运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)是一种基(ji)于(yu)PC机(ji)(ji)及(ji)工业PC机(ji)(ji)、用(yong)(yong)(yong)于(yu)各种运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)场合（包(bao)括位(wei)移、速(su)度、加(jia)速(su)度等(deng)）的(de)(de)上位(wei)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)单元。利用(yong)(yong)(yong)高性能(neng)微处理器及(ji)大(da)(da)规(gui)模可(ke)编程器件(jian)，运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)可(ke)以(yi)(yi)实现对(dui)伺(si)服电机(ji)(ji)的(de)(de)高性能(neng)多轴协调控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，能(neng)够发(fa)出连续且高频(pin)率的(de)(de)脉(mai)冲，并通(tong)过改编脉(mai)冲的(de)(de)频(pin)率来(lai)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)电机(ji)(ji)的(de)(de)速(su)度。作为(wei)基(ji)于(yu)PC机(ji)(ji)的(de)(de)上位(wei)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)单元，运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)在专机(ji)(ji)系统的(de)(de)开发(fa)过程中，具有(you)更大(da)(da)的(de)(de)灵活性和开放性。在此基(ji)础(chu)上，程序员也(ye)能(neng)开发(fa)出功能(neng)强大(da)(da)的(de)(de)运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)系统。正(zheng)因(yin)为(wei)以(yi)(yi)上的(de)(de)特(te)点，专业运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)不(bu)仅在机(ji)(ji)床行(xing)业得(de)到大(da)(da)量推广使用(yong)(yong)(yong)，而且在在许(xu)多小(xiao)型专机(ji)(ji)系统中也(ye)得(de)到应用(yong)(yong)(yong)。国产的(de)(de)话(hua)你可(ke)以(yi)(yi)考(kao)虑用(yong)(yong)(yong)东莞博派智能(neng)的(de)(de)PMC_ECAT这款高性价比EtherCAT运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)PLC。集成(cheng)梯(ti)形图和EtherCAT。徐州总线(xian)运(yun)动(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)代理

2021年(nian)，总(zong)线(xian)型产品的(de)(de)(de)(de)(de)市场(chang)(chang)份(fen)(fen)额(e)占比过半，其中主要以(yi)EtherCAT协(xie)(xie)议(yi)(yi)为主。这(zhei)种行业现状：一是与供应(ying)(ying)商的(de)(de)(de)(de)(de)市场(chang)(chang)份(fen)(fen)额(e)相(xiang)关。二是因为作为被国际半导体(ti)产业协(xie)(xie)会SEMI所支(zhi)持(chi)(chi)(chi)的(de)(de)(de)(de)(de)EtherCAT通讯协(xie)(xie)议(yi)(yi)，能(neng)够拥有(you)(you)(you)更(geng)好(hao)的(de)(de)(de)(de)(de)开放(fang)性，有(you)(you)(you)利于(yu)不(bu)同厂(chang)家设备进行配合(he)通信(xin)；三是因为由(you)于(yu)半导体(ti)行业对(dui)设备的(de)(de)(de)(de)(de)控制(zhi)(zhi)(zhi)精度要求很高，PC-based在半导体(ti)设备中的(de)(de)(de)(de)(de)应(ying)(ying)用(yong)(yong)逐(zhu)渐增多(duo)，并(bing)逐(zhu)渐替代了一部分PLC应(ying)(ying)用(yong)(yong)，因此通讯协(xie)(xie)议(yi)(yi)上也偏(pian)向于(yu)更(geng)开放(fang)的(de)(de)(de)(de)(de)EtherCAT协(xie)(xie)议(yi)(yi)。运(yun)(yun)动(dong)控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)就是PC-BASE的(de)(de)(de)(de)(de)，在很多(duo)场(chang)(chang)合(he)可(ke)(ke)以(yi)替代PLC.其中国内(nei)做的(de)(de)(de)(de)(de)比较(jiao)好(hao)的(de)(de)(de)(de)(de)运(yun)(yun)动(dong)控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)厂(chang)家是东(dong)莞博派智能(neng)科技有(you)(you)(you)限公(gong)司，他们推出的(de)(de)(de)(de)(de)ECAT_GAS2系列总(zong)线(xian)运(yun)(yun)动(dong)控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)，支(zhi)持(chi)(chi)(chi)EtherCAT同时具有(you)(you)(you)以(yi)下特点：1、板卡(ka)(ka)(ka)(ka)采用(yong)(yong)24V直(zhi)流电源(yuan)供电。2、控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)自身有(you)(you)(you)32路通用(yong)(yong)输(shu)(shu)(shu)入(ru)，采用(yong)(yong)光耦隔离，抗干(gan)扰能(neng)力强,数量(liang)可(ke)(ke)扩(kuo)(kuo)展(zhan)。3、控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)自身有(you)(you)(you)16路通用(yong)(yong)输(shu)(shu)(shu)出，可(ke)(ke)直(zhi)接(jie)驱动(dong)继电器，数量(liang)可(ke)(ke)扩(kuo)(kuo)展(zhan)。4、控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)(chi)IO扩(kuo)(kuo)展(zhan)，可(ke)(ke)扩(kuo)(kuo)展(zhan)至(zhi)2048输(shu)(shu)(shu)入(ru)/2048输(shu)(shu)(shu)出。可(ke)(ke)满足所有(you)(you)(you)应(ying)(ying)用(yong)(yong)场(chang)(chang)合(he)。5、支(zhi)持(chi)(chi)(chi)以(yi)太(tai)网或者串口编(bian)程。6、脉冲输(shu)(shu)(shu)出频率(lv)达2MHz7、控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)(chi)多(duo)个(ge)并(bing)联(lian)使(shi)用(yong)(yong)。8、控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)支(zhi)持(chi)(chi)(chi)点位运(yun)(yun)动(dong)、速度控制(zhi)(zhi)(zhi)、直(zhi)线(xian)、圆弧、连续轨迹(ji)插(cha)补，支(zhi)持(chi)(chi)(chi)速度前(qian)瞻。硬件捕获、电子齿轮/电子凸轮、位置(zhi)比较(jiao)输(shu)(shu)(shu)出。支(zhi)持(chi)(chi)(chi)PT模式与刀向跟随(sui)。北京(jing)运(yun)(yun)动(dong)控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)生产厂(chang)家EtherCAT总(zong)线(xian)运(yun)(yun)动(dong)控制(zhi)(zhi)(zhi)卡(ka)(ka)(ka)(ka)方面，东(dong)莞博派智能(neng)科技有(you)(you)(you)相(xiang)关成熟应(ying)(ying)用(yong)(yong)，批(pi)量(liang)用(yong)(yong)于(yu)点胶(jiao)、贴合(he)、装配、切割(ge)等等!

2003年德国(guo)(guo)汉诺威工(gong)业博(bo)览会(hui)，一(yi)家以(yi)(yi)做(zuo)运动控(kong)(kong)制器(qi)出名的(de)(de)(de)(de)企业展(zhan)台前人(ren)头攒动，展(zhan)出的(de)(de)(de)(de)产(chan)品是(shi)一(yi)种(zhong)全新(xin)的(de)(de)(de)(de)工(gong)业通讯协议(yi)。几乎整个从事(shi)(shi)自动化行(xing)业相关(guan)的(de)(de)(de)(de)参会(hui)者都访问过这(zhei)家的(de)(de)(de)(de)展(zhan)位并(bing)为此感到震(zhen)惊，有(you)人(ren)直接断言这(zhei)是(shi)一(yi)种(zhong)具(ju)有(you)前瞻(zhan)性(xing)的(de)(de)(de)(de)技(ji)术，是(shi)前沿控(kong)(kong)制理念的(de)(de)(de)(de)新(xin)生(sheng)代产(chan)物。这(zhei)家公司就是(shi)德国(guo)(guo)倍福自动化有(you)限公司（Beckhoff），而(er)这(zhei)个被誉为具(ju)有(you)前瞻(zhan)性(xing)的(de)(de)(de)(de)技(ji)术叫做(zuo)EtherCAT（用(yong)于控(kong)(kong)制自动化技(ji)术的(de)(de)(de)(de)以(yi)(yi)太网）。后来的(de)(de)(de)(de)故事(shi)(shi)一(yi)如第(di)一(yi)次见到EtherCAT的(de)(de)(de)(de)人(ren)们预料的(de)(de)(de)(de)那样，这(zhei)种(zhong)可以(yi)(yi)称得上是(shi)“前瞻(zhan)性(xing)”的(de)(de)(de)(de)工(gong)业通讯协议(yi)，凭借(jie)其应(ying)用(yong)的(de)(de)(de)(de)多样性(xing)，开(kai)放性(xing)、高(gao)效(xiao)率，在包括包装机、全钢工(gong)厂、机器(qi)人(ren)、切割系统(tong)、风洞(dong)和(he)风能(neng)(neng)系统(tong)等应(ying)用(yong)程序(xu)中(zhong)得以(yi)(yi)使(shi)用(yong)。国(guo)(guo)内的(de)(de)(de)(de)EtherCAT总线运动控(kong)(kong)制卡目(mu)前做(zuo)的(de)(de)(de)(de)比较好的(de)(de)(de)(de)是(shi)东(dong)莞博(bo)派智能(neng)(neng)科技(ji)有(you)限公司的(de)(de)(de)(de)ECAT_GAS2系列(lie)，使(shi)用(yong)简单，支持(chi)VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等，普通电(dian)脑甚至笔记本都能(neng)(neng)用(yong)，非常方便。

运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)主要涉及步(bu)进电机、伺(si)服电机的(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)，控(kong)(kong)(kong)制(zhi)(zhi)(zhi)结构模式一(yi)般是(shi)(shi)：控(kong)(kong)(kong)制(zhi)(zhi)(zhi)装(zhuang)(zhuang)置(zhi)(zhi)+驱动(dong)器+（步(bu)进或伺(si)服）电机。控(kong)(kong)(kong)制(zhi)(zhi)(zhi)装(zhuang)(zhuang)置(zhi)(zhi)可以是(shi)(shi)PLC系(xi)统，也可以是(shi)(shi)自(zi)动(dong)化装(zhuang)(zhuang)置(zhi)(zhi)（如运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器、运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡）。PLC系(xi)统作为(wei)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)装(zhuang)(zhuang)置(zhi)(zhi)时(shi)，虽具(ju)有PLC系(xi)统的(de)(de)灵活(huo)性、一(yi)定的(de)(de)通用(yong)(yong)性，但对于(yu)精度较(jiao)高(gao)，如-插补(bu)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)，反应灵敏的(de)(de)要求时(shi)难以做到(dao)或编程(cheng)非常困难，而(er)且成本(ben)可能(neng)较(jiao)高(gao)。随着技术进步(bu)和(he)技术积累，运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器应运(yun)而(er)生(sheng)了，它把一(yi)些(xie)普(pu)遍性的(de)(de)、特殊的(de)(de)运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)功能(neng)固化在(zai)其中—如插补(bu)指令，用(yong)(yong)户只需组态、调用(yong)(yong)这(zhei)些(xie)功能(neng)块(kuai)或指令，这(zhei)样减(jian)轻了编程(cheng)难度，性能(neng)、成本(ben)等方面也有优势。也可以这(zhei)样理解(jie)：PLC的(de)(de)使用(yong)(yong)是(shi)(shi)一(yi)种普(pu)通的(de)(de)运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)装(zhuang)(zhuang)置(zhi)(zhi)。运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器是(shi)(shi)一(yi)种特殊的(de)(de)PLC，专职用(yong)(yong)于(yu)运(yun)动(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)。博派EHT_GAS控(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡自(zi)身有16 路通用(yong)(yong)输入，采(cai)用(yong)(yong)光耦隔(ge)离，抗干扰能(neng)力(li)强。

圆(yuan)(yuan)(yuan)弧(hu)插(cha)补(bu)圆(yuan)(yuan)(yuan)弧(hu)插(cha)补(bu)与直(zhi)线(xian)插(cha)补(bu)类(lei)似，给(ji)出两端点(dian)(dian)间(jian)的(de)(de)插(cha)补(bu)数(shu)字信(xin)息，以一定的(de)(de)算法(fa)计(ji)算出逼近实际圆(yuan)(yuan)(yuan)弧(hu)的(de)(de)点(dian)(dian)群，控(kong)制轴(zhou)(zhou)(zhou)(zhou)沿这些点(dian)(dian)运动，加工出圆(yuan)(yuan)(yuan)弧(hu)曲线(xian)。圆(yuan)(yuan)(yuan)弧(hu)插(cha)补(bu)可(ke)以是平面圆(yuan)(yuan)(yuan)弧(hu)(至少(shao)两个轴(zhou)(zhou)(zhou)(zhou))，还可(ke)以是空间(jian)圆(yuan)(yuan)(yuan)弧(hu)(至少(shao)三个轴(zhou)(zhou)(zhou)(zhou))。假设(she)轴(zhou)(zhou)(zhou)(zhou)需要(yao)在XY平面一象(xiang)限走一段(duan)逆圆(yuan)(yuan)(yuan)弧(hu)，圆(yuan)(yuan)(yuan)心(xin)为起点(dian)(dian)，其(qi)圆(yuan)(yuan)(yuan)弧(hu)插(cha)补(bu)的(de)(de)加工过程。控(kong)制器(qi)的(de)(de)空间(jian)圆(yuan)(yuan)(yuan)弧(hu)插(cha)补(bu)功能(neng)是根据(ju)当前点(dian)(dian)和圆(yuan)(yuan)(yuan)弧(hu)指令参(can)数(shu)设(she)置(zhi)的(de)(de)终(zhong)点(dian)(dian)和中间(jian)点(dian)(dian)(或(huo)圆(yuan)(yuan)(yuan)心(xin))，由三个点(dian)(dian)确定圆(yuan)(yuan)(yuan)弧(hu)，并(bing)实现空间(jian)圆(yuan)(yuan)(yuan)弧(hu)插(cha)补(bu)运动，坐标(biao)为三维(wei)坐标(biao)，至少(shao)需要(yao)三个轴(zhou)(zhou)(zhou)(zhou)分别沿X轴(zhou)(zhou)(zhou)(zhou)、Y轴(zhou)(zhou)(zhou)(zhou)和Z轴(zhou)(zhou)(zhou)(zhou)运动。水位控(kong)制不是电子(zi)凸(tu)轮的(de)(de)一个用途(tu)，流(liu)量控(kong)制往往显(xian)得更为重要(yao)。嘉兴雷赛运动控(kong)制卡编程

博派EHT_NEC运动控制卡自(zi)身有16 路(lu)通用输(shu)入，采用光(guang)耦隔离，抗(kang)干(gan)扰能(neng)力强。徐州总线运动控制卡代理

博派ETH_GAS控(kong)制(zhi)卡(ka)(ka)提供(gong)了VC++及(ji)C#和(he)Delphi以(yi)及(ji)VB下(xia)的动(dong)(dong)态库(ku)，用(yong)户可利用(yong)动(dong)(dong)态库(ku)提供(gong)的API完成板(ban)(ban)卡(ka)(ka)打(da)开、关(guan)闭、IO输(shu)入输(shu)出、电机点位(wei)/速度(du)/插补(bu)/硬件捕获(huo)/电子(zi)(zi)齿轮/比较(jiao)输(shu)出等(deng)运(yun)动(dong)(dong)控(kong)制(zhi)功(gong)能。Labview下(xia)也可以(yi)通过(guo)调(diao)用(yong)C++动(dong)(dong)态库(ku)的方式(shi)使用(yong)。同时板(ban)(ban)卡(ka)(ka)支持(chi)Linux、Android、iOS、Wince、Python、QT等(deng)开发环境及(ji)语(yu)言。支持(chi)点位(wei)运(yun)动(dong)(dong)、速度(du)控(kong)制(zhi)、直线(xian)、圆弧、连(lian)续(xu)轨迹插补(bu)，支持(chi)速度(du)前瞻。硬件捕获(huo)、电子(zi)(zi)齿轮/电子(zi)(zi)凸轮、位(wei)置比较(jiao)输(shu)出。支持(chi)PT模式(shi)与刀向跟(gen)随(sui)。徐州(zhou)总线(xian)运(yun)动(dong)(dong)控(kong)制(zhi)卡(ka)(ka)代(dai)理

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