PLC的(de)(de)(de)(de)特點（1）可(ke)(ke)靠(kao)性(xing)高(gao)。由(you)(you)于PLC大(da)都(dou)采用(yong)(yong)單(dan)片微型(xing)(xing)(xing)計算機(ji)(ji)，因而集(ji)成度(du)高(gao)，再加上相應的(de)(de)(de)(de)保護電(dian)(dian)路及自診斷功能，提高(gao)了系統(tong)的(de)(de)(de)(de)可(ke)(ke)靠(kao)性(xing)。（2）編(bian)(bian)程(cheng)(cheng)容(rong)易(yi)。PLC的(de)(de)(de)(de)編(bian)(bian)程(cheng)(cheng)多(duo)采用(yong)(yong)繼電(dian)(dian)器控(kong)(kong)(kong)制梯形(xing)圖(tu)及命令語句，其(qi)數量(liang)比微型(xing)(xing)(xing)機(ji)(ji)指令要(yao)(yao)(yao)少(shao)得多(duo)，一(yi)般(ban)的(de)(de)(de)(de)小型(xing)(xing)(xing)PLC只有16條左(zuo)右。由(you)(you)于梯形(xing)圖(tu)形(xing)象而簡(jian)單(dan)，因此(ci)容(rong)易(yi)掌握、使(shi)用(yong)(yong)方(fang)便(bian)(bian)，甚至(zhi)不(bu)需(xu)(xu)要(yao)(yao)(yao)計算機(ji)(ji)專業(ye)知識，就可(ke)(ke)進行(xing)(xing)編(bian)(bian)程(cheng)(cheng)。（3）組態靈活。由(you)(you)于PLC采用(yong)(yong)積木(mu)式結構(gou)，用(yong)(yong)戶只需(xu)(xu)要(yao)(yao)(yao)簡(jian)單(dan)地(di)組合，便(bian)(bian)可(ke)(ke)靈活地(di)改變控(kong)(kong)(kong)制系統(tong)的(de)(de)(de)(de)功能和規模(mo)(mo)，因此(ci)，可(ke)(ke)適用(yong)(yong)于任何(he)控(kong)(kong)(kong)制系統(tong)。（4）輸(shu)入(ru)/輸(shu)出功能模(mo)(mo)塊齊全。PLC的(de)(de)(de)(de)優點之一(yi)，是針對(dui)不(bu)同的(de)(de)(de)(de)現場信號（如(ru)直(zhi)流(liu)或交(jiao)流(liu)、開關量(liang)、數字量(liang)或模(mo)(mo)擬量(liang)、電(dian)(dian)壓或電(dian)(dian)流(liu)等），均(jun)有相應的(de)(de)(de)(de)模(mo)(mo)板(ban)可(ke)(ke)與工業(ye)現場的(de)(de)(de)(de)器件(jian)（如(ru)按鈕、開關、傳(chuan)感電(dian)(dian)流(liu)變送(song)器、電(dian)(dian)機(ji)(ji)啟動器或控(kong)(kong)(kong)制閥等）直(zhi)接連(lian)接，并(bing)通過總線與CPU主板(ban)連(lian)接。（5）安裝(zhuang)方(fang)便(bian)(bian)。與計算機(ji)(ji)系統(tong)相比，PLC的(de)(de)(de)(de)安裝(zhuang)既不(bu)需(xu)(xu)要(yao)(yao)(yao)機(ji)(ji)房，也不(bu)需(xu)(xu)要(yao)(yao)(yao)嚴(yan)格的(de)(de)(de)(de)屏(ping)蔽措施(shi)。使(shi)用(yong)(yong)時只需(xu)(xu)把檢測器件(jian)與執行(xing)(xing)機(ji)(ji)構(gou)和PLC的(de)(de)(de)(de)I/O接口端子正確連(lian)接，便(bian)(bian)可(ke)(ke)正常工作。（6）運(yun)(yun)行(xing)(xing)速度(du)快。由(you)(you)于PLC的(de)(de)(de)(de)控(kong)(kong)(kong)制是由(you)(you)程(cheng)(cheng)序(xu)控(kong)(kong)(kong)制執行(xing)(xing)的(de)(de)(de)(de)，因而不(bu)論其(qi)可(ke)(ke)靠(kao)性(xing)還是運(yun)(yun)行(xing)(xing)速度(du)，都(dou)是繼電(dian)(dian)器邏輯控(kong)(kong)(kong)制無(wu)法相比的(de)(de)(de)(de)。運(yun)(yun)動控(kong)(kong)(kong)制卡(ka)在參數設置、數據傳(chuan)輸(shu)和遠(yuan)程(cheng)(cheng)監控(kong)(kong)(kong)方(fang)面表現出色(se)。嘉興雷賽運(yun)(yun)動控(kong)(kong)(kong)制卡(ka)

一(yi)、電(dian)(dian)子(zi)凸(tu)輪(lun)(lun)(lun)(lun)簡介1.1組(zu)成部(bu)分(fen)電(dian)(dian)子(zi)凸(tu)輪(lun)(lun)(lun)(lun)（ECAM）是利(li)用構(gou)造的(de)凸(tu)輪(lun)(lun)(lun)(lun)曲線來模擬(ni)機(ji)械(xie)(xie)凸(tu)輪(lun)(lun)(lun)(lun)，以達(da)到(dao)機(ji)械(xie)(xie)凸(tu)輪(lun)(lun)(lun)(lun)系統相(xiang)同的(de)凸(tu)輪(lun)(lun)(lun)(lun)軸(zhou)(zhou)于(yu)(yu)(yu)主(zhu)軸(zhou)(zhou)之(zhi)間相(xiang)對(dui)運(yun)(yun)動(dong)(dong)的(de)軟件(jian)系統。通過(guo)控(kong)制(zhi)器控(kong)制(zhi)伺(si)服電(dian)(dian)機(ji)來模擬(ni)機(ji)械(xie)(xie)凸(tu)輪(lun)(lun)(lun)(lun)的(de)功(gong)能，不需要另外安裝(zhuang)機(ji)械(xie)(xie)結構(gou)。1.2工作原(yuan)理電(dian)(dian)子(zi)凸(tu)輪(lun)(lun)(lun)(lun)屬(shu)于(yu)(yu)(yu)多軸(zhou)(zhou)同步運(yun)(yun)動(dong)(dong)。與機(ji)械(xie)(xie)齒輪(lun)(lun)(lun)(lun)一(yi)樣(yang)，電(dian)(dian)子(zi)凸(tu)輪(lun)(lun)(lun)(lun)需要主(zhu)軸(zhou)(zhou)和從(cong)軸(zhou)(zhou)。若(ruo)定義(yi)凸(tu)輪(lun)(lun)(lun)(lun)為主(zhu)軸(zhou)(zhou)，推桿為從(cong)軸(zhou)(zhou)，那(nei)么凸(tu)輪(lun)(lun)(lun)(lun)的(de)實質就是從(cong)軸(zhou)(zhou)對(dui)應(ying)主(zhu)軸(zhou)(zhou)的(de)一(yi)種(zhong)函數(shu)關系。如下圖，機(ji)械(xie)(xie)凸(tu)輪(lun)(lun)(lun)(lun)按照凸(tu)輪(lun)(lun)(lun)(lun)的(de)輪(lun)(lun)(lun)(lun)廓(kuo)可(ke)(ke)以得(de)出(chu)一(yi)段(duan)轉動(dong)(dong)角(jiao)度與加(jia)工位置運(yun)(yun)動(dong)(dong)軌(gui)跡(ji)(ji)，此軌(gui)跡(ji)(ji)為弧(hu)線，將該段(duan)弧(hu)線分(fen)解成無數(shu)個直(zhi)線軌(gui)跡(ji)(ji)，組(zu)合起來得(de)到(dao)一(yi)串趨近于(yu)(yu)(yu)弧(hu)線運(yun)(yun)動(dong)(dong)軌(gui)跡(ji)(ji)，電(dian)(dian)子(zi)凸(tu)輪(lun)(lun)(lun)(lun)直(zhi)接將此段(duan)軌(gui)跡(ji)(ji)運(yun)(yun)動(dong)(dong)參數(shu)裝(zhuang)入運(yun)(yun)動(dong)(dong)指令，即可(ke)(ke)控(kong)制(zhi)軸(zhou)(zhou)走(zou)出(chu)目標(biao)軌(gui)跡(ji)(ji)。雷(lei)賽運(yun)(yun)動(dong)(dong)控(kong)制(zhi)卡編程(cheng)連續(xu)插補二維(wei)是指以一(yi)個平面為基準，進(jin)行多個點(dian)的(de)連續(xu)插補，實現更(geng)加(jia)復雜的(de)運(yun)(yun)動(dong)(dong)軌(gui)跡(ji)(ji)控(kong)制(zhi)。

得(de)益于(yu)總線(xian)型對于(yu)脈(mo)沖型運(yun)控(kong)(kong)(kong)產品的(de)(de)(de)替代大潮，EtherCAT從自動(dong)(dong)化(hua)市場嶄露頭(tou)角。從性(xing)能角度(du)來(lai)講，EtherCAT在(zai)(zai)眾多(duo)總線(xian)型控(kong)(kong)(kong)制協議(yi)中脫(tuo)穎而出，主要依靠以(yi)(yi)(yi)下三點：1.EtherCAT通(tong)信(xin)速度(du)非常快(kuai)。它(ta)利用(yong)(yong)雙絞線(xian)或光纜在(zai)(zai)100μs內處理30μs或100個(ge)軸上(shang)的(de)(de)(de)1000個(ge)分(fen)布式I/O信(xin)號，為實時性(xing)能設置了新的(de)(de)(de)限(xian)制。這(zhe)種高速度(du)使得(de)EtherCAT非常適合(he)自動(dong)(dong)化(hua)，工業(ye)(ye)(ye)物聯網（IIoT）以(yi)(yi)(yi)及其他需(xu)要實時優化(hua)的(de)(de)(de)應(ying)用(yong)(yong)。2.這(zhe)是一個(ge)較(jiao)多(duo)采用(yong)(yong)的(de)(de)(de)開放標準。越(yue)來(lai)越(yue)多(duo)的(de)(de)(de)設備正在(zai)(zai)通(tong)過(guo)現場總線(xian)或無線(xian)連(lian)接(jie)。并且(qie)由于(yu)數據使用(yong)(yong)與以(yi)(yi)(yi)太網相(xiang)同(tong)的(de)(de)(de)格(ge)式，因此可(ke)以(yi)(yi)(yi)直接(jie)連(lian)接(jie)到以(yi)(yi)(yi)太網。不需(xu)要特(te)定(ding)的(de)(de)(de)路(lu)由器(qi)或交(jiao)換機。這(zhe)意味著用(yong)(yong)戶可(ke)以(yi)(yi)(yi)通(tong)過(guo)效率更高的(de)(de)(de)方式使用(yong)(yong)EtherCAT-IP在(zai)(zai)同(tong)一接(jie)口上(shang)進(jin)行(xing)多(duo)種產品的(de)(de)(de)選擇。3.它(ta)自身構建(jian)的(de)(de)(de)可(ke)持(chi)續性(xing)。使用(yong)(yong)成熟的(de)(de)(de)以(yi)(yi)(yi)太網電纜，EtherCAT通(tong)訊協議(yi)可(ke)以(yi)(yi)(yi)在(zai)(zai)較(jiao)為極(ji)端的(de)(de)(de)條件下進(jin)行(xing)持(chi)續作(zuo)(zuo)業(ye)(ye)(ye)，比如EtherCAT端子可(ke)以(yi)(yi)(yi)在(zai)(zai)-25°C至(zhi)+60°C的(de)(de)(de)溫(wen)度(du)范(fan)圍內連(lian)續工作(zuo)(zuo)（Trinamic的(de)(de)(de)EtherCAT運(yun)動(dong)(dong)控(kong)(kong)(kong)制器(qi)甚至(zhi)可(ke)以(yi)(yi)(yi)滿足-40°C至(zhi)125°C的(de)(de)(de)汽車級溫(wen)度(du)規(gui)格(ge)）。國(guo)內來(lai)說，東(dong)莞博派(pai)智能科技有限(xian)公司(si)推(tui)出了工業(ye)(ye)(ye)用(yong)(yong)EtherCAT總線(xian)運(yun)動(dong)(dong)控(kong)(kong)(kong)制卡，支持(chi)2~64軸運(yun)動(dong)(dong)控(kong)(kong)(kong)制，提供VC++/C#/LABVIEW/VB/DELPHI等動(dong)(dong)態庫和例程(cheng)，非常方便。

即(ji)(ji)便在其(qi)誕(dan)生的(de)(de)10年之后(hou)，EtherCAT的(de)(de)通信速度(du)仍比快(kuai)(kuai)的(de)(de)CPU的(de)(de)運行速度(du)還快(kuai)(kuai)，并且2003年使(shi)用(yong)EtherCAT的(de)(de)控制(zhi)(zhi)器到了2013年仍然可(ke)以在自動化設備上兼(jian)容使(shi)用(yong)–從某(mou)種意義(yi)上講(jiang)，它(ta)已經(jing)打(da)破(po)摩爾定律10年有余(yu)（雖然應(ying)用(yong)的(de)(de)領域稍有差(cha)別(bie)）。這也(ye)就(jiu)是(shi)說(shuo)，單一版本(ben)(ben)的(de)(de)EtherCAT，即(ji)(ji)那個版本(ben)(ben)的(de)(de)EtherCAT就(jiu)已足夠(gou)支(zhi)(zhi)撐(cheng)現今(jin)大(da)部分的(de)(de)工(gong)業場景，后(hou)來所有添加(jia)的(de)(de)東西都(dou)只是(shi)擴展，而非(fei)改型，真可(ke)謂叫(jiao)“匠心級”產品，相(xiang)比于當前(qian)某(mou)些企業吹(chui)的(de)(de)什(shen)么“現象(xiang)級”產品，水平不知道高(gao)到哪里去了。東莞博派智能科技(ji)有限公(gong)司推(tui)出的(de)(de)ECAT_GAS2系列總線運動控制(zhi)(zhi)卡，同時支(zhi)(zhi)持EtherCAT和Ethernet，提(ti)供VC++/VB/C#/LABVIEW/LINUX/QT/DELPHI等(deng)動態庫(ku)和API.普(pu)通電(dian)腦(nao)甚至筆(bi)記本(ben)(ben)就(jiu)能用(yong)，非(fei)常方(fang)便。同時支(zhi)(zhi)持點、線、圓(yuan)弧、螺旋線插補(bu)，支(zhi)(zhi)持連續小線段速度(du)前(qian)瞻。同時可(ke)以接入(ru)外部手(shou)輪(lun)，主卡本(ben)(ben)身有2路(lu)模擬量輸(shu)入(ru)和兩路(lu)模擬量輸(shu)出，非(fei)常方(fang)便。運動控制(zhi)(zhi)主要涉及步進(jin)電(dian)機(ji)、伺服(fu)電(dian)機(ji)的(de)(de)控制(zhi)(zhi)，控制(zhi)(zhi)結構模式一般是(shi)：控制(zhi)(zhi)裝(zhuang)置+驅(qu)動器+（步進(jin)或伺服(fu)）電(dian)機(ji)。

PLC系統一(yi)般由以(yi)(yi)下(xia)基本功(gong)(gong)(gong)(gong)能(neng)(neng)構(gou)成：多種控(kong)(kong)制(zhi)(zhi)(zhi)功(gong)(gong)(gong)(gong)能(neng)(neng)、數據(ju)采集(ji)(ji)、存儲與處理(li)功(gong)(gong)(gong)(gong)能(neng)(neng)、通信聯(lian)網(wang)功(gong)(gong)(gong)(gong)能(neng)(neng)、輸(shu)(shu)入/輸(shu)(shu)出(chu)接口調(diao)理(li)功(gong)(gong)(gong)(gong)能(neng)(neng)、人機界面(mian)功(gong)(gong)(gong)(gong)能(neng)(neng)、編(bian)程(cheng)、調(diao)試功(gong)(gong)(gong)(gong)能(neng)(neng)、控(kong)(kong)制(zhi)(zhi)(zhi)功(gong)(gong)(gong)(gong)能(neng)(neng)邏輯控(kong)(kong)制(zhi)(zhi)(zhi)：PLC具(ju)有(you)與、或(huo)、非、異或(huo)和(he)(he)觸(chu)發器(qi)等邏輯運(yun)算(suan)(suan)功(gong)(gong)(gong)(gong)能(neng)(neng)，可(ke)以(yi)(yi)代替繼電(dian)器(qi)進(jin)行開關量(liang)控(kong)(kong)制(zhi)(zhi)(zhi)。定時控(kong)(kong)制(zhi)(zhi)(zhi)：它為用戶(hu)提(ti)供了若干個(ge)電(dian)子定時器(qi)，用戶(hu)可(ke)自行設定：接通延時、關斷延時和(he)(he)定時脈沖等方(fang)式(shi)。計數控(kong)(kong)制(zhi)(zhi)(zhi)：用脈沖控(kong)(kong)制(zhi)(zhi)(zhi)可(ke)以(yi)(yi)實現加、減(jian)(jian)計數模(mo)式(shi)，可(ke)以(yi)(yi)連接碼盤進(jin)行位置檢測。順(shun)序控(kong)(kong)制(zhi)(zhi)(zhi)：在前道工序完成之后，就轉(zhuan)入下(xia)一(yi)道工序，使(shi)一(yi)臺(tai)PLC可(ke)作(zuo)為多部步進(jin)控(kong)(kong)制(zhi)(zhi)(zhi)器(qi)使(shi)用。數據(ju)采集(ji)(ji)、存儲與處理(li)功(gong)(gong)(gong)(gong)能(neng)(neng)數學運(yun)算(suan)(suan)功(gong)(gong)(gong)(gong)能(neng)(neng)：基本算(suan)(suan)術：加、減(jian)(jian)、乘(cheng)、除。擴展(zhan)算(suan)(suan)術：平方(fang)根(gen)、三角函數和(he)(he)浮(fu)點(dian)運(yun)算(suan)(suan)。比較：大于、小于和(he)(he)等于。數據(ju)處理(li)：選(xuan)擇、組織、規(gui)格化、移(yi)動和(he)(he)先入先出(chu)。模(mo)擬(ni)數據(ju)處理(li)：PID、積分和(he)(he)濾波。輸(shu)(shu)入/輸(shu)(shu)出(chu)接口調(diao)理(li)功(gong)(gong)(gong)(gong)能(neng)(neng)具(ju)有(you)A/D、D/A轉(zhuan)換(huan)功(gong)(gong)(gong)(gong)能(neng)(neng)，通過I/O模(mo)塊(kuai)完成對模(mo)擬(ni)量(liang)的控(kong)(kong)制(zhi)(zhi)(zhi)和(he)(he)調(diao)節(jie)。位數和(he)(he)精(jing)度可(ke)以(yi)(yi)根(gen)據(ju)用戶(hu)要求選(xuan)擇。PC和(he)(he)手持編(bian)程(cheng)器(qi)提(ti)供給(gei)用戶(hu)編(bian)程(cheng)使(shi)用，為用戶(hu)提(ti)供了方(fang)便的編(bian)程(cheng)界面(mian)。嘉興雷賽運(yun)動控(kong)(kong)制(zhi)(zhi)(zhi)卡

比(bi)如在機械加工(gong)方面，用電子凸(tu)輪來(lai)代替笨重的機械凸(tu)輪當然是比(bi)較簡單的了(le)。嘉(jia)興雷賽(sai)運動(dong)控(kong)制卡

博派ECAT_GAS2控制(zhi)卡(ka)(ka)提供了VC++及C#和Delphi以及VB下的動(dong)(dong)態庫，用戶可利(li)用動(dong)(dong)態庫提供的API完成(cheng)板卡(ka)(ka)打(da)開(kai)、關閉、IO輸(shu)入(ru)輸(shu)出(chu)、電(dian)機(ji)點位/速度/插補(bu)/硬件(jian)捕(bu)獲/電(dian)子(zi)齒輪(lun)/比較(jiao)(jiao)輸(shu)出(chu)等運動(dong)(dong)控制(zhi)功能。Labview下也可以通過調用C++動(dong)(dong)態庫的方(fang)式使用。同時板卡(ka)(ka)支(zhi)持(chi)(chi)Linux、Android、iOS、Wince、Python、QT等開(kai)發環境及語言(yan)。支(zhi)持(chi)(chi)點位運動(dong)(dong)、速度控制(zhi)、直線、圓弧、連(lian)續軌(gui)跡插補(bu)，支(zhi)持(chi)(chi)速度前瞻。硬件(jian)捕(bu)獲、電(dian)子(zi)齒輪(lun)/電(dian)子(zi)凸輪(lun)、位置比較(jiao)(jiao)輸(shu)出(chu)。支(zhi)持(chi)(chi)PT模式與刀(dao)向跟隨。嘉興雷賽運動(dong)(dong)控制(zhi)卡(ka)(ka)

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