日系(xi)廠商歐姆龍(long)2012 年開始(shi)推(tui)廣 EtherCAT 總線(xian)(xian)伺服，主推(tui)在如鋰電(dian)、包裝這樣的(de)(de)(de)(de)市(shi)場(chang)（傳統的(de)(de)(de)(de)脈沖伺服針對高精度定(ding)位控(kong)制(zhi)(zhi)滿(man)足不(bu)了，低端(duan)市(shi)場(chang)也(ye)不(bu)需要像總線(xian)(xian)伺服那么高的(de)(de)(de)(de)性(xing)能）。尤其(qi)(qi)在鋰電(dian)行(xing)(xing)業，歐姆龍(long)的(de)(de)(de)(de)存在感特(te)別強，2021年其(qi)(qi)PLC產(chan)(chan)品在鋰電(dian)行(xing)(xing)業的(de)(de)(de)(de)份額(e)遙遙考前。一般(ban)來說， 在一條鋰電(dian)產(chan)(chan)線(xian)(xian)上出(chu)于統一性(xing)和(he)兼容性(xing)的(de)(de)(de)(de)角度考量(liang)，總線(xian)(xian)EtherCAT的(de)(de)(de)(de)協議會比較(jiao)受到青睞(lai)。當下(xia)，國產(chan)(chan)伺服廠商的(de)(de)(de)(de)運動(dong)(dong)控(kong)制(zhi)(zhi)型(xing)PLC產(chan)(chan)品也(ye)大多選用(yong)(yong)(yong)EtherCAT作為其(qi)(qi)總線(xian)(xian)協議的(de)(de)(de)(de)主力(li)選擇。運動(dong)(dong)控(kong)制(zhi)(zhi)卡(ka)(ka)方面，目(mu)前國內支(zhi)持(chi)(chi)EtherCAT的(de)(de)(de)(de)并不(bu)多，東莞博派智能科(ke)技有(you)(you)限公司的(de)(de)(de)(de)ECAT_GAS2系(xi)列是做(zuo)的(de)(de)(de)(de)比較(jiao)好的(de)(de)(de)(de)，不(bu)僅支(zhi)持(chi)(chi)EtherCAT總線(xian)(xian)，還有(you)(you)以下(xia)特(te)點：1、板卡(ka)(ka)采(cai)用(yong)(yong)(yong)24V直流電(dian)源供電(dian)。2、控(kong)制(zhi)(zhi)卡(ka)(ka)自(zi)身有(you)(you)32路通用(yong)(yong)(yong)輸(shu)(shu)入，采(cai)用(yong)(yong)(yong)光耦隔(ge)離，抗(kang)干擾能力(li)強,數量(liang)可(ke)(ke)擴展(zhan)(zhan)。3、控(kong)制(zhi)(zhi)卡(ka)(ka)自(zi)身有(you)(you)16路通用(yong)(yong)(yong)輸(shu)(shu)出(chu)，可(ke)(ke)直接驅動(dong)(dong)繼電(dian)器，數量(liang)可(ke)(ke)擴展(zhan)(zhan)。4、控(kong)制(zhi)(zhi)卡(ka)(ka)支(zhi)持(chi)(chi)IO擴展(zhan)(zhan)，可(ke)(ke)擴展(zhan)(zhan)至2048輸(shu)(shu)入/2048輸(shu)(shu)出(chu)。可(ke)(ke)滿(man)足所有(you)(you)應(ying)用(yong)(yong)(yong)場(chang)合(he)。5、支(zhi)持(chi)(chi)以太網(wang)或者串(chuan)口編(bian)(bian)程。6、脈沖輸(shu)(shu)出(chu)頻(pin)率達2MHz7、控(kong)制(zhi)(zhi)卡(ka)(ka)支(zhi)持(chi)(chi)多個并聯使(shi)用(yong)(yong)(yong)。8、控(kong)制(zhi)(zhi)卡(ka)(ka)支(zhi)持(chi)(chi)點位運動(dong)(dong)、速度控(kong)制(zhi)(zhi)、直線(xian)(xian)、圓弧、連(lian)續軌跡(ji)插(cha)補(bu)，支(zhi)持(chi)(chi)速度前瞻。硬(ying)件捕獲、電(dian)子(zi)齒輪(lun)/電(dian)子(zi)凸輪(lun)、位置(zhi)比較(jiao)輸(shu)(shu)出(chu)。支(zhi)持(chi)(chi)PT模式與刀(dao)向跟隨。電(dian)子(zi)凸輪(lun)和(he)系(xi)統采(cai)用(yong)(yong)(yong)旋變作為位置(zhi)傳感器，可(ke)(ke)以通過通訊端(duan)口和(he)PC或手持(chi)(chi)編(bian)(bian)程器（Handy terminal）進行(xing)(xing)通信(xin)。常州以太網(wang)運動(dong)(dong)控(kong)制(zhi)(zhi)卡(ka)(ka)廠家

所謂得標(biao)準者得天(tian)下(xia)(xia)(xia)，倍福(fu)、西門子等(deng)作為(wei)生(sheng)態(tai)建立者站(zhan)在“生(sheng)態(tai)鏈”的(de)(de)(de)(de)頂端，下(xia)(xia)(xia)游(you)設備廠商(shang)(shang)產品(pin)用(yong)的(de)(de)(de)(de)生(sheng)態(tai)十有(you)八(ba)九都是他(ta)們的(de)(de)(de)(de)標(biao)準，比(bi)如倍福(fu)認可并(bing)使(shi)用(yong)EtherCAT，加上一波大力推(tui)廣(guang)，那下(xia)(xia)(xia)游(you)的(de)(de)(de)(de)一眾廠商(shang)(shang)（尤其是選擇使(shi)用(yong)PC-based運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)器產品(pin)的(de)(de)(de)(de)廠商(shang)(shang)）就(jiu)必須得使(shi)用(yong)EtherCAT，以(yi)達到適配(pei)。這(zhe)樣一來，搭載EtherCAT通訊協(xie)議的(de)(de)(de)(de)自動(dong)(dong)(dong)化(hua)產品(pin)就(jiu)能(neng)很順(shun)利(li)地(di)進入到供(gong)(gong)應鏈下(xia)(xia)(xia)游(you)的(de)(de)(de)(de)廣(guang)闊(kuo)市場中。國內基于EtherCAT總線的(de)(de)(de)(de)控(kong)制(zhi)(zhi)(zhi)(zhi)卡做的(de)(de)(de)(de)比(bi)較(jiao)好的(de)(de)(de)(de)是東(dong)莞博派智能(neng)科技(ji)有(you)限公司，他(ta)們推(tui)出的(de)(de)(de)(de)ECAT_GAS2系列控(kong)制(zhi)(zhi)(zhi)(zhi)卡提供(gong)(gong)了(le)VC++及C#和Delphi以(yi)及VB下(xia)(xia)(xia)的(de)(de)(de)(de)動(dong)(dong)(dong)態(tai)庫，用(yong)戶(hu)可利(li)用(yong)動(dong)(dong)(dong)態(tai)庫提供(gong)(gong)的(de)(de)(de)(de)API完成板卡打開、關閉、IO輸入輸出、電(dian)機點(dian)位/速度/插(cha)補/硬件捕獲(huo)/電(dian)子齒輪/比(bi)較(jiao)輸出等(deng)運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)功能(neng)。Labview下(xia)(xia)(xia)也可以(yi)通過(guo)調用(yong)C++動(dong)(dong)(dong)態(tai)庫的(de)(de)(de)(de)方(fang)式使(shi)用(yong)。同時(shi)板卡支持(chi)Linux、Android、iOS、Wince、Python、QT等(deng)開發環境及語言。佛山正運(yun)(yun)(yun)動(dong)(dong)(dong)運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)卡品(pin)牌國產的(de)(de)(de)(de)話你可以(yi)考慮(lv)用(yong)東(dong)莞博派智能(neng)的(de)(de)(de)(de)PMC_ECAT這(zhe)款高(gao)性價比(bi)EtherCAT運(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)PLC。集成梯形圖(tu)和EtherCAT。

一、電(dian)(dian)子凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)簡介1.1組成部分(fen)電(dian)(dian)子凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)（ECAM）是利用構(gou)造的凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)曲線(xian)(xian)來(lai)模擬機械(xie)(xie)凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)，以達到(dao)機械(xie)(xie)凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)系統(tong)相(xiang)同(tong)的凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)軸(zhou)(zhou)于主軸(zhou)(zhou)之間相(xiang)對運動的軟件(jian)系統(tong)。通過控制(zhi)(zhi)器控制(zhi)(zhi)伺(si)服電(dian)(dian)機來(lai)模擬機械(xie)(xie)凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)的功(gong)能，不需(xu)要另(ling)外安裝(zhuang)(zhuang)機械(xie)(xie)結構(gou)。1.2工作原(yuan)理電(dian)(dian)子凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)屬(shu)于多軸(zhou)(zhou)同(tong)步運動。與(yu)機械(xie)(xie)齒輪(lun)(lun)(lun)(lun)(lun)一樣，電(dian)(dian)子凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)需(xu)要主軸(zhou)(zhou)和從軸(zhou)(zhou)。若定義(yi)凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)為(wei)主軸(zhou)(zhou)，推(tui)桿(gan)為(wei)從軸(zhou)(zhou)，那么凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)的實(shi)質就是從軸(zhou)(zhou)對應主軸(zhou)(zhou)的一種函數(shu)關系。如下圖(tu)，機械(xie)(xie)凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)按照凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)的輪(lun)(lun)(lun)(lun)(lun)廓可以得出一段(duan)(duan)轉動角度與(yu)加(jia)工位置運動軌(gui)(gui)跡(ji)，此(ci)軌(gui)(gui)跡(ji)為(wei)弧(hu)線(xian)(xian)，將(jiang)該(gai)段(duan)(duan)弧(hu)線(xian)(xian)分(fen)解(jie)成無數(shu)個(ge)直(zhi)線(xian)(xian)軌(gui)(gui)跡(ji)，組合起(qi)來(lai)得到(dao)一串(chuan)趨近于弧(hu)線(xian)(xian)運動軌(gui)(gui)跡(ji)，電(dian)(dian)子凸(tu)(tu)(tu)(tu)輪(lun)(lun)(lun)(lun)(lun)直(zhi)接將(jiang)此(ci)段(duan)(duan)軌(gui)(gui)跡(ji)運動參數(shu)裝(zhuang)(zhuang)入運動指令，即可控制(zhi)(zhi)軸(zhou)(zhou)走(zou)出目(mu)標軌(gui)(gui)跡(ji)。

中國(guo)(guo)(guo)作為世界上經濟發(fa)展(zhan)(zhan)快的(de)(de)(de)國(guo)(guo)(guo)家之一(yi)(yi)(yi)，隨著工業(ye)(ye)化(hua)進(jin)程的(de)(de)(de)不斷深化(hua)，中國(guo)(guo)(guo)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)市(shi)(shi)場(chang)一(yi)(yi)(yi)直(zhi)保持(chi)(chi)高速增(zeng)長的(de)(de)(de)態勢，各個(ge)(ge)行(xing)(xing)業(ye)(ye)不斷出現新型(xing)數(shu)控(kong)(kong)(kong)(kong)(kong)設備。新型(xing)數(shu)控(kong)(kong)(kong)(kong)(kong)設備的(de)(de)(de)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)需(xu)求(qiu)以及傳統數(shu)控(kong)(kong)(kong)(kong)(kong)設備的(de)(de)(de)技術(shu)升級換代需(xu)求(qiu)，都(dou)對運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)市(shi)(shi)場(chang)提供了(le)(le)強大的(de)(de)(de)發(fa)展(zhan)(zhan)動(dong)(dong)(dong)力。一(yi)(yi)(yi)批本土(tu)企業(ye)(ye)通過技術(shu)積累、專(zhuan)研于(yu)細分(fen)行(xing)(xing)業(ye)(ye)從而突出重圍、嶄(zhan)露頭角，獲得了(le)(le)一(yi)(yi)(yi)定的(de)(de)(de)競爭優勢。國(guo)(guo)(guo)產(chan)經濟型(xing)數(shu)控(kong)(kong)(kong)(kong)(kong)系(xi)統由于(yu)順應了(le)(le)大多數(shu)中國(guo)(guo)(guo)用戶的(de)(de)(de)實際(ji)使用水平(ping)和機床制(zhi)(zhi)(zhi)造企業(ye)(ye)數(shu)控(kong)(kong)(kong)(kong)(kong)技術(shu)配套(tao)要求(qiu)，并具有(you)一(yi)(yi)(yi)定價(jia)格(ge)優勢，得到(dao)了(le)(le)廣(guang)大用戶的(de)(de)(de)認同，已形成(cheng)了(le)(le)規模(mo)(mo)優勢。2018年中國(guo)(guo)(guo)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)器市(shi)(shi)場(chang)規模(mo)(mo)達到(dao)73.58億(yi)元，小幅增(zeng)長3.5％，未來在數(shu)控(kong)(kong)(kong)(kong)(kong)領域，在國(guo)(guo)(guo)家政策的(de)(de)(de)大力支(zhi)持(chi)(chi)下，通過自主研發(fa)、工程化(hua)、產(chan)業(ye)(ye)化(hua)攻(gong)關，我國(guo)(guo)(guo)數(shu)控(kong)(kong)(kong)(kong)(kong)系(xi)統的(de)(de)(de)開發(fa)和成(cheng)果轉(zhuan)化(hua)能力得到(dao)了(le)(le)提高，具有(you)廣(guang)闊的(de)(de)(de)發(fa)展(zhan)(zhan)空間，預計(ji)2025年中國(guo)(guo)(guo)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)器市(shi)(shi)場(chang)規模(mo)(mo)有(you)望突破100億(yi)元。博派ETH_NEC運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡支(zhi)持(chi)(chi)多個(ge)(ge)并聯使用，可(ke)擴展(zhan)(zhan)至(zhi)2000 個(ge)(ge)軸，可(ke)滿足所有(you)應用場(chang)合。

我們一起看(kan)下運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)的(de)(de)(de)(de)專業釋義，運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)，MotionControl。通(tong)(tong)過(guo)對(dui)機(ji)械運(yun)(yun)動(dong)(dong)(dong)(dong)部(bu)件的(de)(de)(de)(de)位置，力矩，速度(du)，加速度(du)等進行(xing)(xing)(xing)實時的(de)(de)(de)(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)管(guan)理(li)，使各個(ge)運(yun)(yun)動(dong)(dong)(dong)(dong)部(bu)件協同的(de)(de)(de)(de)按照(zhao)預期的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)軌跡和(he)規定的(de)(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)參數進行(xing)(xing)(xing)運(yun)(yun)動(dong)(dong)(dong)(dong)，以(yi)達到高精度(du)，低延時的(de)(de)(de)(de)自(zi)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)的(de)(de)(de)(de)目的(de)(de)(de)(de)。運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)是(shi)自(zi)動(dong)(dong)(dong)(dong)化(hua)的(de)(de)(de)(de)一個(ge)分支，它使用(yong)(yong)通(tong)(tong)稱為(wei)伺服(fu)機(ji)構的(de)(de)(de)(de)一些(xie)設(she)備如(ru)液壓泵，線性(xing)執行(xing)(xing)(xing)機(ji)或(huo)者是(shi)電機(ji)來控(kong)(kong)(kong)(kong)(kong)制(zhi)機(ji)器。運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)被應用(yong)(yong)在包(bao)裝(zhuang)、印(yin)刷、紡(fang)織和(he)裝(zhuang)配工(gong)業中。可(ke)以(yi)說，運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)技術(shu)是(shi)工(gong)業制(zhi)造領(ling)域應用(yong)(yong)的(de)(de)(de)(de)技術(shu)。博派ETH_NEC運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)卡自(zi)身有16 路通(tong)(tong)用(yong)(yong)輸出，可(ke)直接(jie)驅動(dong)(dong)(dong)(dong)繼(ji)電器。北京總線運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)卡排名

博派ETH_NEC系列運動控制(zhi)卡支持以太網或者串口編(bian)程。脈(mo)沖輸出頻(pin)率達2MHz。常州以太網運動控制(zhi)卡廠家

控(kong)制(zhi)(zhi)精(jing)度及(ji)速(su)度不(bu)斷提升(sheng)長期(qi)以(yi)來(lai)，運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)不(bu)斷挑戰新(xin)的(de)(de)(de)速(su)度和(he)精(jing)度，未來(lai)相當(dang)長一(yi)段時間仍(reng)然延續這(zhe)一(yi)重(zhong)要的(de)(de)(de)發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)趨勢。數控(kong)機(ji)床、精(jing)密電(dian)子(zi)制(zhi)(zhi)造設備(bei)等(deng)下游(you)業將不(bu)斷推動(dong)(dong)(dong)(dong)運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)向(xiang)高速(su)高精(jing)方(fang)(fang)向(xiang)發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)，而計算機(ji)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)、新(xin)型傳感(gan)器、新(xin)的(de)(de)(de)電(dian)機(ji)驅動(dong)(dong)(dong)(dong)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)等(deng)將為(wei)運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)向(xiang)高速(su)高精(jing)方(fang)(fang)向(xiang)發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)提供技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)保障。3、網(wang)絡化(hua)(hua)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)趨勢近年(nian)來(lai)，運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)領域發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)出EtherCAT（以(yi)太網(wang)控(kong)制(zhi)(zhi)自動(dong)(dong)(dong)(dong)化(hua)(hua)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)）、SERCOS（串行實(shi)時通信協議）等(deng)實(shi)時以(yi)太網(wang)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)，這(zhe)為(wei)下一(yi)代網(wang)絡化(hua)(hua)運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)器的(de)(de)(de)發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)提供了(le)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)基(ji)礎。目(mu)前雖然這(zhe)些技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)仍(reng)處于并存發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)的(de)(de)(de)態勢，但(dan)不(bu)斷發(fa)(fa)展(zhan)(zhan)(zhan)(zhan)的(de)(de)(de)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)和(he)日益開(kai)放的(de)(de)(de)技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)環境，使運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)用戶(hu)的(de)(de)(de)選擇越來(lai)越簡單易行，越來(lai)越多的(de)(de)(de)運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)供應商開(kai)始支持并采(cai)用這(zhe)些技(ji)(ji)術(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)標(biao)準。常(chang)州以(yi)太網(wang)運(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)卡廠家

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