运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)器的(de)(de)(de)(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)形式点位(wei)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)：即对(dui)终(zhong)点位(wei)置有(you)要(yao)(yao)求，与运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)的(de)(de)(de)(de)(de)中(zhong)(zhong)间过程(cheng)(cheng)(cheng)(cheng)即运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轨迹(ji)无关。相应的(de)(de)(de)(de)(de)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)器要(yao)(yao)求具有(you)快速(su)(su)(su)的(de)(de)(de)(de)(de)定(ding)位(wei)速(su)(su)(su)度(du)(du)，在(zai)(zai)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)的(de)(de)(de)(de)(de)加(jia)速(su)(su)(su)段和减(jian)速(su)(su)(su)段，采用(yong)不同的(de)(de)(de)(de)(de)加(jia)减(jian)速(su)(su)(su)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)策略。在(zai)(zai)加(jia)速(su)(su)(su)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)时(shi)(shi)，为了使系(xi)(xi)(xi)(xi)统(tong)能够快速(su)(su)(su)加(jia)速(su)(su)(su)到(dao)设定(ding)速(su)(su)(su)度(du)(du)，往(wang)(wang)往(wang)(wang)进步系(xi)(xi)(xi)(xi)统(tong)增(zeng)益和加(jia)大(da)加(jia)速(su)(su)(su)度(du)(du)，在(zai)(zai)减(jian)速(su)(su)(su)的(de)(de)(de)(de)(de)末段减(jian)速(su)(su)(su)的(de)(de)(de)(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)策略。为了防(fang)止系(xi)(xi)(xi)(xi)统(tong)到(dao)位(wei)后震动(dong)(dong)(dong)(dong)(dong)(dong)(dong)，规划(hua)到(dao)位(wei)后，又(you)会适当(dang)减(jian)小系(xi)(xi)(xi)(xi)统(tong)的(de)(de)(de)(de)(de)增(zeng)益。所以，点位(wei)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)器往(wang)(wang)往(wang)(wang)具有(you)在(zai)(zai)线可(ke)变控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)参数和可(ke)变加(jia)减(jian)速(su)(su)(su)曲线的(de)(de)(de)(de)(de)能力。连续轨迹(ji)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)：该(gai)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)又(you)称为轮(lun)廓控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，主(zhu)要(yao)(yao)应用(yong)在(zai)(zai)传(chuan)统(tong)的(de)(de)(de)(de)(de)数控(kong)(kong)系(xi)(xi)(xi)(xi)统(tong)、切割系(xi)(xi)(xi)(xi)统(tong)的(de)(de)(de)(de)(de)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轮(lun)廓控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)。相应的(de)(de)(de)(de)(de)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)器要(yao)(yao)解决的(de)(de)(de)(de)(de)题目是(shi)如何(he)使系(xi)(xi)(xi)(xi)统(tong)在(zai)(zai)高(gao)速(su)(su)(su)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)的(de)(de)(de)(de)(de)情况(kuang)下，既(ji)要(yao)(yao)保证(zheng)系(xi)(xi)(xi)(xi)统(tong)加(jia)工(gong)的(de)(de)(de)(de)(de)轮(lun)廓精度(du)(du)，还要(yao)(yao)保证(zheng)刀具沿(yan)轮(lun)廓运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)时(shi)(shi)的(de)(de)(de)(de)(de)切向速(su)(su)(su)度(du)(du)的(de)(de)(de)(de)(de)恒定(ding)。对(dui)小线段加(jia)工(gong)时(shi)(shi)，有(you)多段程(cheng)(cheng)(cheng)(cheng)序预处理功能。同步运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)：是(shi)指多个轴(zhou)(zhou)之间的(de)(de)(de)(de)(de)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)协调控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，可(ke)以是(shi)多个轴(zhou)(zhou)在(zai)(zai)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)全程(cheng)(cheng)(cheng)(cheng)中(zhong)(zhong)进行同步，也可(ke)以是(shi)在(zai)(zai)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)过程(cheng)(cheng)(cheng)(cheng)中(zhong)(zhong)的(de)(de)(de)(de)(de)局部有(you)速(su)(su)(su)度(du)(du)同步，主(zhu)要(yao)(yao)应用(yong)在(zai)(zai)需(xu)要(yao)(yao)有(you)电子齿轮(lun)箱和电子凸轮(lun)的(de)(de)(de)(de)(de)系(xi)(xi)(xi)(xi)统(tong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)中(zhong)(zhong)。博派ETH_GAS系(xi)(xi)(xi)(xi)列运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡支持以太网或者串口编程(cheng)(cheng)(cheng)(cheng)。脉冲输出频率(lv)达(da)2MHz。武汉正(zheng)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡经销商

圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)插补(bu)(bu)圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)插补(bu)(bu)与直线插补(bu)(bu)类似，给(ji)出(chu)两端点(dian)间(jian)的(de)(de)插补(bu)(bu)数(shu)字信息，以一定(ding)的(de)(de)算法计(ji)算出(chu)逼近实(shi)际圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)的(de)(de)点(dian)群(qun)，控制轴(zhou)(zhou)(zhou)(zhou)沿这些点(dian)运(yun)动，加(jia)工出(chu)圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)曲(qu)线。圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)插补(bu)(bu)可(ke)以是平面圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(至(zhi)少(shao)两个轴(zhou)(zhou)(zhou)(zhou))，还可(ke)以是空(kong)(kong)间(jian)圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(至(zhi)少(shao)三(san)(san)个轴(zhou)(zhou)(zhou)(zhou))。假设轴(zhou)(zhou)(zhou)(zhou)需要在XY平面一象限(xian)(xian)走一段逆圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)，圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心为起(qi)点(dian)，其圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)插补(bu)(bu)的(de)(de)加(jia)工过程(cheng)。控制器(qi)的(de)(de)空(kong)(kong)间(jian)圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)插补(bu)(bu)功能(neng)是根(gen)据当前点(dian)和圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)指令参(can)数(shu)设置(zhi)的(de)(de)终(zhong)点(dian)和中间(jian)点(dian)(或圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心)，由三(san)(san)个点(dian)确定(ding)圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)，并实(shi)现(xian)空(kong)(kong)间(jian)圆(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)插补(bu)(bu)运(yun)动，坐标为三(san)(san)维坐标，至(zhi)少(shao)需要三(san)(san)个轴(zhou)(zhou)(zhou)(zhou)分别沿X轴(zhou)(zhou)(zhou)(zhou)、Y轴(zhou)(zhou)(zhou)(zhou)和Z轴(zhou)(zhou)(zhou)(zhou)运(yun)动。苏州正(zheng)运(yun)动运(yun)动控制卡编程(cheng)总线运(yun)动控制卡方面，东莞(guan)博派智能(neng)科技有限(xian)(xian)公(gong)司是做的(de)(de)比较早的(de)(de)。

在总(zong)(zong)线(xian)型替代的(de)(de)浪潮下，各大自动(dong)(dong)化厂商纷纷推(tui)出(chu)(chu)自己的(de)(de)总(zong)(zong)线(xian)型运(yun)控(kong)(kong)产品，而(er)在种类繁多的(de)(de)总(zong)(zong)线(xian)型通(tong)讯中(zhong)，EtherCAT表现得尤为亮眼。根据MIR睿(rui)工业统计，截至2021年中(zhong)国总(zong)(zong)线(xian)型运(yun)动(dong)(dong)控(kong)(kong)制(zhi)器(qi)市场(chang)规模超过(guo)60亿，占(zhan)总(zong)(zong)体运(yun)动(dong)(dong)控(kong)(kong)制(zhi)器(qi)市场(chang)比(bi)例超过(guo)七成。其中(zhong)，EtherCAT总(zong)(zong)线(xian)型运(yun)动(dong)(dong)控(kong)(kong)制(zhi)器(qi)市场(chang)规模超过(guo)40亿，占(zhan)总(zong)(zong)线(xian)型运(yun)动(dong)(dong)控(kong)(kong)制(zhi)器(qi)市场(chang)的(de)(de)比(bi)例超过(guo)六成。可以说EtherCAT已(yi)经走向自动(dong)(dong)化通(tong)讯协议的(de)(de)C位了。东莞博派(pai)智(zhi)能科(ke)技有(you)限(xian)公司推(tui)出(chu)(chu)的(de)(de)ECAT_GAS2系(xi)列总(zong)(zong)线(xian)运(yun)动(dong)(dong)控(kong)(kong)制(zhi)卡(ka)，使用方便，性能可靠稳定，是目前国内(nei)EtherCAT总(zong)(zong)线(xian)运(yun)动(dong)(dong)控(kong)(kong)制(zhi)卡(ka)做的(de)(de)比(bi)较好的(de)(de)一(yi)家。

2003年德国汉诺威工(gong)(gong)业博览会，一(yi)(yi)家(jia)以做运(yun)(yun)动(dong)控制器出(chu)名的(de)(de)企业展台(tai)前(qian)人头攒动(dong)，展出(chu)的(de)(de)产品是(shi)一(yi)(yi)种(zhong)全新的(de)(de)工(gong)(gong)业通讯协议。几(ji)乎整个从事自(zi)动(dong)化行业相关(guan)的(de)(de)参会者(zhe)都访(fang)问过这家(jia)的(de)(de)展位并为此感(gan)到(dao)震惊，有(you)(you)人直接(jie)断言这是(shi)一(yi)(yi)种(zhong)具(ju)(ju)有(you)(you)前(qian)瞻性的(de)(de)技(ji)术(shu)，是(shi)前(qian)沿控制理(li)念的(de)(de)新生代(dai)产物(wu)。这家(jia)公(gong)(gong)司就是(shi)德国倍福(fu)自(zi)动(dong)化有(you)(you)限(xian)公(gong)(gong)司（Beckhoff），而这个被誉(yu)为具(ju)(ju)有(you)(you)前(qian)瞻性的(de)(de)技(ji)术(shu)叫做EtherCAT（用于(yu)控制自(zi)动(dong)化技(ji)术(shu)的(de)(de)以太网(wang)）。后来的(de)(de)故事一(yi)(yi)如第一(yi)(yi)次见到(dao)EtherCAT的(de)(de)人们预料的(de)(de)那样，这种(zhong)可以称得上是(shi)“前(qian)瞻性”的(de)(de)工(gong)(gong)业通讯协议，凭(ping)借(jie)其应(ying)用的(de)(de)多样性，开放性、高效率，在包括包装机(ji)、全钢工(gong)(gong)厂、机(ji)器人、切割系统、风(feng)洞和风(feng)能系统等(deng)应(ying)用程(cheng)序中得以使用。国内的(de)(de)EtherCAT总线运(yun)(yun)动(dong)控制卡目前(qian)做的(de)(de)比较好的(de)(de)是(shi)东莞博派智能科技(ji)有(you)(you)限(xian)公(gong)(gong)司的(de)(de)ECAT_GAS2系列，使用简(jian)单(dan)，支(zhi)持VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等(deng)，普通电脑甚至(zhi)笔记本(ben)都能用，非常(chang)方便。博派智能科技(ji)运(yun)(yun)动(dong)控制卡开发方式支(zhi)持网(wang)络式PC上位机(ji)开发C#/C++/Labview/Qt/Python/vb/.NET/Delphi/linux。

C的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)是指PLC系统通过控(kong)(kong)制(zhi)(zhi)(zhi)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)设备(bei)(bei)的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轴，实(shi)现精确(que)、稳定和(he)可(ke)编(bian)(bian)程(cheng)(cheng)的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)功能(neng)。它可(ke)以(yi)(yi)控(kong)(kong)制(zhi)(zhi)(zhi)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)设备(bei)(bei)（如(ru)电(dian)机、伺服驱动(dong)(dong)(dong)(dong)(dong)器等(deng)(deng)(deng)）的(de)(de)位置(zhi)、速(su)(su)度(du)(du)和(he)加速(su)(su)度(du)(du)等(deng)(deng)(deng)参(can)数(shu)，以(yi)(yi)实(shi)现所需(xu)的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轨迹(ji)和(he)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)逻辑。选(xuan)取(qu)支(zhi)持(chi)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)的(de)(de)PLC时(shi)(shi)，以(yi)(yi)下(xia)是一些关键因素和(he)考虑事项(xiang)：（1）运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)功能(neng)：确(que)保PLC具备(bei)(bei)完善(shan)的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)功能(neng)，包括轴控(kong)(kong)制(zhi)(zhi)(zhi)、轨迹(ji)规(gui)划、速(su)(su)度(du)(du)和(he)加速(su)(su)度(du)(du)控(kong)(kong)制(zhi)(zhi)(zhi)等(deng)(deng)(deng)。PLC应支(zhi)持(chi)多个(ge)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轴的(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)，并能(neng)满足(zu)(zu)具体应用的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)需(xu)求(qiu)(qiu)。（2）接(jie)(jie)(jie)口(kou)和(he)通信能(neng)力：PLC需(xu)要提供(gong)与运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)设备(bei)(bei)（如(ru)伺服驱动(dong)(dong)(dong)(dong)(dong)器、编(bian)(bian)码器等(deng)(deng)(deng)）的(de)(de)接(jie)(jie)(jie)口(kou)和(he)通信能(neng)力。常见的(de)(de)接(jie)(jie)(jie)口(kou)包括模(mo)拟量输(shu)入(ru)/输(shu)出、数(shu)字量输(shu)入(ru)/输(shu)出、编(bian)(bian)码器反馈(kui)接(jie)(jie)(jie)口(kou)等(deng)(deng)(deng)。同(tong)时(shi)(shi)，PLC应支(zhi)持(chi)常见的(de)(de)通信协议，如(ru)EtherCAT、CANopen等(deng)(deng)(deng)，以(yi)(yi)便与运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)设备(bei)(bei)进行数(shu)据(ju)交换和(he)协同(tong)控(kong)(kong)制(zhi)(zhi)(zhi)。（3）编(bian)(bian)程(cheng)(cheng)和(he)配置(zhi)工具：PLC选(xuan)型时(shi)(shi)，要考虑其编(bian)(bian)程(cheng)(cheng)和(he)配置(zhi)工具的(de)(de)友(you)好性(xing)(xing)(xing)(xing)和(he)便利性(xing)(xing)(xing)(xing)。一些PLC厂(chang)商提供(gong)专(zhuan)门的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)编(bian)(bian)程(cheng)(cheng)语(yu)言(yan)或函数(shu)块，简化(hua)了运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)程(cheng)(cheng)序的(de)(de)开发和(he)调试(shi)过程(cheng)(cheng)。（4）性(xing)(xing)(xing)(xing)能(neng)和(he)实(shi)时(shi)(shi)性(xing)(xing)(xing)(xing)：选(xuan)择(ze)具备(bei)(bei)足(zu)(zu)够的(de)(de)性(xing)(xing)(xing)(xing)能(neng)和(he)实(shi)时(shi)(shi)性(xing)(xing)(xing)(xing)能(neng)的(de)(de)PLC，以(yi)(yi)满足(zu)(zu)高速(su)(su)、精确(que)的(de)(de)运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)要求(qiu)(qiu)。性(xing)(xing)(xing)(xing)能(neng)指标包括扫描周期、运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轴数(shu)量、数(shu)据(ju)处理能(neng)力等(deng)(deng)(deng)。运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)卡在参(can)数(shu)设置(zhi)、数(shu)据(ju)传输(shu)和(he)远程(cheng)(cheng)监控(kong)(kong)方面表(biao)现出色(se)。杭州(zhou)雷赛运(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)卡厂(chang)家

PC和(he)手持编(bian)程器(qi)提供给用户(hu)编(bian)程使用，为用户(hu)提供了方便的编(bian)程界面。武汉正运动(dong)运动(dong)控(kong)制卡经销商

PLC的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)是(shi)指PLC系(xi)统通(tong)过控(kong)制(zhi)(zhi)(zhi)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)设(she)(she)备(bei)(bei)(bei)的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轴，实(shi)现精(jing)(jing)确(que)(que)、稳定(ding)和(he)(he)(he)(he)(he)可编程的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)功(gong)(gong)能(neng)。它可以(yi)(yi)控(kong)制(zhi)(zhi)(zhi)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)设(she)(she)备(bei)(bei)(bei)（如电机、伺服驱动(dong)(dong)(dong)(dong)(dong)器(qi)等）的(de)(de)(de)位置(zhi)、速(su)度(du)和(he)(he)(he)(he)(he)加速(su)度(du)等参数(shu)，以(yi)(yi)实(shi)现所(suo)需(xu)的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轨迹和(he)(he)(he)(he)(he)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)逻辑。选取支(zhi)(zhi)持运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)的(de)(de)(de)PLC时(shi)，以(yi)(yi)下是(shi)一(yi)些(xie)关(guan)键因素(su)和(he)(he)(he)(he)(he)考虑事项(xiang)：（1）运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)功(gong)(gong)能(neng)：确(que)(que)保PLC具(ju)(ju)备(bei)(bei)(bei)完善的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)功(gong)(gong)能(neng)，包(bao)(bao)括轴控(kong)制(zhi)(zhi)(zhi)、轨迹规划、速(su)度(du)和(he)(he)(he)(he)(he)加速(su)度(du)控(kong)制(zhi)(zhi)(zhi)等。PLC应支(zhi)(zhi)持多个运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轴的(de)(de)(de)控(kong)制(zhi)(zhi)(zhi)，并能(neng)满足具(ju)(ju)体(ti)应用的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)需(xu)求。（2）接(jie)(jie)(jie)(jie)口(kou)(kou)和(he)(he)(he)(he)(he)通(tong)信能(neng)力：PLC需(xu)要提(ti)供(gong)与运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)设(she)(she)备(bei)(bei)(bei)（如伺服驱动(dong)(dong)(dong)(dong)(dong)器(qi)、编码器(qi)等）的(de)(de)(de)接(jie)(jie)(jie)(jie)口(kou)(kou)和(he)(he)(he)(he)(he)通(tong)信能(neng)力。常见的(de)(de)(de)接(jie)(jie)(jie)(jie)口(kou)(kou)包(bao)(bao)括模拟量输(shu)(shu)入(ru)/输(shu)(shu)出、数(shu)字量输(shu)(shu)入(ru)/输(shu)(shu)出、编码器(qi)反馈接(jie)(jie)(jie)(jie)口(kou)(kou)等。同时(shi)，PLC应支(zhi)(zhi)持常见的(de)(de)(de)通(tong)信协(xie)议，如EtherCAT、CANopen等，以(yi)(yi)便与运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)设(she)(she)备(bei)(bei)(bei)进(jin)行数(shu)据(ju)交(jiao)换和(he)(he)(he)(he)(he)协(xie)同控(kong)制(zhi)(zhi)(zhi)。（3）编程和(he)(he)(he)(he)(he)配置(zhi)工具(ju)(ju)：PLC选型时(shi)，要考虑其(qi)编程和(he)(he)(he)(he)(he)配置(zhi)工具(ju)(ju)的(de)(de)(de)友好性(xing)(xing)(xing)和(he)(he)(he)(he)(he)便利性(xing)(xing)(xing)。一(yi)些(xie)PLC厂(chang)商提(ti)供(gong)专门的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)编程语言(yan)或函数(shu)块，简化了运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)程序的(de)(de)(de)开发(fa)和(he)(he)(he)(he)(he)调试过程。（4）性(xing)(xing)(xing)能(neng)和(he)(he)(he)(he)(he)实(shi)时(shi)性(xing)(xing)(xing)：选择具(ju)(ju)备(bei)(bei)(bei)足够的(de)(de)(de)性(xing)(xing)(xing)能(neng)和(he)(he)(he)(he)(he)实(shi)时(shi)性(xing)(xing)(xing)能(neng)的(de)(de)(de)PLC，以(yi)(yi)满足高速(su)、精(jing)(jing)确(que)(que)的(de)(de)(de)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)要求。性(xing)(xing)(xing)能(neng)指标包(bao)(bao)括扫描(miao)周期、运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)轴数(shu)量、数(shu)据(ju)处理能(neng)力等。武汉正运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)运(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)卡经(jing)销商

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