PLC的(de)(de)(de)(de)特點(dian)（1）可(ke)靠性(xing)高。由(you)于(yu)PLC大都采用(yong)單片微型計算機(ji)，因而集成度(du)高，再加上(shang)相應的(de)(de)(de)(de)保(bao)護電(dian)路及自診斷功能(neng)，提高了系(xi)統(tong)的(de)(de)(de)(de)可(ke)靠性(xing)。（2）編程容易。PLC的(de)(de)(de)(de)編程多(duo)采用(yong)繼電(dian)器(qi)控(kong)制(zhi)梯形圖(tu)及命令語句，其數量(liang)(liang)比(bi)微型機(ji)指令要少得多(duo)，一般(ban)的(de)(de)(de)(de)小型PLC只(zhi)有16條(tiao)左右(you)。由(you)于(yu)梯形圖(tu)形象而簡(jian)單，因此容易掌握、使(shi)用(yong)方便(bian)(bian)(bian)，甚至不(bu)(bu)需(xu)要計算機(ji)專業(ye)知識，就可(ke)進行編程。（3）組態(tai)靈活。由(you)于(yu)PLC采用(yong)積(ji)木式結構，用(yong)戶(hu)只(zhi)需(xu)要簡(jian)單地組合，便(bian)(bian)(bian)可(ke)靈活地改(gai)變(bian)控(kong)制(zhi)系(xi)統(tong)的(de)(de)(de)(de)功能(neng)和(he)規模，因此，可(ke)適(shi)用(yong)于(yu)任何控(kong)制(zhi)系(xi)統(tong)。（4）輸入/輸出(chu)功能(neng)模塊齊全。PLC的(de)(de)(de)(de)優點(dian)之一，是(shi)針對不(bu)(bu)同(tong)的(de)(de)(de)(de)現場(chang)(chang)信(xin)號(hao)（如(ru)直流或交流、開(kai)關(guan)量(liang)(liang)、數字量(liang)(liang)或模擬量(liang)(liang)、電(dian)壓或電(dian)流等），均有相應的(de)(de)(de)(de)模板可(ke)與(yu)工業(ye)現場(chang)(chang)的(de)(de)(de)(de)器(qi)件（如(ru)按鈕、開(kai)關(guan)、傳感電(dian)流變(bian)送器(qi)、電(dian)機(ji)啟動(dong)器(qi)或控(kong)制(zhi)閥等）直接連(lian)(lian)接，并(bing)通過(guo)總線與(yu)CPU主板連(lian)(lian)接。（5）安裝方便(bian)(bian)(bian)。與(yu)計算機(ji)系(xi)統(tong)相比(bi)，PLC的(de)(de)(de)(de)安裝既不(bu)(bu)需(xu)要機(ji)房，也不(bu)(bu)需(xu)要嚴格的(de)(de)(de)(de)屏(ping)蔽措(cuo)施(shi)。使(shi)用(yong)時只(zhi)需(xu)把檢測(ce)器(qi)件與(yu)執行機(ji)構和(he)PLC的(de)(de)(de)(de)I/O接口端子正確(que)連(lian)(lian)接，便(bian)(bian)(bian)可(ke)正常工作。（6）運(yun)行速(su)度(du)快。由(you)于(yu)PLC的(de)(de)(de)(de)控(kong)制(zhi)是(shi)由(you)程序控(kong)制(zhi)執行的(de)(de)(de)(de)，因而不(bu)(bu)論其可(ke)靠性(xing)還(huan)是(shi)運(yun)行速(su)度(du)，都是(shi)繼電(dian)器(qi)邏輯控(kong)制(zhi)無(wu)法相比(bi)的(de)(de)(de)(de)。運(yun)動(dong)控(kong)制(zhi)卡在參數設置、數據(ju)傳輸和(he)遠程監控(kong)方面(mian)表現出(chu)色。嘉興雷賽運(yun)動(dong)控(kong)制(zhi)卡

一(yi)、電(dian)子凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)簡(jian)介(jie)1.1組(zu)(zu)成部(bu)分(fen)電(dian)子凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)（ECAM）是(shi)利用(yong)構造的(de)凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)曲線來模擬機(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)，以(yi)(yi)達(da)到機(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)系(xi)統(tong)相同(tong)的(de)凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)軸(zhou)(zhou)(zhou)(zhou)于主軸(zhou)(zhou)(zhou)(zhou)之(zhi)間相對運動(dong)(dong)的(de)軟件系(xi)統(tong)。通過控制(zhi)器(qi)控制(zhi)伺服電(dian)機(ji)來模擬機(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)的(de)功能，不(bu)需要另(ling)外安裝機(ji)械(xie)(xie)結構。1.2工作原理電(dian)子凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)屬于多軸(zhou)(zhou)(zhou)(zhou)同(tong)步運動(dong)(dong)。與機(ji)械(xie)(xie)齒輪(lun)(lun)(lun)一(yi)樣，電(dian)子凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)需要主軸(zhou)(zhou)(zhou)(zhou)和從軸(zhou)(zhou)(zhou)(zhou)。若定(ding)義凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)為(wei)主軸(zhou)(zhou)(zhou)(zhou)，推桿為(wei)從軸(zhou)(zhou)(zhou)(zhou)，那么凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)的(de)實質(zhi)就是(shi)從軸(zhou)(zhou)(zhou)(zhou)對應主軸(zhou)(zhou)(zhou)(zhou)的(de)一(yi)種函(han)數關系(xi)。如(ru)下圖，機(ji)械(xie)(xie)凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)按照凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)的(de)輪(lun)(lun)(lun)廓可以(yi)(yi)得出(chu)一(yi)段(duan)轉動(dong)(dong)角度與加(jia)工位置(zhi)運動(dong)(dong)軌(gui)跡(ji)，此軌(gui)跡(ji)為(wei)弧(hu)線，將(jiang)該段(duan)弧(hu)線分(fen)解(jie)成無數個(ge)直(zhi)線軌(gui)跡(ji)，組(zu)(zu)合起(qi)來得到一(yi)串趨近于弧(hu)線運動(dong)(dong)軌(gui)跡(ji)，電(dian)子凸(tu)(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)直(zhi)接將(jiang)此段(duan)軌(gui)跡(ji)運動(dong)(dong)參數裝入運動(dong)(dong)指令，即可控制(zhi)軸(zhou)(zhou)(zhou)(zhou)走(zou)出(chu)目(mu)標軌(gui)跡(ji)。雷賽運動(dong)(dong)控制(zhi)卡編程連續插補二維是(shi)指以(yi)(yi)一(yi)個(ge)平面為(wei)基準，進(jin)行(xing)多個(ge)點的(de)連續插補，實現更加(jia)復雜的(de)運動(dong)(dong)軌(gui)跡(ji)控制(zhi)。

得益于(yu)總(zong)(zong)線(xian)(xian)型(xing)對于(yu)脈沖型(xing)運控產品(pin)的(de)(de)(de)(de)(de)替(ti)代大潮，EtherCAT從(cong)自(zi)(zi)動(dong)(dong)化市(shi)場嶄露頭角。從(cong)性能(neng)角度(du)來(lai)(lai)講，EtherCAT在(zai)眾多(duo)總(zong)(zong)線(xian)(xian)型(xing)控制(zhi)(zhi)協(xie)議中脫穎(ying)而出，主(zhu)要(yao)依靠以(yi)下(xia)三點：1.EtherCAT通信速(su)度(du)非(fei)常快。它(ta)利用雙絞線(xian)(xian)或(huo)光纜(lan)在(zai)100μs內(nei)(nei)處(chu)理30μs或(huo)100個(ge)軸(zhou)上(shang)的(de)(de)(de)(de)(de)1000個(ge)分布式I/O信號，為實時(shi)性能(neng)設置了新(xin)的(de)(de)(de)(de)(de)限(xian)制(zhi)(zhi)。這(zhe)種(zhong)高速(su)度(du)使(shi)得EtherCAT非(fei)常適合自(zi)(zi)動(dong)(dong)化，工業物(wu)聯網(wang)（IIoT）以(yi)及(ji)其他需(xu)要(yao)實時(shi)優化的(de)(de)(de)(de)(de)應(ying)用。2.這(zhe)是一個(ge)較(jiao)多(duo)采用的(de)(de)(de)(de)(de)開(kai)放標準。越來(lai)(lai)越多(duo)的(de)(de)(de)(de)(de)設備正在(zai)通過(guo)現場總(zong)(zong)線(xian)(xian)或(huo)無(wu)線(xian)(xian)連接。并且由于(yu)數據使(shi)用與以(yi)太(tai)網(wang)相同(tong)的(de)(de)(de)(de)(de)格(ge)式，因此(ci)可以(yi)直(zhi)接連接到以(yi)太(tai)網(wang)。不需(xu)要(yao)特定的(de)(de)(de)(de)(de)路由器或(huo)交換機。這(zhe)意(yi)味著用戶可以(yi)通過(guo)效率更(geng)高的(de)(de)(de)(de)(de)方式使(shi)用EtherCAT-IP在(zai)同(tong)一接口上(shang)進(jin)行多(duo)種(zhong)產品(pin)的(de)(de)(de)(de)(de)選(xuan)擇。3.它(ta)自(zi)(zi)身構(gou)建的(de)(de)(de)(de)(de)可持(chi)(chi)續(xu)性。使(shi)用成熟(shu)的(de)(de)(de)(de)(de)以(yi)太(tai)網(wang)電纜(lan)，EtherCAT通訊協(xie)議可以(yi)在(zai)較(jiao)為極端的(de)(de)(de)(de)(de)條件下(xia)進(jin)行持(chi)(chi)續(xu)作業，比如EtherCAT端子(zi)可以(yi)在(zai)-25°C至+60°C的(de)(de)(de)(de)(de)溫度(du)范圍內(nei)(nei)連續(xu)工作（Trinamic的(de)(de)(de)(de)(de)EtherCAT運動(dong)(dong)控制(zhi)(zhi)器甚至可以(yi)滿足-40°C至125°C的(de)(de)(de)(de)(de)汽車級溫度(du)規(gui)格(ge)）。國內(nei)(nei)來(lai)(lai)說，東莞博派智能(neng)科技有(you)限(xian)公司推出了工業用EtherCAT總(zong)(zong)線(xian)(xian)運動(dong)(dong)控制(zhi)(zhi)卡，支持(chi)(chi)2~64軸(zhou)運動(dong)(dong)控制(zhi)(zhi)，提供VC++/C#/LABVIEW/VB/DELPHI等動(dong)(dong)態庫和例程，非(fei)常方便。

即便(bian)在其誕生(sheng)的(de)(de)10年之后(hou)，EtherCAT的(de)(de)通信速度(du)仍比(bi)快(kuai)的(de)(de)CPU的(de)(de)運(yun)行速度(du)還快(kuai)，并(bing)且(qie)2003年使用EtherCAT的(de)(de)控(kong)(kong)制(zhi)(zhi)器到了2013年仍然可(ke)以(yi)在自動(dong)(dong)化設備上兼(jian)容使用–從某(mou)種意義上講(jiang)，它已經打破摩(mo)爾定律(lv)10年有(you)(you)余(yu)（雖然應用的(de)(de)領域稍有(you)(you)差別）。這也就(jiu)是(shi)說，單一(yi)版本(ben)的(de)(de)EtherCAT，即那個版本(ben)的(de)(de)EtherCAT就(jiu)已足(zu)夠支(zhi)(zhi)撐現(xian)今大部分的(de)(de)工業(ye)場景，后(hou)來所有(you)(you)添加的(de)(de)東西都只是(shi)擴展(zhan)，而非改(gai)型，真(zhen)可(ke)謂(wei)叫“匠心級”產品(pin)，相比(bi)于當(dang)前(qian)某(mou)些企(qi)業(ye)吹(chui)的(de)(de)什(shen)么(me)“現(xian)象級”產品(pin)，水平不知道高(gao)到哪里去了。東莞博派智能科技有(you)(you)限(xian)公(gong)司推出的(de)(de)ECAT_GAS2系列(lie)總(zong)線運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)卡(ka)(ka)，同(tong)時(shi)支(zhi)(zhi)持(chi)EtherCAT和(he)Ethernet，提供VC++/VB/C#/LABVIEW/LINUX/QT/DELPHI等(deng)動(dong)(dong)態庫和(he)API.普通電(dian)腦甚至筆記本(ben)就(jiu)能用，非常(chang)方便(bian)。同(tong)時(shi)支(zhi)(zhi)持(chi)點、線、圓弧、螺旋線插補，支(zhi)(zhi)持(chi)連(lian)續小線段(duan)速度(du)前(qian)瞻。同(tong)時(shi)可(ke)以(yi)接入外(wai)部手輪，主(zhu)卡(ka)(ka)本(ben)身有(you)(you)2路模(mo)擬量輸入和(he)兩路模(mo)擬量輸出，非常(chang)方便(bian)。運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)主(zhu)要涉(she)及步進電(dian)機(ji)(ji)、伺服電(dian)機(ji)(ji)的(de)(de)控(kong)(kong)制(zhi)(zhi)，控(kong)(kong)制(zhi)(zhi)結構模(mo)式一(yi)般是(shi)：控(kong)(kong)制(zhi)(zhi)裝置+驅動(dong)(dong)器+（步進或伺服）電(dian)機(ji)(ji)。

PLC系統(tong)一(yi)般由以(yi)下(xia)基本功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)構成(cheng)：多(duo)種控(kong)(kong)制(zhi)(zhi)(zhi)功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)、數(shu)(shu)據(ju)(ju)采(cai)集(ji)、存(cun)儲(chu)與處(chu)理功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)、通信聯網(wang)功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)、輸入/輸出(chu)接(jie)口(kou)調(diao)(diao)理功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)、人(ren)機(ji)界面功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)、編(bian)(bian)程、調(diao)(diao)試(shi)功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)、控(kong)(kong)制(zhi)(zhi)(zhi)功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)邏輯控(kong)(kong)制(zhi)(zhi)(zhi)：PLC具有(you)與、或、非、異(yi)或和(he)觸發(fa)器(qi)等(deng)邏輯運(yun)(yun)(yun)算功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)，可(ke)以(yi)代替(ti)繼電器(qi)進(jin)行開關量控(kong)(kong)制(zhi)(zhi)(zhi)。定(ding)時(shi)(shi)控(kong)(kong)制(zhi)(zhi)(zhi)：它為(wei)用(yong)(yong)(yong)戶提(ti)供(gong)(gong)了(le)若干個電子定(ding)時(shi)(shi)器(qi)，用(yong)(yong)(yong)戶可(ke)自行設定(ding)：接(jie)通延時(shi)(shi)、關斷延時(shi)(shi)和(he)定(ding)時(shi)(shi)脈沖等(deng)方(fang)式(shi)。計數(shu)(shu)控(kong)(kong)制(zhi)(zhi)(zhi)：用(yong)(yong)(yong)脈沖控(kong)(kong)制(zhi)(zhi)(zhi)可(ke)以(yi)實現(xian)加、減(jian)計數(shu)(shu)模式(shi)，可(ke)以(yi)連(lian)接(jie)碼盤(pan)進(jin)行位置檢測(ce)。順序控(kong)(kong)制(zhi)(zhi)(zhi)：在前道工序完(wan)成(cheng)之后(hou)，就(jiu)轉入下(xia)一(yi)道工序，使一(yi)臺PLC可(ke)作為(wei)多(duo)部步進(jin)控(kong)(kong)制(zhi)(zhi)(zhi)器(qi)使用(yong)(yong)(yong)。數(shu)(shu)據(ju)(ju)采(cai)集(ji)、存(cun)儲(chu)與處(chu)理功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)數(shu)(shu)學運(yun)(yun)(yun)算功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)：基本算術：加、減(jian)、乘、除(chu)。擴展算術：平方(fang)根(gen)、三角函(han)數(shu)(shu)和(he)浮點(dian)運(yun)(yun)(yun)算。比較：大(da)于(yu)、小于(yu)和(he)等(deng)于(yu)。數(shu)(shu)據(ju)(ju)處(chu)理：選擇(ze)、組織、規格化、移動和(he)先入先出(chu)。模擬(ni)數(shu)(shu)據(ju)(ju)處(chu)理：PID、積分和(he)濾波。輸入/輸出(chu)接(jie)口(kou)調(diao)(diao)理功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)具有(you)A/D、D/A轉換功(gong)(gong)(gong)(gong)能(neng)(neng)(neng)，通過I/O模塊(kuai)完(wan)成(cheng)對(dui)模擬(ni)量的控(kong)(kong)制(zhi)(zhi)(zhi)和(he)調(diao)(diao)節。位數(shu)(shu)和(he)精度(du)可(ke)以(yi)根(gen)據(ju)(ju)用(yong)(yong)(yong)戶要求選擇(ze)。PC和(he)手持(chi)編(bian)(bian)程器(qi)提(ti)供(gong)(gong)給用(yong)(yong)(yong)戶編(bian)(bian)程使用(yong)(yong)(yong)，為(wei)用(yong)(yong)(yong)戶提(ti)供(gong)(gong)了(le)方(fang)便(bian)的編(bian)(bian)程界面。嘉興雷賽(sai)運(yun)(yun)(yun)動控(kong)(kong)制(zhi)(zhi)(zhi)卡(ka)

比如在機械加工(gong)方面，用電子(zi)凸輪來代替笨(ben)重的(de)(de)機械凸輪當然是比較簡單的(de)(de)了。嘉興雷賽運動控制卡

博派ECAT_GAS2控(kong)制(zhi)(zhi)卡(ka)提供了VC++及(ji)C#和(he)Delphi以(yi)及(ji)VB下的動(dong)態(tai)(tai)庫，用(yong)(yong)戶可(ke)利用(yong)(yong)動(dong)態(tai)(tai)庫提供的API完成(cheng)板(ban)卡(ka)打(da)開、關閉、IO輸(shu)(shu)入(ru)輸(shu)(shu)出(chu)、電(dian)機點位(wei)/速(su)度(du)/插補(bu)(bu)/硬件捕獲/電(dian)子(zi)齒輪/比較(jiao)輸(shu)(shu)出(chu)等(deng)運(yun)(yun)動(dong)控(kong)制(zhi)(zhi)功能(neng)。Labview下也可(ke)以(yi)通過調(diao)用(yong)(yong)C++動(dong)態(tai)(tai)庫的方式使用(yong)(yong)。同(tong)時板(ban)卡(ka)支持(chi)Linux、Android、iOS、Wince、Python、QT等(deng)開發環境及(ji)語言。支持(chi)點位(wei)運(yun)(yun)動(dong)、速(su)度(du)控(kong)制(zhi)(zhi)、直線、圓弧、連續軌跡插補(bu)(bu)，支持(chi)速(su)度(du)前瞻。硬件捕獲、電(dian)子(zi)齒輪/電(dian)子(zi)凸輪、位(wei)置比較(jiao)輸(shu)(shu)出(chu)。支持(chi)PT模式與刀向跟(gen)隨。嘉(jia)興(xing)雷(lei)賽運(yun)(yun)動(dong)控(kong)制(zhi)(zhi)卡(ka)

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