MIV06-1-B5鹰潭长江金属期货行情走势

多电机伺服控制广泛应用于各种电力传动自动控制系统中，如配料、传动等生产过程。伺服系统中电机控制性能和多电机间协调控制的好坏直接影响生产过程的质量，如何高效管理、方便应用、实时控制是多电机伺服系统生产领域亟待解决的首要问题。因此，本文提出一种基于CAN总线技术的多轴运动控制数字交流伺服系统。 

   现场总线技术解决了传统总线插板I/O模块多，干扰严重、系统软件编写复杂、系统硬件兼容性差等问题。大大减轻了现场信号连接的繁琐与费用，提高了信号传输的精度与灵活性，给安装、调试和维护带来诸多方便，为现场用户带来巨大的经济效益，代表着自动化领域发展的一个重要方向. 

CAN总线技术 

   随着工业现场控制和自动化技术的不断进步，传统的通信模式已不能满足现代工程需要。CAN（Controller Area Network）总线是80年代初德国Bosch公司为解决现代汽车中众多控制与测试仪器间数据交换而开发的一种串行数据通信协议，是一种性能先进、价格低廉、保密性好的现场总线（Field Bus）技术，能够有效支持分布式控制或实时控制串行通信网络[2>。CAN总线中各节点都有权利向其它节点发送信息。通信介质可以是双绞线、同轴电缆或光纤，主要技术特点有: 

1,是一种多主总线 

   网络上任一个节点均可在任意时刻主动向网络上其它节点发送信息，多主站依据优先机制进行总线访问; 

2,非破坏性基于优先权总线仲裁技术 

   采用非破坏性基于优先权总线仲裁技术结构，大大节省总线冲突仲裁时间，在重负荷下表现出良好性能; 

3,具有多种传送数据功能 

   具有点对点，一点对多点（成组）及全局广播传送数据功能; 

4,节点数目多 

   直接通讯距离最远可达10km（传输速率为5kbps），最高通讯速率可达1Mbps（传输距离为40m）; 

5,可靠性高 

   数据链路层采用短帧结构，实时性高，纠错效果好，每帧信息都有CRC校验及其它校验措施，数据出错率低，可靠性高; 

6,故障自动判别 

   发送期间若丢失仲裁或因出错而遭破坏的帧可自动重发，暂时错误和永久性故障节点判别及故障节点自动脱离CAN总线。 

   CAN总线系统由CAN网络节点、转发器节点和上位机构成。总线技术遵循现场总线协议，将分布在不同位置，用途各异的测量仪表、控制设备互联成网，并可接入Intranet和Internet网络。现场总线技术的关键标志是它能支持双向多变量、总线式全数字通讯。传统4～20mA模拟直流回路只能在一根两芯电缆中单向传输一个参数，随着系统结构的日益复杂和信息量的增加，4～20mA电流环传输成为制约信息传输的瓶颈，所以现场总线替代4～20mA模拟信号标准已成为控制系统发展的必然趋势。 

   基于CAN总线技术的多机伺服系统 

   CAN总线控制网络结构 

   基于CAN总线技术的多电机伺服控制系统网络结构如图1所示，系统由上位机、CAN总线、现场伺服单元节点组成。数控系统上位机通过CAN总线控制网络节点任一伺服单元，数字伺服与数控系统之间数据传输可分为实时性数据信息和非实时性数据信息两类。实时性数据指参与控制器实时位置、速度、转矩等控制指令和反馈信息，传输速度要求较高。非实时性数据主要是指控制器参数设置、功能设定、诊断功能、伺服状态与报警等信息，传输速度相对较低。 

   CAN接口适配器是上位机与伺服单元数据传输和控制的桥梁，伺服单元采集现场的数据通过总线传给上位机，实现实时监视和控制。 

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Artis MCON - 2 Monitoring Control Module

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IFM Bus System AS-interface ac2257

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Leuze REFLECTION LIGHT BARRIER PRK 18/4 l.4

Bürkert Electr Basic Module EL GM 5-compartment vausg 19 mm me01 Id. No. 0065767...

Isliker Magnets GTP Permanent Electric Adhesive Magnet gtp-30-w/v1511

Siemens Simatic s7 Electronics Module 6es7138-4fr00-0aa0 6es7 138-4fr00-0aa0

Siemens Sinumerik 840 DMP Module 6fc5111-0ca02-0aa1

Phoenix Contact Relay Module EMG 17-rel/ksr - 24/21-21-lc - 2940391

Belkin KVM Switch f1db102p

WAGO 8-Channel Digital Output Terminal 8do 24v DC 0,5 a 750-530

Siemens Simatic s7 Terminal Module 6es7193-4ca40-0aa0 6es7 193-4ca40-0aa0 NEW!

Festo pneumatic valve 9984 vl/0-3-1/4

Siemens Circuit Breaker 3rv1011-0ja10 NEW!

Festo multipolkabel for Valve Island Type 03

Pilz SAFETY RELAY PZE x4

Siemens Sinumerik DMP Compact 6fc5111-0ca03-0aa1

IFM proximity switches ig5841 Proximity Switch

Siemens Power Circuit Breaker 5sy6004-7xx01 NEW!

Siemens SITOP Battery Module 6ep1935-6md11

Siemens s5 6es5451-4ua11 6es5 451-4ua11 Output Module

Siemens 6gk5 795-1tn00-1aa0 6gk5795-1tn00-1aa0 NEW

Finder Relay Holder with relays 55.32.9.024.0070

Schneider Electric Safety Relay abr1s318b

Siemens SIMATIC Digital Input 6es7321-1bh00-0aa0 without flap!

Siemens Simatic s5 komminikations Processor 6es5535-3ma12 6es5 535-3ma12

Siemens Simatic Net N-Connect Cable 6xv1875-5ch10 6xv1 875-5ch10 NEW!

Festo pneumatic valve vl-5/2-1/8-b 173168

Bürkert 3/2 Way Pneumatic Valve 0470 00017467

Datalogic et3-5-a5 Light Curtain NEW!

Leuze Electronic REFLECTION LIGHT BARRIER RK 18/4 dl.45

Phoenix Contact Transfer Module flkm-d15 sub/B - 2295542

Phoenix Contact buskoppler IBS IL 24 bk-lk/45 2860358

Festo Solenoid valve cpe14-m1bh-5j-1/8 196939

Solenoid Valve cpe10-m1bh-3gl-m7 196915

Phoenix CONTACT Terminal Block interface modules IBS IL 24 BK-T/U 2742094

Phoenix Contact buskoppler IBS IL 24 BK RB-LK 2740300

Telemecanique Round Connectors XSZ CK 102 xszck 102 NEW!

Endress + Hauser Temperature Sensor tpr100-axx2fc000 NEW!

FOC SERIES A 2090-scep 3-0 3m

Festo Compact Cylinder ADVU - 20-25-p-a-s2 156012

Sew Brake Resistance bw072-003 BW 072-003

Festo Solenoid valve cpe24-m1h-3ols-3/8 163168

Phoenix Contact Transfer Module flkm-rv-2flk 40 2287517

Phoenix Contact measuring adapter Id. No.: 2362988 2364687

Noise Filter FR-S 5 NFSA - 1.5k

Endress + Hauser Ultrasonic Sensor fdu91-rg2aa

Endress + Hauser Ultrasonic Sensor FDU 81-rg2a

Siemens Circuit Breakers 3rv2011-1ca10

Siemens Circuit Breakers 3rv2011-0ka10

Siemens Circuit Breakers 3rv2011-1fa10

Siemens Circuit Breakers 3rv2011-1ea10

Beckhoff 1-Channel Analog Output Terminal 0... 10 V kl4001 KL 4001

Beckhoff 1-Channel Analog Input Terminal 0... 10 V KL 3061 kl3061

PEPPERL + Fuchs ProZ. Feed Block kfd2-eb2 189783

Festo Compact Cylinder ADVUL - 20-50-p-a 156865

Siemens simadyn sc49 line for it41/42 6dd1684-0ek0

Siemens Simatic s5 Digital Input 6es5430-4ua12 6es5 430-4ua12

Siemens Simatic s7 Power Supply 6ep1332-1sh22

Mean WELL Power Supply sdr-120-24

VIPA Profile Rail 390-1ae80 483 mm Long

Siemens Simatic s5 End Connector 6es5760-0ha11 NEW!

Siemens Simatic s5 Module 6es5385-8ma11 6es5 385-8ma11

Siemens Simatic s7 Power Supply 6ep1332-2ba10

Siemens Simatic s7 Electronics Module 6es7134-4fb01-0ab0 6es7 134-4fb01-0ab0

Beckhoff 4-Channel Digital Output Terminals kl2424

Festo Compact Cylinder ADVU - 32-25-a-p-a 156620

Siemens Lighting Cable for vs100-Lights 6gf9002-8cg NEW!

Phoenix Contact Din Rail-Power Mini-ps-100-240ac/5dc/3 2938714

Siemens Sinumerik Storage Base Assembly 6fx1128-1bb00

Beckhoff kl1114 Digital Input

Festo Pressure Switch pev-1/4-b-od 175250

Festo Directional Control Valve cpe14-m1bh-3gl-1/8 196929

Festo Solenoid valve mfh-3-1/8 7802 with Solenoid

Phoenix Contact Relay Module EMG 17-rel/ksr - 24/21-21-lc - 2940391

Siemens Auxiliary Contactor 3th4022-0bb4 NEW!

Siemens Simatic s5 Memory Module 6es5375-1la15 6es5 375-1la15 NEW!

Fibre Optic Converter IBS optosub 2731458

Siemens Simatic s5 CPU 927 Central Assembly 6es5927-3sa12 6es5 927-3sa12

Siemens Simatic s5 Memory Module 6es5375-0la21

Phoenix Contact Power Supply Unit 62-ps-230ac/24dc/1 cm 2943686

Phoenix contact interface modules-flkm-d25 SUB/S - 2281144 91650

Festo valve for CPV cpv14-m1h-5js-1/8 161361

Siemens Chassis Emergency Stop 3sb3801-0df NEW!

Artis wirkleistungsmessumformer Gem tp-01

Mushroom contact Extension Block Mushroom PZE x4 4s 774585

Siemens Simatic s5 Memory Module 6es5375-1la15

Siemens Simatic s5 6es5-491-0lb11 adaption Capsule

Siemens Simatic s5 6es5451-4ua12 6es5 451-4ua12

Helmet Wood Flash EPROM Card Short 32 KB 700-951-0ke00

KEYENCE Digital Pressure Sensor ap-48 ± 101.3kpa

Festo Compact Cylinder ADVU - 25-25-a-p-a 156612

Siemens Simatic s7 Communication Processor 6es7340-1ah01-0ae0 without flap!

Festo Filter Rule Valve lfr-1/8-db-7 - Mini 539683

ABB Jokab Safety Security Relay rt9

OMRON Switching Power Supply s82k-01524

Leuze Reflex Light Barrier LS 85/7 E NEW!

NUVOTEM Toroidal Transformer rs58-0300-048-d NEW!

Siemens Auxiliary Contactor 3rh1262-1bb40 NEW!

KEYENCE Headunit instrumentation amplifier lv-21ap

Siemens c1 Module Double Block 5ec1 470 5ec1470-3a

Liver system technology ansteuer Module pr4850-ms2-hp3201-230v

Liver system technology ansteuer Module hp2316-3201

Siemens Simatic s5 Bus Module 6es5700-8ma11 6es5 700-8ma11 E-Stand: 06 NEW!

Turck PROFIBUS cable rssw-rksw 455-3m NEW!

Siemens Simatic s7 SITOP Power 5 Power Supply 6ep1333-1sl11 6ep1 333-1sl11

Festo Vacuum Suction Nozzle vad-1/4 9394

Festo Directional Control Valve cpe10-m1h-5l-qs4 162893

Festo Pressure Control Valve lr-d-7-i - Midi 192319

Phoenix Contact Electronics Enclosure EMG 50-b9 2947268

Siemens Simatic Communication Processor 6gk7342-5da00-0xe0 6gk7 342-5da00-0xe0

Siemens Circuit Breakers 3rv1031-4aa10

Siemens Simatic s5 Bus Module 6es5700-8ma11 6es5 700-8ma11

Siemens Simatic s7 Electronics Module 6es7131-4rd00-0ab0 6es7 131-4rd00-0ab0

Siemens Simodrive overvoltage limiter 6sn1111-0ab00-0aa0

Brad Harrison bty8000-fbe-05

Phoenix contact interface modules-flkm-d25 SUB/S - 2281144 91651

Siemens Helmet Wood 700-322-1bh01

Siemens Circuit Breaker 5sl6202-7 NEW!

Siemens Simatic s5 Bus Module 6es5700-8ma11 6es5 700-8ma11 E-Stand: 03 NEW!

Murr mvp12, 8xm12, 4pol, steckb. LTG.

Siemens s7 AS-interface Compact Module 3rk2200-0cq20-0aa3

Siemens Digital Communications Cable 6gf9002-8cb NEW!

Siemens c1 Block 6ec1 111 6ec1111-3a NEW

Siemens MAIN/Emergency Stop Switch 3ld2103-0tk53 NEW

Siemens Contactor 3rt1034-1ap00 3rt 1034-1ap00

Siemens Simatic s7 PROFIBUS TERMINATOR 6es7972-0da00-0aa0 6es7 972-0da00-0aa0

Siemens Sinamics Umbrella Connector Set 6sl3262-1aa00-0ba0 NEW!

Siemens Simatic s7 Memory Card 6es7951-0kd00-0aa0 6es7 951-0kd00-0aa0

Siemens Simatic s5 ip242 Meter Assembly 66es5242-1aa12 6es5 242-1aa12

Festo valve Island cpvsc 1-vi 525675 s302

Phoenix Contact Safety Relay psr-scf-24uc/urm/2x21

Sick reflection light switches vt180-p410

Festo Solenoid Valve with Large packing density cpe18-m1h-5l-1/4 163142

ABB Security Sensor EVA as-I 0-15+2mm

Festo Solenoid valve vzwd-l-m22c-m-g18-10-v-1p4-90-r1 1491848

ABB Stotz Emergency Stop Button Smile 11ea as-I 2tla030052r0000

ABB Adam SAFETY SENSOR Adam as-I 0-15+2mm 001482

Num Interface Terminal Board 92002100501 32e

SMC Precision Pressure Regulator 0.005... 0.8 MPA ir2020-f02

Leuze Disposable LIGHT CURTAIN TRANSMITTER LS 85/2 E

Leuze test-Disposable LIGHT CURTAIN TRANSMITTER TLS 85/4 SE

Leuze Reflex Light Barrier LS 85/7 SE NEW!

KEYENCE Headunit instrumentation amplifier lv-11sap

Siemens c1 module simply block 6ec1652-3a 6ec1 652

Siemens c1 module simply block 6ec1012-3a 6ec1 012

Sew Eurodrive Rectifier Tag 1,5 8264635

Siemens Simatic s5 Communication Processor 6es5 521-8ma11 6es5521-8ma11

Addi-Data apci - 7501 4-compartment Serial Card

Siemens Simatic s5 Screw Connector 40 Pole 6es5490-8mb11 6es5 490-8mb11 NEW!

Siemens Simatic s5 Bus Module 6es5700-8ma11 6es5 700-8ma11 E-Stand: 06

Siemens Simatic s5 Digital Input 6es5430-7la11 6es5 430-7la11 E-Stand: 01

CH Beha uniwatt PSU NT 140 NEW

Norgren pressure sensor 40d