一(yi)、電(dian)(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)簡(jian)介1.1組(zu)成部分(fen)電(dian)(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)（ECAM）是(shi)利用構造的凸(tu)(tu)輪(lun)(lun)(lun)曲線(xian)來模(mo)擬(ni)機(ji)(ji)械(xie)(xie)(xie)凸(tu)(tu)輪(lun)(lun)(lun)，以達到(dao)(dao)機(ji)(ji)械(xie)(xie)(xie)凸(tu)(tu)輪(lun)(lun)(lun)系(xi)統相同的凸(tu)(tu)輪(lun)(lun)(lun)軸(zhou)(zhou)(zhou)(zhou)于主(zhu)軸(zhou)(zhou)(zhou)(zhou)之間相對(dui)運(yun)(yun)動(dong)的軟件(jian)系(xi)統。通過(guo)控制(zhi)器(qi)(qi)控制(zhi)伺服電(dian)(dian)(dian)機(ji)(ji)來模(mo)擬(ni)機(ji)(ji)械(xie)(xie)(xie)凸(tu)(tu)輪(lun)(lun)(lun)的功能，不(bu)需(xu)要另外(wai)安(an)裝機(ji)(ji)械(xie)(xie)(xie)結(jie)構。1.2工(gong)作原(yuan)理電(dian)(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)屬于多軸(zhou)(zhou)(zhou)(zhou)同步運(yun)(yun)動(dong)。與機(ji)(ji)械(xie)(xie)(xie)齒輪(lun)(lun)(lun)一(yi)樣(yang)，電(dian)(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)需(xu)要主(zhu)軸(zhou)(zhou)(zhou)(zhou)和(he)從(cong)(cong)軸(zhou)(zhou)(zhou)(zhou)。若定(ding)義(yi)凸(tu)(tu)輪(lun)(lun)(lun)為(wei)主(zhu)軸(zhou)(zhou)(zhou)(zhou)，推桿(gan)為(wei)從(cong)(cong)軸(zhou)(zhou)(zhou)(zhou)，那(nei)么凸(tu)(tu)輪(lun)(lun)(lun)的實質就是(shi)從(cong)(cong)軸(zhou)(zhou)(zhou)(zhou)對(dui)應主(zhu)軸(zhou)(zhou)(zhou)(zhou)的一(yi)種函數(shu)關系(xi)。如下圖，機(ji)(ji)械(xie)(xie)(xie)凸(tu)(tu)輪(lun)(lun)(lun)按照凸(tu)(tu)輪(lun)(lun)(lun)的輪(lun)(lun)(lun)廓可以得出(chu)一(yi)段轉動(dong)角度與加工(gong)位(wei)置(zhi)運(yun)(yun)動(dong)軌(gui)(gui)跡(ji)(ji)(ji)，此軌(gui)(gui)跡(ji)(ji)(ji)為(wei)弧線(xian)，將(jiang)該段弧線(xian)分(fen)解成無數(shu)個直線(xian)軌(gui)(gui)跡(ji)(ji)(ji)，組(zu)合起來得到(dao)(dao)一(yi)串趨近(jin)于弧線(xian)運(yun)(yun)動(dong)軌(gui)(gui)跡(ji)(ji)(ji)，電(dian)(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)直接將(jiang)此段軌(gui)(gui)跡(ji)(ji)(ji)運(yun)(yun)動(dong)參數(shu)裝入運(yun)(yun)動(dong)指(zhi)令，即可控制(zhi)軸(zhou)(zhou)(zhou)(zhou)走出(chu)目(mu)標軌(gui)(gui)跡(ji)(ji)(ji)。在水處理和(he)水利水電(dian)(dian)(dian)方面，電(dian)(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)也有其(qi)特(te)別的應用價值。鹽城博派運(yun)(yun)動(dong)控制(zhi)器(qi)(qi)品牌(pai)

總(zong)(zong)線型運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)器的通訊機制(zhi)(zhi)符(fu)合(he)國際標準的運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)功(gong)能(neng)(neng)，能(neng)(neng)滿足產業機械領域的眾多(duo)應用(yong)需求(qiu)，除了提供常(chang)見的單軸定位，速度控(kong)(kong)制(zhi)(zhi)等(deng)功(gong)能(neng)(neng)外，也提供多(duo)軸控(kong)(kong)制(zhi)(zhi)如電子凸輪(lun)，電子齒(chi)輪(lun)，虛軸等(deng)功(gong)能(neng)(neng)，同(tong)時(shi)還封裝了如輪(lun)切，飛剪等(deng)常(chang)用(yong)的應用(yong)功(gong)能(neng)(neng)塊，只要是需要對多(duo)個軸進行控(kong)(kong)制(zhi)(zhi)的應用(yong)場合(he)，總(zong)(zong)線型運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)器都能(neng)(neng)很好(hao)的發揮其優(you)勢。

東莞博派智能(neng)科技有限(xian)公(gong)司ECAT_GAS2系列總線運動(dong)控(kong)制卡(ka)，支持電(dian)(dian)子(zi)齒輪(lun)、電(dian)(dian)子(zi)凸(tu)輪(lun)、直線/圓弧插補、連續小線段前瞻(zhan)等(deng)等(deng)。無錫(xi)固高運動(dong)控(kong)制器編程比(bi)如在機械(xie)(xie)加工方面，用電(dian)(dian)子(zi)凸(tu)輪(lun)來代替(ti)笨重的機械(xie)(xie)凸(tu)輪(lun)當然是比(bi)較簡單的了。

運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器(qi)的(de)(de)(de)控(kong)(kong)(kong)制(zhi)形式點(dian)位(wei)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)：即對終點(dian)位(wei)置有(you)要(yao)(yao)(yao)求，與(yu)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)的(de)(de)(de)中(zhong)間過(guo)程即運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)軌跡無關。相應(ying)(ying)的(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器(qi)要(yao)(yao)(yao)求具(ju)有(you)快(kuai)速(su)(su)的(de)(de)(de)定位(wei)速(su)(su)度(du)(du)(du)(du)，在(zai)(zai)(zai)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)的(de)(de)(de)加(jia)(jia)速(su)(su)段(duan)(duan)和(he)(he)減速(su)(su)段(duan)(duan)，采用不同(tong)的(de)(de)(de)加(jia)(jia)減速(su)(su)控(kong)(kong)(kong)制(zhi)策略。在(zai)(zai)(zai)加(jia)(jia)速(su)(su)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)時(shi)，為(wei)了使系統(tong)(tong)(tong)能夠(gou)快(kuai)速(su)(su)加(jia)(jia)速(su)(su)到(dao)(dao)設定速(su)(su)度(du)(du)(du)(du)，往(wang)往(wang)進步系統(tong)(tong)(tong)增益和(he)(he)加(jia)(jia)大(da)加(jia)(jia)速(su)(su)度(du)(du)(du)(du)，在(zai)(zai)(zai)減速(su)(su)的(de)(de)(de)末段(duan)(duan)減速(su)(su)的(de)(de)(de)控(kong)(kong)(kong)制(zhi)策略。為(wei)了防止系統(tong)(tong)(tong)到(dao)(dao)位(wei)后震(zhen)動(dong)(dong)，規(gui)劃到(dao)(dao)位(wei)后，又(you)(you)會適當減小系統(tong)(tong)(tong)的(de)(de)(de)增益。所以，點(dian)位(wei)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器(qi)往(wang)往(wang)具(ju)有(you)在(zai)(zai)(zai)線(xian)(xian)可變(bian)控(kong)(kong)(kong)制(zhi)參(can)數和(he)(he)可變(bian)加(jia)(jia)減速(su)(su)曲線(xian)(xian)的(de)(de)(de)能力。連續軌跡運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)：該控(kong)(kong)(kong)制(zhi)又(you)(you)稱為(wei)輪(lun)廓(kuo)(kuo)控(kong)(kong)(kong)制(zhi)，主要(yao)(yao)(yao)應(ying)(ying)用在(zai)(zai)(zai)傳統(tong)(tong)(tong)的(de)(de)(de)數控(kong)(kong)(kong)系統(tong)(tong)(tong)、切割(ge)系統(tong)(tong)(tong)的(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)輪(lun)廓(kuo)(kuo)控(kong)(kong)(kong)制(zhi)。相應(ying)(ying)的(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器(qi)要(yao)(yao)(yao)解決(jue)的(de)(de)(de)題目是(shi)(shi)如何(he)使系統(tong)(tong)(tong)在(zai)(zai)(zai)高速(su)(su)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)的(de)(de)(de)情況下，既要(yao)(yao)(yao)保證系統(tong)(tong)(tong)加(jia)(jia)工(gong)的(de)(de)(de)輪(lun)廓(kuo)(kuo)精度(du)(du)(du)(du)，還要(yao)(yao)(yao)保證刀具(ju)沿輪(lun)廓(kuo)(kuo)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)時(shi)的(de)(de)(de)切向速(su)(su)度(du)(du)(du)(du)的(de)(de)(de)恒定。對小線(xian)(xian)段(duan)(duan)加(jia)(jia)工(gong)時(shi)，有(you)多(duo)段(duan)(duan)程序預(yu)處(chu)理功能。同(tong)步運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)：是(shi)(shi)指多(duo)個軸(zhou)之間的(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)協調控(kong)(kong)(kong)制(zhi)，可以是(shi)(shi)多(duo)個軸(zhou)在(zai)(zai)(zai)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)全程中(zhong)進行同(tong)步，也(ye)可以是(shi)(shi)在(zai)(zai)(zai)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)過(guo)程中(zhong)的(de)(de)(de)局(ju)部有(you)速(su)(su)度(du)(du)(du)(du)同(tong)步，主要(yao)(yao)(yao)應(ying)(ying)用在(zai)(zai)(zai)需要(yao)(yao)(yao)有(you)電(dian)子齒輪(lun)箱和(he)(he)電(dian)子凸輪(lun)的(de)(de)(de)系統(tong)(tong)(tong)控(kong)(kong)(kong)制(zhi)中(zhong)。

中國(guo)(guo)(guo)作為世界(jie)上(shang)經濟發(fa)(fa)展快(kuai)的(de)(de)(de)(de)(de)(de)(de)國(guo)(guo)(guo)家(jia)之一(yi)，隨著工業(ye)(ye)化進(jin)程(cheng)的(de)(de)(de)(de)(de)(de)(de)不斷(duan)深(shen)化，中國(guo)(guo)(guo)運(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)市場(chang)(chang)(chang)一(yi)直保(bao)持高(gao)速增長的(de)(de)(de)(de)(de)(de)(de)態勢，各(ge)個行業(ye)(ye)不斷(duan)出現新(xin)型(xing)數(shu)(shu)控(kong)(kong)設(she)(she)備(bei)(bei)。新(xin)型(xing)數(shu)(shu)控(kong)(kong)設(she)(she)備(bei)(bei)的(de)(de)(de)(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)需(xu)求(qiu)以(yi)及傳(chuan)統數(shu)(shu)控(kong)(kong)設(she)(she)備(bei)(bei)的(de)(de)(de)(de)(de)(de)(de)技術升(sheng)級(ji)換代需(xu)求(qiu)，都對(dui)運(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)市場(chang)(chang)(chang)提供了(le)強大(da)的(de)(de)(de)(de)(de)(de)(de)發(fa)(fa)展動(dong)(dong)(dong)力。一(yi)批(pi)本土企業(ye)(ye)通過技術積累、專研于細(xi)分行業(ye)(ye)從而(er)突出重(zhong)圍(wei)、嶄露頭角，獲得(de)(de)了(le)一(yi)定的(de)(de)(de)(de)(de)(de)(de)競爭優(you)勢。國(guo)(guo)(guo)產經濟型(xing)數(shu)(shu)控(kong)(kong)系(xi)統由于順應了(le)大(da)多(duo)數(shu)(shu)中國(guo)(guo)(guo)用戶的(de)(de)(de)(de)(de)(de)(de)實際(ji)使用水平和機床(chuang)制(zhi)(zhi)造企業(ye)(ye)數(shu)(shu)控(kong)(kong)技術配套要求(qiu)，并具有(you)(you)一(yi)定價格優(you)勢，得(de)(de)到了(le)廣大(da)用戶的(de)(de)(de)(de)(de)(de)(de)認同，已(yi)形成了(le)規(gui)模(mo)優(you)勢。2018年(nian)中國(guo)(guo)(guo)運(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)器(qi)市場(chang)(chang)(chang)規(gui)模(mo)達到73.58億元，小幅增長3.5％，未來在數(shu)(shu)控(kong)(kong)領域，在國(guo)(guo)(guo)家(jia)政策(ce)的(de)(de)(de)(de)(de)(de)(de)大(da)力支(zhi)持下，通過自主研發(fa)(fa)、工程(cheng)化、產業(ye)(ye)化攻(gong)關，我國(guo)(guo)(guo)數(shu)(shu)控(kong)(kong)系(xi)統的(de)(de)(de)(de)(de)(de)(de)開發(fa)(fa)和成果轉化能(neng)力得(de)(de)到了(le)提高(gao)，具有(you)(you)廣闊的(de)(de)(de)(de)(de)(de)(de)發(fa)(fa)展空間，預計2025年(nian)中國(guo)(guo)(guo)運(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)器(qi)市場(chang)(chang)(chang)規(gui)模(mo)有(you)(you)望突破100億元。博派(pai)ETH_GAS控(kong)(kong)制(zhi)(zhi)卡支(zhi)持IO 擴展，可擴展至2048 輸入(ru)/2048 輸出。可滿足所有(you)(you)應用場(chang)(chang)(chang)合。

強大的(de)(de)運(yun)動(dong)(dong)控(kong)制(zhi)功能如(ru)追(zhui)(zhui)剪(jian)(jian)(jian)，飛(fei)剪(jian)(jian)(jian)，同(tong)(tong)步(bu)，隨(sui)動(dong)(dong)等，適用于包裝機(ji)(ji)、旋(xuan)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)、印花機(ji)(ji)、沖(chong)孔機(ji)(ji)、金屬(shu)(shu)，非(fei)金屬(shu)(shu)板材、管材的(de)(de)定長(chang)切(qie)(qie)(qie)(qie)(qie)割(ge)等。首先(xian)介(jie)紹追(zhui)(zhui)剪(jian)(jian)(jian)與飛(fei)剪(jian)(jian)(jian)的(de)(de)定義以(yi)及(ji)區(qu)別方法：1、飛(fei)剪(jian)(jian)(jian)：剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)構(gou)(gou)(gou)一般為(wei)圓周運(yun)動(dong)(dong)，與被(bei)剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)物體同(tong)(tong)向運(yun)動(dong)(dong)，通(tong)過(guo)改(gai)變剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)構(gou)(gou)(gou)運(yun)行中的(de)(de)速(su)(su)度(du)，達(da)到改(gai)變剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)長(chang)度(du)的(de)(de)目的(de)(de)。2、追(zhui)(zhui)剪(jian)(jian)(jian)：剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)構(gou)(gou)(gou)平行于被(bei)剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)物體，剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)構(gou)(gou)(gou)做(zuo)往復(fu)運(yun)動(dong)(dong)，通(tong)過(guo)改(gai)變在非(fei)同(tong)(tong)步(bu)區(qu)的(de)(de)速(su)(su)度(du)達(da)到改(gai)變剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)長(chang)度(du)的(de)(de)目的(de)(de)。共同(tong)(tong)點：飛(fei)剪(jian)(jian)(jian)與追(zhui)(zhui)剪(jian)(jian)(jian)都分為(wei)非(fei)同(tong)(tong)步(bu)區(qu)與同(tong)(tong)步(bu)區(qu)的(de)(de)概念，要求同(tong)(tong)步(bu)區(qu)剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)構(gou)(gou)(gou)與被(bei)剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)機(ji)(ji)構(gou)(gou)(gou)速(su)(su)度(du)相同(tong)(tong)。不同(tong)(tong)點：飛(fei)剪(jian)(jian)(jian)是圓周運(yun)動(dong)(dong)，同(tong)(tong)步(bu)區(qu)小，但是可(ke)以(yi)做(zuo)高速(su)(su)運(yun)動(dong)(dong)；追(zhui)(zhui)剪(jian)(jian)(jian)是往復(fu)運(yun)動(dong)(dong)，同(tong)(tong)步(bu)區(qu)大，可(ke)以(yi)完(wan)成較為(wei)復(fu)雜(za)的(de)(de)剪(jian)(jian)(jian)切(qie)(qie)(qie)(qie)(qie)、沖(chong)壓等動(dong)(dong)作(zuo)。東莞博派智能ETH_GAS系列運(yun)動(dong)(dong)控(kong)制(zhi)卡單卡最大支持16軸(zhou)，可(ke)控(kong)制(zhi)16路步(bu)進(jin)/伺服，每個軸(zhou)都可(ke)以(yi)1000K. 帶編碼器。深圳總線運(yun)動(dong)(dong)控(kong)制(zhi)器廠家

博派科技堅持產品(pin)質(zhi)量至上，以滿足客戶(hu)需求為中心、以創造價值為根本、以提升體驗為追求。鹽城博派運動控(kong)制(zhi)器品(pin)牌

未來(lai)，鋰(li)電設(she)備(bei)將(jiang)朝著多(duo)工藝一體機及(ji)多(duo)工位設(she)備(bei)的(de)(de)(de)方(fang)向(xiang)(xiang)發(fa)展(zhan)(zhan)(zhan)，設(she)備(bei)搭載(zai)伺(si)服軸數也(ye)將(jiang)會同(tong)步(bu)(bu)增(zeng)多(duo)，總(zong)線(xian)型的(de)(de)(de)伺(si)服產(chan)品將(jiang)是大(da)勢(shi)所趨，這進(jin)一步(bu)(bu)導致鋰(li)電池(chi)設(she)備(bei)行業的(de)(de)(de)總(zong)線(xian)型伺(si)服市場份額將(jiang)進(jin)一步(bu)(bu)擴(kuo)(kuo)大(da)。同(tong)時，隨著國(guo)產(chan)伺(si)服的(de)(de)(de)應用(yong)發(fa)展(zhan)(zhan)(zhan)，EtherCAT協(xie)議伺(si)服產(chan)品也(ye)將(jiang)得到進(jin)一步(bu)(bu)發(fa)展(zhan)(zhan)(zhan)。（比如常規產(chan)品鋰(li)電設(she)備(bei)切疊一體機，應用(yong)90—210個通用(yong)伺(si)服）作為老牌(pai)大(da)廠，松下也(ye)有自己的(de)(de)(de)總(zong)線(xian)協(xie)議RTEX。不過RTEX用(yong)的(de)(de)(de)較少，EtherCAT仍是主流。國(guo)內總(zong)線(xian)運動控(kong)制卡，做(zuo)的(de)(de)(de)比較好的(de)(de)(de)是東莞博派(pai)智(zhi)能科技有限(xian)公(gong)司的(de)(de)(de)ECAT_GAS2系(xi)列，不僅支(zhi)(zhi)(zhi)持EtherCAT.還(huan)有以下特點：1、板卡采用(yong)24V直(zhi)流電源(yuan)供(gong)電。2、控(kong)制卡自身有32路(lu)通用(yong)輸入，采用(yong)光(guang)耦隔(ge)離，抗干(gan)擾能力強,數量可擴(kuo)(kuo)展(zhan)(zhan)(zhan)。3、控(kong)制卡自身有16路(lu)通用(yong)輸出(chu)(chu)，可直(zhi)接驅動繼電器(qi)，數量可擴(kuo)(kuo)展(zhan)(zhan)(zhan)。4、控(kong)制卡支(zhi)(zhi)(zhi)持IO擴(kuo)(kuo)展(zhan)(zhan)(zhan)，可擴(kuo)(kuo)展(zhan)(zhan)(zhan)至2048輸入/2048輸出(chu)(chu)。可滿足(zu)所有應用(yong)場合。5、支(zhi)(zhi)(zhi)持以太(tai)網或者串口編(bian)程。6、脈(mo)沖輸出(chu)(chu)頻率達2MHz7、控(kong)制卡支(zhi)(zhi)(zhi)持多(duo)個并聯使(shi)用(yong)。8、控(kong)制卡支(zhi)(zhi)(zhi)持點位運動、速度控(kong)制、直(zhi)線(xian)、圓弧、連續(xu)軌跡插補，支(zhi)(zhi)(zhi)持速度前瞻。硬件(jian)捕獲(huo)、電子(zi)齒輪/電子(zi)凸輪、位置比較輸出(chu)(chu)。支(zhi)(zhi)(zhi)持PT模式與刀向(xiang)(xiang)跟隨。鹽城博派(pai)運動控(kong)制器(qi)品牌(pai)

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