SBC-9830

03-20932-03

1492-MCAA230 30 A UL489 Miniature Circuit Breaker

1494U-LC36 1494U 30A-60A Copper Lugs

軟啟動器 3RW44552BC46

Safety Advanced V14 6ES7833-1FB14-0YA5 STEP 7 Safety Basic V14 SP1

1585D-M4UBDM-60 1585D Ethernet Media Patchcord

1756-IV16 ControlLogix 16 Pt 12/24V DC D/I Module

1797-PS1N FlexEx Power Supply

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

2090-CFBM6DD-CCAA07 TL-Series 7m Feedback Cable

2090-SCEP1-0 Kinetix 1-1m Fiber Optic Cable

BC646MDG001 GE FANUC SRTP OPC Server with Proficy GlobalCare Complete

GC647ADC005 GC Dashboard Client 5 Pak

HMI-CAB-C52 CABLE IBM AT 9 PIN COMM P

IC641SWP062 Series 90 PCM Development S/W, CIMPLICITY 90-ADS/CIMPLICITY 70

IC647IFCLNTSRO005K iFIX iClientTS Read Only 5 PK (M1 Kit Part)

IC660EBA106RR Current Source Analog, 115Vac/125Vdc Power, Elec Asm only

IC695PSD040CA RX3i 24VDC power supply, 40 Watt Conformal Coated.

IC756WRE099E-26 DV Runtime Win 50-99 Per User Eng v2.6

FlexLogix System 1794-OB16 24V DC SOURCE OUTPUT MODULE, 16 POINT

PLC-5/1771 System D1785-6.5.19 1785ENET PLC5 ETHERNET INTERFACE MODULE USR MANUAL

Process Control 1757-PLXSIFV ASEA CONTROLLER QUICKBUILDER INTERFACE

Operator Interface 2711P-K10C15D2 PV PLUS 1000, KEYPAD, CNET, DC PS, EXT MEM

Support 9310-WED200R SUPT REINSTATEMENT CONTRACT FOR 9310WED200ENE

Support 2706-ND1S SUPT RENEWAL CONTRACT FOR 2706ND1

Support F1785-L40C15SERE FIRMWARE UPGRADE FOR 1785-L40C15 PLC5 PROCESSOR MO

RSI Software Products 9301-2SE2300U1 UPGRADE: IN-SUPT: RSVIEW WORKS 300 TO 1500

RSI Software Products 9701-VWSCWADEE RSVIEW SE CLIENT (GERMAN)

RSI Software Products 9399-RL50GR RSLOGIX 500 GETTING RESULTS GUIDE

Motion Control 2098-UWCPRG ULTRAWARE

BC646MDC300 Logic Developer - PC & View Development/Runtime I/O

IC300OCS028 16 DC Inputs (pos/neg), 12 Relay Outputs (5 Amp), and CsCAN

IC752SKT006RR Datapanel 320T CB Starter Kit: Includes Datapanel 320T Passive Color Base (CBT050), download & communication cables, WinCfg, user & programming manuals

MTR-3T11-G-R-0-M-0-MODRR Servo Motor Metric Modified

PCI-6040E

NBP 14111

RTL8139D

GA-EP45-DQ6

PC-686C(PC)-LV

PCI-6881FG

1492-L16D IEC Term Blck 15.1x82.5x43.5mm Spr Clp

1492-XIM2024-8R Connection Products

軟啟動器 3RW44243BC45

接口模塊 6ES7 155-5AA00-0AC0 IM 155-5 2PN 接口，PROFINET 接口模塊，高性能型

1585-C8FB-S300 1585 Ethernet Media Cable Spools

1746-P3 SLC Rack Mounting Power Supply

1790-8BV8VX CompactBlock LDX 16 Expansion Block

194E-A100-1756 100 A 194E Load switch

20-PP10015 MOTOR CABLE U, PF700H, PF700S

2090-CSBM1DF-18AA15 Kinetix 15m Smartlink Single Cable

20AC037A3AYNAEG0 PowerFlex 70 AC Drive 20A

GC-8841-HC-MT SafetyNet and Hybrid Workbench

HE300RSL100 RTU Communications Interface for GE AF-300E$ Adjustable Frequency Driv es

IC600KD532RR Standard OIT, Color, Ver 31

IC647HSTES20KM Historian Enterprise Server 20000 Points (M4 Key)

IC648MNT170 One Year Subscription Renewal for IC697LBR701 (paper manuals)

IC694ALG542LT Low Temperature RX3i Efficiency combination analog module, 4 in voltage/current and 2 out voltage/current with 16 bit resolution and advanced diagnostics. Requires Proficy? Machine Edition Logic Developer 6.5 SIM 5 and above CPU firmware 6.5 and abov

IC756SDV000K-98 DV Development - Solaris Op Sys, Korean, Version 9.8

MicroLogix 1200 System 1762-RPLTLBL2 REPLACEMENT LABELS FOR 1762 I/O MODULES

PLC-5/1771 System 1771-WE THERMOCOUPLE WIRING ARM FOR IX/IY

Distributed I/O 1794-IR8 RTD INPUT MODULE, 8 POINT

Communications 9399-WAB32LUGIT RSLINX LITE USER GUIDE (ITALIAN)

Support 6223-5VDMR 6223-5VDM 6200 SERIES VAX SW SUPPORT REINSTATEMENT

Support 9358-BPC30R SUPT REINSTATEMENT CONTRACT FOR 9358BPC30ENE

Support F1771-IRSERA FIRMWARE UPGRADE FOR 1771-IR I/O MODULE

RSI Software Products 9324-RLD0U3ENE RSLOGIX 5000 SERVICE ED TO STD, UPG, ENU

RSI Software Products 9301-2SE350KOU1R RSVIEW32 RUNTIME 32K-100K UPGRADE OUT-SUPT (KO)

RSI Software Products 9358-HSTS2500U4 UPGRADE: IN-SUPT: HISTORIAN 5K TO 70K TAG

Motion Control 8720SM-015S2ECS3 15 KW/48 AMP, 380 VAC, AC MOTOR WITH SNS60

829-2-1 Thumbwheel Assembly. 2 Digit, 1 True. Dust Seal

IC200MDL631 INPUT 125VDC POS/NEG LOGIC ISO 8PT

IC697CPU780 Hot Standby Redundancy CPU, 386, 12K Discrete I/O, Exp. Mem., Floating Pt.

MTR-1324-E-D-E-S-MODRR Stepping Motor N34 3A Encoder SP MOD=Woodruff Key

ExpressCard-GPIB

EC5-1717CLDNA

Dialogic D/300SC-2E1-120

AIMB-742

HY-1206-2D11

801-8422-01 M

AD16-16(PCI)EV

1492-SPM3B130 MCB Supplementary Protector 13 A

軟啟動器 3RW40262BB15

通信模塊 6ES7 241-1AH32-0XB0 CM1241 RS232通訊模塊

150-F60NCD SMC Flex Smart Motor Controller

1734-IB2 POINT I/O 2 Point Digital Input Module

1783-BMS12T4E2CGNK Stratix 5700 18 port managed switch

193-EJM E1 Plus Jam Protection Module

20-750-DCBB1-F7 PowerFlex 750 Frame 7 DC Busbar Kit

2090-CPWM7DF-10AF90 MP-Series 90 m Length Power Cable

2098-DSD-010-DN Ultra 3000 Servo Drive

G-0008-A Footswitch Splitter (Y Cable)

GFK-2085 Connector and I/O Cable Application Guide

IC220PWR012 SEGMENT TERMINAL, FUSED 24VDC (REQUIRES 1 IC220TBK087)

IC647DNP005 DNP3 Master Protocol for 5000 points

IC647ROC100M ROC:Fisher Remote Operations Controller for 500 Units

IC693MDL632CA Conformal Coated Input module 125 VDC 8 point NEG/POS logic.

IC756DVE000E-98 EO GECK (Graphical Editor Construction Kit) - Unix, English, Version 9 .8

MSI-QUAL-10 Quality Management Clients 10 Pack

PLC-5/1771 System 1771-ALXK CONFORMALLY COATED, PLC-5 LOCAL I/O ADAPT. MODULE

Distributed I/O 1790-T8BV8VX LDX I/O, 24VDC, 8 UNIV IN/8 SINK OUT EXPN TERM BLK

Communications 1788-ENBT ETHERNET/IP LOGIX DAUGHTERCARD

Operator Interface 2711E-U1B12C ENHANCEMENT KIT FOR PANELVIEW 1200 SER. F & G ONLY

Support 9305-RSVADDCPTR SUPT REINSTATEMENT CONTRACT FOR 9305RSVADDCPT

Support 9324-RLD700S SUPT RENEWAL CONTRACT FOR 9324RLD700ENE

DeviceNet Products 9399-DNETGR RSNETWORX FOR DEVICENET GETTING RESULTS GUIDE

RSI Software Products 9301-2SE3400ITU3 RSVIEW32 RUNTIME 150-32K UPGRADE IN-SUPT (IT)

RSI Software Products 9371-RSWD2U1R UPGRADE: OUT-SUPT: RSWIRE DET JIC ACAD TO PRF PACK

Motion Control 1326AB-B410J-S2L MOTOR,SERVO,460V,2.7NM,7250RPM,SINGL,IP67

2225 Greyline OS, 4 Line, (20) 4MM Chars, LCD. ASCII /Serial Interface, NEMA 4

HE800ACC012 Cage-clamp (screw) style I/O plug, 12-terminal. (Qty 1)

IC693ACC317 Connector Kit, 24 Pin, Qty (10), Crimp Type (For MDL654, 655, 752, 753)

QPK3D200C2P/B QUICKPANEL 6" TFT COLOR BLANK

TGT-000A-4-0 Target series 4-axis motion control module

SCC-AO10

Stradis SDM280e

SBC 92-506396-003 PCA-0166-00

JEVSA-YV250

HG2-6300P

MK300-PIO16/16

1492-SPM1B500 MCB Supplementary Protector 50 A

直流電源 6EP1437-2BA10 3 相 400-500VAC 輸入，24VDC/40A 輸出

電機啟動器 3VU13400MF00

1497D-A16-M10-0-N Gen Purpose Transformer

1608G-3F1 I-Grid 3-Channel Subscription Renewal

1769-OB32 CompactLogix 32 Pt 24VDC D/O Module

190S-AND2-CB40D-TE 2.5-4.0 A Compact Comb Starter W/Ckt-Bkr

194R-N60-1753 Non-Fused 194R Disconnect Switch

2090-CPBM7DF-16AA15 MP-Series 15m Standard Cable

2090-XXTFMP-S09 MP-Series 9 m Length Feedback Cable

CBL-T7-MP-10 Power cable for MTR-3T10 or MTR-3T20 or MTR-3T40 series servo motors. 10 feet

GF-3090R Connecting FlashCable to Denver Instruments, Omega, Tohnichi.

IC200UDR001-24 Qty of 24, 14 point PLC, (8) 24VDC In, (6) Relay Out, 120V/240 AC Powe r Supply

IC646TPR915 ProServer 1,500 I/O Point Runtime System

IC647PATAXIM Proficy PAT - Axiom Multiplexer Interface: Provides The Capability To Control An Axiom Analytical Fmx Series Fiber-Optic Multiplexer

IC693ALG442RR Analog Combo Module, 4In/2Out

IC752ECD400RR Display Station 1462 - 14 inch VGA (640x480) resistive touch screen/ Penti um 133/ 32MB/ 1.2 Gig hard drive/ expansion slots/ Ethern et/ with CIMP LICITY HMI and Win 95

IFIXONNODE300M iFIX Upgrade to On-Node 300 Tag Standard Edition Historian with Alarm & Event Option, M4 Key

SLC/1746 System 1747-DCM DIRECT COMMUNICATION MODULE FOR PROGRAMMABLE CTRLR

Industrial Computers 6186-M20AL VERSAVIEW 20 INCH MONITOR, TEMPERED GLASS

Application-specific products 1404-M505A-CNT 1404 M5 CONTROLNET PM3000 120/240V P.S.

Operator Interface 2711-K10C1 PV1000 COLOR KEY, RIO & RS232 PRINT

Support 9301-2SE3100R SUPT REINSTATEMENT CONTRACT FOR 93012SE3100

Support 9380-RSBEDEQPS SUPT RENEWAL CONTRACT FOR 9380RSBEDEQP

DeviceNet Products 1738-ADN18 DEVICENET ADAPTER WITH MINI CONNECTORS

RSI Software Products 9301-2SE3203 RSVIEW32 RUNTIME 300 WITH RSLINX

RSI Software Products 9358-BPCNT60U2 UPGRADE: IN-SUPT: RSBATCH PC-BASED 10 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

IOWA-8522

NORCO-690AE

P600VL-D73E

PCI-1724U

1492-PD3C287 760 A Power Distribution Block

中央處理單元 6ES7416-2XK04-0AB0 CPU416-2，2.8MB，40ns，電源 24VDC，MPI/PROFIBUS-DP 主站接口，PROFIBUS-DP 主站接口

變送器 3RS17062FD00

1495-N78 15 A Electrical Interlock Kit

1585J-M8TBJM-3 RJ45 Ethernet Media

1761-CBL-AP00 MicroLogix Cable

188-K3B160-N Miniature Circuit Breaker 16 A

194L-E16-1756 16 A 194L Load Switch

2090-CPBM4DF-16AF15 MP-Series 15m Length Cable

2090-XXNFMF-S15 Kinetix Drives 15m Standard Cable

BC647OEM0411B OEM Edge Renewal Add't Key - Historian

GC647PATBRK0 Proficy PAT - Driver For Bruker Ftir Spectrometers - Assist Support

IC200MDD844CA Conformal Coated MIX 24VDC OUT .5A/IN 16/16PT

IC646NRP000 Recipes

IC647MBEM MBE:Modicon Modbus Ethernet 7X

IC670TBM002 Aux. Terminal Strip, Qty. 2, Box Style

IC697MDL671RR Interrupt Input Module, 14 points

IC800SLR002 External regeneration resistor rated 100 ohm 225 Watt SL series and S2K series

ControlLogix/1756 System 1756-BATA REPLACEMENT BATTERY ASSEMBLY FOR 1756-BATM

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