KJ3002X1-BA1模拟量输入
KJ3002X1-BA1模拟量输入
在传感装置的选用上，尽量选用抗干扰性强的智能传感仪器，同时考虑到预研项目的经费情况，也用了一些常规的传感器。另外，由于机器人外部有很多传感器，而舱室空间又十分有限，因而本文参考现场总线控制系统信息处理现场化的思想在机器人外部放置了一个单片机，完成这些传感器数据的处理后再上传给主单片机。试验表明，这种方案不仅可以缓解主单片机的工作压力，实现分布系统的设计思想，还可以减少信号传输线上的共模干扰。
控制系统的执行机构主要是五台推进电机、舵、及纵横倾调节装置。其中纵横倾调节装置为24V力矩电机带动滑块移动从而调节水下机器人的纵横倾，经高性能光电隔离芯片后与从单片机1并行口连接。在水下机器人的运动过程中，随时可能要改变推进电机的转速以得到不同的推进力，而变频调速是实现电机调速的方式。本系统采用台达VFD-A/H型变频器，它不仅可以实现各种转速曲线，而且还具有过压、过流、过热等完善的保护措施。该变频器与控制系统的接口为RS485串行口，一块CPUzui多可接32个变频器。
限公司
主营：专业从事（DCS系统）（机器人系统）（大型伺服控制系统）模块 备件销售
↓、Allen-Bradley(美国AB)系列产品》
↓、Schneider(施耐德电气)系列产品》
↓、General electric(通用电气) →GE←系列产品》
↓、Westinghouse（美国西屋）系列产品》
↓、SIEMENS(西门子系列产品)
↓、estinghouse（西屋）： OVATION系统、WDPF系统、MAX1000系统备件
↓、Invensys Foxboro（福克斯波罗）：I/A Series系统，FBM（现场输入/输出模块）顺序控制、梯形逻辑控制、事故追忆处理、数模转换、输入/输出信号处理、数据通信及处理等。
↓、Bosch Rexroth（博世力士乐）：Indramat，I/O模块,PLC控制器,驱动模块等。
↓、Motorola（摩托罗拉）：MVME 162、MVME 167、MVME1772、MVME177等系列
在主单片机一侧，由于要发送的信息很多（共有107个字符）因而在程序中将待发送的数据分成两组，每一组分别设有协议头和校验和，根据上位机通讯控制字符（分别是55H和66H）的不同来确定发送哪一组数据。在上位机一侧，由于上位机要动态显示水下机器人的运动姿态，接收各种设备的返回信息，如采用中断信息接收方式，在同一时间每个下位机都向上位机发送信息时，会发生冲突导致信息丢失。为此，各下位机向上位机的信息传输要按照上位机的命令，整个系统按照统一节拍工作。当上位机空闲时就按顺序发送一个使能命令给第i个下位机，第i个下位机接到命令后立即将要上传的信息发出，如果上位机没有接到，则重新发送该使能命令。同时为了提高通讯的可靠性，在通讯的每一侧将待发送字符拆为3xH的形式，再对所发送的这组数据进行加和运算以求出校验码。通讯的另一侧接收完一组数据后进行求和校验，如校验和不正确，则该组数据作废，等待下一组数据。
MECS Corp. Wafer Prealigner AL100 untested
MECS Corp. Prealigner AL100 untested
Kawasaki 30D61H-A204 Robot Controller AMAT 0190-38786 As-Is
Brooks Automation 02-169208-00 ATM Robot As-Is
AMAT Applied Materials 0020-X059 Linear AC Servo System DS3045C1B1EA1E0
AMAT Applied Materials 0021-83306 Linear AC Servo System 00021-83874
Brooks Automation WTM-511-2-FWS02?-V1-CU Wet Robot AMAT 0190-08246
Brooks Automation 6-0002-0705-SP Wet Robot AMAT 0190-08245
Kensington 25-4021-0015-04 Servo Positioning Controller AMAT 0190-23563
PRI Automation ESC-204T-S293 Mapping Robot Controller AMAT 21016402155 As-Is
PRI KLA-Tencor SP1 Robot Track LTRA035-LPS Rev. 1
Kokusai Vertron DD-803V Robot Module
Microvision Prealigner MVT3080
AMAT Cartesian Robot Z Axis Front Mast Bars 0190-27401
Kensington 25-4021-0015-01 Robot Servo Positioning Controller AMAT 0190-23562
Asyst 6331/27273 Handler
Yaskawa XU-CN0240A Robot Controller Untested As-Is
Yaskawa Transfer Robot Track XU-ACL4720
Kensington Laboratories 4000A5 Servo Positioning Robot Controller
Berkeley Process 300mm Prealigner 100-000-871-02 9010-01808
Yaskawa Transfer Robot Linear Track XU-ACL4141
Berkeley Process Control 100-000-928 BX-2 Controller AMAT 0190-00304 Surplus
Genmark Automation 9800106571 Robot System Small Controller Untested
Genmark Automation 9900106221 Robot System Controller S08R.D Untested
port 15-3702-1425-26 300mm Wafer Transfer Robot AMAT 0190-22250
port 15-3701-1425-26 300mm Wafer Transfer Robot AMAT 0190-19123
Hine Design Gasonics Aura 2000-LL Chamber Robot Assembly 200mm
Hine Design Cassette Wafer Robot Assembly Aura 2000LL
Dover DMM3150 Motion Controller
Genmark Automation Gencobot 4/3L Wafer Handling Robot Damaged Untested
AMAT Applied Materials 0010-13321 8" Robot P5000 Precision 5000 Untested As-Is
Digital Dynamics 27-810157-00 I/O Controller V3.02 Novellus Concept II
Berkeley Process Control Prealigner 100-000-871-02
Brooks Automation 130474 Upper Mount End Effector
Brooks Automation 002-7730-03 SLG Axis Controller Series 8 563573 PCB
Brooks Automation 002-7730-03 SLG Axis Controller Series 8 537042 PCB
Brooks Automation 002-5860-01 Theta Driver ATR7 PCB
Brooks Automation 002-8478-01 PCB Assembly Board 521953
PRI Stocker Carriage Arm Assembly BM17615 AD17615
Yaskawa 300262-2006 300mm Robot End Effector Surplus
KV Automation 4022.486.21591 Robot Gripper Manifold ASML
Nikon NSR 4K990-072AN Robot Track
Hitachi Transfer Robot CR-8V Complete Internals Missing Cover Untested AS-IS
MECS Corp. OF101 Robot Controller
Kawasaki 50480-0105 End Effector AMAT 0190-37129 Surplus
Yaskawa BC930310 Servo Controller SGD-02AN
Brooks Automation WTM-511-2-FWS02 Wet Robot AMAT 0190-05055 Not
Anorad 21016401250 XY Stage Motion Controller IAC-2000
IKO Nippon Thompson 719642403000 Y-Axis Robot Track 11970-479-YA000?1
Nikon 4K177-955-1 Transfer Robot NSR-S202 Untested
Hitachi I900SRT Wafer Transfer Robot
Hitachi I900SRT Transfer Robot Assembly
Synetics UK-9240-06310-D End Effector AMAT 9240-06310 Surplus
Synetics UK-9240-06174-C End Effector AMAT 9240-06174 Surplus
Tektronix THS720A 100MHz Oscilloscope Tekscope ETEC 0209-0930-009
Tektronix TDS 380 400MHz Oscilloscope ETEC 0209-0960-009
Novellus 02-359080-00 Robot Linear Track
Ryan Herco 150150 Filter Housing Brooks 874-0003-01 Reseller Lot of 17
Sanyo Denki P60B13150HX500M Servo Motor with P512SPSN015M Motorhead
Daihen XE2999A Teach Pendant AMAT 0190-72828
Asyst 300mm Wafer Prealigner Model 5 not
Rorze RT107-1201-002 Linear Robot Track IKO TSL220-1200B
IKO Nippon Thompson TSL220-600/A10E?583 Robot Track Hitachi S-9300
Rorze Robot Linear Track and Controller RT107-1201-002
Rorze Transfer Robot Wrist Block 0190-04680
Tektronix 7603 Oscilloscope Assembly 203-2 Tested
Kensington 4000A Servo Positioning Controller Untested As-Is
Tektronix 2465BDM 400MHz Oscilloscope ETEC 0209-0960-009
Nikon NSR S204B Robot Elevator Module
AMAT Applied Materials 0190-16144 Robot End Effector Brooks 116218-0001
Brooks Automation 174019 450mm Robot End Effector 176287
AMAT Applied Materials 0190-16140 End Effector Brooks Automation 116602-0001
Brooks Automation 184276 Extended Rear Mapper End Effector ATR8
Brooks Automation 002-7833-04 13.08 200/300 THIN End Effector
port Kensington 25-3700-1425-06 Wafer Transfer Robot AMAT 0190-22250 As-Is
AMAT Applied Materials 0040-80144 300mm Gripper Claw 0040-84444 Quantum X
AMAT Applied Materials 0040-80142 300mm Gripper Claw 0040-84443 Quantum X
Quality Transformer and Electronics 8258 Transformmer AMAT 0190-16895
Asyst 14939-001 Robot End Effector Rev. 2 Surplus
Oerlikon 102104213 Unaxis 300mm End Effector
Berkely Process Control 100-000-871-02 300mm Wafer Prealigner 0520-00052 As-Is
Kensington Laboratories 25-4061-0001-00 Servo Positioning Controller Damaged
IKO Nippon Thompson TSL220-600/A10E?583 Robot Track 32.5"
Kensington 25-4021-0015-01 Servo Positioning Controller AMAT 0190-23563 As-Is
Kensington 15-4000-0002-00 Servo Positioning Controller AMAT 0190-23562 As-Is
Kensington 25-0000-0016-00 Servo Positioning Controller 4000C Untested As-Is
Brooks Automation WTM-511-2-FWS02?-V1 Transfer Robot AMAT 0190-08245 As-Is
Kensington Laboratories 25-4021-0015-01 Robot Controller AMAT 0190-06994
Kensington 15-4000-0001-00 Servo Positioning Controller AMAT 0190-23563 As-Is
Kensington 25-4021-0015-04 Servo Positioning Controller AMAT 0190-23563 As-Is
PRI Automation IFE-3301 Wafer Transfer Station 2005-0359-001 Controller
Brooks Wet Robot WTM511-2-FWS02-?V1-CU 0190-08246 REV 003 untested as is.
PRI Automation WTM511-2-FWS02 Transfer Robot Untested As-Is
Recif Technologies SPPF50A60000 Robot Arm refurbished
Brooks Automation 174027 Robot Tub Forearm SCARA HC
Brooks Automation 174034 Robot Tub Lower 18.5 SCARA HC
Brooks Automation 184343 PM Sense Module 21594
GE Fanuc IC693APU301M Axis Position Module 1 Axis
Kawasaki 50480-0106 TX210 200mm Robot Blade STD Deck Pads AMAT 0190-39315
Rorze Indexer Elevator Assy. 200mm RE120-002-001
Rorze RT107-1201-002 Linear Robot Track IKO TSL220-1200B
Kawasaki Robot Cable 50979-2938LA1 0190-24966
Nor-Cal 3930-00127 Inlisys Adaptive Pressure Controller Penduroll 5
Asyst Technologies 8045R2-1 Teach Pendent With Interface Cable AMAT 2910077
Transfer Robot 950130MU5A 950130MU5B End Effector Lot of 2
Internix Profort 810 Teach Pendant PF810-ASEHT
Cymer Oyster Technologies 05-13001-00 Teach Pendant
AMAT Applied Materials 1290176 3-Channel DAC PCB Assembly
Advantech IPC-6806SBP-15Z Industrial Wallmount Computer Robot Controller
Genmark Automation Precision Automated Transfer Robot
HD Systems SHF-14-50-2UM-S?PA1221 Harmonic Drive SHF Series Brooks BM46882
Brooks Automation 181946 Robot Rework Tub Forearm 12.88 MACH
Brooks Automation BM300390100 CAR 60FPM - PMI PCB Board
Kensington Laboratories 25-4021-0015-00 Robot Servo Positioning Controller 4000D
Koganei CR1131W-D Alpha Series Robot
Rorze CURT-1261-0 X-Axis Controller
Internix Teach Pendant PF810-ASEHD4
Kawasaki Control Module 50819-1142 Rev. A
port Robot Z-Axis PCB 0-0004-00 0190-17712
SMC REA32-Z2727-365 Sine (sain) Rodless Cylinder Lot of 4
Asyst 8045R2-1 Teach Pendant with Interface Cable
MEI Motion Engineering T008-2001 eXMP Controller Rev. 3 AMAT 0190-13990
MEI Motion Engineering T008-2001 eXMP Controller Rev. 5 AMAT 0190-13990
MEI Motion Engineering T008-2001 eXMP Controller Rev. 4 AMAT 0190-13990
Kensington Laboratories 77-4000-6108-00 Robot AXIS Multilink Z 7-0003-02 v11.25
Brooks Automation 013096-125-25 Fixload Intergration Keyence Fixload 6
Quantum Teach Pendant 8030EKR2-H-LM-A?PPLIED
Quantum Remote Teach Pendant 8030EKR2-H
SMC EMRQBS32-25CA Pneumantic Rotary Cylinder with Manipulator Innolas ILS
Thomson DT24-B65M039-15?4 Loadmaster 80 Rodless Actuator
Kensington Laboratories 77-4000-6108-00 Robot Axis Multilink Z 7-0003-02 v10.45
MEI Motion Engineering T008-2001 eXMP Controller Rev. 1 AMAT 0190-13990
Asyst Wafer Prealigner 05050-01 not
port Kensington 35-3700-1425-18 Tranfer Robot untested as-is
Kawasaki Robot Harness 50979-2938LA7 0190-34668
Kawasaki 50979-3154L02 Robot Signal Harness 0190-27390
Kawasaki 50979-2986L03 Robot Harness 0190-28836
AMAT Applied Materials 0140-25369 Condor FX Robot Control Cable Harness
Asyst Technologies 8045R2-1-ES-ASY?ST Robot Teach Pendant 111343
Asyst 8045R2-1 Teach Pendant
Asyst Technologies 235979 Controller Teach Pendent
Berkeley Process Control BX2 71CO0118 Cable Kit 300-004-084
LTD Ceramics 620T0024-01 Robot End Effector Paddle Lot of 5
EEI End-Effector Inc SC-21 300mm End Effector Surplus
Brooks Automation BM31801L04 PRI Ethernet Node Controller Mother PCB PB31213
Kawasaki Prealigner Motor Harness 50979-2945LA1 0190-27852
SMC VV5Q11-ULB98007?9 8 Port Pneumantic Manifold AMAT 4060-01131
AMP Kensington Robot Cable Set Arm Waist Z-Axis
NSK XY-HRS080-RH2SN?F Robot Module 800mm Linear Actuator
Lam Research 853-012176-008 150mm End Effector 715-130080-006
Yaskawa JANCD-NPA30 NXC100 CPU Interface Board DF0300824-A0
Daifuku RM/TFE/CONV. AGH8AA10 Controler
AMAT Applied Materials 50976-2709 End Effector FS-V11
Asyst 99-2002-1029 Teach Pendant RS-232 Warner Power Termiflex
TVL Tokyo Electron Varian Ltd Teach Pendant E1657A
Festo ADNH-100-150-1-?P-A-3N High Force Pnuematic Cylinder
Omron F150-S1A CCD Camera Pentax Brooks Automation 70055745
Sanyo Denki SGMAH-02A1F-YA1?4 AC Servomotor AMAT 0190-31646
XP Power DNR240PS24-1 Switching Power Supply Lot of 4
Anorad 847-73003577-00 Y Axis Robot Cable AMAT 0190-A3920
Kawasaki Extension Hard Stop Kit 50952-1167 0190-19496
Brooks Automation 155779 Banner Wafersafe Fiber Optic Sensor Kit
Pepperl+Fuchs HPF-D011 Fiber Optic Cable Brooks Automation SEN0084 Lot of 5
Brooks Automation 176664 Ground Seperation Detector PCB
Brooks Automation 183490-0004 36 Inch Driver External Power Cable Assembly
Yamatake FE5F-2MC6A Dual Fiber Optic Sensor 453270 Brooks Automation EAM0007
Sanyo Denki 103F5505-70HEL8 Servo Assembly CSF-11-50-1U-CC?-SP
Sanyo Denki RZAA04010FXP4HM AC Servomotor AMAT 0190-31647
Brooks Automation 1008-3944A Robot Arm Upper Cover
Northern Digital Opto Sys System Control Unit OptoTrak
Brooks Automation 70021305 Active Capture Nest PCB 70021307 Board
Advanced Motion Controls B12A6PA Brushless PWM Servo Brooks 70002968
Sanyo Denki P30B04010DXS1CM AC Servomotor AMAT 0190-15759
