KJ3002X1-BA1模擬量輸入在傳感裝置的選用上，盡量選用抗干擾性強(qiáng)的智能傳感儀器，同時(shí)考慮到預(yù)研項(xiàng)目的經(jīng)費(fèi)情況，也用了一些常規(guī)的傳感器。另外，由于機(jī)器人外部有很多傳感器，而艙室空間又十分有限，因而本文參考現(xiàn)場(chǎng)總線控制系統(tǒng)信息處理現(xiàn)場(chǎng)化的思想在機(jī)器人外部放置了一個(gè)單片機(jī)，完成這些傳感器數(shù)據(jù)的處理后再上傳給主單片機(jī)。試驗(yàn)表明，這種方案不僅可以緩解主單片機(jī)的工作壓力，實(shí)現(xiàn)分布系統(tǒng)的設(shè)計(jì)思想，還可以

KJ3002X1-BA1模擬量輸入

KJ3002X1-BA1模擬量輸入

在傳感裝置的選用上，盡量選用抗干擾性強(qiáng)的智能傳感儀器，同時(shí)考慮到預(yù)研項(xiàng)目的經(jīng)費(fèi)情況，也用了一些常規(guī)的傳感器。另外，由于機(jī)器人外部有很多傳感器，而艙室空間又十分有限，因而本文參考現(xiàn)場(chǎng)總線控制系統(tǒng)信息處理現(xiàn)場(chǎng)化的思想在機(jī)器人外部放置了一個(gè)單片機(jī)，完成這些傳感器數(shù)據(jù)的處理后再上傳給主單片機(jī)。試驗(yàn)表明，這種方案不僅可以緩解主單片機(jī)的工作壓力，實(shí)現(xiàn)分布系統(tǒng)的設(shè)計(jì)思想，還可以減少信號(hào)傳輸線上的共模干擾。 
　　控制系統(tǒng)的執(zhí)行機(jī)構(gòu)主要是五臺(tái)推進(jìn)電機(jī)、舵、及縱橫傾調(diào)節(jié)裝置。其中縱橫傾調(diào)節(jié)裝置為24V力矩電機(jī)帶動(dòng)滑塊移動(dòng)從而調(diào)節(jié)水下機(jī)器人的縱橫傾，經(jīng)高性能光電隔離芯片后與從單片機(jī)1并行口連接。在水下機(jī)器人的運(yùn)動(dòng)過(guò)程中，隨時(shí)可能要改變推進(jìn)電機(jī)的轉(zhuǎn)速以得到不同的推進(jìn)力，而變頻調(diào)速是實(shí)現(xiàn)電機(jī)調(diào)速的方式。本系統(tǒng)采用臺(tái)達(dá)VFD-A/H型變頻器，它不僅可以實(shí)現(xiàn)各種轉(zhuǎn)速曲線，而且還具有過(guò)壓、過(guò)流、過(guò)熱等完善的保護(hù)措施。該變頻器與控制系統(tǒng)的接口為RS485串行口，一塊CPUzui多可接32個(gè)變頻器。 

限公司

主營(yíng)：專(zhuān)業(yè)從事（DCS系統(tǒng)）（機(jī)器人系統(tǒng)）（大型伺服控制系統(tǒng)）模塊 備件銷(xiāo)售

↓、Allen-Bradley(美國(guó)AB)系列產(chǎn)品》

↓、Schneider(施耐德電氣)系列產(chǎn)品》

↓、General electric(通用電氣) →GE←系列產(chǎn)品》

↓、Westinghouse（美國(guó)西屋）系列產(chǎn)品》

↓、SIEMENS(西門(mén)子系列產(chǎn)品)

↓、estinghouse（西屋）： OVATION系統(tǒng)、WDPF系統(tǒng)、MAX1000系統(tǒng)備件

↓、Invensys Foxboro（福克斯波羅）：I/A Series系統(tǒng)，F(xiàn)BM（現(xiàn)場(chǎng)輸入/輸出模塊）順序控制、梯形邏輯控制、事故追憶處理、數(shù)模轉(zhuǎn)換、輸入/輸出信號(hào)處理、數(shù)據(jù)通信及處理等。

↓、Bosch Rexroth（博世力士樂(lè)）：Indramat，I/O模塊,PLC控制器,驅(qū)動(dòng)模塊等。

↓、Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列

在主單片機(jī)一側(cè)，由于要發(fā)送的信息很多（共有107個(gè)字符）因而在程序中將待發(fā)送的數(shù)據(jù)分成兩組，每一組分別設(shè)有協(xié)議頭和校驗(yàn)和，根據(jù)上位機(jī)通訊控制字符（分別是55H和66H）的不同來(lái)確定發(fā)送哪一組數(shù)據(jù)。在上位機(jī)一側(cè)，由于上位機(jī)要?jiǎng)討B(tài)顯示水下機(jī)器人的運(yùn)動(dòng)姿態(tài)，接收各種設(shè)備的返回信息，如采用中斷信息接收方式，在同一時(shí)間每個(gè)下位機(jī)都向上位機(jī)發(fā)送信息時(shí)，會(huì)發(fā)生沖突導(dǎo)致信息丟失。為此，各下位機(jī)向上位機(jī)的信息傳輸要按照上位機(jī)的命令，整個(gè)系統(tǒng)按照統(tǒng)一節(jié)拍工作。當(dāng)上位機(jī)空閑時(shí)就按順序發(fā)送一個(gè)使能命令給第i個(gè)下位機(jī)，第i個(gè)下位機(jī)接到命令后立即將要上傳的信息發(fā)出，如果上位機(jī)沒(méi)有接到，則重新發(fā)送該使能命令。同時(shí)為了提高通訊的可靠性，在通訊的每一側(cè)將待發(fā)送字符拆為3xH的形式，再對(duì)所發(fā)送的這組數(shù)據(jù)進(jìn)行加和運(yùn)算以求出校驗(yàn)碼。通訊的另一側(cè)接收完一組數(shù)據(jù)后進(jìn)行求和校驗(yàn)，如校驗(yàn)和不正確，則該組數(shù)據(jù)作廢，等待下一組數(shù)據(jù)。

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