運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)卡(ka)是(shi)利用(yong)高(gao)(gao)(gao)性能(neng)(neng)微(wei)處理器(qi)(qi)及大規(gui)模可(ke)編程器(qi)(qi)件實現多個伺服電機(ji)(ji)的(de)(de)(de)(de)(de)(de)多軸協調(diao)(diao)控(kong)制(zhi)的(de)(de)(de)(de)(de)(de)一種高(gao)(gao)(gao)性能(neng)(neng)的(de)(de)(de)(de)(de)(de)，專門用(yong)來滿足足一系(xi)列(lie)運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)需求的(de)(de)(de)(de)(de)(de)（位移、速度(du)(du)、加速度(du)(du)等(deng)），基于PC機(ji)(ji)的(de)(de)(de)(de)(de)(de)上位控(kong)制(zhi)單(dan)元。運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)卡(ka)的(de)(de)(de)(de)(de)(de)原理是(shi)發(fa)出(chu)(chu)(chu)連續的(de)(de)(de)(de)(de)(de)、高(gao)(gao)(gao)頻(pin)率(lv)的(de)(de)(de)(de)(de)(de)脈(mo)(mo)(mo)沖(chong)(chong)(chong)串，通(tong)過改(gai)變發(fa)出(chu)(chu)(chu)脈(mo)(mo)(mo)沖(chong)(chong)(chong)的(de)(de)(de)(de)(de)(de)頻(pin)率(lv)來控(kong)制(zhi)電機(ji)(ji)的(de)(de)(de)(de)(de)(de)速度(du)(du)，改(gai)變發(fa)出(chu)(chu)(chu)脈(mo)(mo)(mo)沖(chong)(chong)(chong)的(de)(de)(de)(de)(de)(de)數量來控(kong)制(zhi)電機(ji)(ji)的(de)(de)(de)(de)(de)(de)位置(zhi)(zhi)(zhi)，它的(de)(de)(de)(de)(de)(de)脈(mo)(mo)(mo)沖(chong)(chong)(chong)輸出(chu)(chu)(chu)模式包括脈(mo)(mo)(mo)沖(chong)(chong)(chong)/方向、脈(mo)(mo)(mo)沖(chong)(chong)(chong)/脈(mo)(mo)(mo)沖(chong)(chong)(chong)方式等(deng)。并且，依(yi)靠傳感器(qi)(qi)傳回的(de)(de)(de)(de)(de)(de)位置(zhi)(zhi)(zhi)反饋，運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)卡(ka)可(ke)以(yi)實時調(diao)(diao)整運(yun)(yun)(yun)動(dong)(dong)(dong)位置(zhi)(zhi)(zhi)，糾正(zheng)傳動(dong)(dong)(dong)過程中(zhong)的(de)(de)(de)(de)(de)(de)誤差，從(cong)而做到高(gao)(gao)(gao)精度(du)(du)加工。東莞博派智能(neng)(neng)科技有限公司專注于運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)技術研究(jiu)和(he)通(tong)用(yong)運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)軟(ruan)硬件產品的(de)(de)(de)(de)(de)(de)研發(fa)。鹽城(cheng)博派運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)卡(ka)

一、電(dian)子(zi)凸(tu)(tu)輪(lun)(lun)簡介1.1組成(cheng)(cheng)部分電(dian)子(zi)凸(tu)(tu)輪(lun)(lun)（ECAM）是(shi)利(li)(li)用(yong)構造(zao)(zao)的(de)凸(tu)(tu)輪(lun)(lun)曲(qu)線(xian)來模擬機(ji)械(xie)凸(tu)(tu)輪(lun)(lun)，以(yi)達(da)到機(ji)械(xie)凸(tu)(tu)輪(lun)(lun)系統相(xiang)同的(de)凸(tu)(tu)輪(lun)(lun)軸(zhou)(zhou)(zhou)于主(zhu)軸(zhou)(zhou)(zhou)之(zhi)間(jian)相(xiang)對運動(dong)的(de)軟件系統。通過控(kong)(kong)制(zhi)器控(kong)(kong)制(zhi)伺服(fu)電(dian)機(ji)來模擬機(ji)械(xie)凸(tu)(tu)輪(lun)(lun)的(de)功能(neng)，不需要另外安裝(zhuang)機(ji)械(xie)結構。1.2工(gong)作原理電(dian)子(zi)凸(tu)(tu)輪(lun)(lun)屬于多軸(zhou)(zhou)(zhou)同步運動(dong)。與(yu)機(ji)械(xie)齒輪(lun)(lun)一樣，電(dian)子(zi)凸(tu)(tu)輪(lun)(lun)需要主(zhu)軸(zhou)(zhou)(zhou)和從軸(zhou)(zhou)(zhou)。若定義凸(tu)(tu)輪(lun)(lun)為主(zhu)軸(zhou)(zhou)(zhou)，推桿為從軸(zhou)(zhou)(zhou)，那(nei)么凸(tu)(tu)輪(lun)(lun)的(de)實(shi)質就是(shi)從軸(zhou)(zhou)(zhou)對應主(zhu)軸(zhou)(zhou)(zhou)的(de)一種函數關系。如下圖，機(ji)械(xie)凸(tu)(tu)輪(lun)(lun)按照(zhao)凸(tu)(tu)輪(lun)(lun)的(de)輪(lun)(lun)廓可以(yi)得(de)出一段(duan)轉動(dong)角度與(yu)加(jia)工(gong)位置(zhi)運動(dong)軌跡(ji)，此(ci)軌跡(ji)為弧線(xian)，將該段(duan)弧線(xian)分解成(cheng)(cheng)無(wu)數個(ge)直線(xian)軌跡(ji)，組合(he)起(qi)來得(de)到一串趨近于弧線(xian)運動(dong)軌跡(ji)，電(dian)子(zi)凸(tu)(tu)輪(lun)(lun)直接將此(ci)段(duan)軌跡(ji)運動(dong)參數裝(zhuang)入運動(dong)指令(ling)，即可控(kong)(kong)制(zhi)軸(zhou)(zhou)(zhou)走(zou)出目(mu)標軌跡(ji)。鹽城博派運動(dong)控(kong)(kong)制(zhi)卡(ka)電(dian)子(zi)凸(tu)(tu)輪(lun)(lun)可以(yi)應用(yong)在諸如汽車制(zhi)造(zao)(zao)、冶(ye)金(jin)、機(ji)械(xie)加(jia)工(gong)、紡(fang)織(zhi)、印刷、食品包(bao)裝(zhuang)、水利(li)(li)水電(dian)等各個(ge)領域(yu)。

即便(bian)在其誕生的(de)10年(nian)之后，EtherCAT的(de)通(tong)信速(su)度仍(reng)比快的(de)CPU的(de)運行速(su)度還(huan)快，并且2003年(nian)使(shi)用EtherCAT的(de)控制器(qi)到了(le)(le)2013年(nian)仍(reng)然(ran)可(ke)以(yi)在自(zi)動(dong)化設備上兼容使(shi)用–從某種意義(yi)上講，它(ta)已(yi)經打破摩爾定律10年(nian)有(you)余（雖然(ran)應(ying)用的(de)領域稍有(you)差別(bie)）。這也就是(shi)說，單一版本(ben)(ben)的(de)EtherCAT，即那個版本(ben)(ben)的(de)EtherCAT就已(yi)足夠支(zhi)撐(cheng)現今大部(bu)分的(de)工業場景，后來所(suo)有(you)添加的(de)東(dong)西都只是(shi)擴展，而非(fei)改型(xing)，真可(ke)謂叫“匠心級(ji)(ji)”產品(pin)，相比于當前(qian)(qian)某些企業吹(chui)的(de)什么“現象級(ji)(ji)”產品(pin)，水平不知道高(gao)到哪里去了(le)(le)。東(dong)莞博派智能科技有(you)限公司推出(chu)(chu)的(de)ECAT_GAS2系(xi)列總線運動(dong)控制卡，同時支(zhi)持(chi)EtherCAT和(he)Ethernet，提供VC++/VB/C#/LABVIEW/LINUX/QT/DELPHI等動(dong)態庫(ku)和(he)API.普通(tong)電腦甚至筆(bi)記本(ben)(ben)就能用，非(fei)常方便(bian)。同時支(zhi)持(chi)點、線、圓(yuan)弧(hu)、螺(luo)旋線插補，支(zhi)持(chi)連續小線段(duan)速(su)度前(qian)(qian)瞻(zhan)。同時可(ke)以(yi)接入外部(bu)手輪，主卡本(ben)(ben)身有(you)2路(lu)模擬量(liang)輸入和(he)兩路(lu)模擬量(liang)輸出(chu)(chu)，非(fei)常方便(bian)。

2003年德(de)國漢諾威工(gong)(gong)(gong)(gong)業(ye)博覽(lan)會，一家以(yi)做(zuo)運動控(kong)制(zhi)器出(chu)名的(de)(de)(de)(de)企業(ye)展(zhan)臺前(qian)(qian)人頭攢動，展(zhan)出(chu)的(de)(de)(de)(de)產品是(shi)一種(zhong)全新的(de)(de)(de)(de)工(gong)(gong)(gong)(gong)業(ye)通(tong)(tong)訊協(xie)議。幾乎(hu)整(zheng)個從事自動化行(xing)業(ye)相關的(de)(de)(de)(de)參會者都(dou)訪問過這家的(de)(de)(de)(de)展(zhan)位并為此感(gan)到(dao)震驚，有(you)(you)(you)(you)人直接斷言這是(shi)一種(zhong)具(ju)有(you)(you)(you)(you)前(qian)(qian)瞻性(xing)的(de)(de)(de)(de)技術(shu)，是(shi)前(qian)(qian)沿控(kong)制(zhi)理(li)念的(de)(de)(de)(de)新生代產物(wu)。這家公(gong)司(si)(si)就是(shi)德(de)國倍(bei)福自動化有(you)(you)(you)(you)限公(gong)司(si)(si)（Beckhoff），而這個被譽為具(ju)有(you)(you)(you)(you)前(qian)(qian)瞻性(xing)的(de)(de)(de)(de)技術(shu)叫做(zuo)EtherCAT（用(yong)(yong)(yong)于(yu)控(kong)制(zhi)自動化技術(shu)的(de)(de)(de)(de)以(yi)太(tai)網）。后來的(de)(de)(de)(de)故事一如第一次見到(dao)EtherCAT的(de)(de)(de)(de)人們(men)預料的(de)(de)(de)(de)那(nei)樣，這種(zhong)可以(yi)稱得上是(shi)“前(qian)(qian)瞻性(xing)”的(de)(de)(de)(de)工(gong)(gong)(gong)(gong)業(ye)通(tong)(tong)訊協(xie)議，憑借其應用(yong)(yong)(yong)的(de)(de)(de)(de)多樣性(xing)，開(kai)放性(xing)、高效率，在包括包裝機(ji)、全鋼工(gong)(gong)(gong)(gong)廠、機(ji)器人、切割系統、風洞和風能(neng)(neng)(neng)系統等應用(yong)(yong)(yong)程(cheng)序中得以(yi)使用(yong)(yong)(yong)。國內的(de)(de)(de)(de)EtherCAT總線運動控(kong)制(zhi)卡(ka)(ka)目前(qian)(qian)做(zuo)的(de)(de)(de)(de)比(bi)較好的(de)(de)(de)(de)是(shi)東莞(guan)(guan)博派智能(neng)(neng)(neng)科(ke)技有(you)(you)(you)(you)限公(gong)司(si)(si)的(de)(de)(de)(de)ECAT_GAS2系列，使用(yong)(yong)(yong)簡單，支(zhi)持VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等，普通(tong)(tong)電腦甚至筆記本都(dou)能(neng)(neng)(neng)用(yong)(yong)(yong)，非常方(fang)便。ECAT_GAS2運動控(kong)制(zhi)卡(ka)(ka)是(shi)一款由東莞(guan)(guan)博派智能(neng)(neng)(neng)科(ke)技有(you)(you)(you)(you)限公(gong)司(si)(si)推出(chu)的(de)(de)(de)(de)新型的(de)(de)(de)(de)EtherCAT總線運動控(kong)制(zhi)卡(ka)(ka)。

運(yun)(yun)動(dong)(dong)控(kong)制(zhi)主要涉及步進(jin)電(dian)機(ji)(ji)(ji)、伺服電(dian)機(ji)(ji)(ji)的(de)控(kong)制(zhi)，控(kong)制(zhi)結構模式一般是(shi)：控(kong)制(zhi)裝置(zhi)+驅(qu)動(dong)(dong)器(qi)+（步進(jin)或伺服）電(dian)機(ji)(ji)(ji)。控(kong)制(zhi)裝置(zhi)可(ke)以(yi)是(shi)PLC系(xi)統，也可(ke)以(yi)是(shi)自動(dong)(dong)化(hua)裝置(zhi)（如運(yun)(yun)動(dong)(dong)控(kong)制(zhi)器(qi)、運(yun)(yun)動(dong)(dong)控(kong)制(zhi)卡(ka)）。PLC系(xi)統作為控(kong)制(zhi)裝置(zhi)時，雖具有(you)PLC系(xi)統的(de)靈(ling)活(huo)性(xing)、一定的(de)通用(yong)性(xing)，但對于(yu)精(jing)度(du)較高(gao)，如-插(cha)(cha)補控(kong)制(zhi)，反應靈(ling)敏的(de)要求時難(nan)以(yi)做到或編(bian)程非常困(kun)難(nan)，而且(qie)成(cheng)本可(ke)能較高(gao)。隨著(zhu)技術進(jin)步和(he)技術積(ji)累，運(yun)(yun)動(dong)(dong)控(kong)制(zhi)器(qi)應運(yun)(yun)而生(sheng)了，它把一些普(pu)遍性(xing)的(de)、特(te)(te)殊的(de)運(yun)(yun)動(dong)(dong)控(kong)制(zhi)功(gong)能固化(hua)在其中(zhong)—如插(cha)(cha)補指(zhi)令，用(yong)戶只需(xu)組態、調用(yong)這些功(gong)能塊(kuai)或指(zhi)令，這樣(yang)減輕了編(bian)程難(nan)度(du)，性(xing)能、成(cheng)本等方面也有(you)優勢。也可(ke)以(yi)這樣(yang)理解：PLC的(de)使用(yong)是(shi)一種普(pu)通的(de)運(yun)(yun)動(dong)(dong)控(kong)制(zhi)裝置(zhi)。運(yun)(yun)動(dong)(dong)控(kong)制(zhi)器(qi)是(shi)一種特(te)(te)殊的(de)PLC，專職(zhi)用(yong)于(yu)運(yun)(yun)動(dong)(dong)控(kong)制(zhi)。東莞(guan)博派(pai)是(shi)中(zhong)國工控(kong)市(shi)場較早的(de)參與者之一，長(chang)期專注于(yu)機(ji)(ji)(ji)械設備制(zhi)造行業自動(dong)(dong)化(hua)水平的(de)提高(gao)。鹽城博派(pai)運(yun)(yun)動(dong)(dong)控(kong)制(zhi)卡(ka)

運動控制(zhi)(zhi)卡是(shi)一(yi)種硬件設備，通常是(shi)插入(ru)在計(ji)算機(ji)的擴展插槽或(huo)者通過接(jie)口連(lian)接(jie)計(ji)算機(ji)的外(wai)部設備。鹽城博派運動控制(zhi)(zhi)卡

C的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)是(shi)指(zhi)PLC系統通過(guo)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)設備(bei)(bei)的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軸，實(shi)(shi)現(xian)精確(que)、穩定和(he)(he)可(ke)編(bian)(bian)(bian)(bian)程(cheng)(cheng)的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)。它(ta)可(ke)以(yi)(yi)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)設備(bei)(bei)（如電(dian)機(ji)、伺服驅(qu)動(dong)(dong)(dong)(dong)(dong)器等(deng)(deng)(deng)）的(de)(de)(de)(de)位置(zhi)、速度(du)和(he)(he)加速度(du)等(deng)(deng)(deng)參數(shu)，以(yi)(yi)實(shi)(shi)現(xian)所需(xu)的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軌(gui)跡和(he)(he)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)邏(luo)輯。選取支(zhi)持(chi)(chi)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)(de)PLC時(shi)，以(yi)(yi)下是(shi)一些關(guan)鍵因素和(he)(he)考慮事項(xiang)：（1）運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)：確(que)保PLC具備(bei)(bei)完善(shan)的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)能(neng)(neng)(neng)(neng)，包(bao)(bao)括軸控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)、軌(gui)跡規(gui)劃、速度(du)和(he)(he)加速度(du)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)等(deng)(deng)(deng)。PLC應(ying)(ying)支(zhi)持(chi)(chi)多個運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軸的(de)(de)(de)(de)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)，并(bing)能(neng)(neng)(neng)(neng)滿足具體應(ying)(ying)用的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)需(xu)求。（2）接(jie)(jie)口(kou)和(he)(he)通信(xin)能(neng)(neng)(neng)(neng)力：PLC需(xu)要(yao)提(ti)(ti)供(gong)與(yu)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)設備(bei)(bei)（如伺服驅(qu)動(dong)(dong)(dong)(dong)(dong)器、編(bian)(bian)(bian)(bian)碼器等(deng)(deng)(deng)）的(de)(de)(de)(de)接(jie)(jie)口(kou)和(he)(he)通信(xin)能(neng)(neng)(neng)(neng)力。常(chang)見(jian)的(de)(de)(de)(de)接(jie)(jie)口(kou)包(bao)(bao)括模(mo)擬量輸入/輸出(chu)、數(shu)字量輸入/輸出(chu)、編(bian)(bian)(bian)(bian)碼器反饋接(jie)(jie)口(kou)等(deng)(deng)(deng)。同(tong)時(shi)，PLC應(ying)(ying)支(zhi)持(chi)(chi)常(chang)見(jian)的(de)(de)(de)(de)通信(xin)協(xie)議(yi)，如EtherCAT、CANopen等(deng)(deng)(deng)，以(yi)(yi)便(bian)與(yu)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)設備(bei)(bei)進行數(shu)據交換和(he)(he)協(xie)同(tong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)。（3）編(bian)(bian)(bian)(bian)程(cheng)(cheng)和(he)(he)配置(zhi)工具：PLC選型時(shi)，要(yao)考慮其編(bian)(bian)(bian)(bian)程(cheng)(cheng)和(he)(he)配置(zhi)工具的(de)(de)(de)(de)友(you)好性和(he)(he)便(bian)利性。一些PLC廠商(shang)提(ti)(ti)供(gong)專門的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)編(bian)(bian)(bian)(bian)程(cheng)(cheng)語言或函數(shu)塊，簡化了運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)程(cheng)(cheng)序的(de)(de)(de)(de)開(kai)發和(he)(he)調(diao)試過(guo)程(cheng)(cheng)。（4）性能(neng)(neng)(neng)(neng)和(he)(he)實(shi)(shi)時(shi)性：選擇具備(bei)(bei)足夠的(de)(de)(de)(de)性能(neng)(neng)(neng)(neng)和(he)(he)實(shi)(shi)時(shi)性能(neng)(neng)(neng)(neng)的(de)(de)(de)(de)PLC，以(yi)(yi)滿足高速、精確(que)的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)要(yao)求。性能(neng)(neng)(neng)(neng)指(zhi)標(biao)包(bao)(bao)括掃描周期、運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)軸數(shu)量、數(shu)據處理能(neng)(neng)(neng)(neng)力等(deng)(deng)(deng)。鹽(yan)城博派(pai)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)卡

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