所謂得(de)標準(zhun)者得(de)天下(xia)，倍福、西門子等(deng)作為生態(tai)(tai)(tai)建立(li)者站在“生態(tai)(tai)(tai)鏈”的(de)(de)(de)頂端，下(xia)游設(she)備廠(chang)商(shang)(shang)(shang)產品(pin)用(yong)的(de)(de)(de)生態(tai)(tai)(tai)十有八九都是他們(men)的(de)(de)(de)標準(zhun)，比(bi)如倍福認(ren)可并使用(yong)EtherCAT，加上一波大力推廣(guang)(guang)，那下(xia)游的(de)(de)(de)一眾廠(chang)商(shang)(shang)(shang)（尤其是選擇使用(yong)PC-based運動(dong)控(kong)(kong)制(zhi)(zhi)器(qi)產品(pin)的(de)(de)(de)廠(chang)商(shang)(shang)(shang)）就(jiu)必須(xu)得(de)使用(yong)EtherCAT，以(yi)達到(dao)適配。這(zhe)樣一來，搭載EtherCAT通(tong)訊(xun)協議的(de)(de)(de)自動(dong)化產品(pin)就(jiu)能很順(shun)利地進(jin)入到(dao)供(gong)應(ying)鏈下(xia)游的(de)(de)(de)廣(guang)(guang)闊市場(chang)中。國內基(ji)于EtherCAT總(zong)線的(de)(de)(de)控(kong)(kong)制(zhi)(zhi)卡(ka)做的(de)(de)(de)比(bi)較(jiao)好的(de)(de)(de)是東(dong)莞博派智能科(ke)技有限公司，他們(men)推出的(de)(de)(de)ECAT_GAS2系列控(kong)(kong)制(zhi)(zhi)卡(ka)提(ti)供(gong)了VC++及C#和Delphi以(yi)及VB下(xia)的(de)(de)(de)動(dong)態(tai)(tai)(tai)庫，用(yong)戶可利用(yong)動(dong)態(tai)(tai)(tai)庫提(ti)供(gong)的(de)(de)(de)API完(wan)成板(ban)卡(ka)打(da)開、關(guan)閉、IO輸入輸出、電機點(dian)位/速度(du)/插補/硬件(jian)捕獲/電子齒輪/比(bi)較(jiao)輸出等(deng)運動(dong)控(kong)(kong)制(zhi)(zhi)功(gong)能。Labview下(xia)也可以(yi)通(tong)過調用(yong)C++動(dong)態(tai)(tai)(tai)庫的(de)(de)(de)方式使用(yong)。同(tong)時板(ban)卡(ka)支持(chi)Linux、Android、iOS、Wince、Python、QT等(deng)開發環境及語(yu)言(yan)。與PLC相(xiang)比(bi)，運動(dong)控(kong)(kong)制(zhi)(zhi)卡(ka)擁有更(geng)多的(de)(de)(de)高級運動(dong)控(kong)(kong)制(zhi)(zhi)功(gong)能和更(geng)優的(de)(de)(de)性價比(bi)，因此在越來越多的(de)(de)(de)設(she)備中被更(geng)多使用(yong)。天津正運動(dong)運動(dong)控(kong)(kong)制(zhi)(zhi)卡(ka)品(pin)牌

博派(pai)智能科技運動(dong)控(kong)(kong)(kong)制(zhi)(zhi)卡的開發(fa)方(fang)式：（1）支持網絡式PC上位(wei)機開發(fa)（C#/C++/Labview/Qt/Python/vb/.NET/ROS/MATLAB/Delphi/linux）；（2）可(ke)(ke)支持PC程序和控(kong)(kong)(kong)制(zhi)(zhi)器內置(zhi)程序同時工作;（3）多種加密(mi)方(fang)式，確保(bao)用戶程序安全(quan);（4）統(tong)一(yi)的API函數(shu)(shu)(shu)接(jie)(jie)口，所有(you)產(chan)品(pin)共用同一(yi)套API函數(shu)(shu)(shu)。豐富的運動(dong)控(kong)(kong)(kong)制(zhi)(zhi)功能：（1）點位(wei)運動(dong)、電子(zi)凸輪、電子(zi)齒(chi)輪、位(wei)置(zhi)鎖存、同步(bu)跟隨、虛擬(ni)軸等；（2）直線插補(bu)、圓弧插補(bu)、螺旋插補(bu)、連續軌跡(ji)等；（3）動(dong)態變速、自(zi)適應前瞻等。功能特點：（1）軸數(shu)(shu)(shu)：2-32軸可(ke)(ke)選；32軸EtherCAT,（2）IO：16進(jin)16出(chu)(chu)，通過IO擴(kuo)展(zhan)或Ethernet交換(huan)機可(ke)(ke)擴(kuo)展(zhan)至4096進(jin)4096出(chu)(chu)；（3）編(bian)碼(ma)器數(shu)(shu)(shu)：1~N路(lu);（4）模擬(ni)量：支持擴(kuo)展(zhan)，可(ke)(ke)擴(kuo)展(zhan)至16路(lu)AD，16路(lu)DA；（5）通訊：Ethernet;（6）脈沖(chong)頻率：2M;（7）脈沖(chong)模式：方(fang)向/脈沖(chong)ECAT。GAS系列高性能多軸運動(dong)控(kong)(kong)(kong)制(zhi)(zhi)卡可(ke)(ke)用于電子(zi)半導體設(she)(she)備(bei)(bei)（檢測類(lei)設(she)(she)備(bei)(bei)、組裝(zhuang)(zhuang)類(lei)設(she)(she)備(bei)(bei)、鎖附類(lei)設(she)(she)備(bei)(bei)、焊(han)接(jie)(jie)機）、點膠設(she)(she)備(bei)(bei)、激光加工設(she)(she)備(bei)(bei)、非(fei)標(biao)設(she)(she)備(bei)(bei)、印刷包裝(zhuang)(zhuang)設(she)(she)備(bei)(bei)、紡織服(fu)裝(zhuang)(zhuang)設(she)(she)備(bei)(bei)、舞(wu)臺娛樂設(she)(she)備(bei)(bei)和醫療(liao)設(she)(she)備(bei)(bei)和流水線等應用場(chang)合。上海博派(pai)運動(dong)控(kong)(kong)(kong)制(zhi)(zhi)卡編(bian)程ECAT_GAS2運動(dong)控(kong)(kong)(kong)制(zhi)(zhi)卡是一(yi)款由東莞博派(pai)智能科技有(you)限公(gong)司推出(chu)(chu)的新(xin)型的EtherCAT總(zong)線運動(dong)控(kong)(kong)(kong)制(zhi)(zhi)卡。

插(cha)(cha)(cha)補(bu)(bu)(bu)運(yun)動(dong)(dong)(dong)插(cha)(cha)(cha)補(bu)(bu)(bu)常見的(de)(de)(de)兩(liang)種方(fang)式是(shi)直線(xian)(xian)(xian)插(cha)(cha)(cha)補(bu)(bu)(bu)和圓弧插(cha)(cha)(cha)補(bu)(bu)(bu)。插(cha)(cha)(cha)補(bu)(bu)(bu)運(yun)動(dong)(dong)(dong)至少(shao)需要兩(liang)個軸參與，進行插(cha)(cha)(cha)補(bu)(bu)(bu)運(yun)動(dong)(dong)(dong)時(shi)，將規(gui)劃軸映射到(dao)相應的(de)(de)(de)機臺(tai)坐標系中(zhong)，運(yun)動(dong)(dong)(dong)控制器根據坐標映射關系，控制各軸運(yun)動(dong)(dong)(dong)，實(shi)(shi)現要求的(de)(de)(de)運(yun)動(dong)(dong)(dong)軌跡。插(cha)(cha)(cha)補(bu)(bu)(bu)運(yun)動(dong)(dong)(dong)指(zhi)令會存入運(yun)動(dong)(dong)(dong)緩沖(chong)區(qu)，再依次(ci)從運(yun)動(dong)(dong)(dong)緩沖(chong)區(qu)中(zhong)取出指(zhi)令執行，直到(dao)插(cha)(cha)(cha)補(bu)(bu)(bu)運(yun)動(dong)(dong)(dong)全部執行完。1.直線(xian)(xian)(xian)插(cha)(cha)(cha)補(bu)(bu)(bu)直線(xian)(xian)(xian)插(cha)(cha)(cha)補(bu)(bu)(bu)方(fang)式中(zhong)，兩(liang)點(dian)(dian)間的(de)(de)(de)插(cha)(cha)(cha)補(bu)(bu)(bu)沿著直線(xian)(xian)(xian)的(de)(de)(de)點(dian)(dian)群來(lai)逼近(jin)。首先假設在實(shi)(shi)際輪廓(kuo)(kuo)(kuo)起(qi)始點(dian)(dian)處沿X方(fang)向(xiang)走一(yi)小段(給一(yi)個脈沖(chong)當量(liang)軸走一(yi)段固定距離(li))，發(fa)現終(zhong)點(dian)(dian)在實(shi)(shi)際輪廓(kuo)(kuo)(kuo)的(de)(de)(de)下(xia)方(fang)，則(ze)(ze)下(xia)一(yi)條線(xian)(xian)(xian)段沿Y方(fang)向(xiang)走一(yi)小段，此(ci)(ci)時(shi)如果線(xian)(xian)(xian)段終(zhong)點(dian)(dian)還(huan)在實(shi)(shi)際輪廓(kuo)(kuo)(kuo)下(xia)方(fang)，則(ze)(ze)繼續沿Y方(fang)向(xiang)走一(yi)小段，直到(dao)在實(shi)(shi)際輪廓(kuo)(kuo)(kuo)上(shang)方(fang)以(yi)(yi)后，再向(xiang)X方(fang)向(xiang)走一(yi)小段，依此(ci)(ci)類推，直到(dao)到(dao)達輪廓(kuo)(kuo)(kuo)終(zhong)點(dian)(dian)為止。這(zhe)樣實(shi)(shi)際輪廓(kuo)(kuo)(kuo)是(shi)由一(yi)段段的(de)(de)(de)折(zhe)(zhe)線(xian)(xian)(xian)拼(pin)接而成(cheng)，雖(sui)然是(shi)折(zhe)(zhe)線(xian)(xian)(xian)，但每一(yi)段插(cha)(cha)(cha)補(bu)(bu)(bu)線(xian)(xian)(xian)段在精度(du)允許(xu)范圍內非常小，那么(me)此(ci)(ci)段折(zhe)(zhe)線(xian)(xian)(xian)還(huan)是(shi)可以(yi)(yi)近(jin)似看做一(yi)條直線(xian)(xian)(xian)段，這(zhe)就是(shi)直線(xian)(xian)(xian)插(cha)(cha)(cha)補(bu)(bu)(bu)。

在中國(guo)自動化市(shi)場中，尤其(qi)是在通(tong)(tong)(tong)(tong)用交流伺服產品線(xian)上(shang)，總(zong)線(xian)型通(tong)(tong)(tong)(tong)訊(xun)成(cheng)為了(le)顯學。各個伺服廠家都各自推出自己的(de)總(zong)線(xian)協議（安川(chuan)電(dian)(dian)(dian)機(ji)Mechatrolink、松下(xia)RTEX、三菱CC-Link等(deng)等(deng)）。這股(gu)總(zong)線(xian)風潮由歐美廠商刮(gua)起，又由日系廠商發揚(yang)光(guang)大，并且(qie)在EtherCAT總(zong)線(xian)型通(tong)(tong)(tong)(tong)訊(xun)的(de)應用上(shang)，外資、內資似乎歷史性地達(da)成(cheng)了(le)一(yi)種(zhong)默契。東莞博派智能科技有(you)(you)限公司推出的(de)ECAT_GAS2系列總(zong)線(xian)運(yun)(yun)動控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)，不僅支(zhi)(zhi)持(chi)EtherCAT總(zong)線(xian)，還有(you)(you)如下(xia)特點：1、板卡(ka)采(cai)(cai)用24V直(zhi)流電(dian)(dian)(dian)源供電(dian)(dian)(dian)。2、控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)自身有(you)(you)32路通(tong)(tong)(tong)(tong)用輸入，采(cai)(cai)用光(guang)耦隔離，抗干擾能力強,數(shu)量(liang)可(ke)擴展。3、控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)自身有(you)(you)16路通(tong)(tong)(tong)(tong)用輸出，可(ke)直(zhi)接(jie)驅動繼電(dian)(dian)(dian)器(qi)，數(shu)量(liang)可(ke)擴展。4、控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)支(zhi)(zhi)持(chi)IO擴展，可(ke)擴展至(zhi)2048輸入/2048輸出。可(ke)滿足所有(you)(you)應用場合。5、支(zhi)(zhi)持(chi)以太(tai)網或者串(chuan)口編程。6、脈(mo)沖輸出頻率(lv)達(da)2MHz7、控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)支(zhi)(zhi)持(chi)多個并聯(lian)使用。8、控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)支(zhi)(zhi)持(chi)點位運(yun)(yun)動、速度控(kong)(kong)(kong)制(zhi)(zhi)、直(zhi)線(xian)、圓弧、連續軌跡插(cha)補，支(zhi)(zhi)持(chi)速度前(qian)瞻。硬件捕獲(huo)、電(dian)(dian)(dian)子齒輪/電(dian)(dian)(dian)子凸(tu)輪、位置比較輸出。支(zhi)(zhi)持(chi)PT模(mo)式與刀向跟(gen)隨。運(yun)(yun)動控(kong)(kong)(kong)制(zhi)(zhi)器(qi)則(ze)是一(yi)種(zhong)單(dan)獨的(de)控(kong)(kong)(kong)制(zhi)(zhi)器(qi)，其(qi)主要功(gong)能是根據運(yun)(yun)動控(kong)(kong)(kong)制(zhi)(zhi)卡(ka)傳遞(di)的(de)控(kong)(kong)(kong)制(zhi)(zhi)信號，控(kong)(kong)(kong)制(zhi)(zhi)機(ji)電(dian)(dian)(dian)設備運(yun)(yun)動。

運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)是(shi)一種基于(yu)PC機(ji)及工業PC機(ji)、用(yong)(yong)于(yu)各種運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)場(chang)合（包括位(wei)(wei)移、速(su)度(du)、加速(su)度(du)等(deng)）的(de)上(shang)位(wei)(wei)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單元(yuan)。利用(yong)(yong)高性(xing)能(neng)微處(chu)理(li)器(qi)及大(da)規模(mo)可編(bian)程(cheng)器(qi)件，運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)可以(yi)實現對(dui)伺(si)服電機(ji)的(de)高性(xing)能(neng)多軸協調控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，能(neng)夠發出連續且高頻率(lv)的(de)脈(mo)(mo)沖(chong)，并通過(guo)改編(bian)脈(mo)(mo)沖(chong)的(de)頻率(lv)來(lai)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)電機(ji)的(de)速(su)度(du)。作為基于(yu)PC機(ji)的(de)上(shang)位(wei)(wei)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單元(yuan)，運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)在(zai)專機(ji)系(xi)統(tong)的(de)開(kai)發過(guo)程(cheng)中，具有更大(da)的(de)靈(ling)活性(xing)和(he)(he)開(kai)放性(xing)。在(zai)此基礎上(shang)，程(cheng)序員也(ye)能(neng)開(kai)發出功能(neng)強大(da)的(de)運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)統(tong)。正(zheng)因為以(yi)上(shang)的(de)特(te)點(dian)，專業運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)不僅在(zai)機(ji)床行業得(de)到大(da)量推(tui)廣使用(yong)(yong)，而且在(zai)在(zai)許(xu)多小型專機(ji)系(xi)統(tong)中也(ye)得(de)到應用(yong)(yong)。博派ETH_NEC系(xi)列運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)支持(chi)點(dian)位(wei)(wei)和(he)(he)連續軌跡，多軸同(tong)步，直線(xian)(xian)、圓弧(hu)、螺旋線(xian)(xian)、空(kong)間(jian)直線(xian)(xian)插補(bu)等(deng)運(yun)(yun)動(dong)模(mo)式。天津正(zheng)運(yun)(yun)動(dong)運(yun)(yun)動(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡(ka)(ka)(ka)經(jing)銷(xiao)商

博派ECAT_GAS2總(zong)線(xian)(xian)運動控(kong)制卡(ka)支(zhi)持點位和連續(xu)軌跡(ji)，多軸同(tong)步，直(zhi)(zhi)線(xian)(xian)、圓弧、螺旋(xuan)線(xian)(xian)、空間直(zhi)(zhi)線(xian)(xian)插補運動模式。天津正運動運動控(kong)制卡(ka)品牌

可(ke)能(neng)(neng)是(shi)一種(zhong)競爭心態，西(xi)門子(zi)自己(ji)也(ye)推出了(le)一種(zhong)基(ji)于工業以(yi)太網的(de)(de)現場(chang)總線(xian)系(xi)(xi)(xi)統叫做Profinet。Profinet與EtherCAT區別在(zai)于EtherCAT是(shi)倍福開始(shi)研究的(de)(de)，然后整個(ge)(ge)歐(ou)洲(zhou)用(yong)的(de)(de)這(zhe)個(ge)(ge)技(ji)術成(cheng)立了(le)一個(ge)(ge)聯合。把這(zhe)個(ge)(ge)技(ji)術推出來以(yi)后，靠著這(zhe)個(ge)(ge)底層(ceng)的(de)(de)芯(xin)(xin)片和(he)底層(ceng)芯(xin)(xin)片的(de)(de)授權(quan)控(kong)(kong)制(zhi)(zhi)市場(chang)。而(er)Profinet是(shi)西(xi)門子(zi)自己(ji)建立的(de)(de)生態，盡管一直以(yi)來西(xi)門子(zi)也(ye)在(zai)竭盡所能(neng)(neng)地推自己(ji)的(de)(de)Profinet，想(xiang)“出圈(quan)”，但目前(qian)(qian)兩者之間的(de)(de)關系(xi)(xi)(xi)有(you)點(dian)像智(zhi)能(neng)(neng)手機行業中的(de)(de)安(an)卓系(xi)(xi)(xi)統和(he)蘋(pin)果系(xi)(xi)(xi)統。國內的(de)(de)總線(xian)運(yun)動(dong)控(kong)(kong)制(zhi)(zhi)卡(ka)目前(qian)(qian)多基(ji)于EtherCAT.其中做的(de)(de)比(bi)較好(hao)的(de)(de)是(shi)東莞博(bo)派智(zhi)能(neng)(neng)科技(ji)有(you)限公司的(de)(de)ECAT_GAS2系(xi)(xi)(xi)列總線(xian)運(yun)動(dong)控(kong)(kong)制(zhi)(zhi)卡(ka)，不(bu)僅支(zhi)持(chi)EtherCAT總線(xian)，還有(you)如下(xia)特(te)點(dian)：1、板卡(ka)采(cai)用(yong)24V直流電(dian)源(yuan)供電(dian)。2、控(kong)(kong)制(zhi)(zhi)卡(ka)自身(shen)有(you)32路(lu)通用(yong)輸(shu)(shu)入，采(cai)用(yong)光耦(ou)隔離，抗干擾能(neng)(neng)力強,數量可(ke)擴展。3、控(kong)(kong)制(zhi)(zhi)卡(ka)自身(shen)有(you)16路(lu)通用(yong)輸(shu)(shu)出，可(ke)直接(jie)驅動(dong)繼(ji)電(dian)器，數量可(ke)擴展。4、控(kong)(kong)制(zhi)(zhi)卡(ka)支(zhi)持(chi)IO擴展，可(ke)擴展至2048輸(shu)(shu)入/2048輸(shu)(shu)出。可(ke)滿足所有(you)應(ying)用(yong)場(chang)合。5、支(zhi)持(chi)以(yi)太網或者串口(kou)編程。6、脈(mo)沖輸(shu)(shu)出頻率達2MHz7、控(kong)(kong)制(zhi)(zhi)卡(ka)支(zhi)持(chi)多個(ge)(ge)并聯使(shi)用(yong)。8、控(kong)(kong)制(zhi)(zhi)卡(ka)支(zhi)持(chi)點(dian)位運(yun)動(dong)、速(su)度控(kong)(kong)制(zhi)(zhi)、直線(xian)、圓弧、連續軌跡插(cha)補，支(zhi)持(chi)速(su)度前(qian)(qian)瞻。硬件捕(bu)獲、電(dian)子(zi)齒輪/電(dian)子(zi)凸輪、位置(zhi)比(bi)較輸(shu)(shu)出。支(zhi)持(chi)PT模式(shi)與刀向跟隨。天津正運(yun)動(dong)運(yun)動(dong)控(kong)(kong)制(zhi)(zhi)卡(ka)品(pin)牌

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