1203-GD1

1203-GD1
1203-GD1
1203-GD1

主营产品：DCS集散式控制系统、PLC可编程控制器、数控系统、

(CPU处理器、模块、卡件、控制器、伺服驱动、工作站、驱动器、

马达、 内存卡、 电源，机器人备件等)各类工控产品

控制系统硬件配置及结构 .电气硬件 .软件架构

由于机器人的控制过程中涉及大量的坐标变换和插补运算以及较低层的实时控制。所以，目前市面上机器人控制系统在结构上大部分采用分层结构的微型计算机控制系统，通常采用的是两级计算机伺服控制系统。

1）具体流程：

主控计算机接到工作人员输入的作业指令后，首先分析解释指令，确定手的运动参数。然后进行运动学、动力学和插补运算，***得出机器人各个关节的协调运动参数。这些参数经过通信线路输出到伺服控制级，作为各个关节伺服控制系统的给定信号。关节上的伺服驱动器将此信号D/A转换后驱动各个关节产生协调运动。

传感器将各个关节的运动输出信号反馈回伺服控制级计算机形成局部闭环控制，达到***的控制机器人在空间的运动。

2）基于PLC的运动控制 两种控制方式：

①利用PLC的输出端口使用脉冲指令来产生脉冲驱动电机，同时使用通用I/O或者计数零部件来实现伺服电机的闭环位置控制

②使用PLC外部扩展的位置控制模块来实现电机的闭环位置控制，这种方式主要是以发高速脉冲控制，属于位置控制方式，位置控制一般都是点到点的位置控制方式较多。

ACCEL CORP 15-0016-001 SEAL, KIT MICROCEL 2

ACCEL CORP 50-0008-011A PCB

ACOPIAN A75HT560 REGULATED POWER SUPPLY

ACOPIAN U28Y2000 A/C TO D/C POWER SUPPLY

ADE CORP 020010-01 PCB, RES STA PROC

ADE CORP 020040-01 PCB

ADE CORP 020881-01 OPTO HI LIMIT

ADE CORP 020881-02 ASSY OPTO LO LIMIT EM327

ADE CORP 020974-03 MOTOR W/CRIMP .4V 1.5A PINS 9300

ADE CORP 021008-01 CABLE

ADE CORP 021097-01 CABLE

ADE CORP 021533-01 ASSY, OPTO STATION 8300

ADE CORP 021533-01 ASSY, OPTO STATION 8300

ADE CORP 021534-01 STEPPING MOTOR 5.1V 4PH

ADE CORP 021683-01 WIRE  GROUND WIRE X MOTOR E STA

ADE CORP 021786-01 ASSY PCB MCU 1.5MHZ

ADE CORP 022093-02 ASSY BLADE END EFFECTOR 9300

ADE CORP 022093-02 ASSY BLADE END EFFECTOR 9300

ADE CORP 025988-01 PCB, VAC INTERFACE, SINGLE END EFFECTOR

ADE CORP 23898 ASSY, R, ADE 352 SERIES SEE ROB, 7-IN LI

ADE CORP 498413-01 PWRSUP, 175W

ADE CORP 498414-01 PWRSUP, 100W

ADTEC AX-1000LF RF GENERATOR 400K Ver.1.17

ADVANCE AV-3235-11 SOLENOID VALVE FOR KURABO

ADVANCE AV-3635-11 SOLENOID VALVE FOR KURABO

ADVANCE DS-7270-131 PNEUMATIC VALVE

ADVANCE DS-7270-131-PP-4 VALVE

ADVANCE PCV-4240-42RVDE REGULATOR, N2

ADVANCE SAV-2240-CIZ6B5R-01 AIR OPERATE VALVE

ADVANCE SAV-3240-131-10 AIR OPERATING VALVE

ADVANCE SAV-3240-131CI AIR OPERATING VALVE

ADVANCE SAV-3240-131PI DIAPHRAGM VALVE

ADVANCE SAV-3240-131PIZ AIR OPERATING VALVE

ADVANCE SAV-3240-V11Z PUMP

ADVANCE SAV-3240-V19 AIR OPERATED VALVE

ADVANCE SAV-3240-V27 AIR OPERATING VALVE

ADVANCE SAV-3240-V5 3 CHANNEL DIAPHRAM VALVE-PENCI

ADVANCE SAV-3240-V72CIZ5B5R CORROSION RESISTANT DIAPHRAGM

ADVANCE SAV-3250-131CIZ AIR CONTROL VALVE

ADVANCE SAV-3250-131PIZ DIAPHRAGM VALVE

ADVANCE SAV-3250-V110STIZ CORROSION RESISTANT DIAPHRAGM

ADVANCE ELECTRIC COMPANY AS-5269-131-PM-D VALVE

ADVANCE ELECTRIC COMPANY AS-5269-31PI-D VALVE

ADVANCE ELECTRIC COMPANY AV-5250-31P PNEUMATIC VALVE

ADVANCED ENERGY 1905200 FC-781H-TC-6U-SI(OC2H5)4-500SCCM

ADVANCED ENERGY 2194-0013-R POWER-SPLY, DC, 10KW MASTER,

ADVANCED ENERGY 2194-004-B POWER-SPLY, MAGNETRON DRIVE

ADVANCED ENERGY 2194-005-A DC POWER SUPPLY MDX

ADVANCED ENERGY 3152012-041 PWRSUP,DC,10KW

ADVANCED ENERGY 3152012-043 POWER,SUPPLY,DC,10KW,SLAV

ADVANCED ENERGY 3152012-043Z POWER,SUPPLY,DC,10KW,SLAVE

ADVANCED ENERGY 3152194-008 POWER-SPLY, DC, 10KW, 20A, SLAVE AE

ADVANCED ENERGY 3152223-003 PWRSUP,DC,20KW,MAS

ADVANCED ENERGY 3152412-116 RFG,AE,PINNACLE-116,10/6 KW DC P.S

ADVANCED ENERGY 3155077-001 FIXED RF MATCH

ADVANCED ENERGY 3155168-001 SOURCE, RF MATCH

ADVANCED ENERGY A3M3K000EA120B001A APEX3513 GENERATOR

ADVANCED ENERGY A3M5K000EA120B001A APEX3513 GENERATOR

ADVANCED ENERGY ATL-100RA MATCHING NETWORK

ADVANCED ENERGY Atlas 2012 RF Generator

ADVANCED ENERGY FC-260J-4V-N2-1SLM MFC,N2 1SLM FC-260J-4V

ADVANCED ENERGY FC-260J-4V-N2-200SCCM MFC, N2 200SCCM FC-260J-4V

ADVANCED ENERGY FC-260J-4V-N2-50SCCM MFC, N2 50SCCM FC-260J-4V

ADVANCED ENERGY FC-781L-TC-4V-O2-15SLM MFC, O2 15SLM FC-781L 4V

ADVANCED ENERGY FC-D980C-TC-4V-SIH4-30SCCM MFC, SIH4 30SCCM FC-D980C 4V

ADVANCED ENERGY FC7800CD FC-7800CD-4V-5%PH3/N2-2SLM

ADVANCED ENERGY LF-5 RF GENERATOR

ADVANCED ENERGY MDX-10K MDX POWER SUPPLY

ADVANCED ENERGY N63584683 FC-7800CD-AR-200SCCM1/4VCR　MFC

ADVANCED ENERGY PC-302A-VR-100G-M PRESSURE SENSOR

ADVANCED ENERGY PSD01A P2 INDICATOR FOR RS90

ADVANCED ENERGY PSD01A-SPO2 P2 GAUGE PART FOR RS-90B

ADVANCED SEMI AV-3335-43B SOLENOID VALVE

ADVANTEST A09320 IC SKT SCSP 8X10

ADVANTEST BG4-010824X01 PCB

ADVANTEST BGH-017261 PCB

ADVANTEST BGK-010845 PCB, PE

ADVANTEST BGQ-016976 PCB

ADVANTEST BGQ-017088 PCB

ADVANTEST BGR-010414 PCB

ADVANTEST BGR-010418 PCB, 16 NS BOARD

ADVANTEST BGR-010421 PCB, DIG BOARD

ADVANTEST BGR-010431 PCB, DISTRIBUTOR

ADVANTEST BGR-012190 PCB, CLOCK SELECT

ADVANTEST BGR-015466 PCB

ADVANTEST BGR-016794 PCB

ADVANTEST BGR-016979 PCB

ADVANTEST BGR-016984 PCB

ADVANTEST BGR-016985 PCB

ADVANTEST BGR-017773M PCB

ADVANTEST BGR-017775 PCB

ADVANTEST BGR-018125 PCB

ADVANTEST BIR-014324 PCB

ADVANTEST H3-5046 CONTROL BOX

ADVANTEST T11805-TI PCB

ADVANTEST T19439 SKT GUIDE VFBGA JAGCR8M

ADVANTEST VL-16MSYHSX4-8 PROBE CARD

ADVANTEST VL-2972-4 PROBE CARD

AERA CA-98DU ADAPTOR

AERA FC-2960M-261R-4V 8 SLPM O2 MFC, O2 8SLM UFC-2960

AERA FC-2960MEP5 MFC, N2 20SLM FC-2960MEP5 DE33P8NEF014

AERA FC-770A MFC

AERA FC-770AC MASS FLOW CONTROLLER, CHF3 50sccm

AERA FC-780C He MASS FLOW CONTROLLER, He 1SLM

AERA FC-780C N2 MASS FLOW CONTROLLER, N2 1SLM

AERA FC-781 MASS FLOW CONTROLLER

AERA FC-980C MFC MC-2100NC-CH3F-20SCCM

AERA FC261J MASS FLOW CONTROLLER

AERA FM-391 MASS FLOW CONTROLLER, N2 10SLM

AERA PS-76DA POWER SUPPLY

AG ASSOCIATES 0641-0102-01 KIT, QUARTZ TRAY PIN HEIGHT CHECK

AG ASSOCIATES 1550-0026-00 ELECTRODE, ACCELERATOR

AG ASSOCIATES 2100-0012-01 MODULE MOTION CONTROL

AG ASSOCIATES 2100-0090 PCB

AG ASSOCIATES 2100-0120 PCB,MIO,24CH,41XX

AG ASSOCIATES 2100-0160 PCB

AG ASSOCIATES 2100-0160-01 PCB BROOKS ROBOT

AG ASSOCIATES 2100-0211-01 BOARD, I/O, CONTROL, EQUIPE

AG ASSOCIATES 2100-0212-01 PCB, VGA, DISPLAY STD

AG ASSOCIATES 2100-0253-02 P.C.B. ASSY (DSIO BOARD)

AG ASSOCIATES 2100-0305-03 PCB, BREAKOUT BOARD

AG ASSOCIATES 2100030503 PCB

AG ASSOCIATES 4502-9040-01 VALVE,DUAL,V-BLACK DIAPHRAM(AP3550S DUAL V)

AG ASSOCIATES 4502-9042-01 VALVE, PNEUMATIC, NO