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SH68-68-EP,

SH68-68-EP

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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。
 

Motion Control 8720SM-055S5PAS2 55 KW/116 AMP, 750VDC, AC MOTOR WITH SRM660 ENC.

995-2-0 Thumbwheel Assembly. 2 Digit. 0 True. Dust Seal

IC200PKG101 I/O STARTER KIT GENIUS

IC697VAL232 Analog Input, 32 Channel, jumper selectable for jumper selectable for 0 to 5VDC, 0-10VDC, +/-2.5VDC, +/-5VDC, +/-10VDC. 16 bit resolution.

MTR-1231-N-D-E-0 MTR series NEMA 23 stepping motor. Winding connection type is determined by cable

VSPC32-IMP VisualSPC Importer.

20BC3P5A0AYNAND0 PowerFlex 700 AC Drive 20B

20DN192A0ENNANANE PowerFlex 700S AC Drive 20D

20G11RD011AA0NNNNN PowerFlex 755 AC Packaged Drive

25-FAN1-FB PowerFlex 520 Frame B Fan Kit

Quantum Terminal Block and Accecories 端子连接器及附件

294E-FD4P2Z-G3-SB Variable Frequency Drive

D4MC-5000 触点:1开/1闭,10A 250VAC机械寿命:1000万次?方式:柱塞式

1492-SPM3C080 MCB Supplementary Protector 8 A

软启动器 3RW40472BB15

模拟量输入模块 6ES7 231-4HD32-0XB0 SM 1231 AI 4x13 位

150-SB1NBR SMC-50 SOLID STATE MOTOR CONTROLLER 90A

1734-OW2 POINT I/O 2 Point Digital Output Module

1783-IMS28RDC Stratix 5410 28 Port Managed Switch

193-ESM-IG-100A-P E300/E200 100 Amp Sensing Module

20-750-I1-C650D617 PowerFlex 750 Inverter Assembly Kit

2090-CPWM7DF-14AF12 MP-Series 12m Length Power Cable

2098-DSD-HV100X Ultra 3000 Servo Drive

GA646PME050 GlobalCare Assist for PCM Machine Edition Version 50 User

GP-0602NT-F5SB GagePort LVDT NT (Full Bridge for Marposs) - Sales BOM.

IC5002TBX0110 PanelPC 12 inch Performance Unit with Windows XP and Stainless Steel Bezel

IC647HSTAE1750KM Alarm and Events Option for Historian - Standard Server 1,750,000 Points (M4 Key)

IC647SOC001 Scheduler Open Adapter

IC693MDL732 12/24 Vdc Output, 0.5 Amp, Positive Logic (8 Points)

IC756HDV001J-99 DV Development - HP/UX Op Sys Addt'l User, Japanese, Version 9.9

MSI-SDK-43 SDK Connections-43

PLC-5/1771 System 1771-IH INPUT MODULE, 24-48V DC, 8 INPUT

Distributed I/O 1791D-0V16P DNET 24 VDC COMPACTBLOCK I/O, 16 OUT SINK, BASE

Communications 1784-PCM2 DIRECT CONNECT CABLE (15 PIN D SHELL) FOR PLC-2

Operator Interface 2706-P43C INVIEW MESSAGE DISPLAY. 1 LINE, 20 CHARACTERS

Support 9305-RSVADSITR SUPT REINSTATEMENT CONTRACT FOR 9305RSVADSIT

Support 9515-RSEOL056S SUPT RENEWAL CONTRACT FOR 9515RSEOL056ENE

EtherNet/IP Products 2711-T6C20L1 PV600 COLOR TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE3403KOE RSVIEW32 RUNTIME 32K WITH RSLINX (KOREAN)

RSI Software Products 9356-PRO2200U1 UPGRADE: IN-SUPT: RSSQL STD.150 TO PROF.300 TAG

Motion Control 1326AB-B530E-S2L MOTOR,SERVO,460V,18.0NM,3000RPM,SINGL,IP67

4161-6-24 BCD To 7 SEG Display . 6 Digit, 24VDC. Dust Seal

HMI-CCT-205 BACKLIGHT TUBE 12.1"

IC693CPU311 5-Slot Base With CPU in base (6K Bytes User Program)

QSM2D100L2P/B QUICKSTART KIT MINI BLANK

TRM-21006674 Auxiliary encoder connector for IMC-105 stepper controller or IMC-200 ampless controller

20BD-DB1-0 PowerFlex 700 Dynamic Brake Resistor Kit

20F1ANF171JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-E4P2H204 PowerFlex 40 2.2 kW (3 Hp) AC Drive

Quantum Intelligent Module 智能模板

284G-FVD1P4D-10-RRG-CBG-DB1-EMI ArmorStart 284 Controller

E2E-X10MY1 10mm,非屏蔽电感式,二线,常开 200mA 电源:24-240VAC圆M18

1492-SPM1C300-N MCB Supplementary Protector 30 A

通用型变频器 6SE6 430-2UD41-6GB0 160 KW,326 x 1533 x 545

电机启动器 3VU13402MG00

150-C234NCA-K2 SMC-3 KONE 234 A KCM

1608S-6V480K I-Sense 6-Channel Voltage Sag Detector

1770-CD5 Data Highway 500-500 ft Length Cable

193-DNENCATR EtherNet/IP Communications Auxiliary

194R-SC1 194R Operating Shaft Couple

2090-CPBM7E7-10AF02 MP-Series 2 m Length Pwr and Brake Cable

2090-XXTPMP-8S25 MP-Series 25 m Length Power Cable

CP5B-0WPB-0070-AZ Power cable for B12/3000is motor. 7 meters

GF-965014 Connecting FlashCable to Mitutoyo Mini Check / Indicator.

IC200UEX011-24 Qty of 24, 14 point expansion. (8) 24VDC In, (6) Relay Out, 120V/240A C Power Supply (includes IC200CBL501)

IC647ADC999 PA Dashboard Client - UNL

IC647PCM003 Proficy Change Management Server - 3 Concurrent Users

IC693CBL325 I/O cable for DSM302 or DSM314 or DSM324 5V I/O. 3 meters

IC754ACC64MEM Expandable User Memory, 64MB for QuickPanel View & Control

IMC-316X-X-DRR IMC-D Series Servo Motor Controller, 6 Amp

SLC/1746 System 9399-RL50GRFR RSLOGIX 500 GETTING RESULTS GUIDE (FRENCH)

Open Automation Systems 9399-RSRGR RSRULES GETTING STARTED GUIDE

Application-specific products 1404-M805A-ENT-02 1404-M8 ETHERNET PM3000 CLASS 0.2

Operator Interface 2711-K10G3L1 PV1000 GRAYSCALE KEY, DH485 & RS232 PRINT

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Support 9381-P250KENR SUPPORT REINSTATEMENT CONTRACT FOR 9381P250KEN

DeviceNet Products 1790-15CMCBL LDX I/O LONGER RIBBON CABLE, 15CM (LOTS OF 5)

RSI Software Products 9301-2SE3300KOU1 RSVIEW32 RUNTIME 300-1500 UPGRADE IN-SUPT (KO)

RSI Software Products 9358-EP60U3 UPGRADE: IN-SUPT: RSBIZWARE EPROCEDURE 30 TO 60

Motion Control MPL-B4540F-SJ24AA MOTOR,SERVO,10.2NM,3000RPM,SINGL,460V,BRK,13KG

Motion Control 9101-0400 CONNECTOR KIT, MOTOR POWER, F/H-6X, 90 DEG

GQPI-DEM-S02 QUICKPANEL DEMO 10.5" STN GE LABEL

IC646MRC150 Logic PC & View 150 Tag Runtime System

MTR-3T13-G-R-0-M-S MTR-Series Servo Motor, Resolver, Metric, Seal

SFW-TGTP-1.2 Target series flash memory card version 1.2

20BC056A3AYNACC0 PowerFlex 700 AC Drive 56 A 30 kW 20B

20F11NE017AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RFD070 PowerFlex EMC Filter

140CPU11303C Quantum CPU512K,16K用户逻辑,10K寄存器,1MB和1MB+,

281D-F12Z-10B-CR-3FR ArmorStart Direct Online RVSG Starter

C200H-OD411 输出单元, 8点, 晶体管 1A 12-48VDC

1492-PPSL3 IEC Term Blck 2x56x39 mm Partition Plt

接口模块 6ES7460-3AA01-0AB0 IM460-3 发送器模块，用于分布式连接最大 102m

变送器 3RS11001CD30

1497-D-CXJK-0-N Control Circuit Transformer

1606-XL240EP Power Supply XL 240 W Power Supply

1762-IT4 MicroLogix 4 Point Input Module

188-K3C250-N Miniature Circuit Breaker 25 A

194L-G3393 194L Padlocking Metal Shaft Extension

2090-CPBM7DF-04AA20 MP-Series 20 m Length Cable

2090-XXNFY-S05 Y-Series 5 m Length Feedback Cable

BC647SPK1M4 Solution Provider Additional M4 Key includes 1 physical M4 key.

GC647PPSEWF "Global Care, #### iFIX#Proficy########"

IC200MDL636 Input 48VDC POS/NEG logic (4 groups of 8) 32 points

IC646PCM010 Proficy Change Management 10 user pack

IC647MPP001 Logic Developer PLC Professional with USB Hardware key

IC676CBLPWF020 IP67 Power Cordset - 2 Meters - Female Connector w/Leads

IC697PCM711WMP Programmable Coprocessor Modified for use by OEMs

IC800SSI107P2 7.2 amp 115/230 VAC Profibus S2K servo controller for S-series motors

SoftLogix System 1789-DPALEN SOFTLOGIX DOCUMENTATION SET

Industrial Computers 6189-RDK15C VVCE 1500, KEYPAD DISPLAY MODULE

Process Control 9399-RSBPHRG RSBATCH PHASE LOGIC REF. GUIDE

Operator Interface 2711-B5A20 PV550 MONO KEY&TOUCH, ENET & RS232 PRINT

Support 9303-3CS0E01S SUPP RENEWAL CNTRCT FOR 9303-3CS0E01

Support 9371-EWLI3R SUPT REINSTATEMENT CONTRACT FOR 9371EWLI3

ControlNet Products 2706-P43R INVIEW MESSAGE DISPLAY. 1 LINE, 20 CHARACTERS

RSI Software Products 9301-2SE2500FRU4 RSVIEW32 WORKS 150-100K UPGRADE IN-SUPT (FR)

RSI Software Products 9358-BBBKY01ENE RSBIZARE BATCH, EPRO BUNDLE BACKUP KEY 1 UNIT

Motion Control MPL-A4530F-SJ24AA MOTOR,SERVO,8.36 NM,2800RPM,SINGL,230V,BRK,11KG

Motion Control 2090-UXNPBMP-8S03 CABLE,460V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,3M

CBL-3T-MB-30 Power/Brake Cable, MTR-3T4x, MTR-3T5x & MTR-3T6x Series Servo Motors, 30 Ft.

IC641CTL991 Distributor Demo 10 Pack

IC800SLM250M2KE25 2500W, 230 VAC SL Servo Motor, 2.5K Quad Encoder

OC647PLSVWRWS Proficy Pulse Additional Viewer WebSpace

20AE052F0AYNANC0 PowerFlex 70 AC Drive 52 A at 50 Hp 20A

20DD096A3EYNANCNL PowerFlex 700S AC Drive 96 A 75 Hp 20D

20P41AE1K2RA0NNN PowerFlex 575V AC 900 HP DC Drive

2711P-B15C4D9 PanelView Plus Terminal

280-PWRM35A-M15 ArmorConnect 3-PH Power Media trnk cable

CPM1A-20CDR-D-V1 20点主机 DC24V 12点入，8 点继电器输出

1492-MCGAT215 Ground Fault Circuit Breaker

1494V-H1 Disconnect Switch Handle

软启动器 3RW44656BC34

运行版软件 6AV2104-0LA04-0AA0 SIMATIC WinCC Runtime Advanced 16384 PowerTags V14

1585J-M4HBJM-2 RJ45 Ethernet Media

1756-OA16K ControlLogix 16 Point Digital Output

188-K1B160-N Miniature Circuit Breaker 16 A

194E-FA63E-P11 194E Load switch

2090-CFBM7DD-CEAF90 90 m Length SpeedTec Flexible Cable

2090-U3CC-D4401 Ultra 3000 1m Interface Cable

BC646MSP101 Logic Developer State Professional with Programming Cable with Proficy GlobalCare Complete

GC647ASC999 GC SDK - UNL

IC200ACC304 I/O cable connector kit, quantity 2 for custom connector-style I/O carrier.

IC646CSPC005 Proficy Cause+ for Intelligent HMI/SCADA Client Enabler - 5X CALs

IC647IFPLRN00900K iFIX Plus SCADA 900 I/O Runtime (M1 Kit Part)

IC660MLA024 Label for IC660BBA024 (Qty 100)

IC697ALG320 Analog Output, Voltage/Current, 4 Channels

IC758URM020 iGlobalCare Complete 11-20 Users: DataViews for Unix/Linux

FlexLogix System 1788-DNBO DEVICENET LOGIX DAUGHTERCARD - OPEN CONNECTOR

GuardPLC Systems 1755-PB720 GUARDPLC 2000 - POWER SUPPLY, 20.4-28.8 VDC

Process Control 1757-UPGSIFQ UPGRADE SIEMENS S5&TI QUICKBUILDER I/F

Operator Interface 2711P-T12C4B1 PV PLUS 1250, TOUCH, RIO/DH, AC PS, STD MEM

Support 9220-CNA30FS SUPPORT RENEWAL CONTRACT FOR 9220-CNA30F

Support 2755-ASNDER SUPT REINSTATEMENT CONTRACT FOR 2755ASNDE

Support F1785-LT3SERA FIRMWARE UPGRADE FOR 1785-LT3 PLC5 PROCESSOR MODUL

RSI Software Products 9301-2SE2350ITU3 RSVIEW32 WORKS 1500-5K UPGRADE IN-SUPT (IT)

RSI Software Products 9701-VWSTDEU1 RSV STUDIO FOR ME - ENT SERIES UPGRADE (GERMAN)

RSI Software Products 9399-WAB32UGES RSLINX USER GUIDE (SPANISH)

Motion Control 8720MC -D120-AN- 120 AMP D CHASSIS DRIVE,OPEN ENCL., LESS OPTIONS

BC646MRA700 View Runtime 700 I/O

IC300OCS995 OCS100 Demo Kit, incl. DIQ616, buttons & LEDs

IC752WTG592 Display Station 2000 Series - 15" active matrix SGA (1024x768) resistive touchscreen

MTR-3T44-J-R-B-M-0RR Servo Motor Metric 24V Brake

20AC8P7A3AYNACC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC015A0EYYANANE PowerFlex 700S AC Drive 20D

20G1ALF330JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D1P4N104 PowerFlex 525 0.4kW (0.5Hp) AC Drive

2715-B7CA PanelView 5500 6.5 in. Graphic Terminal

FR-A740-1.5K 3KVA 4A 1.5KW

1492-LD32P IEC Term Blck 5.1x80.5x45mm Spr Clp

1494F-FS100 100 A Fuse Block

软启动器 3RW44346BC36

ET 200SP 6ES7155-6AR00-0AN0 IM155-6 PN 基本型，含服务模块，集成 2xRJ45 接口

1585D-D4UBJM-0M6 Micro D-Code, QD Style Ethernet Media

1747-PBASE SLC Basic Development Software

1794-APBDPV1 Flex Profibus Adapter

194E-AA16E-PE-TN 194E Load switch

2080-IQ4 Micro800 4 Point IEC Digital Input

2090-CSWM1DF-14AA12 Kinetix Cable Single DSL 2090-Series

20AC2P1A3AYNNNC0 PowerFlex 70 AC Drive 20A

GC646MOSS99 QuickPanel Control Development Software - Site License with Proficy GlobalCare Complete

HE693MIX800 Discontinued Part. Check with GE IP on migration path.

IC609SJR102RR Series One Junior 24Vdc Sink In, 115/230Vac Out,115Vac P/S

IC647HSTSC1250KM Server to Server Collector for Historian - Standard Server 1,250,000 Points (M4 Key)

IC660BBA025 Block 24/48Vdc Analog Current Source 6 Outputs

IC694MDL740 Output module 12/24 VDC 0.5 amps 16 points, positive logic.

IC756WDJ001E-28 DataViews Development System for Visual Basic & Java 1 User, English v2.8

MicroLogix 1500/1769 System 1764-DAT DATA ACCESS TOOL

PLC-5/1771 System 1784-CP10 CABLE ASSY, 10FT/3.20M, IBM AT OR COMPATIBLE CMPTR

Distributed I/O 1797-IRT8 EX RTD/THERMOCOUPLE/MV INPUT MODULE, 16 BIT, 8 PT.

Operator Interface 2711P-K4M5A PV PLUS 400 GRAYSCALE, KEYPAD, RS232, AC PS. INCL

Support 9323-PA1ES SUPT RENEWAL CONTRACT FOR 9323PA1E

Support 9358-HSTS2350R SUPT REINSTATEMENT CONTRACT FOR 9358HSTS2350

Support F1772-LWSERA FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300NXPTE RSLOGIX 5000 STD., RSNETWORX BUNDLE, PTG

RSI Software Products 9304-WVR256D WINTELLIGENT VIEW 256 ADDITIONAL RUNTIME

RSI Software Products 9358-PLTM2600U5R UPGRADE: OUT-SUPT: PLANTMETRICS 100 TO 200 WORKCEL

Motion Control 1756-M08SE 1756 8 AXIS SERCOS SERVO MODULE

A06B-0128-B575#7076 A6/3000 Servo Motor, IP67 Sealing, 64K Serial Encoder

IC200UAR014 14 point PLC, (8) 120VAC In, (6) Relay Out (2 at 10 amp and 4 at 2 amp), 120V/240VAC Power Supply

IC752BTS400 Display Station 1084 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win 95

MTR-1362-0-A-E-0RR Stepping Motor Nema34 Dbl Shft

ZA06B-0086-B503 B22/2000HVis servo motor with 24 VDC brake and 128k serial encoder

20BD365A3ANNNNC0 PowerFlex 700 AC Drive 20B

20G11TC750JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-A4P8 PowerFlex 520 0.75kW (1Hp) Power Module

140XTS33200 Quantum IP20 本安型蓝色线端子, 40点

FRN 0.75E1S-4C 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

61F-G 自动供水和排水控制?电源:110/220VAC

1492-SPM3C300 MCB Supplementary Protector 30 A

软启动器 3RW40462TB05

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150-SC1NUD SMC-50 SOLID STATE MOTOR CONTROLLER 210A

1734-TBS POINT I/O Terminal Base

1783-RMS06T Stratix 8300 6 Port Ethernet Switch

193-ESM-VIG-100A-T E300/E200 100 Amp Sensing Module

20-750-I2B-C540D485 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA04 MP-Series 4m Servo Power Cable

2099-BM07-S Kinetix 7000 30kW Servo Drive

GA647IFCLNTSRO050 GCA iFIX iClientTS Read Only 100 PK Runtime Version

GP-0602NT-SDP8SB GagePort Digital NT 2-port input (for Solartron Digital Probes) - Sale s BOM.

IC5005TBX0110 PanelPC 15 inch Performance Unit with Windows XP and Stainless Steel Bezel

IC647HSTAE50KM Alarm and Events Option for Historian - Standard Server 50000 Points (M4 Key)

IC647SSC005 Scheduler Shop Floor 5 more users

IC693MDL741CA Conformal Coated Output module 12/24 VDC 0.5 amp 16 points NEG logic.

IC756HDV010K-98 DV Draw Development on HP/UX Op Sys, Korean, Version 9.8

Pico Controllers 1760-MM1 MEMORY MODULE FOR 12 I/O PICO CONTROLLER

PLC-5/1771 System 1771-OA 120V AC OUTPUT MODULE, 8 OUTPUTS

Distributed I/O 1791D-N4CV2X 24 VDC CB I/O EXPANSION, ANALOG COMBO, 4 IN/2 OUT

Communications 1785-KA3 PLC-2 DATA HWY PLUS COMMUNICATION ADAPTER MODULE

Operator Interface 2706-PCNETP CONTROLNET COMMUNICATION MODULE FOR 2706-P22R