1、Manipulator is now used as a industrial robots in use, the controlobjectives oftenappear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line ha s bee n rapi d developme nt in industrial automation a s a separate subject. Manipulatorappl

2、icationbegan to filter into weldi ng, logistics, mecha nical processing, and other industries. Espe cially at high or very low temperatures, fullof poisonous gases,high radiationcase, robot in similar circumstancesshowed great use also brings great convenience to the staff. Precisely be cause of thi

3、s robot to get people's attention began tobe a high degree of development.Labor rates, working conditions, labor intensive a spects of promoting development.Bot h at home and abroad todevelop thePLC (programmable logiccontr oller) is in various specialcircumstances and underspe cialdevelopment o

4、f the technology makes a goodoptimization ofproductivecapital, and robot shows this unique a dvantages,such as: has good compatibility, wide availability, hardware iscom plete, and programming that can be mastered ina short time, so in the context of industrialPLCapplications became ubiquitous.Manip

5、ulator in manydevelopedcountry agricultureand i ndustry has been applied, such as the use of mechanical harvest ing large areasof farmland, repeatedoperationson t he hig h-speed line that uses a robotic arm, and so on. Today, thehigh levelof automationcombined with restrictions on the manipulatordev

6、elopment level is slightly l ower than the internationa l. The design is mai nly arm welding machineby PLC Automationcontrol. This of design let designerson i n schoolby learnof has a must of consolidation, understand has some usually diyears with withcomputer and automation technologyof development

7、, Makes mechanical arm on the Grand stage of industrial automation and shine, graduallybecame an industrial evaluation standards, and its importance canbe se en.Noworiginal roboti c arm spe nt most of massproducti on and useon the production line,whi ch isprogrammed robotic arm. As the firstgenerati

8、on of manipulator position control systems main features, although not backseveral generations that can detect the external environment, but canstill successfullycomplete like welding, painting , delivery as wellas for materials simple movements. Second generation mechanical arms are equi ppe d with

9、sensors and manipulators have the environment there is a certain amount of "sense", when the mechanical arm is to use the program as a basis. Difference is that the robot begand報關單填制一、進出口口岸：口岸海關的名稱 及代碼。如浦東海關2210（有隸屬海關的填隸屬海關，沒有的填直屬海關）二、備案號：一份報關單只允許填報一個備案號，無備案號的免填BCEYZ來料加工進料加工加工貿易電子賬原產地證書征免稅

10、證明冊三、進出口日期：運輸工具申報日期，出口日期可免填。填報要求8 位數字如：四、申報日期：海關接受日期。填報要求要求同上如：五、經營單位：對外簽訂并執行合同的企業（10 為代碼）填報要求位單位的中文名稱及十位編碼第 14 位行政區劃代第 5位市內經濟區劃代第 6 位企業經濟類型代碼第 710位順序編碼碼號1、經濟特區1、有進出口經營權的國有企業2、經濟技術開發區2、中外合作企業3、高新技術產業開發區3、中外合資企業4、保稅區4、外商獨資企業5、出口加工區5、有進出口經營權的集體企業6、保稅港區6、有進出口經營權的私營企業7、保稅物流園區7、又進出口經營權的個體工商戶8、有報關權沒有進出口權的

11、企業9、其它9、其它1、進出口企業之間相互代理，或沒有進出口經營權的企業委托有進出口經營權的企業代理進出口的，填報代理方的公司中文名稱及十位編碼2、外商投資企業委托外貿企業進口投資設備、物品的，填報外商投資企業的中文名稱及十位編碼，并在備注欄注明“委托 XX 公司進口”；外商投資企業委托外貿企業進口生產用原材料，經營單位填外貿企業及代碼。3、援助、贈送、捐贈的貨物，填報直接接受貨物的單位名稱及編碼4、經營單位第 6 位數字為“ 8”的單位，不得作為經營單位填報5、境外企業企業不得作為經營單位填報。如委托港澳機構成交的貨物6、合同的簽訂者和執行者不一致，填報執行合同的單位名稱及編碼manipul

12、ator control mode and programmable controllers introduction 2.1 Selectdiscussion with manipulator control 2.1.1class ification of control relays anddiscrete electronic circuit can controlold industrial equipment, but also more common.Mainly these tw o relatively cheap and you ca n meet the old-fashi

13、 oned, sim ple (or simple) industrial equipment. Sohe can see them now,howev er these two control modes (relay and discrete electroniccircuits) are these fatal flaws: (1) cannot adapt to t he complex logic control, (2) only for thecurrentproje ct, the lack of compatibility and (3) notreforming the s

14、ystem with equipment improvements. Spring for the developme nt of China's modern industrial automation technology thesubstantial increase in the level of industrialautomation, completed theperfect relay of thecomputer too much. In terms of controlling the computer showed his twSystem (DCS for sh

15、ort), and (3) the Programmable Logicalng orderController (PLC for short). 2.1.2by the micrPLC and t he IPC and DCS contrast contrast 1,each of the three technologies of origins anddevelopment requirements for fast data processing makes it invented thecomputer. The menbrought in termsof hardware ther

16、e, using a hig h level of standardization, canuse morecompatibility tools, is a rich software resources, especi ally theneed for immediacy in operational systems. So thecomputer can effectively control is used tocontrol and meet itsspeed, on the virtual model, real-time and incom putational requirem

17、ents. Distributed system started with acontrol system for industrial automatic instrumentuse d to control, whereas now it issuccessfully developed into industrial controlcomputer used as a central collection and distri buti on system and transition of distribute d controlsystem, focused on the switc

18、hcontrolling the runniof functi ons. Markedoprocessor in the early 1970 of the 20th century emerged, mcro-electroni cs technology has develope d rapidly, peoplesoon microelectroni cs processing technology will be used in the Programmable Logical Controller (that isManipulator is now used as a indust

19、rial robots in use, the controlobjectives oftenappear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line ha s bee n rapid developme nt in industrial automation a s a separate subject. Manipulatorapplicationbegan to filter into welding,

20、 logistics, mecha nical processing, and other industries. Espe cially at high or very low temperatures, fullof poisonous gases,high radiationcase, robot in similar circumstancesh-speeshowed great use also brings great convenience to the staff. Precisely be cause of this robot to get people's att

21、ention began tobe a high degree of development.Labor rates, working conditions, labor intensive a spect s of promoting development.Both at home and abroad todevelop thedevelopment of the technology makes a goodoptimization ofproductivecapital, and robot shows this unique a dvantages,such as: has goo

22、d compatibility,wide availability, har dware iscom plete, and programming that can be mastered ina short time, so in the context of industrialPLCapplications became ubiquitous.Manipulator in manydevelopedcountry agricultureand i ndustry has been applied, such as the use of mechanical harvesting larg

23、e areasof farmland, repeatedoperationson t he higd line that uses a robotic arm, and so on. Today, thehigh levelof automationcombined with restrictions on the manipulatordevelopment level is slightly lower than the internationa l. The design is mai nly arm welding machineby PLC Automationcontrol. Th

24、is of design let deyears with withcomputer and automation technologyof development, Makes mechanical arm on the Grand stage of industrial automation and shine, graduallybecame an industrial evaluation standards, and its importance canbe seen.Noworiginal roboti c arm spe nt most of massproducti on an

25、d useon the production line,whi ch isprogrammed robotic arm. As the first generation of manipulator position control systems main features, although not backseveral generations that can detect the external environment, but canstill successfullycomplete like welding, painting, delivery as wellas for

26、materials simple movements. Second generation mechanical arms are equi ppe d withsensors and manipulators have the environment there is a certain amount of "sense", when the mechanical arm is to use the program as a basis. Difference is that the robot bega nd六、運輸方式：進境貨物按照運抵我國關境第一個口岸；出境貨物按照

27、離開我國關境最后一個口岸填報：水鐵公航2345水路運輸鐵路運輸公路運輸航空運輸七、運輸工具名稱航次號（Ocean Vessel and Voy. No.）：? 一份報關單只能填報一個運輸工具名稱?跨境公路填國內車牌號，深圳提前報關填“車牌/ 提前報關”? 鐵路填車廂編號或交接單號? 集中申報填“集中申報”水路運輸船舶英文名稱或編號航次如 COSCO SHANGHAI 016E號航空運輸 航班號 (不填名稱 ) 如 CA45236 注 :運輸工具轉關運輸填報 16 位轉關申報單預錄入號八、提運單號：一份報關單只允許填報一個提運單號水路運輸 進出口提單號 有分運單的，填寫“進出口提單號 +分運單號

28、” (B L No.)航 空 運 輸總運單號 有分運單的號”，填寫“總運單號_分運單九、收貨單位發貨單位：收貨單位為最終消費、使用單位；發貨單位為境內的生產或使用單位，包括自行出口的單位，委托進出口企業出口的單位。填報中文名稱及編碼，無編碼的填報中文名稱。自行進口或出口的收發貨單位外商投資企業委托外貿企業進口投資設備、物同經營單位同經營單位品的其它委托進口企業進出口貨物的收發貨單位不同于經營單位（看經營單位填報要求）十、貿易方式：一份報關單只允許填報一種貿易方式0110一般貿易0214來料加工（料件、產品）0255來料深加工（深加工結轉）0320不作價設備（征免：501）0420加工貿易設備

29、(作價、不抵扣總額101 或 501 )0500減免設備結轉0615進料對口（料件、產品）0654進料深加工（深加工結轉）1233保稅倉庫貨物1300修理物品1523租賃貿易2025合作合資設備（ 總額內包括物品 ）2225外資設備物品（ 外獨、總額內 ）2600暫時進出貨物（征免：299）manipulator control mode and pr ogrammable controllers introduction 2.1 Selectdiscussion with manipulator control 2.1.1classification of control relays an

30、ddiscrete electronic circuit can c ontrolold industrial equipment, but also more common.Mainly these tw o relatively cheap and you can meet the old-fashi oned, sim ple (or simple) industrial equipment. Sohe can see t hem now,howev er these two control modes (relay and discrete electroniccirc uits) a

31、re these fatal flaws: (1) cannot adapt to t he complex logic control, (2) only for thecurrentproje ct, the lack of compati bility and (3) notreforming the system with equi pment improvements. Spring for the developme nt of China's modern industrial automation technology thesubstantial increase i

32、n the level of industrialautomation, completed theperfect relay of thecomputer too much. In terms of controlling the computer showed his two great advantages: (1) eachof the hardware ca n be i nstalleSystem (DCS for short), and (3) the Programmable LogicalController (PLC for short). 2.1.2PLC and t h

33、e IPC and DCS contrast contrast 1,each of the three technologies of origins anddevelopment requirements for fast data processing makes it invented thecomputer. The menbrought in termsof hardware there, using a hig h level of standardization, canuse morecompatibility tools, is a rich software resourc

34、es, especi ally theneed for immediacy in operational systems. So thecomputer can effectively control is used tocontrol and meet itsspeed, on the virtual model, real-time and incom putational requirements. Distributed system started with acontrol system for industrial automatic instrumentuse d to con

35、trol, whereas now it issuccessfully developed into industrial controlcomputer used as a central collecti on and distri buti on system and transition of distribute d controlsystemin analoguehandli ng, loopcontrol, has begun to reflect the use of a huge advantage. Though di stributed systemhas great a

36、dvasystem, focused on the switchcontrolling the running orderof functions. Markedby the microprocessor in the early 1970 of the 20t h century emerged, micro-electroni cs technology has develope d rapidly, peoplesoon microelectroni cs processing technology will be used in the Programmable Logical Con

37、troller (that is2Manipulator is now used as a industrial robots in use, the controlobjectives oftenappear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line ha s bee n rapi d developme nt in industrial automation a s a separate subject

38、. Manipulatorapplicationbegan to filter into welding, logistics, mecha nical processing, and other industries. Espe cially at high or very low temperatures, fullof poisonous gases,high radiationcase, robot in similar circumstancesshowed great use also brings great convenience to the staff. Precisely

39、 be cause of this robot to get people's attention began tobe ahigh degree of development.Labor rates, working conditions, labor intensive aspects of promoting development.Both at home and abrdevelopment of the technology makes a goodoptimization ofproductivecapital, and robot shows this unique a

40、 dvantages,such as: has good compatibility,wide availabilit y, har dware iscom plete, and programming that can be mastered ina short time, so in the context of industrialPLCapplications became ubiquitous.Manipulator in manydevelopedcountry agricultureand industry has been applied, such as the use of

41、 mechanical harvesting large areasof farmland, repeatedoperationson t he hig h-speed line that uses a robotic arm, and so on. Today, thehigh levelof automationcombined with restrictions on the manipulatordevelopment level is slightly l ower than the internationa l. The design is mai nly arm welding

42、machineby PLC Automationcontrol. This of design let designerson i n schoolyears with withcomputer and automation technologyof development, Makes mechanical arm on the Grand stage of industrial automation and shine, graduallybecame a n industrial evaluation standards, and its importance canbe se en.N

43、oworiginal roboti c arm spe nt most of massproducti on and useon the production line,whi ch isprogrammed robotic arm. As the first generation of manipulator position control systems main features, although not backseveral generations that can detect the external environment, but canstill successfull

44、ycomplete like welding, painting , delivery as wellas for materials simple movements. Second generation mechanical arms are equi ppe d withsensors and manipulators have the environment there is a certain amount of "sense", when the mechanical arm is to use the program as a basis. Differenc

45、e is that the robot begand3100無代價抵償貨物 (征免： 299)3339其它進出口免費4500直接退運（進境后，結關前退運）4561退運貨物（結關后品質不符退運）一般貿易： 1、境內企業在境外投資作為實物投資運出的設備、物資2、外商投資企業進口供加工內銷產品的料件3、外商投資企業用國產原材料加工產品出口或經批準自行收購國內產品出口的貨物4、經營保稅倉庫業務的企業購進的自用貨物5、外商投資企業在投資總額以外用自有資金進口的自用機器設備無代價抵償：適用補償貨物進口。原貨物退運進出境，填“其它” （9900）退運貨物 (4561)：不適用于加工貿易，租賃不滿一年的退運（

46、 1500）直接退運（ 4500）：先出后進，其它免費（ 3339）：? 外商在經貿活動中贈送? 外國人捐贈? 駐外中資機構向國內贈送? 經貿活動中由外商免費提供的試車材料、消耗性物品。十一、征免性質：一份報關單只能填報一種征免性質（征、減、免的性質類別）101一般征稅501加工設備299其他法定502來料加工401科教用品503進料加工789鼓勵項目（投資總額內進口）799自有資金（投資總額外自有資金）299：除無償援助外的法定減免稅貨物，及非按全額貨值征稅的部分進出口貨物。789 和 799：須取得征免稅證明。十二、征稅比例結匯方式：征稅比例用于“進料非對口”；結匯方式用于出口123456

47、信匯電匯票匯付款交單承兌交單信用證十三、許可證號：一份報關單只允許填報一個許可證號，包括進出口許可證、兩用物項和技術進出口許可證、兩用物項和技術進出口許可證（定向） 、出口許可證（加工貿易）、出口許可證（邊境小額貿易）。十四、起運運抵國：中轉且發生買賣關系，其中轉地即為起運運抵國，中文名稱或代碼 。110中國香港303英國116日本304德國133韓國305法國142中國344俄聯邦143臺澎金馬關稅區502美國601澳大利亞manipulator control mode and programmable controllers introduction 2.1 Selectdiscussi

48、on with manipulator control 2.1.1classification of control relays anddiscrete electronic circuit can controlold industrial equipment, but also more common.Mainly these tw o relatively cheap and you can me et the old-fashi oned, sim ple (or simple) industrial equipment. Sohe can see them now,howev er these two control modes (relay and discrete electroniccircuits) are these fatal flaws: (1) cannot adapt to t he complex logic control, (2) only for thecurrentproje ct, the lack of compatibility and (3) notreforming the system wi