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A3939-9412,

A3939-9412

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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。
 

软启动器 3RW40471TB04

备品备件 6ES7 528-0AA70-7AA0 接口模块（6ES7 155-5AA00-0AB0）前盖板 5 片 / 包

1585J-M8PBJM-30 RJ45 Ethernet Media

1756-A10 ControlLogix 10 Slots Chassis

1763-NC01 MicroLogix Cable

188-K1C630 Miniature Circuit Breaker 63 A

193-T1AA25 0.16-.25 A IEC Bimetallic Overload Relay

2090-CFBM4DF-CEAA05 MP-Series 5 m Length Feedback Cable

2090-CPBM7E7-16AF12 MP-Series 12 m Length Cable

2094-AL75S Kinetix Line Interface Module

CQPM3D200B2P QUICKPANEL MINI BLUE, TCP, 24VDC, UL/CE

GFK-0467 Series 90-30/20/Micro PLC CPU Instruction Set Reference Manual

IC200UEX636 6 channel Analog expansion. (4) Analog inputs & (2) Analog outputs. 120/240 VAC Power Supply (includes IC200CBL501)

IC647APXC APX:Moore APACS

IC647PFL200 Proficy Process Systems Standard Edition 2000 I/O with iFIX

IC693CHS398CA Conformal Coated 5 slot expansion base

IC754TAN001 VersaMax I/O Interface for QP Control

MA15/D/1/SI AC15AMP PWR SRG PROTECT (120AC)

SLC/1746 System D1747-UM011DENP SLC500 MODULAR HARDWARE STYLE

Distributed I/O 1734D-IB8XOB8ES 24 VDC 8 SINK IN 8 SOURCE OUT, DNET COMMS, SPRING

Application-specific products 1803-EEM01E4 EEM,8 ANALOG, 4 TO 20 MA, NEMA 4 ENCLOSURE

Operator Interface 2711-T10G10L1 PV1000 GRAYSCALE TOUCH, DNET & RS232 PRINT

Support 9301-2SE3500JPR SUPT REINSTATEMENT CONTRACT FOR 93012SE3500JP

Support 9381-PA5KENS SUPT RENEWAL CONTRACT FOR 9381PA5KEN

DeviceNet Products 1790D-4T0 DNET LDX, 4 INPUT THERMOCOUPLE BSE,D-SHELL CONN

RSI Software Products 9301-2SE330FRU2R RSVIEW32 RUNTIME 150-1500 UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-PBEPB10ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 10 UNITS

Motion Control MPL-B640F-MJ22AA MOTOR,SERVO,36.0NM,3000RPM,MULTI,460V

Motion Control 2090-UXLF-HV330 AC LINE FILTER,ULTRA,30 AMPS, 460V, 3 PHASE

GQSJ2D100L2P QUICKSTART KIT 5" MONO LCD GE LABEL

IC646NMF000 Mitsubishi FX Series Front Port OPC Server

MTR-3T67-G-R-0-M-0 MTR-Series Servo Motor, Resolver, Metric

ST-2114 STXi output module 4 points, TTL, 5VDC/20mA Inverting

20BC085A0AYNANC0 PowerFlex 700 AC Drive 85 A 45 kW 20B

20F11RD3P4AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-A4P5F104 PowerFlex 4 0.75 kW (1 Hp) AC Drive

990XCA65609 Quantum 热备模块光纤电缆

284-MTRS22-M12 ArmorConnect Shielded Motor Cable

C200H-TC103 温度控制,铂电阻输入2路,电流输出

1492-RCDA4B63S Residual Current Device 63 A

6ES7153-1AA03-0XB0 IM153-1，可带 8 个模块

变送器 3RS10 42-2GW70

1497-H-M4-0-N Control Circuit Transformer

1606-XLE240E-3 480VAC Input 24VDC Out 10A Power Supply

1762-RTC MicroLogix 1200 Real Time Clock

188-K3D160 Miniature Circuit Breaker 16 A

194L-HE4A-325 ACTUATOR HANDLE FOR LOAD SWITCH

2090-CPBM7DF-08AA12 MP-Series 12m Power and Brake Cable

2090-XXNPMF-14S15 Kinetix Drives 15m Standard Cable

BC647TRT000 CIMPLICITY HMI Server NO LIMIT Runtime System with Proficy GlobalCare

GC647PSC050 "GlobalCare,####CIMPLICITY# Proficy##### 500# I/O"

IC200MDL930 Output relay 2.0 amps per point isolated form A, 8 points

IC646PME005 Proficy Change Management for ME 5 user pack

IC647MVD000 ME View View OPC Driver License with Hardware Key

IC684TROLI605 CIMPLICITY HMI Plant Edition Online Course -Module 5

IC697VAL308 Discontinued, future replacement is Embedded VME-6550. Contact GE IP Embedded for details.

IC800SSI407RD2RR 7.2A, 480V, DeviceNet S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-M1 EEPROM MEMORY MODULE, 1K FOR PROGRAMMABLE CTRLR

Industrial Computers 6181P-12TPXPHDC VERSAVIEW INTEGRATED DISPLAY COMPUTER 12-INCH

Application-specific products 9358-PBBK30ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 30 UNITS

Operator Interface 2711-K5A12 PV550 MONOCHROME KEY, PBUS & RS232 PRINT

Support 9306-4EXP02S SUPT RENEWAL CONTRACT FOR 93064EXP02ENE

Support 9393-RSTHYDR SUPT REINSTATEMENT CONTRACT FOR 9393RSTHYD, PHYD

ControlNet Products 2711E-K10C15 PANELVIEW 1000E KEYPAD TERMINAL, 10.4" FLAT PANEL

RSI Software Products 9301-2SE2500U1 UPGRADE: IN-SUPT: RSVIEW32 WORKS 32K TO 100K

RSI Software Products 9358-BEPB30U2 UPGRADE: IN-SUPT: RSBW BATCH & EPROCEDURE 10 TO 30

Motion Control MPL-A4540C-SK24AA MOTOR,SERVO,10.2 NM,1500RPM,SINGL,230V,BRK,13KG

Motion Control 2090-XXNFY-S04 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,4M

CFBA-0WPB-0140-AZ Encoder Feedback Cable, BM Series Motors, 14 Meters

IC641PCC132 Logic Engine (runtime) with GUI - 128 Points

IC800SSD407RS1 7.2A, 480V, S2K Servo Drive for MTR Series Motors

PR-PAT-HS02 Proficy PAT - Driver For Spectranet-Coupled Hamilton Sundstrand Analect Ftir Spectrometers

20BB015A0AYNBNC0 PowerFlex 700 AC Drive 20B

20DD820N0ENNBNANE PowerFlex 700S AC Drive 820 A 700 Hp 20D

20YF325A0ANNANA0 PowerFlex 700 AFE Active Front End

2711P-K10C4A9 PanelView Plus Terminal

280-PWRM35C-M6 ArmorStart Three-Phase Power Media

CPM2A-20CDT-D 20点主机 DC24V 12点入8点晶体管输出 自带RS232C口

1492-MS5X12V31-40 Connection Products

1495-N64 Protective Fuse Cover

行程开关 3SE53120SF11

运行版软件 6AV2105-0DA14-0AA0 SIMATIC WinCC Runtime 专业版 512 PowerTags ASIA V14

1585J-M4TBJM-8 RJ45 Ethernet Media

1756-OG16 ControlLogix 16 Point D/O Module

188-K1C100 Miniature Circuit Breaker 10 A

194E-HE8N-175 194E Load Switch Actuator

2090-CFBM7DF-CEAA20 MP-Series 20m Servo Feedback Cable

2090-UXLF-336 Ultra Series 36A AC Line Filter

BC646SJH365 Sol Provider license w/HMI - Japan Only

GC647IFCLNTS005 GCC iFIX iClientTS 5 Additional Users

IC200ALG321 Analog output 12 bit voltage 0-10VDC 4 channel

IC646IFCLNTCRO100K iFIX iClient Read Only 100 PK Keyless (M1 Kit Part)

IC647IFPRDV00300K iFIX Profsnl SCADA 300 I/O Development (M1 Kit Part)

IC660SLA026 Red Safety Label Kit for IC660BBA026 Genius Blocks

IC697CBL709 Cable, MAP Controller to Broadband Modem

IC800CBL001 Digital servo command cable for DSM302 or DSM314. 1 meter

ControlLogix/1756 System 1756-M12 LOGIX5555 750K MEMORY MODULE

Industrial Computers 6182H-7KEH15B VVCE 700, KEYPAD, EXT MEM, CNET, AC

Process Control 9358-PBA03ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 03 UNITS

Operator Interface 2711P-K15C4D2 PV PLUS 1500, KEYPAD, ENET, DC PS, EXT MEM

Support 9352-WC2500R SUPPORT REINSTATEMENT CONTRACT FOR 9352-WC2500

Support 9310-WL100R 9310-WL100 SOFTWARE SUPPORT CONTRACT REINSTATEMENT

Support F6008-LTV FIRMWARE UPGRADE FOR 6008-LTV PLC5 PROCESSOR MODUL

RSI Software Products 9301-2SE2353ITE RSVIEW32 WORKS 5K WITH RSLINX (ITALIAN)

RSI Software Products 9351-WES INTERCHANGE FOR WINDOWS

RSI Software Products 9399-WL5UG WINTELLIGENT LOGIC 5 USER GUIDE

Motion Control 2090-CDNPBMP-8S30 CABLE, 460V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,30M

BC646MSP101 Logic Developer - State Professional w/1 Yr of SAFE w/Programming Cable

IC300TIU201 Graphical Operator Control Station Two serial ports, (1) RS-232 and (1) RS-485/RS-232 port, (1) CAN port, 3 meg of screen memory. (4) SmartStack support. No controller support.

IC754VSI10MTD 10" Monochrome Quickpanel View Intermediate, Touch, 24VDC

MTR-3T66-H-R-B-M-0RR Servo Motor Metric 24V Brake

20AD011A3AYNAEG1 PowerFlex 70 AC Drive 11 A at 7.5 Hp 20A

20DC043A0EYNANANK PowerFlex 700S AC Drive 20D

20G1ANC367AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-A4P8N114 PowerFlex 527 0.75kW (1Hp) AC Drive

280-MTR22-LC ArmorStart Three-Phase Power Media

FR-F740-S75K 110 KVA 144A 75KW 3相AC380V/50Hz/60Hz

1492-LMJ3 IEC Mini Rail 5.1x35x23.7mm Spr Clp

1494G-DF3N-421 NEMA 1494G Enclosed Disconnect

软启动器 3RW44432BC44

ET 200SP 6ES7132-6HD00-0BB1 RQ 4x120VDC-230VAC/5A 继电器输出，常开触点， 标准型，基座单元类型 B0、B1

1585D-F4DC-SH Ethernet Media

1756-A17 ControlLogix 17 Slots Chassis

1794-IF4IXT Flex XT 4 Point Analog Input Module

194E-AA80E-PE-TN 194E Load switch

2080-LC50-24QVB Micro850 24 I/O EtherNet/IP Controller

2090-CSWM1DF-18AA13 Kinetix Cable Single DSL 2090-Series

20AC3P5C0NYNANC0 PowerFlex 70 AC Drive 20A

GC646MRA159 Proficy GlobalCare Complete for View Runtime 1,500 I/O

HE693SNP232 SNP to RS-232 Adapter only

IC610MDL124RR I/O Simulator Module (8 points)

IC647HSTSS10KM Historian Standard Server 10000 Points (M4 Key)

IC660BBD025RR 5/12/24Vdc Sink I/O Block, 32 Circuit, Ph B

IC695ACC002 Replacement plastic cases for RX3i CPU and AC PS, quantity 4. Does not include front cover.

IC756WDN010E-28 DataViews Development System for Visual Basic, Java, C++, & Native C 1 User, English v2.8

CompactLogix System 1769-IA16 16 POINT 120 VAC INPUT MODULE

PLC-5/1771 System 1771-PSC POWER SUPPLY CHASSIS, 4 SLOTS

Distributed I/O 1798-BP8 FLEXARMOR 8 SLOT BASE PLATE

Operator Interface 2711P-K6C3D PV PLUS 600 COLOR, KEYPAD, DH485, DC PS

Support 9323-S5250R SUPT REINSTATEMENT CONTRACT FOR 9323S5250

Support 9358-PBA30S SUPT RENEWAL CONTRACT FOR 9358PBA30ENE

Support F1775-L2SERA FIRMWARE UPGRADE FOR 1775-L2 PLC3 PROCESSOR MODULE

RSI Software Products 9324-RLDFBDENE RSLOGIX 5000, FBD EDITOR ENG

RSI Software Products 9305-RSVADSFRE RSVIEW32 ACTIVE DISPLAY SERVER (FRENCH)

RSI Software Products 9322-ECCBENE ENTERPRISE CONTROLS CONTROL BUNDLE

Motion Control 2094-PR8 POWER RAIL, 230V OR 460V, 8 AXIS

A06B-6089-H106 Alpha Series SVU1-130 Amplifier

IC200UEX012-24 Qty of 24, 14 point expansion. (8) 24VDC In, (6) Relay Out, 24VDC Power Supply (includes IC200CBL501)

IC752CBT073RR Datapanel 320T CEG w/ Advanced s/w: 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With Real Time Trends & Host Communications. With 2Meg & Genius PC/104.

MTR-35005685 Custom modified MTR series NEMA 34 stepping motor

ZA06B-0143-B175#7008 A12/3000 servo motor with brake and 64k serial encoder

20BD600N3ANNNNC0 PowerFlex 700 AC Drive 600 A 500 Hp 20B

20G14NC140JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-E1P7 PowerFlex 520 0.75kW (1Hp) Power Module

OFSCSPBLU Quantum OFS LARGE SUBSCRIPTION RENEWAL

FVR0.75E11S-4JE 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

1492-J3-W 2.5 square mm Standard Terminal Block

1492-SPM3D080 MCB Supplementary Protector 8 A

软启动器 3RW40382BB04

SIMATIC HMI 系列面板 "6AV2124-0GC01-0AX0

150-SM3 SMC-50 Analog I/O Module

1738-EXT3 ArmorPoint Bus Extension

1784-CF128 ControlLogix CompactFlash Card

193-KB16 1.1-1.6 A IEC Bimetallic Overload Relay

20-750-PBAY-LBRK-4 POWERFLEX 750 KIT,L BUSBAR,CU,4 HOLE

2090-CPWM7DF-16AF75 MP-Series 75 m Length Power Cable

20AB042C0AYNANC0 PowerFlex 70 AC Drive 42 A at 15 Hp 20A

GA647IFPLRN00300 GCA iFIX Plus SCADA 300 I/O Run

GP647IFCLNTSRO025 GCP iFIX iClientTS Read Only 50 PK Runtime Version

IC600BF819RR Type R Thermocouple Input Module (8 points)

IC647HSTCC5KM Calculation Collector for Historian - Standard Server 5000 Points (M4 Key)

IC647TDV700 CIMPLICITY HMI Server 700 I/O Development & Runtime System

IC693MDL940 Relay Output, 2 Amp (16 Points)

IC756LDV001J-99 DV Development - Intel/Linux RedHat Addt'l User, Japanese, Version 9.9

Pico Controllers 1760-PICOPROPC02 PICOSOFTPRO W/PROG CABLE

PLC-5/1771 System 1771-OQ16 ISOLATED OUTPUT MODULE, 24V DC

Distributed I/O 1791-8AC BLOCK I/O, 120V AC, 16 POINT MODULE

Communications 1786-TPYS CONTROLNET Y-TAP/STRAIGHT

Operator Interface 9399-2SE32GRDE RSVIEW32 GETTING RESULTS GUIDE (GERMAN)

Support 9701-VWSTR SUPT REINSTATEMENT CONTRACT FOR 9701VWSTENE

Support 9324-RL0300ESS SUPT RENEWAL CONTRACT FOR 9324RL0300ES

EtherNet/IP Products 1769-L35E COMPACTLOGIX ETHERNET PROCESSOR, 1.5MBYTE MEMORY

RSI Software Products 9301-2SE3500DEU4 RSVIEW32 RUNTIME 150-100K UPGRADE IN-SUPT (DE)

RSI Software Products 9356-PRO2450U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO 32000 TAGS

Motion Control 0041-5061 SHAFT SEAL KIT, F-6000 SERIES MOTOR

44A728335-012 Test & Upgrade - PLC

IC200ALG263 ANALOG INPUT 15 BIT VOLTAGE 15CH

IC693MDL752LT 5/12/24 Vdc (TTL) Output, Neg Logic, (32 points) (LT)

Silver Series 2711E-K14C15 PANELVIEW 1400E KEYPAD TERMINAL, 14"COLOR CRT

VMEM-REP10 Add on - VisualMEM Admin Bundle, 10 licenses. Requires VMEM-SVR.

20BD022A3AYNACC1 PowerFlex 700 AC Drive 22 A at 15 Hp 20B

20G11FC104JA0NNNNN PowerFlex 755 AC Packaged Drive

22C-D038A103 PowerFlex 400- 18.5 kW (25 HP) AC Drive

975750000 Quantum RIO同轴电缆，RG-6

285-BRC25-M6D Source Brake Patchcord Cable, 6M, M25

H7CX-A NEW AC100-240V -999999-999999次，无电压/电压输入，继电器输出，一常开/闭

1492-SPM1D320 MCB Supplementary Protector 32 A

通用型变频器 6SE6 440-2UD41-3GB1 132 KW,326 x 1533 x 545

电机启动器 3VU13401TL00

150-C86 SMC-3 Accessory

170-PW23 Bulletin 100-C Accessory

1771-IN INPUT MODULE, 24V AC, 8 INPUT

193-EC3KH E3 Plus 125-630 A Overload Relay

198-SCB2 ModCenter IEC Shaft Kit

2090-CPWM4DF-14AF20 MP-Series 20 m Length Power Cable

2094-BC04-M03-M Kinetix 6200/6500 Integrated Module

DEMOCD00006 Cimplicity Change Management DEMO CD

GFK-0727 State Logic Processor for Series 90-70 PLC User's Guide

IC210BAR010 AC (85 to 264VAC) Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, without LCD/Keypad

IC647ARC010 PA Reporting Client 10 Pak

IC647PPSAPC Proficy Process Systems App Server with Cimplicity

IC693CMM311RR Communications Module, CCM2

IC754VBI06STD View Intermediate 6 inch STN Touch DC Blank

MSI-BETA-43 Beta Software Ver 4.3

SLC/1746 System 1746-F8 FUSE FOR CTLG # 1746-OBP16/OVP16 OUTPUT MODULE

Distributed I/O 1734-OB2E 24V DC 2 CHANNEL SOURCE OUTPUT MODULE

Application-specific products 1803-EEM12E12 EEM,16 PULSES,24V DC,16 ANALOG,4 TO 20MA, NEMA12

Operator Interface 2711-T10G8 PV1000 GRAYSCALE TOUCH, DH+ & RS232 PRINT

Support 9301-RSVWSENR SUPT REINSTATEMENT CONTRACT FOR 9301RSVWSEN

Support 9381-PP1KENS SUPT RENEWAL CONTRACT FOR 9381PP1KEN

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

RSI Software Products 9301-2SE3350DEU2 RSVIEW32 RUNTIME 300-5K UPGRADE IN-SUPT (DE)

RSI Software Products 9358-PBPC60ENE RSBIZWARE BATCH FOR PLX PC BASED PHASE 60 UNITS

Motion Control MPL-B680F-SJ22AA MOTOR,SERVO,60.0NM,3000RPM,SINGL,460V

Silver Series 1398-DDM-005 DRIVE,7.5A PEAK, ULTRA 100

HE300GEN250 Genius interface board for new generation AV300/DV300 drives (internal mount).

IC646NWV010 WebView-10 Pack License

PC752PBM604 Scanner module to be a master of Profibus network for 6" unit only

ST-2742 STXi output module Isolated Relay Output 2 points, 230V AC/ 2A

20BC105A0ANNANC0 PowerFlex 700 AC Drive 20B

20F14NC170JA0NNNNN PowerFlex 753 AC Packaged Drive