运(yun)(yun)动(dong)控(kong)制(zhi)(zhi)卡(ka)(ka)是(shi)利(li)用(yong)高性能微(wei)处理器(qi)及大规(gui)模可(ke)编程(cheng)(cheng)(cheng)器(qi)件实现(xian)多个伺服电(dian)机(ji)的(de)多轴(zhou)协调(diao)控(kong)制(zhi)(zhi)的(de)一种高性能的(de)，专门用(yong)来满足足一系列运(yun)(yun)动(dong)控(kong)制(zhi)(zhi)需求的(de)（位(wei)(wei)移(yi)、速度(du)、加速度(du)等(deng)），基于PC机(ji)的(de)上位(wei)(wei)控(kong)制(zhi)(zhi)单元。运(yun)(yun)动(dong)控(kong)制(zhi)(zhi)卡(ka)(ka)的(de)原理是(shi)发出(chu)(chu)(chu)连(lian)续的(de)、高频(pin)率(lv)的(de)脉(mai)冲串，通过改变(bian)发出(chu)(chu)(chu)脉(mai)冲的(de)频(pin)率(lv)来控(kong)制(zhi)(zhi)电(dian)机(ji)的(de)速度(du)，改变(bian)发出(chu)(chu)(chu)脉(mai)冲的(de)数量来控(kong)制(zhi)(zhi)电(dian)机(ji)的(de)位(wei)(wei)置，它的(de)脉(mai)冲输(shu)出(chu)(chu)(chu)模式(shi)包括脉(mai)冲/方(fang)向、脉(mai)冲/脉(mai)冲方(fang)式(shi)等(deng)。并且(qie)，依靠传(chuan)感器(qi)传(chuan)回的(de)位(wei)(wei)置反馈，运(yun)(yun)动(dong)控(kong)制(zhi)(zhi)卡(ka)(ka)可(ke)以(yi)实时调(diao)整(zheng)运(yun)(yun)动(dong)位(wei)(wei)置，纠正传(chuan)动(dong)过程(cheng)(cheng)(cheng)中的(de)误差，从而做(zuo)到高精度(du)加工。比(bi)(bi)如在(zai)机(ji)械(xie)加工方(fang)面，用(yong)电(dian)子凸轮来代替(ti)笨重(zhong)的(de)机(ji)械(xie)凸轮当然(ran)是(shi)比(bi)(bi)较简(jian)单的(de)了。天津运(yun)(yun)动(dong)控(kong)制(zhi)(zhi)卡(ka)(ka)编程(cheng)(cheng)(cheng)

近年来，电(dian)子(zi)制(zhi)(zhi)造(zao)业得到迅(xun)猛发展(zhan)，随着技术不断创新(xin)(xin)，市场对(dui)电(dian)子(zi)元器件(jian)产(chan)品更(geng)新(xin)(xin)、开发、形(xing)成生产(chan)能(neng)力速度提(ti)出了(le)更(geng)高的(de)要求(qiu)，电(dian)子(zi)制(zhi)(zhi)造(zao)业越来越趋向(xiang)自(zi)动(dong)化、智能(neng)化，这(zhei)就(jiu)(jiu)要求(qiu)各(ge)类运动(dong)控(kong)(kong)制(zhi)(zhi)设备的(de)运行效率、操作的(de)便捷性(xing)应(ying)进一步(bu)提(ti)高。总线(xian)型运动(dong)控(kong)(kong)制(zhi)(zhi)器摒弃了(le)传统的(de)脉冲控(kong)(kong)制(zhi)(zhi)方式，而以现(xian)场总线(xian)通讯(xun)来替(ti)代，使得整个(ge)系统速度更(geng)快(kuai)，性(xing)能(neng)更(geng)可(ke)靠，稳定(ding)性(xing)更(geng)好，同时，复杂的(de)配线(xian)变得更(geng)加简(jian)单(dan)，满足了(le)提(ti)升设备性(xing)能(neng)的(de)要求(qiu)。东(dong)莞博派智能(neng)推出的(de)ECAT_GAS2系列总线(xian)运动(dong)控(kong)(kong)制(zhi)(zhi)器，支持(chi)Ethercat和Ethernet，普通电(dian)脑或者笔记本就(jiu)(jiu)可(ke)以使用(yong)，同时支持(chi)VC++/C#/Labview/QT/Delphi等各(ge)种(zhong)语言使用(yong)。武汉(han)固高运动(dong)控(kong)(kong)制(zhi)(zhi)卡编程电(dian)子(zi)凸轮还可(ke)以应(ying)用(yong)在象弹簧机，木工(gong)机械，自(zi)动(dong)涂装生产(chan)线(xian)上，在此不一一介绍(shao)。

在(zai)中国(guo)自(zi)(zi)动化市场中，尤(you)其是(shi)在(zai)通(tong)(tong)用(yong)交流伺服产品(pin)线上，总(zong)(zong)(zong)线型通(tong)(tong)讯成为(wei)了显学(xue)。各个伺服厂家都(dou)各自(zi)(zi)推出(chu)自(zi)(zi)己的(de)总(zong)(zong)(zong)线协议（安川电(dian)机Mechatrolink、松下RTEX、三菱(ling)CC-Link等(deng)等(deng)）。这股总(zong)(zong)(zong)线风潮(chao)由(you)欧美厂商(shang)刮起，又由(you)日系(xi)厂商(shang)发扬光大，并且在(zai)EtherCAT总(zong)(zong)(zong)线型通(tong)(tong)讯的(de)应(ying)用(yong)上，外资、内资似乎历史性(xing)地达(da)成了一种默契(qi)。东莞(guan)博派(pai)智能(neng)科(ke)技(ji)有(you)限公司(si)推出(chu)的(de)ECAT_GAS2系(xi)列总(zong)(zong)(zong)线运动控制(zhi)(zhi)卡(ka)，不仅支持(chi)(chi)(chi)EtherCAT总(zong)(zong)(zong)线，还有(you)如下特点(dian)：1、板卡(ka)采(cai)用(yong)24V直流电(dian)源供电(dian)。2、控制(zhi)(zhi)卡(ka)自(zi)(zi)身有(you)32路(lu)通(tong)(tong)用(yong)输(shu)(shu)(shu)入，采(cai)用(yong)光耦(ou)隔(ge)离(li)，抗(kang)干扰能(neng)力(li)强(qiang),数(shu)(shu)量可(ke)(ke)扩展。3、控制(zhi)(zhi)卡(ka)自(zi)(zi)身有(you)16路(lu)通(tong)(tong)用(yong)输(shu)(shu)(shu)出(chu)，可(ke)(ke)直接驱(qu)动继(ji)电(dian)器，数(shu)(shu)量可(ke)(ke)扩展。4、控制(zhi)(zhi)卡(ka)支持(chi)(chi)(chi)IO扩展，可(ke)(ke)扩展至2048输(shu)(shu)(shu)入/2048输(shu)(shu)(shu)出(chu)。可(ke)(ke)满(man)足所有(you)应(ying)用(yong)场合。5、支持(chi)(chi)(chi)以太(tai)网或者串(chuan)口编程。6、脉(mai)冲输(shu)(shu)(shu)出(chu)频率达(da)2MHz7、控制(zhi)(zhi)卡(ka)支持(chi)(chi)(chi)多个并联使用(yong)。8、控制(zhi)(zhi)卡(ka)支持(chi)(chi)(chi)点(dian)位运动、速度控制(zhi)(zhi)、直线、圆弧(hu)、连续轨迹插补，支持(chi)(chi)(chi)速度前瞻(zhan)。硬件(jian)捕获(huo)、电(dian)子齿轮(lun)/电(dian)子凸轮(lun)、位置(zhi)比较输(shu)(shu)(shu)出(chu)。支持(chi)(chi)(chi)PT模式与刀(dao)向跟随。

插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)运(yun)(yun)动插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)常见的(de)(de)(de)两(liang)种方(fang)式(shi)是(shi)直(zhi)(zhi)(zhi)线(xian)(xian)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)和圆(yuan)弧插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)。插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)运(yun)(yun)动至少需(xu)要两(liang)个(ge)轴参(can)与，进行(xing)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)运(yun)(yun)动时(shi)，将规划轴映射到(dao)相(xiang)应(ying)的(de)(de)(de)机台坐标(biao)系中(zhong)，运(yun)(yun)动控制器(qi)根据坐标(biao)映射关系，控制各轴运(yun)(yun)动，实现要求的(de)(de)(de)运(yun)(yun)动轨迹(ji)。插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)运(yun)(yun)动指令会存入运(yun)(yun)动缓冲区，再(zai)依次从运(yun)(yun)动缓冲区中(zhong)取出指令执行(xing)，直(zhi)(zhi)(zhi)到(dao)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)运(yun)(yun)动全(quan)部执行(xing)完。1.直(zhi)(zhi)(zhi)线(xian)(xian)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)直(zhi)(zhi)(zhi)线(xian)(xian)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)方(fang)式(shi)中(zhong)，两(liang)点间的(de)(de)(de)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)沿着直(zhi)(zhi)(zhi)线(xian)(xian)的(de)(de)(de)点群来逼近。首先假设(she)在(zai)(zai)实际(ji)轮(lun)廓(kuo)(kuo)(kuo)起始点处(chu)沿X方(fang)向走(zou)一小(xiao)段(duan)(duan)(给一个(ge)脉冲当(dang)量轴走(zou)一段(duan)(duan)固定距离)，发现终(zhong)(zhong)点在(zai)(zai)实际(ji)轮(lun)廓(kuo)(kuo)(kuo)的(de)(de)(de)下方(fang)，则下一条线(xian)(xian)段(duan)(duan)沿Y方(fang)向走(zou)一小(xiao)段(duan)(duan)，此(ci)时(shi)如果线(xian)(xian)段(duan)(duan)终(zhong)(zhong)点还(hai)在(zai)(zai)实际(ji)轮(lun)廓(kuo)(kuo)(kuo)下方(fang)，则继(ji)续沿Y方(fang)向走(zou)一小(xiao)段(duan)(duan)，直(zhi)(zhi)(zhi)到(dao)在(zai)(zai)实际(ji)轮(lun)廓(kuo)(kuo)(kuo)上方(fang)以后，再(zai)向X方(fang)向走(zou)一小(xiao)段(duan)(duan)，依此(ci)类推，直(zhi)(zhi)(zhi)到(dao)到(dao)达轮(lun)廓(kuo)(kuo)(kuo)终(zhong)(zhong)点为止(zhi)。这(zhei)样实际(ji)轮(lun)廓(kuo)(kuo)(kuo)是(shi)由一段(duan)(duan)段(duan)(duan)的(de)(de)(de)折线(xian)(xian)拼接而成，虽然是(shi)折线(xian)(xian)，但每一段(duan)(duan)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)线(xian)(xian)段(duan)(duan)在(zai)(zai)精(jing)度允许范(fan)围内非常小(xiao)，那么此(ci)段(duan)(duan)折线(xian)(xian)还(hai)是(shi)可以近似看做(zuo)一条直(zhi)(zhi)(zhi)线(xian)(xian)段(duan)(duan)，这(zhei)就是(shi)直(zhi)(zhi)(zhi)线(xian)(xian)插(cha)(cha)(cha)补(bu)(bu)(bu)(bu)。PLC即(ji)辑控制器(qi)是(shi)种专门(men)为在(zai)(zai)工业环境下应(ying)用而设(she)计(ji)的(de)(de)(de)数字运(yun)(yun)算操作(zuo)电子系统。

2020年(nian)基于PC的(de)(de)(de)运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器、控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器、PLC控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器在中(zhong)国的(de)(de)(de)市场份额(e)(e)占比分(fen)(fen)别为34.6％、37.8％和(he)27.6％，由于对运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)要(yao)求越来(lai)越高，基于PC运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器将逐步超过其他类型的(de)(de)(de)运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器，占据越来(lai)越多(duo)的(de)(de)(de)市场份额(e)(e)。未来(lai)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)统(tong)逐步在智(zhi)能化、柔(rou)性化升级发(fa)(fa)展(zhan)。在现(xian)代传(chuan)感技(ji)术(shu)、网络技(ji)术(shu)、云计算等先(xian)进技(ji)术(shu)的(de)(de)(de)基础上(shang)，利用人工(gong)智(zhi)能、大数据以(yi)及(ji)系(xi)(xi)(xi)统(tong)工(gong)程(cheng)等方法(fa)和(he)技(ji)术(shu)，智(zhi)能控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)已经深入到运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)统(tong)的(de)(de)(de)各(ge)(ge)个方面，例如(ru)模糊控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)、神经网络控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)、解(jie)耦(ou)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)等，运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)统(tong)可(ke)以(yi)实(shi)现(xian)分(fen)(fen)析、判断、推理以(yi)及(ji)决策能力，从而实(shi)现(xian)制(zhi)(zhi)(zhi)(zhi)造设备各(ge)(ge)个部分(fen)(fen)的(de)(de)(de)智(zhi)能化，并(bing)终形成(cheng)一个高度智(zhi)能化的(de)(de)(de)、柔(rou)性化的(de)(de)(de)机械制(zhi)(zhi)(zhi)(zhi)造系(xi)(xi)(xi)统(tong)。东莞(guan)博派智(zhi)能科技(ji)有限公(gong)司专注于运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)技(ji)术(shu)研(yan)究(jiu)和(he)通(tong)用运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)软(ruan)硬件产(chan)品的(de)(de)(de)研(yan)发(fa)(fa)。天津运(yun)动(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)编程(cheng)

运动(dong)控制卡在参数设置(zhi)、数据传输(shu)和远程监控方面表现出色。天津运动(dong)控制卡编程

2021年，总线型产品的(de)(de)市(shi)场(chang)份(fen)额(e)占比过(guo)半(ban)，其中主(zhu)要以(yi)(yi)EtherCAT协议(yi)为(wei)主(zhu)。这(zhei)种行(xing)(xing)业现状：一是(shi)与(yu)供应商的(de)(de)市(shi)场(chang)份(fen)额(e)相关。二是(shi)因(yin)为(wei)作(zuo)为(wei)被国(guo)际半(ban)导(dao)体产业协会SEMI所支(zhi)(zhi)(zhi)持的(de)(de)EtherCAT通(tong)(tong)(tong)讯(xun)协议(yi)，能(neng)够拥(yong)有(you)(you)(you)更好的(de)(de)开放性(xing)，有(you)(you)(you)利于不同(tong)厂家设备进行(xing)(xing)配合通(tong)(tong)(tong)信(xin)；三是(shi)因(yin)为(wei)由于半(ban)导(dao)体行(xing)(xing)业对设备的(de)(de)控(kong)制(zhi)精度要求很(hen)高，PC-based在(zai)(zai)半(ban)导(dao)体设备中的(de)(de)应用(yong)(yong)(yong)(yong)逐渐增多，并逐渐替(ti)代(dai)了(le)一部分PLC应用(yong)(yong)(yong)(yong)，因(yin)此通(tong)(tong)(tong)讯(xun)协议(yi)上也偏向(xiang)于更开放的(de)(de)EtherCAT协议(yi)。运动(dong)(dong)控(kong)制(zhi)卡(ka)就是(shi)PC-BASE的(de)(de)，在(zai)(zai)很(hen)多场(chang)合可(ke)(ke)以(yi)(yi)替(ti)代(dai)PLC.其中国(guo)内(nei)做(zuo)的(de)(de)比较好的(de)(de)运动(dong)(dong)控(kong)制(zhi)卡(ka)厂家是(shi)东(dong)莞博派智能(neng)科技有(you)(you)(you)限公(gong)司，他们推出的(de)(de)ECAT_GAS2系(xi)列总线运动(dong)(dong)控(kong)制(zhi)卡(ka)，支(zhi)(zhi)(zhi)持EtherCAT同(tong)时具有(you)(you)(you)以(yi)(yi)下特点：1、板卡(ka)采(cai)用(yong)(yong)(yong)(yong)24V直(zhi)流(liu)电(dian)源供电(dian)。2、控(kong)制(zhi)卡(ka)自身有(you)(you)(you)32路(lu)通(tong)(tong)(tong)用(yong)(yong)(yong)(yong)输入，采(cai)用(yong)(yong)(yong)(yong)光(guang)耦隔离(li)，抗干扰能(neng)力强,数(shu)量可(ke)(ke)扩展(zhan)。3、控(kong)制(zhi)卡(ka)自身有(you)(you)(you)16路(lu)通(tong)(tong)(tong)用(yong)(yong)(yong)(yong)输出，可(ke)(ke)直(zhi)接(jie)驱动(dong)(dong)继电(dian)器，数(shu)量可(ke)(ke)扩展(zhan)。4、控(kong)制(zhi)卡(ka)支(zhi)(zhi)(zhi)持IO扩展(zhan)，可(ke)(ke)扩展(zhan)至2048输入/2048输出。可(ke)(ke)满(man)足所有(you)(you)(you)应用(yong)(yong)(yong)(yong)场(chang)合。5、支(zhi)(zhi)(zhi)持以(yi)(yi)太(tai)网或者(zhe)串口编程(cheng)。6、脉冲输出频率达(da)2MHz7、控(kong)制(zhi)卡(ka)支(zhi)(zhi)(zhi)持多个并联(lian)使(shi)用(yong)(yong)(yong)(yong)。8、控(kong)制(zhi)卡(ka)支(zhi)(zhi)(zhi)持点位运动(dong)(dong)、速度控(kong)制(zhi)、直(zhi)线、圆(yuan)弧、连续轨(gui)迹插补，支(zhi)(zhi)(zhi)持速度前瞻。硬(ying)件捕获、电(dian)子齿轮/电(dian)子凸轮、位置比较输出。支(zhi)(zhi)(zhi)持PT模式(shi)与(yu)刀向(xiang)跟随。天津运动(dong)(dong)控(kong)制(zhi)卡(ka)编程(cheng)

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