運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器的(de)(de)(de)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)形式(shi)點(dian)位(wei)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)：即對終(zhong)點(dian)位(wei)置有(you)要(yao)求(qiu)，與運(yun)動(dong)(dong)(dong)的(de)(de)(de)中(zhong)(zhong)間過程(cheng)(cheng)即運(yun)動(dong)(dong)(dong)軌(gui)(gui)跡(ji)無關。相(xiang)應的(de)(de)(de)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器要(yao)求(qiu)具(ju)有(you)快(kuai)速(su)(su)(su)的(de)(de)(de)定位(wei)速(su)(su)(su)度(du)(du)(du)，在(zai)(zai)運(yun)動(dong)(dong)(dong)的(de)(de)(de)加(jia)(jia)速(su)(su)(su)段(duan)(duan)(duan)和(he)減(jian)速(su)(su)(su)段(duan)(duan)(duan)，采用不(bu)同的(de)(de)(de)加(jia)(jia)減(jian)速(su)(su)(su)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)策(ce)略。在(zai)(zai)加(jia)(jia)速(su)(su)(su)運(yun)動(dong)(dong)(dong)時，為(wei)(wei)了使系(xi)(xi)(xi)統(tong)能夠快(kuai)速(su)(su)(su)加(jia)(jia)速(su)(su)(su)到(dao)設定速(su)(su)(su)度(du)(du)(du)，往(wang)往(wang)進步(bu)(bu)(bu)(bu)系(xi)(xi)(xi)統(tong)增益(yi)和(he)加(jia)(jia)大加(jia)(jia)速(su)(su)(su)度(du)(du)(du)，在(zai)(zai)減(jian)速(su)(su)(su)的(de)(de)(de)末(mo)段(duan)(duan)(duan)減(jian)速(su)(su)(su)的(de)(de)(de)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)策(ce)略。為(wei)(wei)了防止系(xi)(xi)(xi)統(tong)到(dao)位(wei)后震動(dong)(dong)(dong)，規劃到(dao)位(wei)后，又(you)會適當(dang)減(jian)小系(xi)(xi)(xi)統(tong)的(de)(de)(de)增益(yi)。所(suo)以(yi)，點(dian)位(wei)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器往(wang)往(wang)具(ju)有(you)在(zai)(zai)線(xian)(xian)(xian)可(ke)(ke)變(bian)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)參數和(he)可(ke)(ke)變(bian)加(jia)(jia)減(jian)速(su)(su)(su)曲(qu)線(xian)(xian)(xian)的(de)(de)(de)能力。連續軌(gui)(gui)跡(ji)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)：該控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)又(you)稱為(wei)(wei)輪(lun)(lun)廓(kuo)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，主要(yao)應用在(zai)(zai)傳(chuan)統(tong)的(de)(de)(de)數控(kong)(kong)(kong)(kong)系(xi)(xi)(xi)統(tong)、切割系(xi)(xi)(xi)統(tong)的(de)(de)(de)運(yun)動(dong)(dong)(dong)輪(lun)(lun)廓(kuo)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)。相(xiang)應的(de)(de)(de)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器要(yao)解(jie)決的(de)(de)(de)題目是(shi)(shi)如何使系(xi)(xi)(xi)統(tong)在(zai)(zai)高速(su)(su)(su)運(yun)動(dong)(dong)(dong)的(de)(de)(de)情況下(xia)，既(ji)要(yao)保證系(xi)(xi)(xi)統(tong)加(jia)(jia)工(gong)(gong)的(de)(de)(de)輪(lun)(lun)廓(kuo)精度(du)(du)(du)，還要(yao)保證刀具(ju)沿輪(lun)(lun)廓(kuo)運(yun)動(dong)(dong)(dong)時的(de)(de)(de)切向速(su)(su)(su)度(du)(du)(du)的(de)(de)(de)恒定。對小線(xian)(xian)(xian)段(duan)(duan)(duan)加(jia)(jia)工(gong)(gong)時，有(you)多段(duan)(duan)(duan)程(cheng)(cheng)序預處理功(gong)能。同步(bu)(bu)(bu)(bu)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)：是(shi)(shi)指多個軸(zhou)之間的(de)(de)(de)運(yun)動(dong)(dong)(dong)協調控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，可(ke)(ke)以(yi)是(shi)(shi)多個軸(zhou)在(zai)(zai)運(yun)動(dong)(dong)(dong)全程(cheng)(cheng)中(zhong)(zhong)進行同步(bu)(bu)(bu)(bu)，也可(ke)(ke)以(yi)是(shi)(shi)在(zai)(zai)運(yun)動(dong)(dong)(dong)過程(cheng)(cheng)中(zhong)(zhong)的(de)(de)(de)局部有(you)速(su)(su)(su)度(du)(du)(du)同步(bu)(bu)(bu)(bu)，主要(yao)應用在(zai)(zai)需(xu)要(yao)有(you)電子齒(chi)輪(lun)(lun)箱(xiang)和(he)電子凸輪(lun)(lun)的(de)(de)(de)系(xi)(xi)(xi)統(tong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)中(zhong)(zhong)。博派ETH_GAS系(xi)(xi)(xi)列運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡支持以(yi)太網或者(zhe)串口編程(cheng)(cheng)。脈沖輸出頻率達(da)2MHz。武(wu)漢正運(yun)動(dong)(dong)(dong)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡經銷商

圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)(bu)圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)(bu)與直線(xian)插(cha)(cha)補(bu)(bu)類(lei)似(si)，給出兩端(duan)點間(jian)的(de)(de)插(cha)(cha)補(bu)(bu)數字信息，以(yi)一定的(de)(de)算法(fa)計算出逼近(jin)實(shi)際圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)的(de)(de)點群，控(kong)制(zhi)軸(zhou)沿這些點運動(dong)，加(jia)工(gong)出圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)曲線(xian)。圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)(bu)可以(yi)是(shi)平面圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(至(zhi)少兩個軸(zhou))，還可以(yi)是(shi)空(kong)間(jian)圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(至(zhi)少三(san)(san)個軸(zhou))。假設軸(zhou)需要在XY平面一象限走一段(duan)逆(ni)圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)，圓(yuan)(yuan)(yuan)(yuan)(yuan)心為(wei)起(qi)點，其圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)(bu)的(de)(de)加(jia)工(gong)過程。控(kong)制(zhi)器的(de)(de)空(kong)間(jian)圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)(bu)功(gong)能是(shi)根據(ju)當前點和圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)指(zhi)令參數設置的(de)(de)終點和中間(jian)點(或圓(yuan)(yuan)(yuan)(yuan)(yuan)心)，由三(san)(san)個點確定圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)，并實(shi)現空(kong)間(jian)圓(yuan)(yuan)(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)(bu)運動(dong)，坐標為(wei)三(san)(san)維坐標，至(zhi)少需要三(san)(san)個軸(zhou)分別沿X軸(zhou)、Y軸(zhou)和Z軸(zhou)運動(dong)。蘇(su)州正運動(dong)運動(dong)控(kong)制(zhi)卡(ka)編程總線(xian)運動(dong)控(kong)制(zhi)卡(ka)方面，東莞(guan)博派智能科技有限公司(si)是(shi)做的(de)(de)比較早的(de)(de)。

在總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)型(xing)(xing)替代的(de)(de)浪潮下，各大自動(dong)(dong)(dong)化(hua)廠商紛(fen)紛(fen)推出自己的(de)(de)總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)型(xing)(xing)運(yun)(yun)控產品，而在種類繁(fan)多的(de)(de)總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)型(xing)(xing)通訊(xun)中，EtherCAT表(biao)現(xian)得尤為(wei)亮眼。根據MIR睿工業統計，截至(zhi)2021年中國總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)型(xing)(xing)運(yun)(yun)動(dong)(dong)(dong)控制(zhi)器(qi)市場規(gui)模超(chao)過(guo)60億(yi)，占(zhan)總(zong)(zong)(zong)(zong)(zong)(zong)體運(yun)(yun)動(dong)(dong)(dong)控制(zhi)器(qi)市場比例超(chao)過(guo)七(qi)成(cheng)。其中，EtherCAT總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)型(xing)(xing)運(yun)(yun)動(dong)(dong)(dong)控制(zhi)器(qi)市場規(gui)模超(chao)過(guo)40億(yi)，占(zhan)總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)型(xing)(xing)運(yun)(yun)動(dong)(dong)(dong)控制(zhi)器(qi)市場的(de)(de)比例超(chao)過(guo)六成(cheng)。可以說(shuo)EtherCAT已(yi)經走(zou)向自動(dong)(dong)(dong)化(hua)通訊(xun)協議的(de)(de)C位了。東莞博派(pai)智能科技有限公(gong)司推出的(de)(de)ECAT_GAS2系列總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)運(yun)(yun)動(dong)(dong)(dong)控制(zhi)卡，使用方便，性能可靠穩定，是(shi)目(mu)前國內EtherCAT總(zong)(zong)(zong)(zong)(zong)(zong)線(xian)運(yun)(yun)動(dong)(dong)(dong)控制(zhi)卡做(zuo)的(de)(de)比較好的(de)(de)一家。

2003年德(de)(de)國漢(han)諾威工(gong)業博(bo)覽會(hui)，一(yi)家(jia)以做(zuo)運(yun)(yun)動(dong)控制(zhi)器出名的(de)(de)企業展臺(tai)前(qian)人頭攢(zan)動(dong)，展出的(de)(de)產(chan)品是(shi)一(yi)種(zhong)全新(xin)(xin)的(de)(de)工(gong)業通訊協議。幾(ji)乎整個從事自動(dong)化行業相關的(de)(de)參會(hui)者都訪(fang)問過這(zhe)(zhe)家(jia)的(de)(de)展位并為此感到(dao)震驚，有人直接斷言這(zhe)(zhe)是(shi)一(yi)種(zhong)具(ju)(ju)有前(qian)瞻性(xing)的(de)(de)技(ji)術(shu)，是(shi)前(qian)沿(yan)控制(zhi)理念的(de)(de)新(xin)(xin)生(sheng)代產(chan)物。這(zhe)(zhe)家(jia)公(gong)司(si)(si)就是(shi)德(de)(de)國倍福自動(dong)化有限公(gong)司(si)(si)（Beckhoff），而這(zhe)(zhe)個被(bei)譽(yu)為具(ju)(ju)有前(qian)瞻性(xing)的(de)(de)技(ji)術(shu)叫做(zuo)EtherCAT（用(yong)于(yu)控制(zhi)自動(dong)化技(ji)術(shu)的(de)(de)以太網(wang)）。后(hou)來的(de)(de)故(gu)事一(yi)如(ru)第(di)一(yi)次見到(dao)EtherCAT的(de)(de)人們預(yu)料的(de)(de)那樣，這(zhe)(zhe)種(zhong)可以稱得(de)上(shang)(shang)是(shi)“前(qian)瞻性(xing)”的(de)(de)工(gong)業通訊協議，憑(ping)借其應(ying)用(yong)的(de)(de)多樣性(xing)，開放性(xing)、高(gao)效(xiao)率，在包括包裝機(ji)、全鋼工(gong)廠(chang)、機(ji)器人、切割(ge)系(xi)統、風洞和風能(neng)系(xi)統等應(ying)用(yong)程(cheng)序中得(de)以使用(yong)。國內的(de)(de)EtherCAT總線(xian)運(yun)(yun)動(dong)控制(zhi)卡目前(qian)做(zuo)的(de)(de)比較好的(de)(de)是(shi)東莞(guan)博(bo)派(pai)智(zhi)能(neng)科技(ji)有限公(gong)司(si)(si)的(de)(de)ECAT_GAS2系(xi)列，使用(yong)簡單(dan)，支持VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等，普通電腦甚至筆(bi)記本都能(neng)用(yong)，非常方(fang)便。博(bo)派(pai)智(zhi)能(neng)科技(ji)運(yun)(yun)動(dong)控制(zhi)卡開發(fa)方(fang)式支持網(wang)絡式PC上(shang)(shang)位機(ji)開發(fa)C#/C++/Labview/Qt/Python/vb/.NET/Delphi/linux。

C的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)是指PLC系統通(tong)過控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)設(she)備(bei)(bei)的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軸，實(shi)現精(jing)(jing)確(que)(que)、穩定和(he)(he)(he)可編(bian)程(cheng)(cheng)的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)。它(ta)可以(yi)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)設(she)備(bei)(bei)（如電機(ji)、伺服驅動(dong)(dong)(dong)(dong)(dong)器等(deng)(deng)）的位置(zhi)(zhi)、速(su)度(du)和(he)(he)(he)加速(su)度(du)等(deng)(deng)參數(shu)(shu)(shu)，以(yi)實(shi)現所需的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軌跡(ji)和(he)(he)(he)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)邏輯。選取支持(chi)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)的PLC時，以(yi)下是一(yi)(yi)些(xie)關鍵因素(su)和(he)(he)(he)考慮(lv)事項(xiang)：（1）運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)：確(que)(que)保PLC具備(bei)(bei)完(wan)善的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)，包括軸控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)、軌跡(ji)規劃、速(su)度(du)和(he)(he)(he)加速(su)度(du)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)等(deng)(deng)。PLC應(ying)支持(chi)多個運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軸的控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)，并(bing)能(neng)(neng)(neng)(neng)滿(man)足(zu)具體應(ying)用的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)需求(qiu)。（2）接口(kou)和(he)(he)(he)通(tong)信(xin)能(neng)(neng)(neng)(neng)力(li)：PLC需要(yao)提(ti)供與運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)設(she)備(bei)(bei)（如伺服驅動(dong)(dong)(dong)(dong)(dong)器、編(bian)碼(ma)器等(deng)(deng)）的接口(kou)和(he)(he)(he)通(tong)信(xin)能(neng)(neng)(neng)(neng)力(li)。常(chang)見(jian)的接口(kou)包括模擬量(liang)輸(shu)(shu)入(ru)/輸(shu)(shu)出、數(shu)(shu)(shu)字量(liang)輸(shu)(shu)入(ru)/輸(shu)(shu)出、編(bian)碼(ma)器反饋接口(kou)等(deng)(deng)。同時，PLC應(ying)支持(chi)常(chang)見(jian)的通(tong)信(xin)協議，如EtherCAT、CANopen等(deng)(deng)，以(yi)便與運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)設(she)備(bei)(bei)進行數(shu)(shu)(shu)據交(jiao)換(huan)和(he)(he)(he)協同控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)。（3）編(bian)程(cheng)(cheng)和(he)(he)(he)配置(zhi)(zhi)工(gong)(gong)具：PLC選型時，要(yao)考慮(lv)其編(bian)程(cheng)(cheng)和(he)(he)(he)配置(zhi)(zhi)工(gong)(gong)具的友好(hao)性(xing)(xing)(xing)和(he)(he)(he)便利性(xing)(xing)(xing)。一(yi)(yi)些(xie)PLC廠(chang)商提(ti)供專門的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)編(bian)程(cheng)(cheng)語言或函數(shu)(shu)(shu)塊，簡化了運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)程(cheng)(cheng)序的開(kai)發和(he)(he)(he)調試過程(cheng)(cheng)。（4）性(xing)(xing)(xing)能(neng)(neng)(neng)(neng)和(he)(he)(he)實(shi)時性(xing)(xing)(xing)：選擇具備(bei)(bei)足(zu)夠(gou)的性(xing)(xing)(xing)能(neng)(neng)(neng)(neng)和(he)(he)(he)實(shi)時性(xing)(xing)(xing)能(neng)(neng)(neng)(neng)的PLC，以(yi)滿(man)足(zu)高速(su)、精(jing)(jing)確(que)(que)的運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)要(yao)求(qiu)。性(xing)(xing)(xing)能(neng)(neng)(neng)(neng)指標包括掃描周期(qi)、運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軸數(shu)(shu)(shu)量(liang)、數(shu)(shu)(shu)據處理能(neng)(neng)(neng)(neng)力(li)等(deng)(deng)。運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)在參數(shu)(shu)(shu)設(she)置(zhi)(zhi)、數(shu)(shu)(shu)據傳輸(shu)(shu)和(he)(he)(he)遠(yuan)程(cheng)(cheng)監控(kong)(kong)(kong)(kong)(kong)(kong)(kong)方面表現出色。杭州雷(lei)賽(sai)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)廠(chang)家

PC和(he)手持編(bian)(bian)程器提供給用(yong)戶編(bian)(bian)程使用(yong)，為(wei)用(yong)戶提供了(le)方便的編(bian)(bian)程界面。武漢正運(yun)動運(yun)動控制卡經銷商

PLC的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)是指PLC系(xi)統(tong)通過控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設備(bei)的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸(zhou)，實現精確、穩(wen)定和(he)(he)(he)可(ke)(ke)編(bian)程(cheng)的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)(neng)。它可(ke)(ke)以控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設備(bei)（如(ru)電機、伺服驅(qu)動(dong)(dong)(dong)(dong)(dong)(dong)器等）的(de)(de)位(wei)置(zhi)(zhi)、速(su)度(du)和(he)(he)(he)加(jia)速(su)度(du)等參數，以實現所需的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軌跡和(he)(he)(he)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)邏輯(ji)。選取支(zhi)持(chi)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)的(de)(de)PLC時(shi)(shi)，以下(xia)是一些(xie)關鍵因(yin)素和(he)(he)(he)考(kao)慮事項(xiang)：（1）運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)(neng)：確保PLC具備(bei)完善的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)(neng)，包(bao)括軸(zhou)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)、軌跡規劃(hua)、速(su)度(du)和(he)(he)(he)加(jia)速(su)度(du)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)等。PLC應支(zhi)持(chi)多個(ge)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸(zhou)的(de)(de)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)，并(bing)能(neng)(neng)(neng)(neng)(neng)滿足具體應用的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)需求。（2）接(jie)(jie)口(kou)和(he)(he)(he)通信能(neng)(neng)(neng)(neng)(neng)力(li)：PLC需要提(ti)供(gong)與(yu)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設備(bei)（如(ru)伺服驅(qu)動(dong)(dong)(dong)(dong)(dong)(dong)器、編(bian)碼(ma)器等）的(de)(de)接(jie)(jie)口(kou)和(he)(he)(he)通信能(neng)(neng)(neng)(neng)(neng)力(li)。常見的(de)(de)接(jie)(jie)口(kou)包(bao)括模擬量(liang)輸入(ru)/輸出、數字(zi)量(liang)輸入(ru)/輸出、編(bian)碼(ma)器反饋接(jie)(jie)口(kou)等。同時(shi)(shi)，PLC應支(zhi)持(chi)常見的(de)(de)通信協(xie)(xie)議，如(ru)EtherCAT、CANopen等，以便(bian)與(yu)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)設備(bei)進行數據(ju)交換和(he)(he)(he)協(xie)(xie)同控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)。（3）編(bian)程(cheng)和(he)(he)(he)配(pei)置(zhi)(zhi)工(gong)(gong)具：PLC選型時(shi)(shi)，要考(kao)慮其編(bian)程(cheng)和(he)(he)(he)配(pei)置(zhi)(zhi)工(gong)(gong)具的(de)(de)友好性(xing)和(he)(he)(he)便(bian)利(li)性(xing)。一些(xie)PLC廠商提(ti)供(gong)專(zhuan)門(men)的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)編(bian)程(cheng)語言(yan)或函數塊，簡化了運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)程(cheng)序的(de)(de)開(kai)發和(he)(he)(he)調(diao)試過程(cheng)。（4）性(xing)能(neng)(neng)(neng)(neng)(neng)和(he)(he)(he)實時(shi)(shi)性(xing)：選擇具備(bei)足夠的(de)(de)性(xing)能(neng)(neng)(neng)(neng)(neng)和(he)(he)(he)實時(shi)(shi)性(xing)能(neng)(neng)(neng)(neng)(neng)的(de)(de)PLC，以滿足高(gao)速(su)、精確的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)要求。性(xing)能(neng)(neng)(neng)(neng)(neng)指標(biao)包(bao)括掃描周期(qi)、運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸(zhou)數量(liang)、數據(ju)處(chu)理能(neng)(neng)(neng)(neng)(neng)力(li)等。武漢正(zheng)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡經銷商

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