二、       FANUC操控體系內(nèi)部構(gòu)造剖析 
操控器是機器人的中心有些，完結(jié)對機器人的動作操作、信號通訊、狀況監(jiān)控等功用。下面以FANUC—F-200iB為例，對其操控體系內(nèi)部構(gòu)造和各有些的功用進行剖析：
電源供給單元 
變壓器向電源分配單元輸入230V交流電，經(jīng)過該單元的體系電源分配功用對操控箱內(nèi)部各作業(yè)板卡輸出210V交流電及±15V、+24V直流電。
安全保護回路 
由變壓器直接向急停單元供電，并接入內(nèi)部各操控板卡構(gòu)成保護回路，對悉數(shù)體系進行電路保護。
伺服放大器 
不僅供給伺服電機驅(qū)動和抱閘電源，而且與絕對值編碼器完結(jié)實時數(shù)據(jù)變換，與主控機間選用光纖傳輸數(shù)據(jù)，進行實時信號循環(huán)反應。
輸入/輸出模塊 
標配為ModuleA/B，別的也可經(jīng)過在擴展槽安裝Profibus板、進程操控板與plc及外圍設備進行通訊。
主控單元 
悉數(shù)操控體系的中樞有些，包含主板、CPU、FROM/SRAM組件及伺服卡，負責操控器內(nèi)部及外圍設備的信號處理和交流。
急停電路板 
用來對緊迫中止體系、伺服放大器的電磁接觸器以及準備充電進行操控。
示教器 

包含機器人編程在內(nèi)的一切操作都能由該設備完結(jié)，操控器狀況和數(shù)據(jù)都顯現(xiàn)在示教盒的顯現(xiàn)器上。

、一、       FANUC操控體系概述 
FANUC機器人首要運用在奇瑞公司乘用車一廠和乘用車三廠的焊裝車間，是奇瑞最早引入的焊接機器人，也是奇瑞公司最早用到具有附加軸的焊接機器人。
其操控體系選用32位CPU操控，以進步機器人運動插補運算和坐標變換的運算速度。選用64位數(shù)字伺服驅(qū)動單元，同步操控6軸運動，運動精度大大進步，最多可操控到21軸，進一步改進了機器人動態(tài)特性。支撐離線編程技能，技能人員可經(jīng)過離線編程軟件設置參數(shù)，優(yōu)化機器人運動程序。操控器內(nèi)部構(gòu)造相對集成化，這種集成辦法具有構(gòu)造簡略、整機價格便宜、易保護保養(yǎng)等特色。

Hughes Large Diameter Infrared Light Weight Lens

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Precision Optical Mirror Mount MM26

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Davidson Adjustable Reference Mirror D615 #141

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Daedal 8" Travel Single Axis Stage

Taylor Hobson Mount

10" Precision Optical Mirror Mount MM24

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Aerotech Precision Optical Mirror Mount MM30

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Precision Optical Mirror Mount MM29

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Precision Optical Mirror Mount MM25

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Olympus BH2-MDO Multi-Viewing Attachment

Farrand Optical Scan Prism

American Optical Stereo Star Zoom on Boom Stand

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Barnes Engineering Infrared Radiometric Microscope

IR Germanium Dual Magnification Lens

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Precision Optical Mirror Mount MM3

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J. Unertl 6 1/4" Precision Mirror Mount MM50

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Nicolet FT-IR Spectrometer Model 510 *As-Is*

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Agilent/Hewlett Single Beam Interferometer

J. Unertl 5 3/4" Precision Mirror Mount MM49

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Farrand Optical Square 88305

Taylor Hobson Levelling Stand

Taylor Hobson Optical Square

Taylor Hobson Adjustable Mirror Reflector

Taylor Hobson Dual Optical Micrometer

Taylor Hobson Variable Focus Collimator

Davidson Adjustable Stand - Elevation and Azimuth

Leica/American Optical Trinocular Teaching Microscope

Taylor Hobson Alignment Telescope Lot *Parts or Repair*

6" Precision Optical Mirror Mount

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Heidenhain 840mm Sealed Linear Encoder NOS

Olympus SZ4045 Stereozoom Microscope

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Farrand Optical Square 88183

7 Miscellaneous Microscopes

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6" Daedal Precision Optical Mirror Mount MM42

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Precision Optical Mirror/Lens Mount MM09

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Carl Zeiss S-Planar Lens 1.3/80

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Zeiss Binocular Medical Microscope

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Aerotech Single Axis Servo Driven Stage

Vision Engineering Dynascopes *Lot of 5*

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Brass and Wood Statimeter 1942 *Group of 4*

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PI Ultra High Prescision Side Drive Stage w/Motor Drive

Dual Voltage Spindles *Lot of 4*

Precision Optical Mirror/Lens Mount MM10

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Talandic Research X-Y-Z Stage with 2 x 2 x 4" Travel

Schwartz Electro Optics Erbium Laser Head

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Lasico Digital Filar Eyepiece with Calibration Standard

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