404600XRMS
404600XRMS
404600XRMS
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本文針對堆垛機運行過程中的不同速度要求，選擇了多曲線來實現多檔調速，并且通過改善堆垛機的控制狀態，解決多檔調速曲線產生的問題。根據其整體的運行和速度的變化情況，需要對整個系統運行的實際情況進行更加具體的分析，使用伺服驅動代替變頻控制，并利用大量的測試數據來優化其相對應的運行曲線，把這些運行曲線存儲在伺服程序里。當堆垛機控制系統接到上位機派發的任務時，通過計算得出需要運行的起止距離，根據不同的起止距離通過可編程控制技術調用伺服程序里的不同運行曲線，以便達到相應的調速，準確到達目的地，從而獲得理想的控制方式
四、多曲線速度優化控制方案
多曲線速度控制的最大難點在于運行的起始貨位和目的貨位的離散性和不確定性，不同的起止距離分別對應不同的最佳速度曲線。伺服控制器可以通過激光測距儀和編碼器反饋速度位移參數，生成實時速度曲線，使得加速起動段和減速制動段產生所期望的速度給定曲線，真正實現速度的平穩變化，有效改善堆垛機的運行狀況。
除此以外，在實際編程過程中，由于設計的整個堆垛機的運行速度曲線控制部分有很多子模塊，如編碼器坐標采集塊，速度控制塊，加、減速塊，曲線調用塊等，其中大部分采用PLC中的功能模塊FC塊編寫，并且需要與之配套的背景數據塊DB塊。為進一步確保每一個模塊之間相互嵌套調用，我們在控制采樣周期的同時，還有一個改進方向就是，在編程時注意盡量簡化程序的冗余部分，按功能分批調用，加快程序掃描速度，進而實現曲線優化控制。
GE FANUC MOTOR A06B-0310-B001 #7000 Model 2-OS給力大賣，低價處理.
3 PH CNC MACHINE POWER TRANSFORMER 15kVA給力大賣，低價處理.
3 PH CNC MACHINE POWER TRANSFORMER 53kVA給力大賣，低價處理.
AERCOLOGY / torit MIST COLLECTOR MDV 3000, 3HP 給力大賣，低價處理.
MOTOMAN YASKAWA K3S 6 axis with ERC CONTROL video給力大賣，低價處理.
Mitsubishi Mazak FR-SE-2-22K Spindle Drive給力大賣，低價處理.
Mitsubishi Mazak CAM T4 LCD 14" Replacement C-547ONS給力大賣，低價處理.
Mitsubishi Mazak CAM T4 FX884A BN624A730G52 tested給力大賣，低價處理.
Mitsubishi Mazak CAM T4 TRA 41A TRA41A Drive tested給力大賣，低價處理.
Mitsubishi Mazak CAM T4 PD14A POWER SUPPLY AC TESTED給力大賣，低價處理.
Mitsubishi Mazak CAM T4 TRA 41A TRA41A Drive tested給力大賣，低價處理.
Mitsubishi Mazak CAM T4 FX701C BN624A592G51A tested給力大賣，低價處理.
Mitsubishi Mazak CAM T4 FX702C BN624E577G51A warranty給力大賣，低價處理.
JANCD-FC850 Yaskawa i80 control Yasnac CNC tested給力大賣，低價處理.
JANCD-FC850 Yaskawa Yasnac i80 control CNC I/O 給力大賣，低價處理.
JANCD-FC850 Yaskawa i80 control Yasnac CNC I/O tested給力大賣，低價處理.
JANCD-FC850 Yaskawa i80 control Yasnac CNC I/O CARD給力大賣，低價處理.
Hitachi Seiki VM-40 II M.DIS 13-11-00-00 tested給力大賣，低價處理.
Hitachi Seiki IN91016-HS-1 INTERFACE BOARD tested給力大賣，低價處理.
Hitachi Seiki 10-56-00-00 6N50-6G-2 0023 tested給力大賣，低價處理.
Hitachi Seiki OPIO-MC6 20-05-00-00A OPIO-MC66 HIS2-B給力大賣，低價處理.
Hitachi Seiki HG.SSR 14-06-00-00 tested給力大賣，低價處理.
Hitachi Seiki OPIO-MC-DIS 13-35-00-00給力大賣，低價處理.
FANUC A16B-1600-0440 Tested給力大賣，低價處理.
Hitachi Seiki IN90010-HS-0, tested給力大賣，低價處理.
Hitachi Seiki IN90009-HS-0, tested給力大賣，低價處理.
Hyundai SSR1 cnc board, tested給力大賣，低價處理.
9" CRT Yaskawa MX3 LX3 control 230BTB給力大賣，低價處理.
Hitachi Seiki VMC40-3 DIS1 13-29-00-00-A tested給力大賣，低價處理.
Hitachi Seiki OPIO-MC3 10-41-01-01 tested給力大賣，低價處理.
Hitachi Seiki Keyboard OPSW-MC3 EN-1027B-000635 11-80-給力大賣，低價處理.
YASKAWA CIMR-MTIII-11K SPINDLE DRIVE , tested warranty給力大賣，低價處理.
Yaskawa i80 control CIMR-08AX3-1002 Inverter tested給力大賣，低價處理.
CIMR-08AX3-1002 Yaskawa i80 control Inverter, tested給力大賣，低價處理.
CIMR-08AX3-1002 Yaskawa i80 control Inverter給力大賣，低價處理.
CIMR-08AX3-1002 Yaskawa i80 control 給力大賣，低價處理.
CIMR-08AX3-1002 Yaskawa i80 control tested, warranty給力大賣，低價處理.
MAZAK MITSUBISHI MELDAS MC 721B PCB, tested給力大賣，低價處理.
FANUC B Unit A05B-2350-C100 tested, warranty給力大賣，低價處理.
FANUC A03B-0808-C001 tested, warranty給力大賣，低價處理.
FANUC A02B-0076-K002 tested, warranty給力大賣，低價處理.
FANUC A02B-0076-K002 tested, warranty給力大賣，低價處理.
FANUC A02B-0076-K002 tested, warranty給力大賣，低價處理.
FANUC A16B-1211-0040 CPU BOARD , tested warranty給力大賣，低價處理.
Fanuc A16B-2200-0250 PC BOARD 4AXIS CONTROL , tested給力大賣，低價處理.
FANUC A16B-1211-0090 MEMORY BUBBLE , warranty給力大賣，低價處理.
FANUC A16B-1211-0860 MEMORY MODULE RAM BOARD tested給力大賣，低價處理.
Fanuc A16B-2200-0250 PC BOARD 4AXIS CONTROL , warranty給力大賣，低價處理.
Fanuc A16B-2200-0431 Allen Bradley 96635301 I/O interfa給力大賣，低價處理.
FANUC A16B-1211-0860 MEMORY MODULE RAM warranty給力大賣，低價處理.
FANUC A16B-1211-0090 MEMORY BUBBLE , tested給力大賣，低價處理.
FANUC A16B-1211-0030 CPU CARD , tested warranty給力大賣，低價處理.
FANUC A16B-1211-0030 CPU CARD , tested給力大賣，低價處理.
FANUC A16B-1212-0010 CONTROL BOARD tested warranty給力大賣，低價處理.
Fanuc Servo Amplifier A06B-6058-H005 w/ A20B-1003-0090給力大賣，低價處理.
FANUC BMU 512-1 A87L-0001-0105 07C Bubble PCB給力大賣，低價處理.
FANUC Rom Board A20B-1000-0913給力大賣，低價處理.
FANUC A20B-1000-0940 /04B for 10&11 CNC給力大賣，低價處理.
LATHE SPINDLE HEAD WITH CHUCK & ACTUATOR CYLINDER給力大賣，低價處理.
LATHE SPINDLE HEAD WITH CHUCK & ACTUATOR CYLINDER給力大賣，低價處理.
SANBORN CENTRIFUGE RCS 30 WITH 60 GAL TANK AND PUMPS給力大賣，低價處理.
Fanuc drive A06B-6047-H003 tested, warranty給力大賣，低價處理.
Fanuc A06B-6047-H003 tested給力大賣，低價處理.
Fanuc velocity drive A06B-6047-H003 tested,給力大賣，低價處理.
Allen Bradley 8410-PSB DELTRON 10607XF POWER SUPPLY給力大賣，低價處理.
Allen Bradley 8400B control 8420MPFS給力大賣，低價處理.
Fanuc DC 30M motor A06B-0653-B081 tested,給力大賣，低價處理.
Fanuc DC 30M motor A06B-0653-B081 tested, warranty給力大賣，低價處理.
NEW Magnetic actuator set, pillars TLG10, SCU56, EHA32給力大賣，低價處理.
Allen Bradley 148677 CRT 8520-CRTC, tested給力大賣，低價處理.
IN87001-HS Hitachi Seiki Distribution Board LXIII CON.給力大賣，低價處理.
IN87002-HS -1 Hitachi Seiki Distribution Board LX III給力大賣，低價處理.
JANCD-FC850 i80 control Yaskawa / Yasnac CNC I/O CARD給力大賣，低價處理.
FANUC AC SPINDLE MOTOR MODEL 3M A06B-1003-B100給力大賣，低價處理.
NEW CHIRON CYLINDER TOOL CHANGER ARM H6 826 132 00 00給力大賣，低價處理.
NEW CHIRON CYLINDER TOOL CHANGER ARM H6 826 132 00 00給力大賣，低價處理.
TREE MODEL VMC-1060 VERTICAL MACHINING CENTER給力大賣，低價處理.
Horizontal machining center Hitachi Seiki HC 400給力大賣，低價處理.
8 X 18 KO Lee Automatic Surface Grinder, Leematic 10給力大賣，低價處理.
NEW STI MINISAFE 4600 SAFETY LIGHT CURTAINS 68"給力大賣，低價處理.
NEW SICK 30-MGS LIGHT CURTAIN SET MGSE75-12給力大賣，低價處理.
NEW SICK C4000 LIGHT CURTAIN SET C40S-0903DA010給力大賣，低價處理.
NEW SICK C4000 SAFETY LIGHT CURTAIN 26" 600mm C40E給力大賣，低價處理.
NEW SICK C4000 SAFETY LIGHT CURTAIN 26" 600mm C40E給力大賣，低價處理.
NEW ATLAS COPCO QPX20-300 Electronic Press Spindle Unit給力大賣，低價處理.
REBUILD NIPON GEROTOR HYDRAULIC INDEX MOTOR給力大賣，低價處理.
FANUC AC SERVO AMPLIFIER C SERIES A06B-6066-H234 - A22給力大賣，低價處理.
FANUC SERVO DRIVE A06B-6047-H003 VELOCITY CONTROL UNIT給力大賣，低價處理.
FANUC SERVO DRIVE A06B-6047-H040 VELOCITY CONTROL UNIT給力大賣，低價處理.
FANUC SERVO DRIVE A06B-6047-H102 VELOCITY CONTROL UNIT給力大賣，低價處理.
YASKAWA CIMR-37A JUSPEED Drive IMTH9001給力大賣，低價處理.
GETTYS 360 DC SERVO DRIVE 11-1060-03給力大賣，低價處理.
GETTYS 360 DC SERVO DRIVE 11-1060-03給力大賣，低價處理.
SANYO DENKI, SAN DRIVER PDT-203G-29N給力大賣，低價處理.
SANYO DENKI, POSITION CONTROLLER APC-1E給力大賣，低價處理.
Fanuc Discharge Unit A06B-6047-H050給力大賣，低價處理.
Fanuc A16B-2200-0301 PC BOARD 2AXIS CONTROL W/WELD CARD給力大賣，低價處理.
FANUC A16B-1211-0091 , tested warranty給力大賣，低價處理.
FANUC A16B-1211-0750 PC BOARD I/O tested warranty給力大賣，低價處理.
FANUC A16B-1211-0040 CPU BOARD , tested給力大賣，低價處理.
Fanuc A16B-1210-0560 Power Unit, tested給力大賣，低價處理.
FANUC A20B-1000-0770 POWER UNIT tested warranty給力大賣，低價處理.
FANUC A16B-2200-0252 PC BOARD 2 AXES CONTROL tested
STAUBLI 10332-11150 PROCESSOR MODULE PCA 030
STAUBLI ACB CARD # D23123300
FANUC A06B-6088-H415 #H500 SPINDLE AMP MODULE SPM-15
FANUC MACRO MODULE A02B-0091-J550
FANUC MACRO MODULE A02B-0091-J550
CIMR-VMS27P5 Yaskawa Varispeed 626VM3 Yasnac i80
GE Fanuc AC Servo Motor A06B-0127-B577 #7008 tested,
Fanuc AC Servo Motor A06B-0127-B577 #7008 tested,
GE Fanuc AC Servo Motor A06B-0127-B577 #7008 tested,
Fanuc AC Motor OS A06B-0313-B042 tested, warranty
Fanuc AC Motor OS ABS A06B-0313-B032 tested, warranty
Fanuc AC Motor 5S ABS A06B-0314-B041 tested, warranty
Kennametal Hydraulic Chuck - Rotary Tool Holders HSK63A
CNC Shell Mill -Rotary Tool Holders Shank Taper HSK63A
CNC - Collet Chucks & Fixtures Collet Series HSK63AER3
HSK 63A Shank Tools KR50 Romicron Set
HSK 63 Shank Tools
Kennametal Hydraulic Chuck -Rotary Tool Holders HSK63A
SPINDLE OIL CHILLER HIGH OUTPUT
Controller Servopack Yasnac Yaskawa CACR-SR10SB1BF
Controller Servopack Yaskawa CACR-SR-03-BC-1AM, tested
JANCD-MB22 Yaskawa YASNAC Main board, tested warranty
JANCD-MM21 Yaskawa YASNAC board
JANCD-1020-03 Yaskawa YASNAC board
Controller Servopack Yaskawa CACR-SR-03-BC-1AM
JANCD-MB22 Yaskawa YASNAC Main board
JANCD-MM21 Yaskawa YASNAC board, tested warranty
JANCD-MM20 Yaskawa YASNAC board, tested, warranty
JANCD-1020-03 Yaskawa YASNAC board, tested warranty
Fanuc A16B-2200-0470 with A16B-1600-0281
ADVANCED MOTION CONTROLS 100A25, 100A25H SERVO AMPLIFIE
Direct Logic 305 D3-08B-1, DL330, D3-330, F3-16ND3F
Direct Logic 305 D3-08B-1, DL330, D3-330, D3-08NE3
Mitsubishi MC031C Backplane BN624E860G53, tested
SGI PCA O2K XTOWN Adapter 030-0846-001, tested warranty
SGI 030-1243-001 HRZ034 SILICON GRAPHICS
SGI PCA O2K XTOWN Adapter 030-0846-001, tested HKX093
SGI 030-0880-003 HKS973 I/O Base MIO Board- Onyx 2
SGI 030-1262-002 PCI ORIGIN 2000
Mitsubishi Mazak AC Servo Motor HA 83 CS, tested
SGI Panel Board 030-0859-008 K0022689
SGI 030-1075-001 KCAR - Midplane 013-1760-001, tested
SGI ONYX2 Midplane 030-0762-006 Rev M JDY813
USAFED-20FA2 Yaskawa AC Servo Motor 1.8 kW tested
USAFED-13-YB21 Yaskawa AC Servo Motor 1.3 kW tested
Permanent Magnet Servo Gettys Motor 16-0375-26
Permanent Magnet Servo Gettys Motor 16-0375-05, tested
FANUC AC SERVO AMPLIFIER C SERIES A06B-6066-H233 - A22
ABB RADISYS MEDAR MEDWELD 3001 FIRING MODULE
ABB RADISYS MEDAR MEDWELD 3001 FIRING MODULE
ABB RADISYS MEDAR MEDWELD 3001 EXM-13A
ABB RADISYS MEDAR MEDWELD 3001 EXM-13A
ABB RADISYS MEDAR MEDWELD 3001 EPC-22
ABB RADISYS MEDAR MEDWELD EMC-BP8 + EMC-PS50, tested
ABB RADISYS MEDAR MEDWELD EMC-BP8 + EMC-PS50, tested
NEW Jacobs Keyless 1/2" Chuck Classic Series 32510
NEW Jacobs Keyless 3/8" Chuck 200 Series 2 Sleeve
STAUBLI BALDOR BACK PLATE BOARD D221 175 01 1
STAUBLI BALDOR BACK PLATE BOARD D221 175 02 B
STAUBLI 10332-12400 VME MOTION INTERFACE MODULE MI6
Siemens Sinumeric 810 M SM-0901 9" CRT tested WARRANTY
Bayer Industries Assy 116-740-11, 116-741-3 Board
FANUC A20B-2902-0390
FANUC PCB A20B-1000-0970 / 04A
FANUC AC MOTOR A22/2000 A64+SC BRAKE A06B-0147-B176
FANUC AC MOTOR A22/2000 A64+S.CAP A06B-0147-B076
FANUC AC SPINDLE MOTOR 2S A06B-0752-B200 #3000 tested
NEW YASKAWA VARISPEED CIMR-F7U25P5 DRIVE
16" MACHINE VISE
FANUC Power Mate A02B-0168-B011
FANUC Power Mate A02B-0168-B011
FANUC Power Mate A02B-0168-B001
FANUC Power Mate A02B-0168-B001
Fanuc Spindle Drive A06B-6044-H308
FANUC A16B-1210-0480 /02A PANEL CONTROL BOARD F10/11
FANUC Master Mother Board A16B-1010-0041 /05A
Mazak Keypad KS-YZ-17A-11 Mazatron CAM T3 Controller
Mitsubishi / Mazak FX 709C with LT-2B Tran.
Mitsubishi / Mazak Circuit Board 03-81581-02
Mitsubishi / Mazak power supply PD 14B-1, PD14B
Mitsubishi / Mazak board FX 31D, FX31D
Mitsubishi / Mazak board FX 701C, FX701C
Mitsubishi / Mazak board FX127C / FX27C
Mitsubishi / Mazak board FX 702C, FX702C
Mitsubishi / Mazak board FX 715A, FX715A
Mitsubishi / Mazak board FX 763B, FX763B
Mitsubishi / Mazak board FX 53A, FX53A
Mitsubishi / Mazak board FX 730A, FX730A
TSUBAKI ATC CHAIN SET
Morse BL 523 CH 100 feet
FANUC MODULE A20B-2900-0450 tested, warranty
FANUC MODULE A20B-2900-0430 tested, warranty
FANUC MODULE A20B-2900-0500 tested, warranty
TI 305 02B, 330-37 + module card IC610MDL158A , 305-55N
Simatic TI305 02B, 330-37 + module card 305-55T or 55N
FANUC A05B-2300-C002 Backplane 4 slot tested warranty
FANUC A20B-1006-0290 tested warranty
FANUC A20B-1006-0300 tested warranty
FANUC A20B-1003-0045 tested warranty
Yaskawa Mazak JANCD-SP20B LX3, MX3 control , tested
Yaskawa Mazak JANCD-SP20B LX3, MX3 control
MAZAK YASKAWA MDT941B-2A 9" CRT
MAZAK YASKAWA DBM-095 9" CRT
ABB Teach Pendant for S3, #HAB 2136-1 /09, warranty
ABB ASEA BROWN BOVERI DSQC-230, tested warranty
ABB ASEA BROWN BOVERI DSQC-258, tested warranty
ABB ASEA BROWN BOVERI DSQC-258, tested warranty
Fanuc A16B-1100-0080 Spindle Drive Top Board
Mazak Mitsubishi operator board, MC221A, BN624A926G52
Mazak CRT Keyboard CCL-E13013 12KH313A
Allen Bradley AB 900166 03 8000XKBM
SHINDENGEN EY244R5U POWER SUPPLY
WAKO TOUCH SENSOR SYSTEM TSA-3G
Siemens Sinumeric 810 M 6EV3055-0BC POWER SUPPLY, Teste
Siemens Sinumeric 810 M 6FX1126-8BA00, tested
Siemens Sinumeric 810 M 6FX1121-2BB02 6FX1126-2BA00,
Siemens Sinumeric 810 M 6FX1120-7BA01 6FX1805-1BX01
Siemens Sinumeric 810 M 6FX1125-8AB04, tested WARRANTY
Siemens Sinumeric 810 M 6FX1126-1AA03, tested WARRANTY
Siemens Sinumeric 810 M 6FX1133-0BA00, tested WARRANTY
Siemens Sinumeric 840D Keyboard Hyundai HD-9812
Siemens Sinumerik 6FC5203-0AB20-1AA0, tested, warranty
Siemens Sinumerik 840D 6FC5210-0DA00-1AA1 tested
FANUC A06B-6087-H115 POWER SUPPLY MODULE, tested
MAZAK MITSUBISHI 03-81579-02 CIRCUIT BOARD , tested
MAZAK MITSUBISHI BB21A BN624A942H01
MAZAK MITSUBISHI RC22A BN624A949H01
MAZAK D65ZZ002721, TESTED WARRANTY
MAZAK MITSUBISHI Meldas MC301D BN624A822G52
MAZAK MITSUBISHI Meldas MC303B BN624A828G52
MAZAK MITSUBISHI Meldas MC611D BN634A012G51
MAZAK MITSUBISHI Meldas MC724B BN624A808G53
MAZAK MITSUBISHI Meldas MC111 A BN624A813G56
MAZAK MITSUBISHI Meldas MC712 B BN624A799G51 floppy d
MAZAK ATC 30 SPINDLE COOLING PUMP AND TANK
Mitsubishi / Mazak PCB board FX 17C, FX17C
RENISHAW probe type MP10
FANUC MODULE A20B-2902-0060 , tested, warranty
FANUC MODULE A20B-2902-0070 , tested, warranty
FANUC MODULE A20B-2902-0070 , tested, warranty
FANUC MODULE A20B-2902-0210 /03A , tested, warranty
FANUC MODULE A20B-2902-0210 /02A , tested, warranty
FANUC MODULE A20B-2901-0340 , tested, warranty
FANUC MODULE A20B-2900-0380 , tested, warranty
FANUC FLASH MEMORY A20B-2901-0891 tested, warranty
FANUC MODULE A20B-2902-0020 , tested, warranty
FANUC MODULE A20B-2902-0371 , tested, warranty
FANUC MODULE A20B-2902-0373 , tested, warranty
FANUC A20B-2902-0531 , tested, warranty
FANUC MODULE A20B-2900-0442 tested, warranty
Fanuc 16 Series PCB A20B-2902-0631
Fanuc 16 Series PCB A20B-2902-0350
Fanuc 16 Series PCB A20B-2902-0070
Fanuc 16 Series PCB A20B-2902-0070, tested, warranty
Mitsubishi EDM Filter
FANUC A05B-2301-C300 ROBOT TEACHPENDANT tested warranty
FANUC A16B-2200-0780 CIRCIUT BOARD , tested, warranty
