FANUC機(jī)器人控制系統(tǒng)
1.概述
FANUC機(jī)器人主要應(yīng)用在奇瑞公司乘用車一廠和乘用車三廠的焊裝車間中，是奇瑞公司最早引進(jìn)的焊接機(jī)器人，也是最先用到具有附加軸的焊接機(jī)器人。其控制系統(tǒng)采用32位CPU控制，以提高機(jī)器人運(yùn)動(dòng)插補(bǔ)運(yùn)算和坐標(biāo)變換的運(yùn)算速度；采用64位數(shù)字伺服驅(qū)動(dòng)單元，同步控制6軸運(yùn)動(dòng)，運(yùn)動(dòng)精度大大提高，最多可控制21軸，進(jìn)一步改善了機(jī)器人動(dòng)態(tài)特性；支持離線編程技術(shù)，技術(shù)人員可通過離線編程軟件設(shè)置參數(shù)，優(yōu)化機(jī)器人運(yùn)動(dòng)程序；控制器內(nèi)部結(jié)構(gòu)相對(duì)集成化，這種集成方式具有結(jié)構(gòu)簡(jiǎn)單、整機(jī)價(jià)格便宜且易維護(hù)保養(yǎng)等特點(diǎn)。
2.內(nèi)部結(jié)構(gòu)分析
控制器是機(jī)器人的核心部分，實(shí)現(xiàn)對(duì)機(jī)器人的動(dòng)作操作、信號(hào)通信和狀態(tài)監(jiān)控等功能。下面以FANUC F-200iB為例，對(duì)其控制系統(tǒng)內(nèi)部結(jié)構(gòu)（見圖2）和各部分的功能進(jìn)行分析：
（1）電源供給單元 變壓器向電源分配單元輸入230V交流電，通過該單元的系統(tǒng)電源分配功能對(duì)控制箱內(nèi)部各工作板卡輸出210V交流電及±15V、＋24V直流電。
（2）安全保護(hù)回路 由變壓器直接向急停單元供電，并接入內(nèi)部各控制板卡形成保護(hù)回路，對(duì)整個(gè)系統(tǒng)進(jìn)行電路保護(hù)。
（3）伺服放大器 不僅提供伺服電機(jī)驅(qū)動(dòng)和抱閘電源，并且與絕對(duì)值編碼器實(shí)現(xiàn)實(shí)時(shí)數(shù)據(jù)轉(zhuǎn)換，與主控機(jī)間采用光纖傳輸數(shù)據(jù)，進(jìn)行實(shí)時(shí)信號(hào)循環(huán)反饋。
（4）輸入/輸出模塊 標(biāo)配為ModuleA/B，另外也可通過在擴(kuò)展槽安裝Profibus板、過程控制板與PLC及外圍設(shè)備進(jìn)行通信。
（5）主控單元 整個(gè)控制系統(tǒng)的中樞部分，包括主板、CPU、FROM/SRAM組件及伺服卡，負(fù)責(zé)控制器內(nèi)部及外圍設(shè)備的信號(hào)處理和交換。
（6）急停電路板 用來對(duì)緊急停止系統(tǒng)、伺服放大器的電磁接觸器以及預(yù)備充電進(jìn)行控制。
（7）示教器 包括機(jī)器人編程在內(nèi)的所有操作都能由該設(shè)備完成，控制器狀態(tài)和數(shù)據(jù)都顯示在示教盒的顯示器上。
圖2 M-10iA機(jī)器人弧焊應(yīng)用
廈門興潤星主打的牌子在這里不得不提一下：請(qǐng)隨謝工繼續(xù)往下看
1、schneider施耐德。產(chǎn)地：法國，這是廈門興潤星最值得
驕傲的牌子之一，尤其是莫迪康昆騰140系列的是從國外直接進(jìn)口的
連施耐德中國一級(jí)代理也為止眼紅。這里有你想不的低折扣
2、ge通用。產(chǎn)地：美國。特別是ic693和ic6972個(gè)系列價(jià)格
好的沒話說。價(jià)格低的讓你尖叫。鄭重聲明。絕對(duì)是正品，假一賠十。
3、siemens，產(chǎn)地：德國。在西門子s5、s7、和停產(chǎn)配件
上公司的價(jià)格是首屈一指的。
4、foxboro；5、abb；6、ab……優(yōu)勢(shì)配件實(shí)在太多，謝工在這就不多做贅述，
我相信你已經(jīng)迫不及待要打電話來質(zhì)詢了：
聯(lián)系人:謝工
電話：15159223089
電話：0592-6895323
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MKS BARATRON 622A01TDE 1 Pa/133.32
MKS INSTRUMENTS PORTABLE BARATRON SYSTEM
MKS Instruments Baratron Pressure Transducer 220BHS-2A1
MKS Baratron Type 224/224HA Pressure Switch/Controller
MKS Baratron Absolute Pressure Transducer 627B Manual
MKS PAR-10 BARATRON
MKS BARATRON 627A-13614 .25 Pa/133.32
MKS Baratron Pressure XDCR, 1350-01153, 750B11TCD2GG
MKS BARATRON 223BD-00100AAB PRESSURE TRANSDUCER TYP 223
MKS Baratron Pressure Transducer 872B12PMD2MT1 100PSIA
MKS BARATRON PRESSURE TRANSDUCER 850BRDPCB4GH
MKS BARATRON HEAD UNIT MODEL# 698A12TRA 100 TORR
MKS Model 722A 21TCB3FJ Baratron, 20 TORR Range
MKS Baratron Manometer 100 Torr 622A12TAE
MKS Baratron Capacitance Manometer 100 Torr 626A12TBE
TEL UNITY II MKS BARATRON 627 PRESSURE TRNSDCER 10 TORR
TEL UNITY II MKS BARATRON 627 PRESSURE TRNSDCER 10 TORR
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MKS BARATRON PRESSURE SWITCH 51A 450 Torr VCR 1000 -
MKS Baratron Pressure Switch 10 Torr-G 41A-15460
MKS Baratron Single-end Vacuum Switch, 51A11TGA2BA001
MKS BARATRON PRESSURE TRANSDUCER 722A13TCD2FA
MKS BARATRON PRESSURE GAUGE TRANSDUCER 1000 PSI 840B SS
MKS Baratron Manometer Transducer 1000 Torr 626A13TBE
MKS Baratron Single-end Pressure Switch, 51A13TCA1AA999
MKS BARATRON CAPACITANCE MANOMETER 100 TORR 622A12TBE
MKS BARATRON PRESSURE SWITCH 51A13TCA2BA700 1000 Pa/133
MKS Baratron Pressure Transducer 122AA-00010-B-SP023-87
MKS Baratron Pressure Transducer 122AA-00010BB-SP023-87
MKS Baratron 1 Torr Pressure Transducer 127AA-00001E
MKS Baratron 1 Torr Pressure Transducer 127AA-00001B
MKS Baratron 1 Torr Pressure Transducer 127AA-00001B
MKS Baratron Pressure Transducer 122BA-00100EB-S
MKS Baratron 10 Torr Pressure Transducer 422
MKS Baratron Pressure Transducer, OEM
A total of 13 items in this lot
MKS BARATRON TYPE 628B PRESSURE TRANSDUCER.
MKS Baratron Pressure Transducer, OEM
A total of 12 items in this lot
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MKS Baratron pressure transducer 852B61PCJ2GC
MKS Baratron Pressure Transducer, OEM
A total of 13 items in this lot
MKS Baratron, 122BA-00100EB, OEM
MKS Baratron Type 170M-25D Digital Readout plus others
MKS Baratron 1 Torr Pressure Transducer 122BA-00001BB
MKS Baratron Transducer 122A-11064 100 Torr
MKS Baratron 10 Torr Pressure Transducer 750B11TCD2GA-S
MKS Model 141AA-00010BB-S Baratron, 10 TORR Range
MKS Model 141AA-00010BB-S Baratron, 10 TORR Range
MKS Model 141AA-00010BB-S Baratron, 10 TORR Range
MKS Baratron Pressure Switch 10 Torr 51A11TCA1BA001
MKS BARATRON 122A ABSOLUE RESSURE GAUGE MANUAL
MKS BARATRON 122A ABSOLUE RESSURE GAUGE MANUAL
MKS 90M-XRP Baratron Pressure meter
MKS Baratron 10 Torr Pressure Transducer 127AA-00010B
MKS BARATRON PRESSURE TRANSDUCER 1000 TORR 850B13TCB3GA
MKS Baratron pressure switch 51A13TCA2BA990
MKS Baratron 122B-11993 100T, 11441 Pressure Transducer
TEL UNITY 2 MKS BARATRON 622 PRSSURE TRANSDCER 100 TORR
TEL UNITY 2 MKS BARATRON 622 PRESSURE TRNSDCER 100 TORR
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Hitachi 2-814562 MKS 122AA 100 Torr Baratron Refurb
MKS Baratron 10 Torr Pressure Transducer 122B-11441
MKS Baratron 10 Torr Pressure Transducer 122B-12773
MKS Baratron 170M-25D & -6B Digital Readout and Range M
MKS Baratron 10 Torr Pressure Transducer 122AA-00010BB
MKS Baratron Pressure Switch 10 torr-g 41A11DCA2BA003
MKS Baratron 1000 Torr Press Transducer 122BA-01000EB-S
MKS Baratron 10 Torr Pressure Transducer 122A-11062
MKS Baratron 10 Torr Pressure Transducer 122A-11063
MKS Baratron 10 Torr Pressure Transducer 122A-11063
MKS Baratron 100 Torr Pressure Transducer 127AA-00100E
MKS BARATRON PRESSURE TRANSDUCER MODEL 631 TORR
MKS Baratron CAPACITANCE MANOMETER
MKS 627B-15893 Baratron Pressure Transducer
MKS Baratron digital readout unit Type 170M-27D
MKS Inst. 625A Baratron Capacitance Manometer
MKS Instruments Baratron Head - 227AA-00001A
MKS 660B SYSTEM 722 BARATRON CAPACITANCE MANOMETER 660
MKS i-Baratron DMA Digital Capacitance Manometer 13T
MKS BARATRON ABSOLUTE MANOMETER 621C13T & SIGNAL CONDIT
With Signal Conditioner 10 Torr
MKS BARATRON ABSOLUTE MANOMETER 621C13T & SIGNAL CONDIT
With Signal Conditioner 1000 Torr
MKS BARATRON ABSOLUTE MANOMETER 621C13T & SIGNAL CONDIT
Mks 270 270D 270D-4 Baratron Signal Conditioner 60 Days
MKS Baratron Type 144 Pressure Meter w/ Pressure Head
Mks 270 270B 270B-4 Baratron Signal Conditioner 60 Days
MKS Baratron Pressure Meter Head
MKS Baratron 220DD Differential Capacitance Manometer
MKS Baratron Capacitance Manometer Type CT27
MKS Baratron Pressure Transducer 852B13TCA3GA
MKS 627B01MCC1-B Baratron Pressure Transducer
MKS BARATRON 390HA 10 TORR Capacitance Gauge
MKS BARATRON 390HA 10 TORR Capacitance Gauge
MKS Baratron Pressure Transducer Type 222B
MKS Baratron Type 222B Pressure Transducer
MKS Baratron Transducer 100 Torr 122A-11414 refurb
MKS Baratron Pressure Transducer 872B-26890 Spare
MKS Baratron 100 Torr Pressure Transducer 122BA-00100EB
MKS Baratron 100 Torr Pressure Transducer 122BA-00100BB
MKS Instruments 121A 121AA-05000C Baratron Transducer
LEXEL 95 GAS-ION LASER w/POWER/RF PLASMA/MKS BARATRON
APPLIED MATERIALS MKS BARATRON R750B11TCD2GG
MKS Portable Baratron Measurement System Vacuum Tester
MKS Baratron 127A Instruction Manual, PN: 195-110660B
MKS 270A Pressure Display for High Accuracy Baratron
MKS Baratron 170M 6C 25D Vacuum Gauge Controller
MKS Baratron 100 Torr Pressure Transducer 122A-11064
MKS Baratron Cables Vacuum Pressure
MKS Baratron 222CA-00010 replacement part #622A11TAE
MKS / Baratron Mdl: 122AA-00010AB Pressure Transducer
MKS Baratron Model: 122BA-00100DB Pressure Transducer
MKS Baratron Pressure Meter Controller 170M-39A
MKS baratron 20Torr model 122A
MKS Baratron 222BHS-F-A-10 Pressure Transducer
AMAT MKS Model 852B Baratron Transducer (Lot of 2)
MKS Model 122AA-00010AB-S Baratron, 10 TORR Range
MKS Baratron 222C-00010AB PRESSURE TRANSDUCER
MKS Baratron Transducer / Conditioner Cable CB27D-2-10
MKS BARATRON Pressure Transducer 627 1.333kPA
MKS BARATRON PRESSURE HEAD 370HA-00001
() MKS Baratron Pressure Transducer 890A-25435
MKS BARATRON PRESSURE TRANSDUCER TYPE 628, 10 TORR.
MKS 872B Baratron Pressure Transducer 100psi/0-5VDC
MKS 872B Baratron Pressure Transducer 100psi/0-5VDC
MKS BARATRON PRESSURE TRANSDUCER TYPE 625 10 TORR.
MKS TYPE 122A 15 TORR Baratron Pressure Transducer
LOT 2 MKS BARATRON 141A SWITCH/122B PRESSURE TRANSDUCER
MKS BARATRON VACUUM SWITCH TYPE 141, Model: 141AA
MKS Micro-Baratron 872B Vacuum Pressure Transducer
MKS BARATRON 230 PRESSURE TRANSDUCER 1000 TORR
MKS BARATRON 230 PRESSURE TRANSDUCER 1000 TORR
MKS BARATRON 230 PRESSURE TRANSDUCER 1000 TORR
MKS BARATRON 230 PRESSURE TRANSDUCER 1000 TORR
MKS BARATRON 230 PRESSURE TRANSDUCER 1000 TORR
MKS BARATRON 230 PRESSURE TRANSDUCER 1000 TORR
MKS 872B Baratron Pressure Transducer 50 psi/ 0-5VDC
2x MKS Baratron Pressure Transducer 122AA 0-10V 10torr
MKS 872B Baratron Pressure Transducer 100psi/0-5VDC
MKS Baratron Pressure Transducer 872B12PMD2MW1, 100 PSI
MKS 872B Baratron Pressure Transducer 100psi/ 0-5VDC
MKS 872B Baratron Pressure Transducer 100psi/ 0-5VDC
MKS 872B Baratron Pressure Transducer 100psi/ 0-5VDC
() MKS Baratron Pressure Transducer 890A-25435
MKS 852B BARATRON PRESSURE TRANSDUCER SWITCH 1000 TORR
MKS Model 122AA-0010AB Baratron, 10 TORR Range
MKS Model 122AA-00100AB Baratron, 100 TORR Range
MKS Baratron Pressure Switch 41A11
(5) MKS BARATRON ETCH MANOMETER/ MKS BARATRON
MKS 127A-11004 1 TORR BARATRON
MKS Baratron Pressure Transducer 220BD 115V 5000torr
MKS 122A-00002AB 2 TORR BARATRON
MKS BARATRON 626A PRESSURE TRANSDUCER 100 TORR
MKS BARATRON 626A PRESSURE TRANSDUCER 100 TORR
brand mks 100psi 872b baratron w/ built in readout
MKS BARATRON 619C REMOTE PRESSURE TRANSDUCER
MKS 722A Baratron Absolute Capacitance Manometer
MKS Baratron Press Transducer 2200CA-10000B2B
MKS Baratron Press Transducer 220BHS
LOT OF 3 MKS BARATRON PRESSURE TRANSDUCERS
MKS BARATRON 122B PRESSURE TRANSDUCER 500 TORR 122BA
MKS BARATRON HEAD UNIT MODEL# 690A-13599 5000 TORR
MKS Baratron LDM Vacuum Gauge Read-Out Dispaly Module
MKS Baratron Pressure Transducer Manometer 223B-26904
