得益于(yu)(yu)总(zong)(zong)线型(xing)对于(yu)(yu)脉冲型(xing)运控(kong)(kong)产(chan)品(pin)的(de)(de)替代大潮，EtherCAT从自动(dong)(dong)(dong)化(hua)市(shi)场(chang)崭(zhan)露(lu)头角(jiao)。从性能角(jiao)度(du)(du)(du)来(lai)讲，EtherCAT在(zai)众多总(zong)(zong)线型(xing)控(kong)(kong)制(zhi)协议中脱颖而出，主(zhu)要依靠以(yi)(yi)下(xia)三(san)点：1.EtherCAT通信速度(du)(du)(du)非常快。它利用(yong)(yong)双(shuang)绞线或(huo)光缆(lan)在(zai)100μs内(nei)处理30μs或(huo)100个(ge)轴(zhou)上的(de)(de)1000个(ge)分布式I/O信号(hao)，为实(shi)时(shi)(shi)性能设置了(le)新的(de)(de)限(xian)制(zhi)。这(zhei)种高速度(du)(du)(du)使(shi)(shi)得EtherCAT非常适(shi)合自动(dong)(dong)(dong)化(hua)，工(gong)业物联网(wang)（IIoT）以(yi)(yi)及其他需要实(shi)时(shi)(shi)优化(hua)的(de)(de)应(ying)用(yong)(yong)。2.这(zhei)是(shi)一个(ge)较多采用(yong)(yong)的(de)(de)开(kai)放标准。越来(lai)越多的(de)(de)设备正在(zai)通过现场(chang)总(zong)(zong)线或(huo)无线连接(jie)。并且由(you)于(yu)(yu)数据使(shi)(shi)用(yong)(yong)与以(yi)(yi)太网(wang)相同的(de)(de)格(ge)式，因(yin)此可(ke)以(yi)(yi)直接(jie)连接(jie)到以(yi)(yi)太网(wang)。不需要特(te)定的(de)(de)路由(you)器或(huo)交换机。这(zhei)意味着用(yong)(yong)户可(ke)以(yi)(yi)通过效率更高的(de)(de)方式使(shi)(shi)用(yong)(yong)EtherCAT-IP在(zai)同一接(jie)口上进行(xing)多种产(chan)品(pin)的(de)(de)选择。3.它自身构(gou)建的(de)(de)可(ke)持(chi)续性。使(shi)(shi)用(yong)(yong)成熟的(de)(de)以(yi)(yi)太网(wang)电缆(lan)，EtherCAT通讯协议可(ke)以(yi)(yi)在(zai)较为极端(duan)的(de)(de)条件(jian)下(xia)进行(xing)持(chi)续作业，比如EtherCAT端(duan)子(zi)可(ke)以(yi)(yi)在(zai)-25°C至(zhi)+60°C的(de)(de)温度(du)(du)(du)范(fan)围内(nei)连续工(gong)作（Trinamic的(de)(de)EtherCAT运动(dong)(dong)(dong)控(kong)(kong)制(zhi)器甚至(zhi)可(ke)以(yi)(yi)满(man)足-40°C至(zhi)125°C的(de)(de)汽车级(ji)温度(du)(du)(du)规格(ge)）。国(guo)内(nei)来(lai)说，东莞博(bo)派(pai)智能科技有限(xian)公司(si)推(tui)出了(le)工(gong)业用(yong)(yong)EtherCAT总(zong)(zong)线运动(dong)(dong)(dong)控(kong)(kong)制(zhi)卡，支(zhi)持(chi)2~64轴(zhou)运动(dong)(dong)(dong)控(kong)(kong)制(zhi)，提供(gong)VC++/C#/LABVIEW/VB/DELPHI等动(dong)(dong)(dong)态库(ku)和例程，非常方便。博(bo)派(pai)ETH_NEC运动(dong)(dong)(dong)控(kong)(kong)制(zhi)卡支(zhi)持(chi)多个(ge)并联使(shi)(shi)用(yong)(yong)，可(ke)扩展至(zhi)2000 个(ge)轴(zhou)，可(ke)满(man)足所有应(ying)用(yong)(yong)场(chang)合。宁波以(yi)(yi)太网(wang)运动(dong)(dong)(dong)控(kong)(kong)制(zhi)卡

1、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)采(cai)用(yong)(yong)(yong)24V直流电源供电。2、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)自身有(you)16路通(tong)用(yong)(yong)(yong)输(shu)(shu)(shu)入，采(cai)用(yong)(yong)(yong)光耦(ou)隔离，抗干扰(rao)能力强。3、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)自身有(you)16路通(tong)用(yong)(yong)(yong)输(shu)(shu)(shu)出(chu)，可(ke)(ke)直接(jie)驱动继电器。4、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)IO扩展，可(ke)(ke)扩展至(zhi)2048输(shu)(shu)(shu)入/2048输(shu)(shu)(shu)出(chu)。可(ke)(ke)满足所有(you)应(ying)用(yong)(yong)(yong)场合。5、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)有(you)8路轴(zhou)通(tong)道。每一路都(dou)包含脉冲(chong)、方向、正交编(bian)码器、Z相(xiang)索引、使能、报(bao)警、复位(wei)6、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)有(you)8路零(ling)位(wei)输(shu)(shu)(shu)入、8路负硬限(xian)位(wei)输(shu)(shu)(shu)入、8路正硬限(xian)位(wei)输(shu)(shu)(shu)入。7、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)以太网(wang)或者(zhe)串(chuan)口编(bian)程。8、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)脉冲(chong)输(shu)(shu)(shu)出(chu)频(pin)率达2MHz9、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)多个并联使用(yong)(yong)(yong)，可(ke)(ke)扩展至(zhi)2000个轴(zhou)，可(ke)(ke)满足所有(you)应(ying)用(yong)(yong)(yong)场合。10、博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_GAS板卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)点位(wei)运(yun)动、速度(du)控(kong)(kong)(kong)制(zhi)、直线、圆弧、连续轨(gui)迹插补，支(zhi)持(chi)(chi)速度(du)前瞻。硬件捕获、电子齿轮(lun)/电子凸(tu)轮(lun)、位(wei)置(zhi)比(bi)较(jiao)输(shu)(shu)(shu)出(chu)。支(zhi)持(chi)(chi)PT模式与刀向跟随。杭州博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)运(yun)动控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)排名博(bo)(bo)(bo)(bo)派(pai)(pai)(pai)ETH_NEC_N运(yun)动控(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)速度(du)前瞻。硬件捕获、电子 齿轮(lun)/电子凸(tu)轮(lun)、位(wei)置(zhi)比(bi)较(jiao)输(shu)(shu)(shu)出(chu)。支(zhi)持(chi)(chi)PT和刀向跟随。

2003年(nian)德(de)国(guo)汉诺威(wei)工业(ye)博览会(hui)，一(yi)(yi)家(jia)以(yi)做(zuo)运动(dong)控(kong)制器出(chu)名的(de)企业(ye)展台(tai)前(qian)人头攒动(dong)，展出(chu)的(de)产品是(shi)(shi)一(yi)(yi)种(zhong)全新(xin)的(de)工业(ye)通讯协议。几(ji)乎(hu)整(zheng)个(ge)从(cong)事自(zi)动(dong)化行(xing)业(ye)相(xiang)关的(de)参会(hui)者都访问过这(zhei)家(jia)的(de)展位(wei)并(bing)为此感到震(zhen)惊，有(you)人直接断言这(zhei)是(shi)(shi)一(yi)(yi)种(zhong)具有(you)前(qian)瞻(zhan)性的(de)技(ji)术，是(shi)(shi)前(qian)沿控(kong)制理念的(de)新(xin)生代产物。这(zhei)家(jia)公(gong)司(si)(si)就是(shi)(shi)德(de)国(guo)倍福(fu)自(zi)动(dong)化有(you)限(xian)公(gong)司(si)(si)（Beckhoff），而这(zhei)个(ge)被誉为具有(you)前(qian)瞻(zhan)性的(de)技(ji)术叫做(zuo)EtherCAT（用(yong)(yong)于控(kong)制自(zi)动(dong)化技(ji)术的(de)以(yi)太(tai)网）。后(hou)来的(de)故事一(yi)(yi)如第一(yi)(yi)次(ci)见到EtherCAT的(de)人们(men)预料的(de)那样(yang)，这(zhei)种(zhong)可以(yi)称得(de)(de)上是(shi)(shi)“前(qian)瞻(zhan)性”的(de)工业(ye)通讯协议，凭借其应用(yong)(yong)的(de)多样(yang)性，开放(fang)性、高效率，在(zai)包括包装机、全钢工厂(chang)、机器人、切(qie)割系(xi)统(tong)、风(feng)洞和风(feng)能(neng)系(xi)统(tong)等应用(yong)(yong)程序(xu)中得(de)(de)以(yi)使(shi)(shi)用(yong)(yong)。国(guo)内的(de)EtherCAT总线(xian)运动(dong)控(kong)制卡(ka)目前(qian)做(zuo)的(de)比较好的(de)是(shi)(shi)东(dong)莞博派(pai)智能(neng)科技(ji)有(you)限(xian)公(gong)司(si)(si)的(de)ECAT_GAS2系(xi)列，使(shi)(shi)用(yong)(yong)简(jian)单，支持(chi)VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等，普通电脑甚至笔记本都能(neng)用(yong)(yong)，非(fei)常方便。

C的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)是(shi)指PLC系统通(tong)过(guo)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)运(yun)(yun)动(dong)(dong)(dong)(dong)设(she)备(bei)(bei)(bei)的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)轴，实现(xian)精(jing)确、稳(wen)定和(he)(he)可编程(cheng)的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)能(neng)。它(ta)可以(yi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)运(yun)(yun)动(dong)(dong)(dong)(dong)设(she)备(bei)(bei)(bei)（如电(dian)(dian)机、伺服驱动(dong)(dong)(dong)(dong)器等(deng)）的(de)(de)(de)(de)位(wei)置(zhi)、速(su)(su)度(du)和(he)(he)加(jia)速(su)(su)度(du)等(deng)参数(shu)(shu)，以(yi)实现(xian)所需(xu)的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)轨迹(ji)(ji)和(he)(he)运(yun)(yun)动(dong)(dong)(dong)(dong)逻(luo)辑。选(xuan)取(qu)支持(chi)(chi)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)的(de)(de)(de)(de)PLC时(shi)，以(yi)下是(shi)一些关键因素和(he)(he)考虑事(shi)项：（1）运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)能(neng)：确保(bao)PLC具(ju)备(bei)(bei)(bei)完善的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)能(neng)，包括轴控(kong)(kong)(kong)制(zhi)(zhi)(zhi)、轨迹(ji)(ji)规划、速(su)(su)度(du)和(he)(he)加(jia)速(su)(su)度(du)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)等(deng)。PLC应(ying)支持(chi)(chi)多(duo)个运(yun)(yun)动(dong)(dong)(dong)(dong)轴的(de)(de)(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)，并能(neng)满足具(ju)体应(ying)用的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)需(xu)求(qiu)。（2）接(jie)(jie)口(kou)(kou)(kou)和(he)(he)通(tong)信能(neng)力：PLC需(xu)要提(ti)供与运(yun)(yun)动(dong)(dong)(dong)(dong)设(she)备(bei)(bei)(bei)（如伺服驱动(dong)(dong)(dong)(dong)器、编码器等(deng)）的(de)(de)(de)(de)接(jie)(jie)口(kou)(kou)(kou)和(he)(he)通(tong)信能(neng)力。常见的(de)(de)(de)(de)接(jie)(jie)口(kou)(kou)(kou)包括模拟量输入(ru)/输出、数(shu)(shu)字(zi)量输入(ru)/输出、编码器反馈接(jie)(jie)口(kou)(kou)(kou)等(deng)。同时(shi)，PLC应(ying)支持(chi)(chi)常见的(de)(de)(de)(de)通(tong)信协议(yi)，如EtherCAT、CANopen等(deng)，以(yi)便与运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)设(she)备(bei)(bei)(bei)进行数(shu)(shu)据交换(huan)和(he)(he)协同控(kong)(kong)(kong)制(zhi)(zhi)(zhi)。（3）编程(cheng)和(he)(he)配置(zhi)工(gong)(gong)具(ju)：PLC选(xuan)型时(shi)，要考虑其编程(cheng)和(he)(he)配置(zhi)工(gong)(gong)具(ju)的(de)(de)(de)(de)友好性(xing)和(he)(he)便利性(xing)。一些PLC厂(chang)商(shang)提(ti)供专门的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)编程(cheng)语言(yan)或函(han)数(shu)(shu)块，简化了运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)程(cheng)序的(de)(de)(de)(de)开发(fa)和(he)(he)调试过(guo)程(cheng)。（4）性(xing)能(neng)和(he)(he)实时(shi)性(xing)：选(xuan)择具(ju)备(bei)(bei)(bei)足够的(de)(de)(de)(de)性(xing)能(neng)和(he)(he)实时(shi)性(xing)能(neng)的(de)(de)(de)(de)PLC，以(yi)满足高速(su)(su)、精(jing)确的(de)(de)(de)(de)运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)要求(qiu)。性(xing)能(neng)指标包括扫描周期、运(yun)(yun)动(dong)(dong)(dong)(dong)轴数(shu)(shu)量、数(shu)(shu)据处理能(neng)力等(deng)。在水处理和(he)(he)水利水电(dian)(dian)方面(mian)，电(dian)(dian)子凸轮也有其特别(bie)的(de)(de)(de)(de)应(ying)用价值(zhi)。

我(wo)们一起看(kan)下运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)的(de)(de)(de)专(zhuan)业释(shi)义，运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)，MotionControl。通(tong)(tong)过对机(ji)(ji)械(xie)运(yun)(yun)(yun)动(dong)(dong)部件的(de)(de)(de)位(wei)置，力矩，速度，加(jia)速度等(deng)进(jin)行实时(shi)的(de)(de)(de)控(kong)制(zhi)(zhi)(zhi)管理，使各个运(yun)(yun)(yun)动(dong)(dong)部件协同的(de)(de)(de)按照预(yu)期的(de)(de)(de)运(yun)(yun)(yun)动(dong)(dong)轨迹(ji)(ji)和(he)规定(ding)的(de)(de)(de)运(yun)(yun)(yun)动(dong)(dong)参数进(jin)行运(yun)(yun)(yun)动(dong)(dong)，以达到高精(jing)度，低延(yan)时(shi)的(de)(de)(de)自动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)的(de)(de)(de)目(mu)的(de)(de)(de)。运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)是(shi)自动(dong)(dong)化的(de)(de)(de)一个分支，它使用(yong)通(tong)(tong)称(cheng)为伺服机(ji)(ji)构的(de)(de)(de)一些设备如液压泵，线性(xing)执行机(ji)(ji)或者是(shi)电机(ji)(ji)来控(kong)制(zhi)(zhi)(zhi)机(ji)(ji)器(qi)。运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)被应用(yong)在(zai)包(bao)装、印刷、纺织和(he)装配工业中(zhong)。可以说，运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)技术(shu)是(shi)工业制(zhi)(zhi)(zhi)造领域应用(yong)的(de)(de)(de)技术(shu)。博(bo)派ETH_NEC系列运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)卡支持点位(wei)和(he)连续轨迹(ji)(ji)，多(duo)轴同步(bu)，直线、圆(yuan)弧(hu)、螺旋(xuan)线、空(kong)间直线插补等(deng)运(yun)(yun)(yun)动(dong)(dong)模式。杭州博(bo)派运(yun)(yun)(yun)动(dong)(dong)控(kong)制(zhi)(zhi)(zhi)卡排(pai)名

博派智能科(ke)技运(yun)动控制卡(ka)开发方式(shi)(shi)支持网络(luo)式(shi)(shi)PC上位机(ji)开发C#/C++/Labview/Qt/Python/vb/.NET/Delphi/linux。宁波以(yi)太网运(yun)动控制卡(ka)

电(dian)(dian)子齿(chi)轮模式(shi)能(neng)够将两轴(zhou)(zhou)或多轴(zhou)(zhou)联(lian)(lian)系起来(lai)，实(shi)现精(jing)确的(de)(de)(de)同步运(yun)(yun)动(dong)，从(cong)(cong)而替代传(chuan)统的(de)(de)(de)机(ji)(ji)械齿(chi)轮连接(jie)。被跟(gen)(gen)(gen)随(sui)的(de)(de)(de)轴(zhou)(zhou)称为(wei)主轴(zhou)(zhou)，跟(gen)(gen)(gen)随(sui)的(de)(de)(de)轴(zhou)(zhou)为(wei)从(cong)(cong)轴(zhou)(zhou)，通过将跟(gen)(gen)(gen)随(sui)轴(zhou)(zhou)按照某个(ge)(ge)比(bi)(bi)率连接(jie)到主轴(zhou)(zhou)上，从(cong)(cong)而达到主轴(zhou)(zhou)运(yun)(yun)动(dong)时，连接(jie)的(de)(de)(de)跟(gen)(gen)(gen)随(sui)轴(zhou)(zhou)也跟(gen)(gen)(gen)随(sui)运(yun)(yun)动(dong)。同时连接(jie)的(de)(de)(de)是脉(mai)(mai)冲(chong)(chong)(chong)个(ge)(ge)数，要考虑不同轴(zhou)(zhou)UNITS的(de)(de)(de)比(bi)(bi)例。电(dian)(dian)子齿(chi)轮作用1.脉(mai)(mai)冲(chong)(chong)(chong)补偿，减少上位机(ji)(ji)负担(dan)(因为(wei)目前(qian)用的(de)(de)(de)发送(song)脉(mai)(mai)冲(chong)(chong)(chong)的(de)(de)(de)元件(jian)，都(dou)有脉(mai)(mai)冲(chong)(chong)(chong)发送(song)频率的(de)(de)(de)限制)。2.匹配(pei)电(dian)(dian)机(ji)(ji)发出(chu)的(de)(de)(de)脉(mai)(mai)冲(chong)(chong)(chong)数与机(ji)(ji)械小移动(dong)量，可(ke)将指令输入1个(ge)(ge)脉(mai)(mai)冲(chong)(chong)(chong)对应的(de)(de)(de)工件(jian)(或电(dian)(dian)机(ji)(ji))移动(dong)量设(she)定(ding)为(wei)任意值;可(ke)实(shi)现电(dian)(dian)机(ji)(ji)的(de)(de)(de)无极变(bian)速(su)，在(zai)电(dian)(dian)机(ji)(ji)启动(dong)和(he)(he)停止(zhi)时，可(ke)以(yi)防止(zhi)失步和(he)(he)过冲(chong)(chong)(chong)现象，这样(yang)就能(neng)充分发挥电(dian)(dian)机(ji)(ji)的(de)(de)(de)潜能(neng)。3.传(chuan)递(di)同步运(yun)(yun)动(dong)信息，实(shi)现坐标的(de)(de)(de)联(lian)(lian)动(dong)、运(yun)(yun)动(dong)形式(shi)之间的(de)(de)(de)变(bian)换(旋(xuan)转-旋(xuan)转，旋(xuan)转-直(zhi)线，直(zhi)线-直(zhi)线)、简化控(kong)制等。宁波以(yi)太网运(yun)(yun)动(dong)控(kong)制卡

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