運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡是利用(yong)高(gao)(gao)性能(neng)微處理器及大規模(mo)可編程(cheng)器件實現多(duo)個伺(si)服電(dian)機(ji)的(de)(de)(de)(de)(de)多(duo)軸協調控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)的(de)(de)(de)(de)(de)一種高(gao)(gao)性能(neng)的(de)(de)(de)(de)(de)，專門(men)用(yong)來滿足(zu)足(zu)一系(xi)列運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)需求的(de)(de)(de)(de)(de)（位(wei)(wei)(wei)移、速度(du)、加(jia)速度(du)等），基(ji)于PC機(ji)的(de)(de)(de)(de)(de)上位(wei)(wei)(wei)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)單元。運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡的(de)(de)(de)(de)(de)原理是發出連續的(de)(de)(de)(de)(de)、高(gao)(gao)頻率(lv)的(de)(de)(de)(de)(de)脈(mo)(mo)沖(chong)(chong)串，通過改(gai)變(bian)發出脈(mo)(mo)沖(chong)(chong)的(de)(de)(de)(de)(de)頻率(lv)來控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)電(dian)機(ji)的(de)(de)(de)(de)(de)速度(du)，改(gai)變(bian)發出脈(mo)(mo)沖(chong)(chong)的(de)(de)(de)(de)(de)數量來控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)電(dian)機(ji)的(de)(de)(de)(de)(de)位(wei)(wei)(wei)置(zhi)，它的(de)(de)(de)(de)(de)脈(mo)(mo)沖(chong)(chong)輸出模(mo)式包括脈(mo)(mo)沖(chong)(chong)/方(fang)向(xiang)、脈(mo)(mo)沖(chong)(chong)/脈(mo)(mo)沖(chong)(chong)方(fang)式等。并且，依靠傳(chuan)(chuan)感(gan)器傳(chuan)(chuan)回的(de)(de)(de)(de)(de)位(wei)(wei)(wei)置(zhi)反(fan)饋，運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡可以實時調整運動(dong)位(wei)(wei)(wei)置(zhi)，糾正傳(chuan)(chuan)動(dong)過程(cheng)中的(de)(de)(de)(de)(de)誤(wu)差(cha)，從而做到高(gao)(gao)精(jing)度(du)加(jia)工。比如在機(ji)械(xie)加(jia)工方(fang)面，用(yong)電(dian)子(zi)凸輪來代替笨(ben)重的(de)(de)(de)(de)(de)機(ji)械(xie)凸輪當然是比較簡單的(de)(de)(de)(de)(de)了(le)。天津運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡編程(cheng)

近年來，電(dian)(dian)子制(zhi)造(zao)業得(de)到迅猛發(fa)展(zhan)，隨著技術不(bu)(bu)斷創新(xin)，市(shi)場(chang)對電(dian)(dian)子元器件產品更新(xin)、開(kai)發(fa)、形(xing)成生產能(neng)(neng)力速度提(ti)(ti)出(chu)了(le)更高的(de)要(yao)求(qiu)，電(dian)(dian)子制(zhi)造(zao)業越來越趨向自動(dong)(dong)(dong)(dong)化、智(zhi)能(neng)(neng)化，這就(jiu)要(yao)求(qiu)各類運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)設備(bei)的(de)運(yun)(yun)(yun)行效(xiao)率、操作(zuo)的(de)便捷性(xing)應進(jin)一步提(ti)(ti)高。總(zong)線(xian)型運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)器摒棄(qi)了(le)傳(chuan)統的(de)脈沖(chong)控(kong)(kong)制(zhi)方式，而以現場(chang)總(zong)線(xian)通(tong)訊來替代，使(shi)得(de)整個(ge)系(xi)統速度更快，性(xing)能(neng)(neng)更可靠，穩定性(xing)更好(hao)，同時(shi)，復(fu)雜的(de)配(pei)線(xian)變得(de)更加簡單，滿足了(le)提(ti)(ti)升設備(bei)性(xing)能(neng)(neng)的(de)要(yao)求(qiu)。東莞博派智(zhi)能(neng)(neng)推出(chu)的(de)ECAT_GAS2系(xi)列總(zong)線(xian)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)器，支(zhi)持(chi)Ethercat和Ethernet，普通(tong)電(dian)(dian)腦或者筆記本(ben)就(jiu)可以使(shi)用(yong)，同時(shi)支(zhi)持(chi)VC++/C#/Labview/QT/Delphi等各種語言使(shi)用(yong)。武漢固高運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)制(zhi)卡(ka)編程電(dian)(dian)子凸輪還可以應用(yong)在(zai)象彈(dan)簧機，木工機械，自動(dong)(dong)(dong)(dong)涂裝生產線(xian)上，在(zai)此不(bu)(bu)一一介紹。

在(zai)中國自動化市場中，尤其(qi)是在(zai)通(tong)用(yong)交(jiao)流伺服(fu)產品線(xian)(xian)(xian)(xian)上，總(zong)(zong)線(xian)(xian)(xian)(xian)型通(tong)訊成為了顯學。各(ge)個伺服(fu)廠(chang)家都各(ge)自推(tui)出(chu)自己的總(zong)(zong)線(xian)(xian)(xian)(xian)協議（安川電(dian)(dian)機Mechatrolink、松下RTEX、三菱CC-Link等(deng)等(deng)）。這股總(zong)(zong)線(xian)(xian)(xian)(xian)風潮由歐美廠(chang)商(shang)刮起，又由日(ri)系(xi)(xi)廠(chang)商(shang)發揚光大，并且在(zai)EtherCAT總(zong)(zong)線(xian)(xian)(xian)(xian)型通(tong)訊的應(ying)用(yong)上，外(wai)資、內資似(si)乎歷(li)史性(xing)地達(da)成了一種默契。東(dong)莞博派智能科技有限公(gong)司推(tui)出(chu)的ECAT_GAS2系(xi)(xi)列總(zong)(zong)線(xian)(xian)(xian)(xian)運動控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)，不僅(jin)支(zhi)持(chi)EtherCAT總(zong)(zong)線(xian)(xian)(xian)(xian)，還有如下特點(dian)：1、板卡(ka)(ka)采(cai)用(yong)24V直(zhi)流電(dian)(dian)源供(gong)電(dian)(dian)。2、控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)自身有32路通(tong)用(yong)輸(shu)入(ru)，采(cai)用(yong)光耦隔(ge)離，抗干擾(rao)能力強,數(shu)量可(ke)擴展。3、控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)自身有16路通(tong)用(yong)輸(shu)出(chu)，可(ke)直(zhi)接驅(qu)動繼電(dian)(dian)器，數(shu)量可(ke)擴展。4、控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)支(zhi)持(chi)IO擴展，可(ke)擴展至2048輸(shu)入(ru)/2048輸(shu)出(chu)。可(ke)滿足所有應(ying)用(yong)場合。5、支(zhi)持(chi)以太網(wang)或(huo)者串口(kou)編程(cheng)。6、脈(mo)沖輸(shu)出(chu)頻率達(da)2MHz7、控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)支(zhi)持(chi)多個并聯使用(yong)。8、控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)支(zhi)持(chi)點(dian)位(wei)運動、速度控(kong)(kong)制(zhi)(zhi)、直(zhi)線(xian)(xian)(xian)(xian)、圓弧、連續軌(gui)跡(ji)插補，支(zhi)持(chi)速度前(qian)瞻(zhan)。硬件捕(bu)獲、電(dian)(dian)子齒(chi)輪(lun)/電(dian)(dian)子凸(tu)輪(lun)、位(wei)置比較輸(shu)出(chu)。支(zhi)持(chi)PT模式(shi)與刀向跟隨(sui)。

插(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)動(dong)(dong)(dong)插(cha)補(bu)(bu)(bu)(bu)(bu)常見的(de)(de)兩(liang)種方(fang)式(shi)(shi)是(shi)(shi)(shi)直(zhi)線(xian)插(cha)補(bu)(bu)(bu)(bu)(bu)和圓弧插(cha)補(bu)(bu)(bu)(bu)(bu)。插(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)動(dong)(dong)(dong)至(zhi)少(shao)需(xu)要(yao)兩(liang)個軸參(can)與，進行插(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)動(dong)(dong)(dong)時，將規劃軸映射(she)到(dao)(dao)相應的(de)(de)機臺坐標系(xi)中(zhong)，運(yun)(yun)動(dong)(dong)(dong)控(kong)制器(qi)根(gen)據坐標映射(she)關(guan)系(xi)，控(kong)制各(ge)軸運(yun)(yun)動(dong)(dong)(dong)，實(shi)(shi)現(xian)要(yao)求的(de)(de)運(yun)(yun)動(dong)(dong)(dong)軌跡。插(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)動(dong)(dong)(dong)指令會存(cun)入運(yun)(yun)動(dong)(dong)(dong)緩(huan)沖區，再(zai)依次從運(yun)(yun)動(dong)(dong)(dong)緩(huan)沖區中(zhong)取出指令執行，直(zhi)到(dao)(dao)插(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)動(dong)(dong)(dong)全部(bu)執行完。1.直(zhi)線(xian)插(cha)補(bu)(bu)(bu)(bu)(bu)直(zhi)線(xian)插(cha)補(bu)(bu)(bu)(bu)(bu)方(fang)式(shi)(shi)中(zhong)，兩(liang)點(dian)間的(de)(de)插(cha)補(bu)(bu)(bu)(bu)(bu)沿著(zhu)直(zhi)線(xian)的(de)(de)點(dian)群來逼近(jin)。首先假設在(zai)(zai)實(shi)(shi)際輪(lun)(lun)廓(kuo)起始(shi)點(dian)處沿X方(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)(yi)(yi)小(xiao)段(duan)(duan)(duan)(duan)(duan)(給一(yi)(yi)(yi)(yi)個脈沖當量軸走(zou)(zou)一(yi)(yi)(yi)(yi)段(duan)(duan)(duan)(duan)(duan)固定距離(li))，發現(xian)終點(dian)在(zai)(zai)實(shi)(shi)際輪(lun)(lun)廓(kuo)的(de)(de)下方(fang)，則(ze)下一(yi)(yi)(yi)(yi)條線(xian)段(duan)(duan)(duan)(duan)(duan)沿Y方(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)(yi)(yi)小(xiao)段(duan)(duan)(duan)(duan)(duan)，此時如果線(xian)段(duan)(duan)(duan)(duan)(duan)終點(dian)還在(zai)(zai)實(shi)(shi)際輪(lun)(lun)廓(kuo)下方(fang)，則(ze)繼續(xu)沿Y方(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)(yi)(yi)小(xiao)段(duan)(duan)(duan)(duan)(duan)，直(zhi)到(dao)(dao)在(zai)(zai)實(shi)(shi)際輪(lun)(lun)廓(kuo)上方(fang)以后，再(zai)向(xiang)(xiang)X方(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)(yi)(yi)小(xiao)段(duan)(duan)(duan)(duan)(duan)，依此類推，直(zhi)到(dao)(dao)到(dao)(dao)達輪(lun)(lun)廓(kuo)終點(dian)為(wei)止。這樣實(shi)(shi)際輪(lun)(lun)廓(kuo)是(shi)(shi)(shi)由(you)一(yi)(yi)(yi)(yi)段(duan)(duan)(duan)(duan)(duan)段(duan)(duan)(duan)(duan)(duan)的(de)(de)折線(xian)拼接而成，雖然是(shi)(shi)(shi)折線(xian)，但每一(yi)(yi)(yi)(yi)段(duan)(duan)(duan)(duan)(duan)插(cha)補(bu)(bu)(bu)(bu)(bu)線(xian)段(duan)(duan)(duan)(duan)(duan)在(zai)(zai)精度允(yun)許范圍內非常小(xiao)，那么此段(duan)(duan)(duan)(duan)(duan)折線(xian)還是(shi)(shi)(shi)可以近(jin)似看做一(yi)(yi)(yi)(yi)條直(zhi)線(xian)段(duan)(duan)(duan)(duan)(duan)，這就是(shi)(shi)(shi)直(zhi)線(xian)插(cha)補(bu)(bu)(bu)(bu)(bu)。PLC即輯控(kong)制器(qi)是(shi)(shi)(shi)種專門(men)為(wei)在(zai)(zai)工業環(huan)境下應用而設計的(de)(de)數字運(yun)(yun)算操作電子系(xi)統。

2020年基于PC的運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)、控(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)、PLC控(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)在中國的市場(chang)份(fen)額(e)(e)占(zhan)比分別(bie)為(wei)34.6％、37.8％和27.6％，由于對運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)的要求越(yue)來越(yue)高，基于PC運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)將(jiang)逐步超(chao)過其他類型的運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)，占(zhan)據越(yue)來越(yue)多的市場(chang)份(fen)額(e)(e)。未來控(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)統逐步在智(zhi)能(neng)化(hua)(hua)、柔性化(hua)(hua)升級發展(zhan)。在現代傳感技(ji)術(shu)、網(wang)絡技(ji)術(shu)、云計(ji)算等先進(jin)技(ji)術(shu)的基礎上，利用人工智(zhi)能(neng)、大數據以及系(xi)統工程等方法(fa)和技(ji)術(shu)，智(zhi)能(neng)控(kong)制(zhi)(zhi)(zhi)(zhi)已(yi)經(jing)深入(ru)到運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)統的各(ge)個方面(mian)，例如模糊(hu)控(kong)制(zhi)(zhi)(zhi)(zhi)、神經(jing)網(wang)絡控(kong)制(zhi)(zhi)(zhi)(zhi)、解耦控(kong)制(zhi)(zhi)(zhi)(zhi)等，運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)統可以實現分析(xi)、判斷、推理以及決策能(neng)力，從而實現制(zhi)(zhi)(zhi)(zhi)造設備各(ge)個部分的智(zhi)能(neng)化(hua)(hua)，并(bing)終形成(cheng)一個高度智(zhi)能(neng)化(hua)(hua)的、柔性化(hua)(hua)的機械制(zhi)(zhi)(zhi)(zhi)造系(xi)統。東莞博派智(zhi)能(neng)科技(ji)有限公司專(zhuan)注于運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)技(ji)術(shu)研究和通用運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)軟(ruan)硬件產(chan)品的研發。天津運(yun)(yun)動(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)編程

運(yun)(yun)動(dong)控制(zhi)卡在參數(shu)設置、數(shu)據傳輸和(he)遠程(cheng)監控方面表現出色。天津運(yun)(yun)動(dong)控制(zhi)卡編(bian)程(cheng)

2021年，總線型產品的(de)市場(chang)份額(e)占比(bi)過半(ban)(ban)，其(qi)中(zhong)主要以(yi)EtherCAT協(xie)議(yi)為(wei)主。這種(zhong)行(xing)業現狀：一是(shi)(shi)與供應商(shang)的(de)市場(chang)份額(e)相關。二是(shi)(shi)因(yin)為(wei)作為(wei)被國際半(ban)(ban)導(dao)(dao)(dao)體產業協(xie)會SEMI所(suo)支(zhi)持(chi)(chi)的(de)EtherCAT通(tong)訊(xun)協(xie)議(yi)，能(neng)夠(gou)擁有(you)(you)(you)更好(hao)的(de)開放(fang)性，有(you)(you)(you)利于(yu)不同(tong)廠家(jia)設備進行(xing)配合(he)通(tong)信；三是(shi)(shi)因(yin)為(wei)由于(yu)半(ban)(ban)導(dao)(dao)(dao)體行(xing)業對設備的(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)精(jing)度要求很(hen)高(gao)，PC-based在(zai)半(ban)(ban)導(dao)(dao)(dao)體設備中(zhong)的(de)應用(yong)(yong)(yong)逐(zhu)漸增多(duo)，并逐(zhu)漸替代了一部分PLC應用(yong)(yong)(yong)，因(yin)此通(tong)訊(xun)協(xie)議(yi)上也偏向(xiang)于(yu)更開放(fang)的(de)EtherCAT協(xie)議(yi)。運(yun)動控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)就是(shi)(shi)PC-BASE的(de)，在(zai)很(hen)多(duo)場(chang)合(he)可以(yi)替代PLC.其(qi)中(zhong)國內做的(de)比(bi)較好(hao)的(de)運(yun)動控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)廠家(jia)是(shi)(shi)東莞博派智能(neng)科技有(you)(you)(you)限公(gong)司，他們推(tui)出(chu)的(de)ECAT_GAS2系列總線運(yun)動控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)，支(zhi)持(chi)(chi)EtherCAT同(tong)時具有(you)(you)(you)以(yi)下特(te)點：1、板卡(ka)(ka)(ka)(ka)采用(yong)(yong)(yong)24V直(zhi)流電源供電。2、控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)自(zi)身有(you)(you)(you)32路通(tong)用(yong)(yong)(yong)輸入，采用(yong)(yong)(yong)光耦隔離，抗干擾能(neng)力強,數量(liang)可擴(kuo)(kuo)(kuo)展(zhan)。3、控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)自(zi)身有(you)(you)(you)16路通(tong)用(yong)(yong)(yong)輸出(chu)，可直(zhi)接(jie)驅(qu)動繼電器(qi)，數量(liang)可擴(kuo)(kuo)(kuo)展(zhan)。4、控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)IO擴(kuo)(kuo)(kuo)展(zhan)，可擴(kuo)(kuo)(kuo)展(zhan)至2048輸入/2048輸出(chu)。可滿足所(suo)有(you)(you)(you)應用(yong)(yong)(yong)場(chang)合(he)。5、支(zhi)持(chi)(chi)以(yi)太(tai)網或者串口(kou)編(bian)程(cheng)。6、脈沖輸出(chu)頻率達2MHz7、控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)多(duo)個并聯使用(yong)(yong)(yong)。8、控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)點位運(yun)動、速(su)度控(kong)(kong)(kong)(kong)(kong)制(zhi)、直(zhi)線、圓弧、連續軌跡插(cha)補，支(zhi)持(chi)(chi)速(su)度前瞻。硬件(jian)捕獲、電子齒輪/電子凸輪、位置比(bi)較輸出(chu)。支(zhi)持(chi)(chi)PT模(mo)式與刀向(xiang)跟(gen)隨。天津運(yun)動控(kong)(kong)(kong)(kong)(kong)制(zhi)卡(ka)(ka)(ka)(ka)編(bian)程(cheng)

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