KJ3002X1-BB1模拟量输出

KJ3002X1-BB1模拟量输出

在传感装置的选用上，尽量选用抗干扰性强的智能传感仪器，同时考虑到预研项目的经费情况，也用了一些常规的传感器。另外，由于机器人外部有很多传感器，而舱室空间又十分有限，因而本文参考现场总线控制系统信息处理现场化的思想在机器人外部放置了一个单片机，完成这些传感器数据的处理后再上传给主单片机。试验表明，这种方案不仅可以缓解主单片机的工作压力，实现分布系统的设计思想，还可以减少信号传输线上的共模干扰。 
　　控制系统的执行机构主要是五台推进电机、舵、及纵横倾调节装置。其中纵横倾调节装置为24V力矩电机带动滑块移动从而调节水下机器人的纵横倾，经高性能光电隔离芯片后与从单片机1并行口连接。在水下机器人的运动过程中，随时可能要改变推进电机的转速以得到不同的推进力，而变频调速是实现电机调速的方式。本系统采用台达VFD-A/H型变频器，它不仅可以实现各种转速曲线，而且还具有过压、过流、过热等完善的保护措施。该变频器与控制系统的接口为RS485串行口，一块CPUzui多可接32个变频器。 

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郑娟萍

厦门仲鑫航自动化设备有限公司

主营：专业从事（DCS系统）（机器人系统）（大型伺服控制系统）模块 备件销售

↓、Allen-Bradley(美国AB)系列产品》

↓、Schneider(施耐德电气)系列产品》

↓、General electric(通用电气) →GE←系列产品》

↓、Westinghouse（美国西屋）系列产品》

↓、SIEMENS(西门子系列产品)

↓、estinghouse（西屋）： OVATION系统、WDPF系统、MAX1000系统备件

↓、Invensys Foxboro（福克斯波罗）：I/A Series系统，FBM（现场输入/输出模块）顺序控制、梯形逻辑控制、事故追忆处理、数模转换、输入/输出信号处理、数据通信及处理等。

↓、Bosch Rexroth（博世力士乐）：Indramat，I/O模块,PLC控制器,驱动模块等。

↓、Motorola（摩托罗拉）：MVME 162、MVME 167、MVME1772、MVME177等系列

在主单片机一侧，由于要发送的信息很多（共有107个字符）因而在程序中将待发送的数据分成两组，每一组分别设有协议头和校验和，根据上位机通讯控制字符（分别是55H和66H）的不同来确定发送哪一组数据。在上位机一侧，由于上位机要动态显示水下机器人的运动姿态，接收各种设备的返回信息，如采用中断信息接收方式，在同一时间每个下位机都向上位机发送信息时，会发生冲突导致信息丢失。为此，各下位机向上位机的信息传输要按照上位机的命令，整个系统按照统一节拍工作。当上位机空闲时就按顺序发送一个使能命令给第i个下位机，第i个下位机接到命令后立即将要上传的信息发出，如果上位机没有接到，则重新发送该使能命令。同时为了提高通讯的可靠性，在通讯的每一侧将待发送字符拆为3xH的形式，再对所发送的这组数据进行加和运算以求出校验码。通讯的另一侧接收完一组数据后进行求和校验，如校验和不正确，则该组数据作废，等待下一组数据。

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