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TEXAS INSTRUMENTS 5056660,

TEXAS INSTRUMENTS 5056660

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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。
 

C200H-ID215 多点I/O单元, DC输入 24VDC 32点

1492-RCDA4D80 Residual Current Device 80 A

6ED1055-1CB00-0BA0 LOGO!DM8 24，4DI/4DO

电机启动器 3VU16402MK00

1585BX-M8UBBM-20 1585 Ethernet Media Patchcord

1609-NMC 1609 UPS Accessory

1784-U2DN DeviceNet to PC USB Interface Cable

188-K3B400-N Miniature Circuit Breaker 40 A

194L-E20-1754-6G 20A 194L Load Switch

2090-CPBM4E2-10TR MP-Series 0.5 m Length Transition Cable

2090-XXNFMP-S02 MP-Series 2 m Length Feedback Cable

BC647OEM0511B OEM Edge Renewal Add't Key - Complete

GC647PATH115 Proficy PAT - Historian. The capability is to store spectra data from the driver into the Proficy Historian. This for a three driv

IC200MDD848 Mixed output 120VAC 0.5A per point isolated 8 point / b 120VAC group point

IC646NSL005 Proficy SQL 2000 - 5 Client Access License

IC647MDA000 View Development/Runtime 8000 I/O with USB Hardware key

IC675PDM881 Profibus Station IP67 24VDC Positive Logic 8 Inputs / 8 Outputs 0. 5A

IC697MDL753 5/48 Vdc Output, 0.5 Amp, Negative Logic (32 Points)

IC800SSD107RS1 4.3 amp 115/230 VACS2K servo drive for MTR series motors

ControlLogix/1756 System D1756-6.5.13 CONTROLLOGIX GATEWAY SYSTEM USER MANUAL

Industrial Computers 6182H-15KEH4B VVCE 1500, KEYPAD, EXT MEM, ENET, AC

Process Control 1757-DNBUL02 DEVICENET USAGE LICENSE, 2 DNB MAX

Operator Interface 2711-K3A10L1 PV300 MONOCHROME KEY, DNET & RS232 PRINT

Support 9326-AD25APS SUPT RENEWAL CONTRACT FOR 9326AD25APENE

Support 9371-EDESI2R SUPT REINSTATEMENT CONTRACT FOR 9371EDESI2

ControlNet Products 1794-ACNR15K CONFORMAL COATED, REDUNDANT MEDIA ADAPTER, CNET

RSI Software Products 9301-2SE240KOU2R RSVIEW32 WORK 300-32K UPGRADE OUT-SUPT (KO)

RSI Software Products 9358-BA30ENE RSBIZWARE BATCH ARCHIVER 30 UNITS

Motion Control MPL-A4520K-MJ24AA MOTOR,SERVO,6.10 NM,4000RPM,MULTI,230V,BRK,9.5KG

Motion Control 2090-UXNPAMP-10S15 CABLE,NOGRF50X,MOTOR POWER,MP,10 GAUGE,15M

CBL-206 PLC Direct DL105 Cable

IC640HWC706 LM 90-70 Std. Comm. S/W w/Converter & Cables, CD-ROM docs.

IC800SLCIZ030 Interface Cable, 30-750W SL Amplifier to Terminal Block, 3 Meters

OC647IFXPEESG-50 iFIX for Embedded XP E-Signature Option V5.0

20AD5P0A3AYYANC0 PowerFlex 70 AC Drive 5 A at 3 Hp 20A

20DD027A0EYNANANE PowerFlex 700S AC Drive 20D

20P41AB9P0RA0NNN PowerFlex DC Drive 230V AC 2 HP

2711C-RG6T PanelView Component Accessory

280-PWRM24E-M12 ArmorStart Three-Phase Power Media

SRT2-OD16 远程I/O端子（晶体管输出）16点

1492-MCBA2H35 Cb, 1 In, 10 Ka Aic, 2 Pole, 35 Amp

1494V-DJ622-D-E-FF NEMA Flange Mtd Rod Switch Disconnect Sw

软启动器 3RW44572BC45

工程组态编程软件 6AV2103-3XA04-0AE5 SIMATIC WinCC 专业版 max. PowerTags V14 Upgrade ： V11..V13 -> V14

1585D-M8UGDM-1 Gigabit Ethernet Media

1756-L73 ControlLogix 8 MB Controller

1799-D10U10V 20 Point Embedded I/P/Output Comb Module

194E-FA20 194E Load switch

2090-CFBM7DD-CEAA03 MP-Series 3m Servo Feedback Cable

2090-SCVP1-0 Kinetix 1-1m Fiber Optic Cable

BC646MPP050 Logic Developer PLC Professional 50 pack with Proficy GlobalCare Complete

GC647APC050 GC Production Client 50 Pak

HMI-CCT-302 BACKLIGHT TUBE 10 Inch TFT (QPI3xxxxC2P and QPICxxE0000)

IC641VPP750 VersaPro Professional Edition 50 Pack - Windows Programming Software f or Series 90-70, Series 90-30, and VersaMax PLCs

IC647IFGLBLSRVRM-55 iFIX WebSpace Server v 5.5

IC660EBS101RR Ph B 115Vac/125Vdc 8 CKT Iso ElecAsm w/o Fail Switch

IC697ACC721 Rack Cooling Fan, 115 Volt

IC756WRE499J-99 DataViews Runtime for Windows 100+, Per User, Japanese, Version 9.9

FlexLogix System 1794-IRT8K CONFORMAL COAT, NON-ISOLATED TC/RTD/MV INPUT, 8 PT

PLC-5/1771 System D6200-6.4.18FR PLC5 PROG.SOFTWR STRUCTURED TEXT USER MNL.(FRENCH)

Process Control 1757-SWKIT5100 PROCESSLOGIX SOFTWARE KIT RELEASE 510

Operator Interface 2711P-B12C15B1 PV PLUS 1250, KEY/TOUCH CNET, AC PS, STD MEM

Support 6001-F1E2S SUPT RENEWAL CONTRACT FOR 6001F1E2

Support 2711-ND1S SUPT RENEWAL CONTRACT FOR 2711ND1

Support F1785-L60BSERC FIRMWARE UPGRADE FOR 1785-L60B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230FRU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (FR)

RSI Software Products 9701-VWSS025ADEE RSVIEW SE SERVER 25 DISPLAY (GERMAN)

RSI Software Products 9399-RSBRPEUG RSBATCH REPORT EDITOR USER'S GUIDE

Motion Control 1394C-SJT10-L-RL MOD,SYS,10KW,IMCS SINGLE AXIS,W/RIO,W/AXIS LINK

BC646MPM001 Logic Developer - PLC Nano/Micro

IC300OCS065 OCS with 2x20 LCD Display and with 16- keypad. Built in I/O no expansion. 8 DC Inputs (12/24vdc), 6 Relay Outputs (4.0A per point). With CAN network interface.

IC752WFC503 Display Station 2050 Series-15" active matrix SVGA (1024x768) resistive touchscreen, Pentium 233 Mhz, 64 MB RAM, 6.4 GB removable HD, expansion slots (2 PCI/3 ISA), unlimited pt ct CIMPLICITY HMI, field detachable front/rear housing, Win 95

MTR-3T22-G-R-B-M-SRR Servo Motor Metric 24V Brake, Seal

ZA290-0571-T053 Motor fan kit for A12/3000 or A30/3000 motor

20D-P2-ENC0 PowerFlex 700S Second Encoder Board

20G1AJC567JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-A2P5N114 PowerFlex 525 0.4kW (0.5Hp) AC Drive

2711P-T9W22A9P PanelView Plus 7 Graphic Terminal

6SE6430-2UD35-5FB0 55KW

1492-L3Q-W IEC Term Blck 5.1x79x31.3mm Spr Clp

1494C-CM9 Cable Mechanism

软启动器 3RW44263BC34

附件 6ES7 648-2BF10-0XK0 SIMATIC CFast card 32 GB ( 备件 )

1585BP-M8CC 1585 Ethernet Media Accessory

1747-AENTR SLC 500 Ethernet/IP Adapter

1790D-T16BV0 CompactBlock LDX 16 Point I/P Base Block

194E-A32-3753 32 A 194E Load switch

20-PP13028 PowerFlex 700H/S Discharge Resistor Kit

2090-CSBM1DF-18AF22 Kinetix Cable Single DSL 2090-Series

20AC060A3AYNAEC0 PowerFlex 70 AC Drive 60 A at 30 kW 20A

GC646MBW001 Proficy GlobalCare Complete for ME Professional Development Suite w/ Runtime

HE693ADC410 4ch., +/-10Vdc Analog Input Module, 2000Vac Isolation, 14-bit resoluti on

IC600PM506RR CPU Power Supply, 115Vac

IC647HSTESEO15KM eSignature Option for Historian - Enterprise Server 15000 Points (M4 Key)

IC655MDL502RR 12-24Vdc Input, Negative Logic (32 points)

IC694MDL241CA Conbal Coated Input 24 VAC 16 points.

IC756SDV010E-99 DV Draw Development on Solaris Op Sys, English, Version 9.9

MicroLogix 1500/1769 System 1769-OB16 16 POINT 24 VDC SOURCING OUTPUT MODULE

PLC-5/1771 System 1785-TR10B2 AUI TO THIN WIRE ENET TRA

Distributed I/O 1794-TB3TS 3-WIRE TEMPERATURE TERMINAL BASE - SPRING CLAMP

Communications D1784-6.2.4 REF.MNL CONTROLNET KT EMU

Support 9311-PLC3S SUPT RENEWAL CONTRACT FOR 9311PLC3

Support 9358-CTATEENR SUPT REINSTATEMENT CONTRACT FOR 9358CTATEEN

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

RSI Software Products 9324-RLD200PTE RSLOGIX 5000 MINI, PTE

RSI Software Products 9301-VIEW3U3 UPGRADE: IN-SUPT: CTRVW TO RSVIEW32 WKS 300/RSLX

RSI Software Products 9358-PLTM2300U2 UPGRADE: IN-SUPT: PLANTMETRICS 10 TO 25 WORKCELL

Motion Control 8720SM-030S4JAS3 30 KW/63.1AMP,750 VDC,AMP AC MOTOR WITH SNS60 ENC.

888 SLDERLSS Field CONN Adptr. For W/4161 (6-8 Digit). Screw Terminal O/I For Data Lines

IC200PKG014 VersaMax Ethernet NIU starter kit with I/O.

IC697VDQ120 Digital Output, 64 point, 24VDC at 500mA, Sink or Source, 64 point

MTR-1337-E-D-E-0 MTR series NEMA 34 stepping motor with series winding connection and encoder

ZA06B-0064-B203 B4/4000HVis servo motor with 128k serial encoder

20BD180A0ANNANC0 PowerFlex 700 AC Drive 20B

20G11NE2P7AA0NNNNN PowerFlex 755 AC Packaged Drive

23C-X012A103NNAANN Fan/Pump Packaged Drive 23C

140CFX00110 Quantum CABLEFAST 端子块接地条, 10位置

294E-FD2P5Z-G3-SB Variable Frequency Drive

SHL-Q2155 触点:1开/1闭,10A 250VAC机械寿命:1000万次 交叉滚轮柱塞型

1492-SPM3C010 MCB Supplementary Protector 1 A

软启动器 3RW40371BB04

中央处理单元 6ES7 215-1AG40-0XB0 CPU 1215C DC/DC/DC

150-FPP135B SMC Flex Repair Part

1734-OB2 POINT I/O 2 Point Digital Output Module

1783-HMS4SG8EG4CGN Stratix 5400 16 Port Managed Switch

193-ESM-I-100A-E3T E300/E200 100 Amp Sensing Module

20-750-FAN3-F8 PowerFlex 750 Frame 8 Door Fan Kit

2090-CPWM7DF-14AA15 MP-Series 15m SpeedTec Standard Cable

2098-DSD-150X-DN Ultra 3000 Servo Drive

GA646PCM050 GlobalCare Assist for Change Management 50 user pack

GFN-018 Series 90-30 Instructor's Workbook

IC220TBK206 TERMINAL STRIP SET, SPRING STYLE, RELAY ISOLATION

IC647GESM GES:GE SRTP OPC Server

IC647SHR025 "Scheduler Prepay 25+ hours,per hour"

IC693MDL654 5/12 Vdc (TTL) Input, Neg/Pos Logic, (32 points)

IC756HDV000E-98 DV Development - HP/UX Op Sys, English, Version 9.8

MSI-ROLLDEF Roll Map - Defect Mapping Functionality

PLC-5/1771 System 1771-IAN INPUT MODULE, 120V AC, 32 INPUT

Distributed I/O 1790D-T4T0 DNET LDX, 4 INPUT THERMOCOUPLE BSE, TERM BLOCK

Communications 1784-CP CABLE ASSY, 10.5 FT/3.2 M, 1784-KTP, KT, KT2, KL

Operator Interface 2727-MRT10 10M MOBILEVIEW CONNECTION CABLE

Support 9305-RSVADFVCDES SUPT RENEWAL CONTRACT FOR 9305RSVADFVCDE

Support 9515-RSCHM025R SUPT REINSTATEMENT CONTRACT FOR 9515RSCHM025ENE

EtherNet/IP Products 2706-P92C INVIEW MESSAGE DISPLAYS

RSI Software Products 9301-2SE3400U3 RSVIEW RUNTIME 150 TO 32K UPGRADE:IN-SUPPORT

RSI Software Products 9515-RSEOL040ENE RSMACC CONDITION MONITOR, 40XM & 6 ENWATCH

Motion Control 1326AB-B515G-M2K5L MOTOR,SERVO,460V,10.4NM,5000RPM,MULTI,BRK,IP67

4161-3-24-.8-N4 BCD To 7 SEG Display . 3 Digit, (.8") 24VDC. NEMA 4

HMI-CAB-C108 CABLE OMRON C200H

IC693CBL307 Cable, Extension, 2 Meters (Use with MDL652-653, MDL750-751)

QPM3D200B2P 6" Blue Monochrome Mini, TCP Label, 24Vdc

TGT-S000-1-1RR Target System Module with 2 MB RAM

20BC8P7A0AYNANA0 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF034AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-E012H204 PowerFlex 40 7.5 kW (10 Hp) AC Drive

140AVI03000 Quantum 模拟量输入, 8通道, 双极性, 多量程

284E-FVD6P0Z-25-RR-3-DB1-EMI EtherNet Variable Frequency Drive

E2E-X14MD1 14mm,电感式，两线，常开 100 mA 电源：12-24VDC圆M18

1492-SPM1C080-N MCB Supplementary Protector 8 A

通用型变频器 6SE6 420-2UD31-1CA1 "11 KW，185 x 245 x 195"

电机启动器 3VU13401MK00

150-C135NBD SMC-3 135A.. Smart Motor Controller

1608P-050A380V4S 50 A Pro DySC Sag Corrector

1769-RL2 CompactLogix Replacement Part

191E-AND3-CB25C-R 1.6-2.5 A Economy Rev Starter W/Ckt-Bkr

194R-R11 194R Standard Operating Shaft

2090-CPBM7DF-16AF60 MP-Series 60 m Length Cable

2090-XXTPMP-16S03 MP-Series 3 m Length Power Cable

CP2I-0WPB-0140-AZ Power cable with straight connector for A2HVis, A4HVis, B2HVis and B4HVis motors. 14 meters

GF-6012R Connecting FlashCable to Surtronic 3+.

IC200UEI016 VersaMax Micro Expansion 16 point Input (16) 24VDC In, 24VDC Power Supply (includes IC200CBL501).

IC647ABK001 PA Spare Key

IC647PATYOKG Proficy PAT - Driver For Yokogawa

IC693CBK003 Cable Kit for High Density I/O Modules (includes CBL331 and CBL332)

IC754ACC06BEZ01 SS-Bezel for 6 Inch Mono & TFT QP-V & C

IMC-313D-X-DRR IMC-D Series Servo Motor Controller, DeviceNet, 3 Amp

SLC/1746 System 1747-PSD PROGRAM STORAGE DEVICE-SLC 5/03 THRU 5/05

Open Automation Systems 1784-PM02AETP01 1784PM02AE TERMPANEL WITH 1 METER CABLE

Application-specific products 1404-M605B-CNT 1404-M6 CONTROLNET PM3000 24V P.S.

Operator Interface 2711-K10G10 PV1000 GRAYSCALE KEY, DNET & RS232 PRINT

Support 9301-2SE3300DES SUPT RENEWAL CONTRACT FOR 93012SE3300DE

Support 9380-RSBVBR SUPT REINSTATEMENT CONTRACT FOR 9380RSBVB

DeviceNet Products 1792D-CB12 MAXUM MEDIA BASE W/12MM CONNECTORS

RSI Software Products 9301-2SE3300DEU2 RSVIEW32 RUNTIME 150-1500 UPGRADE IN-SUPT (DE)

RSI Software Products 9358-EP03ENE RSBIZWARE EPROCEDURE 03 UNITS

Motion Control MPL-B4530K-RK24AA MOTOR,SERVO,8.36 NM,4000RPM,RSLVR,460V,BRK

Motion Control 2090-XB33-16 RESISTIVE BRAKE MODULE, 33A, 16 OHM

GQPH-DEM-S02 QUICKPANEL 6" HAND HELD STN GE LABEL

IC646MRA000 View Runtime 8,000 I/O

MTR-1N31-I-E-A-S-0 Stepping Motor Nema34, Parallel Wdg, Encoder, Parallel Wdg

QPLCTAE0000 12.1 inch Color TFT/ TCP/ Ethernet/ CF Card/ 110VAC

20BC043A3AYNACC1 PowerFlex 700 AC Drive 43 A at 22 kW 20B

20F11ND014AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF018-CS PowerFlex EMC Filter

2711P-RL7C2 PanelView Plus Accessory

280S-PWRM35E-M1 ArmorStart Three-Phase Power Media

C200H-ID002 输入单元, 8点, 无电压接点NPN

1492-PDLC1 Power Distribution Block Accessory

通讯处理器 6ES7441-1AA04-0AE0 CP441-1，PtP-串行通讯，1 个通道，支持 3964RASCII 协议及打印机

变送器 3RS10201DD10

1497-B-BASX-3-N Control Circuit Transber

1585J-M8UBJM-6 RJ45 Ethernet Media

1761-L32BWA MicroLogix 1000 32 Point Controller

188-K3C040-N Miniature Circuit Breaker 4 A

194L-E32-1753 32 A 194L Load Switch

2090-CPBM7DF-02AA05 5 m Length DIN Power and Brake Cable

2090-XXNFN-S03 N-Series Universal Flying Lead Cable

BC647PSC025 Proficy Process Systems 250 I/O with Cimplicity

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