基于CC—Link網(wǎng)絡(luò)的PLC控制系統(tǒng)

0 引 言

    隨著計(jì)算機(jī)信息網(wǎng)絡(luò)技術(shù)的飛速發(fā)展，以PLC為核心的工業(yè)控制系統(tǒng)也向著大規(guī)模、網(wǎng)絡(luò)化方向發(fā)展。各PLC生產(chǎn)企業(yè)都開發(fā)有自己的網(wǎng)絡(luò)產(chǎn)品，并不斷增強(qiáng)其網(wǎng)絡(luò)的聯(lián)接能力。三菱公司的工業(yè)控制網(wǎng)絡(luò)產(chǎn)品很豐富，可以構(gòu)成各種檔次的網(wǎng)絡(luò)系統(tǒng)，以適用于各種層次的工業(yè)自動(dòng)化網(wǎng)絡(luò)的不同需求。其具代表性的三種網(wǎng)絡(luò)為：信息與管理層的以太網(wǎng)(Ethernet)、管理與控制層的局域令牌網(wǎng)(ELSECNET／H)、CC一Link開放式現(xiàn)場(chǎng)總線設(shè)備網(wǎng)。本文僅對(duì)CC—Link開放式現(xiàn)場(chǎng)總線設(shè)備網(wǎng)進(jìn)行研究。

1 CC—Link網(wǎng)絡(luò)的特點(diǎn)及功能

1．1 CC—Link網(wǎng)絡(luò)的特點(diǎn)

    CC—Link(Control&Commurlication Link，控制與通信鏈路系統(tǒng))，是三菱電機(jī)新近推出的開放式現(xiàn)場(chǎng)總線，其數(shù)據(jù)容量大，通信速度多級(jí)可選擇，而且它是一個(gè)復(fù)合的、開放的、適應(yīng)性強(qiáng)的網(wǎng)絡(luò)系統(tǒng)，能夠適應(yīng)于較高的管理層網(wǎng)絡(luò)到較低的傳感器層網(wǎng)絡(luò)的不同范圍。CC—Link是一個(gè)以設(shè)備層為主的網(wǎng)絡(luò)，一般情況下，CC—Link整個(gè)一層網(wǎng)絡(luò)可由1個(gè)主站和64個(gè)從站組成。網(wǎng)絡(luò)中的主站由PLC擔(dān)當(dāng)，從站可以是遠(yuǎn)程I／O模塊、特殊功能模塊、帶有CPU和PLC本地站、人機(jī)界面、變頻器及各種測(cè)量?jī)x表、閥門等現(xiàn)場(chǎng)儀表設(shè)備。且可實(shí)現(xiàn)從CC—Link到AS—I總線的聯(lián)接。CC—Link具有高速的數(shù)據(jù)傳輸速度，高可達(dá)10 Mb／s。CC—Link的底層通信協(xié)議遵循RS 485，一般情況下，CC—Link主要采用廣播一輪詢的方式進(jìn)行通信，CC—Link也支持主站與本地站、智能設(shè)備站之間的瞬間通信。

1．2 CC—Link網(wǎng)絡(luò)的功能

    CC—Link網(wǎng)絡(luò)具有完善的RAS(Reliability，A—vailability，Serviceability)功能。即自動(dòng)返回、切斷從站、通過鏈接繼電器／寄存器的錯(cuò)誤檢測(cè)功能。

2 CC—Link總線通信

2．1 CC—Link的通信原理

    CC—Link的通信形式可分為2種方式：循環(huán)通訊和瞬時(shí)傳送。循環(huán)通訊意味著不停地進(jìn)行數(shù)據(jù)交換。各種類型的數(shù)據(jù)交換即遠(yuǎn)程輸入RX，遠(yuǎn)程輸出RY和遠(yuǎn)程寄存器RWr，RWw。一個(gè)從站可傳遞的數(shù)據(jù)容量依賴于所占據(jù)的虛擬站數(shù)。占據(jù)一個(gè)從站意味著適合32位RX和／或RY，并以每4個(gè)字進(jìn)行重定向。如果一個(gè)裝置占據(jù)兩個(gè)虛擬站，那么它的數(shù)據(jù)容量就擴(kuò)大了一倍。除了循環(huán)通信，CC—Link還提供主站、本地站及智能裝置站之間傳遞信息的瞬時(shí)傳送功能。信息從主站傳遞到從站，信息數(shù)據(jù)將以150 B為單位分割，并以每批150 B傳遞。若從從站傳遞到主站或其他從站，每批信息數(shù)據(jù)大為34 B。瞬時(shí)傳送需要由指令FROM／TO來完成，瞬時(shí)傳送不會(huì)影響循環(huán)通信的時(shí)間。限于篇幅，本文只介紹了主站與遠(yuǎn)程設(shè)備站之間的通信關(guān)系，其通信關(guān)系如圖1所示。主站與遠(yuǎn)程設(shè)備站之間的通信原理如下：

    (1)PLC系統(tǒng)電源接通時(shí)，PLC CPU中的網(wǎng)絡(luò)參數(shù)傳送到主站，CC—Link系統(tǒng)自動(dòng)啟動(dòng)；

    (2)遠(yuǎn)程設(shè)備站的遠(yuǎn)程輸入RX自動(dòng)儲(chǔ)存在主站的“遠(yuǎn)程輸入RX”緩沖存儲(chǔ)器中；

    (3)儲(chǔ)存在“遠(yuǎn)程輸入RX”緩沖存儲(chǔ)器中的輸入狀態(tài)儲(chǔ)存到用自動(dòng)刷新參數(shù)設(shè)置的CPU軟元件中；

    (4)用自動(dòng)刷新參數(shù)設(shè)置的CPU軟元件開／關(guān)數(shù)據(jù)存儲(chǔ)在“遠(yuǎn)程輸出RY”緩沖存儲(chǔ)器中；

    (5)根據(jù)“遠(yuǎn)程輸出RY”緩沖存儲(chǔ)器中存儲(chǔ)的輸出狀態(tài)，遠(yuǎn)程輸出RY自動(dòng)設(shè)定為開／關(guān)(每次鏈接掃描的時(shí)候)；

    (6)用自動(dòng)刷新參數(shù)設(shè)置的CPU軟元件的傳送數(shù)據(jù)存儲(chǔ)在“遠(yuǎn)程寄存器RWw”緩沖存儲(chǔ)器中；

    (7)存儲(chǔ)在“遠(yuǎn)程寄存器RWw”緩沖存儲(chǔ)器中的數(shù)據(jù)自動(dòng)送到每個(gè)遠(yuǎn)程設(shè)備站的遠(yuǎn)程寄存器RWw中；

    (8)遠(yuǎn)程設(shè)備站的遠(yuǎn)程寄存器RWr的數(shù)據(jù)自動(dòng)存儲(chǔ)在主站的“遠(yuǎn)程寄存器RWr”緩沖存儲(chǔ)器中；

    (9)存儲(chǔ)在“遠(yuǎn)程寄存器RWr”緩沖存儲(chǔ)器中的遠(yuǎn)程設(shè)備站的遠(yuǎn)程寄存器RWr數(shù)據(jù)存儲(chǔ)在用自動(dòng)刷新參數(shù)設(shè)置的CPU軟元件中。

2．2 CC—Link通信的初始化

    CC—Link通信的初始化實(shí)際上就是指CC—Link的網(wǎng)絡(luò)參數(shù)設(shè)置。網(wǎng)絡(luò)參數(shù)指：站的信息和站號(hào)。通信的初始化對(duì)于啟動(dòng)數(shù)據(jù)鏈接非常重要，CC—Link通信初始化設(shè)置方法只要在三菱GPPW編程軟件的網(wǎng)絡(luò)配置菜單中設(shè)置相應(yīng)的網(wǎng)絡(luò)參數(shù)，遠(yuǎn)程I／O信號(hào)就可自動(dòng)刷新到CPU內(nèi)存，還能自動(dòng)設(shè)置CC—Link遠(yuǎn)程元件的初始參數(shù)。

3 CC—Link網(wǎng)絡(luò)控制系統(tǒng)的設(shè)計(jì) 

3．1 網(wǎng)絡(luò)控制系統(tǒng)的構(gòu)成

    圖2為爐窖網(wǎng)絡(luò)控制系統(tǒng)原理圖。控制系統(tǒng)設(shè)計(jì)4條生產(chǎn)線，圖2只給出爐窖網(wǎng)絡(luò)控制’系統(tǒng)中的1條生產(chǎn)線，其余3條從站的配置是相同的。為了提高整個(gè)控制系統(tǒng)的性以及可靠性，系統(tǒng)采用了雙機(jī)冗余措施。在雙主機(jī)系統(tǒng)中，二者處于對(duì)等地位，并且同時(shí)可以監(jiān)測(cè)對(duì)方的運(yùn)行情況以及網(wǎng)絡(luò)的沖突偵聽，并相互間傳遞心跳信息，一旦發(fā)現(xiàn)對(duì)方系統(tǒng)出現(xiàn)故障或者連接的網(wǎng)絡(luò)故障，監(jiān)測(cè)方立即接管測(cè)控任務(wù)，從而保證了系統(tǒng)在任何時(shí)候系統(tǒng)主機(jī)的完整性和完好性，只要主機(jī)和網(wǎng)絡(luò)，控制系統(tǒng)便會(huì)，實(shí)時(shí)性便可得到保證。兩臺(tái)冗余主機(jī)的配置均采用Q系列CPU，CC—Link總線模塊QJ61BTll，QJ71E71—100以太網(wǎng)模塊，主機(jī)配置相同以保證二者的相近似，滿足系統(tǒng)相似性原理，對(duì)控制系統(tǒng)的性設(shè)計(jì)提供了保證。

    從站采用Q02H CPU智能控制單元，主要作用是管理模擬量采集(A／D)模塊、模擬量輸出(D／A)模塊、數(shù)字量輸入(DI)／數(shù)字量輸出(DO)的端口I／0操作以及計(jì)數(shù)定時(shí)模塊的設(shè)定，并且將所采集的數(shù)據(jù)負(fù)責(zé)上傳到主站，并從主站獲得的控制參數(shù)下傳到模擬量輸出、數(shù)字量輸出模塊，控制相應(yīng)的執(zhí)行結(jié)構(gòu)。A／D，D／A，DI／DO以及計(jì)數(shù)定時(shí)模塊分別用于采集煅燒爐中的溫度、給控制三相異步電機(jī)旋轉(zhuǎn)的變頻器提供O～10V控制信號(hào)源、控制電機(jī)的起停以及監(jiān)測(cè)控制開關(guān)的狀態(tài)、控制三相異步電機(jī)旋轉(zhuǎn)的時(shí)間等。模塊的選用為：模擬量采集：AJ65BT一64AD；模擬量輸出：AJ65BT一64DAV；數(shù)字量輸入／輸出：AJ65BTB2—16DR；熱電偶輸入：AJ65TB一68TD；高速計(jì)數(shù)器：AJ65BT—D62。

    為了將系統(tǒng)集成為具有測(cè)量、控制、管理功能于一體的測(cè)控系統(tǒng)，在車間級(jí)的Intranet中集成了生產(chǎn)在線數(shù)據(jù)庫(kù)以及控制參數(shù)與工藝數(shù)據(jù)庫(kù)服務(wù)器，生產(chǎn)在線數(shù)據(jù)庫(kù)服務(wù)器主要用于管理當(dāng)日當(dāng)班的人員、計(jì)劃調(diào)度以及生產(chǎn)完成情況，工藝數(shù)據(jù)庫(kù)服務(wù)器主要用于記錄生產(chǎn)工藝參數(shù)、重要工段以及重要設(shè)備的定時(shí)抽檢數(shù)據(jù)、故障幾率等，便于了生產(chǎn)管理。整個(gè)程序的設(shè)計(jì)功能見圖3。

3．2 網(wǎng)絡(luò)控制系統(tǒng)的功能

    (1)整個(gè)網(wǎng)絡(luò)監(jiān)控系統(tǒng)采用CC—Link現(xiàn)場(chǎng)總線，可高速地將現(xiàn)場(chǎng)數(shù)據(jù)傳至主站進(jìn)行管理。

  (2)上位機(jī)(PC)將操作指令通過從站1CPU傳送給受令執(zhí)行單元執(zhí)行操作，遠(yuǎn)程執(zhí)行單元將工作狀態(tài)通過從站CPU傳送給上位機(jī)(PC)。上位機(jī)(PC)將車間中所有控制的工作狀態(tài)(開、關(guān)、報(bào)警)信息顯示出來供操作人員監(jiān)控。上位機(jī)(PC)接到報(bào)警和停線信息立即打印故障信息并計(jì)時(shí)、統(tǒng)計(jì)停線時(shí)間，并通過聲卡驅(qū)動(dòng)音箱進(jìn)行語(yǔ)音提示。

    (3)主站和從站采用三菱Q系列CPU負(fù)責(zé)CC—Link網(wǎng)絡(luò)的管理，以及將數(shù)據(jù)送到上位機(jī)(PC)進(jìn)行分析和將中控室發(fā)出的指令送至現(xiàn)場(chǎng)從站。

    (4)為保證系統(tǒng)內(nèi)大量的數(shù)據(jù)傳輸，每一條生產(chǎn)線的參數(shù)采集和控制由一臺(tái)CC—Link從站完成。所有測(cè)控參數(shù)測(cè)量值通過CC—Link與從站通信。

4 結(jié) 語(yǔ)

    實(shí)踐證明，利用CC—Link開發(fā)的網(wǎng)絡(luò)控制系統(tǒng)具有實(shí)時(shí)性、開放性、保護(hù)功能、通信速率快、網(wǎng)絡(luò)先進(jìn)、布線方便等優(yōu)點(diǎn)，有利于分散系統(tǒng)實(shí)現(xiàn)集中監(jiān)控，提高系統(tǒng)自動(dòng)化水平，減輕工人勞動(dòng)強(qiáng)度，減少事故率，提高設(shè)備的使用壽命，節(jié)能降耗，提率，降低了成本。

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AGIE supply stage imc-02 a 631804.4

Kollmorgen synchronous servo motor without retaining Brake akm42e-ancnlb 00 NEW!

Indramat DIGITAL AC SERVO CONTROLLER dds02.1-w200-d

Siemens simadyn D Input/Output Module 6dd1641-0ac0 eb11 Refurbished!

Bosch-Rexroth indradrive csh01.1c-se-ens-ens-nnn-l1-s-nn-fw NEW!

Philips pmc1000 AIO 33 9404 462 04331

Philips pmc1000 CPU 70 9404 462 20201

Heidenhain Keyboard TE 400 with integrated Alpha Keypad ID. No. 250 517 03

Siemens Simatic s5 6es5928-3ub21 6es5 928-3ub21 E-Stand: 03

Siemens Simatic s5 cpu946 6es5946-3ua22 6es5-946-3ua22

Fanuc Power Supply Power Supply a20b-9000-0710

Siemens simadyn D es1 Special Assembly 6dd1648-0ab0

Siemens Simatic s7 6es7317-2aj10-0ab0 6es7 317-2aj10-0ab0 without flap!

Indramat A.C. Servo Power Supply TVM 2.4-050-220/300-w1/220/380

Siemens Simodrive 611 scheme be Shear 6sn1118-1nh01-0aa1 Version: C

ECA modules emmanchement Ref 744-0-92-000

Bosch Rexroth Indramat CPU 1070080132-103 com-E

Grundig GILDEMEISTER Control Card di64 aes0

Sew Eurodrive moviaxis Master Module mxm80a-000-000-00/dhr41b NEW!

Siemens Simodrive Performance Part 6rb2012-0sa00

Pro-Face touch panel 3580205-04 agp3200-t1-d24

Fanuc Input/Output Controller MFG 44a719304-104

Indramat Operator Terminal bta20 bta20.3-na-zp-va-bs NEW

Siemens SieMatic s7 Communication Processor cp443-1 it 6gk7443-1gx11-0xe0

Siemens Simodrive FBG c98043-a1240-l2

Heller Uni-PRO Axel Aied 1330 D 23-032284x-09863

Siemens Simatic s5 Rack 6es5 955-3lc12 6es5135-3kb13

Bosch Servo Module SM 17/35-t/a no 055129-105

Siemens Sinumerik Operator Panel 6fc5203-0af02-0aa0 6fc5 203-0af02-0aa0

Baumüller installation-Static Converter Unit bus21-30/60-31-020 Bus 21-30/60-31 ...

Sew moviaxis Axle Module mxa81a-004-503-00 NEW!

Indramat Line Shaper Nam 1.3-08 nam1.3-08 NEW!

Siemens TELEPERM M stromversorgungsbaugr. 6ds1000-8aa

Bosch Servo Module SM 10/20-tc no 060840-103

Baumüller installation-Power Inverter bus21-15/30-31-033 Bus 21-15/30-31 -033

Telemecanique inverter with Panel atv58hu54n4

Siemens Simatic s5 wf723a 6fm1723-3aa10 wf723 Version: a11

Baumüller installation-Static Converter Unit bus21-7, 5/15-30 -001 Bus 21-7,5/15...

Baumüller installation-Power Inverter bus21-15/30-31-028 Bus 21-15/30-31 -028

Siemens Simodrive settlement Shear 611 6sn1151-1fx10-1ab0

Siemens Sinumerik 805sm and 805 LCD Flat Monitor 6fm2805-4ar03

Siemens Simatic Box PC 427c 6bk1000-5ae10-1aa0

Heidenhain l?ngenme?system LS 776 ML 1340mm/336966-86 NEW!

Fanuc Board a20b-1000-085/a20b1000085/a20b-1000-085 02a

Eltec Output Module ipca - 2 ipca-a200/1

ABB axodyn speed control device DSH-S 1505

Siemens Sinumerik ms320 6fx1113-5aa00 Top

Siemens Simodrive Power 6ew1890-0ab 6 EW 1890-0ab

Siemens telecommunications s30861-q429-x1-05/01 M: tdpcv 6

Indramat A.C. SERVO CONTROLLER TDM 1.2-100-300-w1-000 tdm1.2-100-300-w1-000

Fanuc Board a16b-1200-015 a16b1200015

Siemens Simatic s5 Power Supply 6es5955-3nf11 6es5 955-3nf11

Bosch Servo Module SM 10/20-tc no 065668-104

GEORGII KOBOLD servomotor Ed 666.45-2 r6/s23

Indramat SERVO CONTROLLER dds02.1-w050-da02-01-fw

Siemens Simodrive 611-a settlement Shear 6sn1122-0ba12-0aa0 software AMM v2.0

Bosch-Rexroth indradrive csh01.1c-s3-ens-nnn-nnn-s1-s-nn-fw NEW!

Siemens Simodrive 611 scheme be Shear 6sn1118-1nh01-0aa1 Version: B

Bosch Brushless Servo Motor sd-b4.070.030-00.000 SD b4 070 030 00 000

Siemens Permanent Magnet Motor 1ft5074-0af01-0-z 1ft 5074-0af01-0-z

Grimm circular conveyor circular conveyor drive control device GMS erz1

Siemens simotics synchronous servo motor 1ft6041-4af71-3ag1

Kollmorgen synchronous servo motor without retaining Brake akm22c-anbngb 00 NEW!

Indramat SERVO CONTROLLER DDS 2.1-w015-r DDS 2.1-w015-ra01-00

Indramat SERVO CONTROLLER DDS 2.1-w025-r DDS 2.1-w025-ra01-00

Siemens simotics Linear Motor primary Part 1fn2090-1ws00-1sa0

Bosch CL 400 Module 1070075819-207

Fanuc Input/Output Controller MFG 44a719304-102

Siemens Simatic s5 6es5955-3lf31 6es5 955-3lf31 stromv.

Siemens SLM-simolink Monitor 6sx7005-0af00

Siemens Simodrive 610 Performance Part 6sc6170-0fc01 6sc 6170-0fc01

Siemens simadyn D Communication Module 6dd1660-0ak0

Siemens c79458l 1052a1 c79040-a322-c13-03-87

Siemens Simatic Control Card pc612-b1200-c960

Siemens TELEPERM M Assembly 6ds1717-8aa

Indramat SERVO CONTROLLER TDM 7.1-030-300-w1

Siemens Simatic wf785 6fm1785-3aa00

GILDEMEISTER steuerrungplatine EPM 0.651.537-66.1 Ben

Siemens Simatic s5 Mona C Display Module 6es5255-3ac11 6es5 255-3ac11 E-Stand: 3

Bosch Power Supply Module vm50/b-tc1 no 060838-114

Siemens Simodrive Network Throttle 6sl3000-0de23-6aa0

Ultrasorp AKC 0080 ?ldampfadsorber

Sew tax card 8227772.13.14

Bosch Panel cc120m 068396-101

Siemens Sinumerik measuring circuit assembly 6fc5111-0ba00-0aa0 6fc51110ba000aa0

Siemens Simodrive Performance Part 6sc6502-0ab02

Industrial devices limit SW Control h4301-bc

Siemens Sinumerik 840c/840ce Interface 6fc5112-0ca03-0aa0 version: a

AGIE dwc-05 L Wire Control 675.514.4

AGIE dbe-01 a Digital bidirectional Expansion 613.810.1

AGIE sbc-19 a Motor Controller 646904.3

Baumüller installation-Static Converter Device BKF 12/100/400-1a

Siemens Sinumerik measuring circuit assembly 6fc51110ba000aa0 6fc5111-0ba00-0aa0

ABB ROBOTICS CPU Board DSQC 335 DSQC 335 3hab6182-1

Siemens Simodrive settlement Shear 6sn1118-0dg22-0aa0 Version: E

Zwick Hardness Tester Durometer Hardness Tester manually, Digital HPE II

DIGITRONIC Communication Processor fc500/ass FC 500/ass E-Stand: B

Philips pmc1000 Temp 33

Philips RM/RM Drive Mod 36451 d14033

Lauer Micro Control Console PC 009 Stock!

Indramat Eco Drive Controller dkc04 3-040-7-fw dkc04.3-040-7-fw

Mannesmann DEMAG Controller and Headset rdbv. - e00

Bosch Drive Amplifier 052146-208

Kollmorgen Seidel digifas 7112 Digital Servo Amplifier

Siemens simotics Synchronous Motor primary Part 1fn3150-2wq00-0aa1

Siemens simotics Linear Motor primary Part 1fn2090-1ws00-1da0

Siemens Simodrive 610 Performance Part 6sc6170-0fc50

Wire ELECTRONIC DC Drive 106 dzf-35/380

Siemens Simodrive 611 scheme be Shear 6sn1118-1nh01-0aa1 Version: E

Siemens Simodrive 611 6sn1118-0nj01-0aa1 NEW

GILDEMEISTER steuerrungplatine EPM 0.651.537-66.1 Ben Top!

Siemens Simodrive 610 Performance Part 6sc6170-0fc00

Siemens Simodrive 611 scheme be Shear 6sn1118-0nj01-0aa0 version: a

DIGITRONIC s5 ARCNET Communication Processor fc500/a FC 500/a

Prometec t300 Tool monitoring for CNC Machine

Siemens simadyn D Processor Module 6dd1600-0af0 with program memory 6dd1610-0ag1

Fanuc CPU a16b-3200-0090 a16b32000090

Adept Dual C Amp for pa-4 Chassis 01182 - 000

Baumüller installation-Static Converter Unit bus21-15/30-30-003 Bus 21-15/30-30 ...

Siemens Simatic Panel PC Remote Kit 6av7671-1ex01-0aa0 6av7 671-1ex01-0aa0

Siemens Simatic s5 cpu928b Central Assembly 6es5928-3ub12 Version: 04

Siemens Simodrive Power Module 6sn1123-1aa00-0da0 Refurbished!

ABB DSQC 209 Analog Input Output Board

OMRON Security Module r88d-kn08h-ml2

Siemens Simatic s7 Operator Panel op15/a1-vf 6av3515-1ek30-1aa0

Festo Mini Sled slt-20-200-a-cc-b 197909

Siemens Operator Panel WS 400-20 8 function keys 6fm1420-1ca00

Siemens Sinumerik 840 Panel individual components 6fc4401-0aa00-z +b12 +d30

Siemens Sinumerik 840 M MA. - CONTROL BOARD 6fc4401-0aa00-z

Siemens Simatic s7 400 CPU CENTRAL Assembly 6es7414-1xg02-0ab0

Fanuc CPU a16b-3200-0071/05a a16b32000071/05a

Siemens SINUMERIK Machine Control Panel 6fc5203-0ad11-0aa0

Bosch Cnc Servo intervace Board 048678-103401 047928-203401

Pro-Face touch panel 3280007-02 agp3300-s1-d24

Leybold Sogevac ?lgedichtete Vacuum Pump sv65 B sv65b 960407v3004

Indramat dds02.1-w100-dl04-01-fw dds02.1-w100

Siemens Sinumerik Measuring Pie Assy. 6fc5111-0ba02-0aa0 6fc51110ba020aa0 Vers. ...

Siemens simotics synchronous servo motor 1ft6102-8af71-1ah0

Bosch Module Philips PE 1843/01

Siemens Simodrive Feed Module 6sn1130-1db12-0ca0

Indramat A.C. SERVO CONTROLLER TDM 1.2-050-300-w1 tdm1.2-050-300-w1

Trumpf Interface Laser Network Business 15-18-20-00

Siemens Simodrive settlement Shear 6sn1118-0dm13-0aa1 Version: D

Siemens Sinumerik Fanuc Control Panel CRT tr-9dk1 a61l-0001-0072

Siemens – 7mh4405-1aa00 Express shipping available...

Siemens IPDA Parallel Wiring Assembly 6sc9411-0fa00 NEW!

Siemens Sinamics Interface Module 6sl3100-0be21-6ab0 NEW!

Siemens Simodrive 611 scheme be Shear 6sn1118-0nj01-0aa1 Version: G

Fanuc MDI Unit (PC type (QWERTY), 160x290 a02b-0303-c128 NEW!!!

KSB Pump movichrom N G 3/25 2 O NEW

Siemens Simatic s5 positionierbaugruppe 6es5246-4ua31 NEW!

Danfoss Frequency Inverter VLT 3508 HV-AC 175h2907 380-415v

ABB DSQC 210 Robotics Safety Board

Indramat SERVO MOTOR mac071a-0-es-4-c/095-b-0/w1620lv/s001

Bosch Brushless Servo Motor sd-b4.140.030-00.000

Siemens Simodrive 611 Power Module 6sn1123-1ab00-0ca3 version: a

Siemens Simodrive 611 Power Module 6sn1123-1ab00-0ca1 version: a

Danfoss Frequency Inverter VLT 3016 175h1226 380-415v

Fanuc Servo Amplifer a06b-6081-h101 a06b6081h101 F

Num Servo Drive axis controller mdla 2021q00

Siemens Simodrive 611 Power Module 6sn1123-1ab00-0ca1 version: a

Becker Rotary Vane Pump Vacuum Pump VT 4.16

Indramat SERVO CONTROLLER DDS 2.1-w025-da01-00

INDRAMAT BOSCH REXROTH hcs02.1e-w0028-a-03 - NNNN csb01.1n-pb-ens-nnn-nn-s-nn-fw

MKS Instruments Intelligent Throttle Valve t3bia-29091

Heidenhain PLC Power Board PL 410b 263 371-12

B&r Analog Input Module pte8 Temperature Sensor K 0-600 ° C ecpte 8-1

Baumüller servomotor DSCG 045 k65u40-5 UL

Baumüller servomotor DSCG 045 a65u40-5 UL

Bosch-Rexroth indradrive csh01.1c-se-ens-nnn-nnn-l1-s-nn-fw NEW!

AGIE imc-05 C Motor Controller 646544.7

Siemens Simodrive Power Supply 6sc6100-0gc08

Heidenhain l?ngenme?system LS 107, ml 1140 mm, ID No.: 264 069 77 NEW!

Errepi Solar Inverter AUNI 4000 Series aunisol

Bosch Indramat Power Supply TVM 2.1-50w1-220v TVM 2.1-50-w1-220v

Siemens Permanent Magnet Motor 1ft5066-0af01-z

Indramat A.C. Servo Power Supply TVM 2.2-050-220/300-w1/220/380 tvm2.2-050-220/3...

Indramat A.C. Servo Power Supply TVM 2.2-050-w1-220v tvm2.2-050-w1-220v

Siemens Simodrive 650 Control Unit 6sc6500-0na44

Fanuc AC Servo Motor 20f a06b-0352-b731

Siemens Simatic s5 path Assembly 6es5240-1aa12 6es52401aa12 E-Stand: 2

Siemens Simodrive settlement Shear 6sn1118-0nh00-0aa2 version: a

Siemens Sinamics g120 Power Module 6sl3224-0be25-5aa0 NEW!

Fanuc CPU Board a16b-3200-0042 a16b32000042

Siemens SIMATIC Digital Output 6sn1118-0nj00-0aa1

SUNX Board Controller SL VMEs 2

Philips Maho Graph Mod-C 34519 D 16505

Siemens Simodrive settlement Shear 6sn1118-0dm11-0aa1 Version: D NEW!

Telemecanique inverter without panel atv58hu54n4

Cosmo System vpg-45

Densan dve-534 (9226b)

Avio B Board Controller pvme - 305 iae-22336b pc940701

Siemens Simatic s7 Touch Panel 6av6545-0aa15-2ax0 6av6 545-0aa15-2ax0 NEW!!!

Indramat AC SERVO CONTROLLER tdm-3.3-030-300-w1

Indramat AC SERVO CONTROLLER TDM 1.2-50-300-w1 Top!

Siemens Simoreg c98040-a1045-p3-01-85

Indramat Permanent Magnet Motor mkd041b-144-gg1-kn

Siemens Simodrive 611 6sn1118-0dm33-0aa0 Version: C

Siemens Simatic s5 Interface 6es5308-3uc21 6es5 308-3uc21 E-Stand: 2

Indramat Permanent Magnet Motor mkd041b-144-kg0-kn

Siemens Simatic s5 Interface 6es5308-3uc21 6es5 308-3uc21 E-Stand: 1

Siemens Simodrive settlement Shear 6sn1118-1nh00-0aa2

Siemens Sinumerik Power Module 03161 03 161-a

Siemens Sinumerik Assembly 6fx1138-4ba01

Siemens Sinumerik Power 6fc5114-0ab01-0aa1 Version: K

Siemens Simatic s5 Power Supply 6es5955-3nc11 6es5 955-3nc11

Schneider Electric Telemecanique servo motor bsh0703p02a2a id-n.65032302-011

Siemens Sinumerik 8 ms250-a 6fx1190-3aa00

SMD l?tmaschine Seika 2001 Model SS 7700

Bosch SM 5/10-c servomodul 054882-206

Dr?ger Polytron gasmessger?t 7000 p3u Part No: 83 17 980

Dr?ger Polytron gasmessger?t 7000 Part No: 83 17 980

Fanuc POWER UNIT a16b-1211-0850-010

Sieb & Meyer sinudyn m2 26.44.14

Sieb & Meyer sinudyn m1 26.44.14

Bosch SERVO DRIVE SM 5/10 T/A 050829-105

Bosch SM 5/10 T/A 050829-102 Servo Drive

Lenze servo converter evs9324-epv004

Siemens CPU Module 6es5944-7ua21 6es5 944-7ua21

Bosch SM 5/10-c servomodul 054882-205

Siemens s5 Module 6es5313-3aa12 6es5 313-3aa12 NEW

Exair 111048 Static Air Knife 1/4 in NPT 48 in L Al Mounting Bracket

Bosch Brushless Servo Motor se-b2.040.060-00.000

Sieb & Meyer sinudyn m2 26.44.57

Dr?ger Polytron gasmessger?t 7000 P. No: 83 17 980

Heller Module E 23.032 284-000 e23.032284-000

Bosch Supply Module VM 60/eb 048106-311

Bosch SERVO DRIVE SM 5/10 T/A 050829-103

Bosch ke300 KE 300 Communications Unit

Leuze Electronic Robust Multi-Beam Safety LIGHT CURTAIN TRANSMITTER RT 43

Indramat SERVO MOTOR mdc10.20f/mm-0/s06 MDC 10.20f/mm-0/s06

Indramat SERVO MOTOR mdc10.30d/mm-1/s09 MDC 10.30d/mm-1/s09

Siemens Side Channel Compressor ELMO-G 2bh1500-1ak13-z

Schenck Sliding Card Prom: lup2005-03 l209 421-03a/01

Schenck Sliding Card l200268.03 b6 lneg 600

Siemens Simatic 6es5454-5aa12 Module 6es5 454-5aa12

Honeywell IPC 620-20 processor loaded with 5 modules

Siemens Simatic 6es5310-5aa12 Module 6es5 310-5aa12

Sick Light Curtain, testbar c20e-150304a12

Sick MULTI BEAM LIGHT CURTAIN TRANSMITTER m20s 03140a122 Receiver m20e - 03140a2...

Heidenhain SCALE LS 403 ML 370 NEW!

Fanuc Board GE Fanuc Series Six ic660cbb902k Bus Contro

Siemens simadyn mm21 Coupler Storage Assembly 6dd1611-0ae0

EKF Central Processing Unit CPU Type: 68095-32133-zac 1

Siemens Sinumerik control unit 6fm1510-1aa-z + Modules

Siemens Simoreg Spindel Board c98043-a1244-l2-06

Siemens Sinumerik Power 77-964-4300 6fc5247-0aa17-0aa1 E-Stand: a New!

AGIE Power Module pmo-09 B 630132.9

AGIE PCB Process Controller prd-44 B 616.040 prd-42 B 614180.8

Traub IPS CPU 702 625 CPU Board

Siemens e10112-a0401-h50

GILDEMEISTER Control Card rk-16n 0295899

Bosch Power Supply LG 2076.00l 1070077958-202 204

Indramat SERCOS Interface Board APRB 0202 APRB 02-02

Siemens Simodrive scheme 6sc6500-0na02

Siemens Simodrive settlement Shear 6sn1118-0dm21-0aa0 Version: B

Fanuc a16b-2200-0855 Axis Control Module

Siemens Simatic s5 6av1242-0ab10 with 6es5373-0aa81

Siemens Simatic s5 Display Assembly 6fm1470-4aa20 Software-v3.0

Siemens Simodrive settlement Shear 6sn1118-1nh00-0aa1 Version: C

Siemens Sinumerik regeungseinschub 6sn1122-0ba12-0aa0

DGD Station Controller m-pro-400 (960056)

AGIE DMC 01 B ZCH. 626074.9

AGIE ZCH stb-06 C 621802.8

Bosch Regulator Card Mat. No. 1070060754-108

Indramat 2 Pulse Control Amplifier 1trm2-g11-w0/ze5

Baumüller installation-Power Inverter bus21-15/30-31-020 Bus 21-15/30-31 -020

Siemens Simatic Assembly 6sa8242-0bc02 6sa82420bc02

Boll & Bell Single Strainer Basket 1.03.2.154.300 DN 50 Fabr.nr.3847865/1 A

OMRON software cxone-al01c-ev2 Version: 2.04

Siemens Simatic s5 324r Interface 6es5324-3ur11 6es5 324-3ur11

Siemens Simodrive 611 scheme be Shear 6sn1118-0nj01-0aa1 Version: F

Siemens Simodrive 611 F 6sn1145-1aa01-0aa1 Version: G

Philips Control Card LM/RM Drive Mod 4022 226 3632

Philips Control Card Maho Graph Mod-C 4022 226 3451

Indramat Eco Drive Controller dkc04.3-040-7-fw dkc04 3-040-7-fw

Siemens simadyn D Processor Module 6dd1600-0af0

Siemens Simodrive Power Supply 6sc6100-0gb11

Baumüller rotary current motor DSG 56-s

Siemens Sinumerik Power Supply 6ew1861-3aa 6ew 1861-3aa

Philips pg3617 PG 3617 Dig IO 4022 230 1141

Siemens Sinumerik 6fc5111-0ba03-0aa0 6fc51110ba030aa0 Version: B

Siemens Simatic 6es5530-3la11 6es5 530-3la11

Siemens Simatic s7 EXM Communication Extension 6dd1607-0ea0 E-Stand: 2

Baumüller Servo Motor 45 DS m35 DS 45m35 MINT CONDITION!

Siemens SIMOVERT net tax rate and zwichenkreisregelung 6sc9811-2be52

Siemens Sinumerik 6ev3055-0ac

Easy machine operating panel mc-kbd6368-001 MC-KBD 6368-00

Siemens Simodrive 611-a main spindle 6sn1135-1ba13-0ca0 Module version: a

Siemens Simodrive 611 RF Choke 36 KW 6sn1111-0aa00-0ca1 NEW!!!

Sew Eurodrive Movitrac antriebsumrichter 31b040-503-4-00

Siemens SIMOVERT MASTERDRIVES Performance Part Assembly 6se7016-1ea84-6hf3 NEW!

Indramat A.C. Servo Power Supply TVM 1.2-050-220/300-w0/220/380

GILDEMEISTER Rack 0.551.810-50.3 MPB

Bosch Central Unit 062340-103401

Siemens Simatic s5 Chassis with Power Supply 6es5932-3sa12

Siemens Simatic s5 Power Supply 220v/5v/25a 6ew1160-5ac 6ew 1160-5ac

Siemens Simatic s5 geberanpassmodul 6es5241-1ab11 6es5 241-1ab11

Innolas Display Front Programming Unit Laser FS 150 sioedd 00

Innolas Display Front Programming Unit Laser FS 150 syoemd 00

Telemecanique inverter inverter atv452u30 3kw

Philips Maho Centr telet Mod-C 34334 d3676

MITSUBISHI 4mb411a mazak programming Terminal Lathe New!

Festo Timing Belt Axis egc-50-680-tb-kf-20h-gk 556812 Sled slt-10-20-p-a

BMP Brand Label Motor t3-0130-30-320/t0

SMB Servo Motor sbl3-0130-30-3-320-br

Siemens Simatic s5 positionierbaugruppe 6es5246-4ua31

Danfoss Frequency Inverter VLT 5003 175z0372

Siemens Simodrive 611 F 6sn1145-1aa01-0aa1 Version: E

Adept Robot programming unit CIP 30350-10350

Siemens SINUMERIK CNC software 6fc5850-1yg20-1ya0

Siemens Simatic Communication Processor 6gk7443-1ex11-0xe0 E-Stand: 4

Siemens Central Assembly 6es7412-1xf03-0ab0 6es7 412-1xf03-0ab0 NEW!

Siemens Sinamics s120 Double MOTOER Module 6sl3120-2te15-0aa3 NEW!

Siemens Sinumerik 6fc5110-0ca01-0aa0

Siemens Simoreg Spindel Board c98043-a1210-l-21-10

Siemens Simoreg Spindel Board c98043-a1240-l21-09

Siemens Sinumerik enlargement device 6fc3984-4fj02

Siemens Sinumerik 3m base design 4b 6fc3451-0fa 6fc3451-0fa-z

Indramat Permanent Magnet Motor mkd071b-061-kg1-kn

AGIE Power Supply lps-06a 614110.5

Philips 32 INP Outp Mod 35311 d18409

AGIE Power Module pmo-01 E 613930.7

Bosch Brushless Servo Motor sd-b3.095.030-10.000

Philips 32 INP Outp Mod 35311 d22673

Yaskawa tax card JANCD-mry01b-3 df9200676-d0

Fanuc CPU Mfg. No. 44a295191-004 PB 113007-003 REV C

Siemens Simatic s5 6av1242-0ab10 with 6av1202-0ba00

Baumüller installation-Static Converter Unit bus21-15/30-30-001 Bus 21-15/30-30 ...

Siemens simadyn D Communication Module 6dd1660-0bd0

Siemens 6ng4 224-8ps02-8aa1 BSP

Siemens Simodrive 611 F 6sn1145-1aa01-0aa1 Version: B

Siemens Simodrive 611 scheme be Shear 6sn1118-0nj01-0aa1 Version: B

Siemens Simodrive FBG c98043-a1240-l1 NEW

Siemens Simodrive 611 taking his Shear 6sn1118-0nj00-0aa2 Version: B

Sieb & Meyer sinudyn Power Module m3 26.44.14

Sieb & Meyer sinudyn Power Module 26.44.10

Siemens Sinumerik Flat Panel 6fc5203-0ab10-0aa0 6fc5 203-0ab10-0aa0

Siemens s5 PLC Recessed Mains Unit System e24g5/18wrg

Siemens Simatic s5 CPU 946 6es5946-3ua22 6es5 946-3ua22 E-Stand: 2

Bosch KM 2200 CAPACITOR MODULE 048799-109

Heidenhain te420 TE 420 Panel TNC Keyboard Id. No. 313 038-01

Siemens Sinumerik SIROTEC Analog FBG Sensor 6fx1111-3ab00

Siemens SINUMERIK CNC Full Keyboard 6fc5103-0ac01-0aa0 Vers. a

AGIE adc-05 an Analog Digital Converter 617.201.9

Siemens Simodrive Transistor Controller 6sc6508-0aa02 6sc6 508-0aa02

SYSTEC controls flowcom Basic 230 Vac for GAS GERMAN

Bosch KM 2200 CAPACITOR MODULE 047521-103

MITSUBISHI Circuit Board fx124b

MITSUBISHI Circuit Board fx84a bn624a356h02

Siemens AC VSA Motor 1ft6086-1af71-4eg0

Siemens SINUMERIK CNC Full Keyboard 6fc5103-0ac02-0aa1 6fc5 103-0ac02-0aa1

Siemens SINUMERIK CNC Full Keyboard 6fc5103-0ac01-0aa0 Vers. B

Bosch Rexroth indradrive hmd01.1n-w0020 cdb01.1c-pb-ens-ens-nnn-nnn-s1-s-nn-fw

Siemens Simodrive 6sn1118-0nj00-0aa2

Bosch Rexroth indradrive hmd01.1n-w0020

Siemens Simatic 6es5950-1aa61 6es5 950-1aa61

AEG Pulse Inverter 36kva+r

Rice Robotics rs4 us10 II 1740415

Siemens Sinumerik 031 OP 19" Panel 6fc5203-0ab11-0aa0 Version: G

Siemens simadyn D subrack 6dd1682-0be0

Bosch SM 3,5/8-gc16 Power Supply

ABB BBC Veritron static converter device ZG 6420 zg6420

Machine axes Control nc20ew0b1s cnc-20 + Trigger/Interface Innolas

Siemens TELEPERM M central processor 6ds1111-8ac

Siemens Simodrive FBG System 6sc6110-0na21 6sc61100na21

Kulicke & Soffa Power Supply Assembly 08828-0125-000 50/60 Hz 10 a 200vac - 240v

Philips Centr PROC Mod 33821 d1555 4022-226 3382

SMB Servo Motor sbl3-0065-30-325-3-br

Endress Hauser Flow Meter 53h26-0f0b9aa0a3ab

SMB Servo Motor sbl3-0130-30-325-3-br

Mushroom pss1 Bmps 3/3 Rack with Power Supply

EMF low voltage motors ec-kf-160l-4 PTC NEW!

Siemens Sinumerik NCU 571 6fc5357-0ba10-0ae0 version: a

Siemens Sinumerik 840de NCU 571.2 6fc5357-0bb11-0ae0 version: a

Siemens MMC Sicomp Technology Board 9ab4141-1fa04 with 9ab4141-3fa

Indramat AC SERVO CONTROLLER TDM 4.1-020-300-w0/s 102

Siemens Simatic s5 Counting Assembly 6fm1706-3ab10 6fm1 706-3ab10 E-Stand: a 01

Indramat Eco Drive Controller dkc02.3-040-7-fw DKC 02.3-040-7-fw

Hirschmann Industrial Ethernet Rail Switch rs40

Siemens Simodrive 611 F 6sn1145-1aa01-0aa1 Version: D

Bosch Regulator Card Mat. No. 1070069446-101401

Bosch Regulator Card Mat. No. 1070068347-101401

Siemens Sicomp Compact PC imc05 6ar1500-0ea00-0aa0 it: 02

Sew Eurodrive cfm90s/tf/rh1m/sm50 Servo Motor

Bosch servomodul SM 5/10-tc 060839-104

Philips Maho 14" CTR Colour Monitor 432 4022 226 2252

Baumüller Feeder bug622-28-54-e017

Siemens Sinumerik CPU 6fx1117-8aa01 NEW

Siemens pc612-b1200-c963 ZFE

Siemens Sinumerik Servo Interface 6fx1121-4bg01

Bosch Rexroth synchronous servo motors msk050c-0600-nn-s1-ug1 - NNNN