插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)常(chang)見的(de)(de)兩(liang)種方(fang)(fang)(fang)(fang)式是直(zhi)(zhi)(zhi)線(xian)(xian)(xian)(xian)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)和圓弧(hu)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)。插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)至少需要(yao)兩(liang)個軸參與，進行(xing)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)時，將(jiang)規劃(hua)軸映射到(dao)(dao)相應的(de)(de)機(ji)臺坐(zuo)標(biao)系中(zhong)，運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控制(zhi)器根(gen)據坐(zuo)標(biao)映射關系，控制(zhi)各軸運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)，實(shi)現要(yao)求的(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)軌跡。插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)指(zhi)令(ling)會存入(ru)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)緩沖區(qu)，再依次(ci)從運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)緩沖區(qu)中(zhong)取出指(zhi)令(ling)執行(xing)，直(zhi)(zhi)(zhi)到(dao)(dao)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)全部(bu)執行(xing)完。1.直(zhi)(zhi)(zhi)線(xian)(xian)(xian)(xian)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)直(zhi)(zhi)(zhi)線(xian)(xian)(xian)(xian)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)方(fang)(fang)(fang)(fang)式中(zhong)，兩(liang)點間(jian)的(de)(de)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)沿著直(zhi)(zhi)(zhi)線(xian)(xian)(xian)(xian)的(de)(de)點群來逼(bi)近(jin)。首先假設在實(shi)際(ji)(ji)輪廓(kuo)(kuo)起(qi)始點處(chu)沿X方(fang)(fang)(fang)(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)小(xiao)段(duan)(duan)(給(gei)一(yi)(yi)個脈沖當量(liang)軸走(zou)(zou)一(yi)(yi)段(duan)(duan)固(gu)定距離)，發(fa)現終點在實(shi)際(ji)(ji)輪廓(kuo)(kuo)的(de)(de)下(xia)方(fang)(fang)(fang)(fang)，則(ze)下(xia)一(yi)(yi)條(tiao)線(xian)(xian)(xian)(xian)段(duan)(duan)沿Y方(fang)(fang)(fang)(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)小(xiao)段(duan)(duan)，此時如果線(xian)(xian)(xian)(xian)段(duan)(duan)終點還(huan)在實(shi)際(ji)(ji)輪廓(kuo)(kuo)下(xia)方(fang)(fang)(fang)(fang)，則(ze)繼續沿Y方(fang)(fang)(fang)(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)小(xiao)段(duan)(duan)，直(zhi)(zhi)(zhi)到(dao)(dao)在實(shi)際(ji)(ji)輪廓(kuo)(kuo)上(shang)方(fang)(fang)(fang)(fang)以后，再向(xiang)(xiang)X方(fang)(fang)(fang)(fang)向(xiang)(xiang)走(zou)(zou)一(yi)(yi)小(xiao)段(duan)(duan)，依此類(lei)推，直(zhi)(zhi)(zhi)到(dao)(dao)到(dao)(dao)達輪廓(kuo)(kuo)終點為止(zhi)。這樣實(shi)際(ji)(ji)輪廓(kuo)(kuo)是由一(yi)(yi)段(duan)(duan)段(duan)(duan)的(de)(de)折線(xian)(xian)(xian)(xian)拼接而成，雖然是折線(xian)(xian)(xian)(xian)，但每一(yi)(yi)段(duan)(duan)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)線(xian)(xian)(xian)(xian)段(duan)(duan)在精度允許(xu)范(fan)圍內非常(chang)小(xiao)，那么此段(duan)(duan)折線(xian)(xian)(xian)(xian)還(huan)是可以近(jin)似(si)看做一(yi)(yi)條(tiao)直(zhi)(zhi)(zhi)線(xian)(xian)(xian)(xian)段(duan)(duan)，這就是直(zhi)(zhi)(zhi)線(xian)(xian)(xian)(xian)插(cha)(cha)(cha)(cha)補(bu)(bu)(bu)(bu)(bu)。ETH_GAS系列用于機(ji)器人、數(shu)控機(ji)床、3C設備、固(gu)晶機(ji)、焊(han)線(xian)(xian)(xian)(xian)機(ji)、激光切(qie)割、激光焊(han)接、包裝機(ji)械、木工機(ji)械。徐州(zhou)網(wang)口運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控制(zhi)卡

電(dian)子(zi)齒(chi)輪(lun)模式(shi)能(neng)夠(gou)將(jiang)兩軸(zhou)(zhou)(zhou)或多(duo)軸(zhou)(zhou)(zhou)聯系起來，實現精確的(de)(de)同(tong)步運(yun)動(dong)(dong)(dong)，從(cong)(cong)而替代(dai)傳(chuan)統(tong)的(de)(de)機(ji)(ji)(ji)械(xie)(xie)齒(chi)輪(lun)連(lian)接。被(bei)跟隨(sui)(sui)的(de)(de)軸(zhou)(zhou)(zhou)稱為(wei)(wei)主軸(zhou)(zhou)(zhou)，跟隨(sui)(sui)的(de)(de)軸(zhou)(zhou)(zhou)為(wei)(wei)從(cong)(cong)軸(zhou)(zhou)(zhou)，通(tong)過將(jiang)跟隨(sui)(sui)軸(zhou)(zhou)(zhou)按照某個(ge)比(bi)率連(lian)接到主軸(zhou)(zhou)(zhou)上(shang)，從(cong)(cong)而達到主軸(zhou)(zhou)(zhou)運(yun)動(dong)(dong)(dong)時(shi)，連(lian)接的(de)(de)跟隨(sui)(sui)軸(zhou)(zhou)(zhou)也(ye)跟隨(sui)(sui)運(yun)動(dong)(dong)(dong)。同(tong)時(shi)連(lian)接的(de)(de)是脈(mo)(mo)沖個(ge)數，要(yao)考慮不同(tong)軸(zhou)(zhou)(zhou)UNITS的(de)(de)比(bi)例。電(dian)子(zi)齒(chi)輪(lun)作用(yong)(yong)1.脈(mo)(mo)沖補償，減(jian)少上(shang)位機(ji)(ji)(ji)負(fu)擔(dan)(因為(wei)(wei)目前用(yong)(yong)的(de)(de)發(fa)送(song)脈(mo)(mo)沖的(de)(de)元件(jian)(jian)，都有(you)脈(mo)(mo)沖發(fa)送(song)頻率的(de)(de)限制)。2.匹(pi)配電(dian)機(ji)(ji)(ji)發(fa)出的(de)(de)脈(mo)(mo)沖數與機(ji)(ji)(ji)械(xie)(xie)小(xiao)移(yi)動(dong)(dong)(dong)量(liang)(liang)，可(ke)將(jiang)指令輸入1個(ge)脈(mo)(mo)沖對應的(de)(de)工(gong)件(jian)(jian)(或電(dian)機(ji)(ji)(ji))移(yi)動(dong)(dong)(dong)量(liang)(liang)設定為(wei)(wei)任意值;可(ke)實現電(dian)機(ji)(ji)(ji)的(de)(de)無極變(bian)速，在電(dian)機(ji)(ji)(ji)啟(qi)動(dong)(dong)(dong)和停止時(shi)，可(ke)以(yi)防止失步和過沖現象，這樣就能(neng)充分發(fa)揮(hui)電(dian)機(ji)(ji)(ji)的(de)(de)潛能(neng)。3.傳(chuan)遞同(tong)步運(yun)動(dong)(dong)(dong)信(xin)息，實現坐標的(de)(de)聯動(dong)(dong)(dong)、運(yun)動(dong)(dong)(dong)形(xing)式(shi)之間的(de)(de)變(bian)換(旋(xuan)轉-旋(xuan)轉，旋(xuan)轉-直線，直線-直線)、簡化(hua)控(kong)制等。徐州網口運(yun)動(dong)(dong)(dong)控(kong)制卡國產的(de)(de)話你可(ke)以(yi)考慮用(yong)(yong)東莞博派(pai)智能(neng)的(de)(de)PMC_ECAT這款高性價比(bi)EtherCAT運(yun)動(dong)(dong)(dong)控(kong)制PLC。集(ji)成梯形(xing)圖和EtherCAT。

無論(lun)是(shi)倍福的(de)(de)(de)EtherCAT還(huan)是(shi)西門(men)子推出的(de)(de)(de)Profinet，其(qi)實(shi)它們(men)在(zai)整個(ge)工業自(zi)動(dong)化(hua)市(shi)場(chang)能夠獲得如(ru)此(ci)廣(guang)泛的(de)(de)(de)應用其(qi)實(shi)有一個(ge)共同的(de)(de)(de)邏(luo)輯：西門(men)子是(shi)在(zai)中(zhong)國PLC整體(ti)市(shi)場(chang)占住了(le)(le)頭部位(wei)置，倍福在(zai)中(zhong)國PC—based運動(dong)控制(zhi)器市(shi)場(chang)也是(shi)處于(yu)(yu)頭部位(wei)置。你在(zai)控制(zhi)器方(fang)面是(shi)老(lao)大，就意味著你把(ba)握住了(le)(le)自(zi)動(dong)化(hua)產品(pin)線中(zhong)的(de)(de)(de)上位(wei)產品(pin)，基于(yu)(yu)此(ci)你在(zai)自(zi)動(dong)化(hua)領域(yu)往往就可以指定很多標準和規(gui)則，像西門(men)子制(zhi)定的(de)(de)(de)現(xian)場(chang)總(zong)線PROFIBUS標準、MindSphere World全球用戶組織等，前者助其(qi)建(jian)立“朋友圈(quan)”，后者營造了(le)(le)生態(tai)圈(quan)。

C系統(tong)一(yi)般由(you)以(yi)下(xia)基本功(gong)(gong)能(neng)(neng)構(gou)成(cheng)(cheng)：多(duo)種(zhong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)、數(shu)(shu)據(ju)(ju)(ju)采集、存(cun)儲(chu)與(yu)處(chu)(chu)理(li)(li)功(gong)(gong)能(neng)(neng)、通(tong)(tong)信聯網功(gong)(gong)能(neng)(neng)、輸(shu)(shu)(shu)入(ru)(ru)/輸(shu)(shu)(shu)出(chu)(chu)接(jie)(jie)口調(diao)(diao)理(li)(li)功(gong)(gong)能(neng)(neng)、人機界面功(gong)(gong)能(neng)(neng)、編程、調(diao)(diao)試功(gong)(gong)能(neng)(neng)、控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)邏輯控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)：PLC具有(you)與(yu)、或(huo)(huo)(huo)、非、異或(huo)(huo)(huo)和(he)(he)觸(chu)發器(qi)(qi)等(deng)邏輯運(yun)算(suan)功(gong)(gong)能(neng)(neng)，可以(yi)代替繼電器(qi)(qi)進(jin)行(xing)(xing)開關量控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)。定(ding)(ding)時(shi)(shi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)：它(ta)為用戶(hu)提供了若干個電子定(ding)(ding)時(shi)(shi)器(qi)(qi)，用戶(hu)可自行(xing)(xing)設定(ding)(ding)：接(jie)(jie)通(tong)(tong)延(yan)時(shi)(shi)、關斷延(yan)時(shi)(shi)和(he)(he)定(ding)(ding)時(shi)(shi)脈沖等(deng)方式。計數(shu)(shu)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)：用脈沖控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)可以(yi)實現加、減計數(shu)(shu)模式，可以(yi)連接(jie)(jie)碼盤進(jin)行(xing)(xing)位置檢測。順序控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)：在前道工序完成(cheng)(cheng)之后(hou)，就轉(zhuan)入(ru)(ru)下(xia)一(yi)道工序，使(shi)一(yi)臺PLC可作為多(duo)部步(bu)進(jin)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)使(shi)用。數(shu)(shu)據(ju)(ju)(ju)采集、存(cun)儲(chu)與(yu)處(chu)(chu)理(li)(li)功(gong)(gong)能(neng)(neng)數(shu)(shu)學運(yun)算(suan)功(gong)(gong)能(neng)(neng)：基本算(suan)術：加、減、乘(cheng)、除。擴展(zhan)算(suan)術：平方根、三角(jiao)函數(shu)(shu)和(he)(he)浮點運(yun)算(suan)。比(bi)較：大(da)于、小于和(he)(he)等(deng)于。數(shu)(shu)據(ju)(ju)(ju)處(chu)(chu)理(li)(li)：選擇(ze)、組織、規格化、移動和(he)(he)先(xian)(xian)入(ru)(ru)先(xian)(xian)出(chu)(chu)。模擬數(shu)(shu)據(ju)(ju)(ju)處(chu)(chu)理(li)(li)：PID、積分和(he)(he)濾波。輸(shu)(shu)(shu)入(ru)(ru)/輸(shu)(shu)(shu)出(chu)(chu)接(jie)(jie)口調(diao)(diao)理(li)(li)功(gong)(gong)能(neng)(neng)具有(you)A/D、D/A轉(zhuan)換功(gong)(gong)能(neng)(neng)，通(tong)(tong)過I/O模塊完成(cheng)(cheng)對(dui)模擬量的控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)和(he)(he)調(diao)(diao)節。位數(shu)(shu)和(he)(he)精(jing)度(du)可以(yi)根據(ju)(ju)(ju)用戶(hu)要求選擇(ze)。東莞(guan)博(bo)派智能(neng)(neng)推出(chu)(chu)ECAT_GAS2系列總線運(yun)動控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)，支持(chi)Ethercat和(he)(he)Ethernet，普通(tong)(tong)電腦或(huo)(huo)(huo)者筆記本就可以(yi)使(shi)用。

我們一(yi)起看下運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)的(de)專(zhuan)業(ye)(ye)釋義，運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)，MotionControl。通(tong)過對機(ji)械運(yun)(yun)(yun)動(dong)部(bu)件的(de)位置，力矩，速度(du)，加速度(du)等進行(xing)(xing)實時的(de)控(kong)(kong)制(zhi)管理(li)，使(shi)各個(ge)(ge)運(yun)(yun)(yun)動(dong)部(bu)件協同的(de)按(an)照預期的(de)運(yun)(yun)(yun)動(dong)軌跡和規定的(de)運(yun)(yun)(yun)動(dong)參(can)數進行(xing)(xing)運(yun)(yun)(yun)動(dong)，以(yi)達到(dao)高精(jing)度(du)，低延(yan)時的(de)自動(dong)控(kong)(kong)制(zhi)的(de)目的(de)。運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)是(shi)自動(dong)化(hua)的(de)一(yi)個(ge)(ge)分支，它使(shi)用(yong)通(tong)稱為(wei)伺(si)服機(ji)構(gou)的(de)一(yi)些設(she)備如液壓(ya)泵，線(xian)性執行(xing)(xing)機(ji)或者是(shi)電(dian)機(ji)來控(kong)(kong)制(zhi)機(ji)器。運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)被應用(yong)在包裝(zhuang)、印刷、紡(fang)織(zhi)和裝(zhuang)配工業(ye)(ye)中(zhong)。可以(yi)說，運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)技(ji)術是(shi)工業(ye)(ye)制(zhi)造領域應用(yong)的(de)技(ji)術。博(bo)派ETH_NEC系(xi)列運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)卡支持(chi)以(yi)太(tai)網或者串口(kou)編程。脈沖輸(shu)出頻(pin)率達2MHz。徐州網口(kou)運(yun)(yun)(yun)動(dong)控(kong)(kong)制(zhi)卡

PLC即輯控制(zhi)器(qi)是種專(zhuan)門為在工業環境下應用(yong)而設計的(de)數字運算操作(zuo)電子系統。徐州網口運動控制(zhi)卡

未來，在中國自(zi)(zi)動(dong)(dong)(dong)化(hua)市場(chang)，隨(sui)著(zhu)總(zong)(zong)(zong)線(xian)型(xing)(xing)伺服(fu)的(de)不斷發(fa)展，自(zi)(zi)動(dong)(dong)(dong)化(hua)下游各個行(xing)業中總(zong)(zong)(zong)線(xian)型(xing)(xing)伺服(fu)的(de)市場(chang)份額(e)將(jiang)進一步擴大。并(bing)且，隨(sui)著(zhu)國產(chan)伺服(fu)在市場(chang)中的(de)份額(e)慢(man)慢(man)增(zeng)加，在相當長一段時(shi)間內國產(chan)伺服(fu)的(de)上位控(kong)制(zhi)(zhi)(zhi)通訊協(xie)議還是(shi)會主要(yao)使(shi)用EtherCAT，因此EtherCAT協(xie)議伺服(fu)產(chan)品的(de)市場(chang)份額(e)也將(jiang)得到進一步發(fa)展。國內運(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)卡(ka)(ka)方面，目前做的(de)比較好的(de)是(shi)東莞博派(pai)智(zhi)能科技。總(zong)(zong)(zong)線(xian)方面他們推出的(de)ECAT_GAS2系列總(zong)(zong)(zong)線(xian)運(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)卡(ka)(ka)提供了VC++及(ji)C#和Delphi以(yi)及(ji)VB下的(de)動(dong)(dong)(dong)態庫(ku)(ku)，用戶可(ke)利用動(dong)(dong)(dong)態庫(ku)(ku)提供的(de)API完成(cheng)板卡(ka)(ka)打開(kai)、關閉(bi)、IO輸(shu)(shu)入(ru)輸(shu)(shu)出、電(dian)機點位/速度/插補/硬(ying)件(jian)捕(bu)獲/電(dian)子(zi)齒輪/比較輸(shu)(shu)出等運(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)功能。Labview下也可(ke)以(yi)通過調用C++動(dong)(dong)(dong)態庫(ku)(ku)的(de)方式使(shi)用。同時(shi)板卡(ka)(ka)支(zhi)持Linux、Android、iOS、Wince、Python、QT等開(kai)發(fa)環境及(ji)語言(yan)。徐州網口運(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)卡(ka)(ka)

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