YYT102C
价格:999.00
诚信经营,质量为首,诚信至上,真诚为您服务--------------------------------------------------允许我给您介绍下这个产品和我们的服务:现货全新原装***15天质量问题无条件包退换一年质保完善的***服务雄厚的技术人才后盾真正的为客户排忧解难客户的满意是对我们的肯定更是我们的动力单子,得之,我幸。不得,我力争到底全心服务--------------------------------------------------ABBYYT102C优质的产品★优质的价格★优质的***★优质的服务,是您***佳的选择!该控制器的操作指令包括控制指令、设定指令、询问指令等。指令格式的***高字节为命令字节,即控制器的ID号和Code(指令号)。ID指出控制器的识别号码,Code指出指令代码,它们各占4位。需要注意的是,对于控制和设定指令,紧随命令字节的是n个字节组成的控制或设定指令数据,但询问指令仅有命令字节,没有指令数据。2.1控制指令伺服控制系统的三种控制模式均有相应的控制指令。位置控制应用于进行连续点控制的插补点位置控制。位置控制数据由三个字节的有符号数来表示,其***大值和***小值分别为223-1(=7FFFFFH)和-223+1(=800000H)。其中,0H~7FFFFF为电机的正方向,800000H~FFFFFFH为电机的负方向。位置控制指令的格式如图3所示。速度控制应用于机器人关节以一定速度运动的场合。速度控制数据由一个字节的有符号数来表示,其***大值和***小值分别为27-1(=7F)和-27+1(=80)。其中,0H~7F为电机的正方向,80H~FFH为电机的负方向。在速度控制模式下,需要停止指令、目标值为零的速度或电流控制指令或到达极限位置时,系统才能停止运行。电流控制(转矩控制)不仅可以应用于电机的转动方向和电流的控制方向相同的场合,还可以应用在外力作用下,电机处于停止状态或电机的转动方向和电流的控制方向相反的场合。电流控制指令的格式和数据字节的***大***小值与速度控制指令相同。在电流控制模式下,停止方式也和速度控制模式相同。位置速度复合控制应用于一般位置控制,包括启动阶段的加速控制、速度控制、到达目标前的减速控制和位置控制四个部分。位置速度复合控制指令的控制数据包括3个字节的目标位置数据,1个字节的目标速度数据,1个字节的***大电流数据,共5个字节。各数据的***大***小值分别对应同上。2.2设定指令控制增益设定指令用于设***置、速度和电流控制的比例和积分常数。其指令格式如图4所示。运动范围设定指令用于设定机器人关节的极限位置,其指令格式如图5所示。其中动作端A和动作端B分别表示正方向的***大和***小位置。系统设定主要用于根据控制系统的需要设定各种系统数据。设定数据由一个字节的无符号数来表示。2.3询问指令询问指令的主要功能是查询各电机的位置、速度和电流数据,并且发信侧只有接收到受信侧返回的数据后才能发送下一个询问指令,即询问指令通过一问一答的形式进行通信。询问指令仅由命令字节组成。位置询问指令的返信数据格式同图3。速度和电流询问指令的返信数据均只有一个命令字节和一个数据字节。其返信数据的格式如图6所示。ABB3HAB2214-1/2DSQC315ABBYB560103BD4IODSQC223ABBDSQC3363HNE00001I/OABBYB60103BD4DSQC223ABB3HAB2241-1DSQC325#29414ABB3HAB2211-1DSQC256A#29408ABBDSQC239ABBDSQC-256ADSQC256AABB3HAA3573-AJADSQC307ABBDSQC2433HAA0001ABB3HAB7231-1DSQC320ABBSV***01ADSQC2392668165-14/3ABBYB560103-CF/1DSQC237402-165ABBDSQC266GABB3HAB2214-1/1DSQC315ABBDSQC140ABBDSQC3253HAB2241ABBDSQC239ABB3HAA3573-AJADSQC307ABBDSQC3HAA3563-AUA/1#29251ABBDSQC103YB161102-AD/1ABBDSQC241YB560103-CLABBDSQC224YB560103BEYB560103BE/2ABBDSQC317#28968ABBABBRobot,DSQC3353HAB6182-1ABBDSQC2583HAA3563-AUA/1ABBDSQC3283HAB7229-1ABBROBOTICS3HAC14363-1DSQC541ABBDSQC350,3HNE00025ABBDSQC209YB560103-ALYB560103ALABBDSQC266G3HAB8801-1/2BABBDSQC236AYB560103-CA8ABBDSQC3033HAA3573ADAABBDSQC230YB560103-BN2ROBOTABBDSQC236AYB560103-CA8ABBDSQC223ABBDSQC236GYB560103-CD/26ABBBOARDDSQC336ABB3HAB6182-1DSQC-335ABB3HAB8801-1/2DSQC266GABBDSQC249BABB3HAB2211-1DSQC256AABBDSQC3HAA3563-AGA/2ABBDSQC-249BABBDSQC224ABBDSQC2523563-ALG/2ABBDSQC223ABBDSQC266G3HAB8801-1/2BABBDSQC-236GABB3HAB-2214-8/4DSQC223ABB3HAB2214-8/4DSQC223ABBDSQC-223ABB3HAA3563-AHADSQC249BABBDSQC236GYB560103-CDABBDSQC236TYB560103-CEABBDSQC-236GABBDSQC103ABBDSQC256A3HAB2211-1-1ABBDSQC103YB161102-AD/1ABBDSQC123BDSQC130ABBDSQC-239ABBDSQC123BABBYB560103-CHDSQC239ABBDSQC-258ABBYB161102-AD/1DSQC103ABBDSQC123BDSQC130ABBDSQC-249BABBDSQC-258ABBDSQC-236GABBSENSORDSQC-256A3HAB2211-1-1ABBDSQC-230ABBDSQC-236TABBYB161102-ADDSQC103ABBYB560103-BLDSQC228ABBDSQC2231YB560103-ALABBYB560103-BDDSQC223ABBR3HAB8802DSQC266TABBDSQC236CYB560103-CCABBYB560103-BNDSQC230ABBDSQC129#13986ABBDSQC-223ABBDSQC-223UsedABBDSQC5043HAC5689-1ABBDSQC230YB560103-BNABBDSQC328A3HAC17970-1ABBYB560103-BD/4DSQC223ABBDSQC355A00554-1/10ABBDSQC236TYB560103-CE/23ABBDSQC-239ABBDSQC236TYB560103-CE/24ABBDSQC236TYB560103-CE/26ABB3HAB-5845-1/2-D?SQC334ABBDSQC-239YB560103-CH/10ABBDSQC223YB560103BD4ABBDSQC236GYB560103-CD/22ABB3HAB2211-1/1DSQC-256AABBDSQC315ABBDSQC236GYB560103-CD/24ABBDSQC236GYB560103-CD/22ABBDSQC241TYPESR926380ABBDSQC223ABBDSQC236TYB560103-CE/23ABBDSQC24983HAA3562-ANA/1ABBDSQ266G3HAB8801-1/2BABBDSQC235ADSQC-235AABBDSQC236GYB560103-CD/23ABBDSQC236TYB560103-CE/28ABB3HAC2424-1DSQC369ABBDSQC256A3HAB2211-1/1ABBDSQC104YB161102-AE/7ABBDSQC-266G3HAB8801-1/2BABBDSQC236GYB560103-CD/24ABBDSQC236G3HAB8801-13HAB8801ABBDSQC249B3HAA3563-4HA/2ABBDSQC223ABBDSQC230ABBDSQC103YB161102-AD/1ABBDSQC223ABBDSQC266T3HAB-880201/2BABBDSQC236U3HAA-3563-ANAABBYB-560-103-BE/2DSQC224ABBDSQC224ABB2668180-107/1DSQC102ABB3HAA-3563DSQC252ABB3HAB2211-1DSQC256AABBDSQC129YB161102-BV/1ABBDSQC129YB161102-BVABBDSQC236TABBDSQC223YB560103-BDABBDSQC2583HAAA3563-AUA/1ABBYB560103-CCDSQC-236CABBYB560103-BD/4DSQC223ABBYB-560-103-BE/2DSQC224ABBDSQC266A3HAB8796-1/2BABB3HAB8797-1DSQC266BABB3HAB-8801-1DSQC266GABBDSQC230YB560103-BNABB3HAB2211-1/1DSQC256AABBDSQC249BABBDSQC236TABBDSQC5043HAC5689-1ABBDSQC-223YB560103-BDABBDSQC-256A3HAB2211-1ABBDSQC3233HAB5956-1ABBDSQC2593HAB2205-1ABBDSQC236GYB560103-CDABBDSQC224YB560103-BEABBDSQC256A3HAB2211-1ABB3HAB2245-1ABBDSQC266H3HAB8800-1ABBDSQC257D3HAB2208-1ABBDSQC3313HAB7215-1ABBDSQC266T3HAB8802-1ABBDSQC3403HAB6914-1ABBDSQC3613HAC0373-1ABBDSQC3203HAB7231-1ABBDSQC3173HAB2220-1ABBDSQC2533HAA3563-AMAABBDSQC345C3HAB8101-3ABBDSQC346A3HAB8101-5ABBDSQC3253HAB2241-1)
厦门莫格电气自动化有限公司
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