KJ3002X1-BB1模擬量輸出

KJ3002X1-BB1模擬量輸出

在傳感裝置的選用上，盡量選用抗干擾性強的智能傳感儀器，同時考慮到預(yù)研項目的經(jīng)費情況，也用了一些常規(guī)的傳感器。另外，由于機器人外部有很多傳感器，而艙室空間又十分有限，因而本文參考現(xiàn)場總線控制系統(tǒng)信息處理現(xiàn)場化的思想在機器人外部放置了一個單片機，完成這些傳感器數(shù)據(jù)的處理后再上傳給主單片機。試驗表明，這種方案不僅可以緩解主單片機的工作壓力，實現(xiàn)分布系統(tǒng)的設(shè)計思想，還可以減少信號傳輸線上的共模干擾。 
　　控制系統(tǒng)的執(zhí)行機構(gòu)主要是五臺推進電機、舵、及縱橫傾調(diào)節(jié)裝置。其中縱橫傾調(diào)節(jié)裝置為24V力矩電機帶動滑塊移動從而調(diào)節(jié)水下機器人的縱橫傾，經(jīng)高性能光電隔離芯片后與從單片機1并行口連接。在水下機器人的運動過程中，隨時可能要改變推進電機的轉(zhuǎn)速以得到不同的推進力，而變頻調(diào)速是實現(xiàn)電機調(diào)速的方式。本系統(tǒng)采用臺達VFD-A/H型變頻器，它不僅可以實現(xiàn)各種轉(zhuǎn)速曲線，而且還具有過壓、過流、過熱等完善的保護措施。該變頻器與控制系統(tǒng)的接口為RS485串行口，一塊CPUzui多可接32個變頻器。 

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鄭娟萍

廈門仲鑫航自動化設(shè)備有限公司

主營：專業(yè)從事（DCS系統(tǒng)）（機器人系統(tǒng)）（大型伺服控制系統(tǒng)）模塊 備件銷售

↓、Allen-Bradley(美國AB)系列產(chǎn)品》

↓、Schneider(施耐德電氣)系列產(chǎn)品》

↓、General electric(通用電氣) →GE←系列產(chǎn)品》

↓、Westinghouse（美國西屋）系列產(chǎn)品》

↓、SIEMENS(西門子系列產(chǎn)品)

↓、estinghouse（西屋）： OVATION系統(tǒng)、WDPF系統(tǒng)、MAX1000系統(tǒng)備件

↓、Invensys Foxboro（?？怂共_）：I/A Series系統(tǒng)，F(xiàn)BM（現(xiàn)場輸入/輸出模塊）順序控制、梯形邏輯控制、事故追憶處理、數(shù)模轉(zhuǎn)換、輸入/輸出信號處理、數(shù)據(jù)通信及處理等。

↓、Bosch Rexroth（博世力士樂）：Indramat，I/O模塊,PLC控制器,驅(qū)動模塊等。

↓、Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列

在主單片機一側(cè)，由于要發(fā)送的信息很多（共有107個字符）因而在程序中將待發(fā)送的數(shù)據(jù)分成兩組，每一組分別設(shè)有協(xié)議頭和校驗和，根據(jù)上位機通訊控制字符（分別是55H和66H）的不同來確定發(fā)送哪一組數(shù)據(jù)。在上位機一側(cè)，由于上位機要動態(tài)顯示水下機器人的運動姿態(tài)，接收各種設(shè)備的返回信息，如采用中斷信息接收方式，在同一時間每個下位機都向上位機發(fā)送信息時，會發(fā)生沖突導(dǎo)致信息丟失。為此，各下位機向上位機的信息傳輸要按照上位機的命令，整個系統(tǒng)按照統(tǒng)一節(jié)拍工作。當(dāng)上位機空閑時就按順序發(fā)送一個使能命令給第i個下位機，第i個下位機接到命令后立即將要上傳的信息發(fā)出，如果上位機沒有接到，則重新發(fā)送該使能命令。同時為了提高通訊的可靠性，在通訊的每一側(cè)將待發(fā)送字符拆為3xH的形式，再對所發(fā)送的這組數(shù)據(jù)進行加和運算以求出校驗碼。通訊的另一側(cè)接收完一組數(shù)據(jù)后進行求和校驗，如校驗和不正確，則該組數(shù)據(jù)作廢，等待下一組數(shù)據(jù)。

Ultratech Stepper Model 2244i Series Photolithoraphy Stepper Incomplete As-Is

Axcelis FusionES3 Microwave Plasma Asher 300mm CES3590 Used Working

NANOmetrics 7000-02312 Integrated Metrology System 9010b AMAT 3920-00645 New

Rorze RR701L120-Z20-0?11 Wafer Inspection Station Used Working

Brooks Automation 00104900-02 Reliance ATR8 Robot 002-9400-30 Controller Used

ADE Corporation AMS AFS 3220 Wafer Flatness Measurement System Untested As-Is

ETO 80-S09-UW RF Generator Rack A AMAT 0190-18181 0290-76193 Used Working

ETO 80-S09-UW RF Generator Rack D AMAT 0190-18181 0290-76193 Used Working

ETO 80-S09-UW RF Generator Rack B AMAT 0190-18181 0290-76193 Used Working

Shimadzu TMP-3203LMC-A1 Turbo Molecular Pump TMP AMAT 3620-00145 New

Dektak Veeco 300-SL Surface Profile Measuring System Tested As-Is

Genmark Automation GPR-MT-2000 Robot with Prealigner PA4101017 Used Working

FSM 128LC2C Wafer Mapping and Film Stress Measurement System Used Working

BOC Edwards NRC248000 Helios 4 Gas Abatement Scrubber System Used Working

Mitsubishi P15-P313-5 Escape Twin Gas Abatement Module Scrubber As-Is

Takatori ATRM-2100 Delaminator Tape Remover Working

Teradyne J973 ST Logic Test System AS-IS w/Heat Exchanger Power Source

Irivne Optical Corporation 3L Wafer Inspection System Working

LKT Automation TMT1214 Carrier to Loader System untested as-is

DNS Electronics FC-3000 CTC As-Is

DNS Electronics FC-3000 ACB Buffer As-Is

DNS Electronics FC-3000 RRU As-Is

DNS Electronics FC-3000 Temperature Controller As-Is

DNS Electronics FC-3000 Gas Box As-Is

Invax Technologies 02425-011 Electrostatic Chuck 300mm PVD Upgrade New Surplus

Ebara CADS-HVM Chemical Analzyer Delivery Plating System CADS0006 as-is

NANOmetrics 7000-017099 Integrated Metrology System 9010b Untested As-Is

Bio-Rad 48610000 X18 200mm Wafer Inspection Tool Quaestor Q8 Untested As-Is

AMAT Applied Materials L0103M24005 X/Y Axis Table Stage SEMVision Used Working

Brooks Genus Left Vacuum Load Lock 001-9200-54 working

BOC Edwards NRC248000 Helios 4 Gas Abatement Scrubber System As-Is

Kulicke & Soffa Model 1471 Automatic Wire Bonder Untested As-Is

Quartz International 03MRK001 Quartz Element Tube new

Cambridge Fluid Systems W0-454 XR80 Gas Panel Assembly AMAT 0010-91663 Used

Electroglas Horizon 4085 Automated Prober w/ Microscope Aligner PSM as-is

Electroglas Horizon 4085X Automated Prober missing monitor PSM as-is PRM4

Panasonic ULVAC CLBA02 Ball Attach Tool Vane Vacuum Pump DSB-600 working

ex A95X20614-02 Tape Drive Mainframe Computer 9270-300 Etec MEBES 4500 Used

LKT Automation Magazine Unloader LKT 2001 used working

TDK S2091-86-001 Load Port TAS300 AMAT 0190-16692 Used Working

Comet 20063155 RF Match 0190-41309 3000W 13.56MHz new

Alphasem SWISSLINE 9021 SL9021 Die Attacher Used

Specken Drumag Oerlikon P1264 Stroke Cylinder 102078752 new

Simplimatic Automation CIMTRAK CSCNV003 PXVI Conveyor working

Electroplating Engineers Cup Plater Napoleon II working

Panasonic Ball Attachment Tool LSC Module BP22S-MJ W/Laptop Used

DNS Electronics FC-3000 Process Station 2 As-Is

DNS Electronics FC-3000 Low Pressure Dryer As-Is

DNS Electronics FC-3000 OP BR Electrical Box As-Is

OnTrak Systems Inc. MQEF120019 Control Module DSS-200 Working

Bio-Rad X5800000 200mm Wafer Inspection Tool Quaestor Q7 Untested As-Is

Bio-Rad 48610000 X18 200mm Wafer Inspection Tool Quaestor Q7 Untested As-Is

AMAT Applied Materials Quantum Leap 3 Process Module Wheel Used Working

NANOmetrics 8300XSE NanoSpec Film Thickness Analyzer As-Is

NANOmetrics 7000-020369 Integrated Metrology System 9010b Untested As-Is

Semiconductor Equipment Corporation 410 Bonder Untested As-Is

IGS Generon 492-17151-00 Gas Separation Module Kit 215-17420-00 Used Working

Aetrium 5050S IC Handler Assembly Parts 301580 working

Daihen EMAX Tunebox RF Match FLB-60M-03 0190-19674 new

Despatch Tool Conditioning Oven SNB2-24-S working

Ebara 6342600 Vacuum Compressor HC70 with 642-1030 Controller Gen2 Used Working

ADTEC Technology AMU-3000P11 Impedance Matching Unit AMAT 0190-23777 Used

Liebert SCC020C-4 Datawave 1 Magnetic Synthesizer Used Working

Sumitomo Electric Industries, Ltd. 4S587-245-2 ADE1 H Control Unit

TDK S2091-86-001 Load Port TAS300 AMAT 0190-17837 Type F1 Used Working

TDK S2091-86-001 Load Port TAS300 AMAT 0190-17837 Copper Exposed Used Working

RF Services Inc. RF Match RFS 5005 5kW working

Brooks Automation 106968 Smart Aligner Edge Grip 24VDC 2A Used Working

AE Advanced Energy 3155301-007 RF Match Navigator AMAT 0190-42448 Used Working

Karl Suss 168420 Mask Aligner missing parts as-is

OnTrak Systems DSS-200 Control Module MQE39828 w/o Monitor & Keyboard working

Nova NovaScan 3000 Computer 310-40000-00 working

FST Inc FSTC-CD252 Recirculating Chiller Temperature Control Unit Used Working

Bener Grinder 2500 High Pressure Cleaning Device New

DNS Electronics FC-3000 FFU As-Is

DNS Electronics FC-3000 Load Port Module As-Is

Applied Ceramics 91-01768A Dome Tapered Style 0200-40218 New

Microbar Trackmate Chemical Cabinet Used

Microbar Trackmate Chemical Cabinet Used Working Surplus

Daikin UBRP3AMX Brine Chilling Unit CoolREF Heat Exchanger Used Tested Working

BTU Engineering VIP98VIP-89-1 Reflow Oven VIP98 Used

MST NF3 Monitoring System GmbH FMK 9002 Used Series 90-30

ASM 86-125593A06 Epsilon 3200 arm New

Brooks Automation 186989 CRIUS-II TM End Effector Upgrade Kit New

Asyst Load Port 300FL S2.1HAMA/E-84 9700-6149-01

SVS 8100 3-D Paste In Tool W/Hard Drive Used

LKT Automation DPCS-NGCAM Die Placement Checking System working

Simplimatic Automation 2074 Shuttle Tool used working

Simplimatic Automation 8130 Automated Magazine Loader working

Asyst 05050-017 Wafer Pre-Aligner Model 5 ASM Epsilon 3000 System Used Working

Invax Technologies ESC-9232B Electrostatic Chuck AM-END-500C-12S?B New Surplus

Invax Technologies Echuck PVD 300mm ESC-9232 New

ATMI ESCA Difusion Furance Kit 233405641 new 233405043

West Coast Quartz Silicon Slab 91-01627A 0200-40013 New

West Coast Quartz Silicon Slab 91-01627RW 0200-40013 Refurbished

AceCo Y203 Upper Electrode S33-1574Y new

AceCo Depo Shield Y203 S33-1862Y new

Philips Assembléon FCM-11-BASE GREY+AU Fast Component Mounter II FCM Multiflex

Microbar Trackmate Chemical Cabinet Used Working

Sinfonia Technology SELOP12F25-S7A0?008 Load Port AMAT 0190-33715 Used Working

Daihen RMN-40A RF Dome Automatic Matching Unit AMAT 1110-01068 Used Working

Daihen RF Dome Match RMN-40A Rebuilt 1110-01068

Brooks Genus InCooler Cooling Station 001-4700-12

Parker 802-8940B Belt Driven Linear Actuator HLE-SR Used Working

Zeiss 608489-9901 Coordinate Measurement Machine Used Working

Xynetics-Electr?oglas Horizon 4085X Controller RMHM4 working

AMAT Applied Materials 9010-01181 ITL ENCO Load Lock Door Module Used Working

AMAT Applied Materials 9010-00299 ITL ENCO Load Lock Door Module Used Working

Bio-Rad Y7802100 Microscope Objective Assembly Y8000080 Quaestor Q7 Used Working

ASML Control Card Module 4022.470.7782 working

Sinfonia Technology SELOP12F25-S7AM?001 Load Port Used Working

Spectra Logic 4000032 Controller PCB Card 17/27 Data General Eclipse S/280 Used

Etec Systems 0756-5500-010 Laser 160MHz Beam Blanker Mebes 4500 Used

Digital Dynamics SIOC Anneal Controller 02-134495 Rev. A Used Working

AceCo Susceptor Assy. S33-1872-14 refurbished

Balzers MIU 101 Microwave Ignition Unit working

Electroglas Horizon 4085X Visual Inspection Module

Electroglas Horizon 4085X RMHM4 Controller

ACS Motion Control SB116-UV SL-200 Motion Controller Assembly Used Working

Nova 520-10000-35 Thin Film Measurment Unit AMAT 3920-00248 Used Working

MRL ASM Vertical Furnace Heater Element 46003002842955 New

MicroVision Controller MVTMC70 Used Working

Nova PC 320-52000-00 300mm Dry Wafer Handler AMAT 3920-00235 Refurbished

Daihen Tunebox EMAX RF Match Bias Matching FLB-60M-03

Progressive Technologies Inc. Sentry S1510 Controller EMB51-15-5 working