PLC的(de)(de)(de)(de)(de)特点（1）可(ke)靠(kao)性高。由(you)于(yu)PLC大都采用(yong)(yong)(yong)单片微型计(ji)算机，因而(er)集成度高，再加(jia)上(shang)相(xiang)(xiang)应的(de)(de)(de)(de)(de)保护(hu)电(dian)路(lu)及自(zi)诊断功(gong)能(neng)(neng)，提高了系统(tong)的(de)(de)(de)(de)(de)可(ke)靠(kao)性。（2）编(bian)(bian)程(cheng)容易(yi)。PLC的(de)(de)(de)(de)(de)编(bian)(bian)程(cheng)多采用(yong)(yong)(yong)继电(dian)器(qi)(qi)控(kong)(kong)制(zhi)(zhi)(zhi)梯(ti)形图(tu)及命令(ling)语(yu)句(ju)，其数(shu)量(liang)比微型机指令(ling)要(yao)(yao)少得多，一(yi)般(ban)的(de)(de)(de)(de)(de)小型PLC只有(you)16条左右。由(you)于(yu)梯(ti)形图(tu)形象(xiang)而(er)简单，因此(ci)容易(yi)掌握(wo)、使用(yong)(yong)(yong)方(fang)(fang)便(bian)(bian)，甚(shen)至不(bu)需(xu)要(yao)(yao)计(ji)算机专业知识，就可(ke)进行(xing)(xing)(xing)编(bian)(bian)程(cheng)。（3）组(zu)态灵(ling)活(huo)。由(you)于(yu)PLC采用(yong)(yong)(yong)积(ji)木式结构(gou)，用(yong)(yong)(yong)户(hu)只需(xu)要(yao)(yao)简单地组(zu)合，便(bian)(bian)可(ke)灵(ling)活(huo)地改变(bian)控(kong)(kong)制(zhi)(zhi)(zhi)系统(tong)的(de)(de)(de)(de)(de)功(gong)能(neng)(neng)和(he)规模(mo)(mo)，因此(ci)，可(ke)适用(yong)(yong)(yong)于(yu)任何控(kong)(kong)制(zhi)(zhi)(zhi)系统(tong)。（4）输入/输出功(gong)能(neng)(neng)模(mo)(mo)块齐(qi)全。PLC的(de)(de)(de)(de)(de)优点之一(yi)，是针对不(bu)同的(de)(de)(de)(de)(de)现场(chang)信号（如直流(liu)或(huo)(huo)(huo)交流(liu)、开关(guan)量(liang)、数(shu)字量(liang)或(huo)(huo)(huo)模(mo)(mo)拟(ni)量(liang)、电(dian)压或(huo)(huo)(huo)电(dian)流(liu)等），均有(you)相(xiang)(xiang)应的(de)(de)(de)(de)(de)模(mo)(mo)板(ban)可(ke)与(yu)工业现场(chang)的(de)(de)(de)(de)(de)器(qi)(qi)件（如按钮、开关(guan)、传(chuan)(chuan)感电(dian)流(liu)变(bian)送器(qi)(qi)、电(dian)机启动(dong)器(qi)(qi)或(huo)(huo)(huo)控(kong)(kong)制(zhi)(zhi)(zhi)阀(fa)等）直接(jie)(jie)连(lian)接(jie)(jie)，并通(tong)过(guo)总线(xian)与(yu)CPU主板(ban)连(lian)接(jie)(jie)。（5）安装(zhuang)方(fang)(fang)便(bian)(bian)。与(yu)计(ji)算机系统(tong)相(xiang)(xiang)比，PLC的(de)(de)(de)(de)(de)安装(zhuang)既(ji)不(bu)需(xu)要(yao)(yao)机房，也(ye)不(bu)需(xu)要(yao)(yao)严格(ge)的(de)(de)(de)(de)(de)屏蔽措施。使用(yong)(yong)(yong)时只需(xu)把检测器(qi)(qi)件与(yu)执行(xing)(xing)(xing)机构(gou)和(he)PLC的(de)(de)(de)(de)(de)I/O接(jie)(jie)口端(duan)子(zi)正确连(lian)接(jie)(jie)，便(bian)(bian)可(ke)正常工作。（6）运(yun)行(xing)(xing)(xing)速(su)(su)度快。由(you)于(yu)PLC的(de)(de)(de)(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)是由(you)程(cheng)序控(kong)(kong)制(zhi)(zhi)(zhi)执行(xing)(xing)(xing)的(de)(de)(de)(de)(de)，因而(er)不(bu)论其可(ke)靠(kao)性还(hai)是运(yun)行(xing)(xing)(xing)速(su)(su)度，都是继电(dian)器(qi)(qi)逻辑控(kong)(kong)制(zhi)(zhi)(zhi)无法相(xiang)(xiang)比的(de)(de)(de)(de)(de)。运(yun)动(dong)控(kong)(kong)制(zhi)(zhi)(zhi)卡(ka)在参数(shu)设(she)置、数(shu)据传(chuan)(chuan)输和(he)远程(cheng)监控(kong)(kong)方(fang)(fang)面表现出色。嘉兴雷赛运(yun)动(dong)控(kong)(kong)制(zhi)(zhi)(zhi)卡(ka)

一、电子凸(tu)(tu)(tu)(tu)轮(lun)(lun)简(jian)介1.1组(zu)(zu)成部分电子凸(tu)(tu)(tu)(tu)轮(lun)(lun)（ECAM）是利用(yong)构造(zao)的(de)凸(tu)(tu)(tu)(tu)轮(lun)(lun)曲(qu)线来(lai)模拟机(ji)(ji)械(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)，以达到机(ji)(ji)械(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)系统(tong)相(xiang)同(tong)的(de)凸(tu)(tu)(tu)(tu)轮(lun)(lun)轴(zhou)于主轴(zhou)之(zhi)间相(xiang)对(dui)运动(dong)的(de)软(ruan)件系统(tong)。通过(guo)控(kong)(kong)(kong)制器控(kong)(kong)(kong)制伺服(fu)电机(ji)(ji)来(lai)模拟机(ji)(ji)械(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)的(de)功能，不需(xu)要另外安装机(ji)(ji)械(xie)结构。1.2工作原理(li)电子凸(tu)(tu)(tu)(tu)轮(lun)(lun)属(shu)于多(duo)轴(zhou)同(tong)步运动(dong)。与机(ji)(ji)械(xie)齿轮(lun)(lun)一样，电子凸(tu)(tu)(tu)(tu)轮(lun)(lun)需(xu)要主轴(zhou)和从轴(zhou)。若(ruo)定义凸(tu)(tu)(tu)(tu)轮(lun)(lun)为主轴(zhou)，推杆为从轴(zhou)，那么凸(tu)(tu)(tu)(tu)轮(lun)(lun)的(de)实质就是从轴(zhou)对(dui)应主轴(zhou)的(de)一种函数(shu)关系。如下(xia)图，机(ji)(ji)械(xie)凸(tu)(tu)(tu)(tu)轮(lun)(lun)按照凸(tu)(tu)(tu)(tu)轮(lun)(lun)的(de)轮(lun)(lun)廓可以得出一段(duan)(duan)转(zhuan)动(dong)角度与加工位置运动(dong)轨(gui)(gui)(gui)(gui)迹(ji)(ji)，此(ci)轨(gui)(gui)(gui)(gui)迹(ji)(ji)为弧(hu)线，将该(gai)段(duan)(duan)弧(hu)线分解成无数(shu)个(ge)(ge)直线轨(gui)(gui)(gui)(gui)迹(ji)(ji)，组(zu)(zu)合(he)起来(lai)得到一串趋近于弧(hu)线运动(dong)轨(gui)(gui)(gui)(gui)迹(ji)(ji)，电子凸(tu)(tu)(tu)(tu)轮(lun)(lun)直接将此(ci)段(duan)(duan)轨(gui)(gui)(gui)(gui)迹(ji)(ji)运动(dong)参数(shu)装入运动(dong)指令(ling)，即可控(kong)(kong)(kong)制轴(zhou)走出目(mu)标(biao)轨(gui)(gui)(gui)(gui)迹(ji)(ji)。雷赛(sai)运动(dong)控(kong)(kong)(kong)制卡(ka)编程连续(xu)插(cha)(cha)补二(er)维是指以一个(ge)(ge)平面为基准，进行多(duo)个(ge)(ge)点(dian)的(de)连续(xu)插(cha)(cha)补，实现更加复杂的(de)运动(dong)轨(gui)(gui)(gui)(gui)迹(ji)(ji)控(kong)(kong)(kong)制。

得益于(yu)总(zong)线(xian)型(xing)对于(yu)脉冲型(xing)运控(kong)产(chan)(chan)品的(de)替代大潮，EtherCAT从自动(dong)化(hua)市(shi)场(chang)(chang)崭露(lu)头(tou)角(jiao)。从性能(neng)(neng)角(jiao)度来讲，EtherCAT在众(zhong)多(duo)总(zong)线(xian)型(xing)控(kong)制(zhi)协(xie)议(yi)中脱颖而出，主要依(yi)靠以(yi)(yi)(yi)下三点：1.EtherCAT通(tong)信速(su)度非(fei)常快。它利用(yong)双绞线(xian)或光缆在100μs内(nei)处理30μs或100个轴上(shang)的(de)1000个分布式(shi)I/O信号，为(wei)实时(shi)性能(neng)(neng)设置了新的(de)限(xian)(xian)制(zhi)。这种高速(su)度使得EtherCAT非(fei)常适(shi)合自动(dong)化(hua)，工(gong)业物联网(wang)（IIoT）以(yi)(yi)(yi)及其(qi)他需(xu)要实时(shi)优化(hua)的(de)应(ying)用(yong)。2.这是一个较(jiao)多(duo)采用(yong)的(de)开放标准。越来越多(duo)的(de)设备(bei)正在通(tong)过现场(chang)(chang)总(zong)线(xian)或无线(xian)连(lian)接。并且由(you)于(yu)数(shu)据使用(yong)与以(yi)(yi)(yi)太(tai)网(wang)相同(tong)的(de)格式(shi)，因此可以(yi)(yi)(yi)直(zhi)接连(lian)接到以(yi)(yi)(yi)太(tai)网(wang)。不需(xu)要特定的(de)路由(you)器或交换机(ji)。这意(yi)味着用(yong)户可以(yi)(yi)(yi)通(tong)过效率更高的(de)方(fang)式(shi)使用(yong)EtherCAT-IP在同(tong)一接口上(shang)进(jin)行(xing)多(duo)种产(chan)(chan)品的(de)选择。3.它自身构(gou)建的(de)可持(chi)续性。使用(yong)成熟的(de)以(yi)(yi)(yi)太(tai)网(wang)电缆，EtherCAT通(tong)讯协(xie)议(yi)可以(yi)(yi)(yi)在较(jiao)为(wei)极端的(de)条(tiao)件下进(jin)行(xing)持(chi)续作业，比(bi)如(ru)EtherCAT端子可以(yi)(yi)(yi)在-25°C至(zhi)(zhi)+60°C的(de)温度范围内(nei)连(lian)续工(gong)作（Trinamic的(de)EtherCAT运动(dong)控(kong)制(zhi)器甚(shen)至(zhi)(zhi)可以(yi)(yi)(yi)满足-40°C至(zhi)(zhi)125°C的(de)汽车级温度规格）。国内(nei)来说，东莞博派智能(neng)(neng)科技有限(xian)(xian)公司推出了工(gong)业用(yong)EtherCAT总(zong)线(xian)运动(dong)控(kong)制(zhi)卡，支持(chi)2~64轴运动(dong)控(kong)制(zhi)，提供(gong)VC++/C#/LABVIEW/VB/DELPHI等动(dong)态库和例程，非(fei)常方(fang)便。

即(ji)便(bian)(bian)在(zai)其诞生的(de)(de)10年(nian)(nian)之(zhi)后，EtherCAT的(de)(de)通信(xin)速度仍比(bi)快(kuai)的(de)(de)CPU的(de)(de)运(yun)(yun)行速度还(hai)快(kuai)，并且2003年(nian)(nian)使用(yong)EtherCAT的(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器到了2013年(nian)(nian)仍然可(ke)以在(zai)自(zi)动化设备(bei)上兼(jian)容使用(yong)–从(cong)某(mou)种意义上讲(jiang)，它已经打破摩尔定律10年(nian)(nian)有(you)余（虽然应用(yong)的(de)(de)领域稍(shao)有(you)差别）。这(zhei)也就(jiu)是(shi)说，单一版本的(de)(de)EtherCAT，即(ji)那(nei)个版本的(de)(de)EtherCAT就(jiu)已足够支撑现今大部分的(de)(de)工业场景，后来所有(you)添加的(de)(de)东西都只是(shi)扩展，而非(fei)改型，真可(ke)谓(wei)叫(jiao)“匠心级(ji)”产品(pin)，相比(bi)于当前(qian)某(mou)些(xie)企业吹的(de)(de)什么“现象级(ji)”产品(pin)，水平不知道高到哪里(li)去了。东莞博派智能科技(ji)有(you)限(xian)公司推出的(de)(de)ECAT_GAS2系列总线运(yun)(yun)动控(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡，同时支持EtherCAT和Ethernet，提(ti)供VC++/VB/C#/LABVIEW/LINUX/QT/DELPHI等动态库和API.普通电脑甚至笔记本就(jiu)能用(yong)，非(fei)常方(fang)便(bian)(bian)。同时支持点、线、圆弧、螺旋线插补，支持连(lian)续小线段速度前(qian)瞻(zhan)。同时可(ke)以接入(ru)外(wai)部手轮(lun)，主卡本身有(you)2路模拟量(liang)输入(ru)和两路模拟量(liang)输出，非(fei)常方(fang)便(bian)(bian)。运(yun)(yun)动控(kong)(kong)(kong)制(zhi)(zhi)(zhi)主要涉(she)及步进(jin)电机(ji)、伺服(fu)电机(ji)的(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)，控(kong)(kong)(kong)制(zhi)(zhi)(zhi)结构模式一般是(shi)：控(kong)(kong)(kong)制(zhi)(zhi)(zhi)装(zhuang)置+驱(qu)动器+（步进(jin)或(huo)伺服(fu)）电机(ji)。

PLC系统(tong)一(yi)般(ban)由以(yi)(yi)(yi)下基(ji)本功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)构成：多种(zhong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)、数(shu)(shu)(shu)据(ju)(ju)(ju)(ju)采(cai)集、存储与(yu)(yu)处理功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)、通信联(lian)网功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)、输入/输出接(jie)口调(diao)(diao)理功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)、人(ren)机界(jie)面功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)、编(bian)(bian)程(cheng)(cheng)、调(diao)(diao)试功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)、控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)逻(luo)(luo)辑(ji)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：PLC具有与(yu)(yu)、或(huo)、非、异(yi)或(huo)和(he)触发器(qi)(qi)等逻(luo)(luo)辑(ji)运算(suan)(suan)功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)，可以(yi)(yi)(yi)代替(ti)继电器(qi)(qi)进(jin)行开关(guan)量控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)。定(ding)时(shi)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：它为(wei)用(yong)户提(ti)(ti)供(gong)了(le)若干个电子定(ding)时(shi)器(qi)(qi)，用(yong)户可自行设定(ding)：接(jie)通延(yan)时(shi)、关(guan)断延(yan)时(shi)和(he)定(ding)时(shi)脉(mai)冲等方(fang)式。计(ji)数(shu)(shu)(shu)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：用(yong)脉(mai)冲控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)可以(yi)(yi)(yi)实现加(jia)、减计(ji)数(shu)(shu)(shu)模(mo)(mo)式，可以(yi)(yi)(yi)连接(jie)码盘(pan)进(jin)行位(wei)(wei)置检测。顺序控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)：在(zai)前道工序完(wan)成之后，就转入下一(yi)道工序，使一(yi)台PLC可作为(wei)多部步(bu)进(jin)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)(qi)使用(yong)。数(shu)(shu)(shu)据(ju)(ju)(ju)(ju)采(cai)集、存储与(yu)(yu)处理功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)数(shu)(shu)(shu)学(xue)运算(suan)(suan)功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)：基(ji)本算(suan)(suan)术：加(jia)、减、乘、除。扩展算(suan)(suan)术：平方(fang)根、三角函数(shu)(shu)(shu)和(he)浮点运算(suan)(suan)。比较：大于(yu)、小于(yu)和(he)等于(yu)。数(shu)(shu)(shu)据(ju)(ju)(ju)(ju)处理：选择、组织、规格化、移动和(he)先(xian)入先(xian)出。模(mo)(mo)拟(ni)数(shu)(shu)(shu)据(ju)(ju)(ju)(ju)处理：PID、积分和(he)滤波。输入/输出接(jie)口调(diao)(diao)理功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)具有A/D、D/A转换功(gong)(gong)能(neng)(neng)(neng)(neng)(neng)，通过I/O模(mo)(mo)块完(wan)成对(dui)模(mo)(mo)拟(ni)量的控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)和(he)调(diao)(diao)节。位(wei)(wei)数(shu)(shu)(shu)和(he)精度(du)可以(yi)(yi)(yi)根据(ju)(ju)(ju)(ju)用(yong)户要求选择。PC和(he)手持编(bian)(bian)程(cheng)(cheng)器(qi)(qi)提(ti)(ti)供(gong)给用(yong)户编(bian)(bian)程(cheng)(cheng)使用(yong)，为(wei)用(yong)户提(ti)(ti)供(gong)了(le)方(fang)便的编(bian)(bian)程(cheng)(cheng)界(jie)面。嘉兴雷(lei)赛运动控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)卡

比如在机械(xie)加工方面，用电子凸轮(lun)来代替笨(ben)重的(de)(de)机械(xie)凸轮(lun)当然是(shi)比较(jiao)简单的(de)(de)了(le)。嘉兴雷赛(sai)运动控制卡

博派ECAT_GAS2控(kong)制卡(ka)提供(gong)了VC++及(ji)(ji)C#和(he)Delphi以及(ji)(ji)VB下的动态(tai)库，用(yong)户可利用(yong)动态(tai)库提供(gong)的API完成板卡(ka)打开(kai)、关(guan)闭(bi)、IO输入输出(chu)、电(dian)机点位(wei)/速(su)度/插补/硬件捕(bu)获(huo)/电(dian)子(zi)(zi)齿(chi)轮(lun)/比较输出(chu)等(deng)运(yun)动控(kong)制功能(neng)。Labview下也可以通过调用(yong)C++动态(tai)库的方式(shi)(shi)使用(yong)。同时板卡(ka)支(zhi)持Linux、Android、iOS、Wince、Python、QT等(deng)开(kai)发环境及(ji)(ji)语言。支(zhi)持点位(wei)运(yun)动、速(su)度控(kong)制、直(zhi)线(xian)、圆弧、连续轨迹插补，支(zhi)持速(su)度前(qian)瞻(zhan)。硬件捕(bu)获(huo)、电(dian)子(zi)(zi)齿(chi)轮(lun)/电(dian)子(zi)(zi)凸(tu)轮(lun)、位(wei)置比较输出(chu)。支(zhi)持PT模式(shi)(shi)与刀(dao)向跟随。嘉(jia)兴雷赛运(yun)动控(kong)制卡(ka)

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