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PCMCIA-232,

PCMCIA-232

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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。
 

193-ESM-I-30A-P E300/E200 30 Amp Sensing Module

194E-HE4N-175 194E Load Switch Actuator

2090-CFBM4DF-CEAA15 MP-Series 15m Feedback Cable

2090-CSBM1DF-14AF20 Kinetix Cable Single DSL 2090-Series

2090-XXNPMP-8S40 MP-Series 40 m Length Power Cable

ENP2115M010 Male Industrial/Male Industrial, 1 meter

HE800ACC014 Cage-clamp (screw) style I/O plug, 14-terminal. (Qty 1)

IC600BF813RR Type J Thermocouple Input Module (8 points)

IC646NGJ000 Johnson Controls N2 Communications

IC647IGSBSC_M IGS:Industrial Gateway Server Basic Protocols

IC670MDL642 125VDC Pos./Neg. Logic Input, 16 Point, Grouped

IC697MDL340 120 Vac Output, 2 Amp (16 Points)

IC800SLCFLYZ030 Flying lead cable to connect any 30 Watt to 750 Watt SL series amplifier I/O to a 3rd party controller. 3 meters

ControlLogix/1756 System 1756-EWEB CLX ENET/IP ENHANCED WEB SERVER MODULE

Industrial Computers 6182H-12KRH6D VVCE 1250, KEYPAD, STD MEM, RIO/DH, DC

Process Control 1757-PFBUL050 PROFIBUS INTERFACE MODULE USAGE LICENSE

Operator Interface 2711P-RUL10 PANELVIEW PLUS FIRMWARE UPGRADE LICENSE

Support 9357-DNETMD3R SUPT REINSTATEMENT CONTRACT FOR 9357DNETMD3E

Support 9361-VBXS SUPPORT RENEWAL CONTRACT FOR 9361-VBX

ControlNet Products 1734-IT2I 24V DC 2 CHANNEL THERMOCOUPLE INPUT MODULE

RSI Software Products 9301-2SE2403FRE RSVIEW32 WORKS 32K WITH RSLINX (FRENCH)

RSI Software Products 9358-B03UB1 UPGRADE: IN-SUPT: RSBIZWARE BATCH 03 UNT TO BUNDLE

Motion Control MPL-A430H-HK22AA MOTOR,SERVO,6.55NM,3500RPM,ENCRD,230V,6.4KG

Motion Control 2090-UXNFBN-S03 CABLE,ULGRF50ON-FLEX,MOTOR FEEDBACK,N,3M

CBL-146 Cable.GE Series 90 PCM and COMM port 2 (RS-422)

IC610CHS110RR Rack, 115/230Vac Power Supply (5 Slots)

IC800SLA0202 200W, 230 VAC SL Servo Amplifier

OC647IFGLBLCLN010M-51 iFIX WebSpace Client v5.1 - Additional 10 Users

20AD2P1A3AYNNNC0 PowerFlex 70 AC Drive 2.1 A at 1 Hp 20A

20DD011A0EYNANANE PowerFlex 700S AC Drive 20D

20P21AD6P0RA0NNN PowerFlex 6 A DC Drive

2711-NL9 PanelView 1000C Ser D Replace Backlight

280-PWRM22H-M10 ArmorStart Three-Phase Power Media

3G3JV-A4007 3.6KVA 3.4A 0.75KW 三相AC380-460V/50HZ/60HZ

1492-MCAA160 60 A UL489 Miniature Circuit Breaker

1494U-J60-CR-M Cable and Rod Disconnect Kits

软启动器 3RW44552BC34

Safety Advanced V14 6ES7833-1FA14-0YF5 Upgrade DS V5.4 -> Safety Adv. V14 SP1

1585D-M4UBDM-35 Ethernet Media M12, Patchord

1756-IRT8I ControlLogix 8 Point RTD/Thermocouple In

1797-IRT8 FlexEx 8 Point Temperature Comb Module

194E-E40-1753-6G 40 A 194E Load switch

2090-CFBM6DD-CCAA01 TL-Series 1m Feedback Cable

2090-MPPC-S MP-Series Power Connector Kit

BC646MDA075 View Development/Runtime 75 I/O with Proficy GlobalCare Complete

GC647ABS001 GC PA Batch Analysis Server

HMI-CAB-C118-A Cable - GEFanuc Series 6

IC641SWP040 Series 90 Protocol (SNP) Driver, DOS, Single-Use License

IC647IFCLNTS010M iFIX iClientTS 10 Additional Users (M4 Part)

IC660EBA104 Electronic Assembly for IC660BBA104

IC695PSA040 RX3I Power supply 120/240VAC and 125VDC 40 watts occupies two slots on s ystem base.

IC756WRE049J-99 DataViews Runtime for Windows 25-49, Per User, Japanese, Version 9.9

FlexLogix System 1794-IM8 220V AC INPUT MOD, 8 PT.

PLC-5/1771 System D1785-10.6 CONTROLNET PLC5 PROGRAM. CONTROLLERS QUICK START

Process Control 1757-PLXSIFN PLX MODICON PLC, MODBUS RTU QUICKBUILDER INTERFACE

Operator Interface 2711P-B10C6B2 PV PLUS 1000, KEY/TOUCH, RIO/DH, AC PS, EXT MEM

Support 9310-TSTNDR SUPT REINSTATEMENT CONTRACT FOR 9310TSTNDENE

Support 2705-ND1S SUPT RENEWAL CONTRACT FOR 2705ND1

Support F1785-L40BSERB FIRMWARE UPGRADE FOR 1785-L40B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300KOE RSVIEW32 WORKS 1500 (KOREAN)

RSI Software Products 9701-VWSB250JPU2 RSV SE STATION 100- 250 DISPLAY UPGRADE(JAPANESE)

RSI Software Products 9399-PLC5MAN PLC 5, 6200 SERIES MANUAL SET(FOR 5.2 REL + NEWER)

Motion Control 2098-DSD-150-SE DRIVE, 65A/150A, ULTRA3000 W/SERCOS

BC646MDB300 Logic Developer PC w/Runtime 300 I/O

IC300MIX902 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc,0.5A pos. logic with ESCP) and 4 channels Analog Inputs, voltage (0-5vdc, +/-5vdc, 0-10vdc, +/- 10vdc), 12 bit; 2 channels Analog Outputs, voltage (+/- 10vdc)

IC752SKT003RR Datapanel H Starter Kit: Includes Datapanel H (DPH000), download & communication cables, WinCfg, user & programming manuals

MTR-3S84-G-R-0-E-SRR Servo Motor with Seal

ZA06B-6120-H045 PSM-45HVi 45 kW high voltage power supply module for Alpha servos

20CC300A0ANNBNG0 PowerFlex 700H AC Drive 20C

20G1ABF265JN0NNNNN PowerFlex 755 AC Packaged Drive

25A-D043N114 PowerFlex 523 22kW (30Hp) AC Drive

2711P-T6C20A8 PanelView Plus 6 6 Color Touch AC

6SE6440-2UD22-2BA1 2.2KW

1492-JTC3K 2.5 mm Thermocouple Terminal Block

1492-XIM120-8R BUL.1667-PANELCONNECT INPMOD,INTERFACE

软启动器 3RW44241BC45

通信模块 6ES7 541-1AD00-0AB0 CM：PtP RS232，高性能通讯模块

1585-C4UB-S300 1585 Ethernet Cable

1746-OV32 SLC 32 Point Digital Output Module

1790-0V16X CompactBlock LDX 16 Expansion Block

194E-A-P22 194E 2 NO-2 NC Auxiliary Contact Block

20-PP09042 WIRE SET ASSY NON-REGENERATIVE FRONT END

2090-CSBM1DF-18AA07 Kinetix Cable Single DSL 2090-Series

20AC030F0AYNANC0 PowerFlex 70 AC Drive 30 A at 15 kW 20A

GC-8459-SI-RN SI Consignment System Renewal (12 month license)

HE200TIM100 GPS time server of HE693SER300:provides time synchronization between s eperate racks or locations

IC600KD512RR Color Operator Interface Terminal/ 12 inch CRT

IC647HSTES150KM Historian Enterprise Server 150000 Points (M4 Key)

IC647YKGM YKG:Johnson Yokogawa DARWIN

IC694ALG392 Output module analog 8 points, voltage/current.

IC756SDV000E-99 DV Development - Solaris Op Sys, English, Version 9.9

MicroLogix 1200 System D1762-RM001CENP MICROLOGIX 1200&1500 INSTR.SET REFERENCE MAN.

PLC-5/1771 System 1771-RTP3 HIGH RESOLUTION ISOLATED ANALOG SERIES

Distributed I/O 1794-IE4XOE2 ANALOG COMBO MODULE, 12 BIT, 4 INPUT/2 OUTPUT

Communications 9399-WAB32GRFR RSLINX GETTING RESULTS GUIDE (FRENCH)

Support 6203-PLC2AS SUPT RENEWAL CONTRACT FOR 6203PLC2A

Support 9358-BIZUC4PS SUPT RENEWAL CONTRACT FOR 9358BIZUC4PENE

Support F1771-IFESERA FIRMWARE UPGRADE FOR 1771-IFE I/O MODULE

RSI Software Products 9324-RLD000ESE RSLOGIX 5000 SERVICE EDITION, ESP

RSI Software Products 9301-2SE350JPU1R RSVIEW32 RUNTIME 32K-100K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-HSTS2500U1R UPGRADE: OUT-SUPT: HISTORIAN 150 TO 70K TAG

Motion Control 8720SM-015S2EBS2 15 KW/41.5 AMP, 460 VAC, AC MOTOR WITH SRM60 ENC.

8162 SLDERLSS Field CONN Adapter, Used W/4162. RIBB CBL O/I For Data LNS & Multiplex

IC200MDL243 INPUT 120VAC ISOLATED, 16 POINTS

IC697CMM741RR Series 90-70 MMS/Ethernet Lan Interface

MTR-1324-E-A-E-0RR Stepping Motor Nema34 Encoder

Z44C741863-001 2 meter cable for Alpha amplifier battery kit

20BD096A3ANNANC1 PowerFlex 700 AC Drive 96 A 75 Hp 20B

20G11NC2P1JA0NNNNN PowerFlex 755 AC Packaged Drive

22F-D4P2N113 PowerFlex 4M- 1.5 kW (2 HP) AC Drive

NWBM85S485 Quantum MBUS+ PROG BRIDGE/MUX SUPRS485

294D-FD4P2Z-G1-3-SB Variable Frequency Drive

S82F-1524 220VAC，容量：150W输出 24V 7A 已停产

1492-SPM3B070-N MCB Supplementary Protector 7 A

软启动器 3RW40271BB05

电机启动器 3VU16403CN00

150-F60NBD SMC Flex Smart Motor Controller

1734-EXT1 POINT I/O Bus Extension Cable

1783-BMS10CGL Stratix 5700 10 Port Managed Switch

193-EIO-CM-C55 E300/E200 100-C55 Contactor Coil Module

20-750-CNETC PowerFlex 750 ControlNet Adapter

2090-CPWM7DF-10AF30 MP-Series 30m Servo Power Cable

2098-DSD-005-SE Ultra 3000 0.5kW with SERCOS Servo Drive

FF-CONF-BUNDLE Proficy Process Systems Fieldbus Linking Device plus NI Tool from Softing

GFK-2071 10.5 inch/12.1 inch 24V DC QuickPanel Installation Guide

IC220PBI002 Profibus DP V1 NIU for VersaPoint I/O

IC647DMS005 DataMart 5 PA Connections

IC647ROC010C ROC:Fisher Remote Operations Controller for 50 Units

IC693MDL390 120/240 Vac Isolated Output, 2 Amp (5 Points)

IC756CDV010K-97 DV Draw Development on Compaq True64, Korean, Version 9.7

MSI-PROD-SV Product Management Server Software

PLC-5/1771 System 1785-BEM PLC-5 BACKUP COMMUNICATIONS EXPANSION MODULE

Distributed I/O 1790-T0V16X LDX I/O, 24VDC, 16 SINK OUT EXPANSION, TERM BLK

Communications 1785-TBS THICK-WIRE TRANSCEIVER CABLE KIT, 6.56FT/2M, STD

Operator Interface 2711-NM4 128K EEPROM MEMORY CHIP FOR BACKUP ONLY

Support 9305-RSVADDCFRS SUPT RENEWAL CONTRACT FOR 9305RSVADDCFR

Support 9324-RLD300ITS SUPT RENEWAL CONTRACT FOR 9324RLD300IT

DeviceNet Products 9355-RSLETENE RSLINX ENTERPRISE

RSI Software Products 9301-2SE3400FRU2 RSVIEW32 RUNTIME 300-32K UPGRADE IN-SUPT (FR)

RSI Software Products 9371-RSWD1U1 UPGRADE: IN-SUPT: RSWIRE DET JIC STDAL TO DES PRF

Motion Control 1326AB-B410G-M2L MOTOR,SERVO,460V,2.7NM,5000RPM,MULTI,IP67

2125 Greyline OS, 4 Line, (20) 5MM Chars, VFD, Quick Connect, NEMA 4

HE693XTADP 9-pin to 25-pin adapter for HE693SNPCBL, HE693CBL222 and 25-pin serial ports

IC677DBM442 Profibus VersaMax IP Modular slave with (8) 24VDC inputs

QPK2D100L2P/S QUICKPANEL MONO 6" LCD WITH EPOXY SEAL

STXPBS925 STXi Profibus with 16 24VDC source (Negative Logic) input and 16 isolated relay output, expandable to 8 additional modules.

20BC3P5A0NYNANC0 PowerFlex 700 AC Drive 20B

20F1AND302AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-D012F104 PowerFlex 40 5.5 kW (7.5 Hp) AC Drive

140DIO33000C Quantum 开关量输出, 8点, 本安型,CC

284E-FVD2P3Z-10-DRN-DB1-SB-EMI EtherNet Variable Frequency Drive

E3Z-R81 4m 反射式 晶体管输出 PNP 100Ma 电源DC12-24V

1492-SPM1B300 MCB Supplementary Protector 30 A

直流电源 6EP1336-3BA00 120/230VAC 输入，24VDC/20A 输出

6SL32101KE175UF1

1497D-A15-M10-0-N Gen Purpose Transformer

1606-XLSRED80HE XLS Redundancy Module

1769-L36ERM CompactLogix 3 MB Motion Controller

190S-AND2-CB10C Compact Comb Starter W/Ckt-Bkr

194R-LNC8 Terminal Shroud, 4P, 125A

2090-CPBM7DF-16AA03 MP-Series 3m Standard Cable

2090-XXNPY-16S25 Y-Series 25 m Length Power Cable

CBL-OIJR-06-RA Serial cable with right angle connector for Operator Interface Panel connected to an S2K controller. 6 feet

GF-2530R Connecting FlashCable to Sony LH xx (w/RS-232).

IC200UDD120 28 point PLC,(16) 24VDC In, (12) 24VDC Out ESCP(2 at 1.0 amp and 10 at 0.70 amp), 24VDC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC646TPD935 35,000 I/O Point Development System

IC647OPMC OPM:Opto 22 Mistic

IC693ALG392CA Conformal Coated Analog Output module, eight channels voltage/current.

IC752DPJ000RR Datapanel J+, 256x64 LCD with EL backlight. Various sizes of text, bi tmaps, bar graphs, real time clock. Includes an integrated keypad for data entry. No touch capability.

IC800VMMCONP003 VersaMotion motor power and brake connector (1 kW and 2 kW models)

SLC/1746 System 1747-PIC CONVERTER RS 232/DH 485

Industrial Computers 6186-M15SSTR VERSAVIEW 15 INCH MONITOR, RESISTIVE TOUCH SCREEN

Application-specific products 1404-M405B-232 MASTER MODULE - PQ 24V POWER SUPPLY 232 COM

Operator Interface 2711-T6C20L1 PV600 COLOR TOUCH, ENET & RS232 PRINT

Support 9301-2SE3100ITR SUPT REINSTATEMENT CONTRACT FOR 93012SE3100IT

Support 9380-RSBAR5000S SUPT RENEWAL CONTRACT FOR 9380RSBAR5000

DeviceNet Products 1734-TB3SQ10 TEN 12-POSITION IP20 SPRING TERNIMAL BASES

RSI Software Products 9301-2SE3200PTE RSVIEW32 RUNTIME 300 (PORTUGUESE)

RSI Software Products 9358-BPCNT30U1R UPGRADE: OUT-SUPT: RSBATCH PC-BASED 03 TO 30

Motion Control MPL-B4520P-RJ22AA MOTOR,SERVO,6.1 NM,5000RPM,RSLVR,460V,7.7KG

Motion Control 2090-SCNP8-0 SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,8.0M

GFK-1885A ViewStation/ControlStation CE II (6") HW User's Guide

IC646MDE700 Logic Developer - PC & View (HRT) 700 Tag Runtime & Development System

MTR-1221-N-D-E-0 Stepping Motor Nema23, Series Wdg

QPI3D200E2P/B 9 inch Monochrome EL/ Blank Label/ 24VDC/ UL/ cUL/ CE/ UL1604

20BC030A3AYNAEC0 PowerFlex 700 AC Drive 30 A at 15 kW 20B

20F11NC015AA0NNNNN PowerFlex 753 AC Packaged Drive

21G1ALC567JN2NNNNN-ND-L1-P3-P11-P14 PowerFlex Air Cooled 755 Packaged Drive

2711P-RFK12 PanelView Plus Accessory

280G-F12D-10B-RRG-CBG ArmorStart 280/1 Starter

C200HW-BI051 扩展机板?可安装5个I/O单元

1492-PD3C112 255 A Power Distribution Block

中央处理单元 6ES7412-1XF04-0AB0 CPU412-1，144KB，100ns，电源 24VDC， MPI/PROFIBUS-DP 主站接口

变送器 3RS17252FD00

TIA 博途数字化选件 6ES7823-1AA04-0YA5 TIA Portal Multiuser V14

1585J-M8TBJM-15 RJ45 Ethernet Media

1760-USB-GFX PicoGFX USB Programmer Cable

188-K3B100 Miniature Circuit Breaker 10 A

194L-E12-C34 Terminal Cover 3 Pole 12 - 16 A

2090-CPBM4DF-16AF04 MP-Series 4 m Length Pwr and Brake Cable

2090-XXNFMF-S04 Kinetix Drives 4m Standard Cable

BC647OEM0401 OEM Edge Program Renewal - Historian

GC647NXV001 Proficy GlobalCare Complete for Tracker Order Execution Management Web Viewer

IC200MDD842 Mixed 24VDC POS LOG input group 16 point / output 24VDC 0.5 amp with ESCPoutput 16 point.

IC646NMR000 Modbus RTU Communications

IC647M32C M32:Moore MYCRO 320 Independent Computer Interface

IC670MFP100 Micro Field Processor

IC697MDL653 24 Vdc Input, Positive/Negative Logic (32 Points)

IC800SLMCONKITVL connector kit for 3.5 kW to 5 kW S-series servo motors without brake

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Motion Control MPL-A430P-MJ22AA MOTOR,SERVO,5.42 NM,5000RPM,MULTI,230V,6.4KG

Motion Control 2090-UXNFDN23-K01 CABLE,ULTRA,NON-FLEX, MOTOR FEEDBACK,N,SKW,1M

CBL-154 Cable. IBM COMP. To Operator Workstation, 9 Pin PC COMM. Port

IC610MDL156RR 24Vdc Sink Output, D Connector, with LEDs (16 points)

IC800SLCBVL100 Power/Brake Cable, 3500W and 5000W SL Servo Motors with Brake, 10 Meters

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