PLCopen运动控制规范的第四部分包含了可以协调运动控制的功能块，对其和第二部分在三维空间多轴运动控制的协调功能进行了扩展，以满足在此领域中绝大部分的应用需求。它们定义了一套标准的功能块，可在三维空间内应用于复杂的运动控制，包括运动转变功能块。一般情况下，这些转变功能块由供应商提供，所以对大多数生产制造商而言，如果运动控制器不支持，则不能添加此功能。目前获得支持的主要是SCARA和DELTA机器人。此外，任何编程人员都可以编程实现自己的运动转换功能。当需要将实际位置转换为关节空间，或者将关节空间转换为实际位置时，专用程序就可以调用这些运动程序。
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10、注意PLC输出模块的驱动能力能否满足外部负载的要求。
在轮胎硫化过程中，胶囊作为轮胎加工时的必备配件，在性能方面有很高的要求。它需要经受反复的膨胀和收缩、拉伸等变形，还要经受急剧的升温和冷却。胶囊硫化是胶囊获得**使用性能的关键工序之一，也是胶囊生产中**的一道工序。其过程是先将胶料经过适当加工制成半成品，再通过化学作用，将半成品制成胶囊外型，达到符合轮胎加工的使用性能。
过去，一般只有特定的机器人控制器ConTROLENGINEERINGChina，支持动力学和逆向动力学。现在，提供部分机器人类型指令的运动控制器更为常见，尤其是面向包装自动化的控制器。机器人控制器和运动控制器之间的界限正在变得模糊，但是仍需要编程人员在这些不同的系统之间进行协调，因为每个系统的编程都使用了为某个目的而专门设计的语言。
1.工作环境
根据工作功能图表或状态流程图等设计出梯形图即编程。这一步是整个应用系统设计的核心工作，也是比较困难的一步，要设计好梯形图，首先要十分熟悉控制要求，同时还要有一定的电气设计的实践经验
(2)启动操作
FESTO FBS-SUB-9-GS-9 FIELDBUS ConNECTOR SUB-D D504725
DEZURIK E62-HV-0402 TYPE KGS 12IN STAINLESS FLANGED KNI
LOT 10 SPRAGUE 150D565X9010B 10V-DC 5.6UF CAPACITORLOT 10 SPRAGUE 150D565X9010B 10V-DC 5.6UF CAPACITOR D478575
Asyst 3200-4348-04 PCBA
ASSY 40" Stainless Steel Bellows Vacuum Tubing, NW-50, Thin-Wall, Foreline 40989
NEW AMAT 3870-05663 Viper Valve air, SMC LVQ21-Z07R valve, 397762
RADEMAKER GEN.99.0015 Z/40-60 CHAIN SINGLE ROW 2-3/
P50C08075HXS21 1080-01021
SALINA VORTEX Z06-2SS-06 STAINLESS 1IN SHAFT BLADE ASSEMBLY D311562
Foxboro D3001YP Common Control Board
METTLER TOLEDO 9215 BATCH CONTROLLER, METTLER TOLEDO 92150221000,9215 BATCHELOR
ALLEN-BRADLEY 1336F-BRF200-AN-EN SER.A NEW! 20HP 460V AC DRIVE
TWIST DRILL 11 11/16 HAND TAP
TU393 Telemecanique Schneider Advantys STB PDT3105 STBPDT3105
MARTIN 60A32 SS 11/16 IN ROUGH BORE SINGLE ROW CHAI
2避免外电路出故障时,外部强电侵入主机而损坏主机.
STEEL 23-1/4X23-1/4X1-1/2 IN PNEUMATIC FILTER ELEMENT D377023
ABB 0XP12X325 DISConNECT SWITCH ConNECTING ROD
RELIANCE ELECTRIC 1.7KVA 1HP VARIABLE SPEED AC DRIVE 1AC2001 *LOT OF 3*
PP568 Panel Lauer PCS 090 pg090.208 d
APPLIED INDUSTRIAL 2-PLY TAN WEDGE ConVEYOR 420X2-3/4IN BELT D330600
WILLIAMS H-1276 12PT 2-3/8 IN SOCKET 3/4IN DRIVE D51995
HYTROL 032003 EZLOGIC POLARIZED REFLEX ISOLATED I/O 100
FORD 5C3Z-2B121-BA OEM CALIPER HOUSING KIT FRONT REAR F
DUKANE 2220HN4PT-L2 DPC II PLUS DYNAMIC PROCESS ConTROLLER 200-240V-AC D517636
Modified board Boxer cross Lockin focus board ASSY 23-00033
AMAT 0200-10539-P4 base Plate Quartz Aid HDP Dielectric Etch
AMAT 1200-01104 RLY CNTOR 4 PDT, 25A, Potter & Brumfield PM-17AY-24, 397364
SCHNEIDER AS-P451-681 MODICON REMOTE I/O POWER SUPPLY D464307
P50C08075HXS21 1080-01021
POTTER BRUMFIELD KR14AGE 120V-AC RELAY D520860
LEITZ WETZLAR 543635 MIRCOSCOPE CAMERA, GERMANY, NEW
GENEVA WATER RESISTANT BLACK QUARTZ WATCH NEEDS BATTERY
SYSKonNECT SK-NET FDDI-UP DAS K3S5522 PCI ADAPTER D514880
FISHER 4" BALL SEAL VRC REPAIR KIT REV-D-11/06 RV150x00C32 NIB
PP146 Relaismodul Phoenix Contact UMK-8 RM24 MZP A 001 49 16
MATLHAN 706507DA SELF ADHESIVE REFLECTIVE PLASTIC SHEET 8-7/8 X 9 IN D448412
■在检查PLC本身故障时，可参考PLC的CPU模板和电源模板上的指示灯。
NORGREN SC64-A-0-90-L-S2-1 POWER CLAMP PNEUMATIC GRIPPE
VALVE SEAT STEEL REPLACEMENT PART D412844
PARKER 5 PSI 3/8" MALE NPT .359" ORIFICE CHECK VALVE, 6M-C6L-5-SS *NEW NO BOX*
HT133 Controller Mitsubishi Melsec FX-8EYR-ES
ABB 2011AZ10200A MECHANICAL OUTPUT RELAY FORM C 250V-AC 3A AMP D513761
WESTCODE WG9017 D2G 9926 THYRISTOR SEMIConDUCTOR DIODE D517612
ISI AUTOMATION SC64 A R S4 1 POWER CLAMP PNEUMATIC GRIPPER D483101
AMMERAAL BELTECH A571342 SS CLIPPER LACE 72 IN 10-1/2 IN ConVEYOR BELT D503135
LAMSON & SESSIONS CARLON 8-1/4X8-1/4X4-3/4 IN JUNCTION BOX ENCLOSURE D506653
NEW Kooltronic KBB 36-XX09-1, Blower assy, vespel sierra, Novellus A95-152-02
Disco Switch Unit EAUM--979300 Red EMO Stop Push Twist Switch
NEW AMAT 0150-00588 CABLE ASSY, SYSTEM AC INTLKS
SICK LASER SCANER PLS101-316 PLS101316 1017649
P50C08075HXS21 1080-01021
FANUC SERVO AMPLIFIER MODULE A06B-6096-H106 ( A06B6096H106 )
BERGER LAHR 52626035000 SERVO MOTOR, SIG BERGER LAHR 52626035000 SERVO MOTOR
VINTAGE NAPIER WRIST BRACELET JEWELRY SILVER NICE!
THERMO ELECTRON TE-103131-00 REV D04 PCB CIRCUIT BOARD D467957
SQUARE D 240VAC 200A RAINTIGHT SINGLE THROW FUSIBLE SAFETY SWITCH H324NDS S. D4
ON587 Siemens ET 200B-32DI 6ES5430-2BA11 6ES5 430-2BA11
ATRA-FLEX A4 F A-SERIES FLANGE HD 3-7/8 IN BORE COUPLING HUB D499572
三、PLC控制系统工程应用的抗干扰设计
SIEMENS 6ES7 422-1FH00-0AA0 SIMATIC S7-400 79-264V-AC 2A OUTPUT MODULE D503116
ALLEN-BRADLEY 802T-DP SER.J 1N.O. 1N.C. LIMIT SWITCH
COPELAND 115V 1PH COMPRESSOR ARE37C3-IAA-901, NEW
PP572 Bedienpanel Panel Saia burgess PCD7.D231 Version E
LOT 6 LEEDS NORTHRUP 030873 BLUE MARKER ASSEMBLY D4
VALVE AND PRIMER 10407-A0-WM-307 7-2 1088 1 IN NPT IRON
GENERAL ELECTRIC GE CR306F002ABNA 120V-AC 135A 100HP SIZE 4 STARTER D515952
7379A67G02 PCB CIRCUIT BOARD D464845
LOT 3 FLEXITALLIC 3/4IN 150 SPIRAL WOUND GASKET D482454
Ultratech Stepper 03-20-01321 PCB, Alignment, Analog 415892
MKS 124AA-0100088 Type 124 Baratron, 1000 Torr
Harting HAN 10B-GG-R-21, New Power connector housing
ROTO-DISC GF-TFE ROTO VALVE SEAT WITH SHIM 10-3/8INROTOM 2868-513-049 06-R213 1.1A 120V-AC 1550RPM AC
P50C08075HXS21 1080-01021
FESTO 159625 LR-1/4-D-MINI ! NEW !
Rolls-Royce RBB-17-101R.1 Balancing Piston
Mitsubishi MD167980 Rocker Arm Rear Intake for Chrysler Pacifica
BODINE ELECTRIC COMPANY 22B4FEBL-3N 24VDC 5.9A 125RPM 1/8HP GEAR MOTOR TESTED!!
PM FIELD DC SERVO MOTOR MT-3323-025FE
DD165 Besam Türsteuerung M5571-4 655355
CROUSE HINDS NBS23100/277 CORRO-GARD 277V 100W HPS
（二）确定输入／输出设备
ZIMMERMAN 747 SPEARHEAD EXTENSION GASKET CUTTER D516514
NAMCO CYLINDICATOR EE230-30520 PROBE 1.050
GENERAL ELECTRIC BUSWAY SWITCH 30A SL361RU
HT602 Frequenzumrichter AEG Microverter D 2.5/500 2-5/500
MALLORY PSU21615 110/125V-AC 216-259MF CAPACITOR D521236
WEIDMULLER 910150 250V-AC 1P 2A AMP DIN RAIL MOUNT CIRCUIT BREAKER D504707
LOT 4 ALLEN BRADLEY 700-CF310D SER A 120V-AC RELAY D521882
LOT 18 NORTON 72.5251 PAKCO CERAMIC BLOCK 6X4X1 IN 2-HOLE D389415
FENNER 224 909 RADIAL PISTON PNEUMATIC MOTOR 78:1 D517874
CISCO SYSTEM CATALYST WS-6500 Series
AMAT 1270-90252 ISOLATOR 2 POLE 32A
Aviza SPTS 113292-02 Plate, cooling, shutter, 15.15 dia, 300mm
RA JonES 22T HELICAL 1-3/4IN ID GEAR REPLACEMENT PA
P50C08075HXS21 1080-01021
RA JonES 116568 KEYWAY SHAFT 1X6-3/4IN D273673
BWI Eagle 40-3500 Air-Eagle RF Receiver 120VAC 043100
PSC Inc LazerData 11000 Fixed Position Barcode Scanner LD110111 Kit
OMRON E3G-R17 PHOTOELETRIC SWITCH 10-30V NEW IN BOX!!
MERLIN GERIN PROPIVAR RECTIPHASE CAPACITOR, NEW
HT801 Control Techniques Smart Stick 82100000012700 STDS21
KOP-FLEX 1960350 4F SB GEAR COUPLING SLEEVE D515367
PC的用户存储器通常以字（16位/字）为单位来表示存储容量。
OHAUS VP413CN VOYAGER PRO PRECISION BALANCE 12V-AC 1A A
ALLEN-BRADLEY 800T-X559 LOT OF 10 BLANK LEGEND PLATES GRAY NEW!! QUANTITY!!
ESCORT MEMORY INTERBUS MODULE CM21L010
S139 Sick FR6-4 FR 6-4 13419086 Reflexlichtschranke
FISHER 1V522335162 STAINLESS VALVE STEM 5X3/4IN REPLACEMENT PART D395770
ROBART 396015 R8 VOLTAGE & CURRENT REGULATOR PCB CIRCUI
LOT 18 SWECO 165T 10-3/8X10-3/8X1-1/8IN STRAINER SCLOT 18 SWECO 165T 10-3/8X10-3/8X1-1/8IN STRAINER SCREEN D370491
ALLEN-BRADLEY 700-CF310 ConTACTOR WITH 100-FPT
FISHER 32A9532 SIZE 40, 60, & 68 COVER ALUMINUM REPLACEMENT PART D368417
AMAT 0200-05635 Tetra Ceramic Lid, photomask tetra II, 300mm, SGI Advanced-by
Oriental Motor 2RK6GK-A2, Reversible Motor, 6W 100V 50/60 Hz, 400398
TYLAN FC-2979MEP5, N2, 100 SCCM, 2979, ML9712199 MASS FLOW CONTROLLER
MITSUBISHI Q172LX MOTION I/F UNIT
P50C08075HXS21 1080-01021
ELAU SM 070-60-020-P0-45-S1-B0 19202604-501 ( SM07060020P045S1B0 )
American Eagle 4200 Series Exit Door Device 4200RF-07
FANUC A06B-6050-H103 VELOCITY ConTROL UNIT
NAMCO CYLINDICATOR EE230-31720 PROBE 1.350
YASKAWA * CIRCUIT BOARD DF9203006-C0 REV.C01 * JANCD-XCP01-1
HT8 Servoregler Sieb Meyer Sinudyn M2 SM AC-Serv 26.36.15
NORGREN A7R33A2 -REV #3 10IN 2IN 250PSI PNEUMATIC C
原理图一般分为电源电路、主电路、控制电路、信号电路及照明电路绘制。
WESTINGHOUSE 2344D02G01 A83110 30598 REV 9 INPUT MODULE
LOT OF 6 WHITE 3 1/4" x 3" x 6ft PANDUIT STYLE WIRE DUCT AND LIDS
FOXBORO SMART TRANSMITTER L2AA0AD21AA
KU896 Klaschka IAN-18mg50b5-4NT1/2 induktiver N?herungsschalter Neu
INDAG 003-6014885/1-FM-64-003 45-1/4X1-3/16X9/16IN INDAG 003-6014885/1-FM-64-003 45-1/4X1-3/16X9/16IN CHAIN GUIDE D280269
STANLEY 09938 PROTO SOCKET 6PT NO 5 SPLINE DRIVE 2-3/8
ALLEN-BRADLEY 22D-D2P3N104 POWERFLEX 40 DRIVE
FAST HEAT ASSORTED H2 24TC 9 72 G2AX27A CARTRIDGEFERRAZ SHAWMUT US3J3I 600V-AC 30A AMP 3P FUSE HOL
PATLITE ST RED SIGNAL TOWER
Omega Engineering HH82 Digital Thermometer
AMAT Robot End effector 0020-84290 REV 003
AMAT 0680-90278 ABB, Circuit Breaker PRO-8 3PH 25 Amp
IFM: AC1206 POWER SUPPLY FOR AS-I
P50C08075HXS21 1080-01021
SEIDEL: 66WKS-M310/45 12kVA 45A 310VDC
VINTAGE NAPIER WRIST BRACELET JEWELRY SILVER NICE!
Controlotron 994-4ADP3-3 System Computer 994-4A Used
LITTELFUSE JTD100 600VAC TIME DELAY FUSE TESTED!
NUMATICS 150 PSIG-AIR MANIFOLD W/ 2 SOLENOID VALVES, I35SA415K
HA209 Siemens Simoreg E170/24 6RA2116-6BD20-0 6FD3 807-0A C98043-A1039
GARLOCK 53X3122 21086-3122 KLOZURE 6.375 IN 5.375 IN 0.5 IN OIL-SEAL D522011
485网络：RS485/MODBUS是现在流行的一种工业组网方式，其特点是实施简单方便，而且现在支持RS485的仪表又特别多。现在的仪表商也纷纷转而支持RS485/MODBUS，原因很简单，RS485的转换接口不仅便宜得而且种类繁多。至少在低端市场上，RS485/MODBUS仍将是**主要的工业组网方式。
STI MS4336B-2 MINISAFE-B 36IN LIGHT CURTAIN RECEIVER 30
BUSSMANN 1BS102 MODULAR FUSEBLOCK - NEW! QUANTITY!
BAILEY COMMUNICATION TERMINATION UNIT NTCL01 NEW
TU399 Berger Lahr SIG Positec KSO30 KSO 30 012751341
AAF 331-757-050 VARICEL 12X24X12IN AIR FILTER ELEME
VOGELE AG MANNHEIM SP/EN0.6/22G1 Y09 HAND LEVER OILER CVOGELE AG MANNHEIM SP/EN0.6/22G1 Y09 HAND LEVER OILER ConTROL VALVE D519630