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A1000-FIV3010-RE
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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。
1492-SPM1B130 MCB Supplementary Protector 13 A
1494G-DF3N-421 NEMA 1494G Enclosed Disconnect
软启动器 3RW44436BC35
ET 200SP 6ES7136-6PA00-0BC0 故障安全型模块F-PM-E 24VDC/8A PPM 标准型,基座单元类型C0
1585D-M4TBJM-3 Micro D-Code, QD Style Ethernet Media
1756-L64 ControlLogix 16 MB Memory Controller
188-K1D200-N Miniature Circuit Breaker 20 A
194R-J60-1753-PYN2 194R Disconnect Switch
2080-LC30-48AWB Micro830 48 I/O Controller
2090-CSWM1DF-18AA07 Kinetix 7m Smartlink Single Cable
20AC3P5A3AYNNNC0 PowerFlex 70 AC Drive 20A
GC646MQP001 Proficy GlobalCare Complete for View for QuickPanel
HE693RTD665 Discontinued Part. Check with GE IP on migration path.
IC610MDL105RR Thumbwheel Interface Module
IC647HSTSS10000KM Historian Standard Server 10,000,000 Points (M4 Key)
IC660BBD022RR 24Vdc Source I/O Block, 16 Circuit, Ph B
IC694PWR331 Power Supply 24 Vdc High Capacity.
IC756WDN009J-23 DV Development Sys VB, Java, C++, C, Japanese, Version 2.3
CompactLogix System
PLC-5/1771 System 1771-P6S POWER SUPPLY,SLOT (ONE SLOT), 8A, 220V AC
Distributed I/O 1798-OE2 FLEXARMOR 2 CHANNEL ANALOG OUTPUT MODULE
Operator Interface 2711P-B6M8D PV PLUS 600 GRAYSCALE, KEY/TOUCH, DH+, DC PS
Support 9323-PI300DU UPGRADE: IN-SUPT: 6200-5250 BOTH TO AI-5250 BOTH
Support 9358-PB60S SUPT RENEWAL CONTRACT FOR 9358PB60ENE
Support F1772-SD2 FIRMWARE UPGRADE FOR 1772-SD2 PLC2 PROCESSOR MODUL
RSI Software Products 9324-RLD700NXDEE RSLOGIX 5000 PRO EDITION, GERMAN
RSI Software Products 9305-RSVADFVCITE RSVIEW32 ACTIVE DISPLAY FLOAT. VIEW CLNT (ITALIAN)
RSI Software Products 9301-PCI2000MBP APPLICOM PCI2000MBP MODBUS PLUS INTERFACE
Motion Control 2094-BSP2 MODULE, SERVO SHUNT, 400/460V 200W DISSIPATION.
A06B-6050-K119 Connector Kit, B0.5 Motor Power
IC200UEX010 14 point expansion. (8) 120VAC In, (6) 120VAC Out, 120/240VAC Power Supply. (includes IC200CBL501)
IC752CBT060 Mature, order QuickPanel instead. DataPanel 320T CE (Color Expansion): 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2M memory and PC/104 capability.
MTR-1N41-G-N-A-E-0RR Stepping Motor Nema42
ZA06B-0128-B675#7076 A6/3000 servo motor with IP67 sealing and brake and 64k serial encoder
20BD5P0A3AYNACD0 PowerFlex 700 AC Drive 5 A at 3 Hp 20B
20G14NC085JA0NNNNN PowerFlex 755 AC Packaged Drive
25-PM1-E019 PowerFlex 520 11kW (15Hp) Power Module
771BSS47401 Quantum CONCEPT XL 版注册软件
FRN5.5E1S-2J 9.5KVA 25A 5.5KW 3相AC220V/50Hz/60Hz
6GT2091-1CH20
1492-SPM3D050 MCB Supplementary Protector 5 A
软启动器 3RW40281BB04
SIMATIC HMI 系列面板 6AV2123-2GB03-0AX0 KTP700 Basic PN 7 寸触摸 + 按键
150-SD3NUR SMC-50 SOLID STATE MOTOR CONTROLLER 520A
1738-AENT ArmorPoint Ethernet Adaptor
1783-ZMS24TA ArmorStratix 5700 24 port managed switch
193-KA40 0.25-.40 A IEC Bimetallic Overload Relay
20-750-P5-C770D740 PF750,Fr8,DC Input w Precharge,400/480V
2090-CPWM7DF-16AF20 MP-Series 20m Length Power Cable
20AB022F0AYNANC0 PowerFlex 70 AC Drive 22 A at 7.5 Hp 20A
GA647IFPLDV00150 GCA iFIX Plus SCADA 150 I/O Dev
GP647IFCLNTS001 GCP iFIX iClientTS Each Additional User
IC600BF813RR Type J Thermocouple Input Module (8 points)
IC647HSTCC3KM Calculation Collector for Historian - Standard Server 2500 Points (M4 Key)
IC647TBPM TBP:Texas Instrument Transparent Byte Protocol
IC693MDL930CA Conformal Coated Relay Output module, 4 amp 8 point isolated
IC756LDV001E-99 DV Development - Intel/Linux RedHat Addt'l User, English, Version 9.9
Pico Controllers 1760-CBLPC02 GFX PROGRAMMING CABLE
PLC-5/1771 System 1771-OM 220/240V AC OUTPUT MODULE, 8 DRIVER, SOURCE OUTPUT
Distributed I/O 1791-24A8 BLOCK I/O, 120V AC, 32 POINT MODULE
Communications 1786-TNCL10 CONTROLNET TNC COAXIAL CONNECTOR - PLUG
Operator Interface 2707-MVP232 MICROVIEW, PANEL MOUNT, 2 LINE LCD, RS-232
Support 9701-VWSS250AR SUPT REINSTATEMENT CONTRACT FOR 9701VWSS250AENE
Support 9324-RL0100PTS SUPT RENEWAL CONTRACT FOR 9324RL0100PT
EtherNet/IP Products 1788-MCHKR NETWORK MEDIACHECKER (ENET, CNET, DNET, DH+/RIO)
RSI Software Products 9301-2SE340ZHU5R RSVIEW32 RUNTIME 5K-32K UPGRADE OUT-SUPT (ZH)
RSI Software Products 9356-PRO2450U2R UPGRADE: OUT-SUPT: RSSQL STD.300 TO PROF.32000 TAG
Motion Control F-6100-R-H04AA MOTOR/ENCODER/BRAKE
44A722981-011RR Color Adapter Card (W/M 1)
IC200ACC451 Simulator for VersaMax Micro 8 Inputs
IC693MDL310 120 Vac Output, 0.5 Amp (12 Points)
TRM-21006666 Connector, 20 Point Screw Terminal, S2K Digital I/O
VMEM-GMOD/DT VisualMEM MEMPort Gateway Module. One required for each DuraTouch tha t uses MEMPort Input Modules.
20BD022A0AYNANC0 PowerFlex 700 AC Drive 22 A at 15 Hp 20B
20G11FC037AA0NNNNN PowerFlex 755 AC Packaged Drive
22C-D017N103 PowerFlex 400- 7.5 kW (10 HP) AC Drive
140CRA93101 Quantum LMS RIO 站适配器, S908 RIO, 单电缆
285-BRC25-M20 Cable,ArmorStart Source Brake Cable
继电器输出:一常开/闭250VAC 5A,电压输入. 面板尺寸:48*48.mm
1492-SPM1D200 MCB Supplementary Protector 20 A
通用型变频器 6SE6 440-2UD33-7EB1 "37 KW,275 x 650 x 245"
电机启动器 3VU13401TF00
150-C60NCD SMC-3 60A Smart Motor Controller
1692-ZG6666 24 V DC Electronic Circuit Protection
1771-IFEK 1771 Input Module
193-EC3EE E3 Plus 18-90 A Overload Relay
198-PL21G IEC Pilot Light Enclosure Accessory
2090-CPWM4DF-14AF02 MP-Series 2 m Length Power Cable
2094-BC01-M01-M Kinetix 6200/6500 Integrated Module
DEMOCD00002 Proficy Historian DEMO CD
GFK-0646 C Programmer's Toolkit for Series 90 PLCs User's Manual
IC200UMB001 VersaMax Micro 20/40/64, User Program Memory Module. Compatible with VersaMaxMicro 20/40/64 only.
IC647AQC100 PA Quality Client 100 Pak
IC647PME005 Proficy Change Management Server Machine Edition Version - 5 Concurrent Users
IC693CMM302CA Conformal Coating Enhanced Genius Communications module.
IC754VBB06CTD 6 INCH BASCI TFT WITH BLANK
MSI-ACQUIDATA I/F-43 Acquidata Testream Interface Ver 4.3
SLC/1746 System 1747-DEMO-7 DEMONSTRATION UNIT FOR MODULAR HARDWARE STYLE
Distributed I/O 1734-IB4 24V DC 4 CHANNEL SINK INPUT MODULE
Application-specific products 1803-EEM10E12 EEM, 16 PULSES, 24V DC, NEMA 12 ENCLOSURE
Operator Interface 2711-T10G16L1 PV1000 GRAYSCALE TOUCH, DF1 & RS232 PRINT
Support 9301-MSGRPROR SUPT REINSTATEMENT CONTRACT FOR 9301MSGRPROENE
Support 9381-POCXENS SUPT RENEWAL CONTRACT FOR 9381POCXEN
DeviceNet Products 1790D-TN0V2 DNET LDX, 2 OUTPUT VOLTAGE ANALOG BSE, TERM BLOCK
RSI Software Products 9301-2SE330PTU2R RSVIEW32 RUNTIME 150-1500 UPGRADE OUT-SUPT (PT)
RSI Software Products 9358-PBNTK10ENE RSBATCH NT FOR PROCESSLOGIX BACK-UP KEY 10 UNITS
Motion Control MPL-B680D-MJ22AA MOTOR,SERVO,60.0NM,2000RPM,MULTI,460V
Miscellaneous ABPGMC-CD MOTOR CONTROL GUIDE CD
HE200TIM100 Time server - need 1 TIM100 per network to provide GPS time signal, with antenna with a 6 foot cable
IC646NSL999 CIMPLICITY SQL - Internet Connector
PC752CMB000 COMPROFIBUS Network Configuration Software. Provided on CD-ROM (for Profibus Option only)
ST-2414 STXi output module 4 points, Negative Logic, Diagnostics, 24VDC/ 0.5A
20BC085A3AYNAEC0 PowerFlex 700 AC Drive 85 A 45 kW 20B
20F14NC140AN0NNNNN PowerFlex 753 AC Packaged Drive
22A-A9P6N103 PowerFlex 4- 2.2 kW (3 HP) AC Drive
TSXMFPP004M Quantum Unity V2 PCMCIA存储扩展卡,程序存储4x1024K(Flash)
284-PWRM22A-M12 ArmorConnect 3PH Pwr Media Shld Mtr Cbl
CJ1M-CPU22 CPU单元I/O点数320,10K程序容量,不可接扩展机架。
1492-RCDA4D40 Residual Current Device 40 A
有源总线模板 6ES7195-7HD10-0XA0 有源总线模板用于 2 IM153-2 高性能型冗余系统
变送器 3RS11 42-2GW80
1497-L-BASX-0-N Control Circuit Transformer
1606-XLE480EPC XLE 20 Amp Power Supply
1764-24AWA MicroLogix 1500 24 Point Controller
188-K3D400 Miniature Circuit Breaker 40 A
194L-HE4E-175 194L Control and Load Switch Actuator
2090-CPBM7DF-08AA90 MP-Series 90m Power and Brake Cable
2090-XXNPMF-16S01 Kinetix Drives 1m Standard Cable
BC647TRT935 "CIMPLICITY HMI Server 35,000 I/O Runtime System with Proficy GlobalCare"
GC647PSF050 Global Care for Proficy Process Systems 250 I/O with CIMPLICITY
IC200NAL211-24 Qty 24, 10 point PLC, (6) 24VDC in, (4) Relay Out, (1) Analog Input (0 -10VDC, 8 bit), 24VDC Power Supply
IC646PPA374 PA-30 with 374 CPU - AC
IC647NAP000 Applicom Communications
IC690ACC900 RS-232 TO RS-485/422 Convertor Unit
IC697VDD125 Discontinued. Replacement is Embedded VME-1182-060000 . Contact GE Embedded for more details.
IC800SSI420RP2 7.2 amp 480 VAC Profibus S2K servo controller for MTR series motors
SLC/1746 System 1747-SDN DEVICENET SCANNER MODULE
Industrial Computers 6181P-15TP2KH VERSAVIEW INTEGRATED DISPLAY COMPUTER 15-INCH
Application-specific products 9358-PBEPB60ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 60 UNITS
Operator Interface 2711-K5A16L1 PV550 MONOCHROME KEY, DF1 & RS232 PRINT
Support 6171-PCSS SUPT RENEWAL CONTRACT FOR 6171PCS
Support 9393-RSTLX5R SUPT REINSTATEMENT CONTRACT FOR 9393RSLTX5
ControlNet Products 2711P-K10C15D1 PV PLUS 1000, KEYPAD, CNET, DC PS, STD MEM
RSI Software Products 9301-2SE2500U5 UPGRADE: IN-SUPT: RSVIEW32 WORKS 5000 TO 100K
RSI Software Products 9358-BEPB60U3R UPGRADE: OUT-SUPT: RSBW BATCH & EPROCEDURE 30 TO60
Motion Control MPL-A4540F-MK24AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,230V,BRK,13KG
Motion Control 2090-XXNFY-S30 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,30M
GABI3D200C2P/AR QUICKPANEL 10.5" TFT W/AB RIO 24VDC GE LABEL
IC641SWC313 Logicmaster 90-30 TCP/IP-Ethernet, Cable & CDROM
IC800SSI107D2 7.2 Amp S2K Series Servo Amplifier/Controller with DeviceNet, 115/230 VAC
PSPC-ADMIN/E Prof Shop Floor SPC Admin 1 User w/ eSig
20BB052A0AYNANC0 PowerFlex 700 AC Drive 52 A 20 Hp 20B
20DE125A0ENNANANE PowerFlex 700S AC Drive 20D
2198-BARCON-100DC200 Kinetix 5700 100mm DC Bus Bar
2711P-K15C4A9 PanelView Plus Terminal
280-PWRM35D-M15 ArmorConnect 3-PH Power Media trnk cable
CPM2A-60CDR-D 60点主机 DC24V 36点入24点继电器输出 自带RS232C口
1492-MS6X12 IEC 6 x 12 mm Marker Card
1495-N74 1-1/2 in. Hub
行程开关 3SE53120SJ12
运行版软件 6AV2107-0DB14-0AA0 SIMATIC WinCC Client for Runtime 专业版 ASIA V14
1585J-M4UBJM-3 RJ45 Ethernet Media
1756-PA72 ControlLogix AC Power Supply
188-K1C250 Miniature Circuit Breaker 25 A
194E-KA32E-P11-PE 194E Load switch
2090-CFBM7DF-CEAF03 Kinetix 3m Flexible Cable
2090-UXNBMP-18S09 MP-Series 9 m Length Brake Cable
BC646SPI365 Solution Provider Annual license w/Additional iSuite
GC647IFESGCLNTCDV GCC iFIX Optn: ESig & ERec iClient Dev
IC200ALG331 Analog output 16 bit voltage/current 4 isolated channels
IC646MBT001 Machine Edition Traditional Development Suite
IC647IFPRRN00075C iFIX Profsnl SCADA 75 I/O Runtime (M1Component Part)
IC660SLD024 Red Safety Label Kit for IC660BBD024 Genius Blocks
IC697CHS750RR Series 90-70, 5 Slot Rack, Rear Mount
IC800CBL064 Replaced by cable IC800CBL067
ControlLogix/1756 System 1756-DNB DEVICENET BRIDGE/SCANNER MODULE
Industrial Computers 6182H-7KRH4B VVCE 700, KEYPAD, STD MEM, ENET, AC
Process Control 9358-PBBK03ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 03 UNITS
Operator Interface 2711P-T15C15D2 PV PLUS 1500, TOUCH, CNET, DC PS, EXT MEM
Support 9352-WGG100R SUPT REINSTATEMENT CONTRACT FOR 9352WGG100
Support 9330-CCR SUPT REINSTATEMENT CONTRACT FOR 9330CC
ControlNet Products 1786-CTK CNET RG6 TOOLKIT
RSI Software Products 9301-2SE235ESU1R RSVIEW32 WORKS 150-5K UPGRADE OUT-SUPT (ES)
RSI Software Products 9352-WGG200UR UPGRADE: OUT-SUPT: RSSERVER GE GENIUS 16 TO 32 BIT
Motion Control
Motion Control 2090-DANBT-18S04 CABLE, NON-FLEX, MTR BRK FOR CABLE-MTD CONNS, 04M
BC646SPM365 Solution Provider Annual License w/Additional ME Suite
IC300TRM016 Spring-clamp style I/O plug, 16-terminal
IC800BPK012 12 Amp Beta Series Amplifier Package
MTR-3T69-G-R-B-M-0RR Servo Motor Metric 24V Brake
20AD014A0AYNANC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A
20DC072A0EYNANANE PowerFlex 700S AC Drive 72 A 37 kW 20D
20G1AND125AA0NNNNN PowerFlex 755 AC Packaged Drive
25C-B062N104 PowerFlex 527 15kW (20Hp) AC Drive
280-MTR22-M4 ArmorConnect Motor Cable
FX1N-24MR-001 主机14点入/10点出?继电器输出?
1492-M3X12 IEC 3 x 12 mm Marker Card
1494G-FF3N NEMA 1494G Enclosed Disconnect
软启动器 3RW44436BC45
ET 200SP 6ES7134-6JD00-0CA1 AI 4xRTD/TC 2/3/4 线制 高性能型,基座单元类型 A0、A1
1585D-M4HBDM-5 Micro D-Code, QD Style Ethernet Media
1756-BA2 ControlLogix L6X Ser B ONLY Battery Assy
1794-IM8 Flex 16 Point Digital Input Module
194E-CA20 194E Load switch
2080-MOT-HSC Micro800 250KHz HSC Plug-In
2090-CSWM1DF-18AA21 Kinetix Cable Single DSL 2090-Series
20AC5P0A0AYYANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A
GC646MRB700 Proficy GlobalCare Complete for Logic PC Runtime 700 I/O
HE693STP101 Discontinued Part. Check with GE IP on migration path.
IC610MDL181RR U.L. Listed Relay Output (5 points)
IC647HSTSS1750KM Historian Standard Server 1,750,000 Points (M4 Key)
IC660BBD120RR Genius High Speed Counter Block
IC695ALG112 Isolated Analog module, 12 individual isolated channels are configurable for voltage and current. Requires high capacity terminal block IC694TBB032 or IC694TBS032.
IC756WDS000E-99 Dataviews Development Suite (All Windows Languages, Custom Editor Tool kit, Custom Datasource Toolkit, 1 yr SAFE), English, Version 9.9
CompactLogix System 1769-OA16 16PT.120/240 VAC OUTPUT
PLC-5/1771 System 1771-EZ EXTENDER, HIGH DENSITY
Distributed I/O 1799-BRKD DIN RAIL BRACKETS WITH SCREWS(2 BRKTS/ 4 SCREWS)
Operator Interface 2711P-K6M20A PV PLUS 600 GRAYSCALE, KEYPAD, ETHERNET, AC PS
Support 9325-L2140S SUPT RENEWAL CONTRACT FOR 9325L2140
Support 9358-PBBK30R SUPT REINSTATEMENT CONTRACT FOR 9358PBBK30ENE
Support F1775-S4ASERA FIRMWARE UPGRADE FOR 1775-S4A PLC3 PROCESSOR MODUL
RSI Software Products 1789-L10 SOFTLOGIX5810 CONTROLLER W/2 USABLE CHASSIS SLOTS
RSI Software Products 9701-VWMR015AJPE RSV ME STATION RT 15 DISP -WINDOWS 2000 (JAPANESE)
RSI Software Products 9330-GC300U1R UPGRADE: OUT-SUPT: RSGUARDIAN CORE 128 TO 4096 NOD
Motion Control 2094-PRS7 POWER RAIL, SLIM, 230V OR 460V, 7 AXIS
A06B-6093-H401 Ext. Regen Resistor, 30 Ohm 20 Watt, Beta or I/O Link Amplifiers
IC200UEX211 28 point expansion. (16) 24VDC In, (12) Relay Out, 120V/240AC Power Supply (includes IC200CBL501)
IC752CMO101 Modicon 984 9 pin cable for DataPanel 30/50
MTR-3N32-G-R-0-M-0-MODRR Servo Motor Nema34 Metric Mod=Connector
ZA06B-0153-B175#7008 A30/3000 servo motor with brake and 64k serial encoder
20BD8P0A0AYYADD1 PowerFlex 700 AC Drive 8 A 5 Hp 20B