罗克韦尔1746-IA8

罗克韦尔1746-IA8系统向空间的发射

在机器人内部，开关电源和伺服驱动器内部的整流部分多采用非线性整流二极管，其产生的谐波电流势必会引起网侧电压的畸变。其中谐波电流引起的差模电流为导线直接耦合的方式在电气线路中传输，共模电压则通过和寄生电容之间的容性耦合形成共模干扰回路。同时功率模开关所产生的高频的电磁噪声则通过能量辐射的形式对外线路产生干扰。

4 医疗机器人的干扰抑制技术

1 布局

电柜设计使用金属材料，根据EMC的区域原则，合理的布局。将不同的设备规划在不同的区域中，伺服驱动器单元应尽量靠近安装在柜子的底部，使用接地金属隔离板将区域隔离，或者独立安装在金属电柜中。

电柜中保证良好的通风和散热，不要阻挡风扇的正常流通。

电柜中布线应强弱分开，信号线和动力线要分开走线。

AC接触器和DC继电器安装要远离I/O部件和信号电缆，并且要使用正确的RC抑制组件和二极管，减少线圈吸合时噪音污染。

2 接地

合理和可靠的接地是解决传导性干扰有效的方法，同时也会共模干扰的影响。错误的接地不但不能减少干扰，反而成为干扰的“帮凶“。

接地根据用途分类可以分为信号地、屏蔽地、保护地。

电柜中所有的电气组件接地端子（变频器、PLC）都要使用短而粗的接地线可靠的连接到公共接地点或者接地母排PE上。

机器人的框架的连接处不要有油漆隔离，实现有效连接后，接入系统地PE，有效的接地，可以减少脉冲群、辐射骚扰的影响。

1746-IA8

1746-IA8 

P0900DB BUS TERMINATOR SCSI

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P0900NT INTERFACE MODULE CARRIER BAND

P0900WA POWER SUPPLY MODULE 3A

P0900WT CABLE FBM10/15 TERMINATION

P0900ZV CABLE NODEBUS INTERFACE 50FT

P0901HA POWER SUPPLY MODULE

P0901QY FAN ASSEMBLY TOP ENTRY/TOP

P0901QZ FAN

P0901VK HARD DRIVE 80MB WITH AP20 SOFTWARE

P0901XT FIELDBUS TERMINATION ASSEMBLY

P0902DZ COMMUNICATION PROCESSOR

P0902JQ BRACKET WITH CLIPS

P0902JR ASSEMBLY TWIN JACKS WITH NODE BUS A/B CABLES

P0902KZ CABLE NODEBUS 50 FOOT / RG-58C/U TYPE

P0902WL POWER MODULE 100/120/220/240VAC 50/60HZ 90VA

P0902XS BUS RACK / 16 SLOT

P0903CV KEYBOARD ANNUNCIATOR

P0903CW KEYBOARD ANNUNCIATOR NUMERIC

P0903QF MODEM FIBER OPTIC END BUS

P0903ZE FIELDBUS ISOLATOR EC96

P0903ZE-FBI FIELDBUS ISOLATOR (EC96)

P0903ZL POWER MODULE INPUT SELECTABLE OUTPUT 39VDC

P0904BR GCIO MIW W/ TS WP50

P0904HA POWER MODULE 2 LAMBDA

P0904HA-IPM2 INDUSTRIAL PWR MOD, 2 LAMBDA

P0904HW POWER SUPPLY 500W

P0911AC COMMUNICATION PROCESSOR CMP15

P0911JM BUS INPUT POWER SHORT 24VDC

P0911JQ BUS INPUT POWER SHORT 120VAC

1746-IA8