1746-HSRV（A-B）
機械臂對精度和運動穩定性的要求較高，因此計算量大、周期短，比移動機器人一般要高1到2個量級。移動機器人一般對同步精度要求不高，其配置相對較低。
機械臂一般工作于固定的區域，其控制器通常放置于機箱內，因此防護等級不高，一般是IP20。
移動機器人由于需要經常運動，尤其是室外工程機械，要考慮防水防塵，其防護等級較高，一般是IP67。
2CoDeSys介紹
2.1CoDeSys的組成
你會發現，很多的機器人控制軟件都是借助CoDeSys實現的，那么什么是CoDeSys呢？
CoDeSys是一款付費的軟PLC開發軟件，簡單來說，它包括兩部分：Development System和Runtime System。Development System就是用來編程的軟件界面（就像Visual Studio、Eclipse等軟件，也可以稱為IDE），設計、調試、編譯PLC程序都在IDE中進行，這部分是用戶經常打交道的；
PLC程序寫好了以后，就要把它轉移到硬件設備中運行。可是這時生成的PLC程序自己是無法運行的，它還要在一定的軟件環境中才能工作，這個環境就是Runtime System，這部分是用戶看不到的。
二者安裝的位置通常不同，IDE一般安裝在開發電腦上，Runtime System則位于起控制作用的硬件設備上，二者一般使用網線連接，程序通過網線下載到Runtime中運行。
CoDeSys在國內知名度不高，但是在歐洲久負盛名，尤其在工業控制領域。我們上面提到的很多機器人公司都使用了它的產品，例如KEBA、倍福、固高，還有幾乎所有的移動機器人控制器廠家。
設計CoDeSys的3S公司只賣軟件，不賣硬件。硬件電路需要由用戶自己設計，3S公司負責將Runtime System移植到客戶的硬件上。Runtime System可以裸跑在硬件上，但一般是運行在操作系統上，配置操作系統也是客戶的工作。
如果客戶要求，CoDeSys的IDE可以定制，換成客戶的logo和外觀，這就是為什么你會發現不同廠家的開發平臺長得不一樣，但風格又比較相似。
1746-HSRV（A-B）
Westinghouse 75 KVA Transformer, 600 x 120/208 Volt
REX 50 KVA 1 Phase 575x120/240 Transformer
Square D 45 KVA Transformer, 3 Phase, 480x480/277 Volt
Federal Pacific 15 KVA 3 Ph 480 X 460Y/126 DRY TRANS
General Electric 15 KVA, 3 Ph 208X120/208 Transf *USED*
Hammond 15 KVA, 480X120/208 NEMA 3R, 3 Ph Trans*USED*
Hammond 112.5 KVA,3PH 480X120/208 NEMA 3R,Trans *USED*
Hammond 45 KVA,480X120/208 NEMA 3R, 3 Ph Trans *USED*
Hammond 30 KVA,480X120/208 NEMA 3R, 3 Ph Trans *USED*
Hammond 75 KVA,480X120/208 3 ph NEMA 3R Trans *USED*
GE 45 KVA 3PH 208X120/208 Cat #9T23B3093 DRY TRANS
Cutler Hammer 30 KVA 3PH 480 X 120/208 V48M28T30EE NEW
Square D 800 Amp I-Line Main Lug Panelboard
Square D 225 Amp, NQOD Main Lug Panelboard *USED*
ITE CE3-B100, 100 Amp Cordon Circuit Breaker NEW IN BOX
ITE CE3-B020, 20 Amp Cordon Circuit Breaker *NEW IN BOX
ITE CE3-B030, 30 Amp Cordon Circuit Breaker *NEW IN BOX
ITE HE3-B100, 100 Amp Circuit Breaker *NEW IN BOX*
ITE JL3-T225 Trip Unit *NEW IN BOX*
(5) Buss NOS80 Fuses *NEW IN BOX*
(10) Gould/Shawmutt TR20R Fuses *NEW IN BOX*
(5)Shawmutt TR100R Fuses *NEW IN BOX*
Gould/Shawmut TRS-150R, 150 Amp Fuse *NEW*
GE LU70, Lot of 12** High Pressure Sodium Lamp *NEW*
ITE FJ3-B225, 225 Amp Circuit Breaker *NEW IN BOX*
Square D EHB34030 Circuit Breaker *NEW SURPLUS*
Square D EHB34015 Circuit Breaker *NEW Surplus*
NEMA 4 Dual 5 HP Pump Control Panel *USED*
Siemens W4242L3225CU, Weatherproof Load Center
Adalet XCE101408 Explosion Proof Junction Box *USED*
Adalet XCE121208 Explosion Proof Junction Box *USED*
Hoffman A8H12ALP, NEMA 12 Jic Box *NEW SURPLUS*
Weighman N12303012, Nema 12 Enclosure *NEW SURPLUS*
Cooper 225 KVA 3PH 13800 X 120/208 PAD MOUNT NEW
Air Compressor Products, #028-158DP3 *USED*
SQUARE D PXF361600G Main Circuit Breaker Switchboard
Cooper 75 KVA 1PH 13800GY/7979 X 120/240 NEW PAD MOUNT
RTE 100 KVA 1 Ph13800 X 120/240 Padmount Transformer
RTE 50 KVA 1 Ph 13800 X 120/240 Padmount Transformer
Cooper Padmount Transformer, 167 KVA, *USED*
Cooper 100 KVA 1 Ph 13800GY/7970 X 120/240 PAD MOUNT
RTE 75 KVA 1 Ph 13800 X 120/240 Padmount Transformer
Hoffman A30P24SS6 Enclosure Back Plate *NEW IN BOX*
Siemens B220 Circuit Breaker 2p 20 amp
ITE/Siemens B240 Circuit Breaker *USED*
Siemens B250 Circuit Breaker
ITE/Siemens B320 Circuit Breaker
ITE/Siemens B3100 Circuit Breaker *USED*
ITE/Siemens B360 Circuit Breaker *USED*
ITE/Siemens B330 Circuit Breaker *USED*
ITE - ET 225amp "K" Frame 225 amp Circuit Breaker USED
ITE - ET 225amp "K" Frame 200 amp Circuit Breaker USED
ITE - ET 225amp "K" Frame 175 amp Circuit Breaker USED
ITE -ET 100 "F" Frame 20 amp Circuit Breaker *USED*
ITE -ET 100 "F" Frame 50 amp Circuit Breaker *USED*
ITE -ET 100 "F" Frame 70 amp Circuit Breaker *USED*
ITE -ET 100 "F" Frame 90 amp Circuit Breaker *USED*
ITE JL63F400, 200 amp Circuit Breaker *USED*
ITE JL63F400, 250 amp Circuit Breaker *USED*
ITE JL63F400, 300 amp Circuit Breaker *USED*
Siemens Q120 Circuit Breaker *USED*
Siemens B120H Circuit Breaker
GE DFPTQL4 50amp Bus Plug *USED*
Siemens SN426 600 Amp Fused Disconnect *USED*
Square D KAL362001021 Circuit Breaker, Grey Label *USED
Square D KHL36200 Circuit Breaker, Grey Label *USED
Square D KHL36225 Circuit Breaker, Black Label *USED
Square D KHL362251212 Circuit Breaker, Grey Label *USED
Square D KHL3625025DC161?6 Circuit Breaker *USED*
Square D KHL362501291 Circuit Breaker *USED*
Square D KHL36250 Circuit Breaker *USED*
Square D KCL34150 I-Line Circuit Breaker *USED*
Square D KCL34225 I-Line Circuit Breaker *USED*
Square D KA36150 Circuit Breaker, Grey Label *USED*
Square D KA36125 Circuit Breaker, Grey Label *USED*
Square D KA36175 Circuit Breaker, Grey Label *USED*
Square D KA362001021 Circuit Breaker, Grey Label *USED*
Square D FC34100 Circuit Breaker *USED*
Square D KC342251021 Circuit Breaker w/ Shunt Trip USED
Square D KC34225 Circuit Breaker *USED*
Square D FC34030 Circuit Breaker *USED*
Square D KC34175 I-Line Circuit Breaker *USED*
Square D KC34110 I-Line Circuit Breaker *USED*
Square D KAF361251143 Circuit Breaker *USED*
Bryant BRWH230 Tandem 2 Pole Circuit Breaker *USED*
Bryant BRSN220 Switch Neutral Circuit Breaker *USED*
Bryant BR230 Bolt On GFI Circuit Breaker *USED*
Bryant BR120 Bolt On GFI Circuit Breaker *USED*
Bryant BR115 Bolt On GFI Circuit Breaker *USED*
Bryant BR230 GFI Circuit Breaker *USED*
Bryant BR215 GFI Circuit Breaker *USED*
Bryant BR120 GFI Circuit Breaker *USED*
Bryant BR140 Circuit Breaker *USED*
Bryant BR130 Circuit Breaker *USED*
Bryant BR120 Circuit Breaker *USED*
Square D FAL24045 Circuit Breaker, Grey Label *USED
Square D FAL36040 Circuit Breaker, Grey Label *USED
Square D FAL34030 Circuit Breaker, Grey Label *USED
Square D FAL34025 Circuit Breaker, Grey Label *USED
Square D FAL34020 Circuit Breaker, Grey Label *USED
Square D FAL34015 Circuit Breaker, Grey Label *USED
Square D FA3600712M Circuit Breaker, Black Label *USED
Square D FAL360801017 Circuit Breaker, Grey Label *USED
Square D FAL341006471 Circuit Breaker, Grey Label *USED
Square D FAL360251212 Circuit Breaker, Grey Label *USED
Square D FAL360801143 Circuit Breaker, Grey Label *USED
Square D FAL341001212 Circuit Breaker, Grey Label *USED
Square D KAL36125DC1616 Circuit Breaker, Grey Label
Square D KAL36175DC1680 Circuit Breaker, Grey Label
1746-HSRV（A-B）
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