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我国工业机器人与金属成形机床集成应用的现状与问题

工业机器人与金属成形机床在制造原理和结构等诸方面均较为相似，如伺服电机驱动、数控系统控制，以及可实现精确位置移动的自动装置等。因此，金属成形机床制造商在工业机器人的晒制上优势较为明显。而这些优势带来的巨大商机，早已被国内诸多目光敏锐机床制造企业所察觉。所以，早于多年前，便已有部分机床及企业介人对工业机器人
的制造与研发。发展至当前，我国开展工业机器人研制的金属成形机床企业，主要为数控系统厂和主机厂两类。其中，后者的产品门类较为齐全，主要优势集中于成套项目承接。

然而现阶段，虽然我国工业机器人与金属成形机床的集成应用正日趋广泛。但从行业的整体发展程度来看，二者集成应用在数量与规模上，均处于初级起步阶段，与发达国家仍有较大差距。主要表现为以下几方面 ：第一，工业机器人与金属成形机床集成应用所处水平较低，诸多先进技术仍未充分应用。并且，应用形式仅是简单地将金属成形机床和工业机器人相组合，但各自使用分离的控制系统。第二，行业内部缺乏可借鉴与参考的技术标准规范或理论基础，制造商与用户均缺乏充足的知识与经验。第三，工业机器人领域属于新兴行业，相关应用型专业人才十分匮乏，导致诸多项目受阻。总体而言，在工业机器人与金属成形机床集成应用中，许多理论与实践问题均未得到充分认识、论证与解决。
因此，要充分发挥工业机器人与金属成形机床的集成应用优势，还需各餐祝主体的不懈努力。

4 、工业机器人与金属形成机床集成应用的发展路径

根据上文所述，当前我国工业机器人与金属成形机床集成应用中仍存在诸多问题。因此，需从以下几方面对二者的集成应用进行探讨，充分发挥二者的合力优势，推进汽车制造企业发展进程。

其一，汽车机床企业在研制工业机器人的过程中，应充分发挥产业自身固有优势，树立更高的发展目标。制造商应立足于自身实际发展需要，完善工业机器人与金属成形机床集成应用的基础理论研究，提升工作工艺与转配。同时，需不断创新，突破减速器与伺服电机等基础零部件的传统束缚，大幅提高国产汽车制造工艺的质量与整体水平。
其二，在金属成形机床的制造过程中，需加入充足的自动化功能，促进其与工业机器人工作的协调开展。在此过程中，汽车制造商需加强对刀具中先进技术的应用研究，包括强刀具磨损与补偿道具的自动检测与更换等，有效保证汽车机床加工各单元工作的持续稳定开展。

其三，汽车加工制造商需对共同协调工作的双方进行联动设计，并对工业机器人与金属成形机床做出适合双方的相应调整，形成二者度集中的协调有机统一体。此设计与调整不单是改变机床机械的结构，还应包括调整设备传感器与整合控制系统等，实现工业机器人与金属成型机床的空间集成。

其四，在促进工业机器人与金属成形机床的集成应用过程中，应制定较为完善的技术规范与流程，有效满足二者对机械结构设计与控制系统等的特殊要求。因此，汽车制造企
业间应建立完备的组织联络机制，并在机制中建立必要的技术标准与规范，加强各环节的交流、沟通与协作，充分实现优势互补、资源共享与发展合力，推进我国机床工具行业转
型升级 [5]。

其五，为加快工业机器人与金属成形机床集成应用的普及，应加大对专业领域人才的培养力度。一方面，需加大工业机器人研制与开发相关专业人才的培养力度，促进工业智能机器人的应用与普及。另一方面，在汽车金属成形机床制造领域，应加强对工业机器人应用人才的培养，并不断深化关人才的专业知识与技能水平。
 

Motion Control MPL-A4530K-MK24AA MOTOR,SERVO,8.36 NM,4000RPM,MULTI,230V,BRK,11KG

Silver Series 1747-MNET MODULE,INTERFACE FOR PRGRMMABLE CONTROLLER

BC646MRB300 Logic PC Runtime 300 I/O

IC5005TBN0000 15" Intelligence Industrial PC, Performance Series WinNT

IC800SLM075N2XE25 750W, 230 VAC SL Servo Motor, Holding Brake, 2.5K Quad Encoder

ST-2744 STXi output module Isolated Relay Output 4 Points, 230V AC/ 2A

ZA06B-6130-H003 BSVM1-40i Beta i series amplifier rated 40 amp and 200/230 VAC

20CC650N0ANNBNA0 PowerFlex 700H AC Drive 650 A 355 kW 20C

20G1ABF500JN0NNNNN PowerFlex 755 AC Packaged Drive

25A-D6P0N114 PowerFlex 523 2.2kW (3Hp) AC Drive

2711P-T6C5D8 PanelView Plus 6 6 Clr Touch DC RS232

6SE6440-2UD32-2DB1 22KW

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

1492-XIM24-8R Relay Expander Module

软启动器 3RW44243BC46

接口模块 6ES7 155-5BA00-0AB0 IM 155-5 DP，Pro?bus 接口模块

1585-C8HB-S300 Cable Spool Ethernet Media

1746-R10 SLC Replacement Covers and Labels

1790-T0B16X CompactBlock LDX 16 Expansion Block

194E-A100-TN 194E Type A 80/100A Neutral Terminal

20-PP10017 MOTOR CABLE W, PF700H, PF700S

2090-CSBM1DF-18AA25 Kinetix 25m Smartlink Single Cable

20AC037C0AYNANC0 PowerFlex 70 AC Drive 20A

GC-8841-SI-MT SafetyNet Workbench SI Consignment System (12 month license)

HE485ISO232 Isolated RS-485 to RS-232 Adapter

IC600KD534RR Color OptiBasic OIT, Ver 31

IC647HSTES300M Historian Enterprise Server 300 Points (M4 Key)

IC650AEM400RR Series Six BB Modem BD, All Channels

IC694APU300CA Conformal Coated High speed counter module 200KHZ A B and C type.

IC756SDV001CS-914 DV Development - Solaris Op Sys Addt'l User, Simplified Chinese, Version 9.14

MicroLogix 1500/1769 System 1764-LRP ML 1500 RS-232 PROCESSOR

PLC-5/1771 System 1771-WG FIELD WIRING ARM, 21 TERMINALS, GOLD PLATED

Distributed I/O 1794-IT8 THERMOCOUPLE INPUT MODULE, 8 POINT

Communications 9399-WAB32UGDE RSLINX USER GUIDE (GERMAN)

Support 6233-52VDLS SUPT RENEWAL CONTRACT FOR 623352VDL

Support 9358-BPC60S SUPT RENEWAL CONTRACT FOR 9358BPCNT60ENE

Support F1771-IXESERA FIRMWARE UPGRADE FOR 1771-IXE I/O MODULE

RSI Software Products 9324-RLD0U3ITE RSLOGIX 5000 SERVICE ED TO STD UPG, ITA

RSI Software Products 9301-2SE350KOU4R RSVIEW32 RUNTIME 150-100K UPGRADE OUT-SUPT (KO)

RSI Software Products 9358-HSTS2500U5R UPGRADE: OUT-SUPT: HISTORIAN 32K TO 70K TAG

Motion Control 8720SM-015S3EBS3 15 KW/41.5 AMP, 460 VAC, AC MOTOR WITH SNS60 ENC.

829-3-1 Thumbwheel Assembly. 3 Digit, 1 True. Dust Seal

IC200MDL636 INPUT 48VDC POS/NEG LOGIC (4 GROUPS OF 8) 32PT

IC697NS2000 NEXT STEP Package 2

MTR-1324-N-A-E-0RR Stepping Motor Nema34

ZA02B-0120-K321 Alpha i-series CX1A/B dynamic brake module control power connector kit

20BD125A0ANNAND0 PowerFlex 700 AC Drive 20B

20G11ND014AA0NNNNN PowerFlex 755 AC Packaged Drive

22F-RF021-BS PowerFlex 4M EMC Filter Kit

990NAA26350 Quantum 编程电缆, RS232,50'

294E-FD1P5P-G2-3 Variable Frequency Drive

S82D-3012 100-240VAC ,12V 300W输出 27A,体积小型化高容量开关电源

1492-SPM3B150-N MCB Supplementary Protector 15 A

软启动器 3RW40262TB04

从站模块 6GK7 242-5DX30-0XE0 CM 1242-5 PROFIBUS DP 从站模块

150-F625NBA SMC Flex Smart Motor Controller

1734-IB4D POINT I/O 4 Point Digital Input Module

1783-BMS20CA Stratix 5700 20 Port Managed Switch

193-EMRA E1 Plus 240V AC Remote Reset Solenoid

20-750-DNET PowerFlex 750 DeviceNet Adapter

2090-CPWM7DF-12AA03 MP-Series 3m Power Cable

2098-DSD-010X Ultra 3000 1kW Servo Drive

G-0602 Connecting cable between GP-0602NT and GPA-602.

GFK-2100 IC697VHD001 VME Hard Drive

IC220PWR014 SEGMENT TERMINAL, ELEC FUSED 24VDC (REQUIRES 1 IC220TBK087)

IC647DNP050 "DNP3 Master Protocol for 50,000 points"

IC647S2GM S2G:SECS-II

IC693MDL632RR 125 Vdc Input (8 Points)

IC756DVE000J-97 EO GECK (Graphical Editor Construction Kit) - Unix, Japanese, Version 9.7

MSI-QUAL-100 Quality Management Clients 100 Pack

PLC-5/1771 System 1771-ASBK CONFORMALLY COATED, PLC2, 3, 5 REMOTE I/O ADAPTER

Distributed I/O 1790D-0V16 DNET LDX I/O, 24VDC, 16 SINK OUT BASE, D-SHELL

Communications 1770-CD1 DATA HWY TWINAXIAL CABLE, 100 FT/30 M

Operator Interface 2711E-UK12EK14 PANELVIEW 1200E KEYPAD TO 1400E KEY MIGRATION KIT

Support 9305-RSVADDCZHR SUPT REINSTATEMENT CONTRACT FOR 9305RSVADDCZH

Support 9324-RLDFBDS SUPT RENEWAL CONTRACT FOR 9324RLDFBDEN

DeviceNet Products D9240-6.5.2 DEVICENET SLAVE DEVEL. TOOL SOFTWRE USER MANUAL

RSI Software Products 9301-2SE3400JPE RSVIEW32 RUNTIME 32K (JAPANESE)

RSI Software Products 9371-RSWDI1U1 UPGRADE: IN-SUPT: RSWIRE DET IEC STDAL TO DES PRF

Motion Control 1326AB-B420E-M2L MOTOR,SERVO,460V,5.0NM,3000RPM,MULTI,IP67

2324 Greyline OS, 2 Line, (20) 5MM Chars, VFD, ASCII /Serial Interface, NEMA 4

HE800ACC519 DIN-rail mount Terminal Block, 19-pin. Compatible with most SmartStack Digital I/O. Allows SmartStack I/O to be terminated on panel backplate as an alternative to direct SmartStack termination on panel door.

IC693ACC330 TBQC Base for IC693MDL740, IC693MDL742

QPK3D200L2P/B 6" Monochrome, Blank Label, 24Vdc, UL,cUL,CE,UL1604

TGT-3X6L-1-0 Target series 6 amp servo power module

20BC481A0ANNNNC0 PowerFlex 700 AC Drive 20B

20F1ANE077AA0NNNNN PowerFlex 753 AC Packaged Drive

22B-D024N104 PowerFlex 40- 11 kW (15 HP) AC Drive

140DAM59000 Quantum 开关量AC混合模块,16点输入,115VAC;8点输出

284E-FVD4P0Z-10-CR-EMI EtherNet Variable Frequency Drive

TL-N5MY1 5mm,电感式,二线,常开200mA 电源:90-250VAC方20×20mm

1492-SPM1B630 MCB Supplementary Protector 63 A

通用型变频器 6SE6 420-2UC13-7AA1 0.37 KW，73 x 173 x 149

电机启动器 3VU13400MH00

1497D-A16-M21-0-2 1EN PURPOSE TRANSFORMER

1608M-400A400V4S 400 A Mega DySC Sag Corrector

1769-OB8 CompactLogix 8 Pt 24VDC D/O Module

190S-AND2-CC10C-KN-V Compact Comb Starter W/Ckt-Bkr

194R-N60-1753-PYS1 Non-Fused 194R Disconnect Switch

2090-CPBM7DF-16AA25 MP-Series 25m Standard Cable

2090-XXTFMP-S15 MP-Series 15 m Length Feedback Cable

CBL-T7-MP-30 Power cable for MTR-3T10 or MTR-3T20 or MTR-3T40 series servo motors. 30 feet

GF-3215R Connecting FlashCable to Mettler PM/ SM, Toledo.

IC200UDR002-24 Qty of 24, 14 point PLC, (8) 24VDC In, (6) Relay Out, 24 VDC Power Sup ply

IC646TRT000 Unlimited I/O Point Runtime System

IC647PATBRK0 Proficy PAT - Driver For Bruker Ftir Spectrometers

IC693APU300CA Conformal Coated High Speed Counter

IC752ECD500RR Display Station 1492 - 14 inch XGA (1024x768) resistive touch screen/ Pent ium 133/ 32MB/ 1.2 Gig hard drive/ expansion slots/ Ether net/ with CIM PLICITY HMI and Win 95

IFIXONNODE500M iFIX Upgrade to On-Node 500 Tag Standard Edition Historian with Alarm & Event Option, M4 Key

SLC/1746 System 1761-CBL-AS03 CABLE: SLC FIXED, 5/01, 5/02 & 5/03 RJ45 TO PORT 3

Industrial Computers 6186-M20RK VERSAVIEW 20 INCH MONITOR, TEMPERED GLASS

Application-specific products 1404-M505A-DNT MASTER MODULE - PQ DNET COM

Operator Interface 2711-K10C10L1 PV1000 COLOR KEY, DNET & RS232 PRINT

Support 9301-2SE3100ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE3100ZH

Support 9380-RSBEDRCPS SUPT RENEWAL CONTRACT FOR 9380RSBEDRCP

DeviceNet Products 1738-ADNX DEVICENET EXPANSION ADAPTER

RSI Software Products 9301-2SE3203ESE RSVIEW32 RUNTIME 300 WITH RSLINX (SPANISH)

RSI Software Products 9358-BPCNT60U3 UPGRADE: IN-SUPT: RSBATCH PC-BASED 30 TO 60

Motion Control MPL-B4530F-MJ22AA MOTOR,SERVO,8.36 NM,2800RPM,MULTI,460V,8.2KG

Motion Control 2090-SCVG25-0 SERCOS FBR CABL,CONN,STNDRD PVC JKT,GLASS,25.0M

GFZ-65142E Alpha Series AC Servo Motor Descriptions Manual

IC646MPC101 Logic Developer - PLC Configuration Tools w/Programming Cable

MTR-1324-N-D-E-S Stepping Motor Nema34, Series Wdg, Splashproof

QPJ-ABR-201 Communication Module for 5 inch & 6 inch: AB Remote I/O/ UL/ cUL/ CE/ UL1604

20BC037A0AYNANA0 PowerFlex 700 AC Drive 20B

20F11NC043AA0NNNNN PowerFlex 753 AC Packaged Drive

22-COMM-D PowerFlex DeviceNet Adapter

2711P-RGK12 PV Plus 1250 Keypad Antiglare Overlay

280G-FS-25-RG ArmorStart Spare Parts

C200HW-ME32K EEPROM存储单元 32K

1492-PDE1183 335 A Enclosed Power Distribution Block

中央处理单元 6ES7417-4HL04-0AB0 CPU417-4H,20MB RAM，用于存储器卡的槽，电源 24VDC，两个槽用于同步模板,一个MPI/PROFIBUS-DP 主站接口；包括槽号标签,30ns

变送器 3RS10001CD00

1495-N81 Line Side Cover

1585J-M8TBJM-40 RJ45 Ethernet Media

1761-CBL-HM02 MicroLogix Cable

188-K3B250 Miniature Circuit Breaker 25 A

194L-E16-3503 16 A 194L Load Switch

2090-CPBM4DF-16AF30 MP-Series 30m Length Cable

2090-XXNFMF-S30 Kinetix Drives 30m Standard Cable

BC647OEM0500B OEM Edge Program - Complete

GC647PATCDI0 Proficy PAT - Driver For CDI - Assist Support

IC200MDD845 Mixed 24VDC POS LOG input group 16 point / isolated 2 amp relay output 8 point.

IC646NRX005 System Sentry - 5 Node

IC647MBP001 Machine Edition Professional Development Suite with USB Hardware key

IC675PCB002 Profibus Cordset 2.0 Meters

IC697MDL740RR 24/48 Vdc Output, 2 Amp, Positive Logic (16 Points)

IC800SLT001 SL series amplifier terminal block for APM and DSM motion controller interface

ControlLogix/1756 System 1756-CPR2 REDUNDANT POWER SUPPLY CABLE

Industrial Computers 6182H-15BRH4B VVCE 1500, KEY/TOUCH, STD MEM, ENET, AC

Process Control 1757-DNBEXP20 DEVICENET MODULE EXPANSION, 10-20 MAX

Operator Interface 2711P-ST6KM PV PLUS 600 GRAYSCALE, KEYPAD STARTER KIT

Support 9326-AD10WDS SUPT RENEWAL CONTRACT FOR 9326AD10WDENE

Support 9371-EDES2R SUPT REINSTATEMENT CONTRACT FOR 9371EDES2

ControlNet Products 1738-ACNR CONTROLNET REDUNDANT ADAPTER

RSI Software Products 9301-2SE240ITU5R RSVIEW32 WORKS 5K-32K UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-B60UB1 UPGRADE: IN-SUPT: RSBIZWARE BATCH 60 UNT TO BUNDLE

Motion Control MPL-A430P-SK24AA MOTOR,SERVO,5.42 NM,5000RPM,SINGL,230V,BRK,8.2KG

Motion Control 2090-UXNFM-S09 CABLE,ULTRA, DRIVE CN2 TO N/C,9M

CBL-1C-ET-30 Encoder Cable, MTR-1216, 1221 & 1231 Stepping Motors, 30 Ft.

IC630MDL310RR High Speed Counter Module

IC800SLCFLYV030 Flying Lead Cable, 1-5 kW SL Amplifier I/O to OCS or 3rd Party Controller, 3 Meters

OC647IFSETKTM iFIX Optn: System Extension Toolkit (M4 Part)

20AD5P0A3AYNAEC0 PowerFlex 70 AC Drive 5 A at 3 Hp 20A

20DD022A3EYNACASE PowerFlex 700S AC Drive 20D

20P41AB360RA0NNN PowerFlex DC Drive 230V AC 100 HP

2711C-CBL-AB03 PanelView Component Accessory

280-PWRM24B-M2 ArmorConnect 3-PH Power Media drop cable

SRT2-ID08 远程I/O端子（晶体管输入）8点

1492-MCBA190 Miniature Circuit Breaker

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

软启动器 3RW44566BC45

工程组态编程软件 6AV2103-2HX04-0BD5 SIMATIC WinCC 专业版 Powerpack 4096 PowerTags -> max. PowerTags V14

1585D-M4UBJM-5 1585D Ethernet Media Patchcord

1756-L72EROM ArmorControlLogix On Machine Controller

1799-COV20 Embedded I/O Plastic Cover

194E-FA16E-P11-PE 194E Load switch

2090-CFBM6DF-CBAA20 TL-Series 20m Feedback Cable

2090-SCNP5-0 Kinetix 5-5m Fiber Optic Cable

BC646MPM101 Logic Developer PLC Nano/Micro with Programming Cable with Proficy GlobalCare Complete

GC647APC001 GC PA Production Client

HMI-CCT-201 BACKLIGHT TUBE 10.5 inch Color STN (QPI2xxxxS2P) or TFT (QPI2xxxxC2P)

IC641VPD050 VersaPro Distributor Demo 50 Pack

IC647IFGLBLRLYSRVRM iFIX WebSpace Relay Server includes 25 Users

IC660EBR100 Electronic Assembly for IC660BBR100

IC697ACC700 Terminal Block, 40 Contacts (qty 6)

IC756WRE499E-28 Runtime License for Windows 100+ Users, Per User, English v2.8

FlexLogix System 1794-IE8K CONFORMAL COATED, ANALOG INPUT MODULE, 8 POINT

PLC-5/1771 System D6200-6.4.12JP PLC5 PROGRAMMING SW I/O CONFIG. MNL (JAPANESE)

Process Control 1757-SRC1 1757 REDUNDANCY MODULE CABLE - 1 METER, 3.28FT

Operator Interface 2711P-T10C4D2 PV PLUS 1000, TOUCH, ENET, DC PS, EXT MEM

Support 6001-A1DBR SUPT REINSTATEMENT CONTRACT FOR 6001A1DB

Support 2711-END1FRS SUPT RENEWAL CONTRACT FOR 2711END1FR

Support F1785-L46BSERE FIRMWARE UPGRADE FOR 1785-L46B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2304 RSVIEW32 WORKS 1500 WITH RSLINX SINGLE NODE

RSI Software Products 9701-VWSS000FRU3 RSVIEW SE 250 TO UNLTD DISP UPGRADE (FRENCH)

RSI Software Products 9399-RSBARG RSBATCH ARCHIVER REFERENCE GUIDE

Motion Control 1394C-SJT10-A MODULE,SYSTEM,10KW,SERVO,W/ANLG INTF,NO HIM

BC646MODEV10PK Motion Developer 10-pack Proficy Global Care Complete for the S2K Series Amplifiers/Controllers

IC300OCS057 MiniOCS with 2x20 LCD & 16 keypad & onboard IO (no expansion) 8 DC inputs (pos/neg)without CsCAN, 8 DC Outputs (pos), 4 ISOLATED analog in (20mA), 2 ISOLATED analog out (20mA)

IC752WFB204 Display Station 2020 Series - w/ touch - 12.1" SVGA (800x600), Pentium 233 MHz, 64 MB RAM, 6.4 GB HD, expansion slots, Ethernet, floppy drive, CD ROM front access, built-in keypad, HMI for CNC, HSSB card, Win NT

MTR-3T21-G-R-B-M-S MTR series metric servo motor with resolver and brake and shaft seal

ZA06B-6136-H201 Beta Dual SVM1-20i FSSB Servo Amp,20/20A

20D-HEID-D0 PowerFlex 700S Heidenhain Encoder Board

20G1AGD361AA0NNNNN PowerFlex 755 AC Packaged Drive

25A-V4P8N104 PowerFlex 523 0.75kW (1Hp) AC Drive

2711P-T7C4D8 PanelView Plus Terminal

6SE6430-2UD31-8DB0 18.5KW

1492-L35 IEC Term Blck 16.1x100.5x51.8mm SPr Clp

1494C-CM13 Cable Mechanism

软启动器 3RW44261BC44

附件 6ES7 954-8LL02-0AA0 存储卡：256 MB

1585A-DD8JD Gigabit Ethernet Media

1746-RT29 SLC Replacement Terminal Block

1790D-T0B16 CompactBlock LDX 16 Point O/P Base Block

194E-A32-1753-6G 32 A 194E Load switch

20-PP12002 OPTICAL FIBER SET

2090-CSBM1DF-18AF12 Kinetix Cable Single DSL 2090-Series

20AC043F0AYNANC0 PowerFlex 70 AC Drive 43 A at 22 kW 20A

GC646MBPS99 Proficy GlobalCare Complete for ME Professional Development Suite - Site License

HE670RLY168 Discontinued Part. Check with GE IP on migration path.

IC600PM500RR CPU/DPU Power Supply, 115-230Vac

IC647HSTESEO100M eSignature Option for Historian - Enterprise Server 100 Points (M4 Key)

IC655CCM590RR RS-232/RS-422 Convertor Unit

IC694MDL230CA Conformal Coated Input module, 120VAC 8 point isolated.

IC756SDV010CS-99 DV Draw Development on Solaris Op Sys, Simplified Chinese, Version 9.9

MicroLogix 1500/1769 System 1769-IQ16 16 POINT 24 VDC SINKING/SOURCING INPUT MODULE

PLC-5/1771 System 1785-KA5 COMMUNICATION MODULE DATA HWY PLUS TO DATA HWY 485

Distributed I/O 1794-TB3G 3-WIRE GROUNDED TERMINAL BASE - SCREW CLAMP

Communications 9399-WABUG WINTELLIGENT LINX FOR A-B PROG. CONTROL USER GUIDE

Support 9311-PASJR 9311PASJ SOFTWARE SUPPORT CONTRACT REINSTATEMENT