6ES7416-2XK02-0AB0

6ES7416-2XK02-0AB0

6ES7416-2XK02-0AB0

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工业机器人在中厚板焊接生产中主要应用于船舶制造、工程机械、煤炭机械、核工业、钢结构及压力容器制造等行业。造船焊接技术是现代船舶制造的关键工艺技术，在船体建造中，焊接工时占船体建造总工时的30%~40%，焊接成本占船体建造总成本的30%~50%。

船舶焊接质量是评价船舶质量的重要指标，焊接效率直接影响到造船周期和船舶建造成本。因此焊接自动化将是船舶产业进步和升级的关键，
也是造船行业的一大趋势，随着焊接技术的发展这种趋势还将越来越明显。

在工程机械行业，焊接机器人已经较广泛的应用于各种工程机械工件的制造。例如挖掘机的动臂、斗杆、挖斗、X架、主平台及履带梁等各个部件，装载机的前后车架、动臂等关键部件，推土机后桥箱、台车方盒，汽车起重机车架、转台、支腿以及履带起重机、泵车、平地机及摊铺机等设备关键部件的焊接都有了专门的焊接机器人-变位机集成系统。

这些专门的机器人焊接系统运行稳定可靠，本体及控制系统通过电弧跟踪功能、接触传感功能、焊接专家数据库等智能化功能，对中厚板焊接领域存在的工件尺寸、焊脚尺寸较大，焊接坡口加工、工件组对精度较差等问题进行了解决，焊缝成形效果和焊接稳定性均较好。图7和图8分别为机器人焊接挖掘机履带梁的柔性系统及焊接效果。

5. 厚板焊接加工机器人智能化发展的趋势

焊接机器人在得到越来越广泛应用的同时，也正向更高程度的自动化与智能化方向发展。近年来不断涌现具有代表性的机器人焊接新技术，这些技术从生产效率、精度要求、操作性、适应性等方面显示了焊接机器人技术的未来发展趋势，从研发完善逐渐走向推广应用。

Brand Art. no. Type Name 
ABB 900060  DDR Switch cable 
ABB 3HAB2136-1  Teach pendant S3 
ABB 3HAB2151-1  Teach pendant S3 
ABB 3HAB2477-1  Floppy drive S2/S3 
ABB 3HAB2480-1  Floppy drive S4 
ABB 3HAB5386-1  Teach pendant S4 
ABB 3HAC14441-9  CMOS-battery 
ABB 3HNE00311-1  Teach pendant S4C 
ABB 3HNE00313-1  Teach pendant S4C 
ABB 4944016-2  Battery S3 
ABB 4944026-2  Battery memory board S2 
ABB YB161100-LH  Teach pendant S2 
ABB YB560100-EA  Teach pendant S3 
ABB YB560101-LA  Power supply 
ABB YT212002-BA  Rectifier 
ABB YT212002-C  Rectifier 
ABB YT212002-X  Rectifier 
ABB YB560103-CB DSQC236B DriveUnit 
ABB YB560103-CC DSQC236C DriveUnit 
ABB 3HAB2207-1 DSQC236D DriveUnit 
ABB YB560103-CD DSQC236G DriveUnit 
ABB 3HAB2207-1 DSQC236P DriveUnit 
ABB YB560103-CE DSQC236T DriveUnit 
ABB YB560 103-CL/5 DSQC241 PowerUnit 
ABB 3HAB 2210-1 DSQC300 Robot Computer 
ABB 3HAB 2216-1 DSQC314B PowerUnit 
ABB 3HAB 2219-1 DSQC316 Main Computer 
ABB 3HAB 2220-1 DSQC317 6MB Card 
ABB 3HAB 2236-1 DSQC321 4MB Card 
ABB 3HAB 5956-1 DSQC323 8MB Card 
ABB 3HAB 5957-1 DSQC324 16MB Card 
ABB 3HAB 2241-1 DSQC325 Main Computer 
ABB 3HAB 2242-1 DSQC326 Robot Computer 
ABB 3HAB7229-1 DSQC328 I/O Card 
ABB 3HAB 6182-1 DSQC335 Robot Computer 
ABB 3HAB8101-3/05D DSQC345B DriveUnit 
ABB 3HAB8101-3/08C DSQC345C DriveUnit 
ABB 3HAB8101-7/01C DSQC346C DriveUnit 
ABB 3HAB8101-8 DSQC346G DriveUnit 
ABB cable DSQC351 Interbus-S 
ABB 3HAC 0373-1 DSQC361 Main Computer 
ABB 3HAC3180-1 DSQC373 Robot Computer 
ABB 900054 1Gb SD-card S3/S4 DDR 
ABB 900056 1Gb SD-card S2 DDR 
  3HNE 00026 Teach Pendant 
  3HNE 00312-1 Teach Pendant 
  3HNE 00313 Teach Pendant 
  CHAA 3560-AXA Teach Pendant 
ABB 3HAB9271-1/01B DriveUnit Dummy DriveUnit Dummy 
ABB 57510001-AA DSCA 114 Print out board 
ABB 57520001-U DSCA 121 Communication board 
ABB 57160001-A DSDI 110 Digital input board 
ABB 57160001-K DSDO 110 Digital output board 
ABB YB161102-AH DSDX 110 Digital in/output board 
ABB 57160001-TP DSDX B001 digital in-output board 
ABB 57360001-U DSMB 124 Semiconductor memory board 
ABB 57360001-AN DSMB 125 Semiconductor memory board 
ABB 57360001-HG DSMB 127 Memory board 
ABB 57330001-N DSMC 110 Floppy disk controller 
ABB YB161102-AK DSPA 110 Axis computer 
ABB 57310256-AF DSPC 150 Central processor 
ABB 57310256-BA DSPC 153 Expand. single board computer 
ABB 57310001-GP DSPC 157 Expand. single board computer 
ABB YB161102-AD DSQC 103 Resolver power board 
ABB YB161102-AF DSQC 105 Display board 
ABB YB161102-BA DSQC 110 Programming board 
ABB YB161102-BS DSQC 115 Resolver power board + 2 analogue 
ABB YB161102-BE DSQC 116 Power supply 
ABB YB161102-BG DSQC 117 Resolver power board 
ABB YB161102-BU DSQC 124 Terminal unit 
ABB YB161102-BV DSQC 129 R/D board 
ABB YB161102-CH DSQC 136 Safety board 
ABB YB161102-CM DSQC 138 Terminal unit 
ABB YB560103-AC DSQC 202 Robot computer 
ABB YB560103-AS DSQC 208A External axis board 
ABB YB560103-AL DSQC 209 Analogue I/O board 
ABB YB560103-AM DSQC 210 Safety board 
ABB YB560103-AN DSQC 211 Power supply 
ABB YB560103-BF DSQC 215 Robot computer 
ABB YB560103-AZ DSQC 220 Programming board 
ABB YB560103-BD DSQC 223 PC Board digital I/O 
ABB YB560103-BE DSQC 224 PC Board combi I/O 
ABB YB560103-BK DSQC 227 Winchester interface 
ABB YB560103-BD DSQC 228 Safety board 
ABB YB560103-BN DSQC 230 Robot computer 
ABB YB560103-BS DSQC 233 External axis board 
ABB YB560103-BY DSQC 235A Rectifier 
ABB YB560103-BZ DSQC 235B Rectifier 
ABB YB560103-CA DSQC 236A Drive unit 
  DSQC 236B Drive 
ABB YB560103-CC DSQC 236C Drive unit 
ABB 3HAB2207-1 DSQC 236D Drive unit 
ABB YB560103-CD DSQC 236G Drive unit 
ABB 3HAB2245-1 DSQC 236H Drive unit 
ABB 3HAA3563-AJA DSQC 236P Drive unit 
ABB YB560103-CE DSQC 236T Drive unit 
  DSQC 239 Board - ABB RIO 
ABB  DSQC 241 Power supply 
ABB YB560103-CM DSQC 242 Programming board 
ABB 3HAA0001-CP DSQC 243 Serial measurement board 
ABB 3HAA3563-ACA DSQC 245 Serial measurement board 
ABB 3HAA3563-AAA DSQC 248 Programming board 
ABB 3HAA3563-AGA DSQC 249A Rectifier 
ABB 3HAA3563-AHA DSQC 249B Rectifier 
ABB 3HAA3563-AD DSQC 252 System board 
 E3HAC028756-001 DSQC 253 SMB unit DSQC 573 
 E3HAA3563-AMA DSQC 253 Serial Measurement Board 
 E3E 042816 DSQC 253 Exch. Serial mes. DSQC 253W 
 6369901-218 DSQC 253 Serial Measurement Board 
ABB 3HAB2211-1 DSQC 256A System board 
ABB 3HAA3563-AUA DSQC 258 Power supply 
ABB 3HAB8797-1 DSQC 266B Drive unit 
ABB 3HAB8798-1 DSQC 266C Drive unit 
ABB 3HAB8801-1 DSQC 266G Drive unit 
ABB 3HAB8800-1 DSQC 266H Drive unit 
ABB 3HAB8799-1 DSQC 266K Drive unit 
ABB 3HAB8802-1 DSQC 266T Drive unit 
ABB 3HAA3573-AAA DSQC 300 Board - Computer 
ABB 3HAB2210-1 DSQC 300 Board - Computer 
ABB 3HAB2233-1 DSQC 300 Board - Computer 
ABB 6369901-380 DSQC 300 Board - Computer 
ABB 3HAA3573-ABA DSQC 301 Programming board 
ABB 3HAB2209-1 DSQC 306 Computer board 
ABB 6369901-298 DSQC 306 Computer board 
ABB E3HAB2209-1 DSQC 306 Computer board 
ABB 3HAB3700-1 DSQC 313 Serial measurement board 
ABB 3HAB4259-1 DSQC 313 Serial measurement board 
ABB 3HAC9522-1 DSQC 313 Serial Measurement Board 
ABB 3HAB2215-1 DSQC 314A Rectifier 
ABB 3HAB2216-1 DSQC 314B Rectifier 
ABB 3HAB2231-1 DSQC 314C Rectifier DC link 
ABB 6369901-336 DSQC 314C Rectifier DC link 
ABB E3HAB2231-1 DSQC 314C Rectifier DC link 
ABB 3HAB2214-1 DSQC 315 Combi I/O 
ABB 3HAB2219-1 DSQC 316 Computer board 
ABB 3HAB2209-1 DSQC 317 Memory expansion board 
ABB 3HAB2233-1 DSQC 322 Robot computer 
ABB 3HAB5956-1 DSQC 323 Memory expansion board 
ABB 3HAB5957-1 DSQC 324 Memory expansion board 
ABB 3HAB2241-1 DSQC 325 Main computer 
ABB 3HAB2242-1 DSQC 326 Robot computer 
ABB 3HAB7230-1 DSQC 327 Analogue Digital Combi I/O 
ABB 3HAB7229-1 DSQC 328 Digital 24 VDC I/O 
ABB 3HAB7215-1 DSQC 331 Panel unit 
ABB 3HAC17973-1 DSQC 332 Digital relay I/O 
ABB 3HAB5845-1 DSQC 334 Power supply 
ABB 3HAB6182-1 DSQC 335 Robot computer 
ABB 3HNE00001-1 DSQC 336 Network board NIOC-01 
ABB 3HAB8101-1 DSQC 345A Rectifier 
ABB 3HAB8101-2 DSQC 345B Rectifier 
ABB 3HAB8101-3 DSQC 345C Rectifier 
ABB 3HAB8101-4 DSQC 345D Rectifier 
ABB 3HAB8101-14 DSQC 345E Rectifier 
ABB 3HAB8101-5 DSQC 346A Drive unit 
ABB 3HAB8101-6 DSQC 346B Drive unit 
ABB 3HAB8101-7 DSQC 346C Drive unit 
ABB 3HAB8101-11 DSQC 346E Drive unit 
ABB 3HAB8101-8 DSQC 346G Drive unit 
ABB 3HAB8101-13 DSQC 346U Drive unit 
ABB 3HNE00957-1 DSQC 350 Remote I/O 
ABB 3HNE00065-1 DSQC 354 Encoder interface 
  DSQC 355 I/O Board 
ABB 3HAB8101-10 DSQC 358C Drive unit / Rectifier 
ABB 3HAB8101-12 DSQC 358E Drive unit / Rectifier 
ABB 3HAB8101-15 DSQC 358F Driveunit / Rectifier 
ABB 3HAB8101-16 DSQC 358G Drive unit / Rectifier 
ABB 3HAC0373-1 DSQC 361 Main computer 
ABB 3HAC1462-1 DSQC 363 Robot computer 
ABB 3HAC1620-1 DSQC 365 Power supply 
ABB 3HAC3180-1 DSQC 373 Robot computer 
ABB 3HAC3462-1 DSQC 374 Power supply 
ABB 3HAC10597-1 DSQC 386 Devicenet gateway 
ABB 3HAC3616-1 DSQC 500 Main computer 
ABB 3HAC3619-1 DSQC 503 Axis computer 
ABB 3HAC4297-1 DSQC 506 Power supply 
ABB 3HAC5393-2 DSQC 508 Battery unit 
ABB 3HAC5687-1 DSQC 509 Panel unit 
ABB 3HAC7519-2 DSQC 518A Flash disk 64Mb 
ABB 3HAC7519-3 DSQC 518B Flash disk 128Mb 
ABB 3HAC8848-1 DSQC 522 I/O computer board 
ABB 3HAC12158-1 DSQC 532 I/O Computer 
ABB 3HAC14265-1 DSQC 539 Power supply 
ABB 3HAC14279-1 DSQC 540 Main computer 
ABB 3HAC16917-3 DSQC 544A Flash disk 64Mb 
ABB 3HAC16917-4 DSQC 544B Flash disk 128Mb 
ABB 3HAB8101-19 DSQC 545A Rectifier 
ABB 3HAB8101-18 DSQC 546A Drive unit 
ABB 3HAC17396-1 DSQC 562 Serial measurement board 
ABB 3HAC022104-001 DSQC 564A Flash disk 64Mb 
ABB 3HAC022104-002 DSQC 564B Flash disk 128Mb 
ABB 3HAC020466-1 DSQC 627 Power supply 
ABB 3HAC025918-001 DSQC 653 Digital relay 
ABB 3HAC025465-004 DSQC 656 Flash disk 256Mb 
ABB YB560103-BD DSQC223 I/O Card