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【IS200RAPAG1BBA GE 】

：盧工

：

IS、IC系列，型號齊全，庫存充足，大量現貨

隨著社會生產不斷進步和人們生活節奏不斷加快，人們對生產效率也不斷提出新要求。由于微電子技術和計算軟、硬件技術的迅猛發展和現代控制理論的不斷完善，使機械手技術快速發展，其中氣動機械手系統由于其介質來源簡便以及*、組件價格低廉、維修方便和系統安全可靠等特點，已滲透到工業領域的各個部門，在工業發展中占有重要地位。本文講述的氣動機械手有氣控機械手、XY軸絲杠組、轉盤機構、旋轉基座等機械部分組成。主要作用是完成機械部件的搬運工作，能放置在各種不同的生產線或物流流水線中，使零件搬運、貨物運輸更快捷、便利。

　　一 四軸聯動簡易機械手的結構及動作過程

　　機械手結構如下圖1所示，有氣控機械手(1)、XY軸絲杠組(2)、轉盤機構(3)、旋轉基座(4)等組成。

　　其運動控制方式為：(1)由伺服電機驅動可旋轉角度為360°的氣控機械手(有光電傳感器確定起始0點)；(2)由步進電機驅動絲杠組件使機械手沿X、Y軸移動(有x、y軸限位開關)；(3)可回旋360°的轉盤機構能帶動機械手及絲杠組自由旋轉(其電氣拖動部分由直流電動機、光電編碼器、接近開關等組成)；(4)旋轉基座主要支撐以上3部分；(5)氣控機械手的張合由氣壓控制(充氣時機械手抓緊，放氣時機械手松開)。

　　其工作過程為：當貨物到達時，機械手系統開始動作；步進電機控制開始向下運動，同時另一路步進電機控制橫軸開始向前運動；伺服電機驅動機械手旋轉到達正好抓取貨物的方位處，然后充氣，機械手夾住貨物。

　　步進電機驅動縱軸上升，另一個步進電機驅動橫軸開始向前走；轉盤直流電機轉動使機械手整體運動，轉到貨物接收處；步進電機再次驅動縱軸下降，到達位置后，氣閥放氣，機械手松開貨物；系統回位準備下一次動作。

　　二 控制器件選型

　　為達到精確控制的目的，根據市場情況，對各種關鍵器件選型如下：

　　1. 步進電機及其驅動器

　　機械手縱軸(Y軸)和橫軸(X軸)選用的是北京四通電機技術有限公司的42BYG250C型兩相混合式步進電機，步距角為0.9°/1.8°，電流1.5A。M1是橫軸電機，帶動機械手機構伸、縮；M2是縱軸電機，帶動機械手機構上升、下降。所選用的步進電機驅動器是SH-20403型，該驅動器采用10～40V直流供電，H橋雙極恒相電流驅動，zui大3A的8種輸出電流可選，zui大64細分的7種細分模式可選，輸入信號光電隔離，標準單脈沖接口，有脫機保持功能，半密閉式機殼可適應更惡劣的工況環境，提供節能的自動半電流方式。驅動器內部的開關電源設計，保證了驅動器可適應較寬的電壓范圍，用戶可根據各自情況在10～40VDC之間選擇。一般來說較高的額定電源電壓有利于提高電機的高速力矩，但卻會加大驅動器的損耗和溫升。本驅動器zui大輸出電流值為3A/相(峰值)，通過驅動器面板上六位撥碼開關的第5、6、7三位可組合出8種狀態，對應8種輸出電流，從0.9A到3A以配合不同的電機使用。本驅動器可提供整步、改善半步、4細分、8細分、16細分、32細分和64細分7種運行模式，利用驅動器面板上六位撥碼開關的第1、2、3三位可組合出不同的狀態。

　　2. 伺服電機及其驅動器

　　機械手的旋轉動作采用松下伺服電機A系列小慣量MSMA5AZA1G，其額定輸出50W、100/200V共用，旋轉編碼器規格為增量式(脈沖數2500p/r、分辨率10000p/r、引出線11線）；有油封，無制動器，軸采用鍵槽連接。該電機采用松下公司*算法，使速度頻率響應提高2倍，達到500Hz ；定位超調整定時間縮短為以往松下伺服電機產品V系列的1/4。具有共振抑制功能、控制功能、全閉環控制功能，可彌補機械的剛性不足，從而實現高速定位，也可通過外接高精度的光柵尺，構成全閉環控制，進一步提高系統精度。具有常規自動增益調整和實時自動增益調整兩種自動增益調整方式，還配有RS-485、RS-232C 通信口，使上位控制器可同時控制多達16個軸。伺服電機驅動器為A系列MSDA5A3A1A，適用于小慣量電動機。

　　3. 直流電機

　　可回旋360°的轉盤機構有直流無刷電機帶動，系統選用的是北京和時利公司生產的57BL1010H1無刷直流電機，其調速范圍寬、低速力矩大、運行平穩、低噪音、效率高。無刷直流電機驅動器使用北京和時利公司生產的BL-0408驅動器，其采用24～48V直流供電，有起停及轉向控制、過流、過壓及堵轉保護，且有故障報警輸出、外部模擬量調速、制動快速停機等特點。

　　4. 旋轉編碼器

　　在可回旋360°的轉盤機構上，安裝有OMRON公司生產的E6A2增量型旋轉編碼器，編碼器將信號傳給PLC，實現轉盤機構的精確定位。

　　5. PLC的選型

　　根據系統的設計要求，選用OMRON公司生產的CPM2A小型機。CPM2A在一個小巧的單元內綜合有各種性能，包括同步脈沖控制、中斷輸入、脈沖輸出、模擬量設定和時鐘功能等。CPM2A的CPU單元又是一個獨立單元，能處理廣泛的機械控制應用問題，所以它是在設備內用作內裝控制單元的理想產品。完整的通信功能保證了與個人計算機、其它OMRON PC和OMRON可編程終端的通信。這些通信能力使四軸聯動簡易機械手能方便的融合到工業控制系統中。

GE IS200RAPAG1BBA

LOT OF 6 GE CIRCUIT BREAKER 20A TEF113020-277VA?C (A4)

USED, I-T-E EE2-B015 Circuit Breaker 15A 125/250 VDC, 240VAC 2Pole Unit (GG3)

GOOD USED WESTINGHOUSE MOLDED CASE CIRCUIT BREAKER 20A RF3020 3 POLE (E6-1)

LOT OF 2 GE CIRCUIT BREAKER 20A AMP 1 POLE SWD RT-692 THHQB (DR1B-2)

USED* GOOD SQUARE D I-LINE MOLDED CASE CIRCUIT BREAKER MA36600 600A 600V (N6)

CUTLER HAMMER CIRCUIT BREAKER BR240 2 POLE E7S19-T (DR1B-2)

LOT OF 2 CUTLER HAMMER CIRCUIT BREAKER 15A MG-7731 CLASS CTL TYPE CHB (DR1C-1)

NNB SQUARE D LP-1127 TYPE Q0 30A SINGLE POLE CIRCUIT BREAKER 120/240VAC (BIN65)

FPE Circuit Breaker GOOD NE231020 20 AMP (CC3)

LOT OF 4 USED, Westinghouse HQP Quicklag 20Amp Circuit Breaker 1pole (W2-1)

Westinghouse 100 AMP Circuit Breaker HFD3100L (K2)

USED, General Electric TEF134090 Circuit Breaker 90Amp 3Pole 480V. AC (HH4)

USED, General Electric TE132100 Circuit Breaker 100Amp. 3Pole 240V. AC (HH4)

USED, General Electric TEB132070 Circuit Breaker 70 Amp 3 Pole 240 VAC (HH4)

WESTINGHOUSE QUICK LAG 20 AMP CIRCUIT BREAKER 2 POLE COMMON TRIP (298-1)

C16P OMRON INPUT PLC UNIT GOOD USED (NN3)

LOT OF 2 NEW IN BOX MAGNETEK TRIAD FS24-045 TRANSFORMER (BIN62)

NEW, Allen Bradley 1492-CB2H070 Ser. B Circuit Breaker 7A (WL19-2)

FEDERAL PACIFIC 20A 20 AMP 2 POLE NEF421020 480 VAC CIRCUIT BREAKER (103)

SQUARE D QMB-363-T FUSED SWITCH 100A 600VAC W/ 6 FUSES (I8)

NEW GOULD ITE MOLDED CASE CIRCUIT BREAKER EE2-B015 15 AMP 2 POLE (140)

LOT OF 3 WESTINGHOUSE CIRCUIT BREAKERS 30 AMP 1 POLE ISSUE LJ-99 BA (DR1B-2)

ALLEN BRADLEY 1746-A10 SER B SLC500 PLC RACK P2 POWER SUPPLY SER C USED (NN3)

USED, Westinghouse E-7819 Circuit Breaker 70Amp. 3Pole 125/250VDC 240VAC (HH4)

CUTLER-HAMMER WESTINGHOUSE 7 AMPS HMCP HMCP007C0C MOTOR CIRCUIT PROTECTOR (P7)

GENERAL ELECTRIC CIRCUIT BREAKER TED134040 USED (F6)

LOT OF 4 CUTLER HAMMER QUICKLAG 20A M-1259 E-7819 SWD CIRCUIT BREAKER (DR1B-2)

CUTLER HAMMER 3 POLE CIRCUIT BREAKER EHC 3060 LL-2275 60 AMPS (B1)

USED**WESTINGHO?USE TYPE "WBA" PANEL BOARD/CIRCUIT BREAKER 225A 120/208V 3PH (51)

GE TRANSFORMER NON-EXPLOSION PROOF 9T58K1806 .200KVA 1 phase 1PH (B5)

CUTLER-HAMMER WESTINGHOUSE 30 AMPS HMCP HMCP030H1C MOTOR CIRCUIT PROTECTOR (P7)

GOOD USED, General Electric TE132020 Circuit Breaker 20amp 3P 240VAC (W3)

USED, General Electric THED136150 Circuit Breaker 150 Amp. 3 Pole 600 VAC (GG3)

SLC 500 SLC500 ALLEN BRADLEY PROCESSOR UNIT SER C FRN 6 W/ 1746 P2 RACK (WL2)

CUTLER-HAMMER INDUSTRIAL CIRCUIT BREAKER FD 35K 20 AMPS 3 POLE 600V USED (LL5)

CUTLER-HAMMER WESTINGHOUSE 15 AMPS HMCP HMCP015E0C MOTOR CIRCUIT PROTECTOR (P7)

ITE CIRCUIT BREAKER K FRAME TYPE ET-8504 600 AMP (TT6)

NIB* GENERAL ELECTRIC TH3362 DISCONNECT SWITCH MODEL 10 60A 600VAC/250VDC (P1)

CUTLER-HAMMER WESTINGHOUSE HFD 65K HFD3100L 100 AMPS CIRCUIT BREAKER USED (P7)

NEW WESTINGHOUSE EHB3015L AB DEION CIRCUIT BREAKER 3 POLE 15 AMP 480AC (188)

WEBER AS168B-2 G4 POLE 20 AMP CIRCUIT BREAKER (137-1)

SQUARE D REMOTE CONTROL CIRCUIT BREAKER ISSUE SD-9803 USED (WL5-1)

CHALLENGER CIRCUIT BREAKER TYPE NEF 40 amp 3 POLE 480VAC USED NO BOX (P7)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1149130M1351 LOT 5 USED (WL37-2)

General Electric TEB132020 Circuit Breaker 3Pole 20Amp. (GG3)

MERLIN GERIN BREAKER MULTI 3 POLE 16A TYPE C C60N (L6-1)

LOT OF 2 SQUARE D 20A LL-9353 HACR 2 POLE CIRCUIT BREAKER (DR1B-2)

NEW NO BOX Square D FAL14015 Circuit Breaker 1P 15A 277V (BIN37)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1139230M0201 USED (WL37-1)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 114-943M2427 LOT 4 USED (WL36-2)

LOT OF 4 WESTINGHOUSE 20A 40C LN-0341 SWD 1 POLE CIRCUIT BREAKER (DR1B-2)

FEDERAL PACIFIC 20A 20 AMP CIRCUIT BREAKER NEF213020 1 POLE 277 VAC (102)

PECO METAL THICKNESS DETECTOR C3085A (2)

I-T-E ET Circuit Breaker F Frame 100 AMP 100A A (CC3)

ITE CIRCUIT BREAKER F FRAME TYPE ET 100 AMP GOOD (WW3)

USED FEDERAL PACIFIC CIRCUIT BREAKER NE113020, HL-77 120VAC 20AMP, 1 POLE (263)

WESTINGHOUSE LA3400PRF CIRCUIT BREAKER 400AMP 600VAC 3P (GG3)

NEW in box! STANCOR SW-424 PRINTED CIRCUIT TRANSFORMER 6VA (225-4)

SQUARE D FUSED SWITCH QMB-363-T 100A 600VAC W/ 5 FUSES (I8)

FPE AB Circuit Breaker NEF433020 20 AMP GOOD (CC3)

GE CIRCUIT BREAKER 15 AMP UO633 E-1192 THQL 120/240 VAC 2 POLE (DR1B-2)

USED, Federal Pacific NEF433020 Circuit Breaker 20 Amp 3 Pole 480 Volts (GG3)

NEW IN BOX ASCO RED HAT VALVE 8315D2U 120/60 110/50 1/4 (199-2)

FPE Circuit Breaker 50 AMP 3 Pole GOOD A 50A (CC3)

NEW IN BOX CUTLER HAMMER MOTOR CONTROL BUCKET 200AMP FK035483 ED3200 (45)

USED, Crouse-Hinds 30amp 2pole Circuit Breaker Type MP-T 120/240VAC (BIN28)

GOOD USED ITE SIEMENS CIRCUIT BREAKER HE43B030 480 VAC 3 POLE 30 AMP (LL3)

CUTLER-HAMMER SERIES C CIRCUIT BREAKER EHD EHD3040 40 AMPS 3 POLE USED (P7)

LOT OF 14 FEDERAL PACIFIC NI CIRCUIT BREAKERS 20 AMP 1 POLE HG-43 120/240(G5)

GOOD USED ITE SIEMENS CIRCUIT BREAKER HED43B100 480 VAC 100 AMP (LL3)

FPE 431050 3 Pole Circuit Breaker GOOD 50 AMP 50A (CC3)

ALLEN-BRADLEY 1492-CB3 SER B 3 POLE CIRCUIT BREAKER NEW NO BOX (RR5-1)

LOT OF 2 SQUARE D CIRCUIT BREAKER 30A 1 POLE LL-9146 120/240 VAC (DR1C-1)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 115 9440M1787 LOT 6 USED (WL37-2)

FPE AB Circuit Breaker NE233020 GOOD 20 AMP (CC3)

WESTINGHOUSE QUICKLAG BREAKER OPH2015H 200 VAC 2 POLE (DR1C-1)

NEW IN BOX EATON CUTLER HAMMER WMS3D40 40 AMP 3 POLE CIRCUIT BREAKER (O1-1)

LOT OF 4 FEDERAL PACIFIC 15 AMP CIRCUIT BREAKER 1 POLE NB 120/240 VAC 2W (J6-1)

GE 30 AMP CIRCUIT BREAKER 2 POLE RT-693 TYPE THQL HACR E-11592 (DR1C-1)

GOOD USED SQUARE D CIRCUIT BREAKER 8536 SA011V02 (WL14)

NEW IN BOX ALLEN BRADLEY TRANSFORMER S9185A 91854-11 238-9803 (SS1)

LOT OF 4 WESTINGHOUSE QUICK LAG 20AMP CIRCUIT BREAKER LM-5016 (298-1)

ITE CIRCUIT BREAKER K FRAME TYPE ET-6135 225 AMP (TT5)

CUTLER-HAMMER WESTINGHOUSE HFD 65K 40 AMPS 3POLE CIRCUIT BREAKER USED (P7)

LOT OF 2 GE CIRCUIT BREAKER 20 AMP RT-693 TYPE THQL 2 POLE (DR1B-2)

LOT OF 2 WEBER AS168B-3 G203 POLE 20 AMP CIRCUIT BREAKER (131-5)

GOOD USED PLC MODULE SCHNEIDER TSX QUANTUM 140 ACI 030 00 (ZZ2)

LOT OF 7 CUTLER HAMMER CIRCUIT BREAKER 15 SWD 120/240 VAC 1 POLE AL-CU (DR1B-1)

SQUARE D BREAKER BOX W/ PANELBOARD NQOD12M100CU NQC23S (21)

SQUARE D CIRCUIT BREAKER FIL36060 60A I-LIMITER (F6)

SQUARE D ENCLOSED CIRCUIT BREAKER 250A LUG TO LUG (67)

LOT OF 2 ALLEN BRADLEY 1492-GHD050F 2P CIRCUIT BREAKERS (K5-2)

GE GENERAL ELECTRIC MOLDED CASE SWITCH TKMA836Y800 800A 3 POLE 600VAC (H7)

SQUARE D 200A ENCLOSED BREAKER KAL26200102 W/ ENCLOSURE (79)

NEW SOLA HEAVY DUTY 1PH TRANSFORMER EGS HS5F10AS 10.0 KVA single phase (98)

NEW ITE SIEMENS GOULD MOLDED CASE CIRCUIT BREAKER EE3B040 40A 240V, 3P (243)

GOOD USED TRI-BREAK TB GENERAL ELECTRIC 600 AMP GE 3 POLES CIRCUIT BREAKER (KK4)

NEW IN BOX TYCO CROMPTON CURRENT TRANSFORMER 5SFT-600 60:5A (PP1-1)

GOOD USED RELIANCE DRIVE GP-2GU21001 1HP @ 0.8PF GP-2000 (249)

USED SQUARE D CIRCUIT BREAKER MHP36600MT 600 AMP (J5)

SQUARE D 70A CIRCUIT BREAKER W/ ENCLOSURE FAL340701021 (51)

LOT OF 2 WESTINGHOUSE QUICKLAG JH-73 CIRCUIT BREAKER 20 AMP 1 POLE (DR1A-2)

SQUARE D 250A AMP LAL36250 CIRCUIT BREAKER 600V GOOD USED (NN3)

SQUARE D CIRCUIT BREAKER NEW? 15A FA36015 (FF5)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1159260M0766 LOT 6 USED (WL36-1)

NNB** GE MOTORS 5KCP39SG L413S 1/3HP 840RPM 460V 1.10A 60HZ 1PH (L6)

CUTLER-HAMMER EHD14K EHD3040L CIRCUIT BREAKER 40 AMPS 3 POLE USED (P7)

NEW IN BOX MAGNETEK LOW VOLTAGE TRANSFORMER F-112X 117V 50/60HZ 14VCT (E3-1)

USED* GOOD SQUARE D 31063-400-38 12V 60HZ/ 110V 50HZ COIL SIZE2 STARTER (N6)

USED* WESTINGHOUSE MCC BREAKER Bucket 80 AMP FDB3080L 80A 600VAC-250VDC (N6)

FEDERAL PACIFIC 20 AMP @ 25C CIRCUIT BREAKER GW-9 1 POLE NEF 212020 (K7)

NEW IN BOX WESTINGHOUSE AB DE-ION CIRCUIT BREAKER 1532373-A 1 POLE 20 A (DR1A-2)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 114-943M2427 LOT 5 USED (WL36-2)

GE GENERAL ELECTRIC NEW STYLE 225 AMP CIRCUIT BREAKER TFK 236Y225 (N4)

SQUARE D SORGEL TRANSFORMER 30 KVA 30T3H WT 250 ENCLOSURE TYPE 2 (66)

SQUARE D 400A AMP LAL36400 CIRCUIT BREAKER 600V GOOD USED (NN3)

NEW GENERAL CONTROLS ITT HYDRAMOTOR ACTUATOR & VALVE V701ECA H10A320B1 (243)

CUTLER-HAMMER WESTINGHOUSE HFD 65K 30 AMPS 3POLE CIRCUIT BREAKER USED (P7)

LOT OF 2 GE CIRCUIT BREAKER 20AMP 2 POLE E-11592 RT-693 THQL (DR1C-1)

SIEMENS SENTRON 1200A CIRCUIT BREAKER ND63F120 3 POLE (16)

GE 80 AMP CIRCUIT BREAKER 2 POLE RT-693 E-11592 (DR1C-1)

YOKOGAWA POWER MODULE PW481-01 S2 GOOD USED PLC MISSING DOOR (238)

CUTLER-HAMMER WESTINGHOUSE HFD 65K HFD3070L 70 AMPS CIRCUIT BREAKER USED (P7)

GOOD USED RED LIONS CONTROLS MODEL GEM41 INDICATOR COUNTER 12VDC (ZZ2)

NEW WESTINGHOUSE JA3150V AB DEION CIRCUIT BREAKER TYPE JA 150A 600V (156)

GOOD USED 100 AMP ITE BREAKER IN CABINET ED43B100 100 AMP 3 POLE 480 AC (307)

ALLEN BRADLEY 200 VA TRANSFORMER NEW 1497-N5/A (04)

CUTLER-HAMMER WESTINGHOUSE HFD 65K HFD3050L 50 AMPS CIRCUIT BREAKER USED (P7)

ITE SIEMENS MOLDED CASE CIRCUIT BREAKER QJ23B225 225A 240V, 3P (250)

NEW SQUARE D A1B130 CIRCUIT BREAKER 240 VAC 1 POLE 30 AMP SINGLE POLE (186-1)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1139230M0201 LOT 7 USED (WL37-1)

GE 9T51B0050 Isolation Transformer 480V Pri 120/240V Sec-1 kVA 60 Hz (263)

NEW IN BOX ITE BREAKER EE3-B020 3 POLE 240 AC 125/250 DC 20 AMP FRAME E (118)

CUTLER HAMMER CIRCUIT BREAKER IN ENCLOSURE 800 AMP MC3800F 3 POLE (67)

NEW WESTINGHOUSE AB TRIP UNIT MA3800TV 457D454G28 TIME LIMIT TYPE 800AMP (154)

YOKOGAWA POWER MODULE PW481-01 S2 GOOD USED PLC (238)

GE