PLC的(de)(de)(de)特点（1）可(ke)(ke)(ke)(ke)靠(kao)性(xing)高(gao)(gao)。由(you)于(yu)PLC大都(dou)采(cai)用(yong)单片(pian)微型(xing)计算机(ji)(ji)，因而(er)集成(cheng)度(du)(du)高(gao)(gao)，再加上相(xiang)应的(de)(de)(de)保护(hu)电(dian)(dian)(dian)路及自诊断(duan)功能(neng)，提高(gao)(gao)了系(xi)(xi)统(tong)的(de)(de)(de)可(ke)(ke)(ke)(ke)靠(kao)性(xing)。（2）编(bian)程容易。PLC的(de)(de)(de)编(bian)程多采(cai)用(yong)继电(dian)(dian)(dian)器(qi)(qi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)梯(ti)形(xing)图及命令语(yu)句，其数量(liang)(liang)比微型(xing)机(ji)(ji)指令要(yao)(yao)少(shao)得多，一(yi)般的(de)(de)(de)小型(xing)PLC只有16条左右。由(you)于(yu)梯(ti)形(xing)图形(xing)象而(er)简(jian)单，因此容易掌握、使用(yong)方便(bian)，甚(shen)至不需(xu)要(yao)(yao)计算机(ji)(ji)专业知识，就可(ke)(ke)(ke)(ke)进行编(bian)程。（3）组态灵活。由(you)于(yu)PLC采(cai)用(yong)积木式结构，用(yong)户(hu)只需(xu)要(yao)(yao)简(jian)单地组合，便(bian)可(ke)(ke)(ke)(ke)灵活地改变控(kong)(kong)(kong)制(zhi)(zhi)(zhi)系(xi)(xi)统(tong)的(de)(de)(de)功能(neng)和(he)规模(mo)，因此，可(ke)(ke)(ke)(ke)适用(yong)于(yu)任(ren)何控(kong)(kong)(kong)制(zhi)(zhi)(zhi)系(xi)(xi)统(tong)。（4）输入/输出功能(neng)模(mo)块(kuai)齐全。PLC的(de)(de)(de)优点之一(yi)，是针对不同的(de)(de)(de)现场(chang)信(xin)号（如(ru)直流(liu)或(huo)(huo)交流(liu)、开关(guan)(guan)量(liang)(liang)、数字(zi)量(liang)(liang)或(huo)(huo)模(mo)拟量(liang)(liang)、电(dian)(dian)(dian)压或(huo)(huo)电(dian)(dian)(dian)流(liu)等），均有相(xiang)应的(de)(de)(de)模(mo)板(ban)可(ke)(ke)(ke)(ke)与(yu)工(gong)业现场(chang)的(de)(de)(de)器(qi)(qi)件(jian)（如(ru)按(an)钮、开关(guan)(guan)、传(chuan)感(gan)电(dian)(dian)(dian)流(liu)变送器(qi)(qi)、电(dian)(dian)(dian)机(ji)(ji)启(qi)动(dong)(dong)器(qi)(qi)或(huo)(huo)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)阀等）直接连(lian)接，并通过(guo)总线与(yu)CPU主(zhu)板(ban)连(lian)接。（5）安(an)装方便(bian)。与(yu)计算机(ji)(ji)系(xi)(xi)统(tong)相(xiang)比，PLC的(de)(de)(de)安(an)装既不需(xu)要(yao)(yao)机(ji)(ji)房，也不需(xu)要(yao)(yao)严格(ge)的(de)(de)(de)屏蔽措(cuo)施。使用(yong)时只需(xu)把(ba)检测器(qi)(qi)件(jian)与(yu)执行机(ji)(ji)构和(he)PLC的(de)(de)(de)I/O接口(kou)端(duan)子(zi)正(zheng)确连(lian)接，便(bian)可(ke)(ke)(ke)(ke)正(zheng)常工(gong)作。（6）运行速度(du)(du)快。由(you)于(yu)PLC的(de)(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)是由(you)程序控(kong)(kong)(kong)制(zhi)(zhi)(zhi)执行的(de)(de)(de)，因而(er)不论其可(ke)(ke)(ke)(ke)靠(kao)性(xing)还(hai)是运行速度(du)(du)，都(dou)是继电(dian)(dian)(dian)器(qi)(qi)逻(luo)辑控(kong)(kong)(kong)制(zhi)(zhi)(zhi)无法(fa)相(xiang)比的(de)(de)(de)。运动(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡在(zai)参数设置、数据传(chuan)输和(he)远程监(jian)控(kong)(kong)(kong)方面表现出色(se)。嘉(jia)兴雷(lei)赛运动(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡

一、电(dian)(dian)子(zi)(zi)(zi)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)简介1.1组成部分电(dian)(dian)子(zi)(zi)(zi)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)（ECAM）是利用构造(zao)的凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)曲线(xian)(xian)来(lai)模(mo)拟机(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)，以(yi)达(da)到(dao)机(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)系(xi)统(tong)相同的凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)轴(zhou)于主(zhu)(zhu)轴(zhou)之(zhi)间相对(dui)运(yun)(yun)动(dong)(dong)(dong)(dong)的软(ruan)件系(xi)统(tong)。通过控(kong)(kong)制(zhi)器(qi)控(kong)(kong)制(zhi)伺服电(dian)(dian)机(ji)来(lai)模(mo)拟机(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)的功能，不需要另(ling)外安装(zhuang)机(ji)械(xie)(xie)结构。1.2工(gong)作原(yuan)理电(dian)(dian)子(zi)(zi)(zi)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)属于多轴(zhou)同步运(yun)(yun)动(dong)(dong)(dong)(dong)。与机(ji)械(xie)(xie)齿轮(lun)(lun)(lun)一样，电(dian)(dian)子(zi)(zi)(zi)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)需要主(zhu)(zhu)轴(zhou)和从(cong)轴(zhou)。若定(ding)义(yi)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)为主(zhu)(zhu)轴(zhou)，推(tui)杆为从(cong)轴(zhou)，那么(me)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)的实质就是从(cong)轴(zhou)对(dui)应主(zhu)(zhu)轴(zhou)的一种函数(shu)关系(xi)。如下图，机(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)按照凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)的轮(lun)(lun)(lun)廓可以(yi)得出(chu)(chu)一段转动(dong)(dong)(dong)(dong)角度(du)与加工(gong)位(wei)置运(yun)(yun)动(dong)(dong)(dong)(dong)轨(gui)迹，此轨(gui)迹为弧线(xian)(xian)，将该(gai)段弧线(xian)(xian)分解成无数(shu)个直线(xian)(xian)轨(gui)迹，组合(he)起来(lai)得到(dao)一串趋近(jin)于弧线(xian)(xian)运(yun)(yun)动(dong)(dong)(dong)(dong)轨(gui)迹，电(dian)(dian)子(zi)(zi)(zi)凸(tu)(tu)(tu)(tu)轮(lun)(lun)(lun)直接将此段轨(gui)迹运(yun)(yun)动(dong)(dong)(dong)(dong)参数(shu)装(zhuang)入(ru)运(yun)(yun)动(dong)(dong)(dong)(dong)指令，即(ji)可控(kong)(kong)制(zhi)轴(zhou)走出(chu)(chu)目标(biao)轨(gui)迹。雷赛运(yun)(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)卡编程连续(xu)插(cha)补二维是指以(yi)一个平面(mian)为基准，进行多个点的连续(xu)插(cha)补，实现(xian)更加复杂的运(yun)(yun)动(dong)(dong)(dong)(dong)轨(gui)迹控(kong)(kong)制(zhi)。

得(de)益于(yu)总线(xian)(xian)型对于(yu)脉冲型运控(kong)产品的(de)(de)(de)替代大潮，EtherCAT从自动(dong)(dong)(dong)化市场崭露头角。从性(xing)能(neng)角度(du)来讲，EtherCAT在(zai)众多(duo)(duo)总线(xian)(xian)型控(kong)制协议中(zhong)脱颖(ying)而出，主要(yao)依靠以(yi)下三点：1.EtherCAT通(tong)信速(su)(su)度(du)非常快。它利(li)用(yong)(yong)双(shuang)绞线(xian)(xian)或光缆在(zai)100μs内(nei)处理30μs或100个(ge)轴上(shang)(shang)的(de)(de)(de)1000个(ge)分布(bu)式(shi)I/O信号，为实(shi)时(shi)性(xing)能(neng)设置(zhi)了新的(de)(de)(de)限制。这(zhei)(zhei)种高速(su)(su)度(du)使得(de)EtherCAT非常适(shi)合自动(dong)(dong)(dong)化，工业(ye)物联网(wang)(wang)（IIoT）以(yi)及(ji)其他需(xu)要(yao)实(shi)时(shi)优化的(de)(de)(de)应用(yong)(yong)。2.这(zhei)(zhei)是一个(ge)较(jiao)多(duo)(duo)采(cai)用(yong)(yong)的(de)(de)(de)开放(fang)标准。越来越多(duo)(duo)的(de)(de)(de)设备正在(zai)通(tong)过现场总线(xian)(xian)或无(wu)线(xian)(xian)连(lian)接。并且由(you)于(yu)数据(ju)使用(yong)(yong)与以(yi)太网(wang)(wang)相同的(de)(de)(de)格式(shi)，因此可(ke)以(yi)直接连(lian)接到以(yi)太网(wang)(wang)。不需(xu)要(yao)特定的(de)(de)(de)路(lu)由(you)器(qi)或交换机。这(zhei)(zhei)意味着用(yong)(yong)户可(ke)以(yi)通(tong)过效率更高的(de)(de)(de)方式(shi)使用(yong)(yong)EtherCAT-IP在(zai)同一接口上(shang)(shang)进(jin)行(xing)多(duo)(duo)种产品的(de)(de)(de)选择。3.它自身构(gou)建的(de)(de)(de)可(ke)持(chi)续(xu)性(xing)。使用(yong)(yong)成熟的(de)(de)(de)以(yi)太网(wang)(wang)电缆，EtherCAT通(tong)讯协议可(ke)以(yi)在(zai)较(jiao)为极端的(de)(de)(de)条(tiao)件下进(jin)行(xing)持(chi)续(xu)作业(ye)，比如EtherCAT端子(zi)可(ke)以(yi)在(zai)-25°C至(zhi)+60°C的(de)(de)(de)温度(du)范围内(nei)连(lian)续(xu)工作（Trinamic的(de)(de)(de)EtherCAT运动(dong)(dong)(dong)控(kong)制器(qi)甚至(zhi)可(ke)以(yi)满足-40°C至(zhi)125°C的(de)(de)(de)汽(qi)车级(ji)温度(du)规格）。国内(nei)来说，东莞(guan)博派(pai)智能(neng)科(ke)技(ji)有(you)限公(gong)司(si)推出了工业(ye)用(yong)(yong)EtherCAT总线(xian)(xian)运动(dong)(dong)(dong)控(kong)制卡(ka)，支持(chi)2~64轴运动(dong)(dong)(dong)控(kong)制，提供VC++/C#/LABVIEW/VB/DELPHI等动(dong)(dong)(dong)态库和例程，非常方便。

即便(bian)在(zai)(zai)其诞(dan)生的(de)(de)(de)(de)10年(nian)之(zhi)后(hou)，EtherCAT的(de)(de)(de)(de)通信(xin)速度仍比快(kuai)(kuai)的(de)(de)(de)(de)CPU的(de)(de)(de)(de)运行速度还快(kuai)(kuai)，并且2003年(nian)使(shi)用EtherCAT的(de)(de)(de)(de)控(kong)制(zhi)(zhi)器到(dao)了2013年(nian)仍然可(ke)(ke)以在(zai)(zai)自动化设备上兼容(rong)使(shi)用–从某(mou)种意义上讲，它已经(jing)打破摩尔定律10年(nian)有(you)余（虽然应用的(de)(de)(de)(de)领域稍(shao)有(you)差别）。这(zhei)也就(jiu)(jiu)(jiu)是(shi)说，单一(yi)版(ban)本的(de)(de)(de)(de)EtherCAT，即那个版(ban)本的(de)(de)(de)(de)EtherCAT就(jiu)(jiu)(jiu)已足(zu)够支(zhi)(zhi)撑现(xian)今大部分的(de)(de)(de)(de)工业(ye)场景，后(hou)来所有(you)添加(jia)的(de)(de)(de)(de)东西(xi)都只(zhi)是(shi)扩展(zhan)，而非(fei)(fei)改(gai)型，真(zhen)可(ke)(ke)谓叫“匠心级(ji)”产品，相比于(yu)当前某(mou)些企业(ye)吹的(de)(de)(de)(de)什么“现(xian)象级(ji)”产品，水平不知道高到(dao)哪里去了。东莞博派智能科技有(you)限(xian)公(gong)司推出(chu)的(de)(de)(de)(de)ECAT_GAS2系列总线(xian)运动控(kong)制(zhi)(zhi)卡，同时支(zhi)(zhi)持(chi)EtherCAT和Ethernet，提(ti)供(gong)VC++/VB/C#/LABVIEW/LINUX/QT/DELPHI等动态库(ku)和API.普通电脑(nao)甚至(zhi)笔记本就(jiu)(jiu)(jiu)能用，非(fei)(fei)常方(fang)便(bian)。同时支(zhi)(zhi)持(chi)点、线(xian)、圆弧、螺旋(xuan)线(xian)插补，支(zhi)(zhi)持(chi)连续小线(xian)段(duan)速度前瞻。同时可(ke)(ke)以接入(ru)外部手轮(lun)，主卡本身有(you)2路(lu)模拟量输入(ru)和两路(lu)模拟量输出(chu)，非(fei)(fei)常方(fang)便(bian)。运动控(kong)制(zhi)(zhi)主要(yao)涉(she)及步(bu)进(jin)电机(ji)、伺(si)(si)服电机(ji)的(de)(de)(de)(de)控(kong)制(zhi)(zhi)，控(kong)制(zhi)(zhi)结(jie)构模式一(yi)般是(shi)：控(kong)制(zhi)(zhi)装置+驱动器+（步(bu)进(jin)或伺(si)(si)服）电机(ji)。

PLC系统一(yi)般(ban)由以(yi)下基本功(gong)(gong)(gong)(gong)能(neng)构成(cheng)：多种控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)(gong)(gong)(gong)能(neng)、数(shu)(shu)据采(cai)集、存储(chu)与(yu)处(chu)理(li)(li)(li)功(gong)(gong)(gong)(gong)能(neng)、通信联网功(gong)(gong)(gong)(gong)能(neng)、输(shu)入(ru)(ru)/输(shu)出(chu)接口(kou)调(diao)(diao)理(li)(li)(li)功(gong)(gong)(gong)(gong)能(neng)、人机(ji)界(jie)面功(gong)(gong)(gong)(gong)能(neng)、编(bian)程、调(diao)(diao)试(shi)功(gong)(gong)(gong)(gong)能(neng)、控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)(gong)(gong)(gong)能(neng)逻辑控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：PLC具有(you)与(yu)、或、非、异(yi)或和(he)(he)触发器(qi)(qi)(qi)等(deng)(deng)逻辑运算(suan)(suan)功(gong)(gong)(gong)(gong)能(neng)，可(ke)(ke)(ke)(ke)以(yi)代替继电器(qi)(qi)(qi)进(jin)行(xing)开关量控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)。定(ding)时(shi)(shi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：它(ta)为(wei)用(yong)(yong)户(hu)提(ti)(ti)(ti)供了(le)若干个电子定(ding)时(shi)(shi)器(qi)(qi)(qi)，用(yong)(yong)户(hu)可(ke)(ke)(ke)(ke)自(zi)行(xing)设定(ding)：接通延时(shi)(shi)、关断延时(shi)(shi)和(he)(he)定(ding)时(shi)(shi)脉冲等(deng)(deng)方式(shi)。计数(shu)(shu)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：用(yong)(yong)脉冲控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)可(ke)(ke)(ke)(ke)以(yi)实现(xian)加、减计数(shu)(shu)模式(shi)，可(ke)(ke)(ke)(ke)以(yi)连接码盘进(jin)行(xing)位(wei)置检测。顺序控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：在前道工(gong)序完(wan)成(cheng)之后，就转入(ru)(ru)下一(yi)道工(gong)序，使一(yi)台PLC可(ke)(ke)(ke)(ke)作为(wei)多部(bu)步进(jin)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)使用(yong)(yong)。数(shu)(shu)据采(cai)集、存储(chu)与(yu)处(chu)理(li)(li)(li)功(gong)(gong)(gong)(gong)能(neng)数(shu)(shu)学(xue)运算(suan)(suan)功(gong)(gong)(gong)(gong)能(neng)：基本算(suan)(suan)术(shu)：加、减、乘、除。扩展算(suan)(suan)术(shu)：平(ping)方根(gen)、三(san)角函数(shu)(shu)和(he)(he)浮点运算(suan)(suan)。比较：大于、小于和(he)(he)等(deng)(deng)于。数(shu)(shu)据处(chu)理(li)(li)(li)：选择、组(zu)织、规(gui)格化、移(yi)动和(he)(he)先(xian)入(ru)(ru)先(xian)出(chu)。模拟数(shu)(shu)据处(chu)理(li)(li)(li)：PID、积分和(he)(he)滤波。输(shu)入(ru)(ru)/输(shu)出(chu)接口(kou)调(diao)(diao)理(li)(li)(li)功(gong)(gong)(gong)(gong)能(neng)具有(you)A/D、D/A转换功(gong)(gong)(gong)(gong)能(neng)，通过I/O模块完(wan)成(cheng)对(dui)模拟量的(de)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)和(he)(he)调(diao)(diao)节。位(wei)数(shu)(shu)和(he)(he)精度可(ke)(ke)(ke)(ke)以(yi)根(gen)据用(yong)(yong)户(hu)要求选择。PC和(he)(he)手持编(bian)程器(qi)(qi)(qi)提(ti)(ti)(ti)供给用(yong)(yong)户(hu)编(bian)程使用(yong)(yong)，为(wei)用(yong)(yong)户(hu)提(ti)(ti)(ti)供了(le)方便的(de)编(bian)程界(jie)面。嘉(jia)兴雷赛运动控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)卡

比(bi)如在(zai)机械加工方面，用电子凸轮来代替笨重的(de)机械凸轮当然是比(bi)较(jiao)简单的(de)了。嘉兴雷赛运动控制卡

博派(pai)ECAT_GAS2控(kong)(kong)制卡(ka)(ka)提供了VC++及(ji)C#和Delphi以及(ji)VB下(xia)的动(dong)态库(ku)(ku)，用户可利用动(dong)态库(ku)(ku)提供的API完成板(ban)(ban)卡(ka)(ka)打开、关闭(bi)、IO输入(ru)输出(chu)、电(dian)(dian)机(ji)点位(wei)/速度(du)/插补/硬件(jian)(jian)捕获(huo)/电(dian)(dian)子(zi)齿轮/比较(jiao)输出(chu)等(deng)运动(dong)控(kong)(kong)制功能。Labview下(xia)也可以通(tong)过调用C++动(dong)态库(ku)(ku)的方式使用。同时板(ban)(ban)卡(ka)(ka)支持Linux、Android、iOS、Wince、Python、QT等(deng)开发环境及(ji)语(yu)言。支持点位(wei)运动(dong)、速度(du)控(kong)(kong)制、直线、圆弧、连续轨迹插补，支持速度(du)前(qian)瞻。硬件(jian)(jian)捕获(huo)、电(dian)(dian)子(zi)齿轮/电(dian)(dian)子(zi)凸轮、位(wei)置比较(jiao)输出(chu)。支持PT模(mo)式与刀向跟随。嘉兴雷赛运动(dong)控(kong)(kong)制卡(ka)(ka)

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