運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器的(de)(de)(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)形式點位運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)：即對終點位置有(you)要(yao)求(qiu)，與運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)的(de)(de)(de)(de)中間過程(cheng)即運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)軌跡(ji)(ji)無關。相應(ying)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器要(yao)求(qiu)具(ju)有(you)快(kuai)速(su)(su)(su)的(de)(de)(de)(de)定位速(su)(su)(su)度(du)，在(zai)(zai)(zai)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)的(de)(de)(de)(de)加(jia)速(su)(su)(su)段(duan)(duan)和減速(su)(su)(su)段(duan)(duan)，采用不同(tong)的(de)(de)(de)(de)加(jia)減速(su)(su)(su)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)策略(lve)。在(zai)(zai)(zai)加(jia)速(su)(su)(su)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)時(shi)(shi)(shi)，為了使系(xi)(xi)(xi)統(tong)能夠快(kuai)速(su)(su)(su)加(jia)速(su)(su)(su)到(dao)設(she)定速(su)(su)(su)度(du)，往(wang)(wang)往(wang)(wang)進步(bu)系(xi)(xi)(xi)統(tong)增益和加(jia)大(da)加(jia)速(su)(su)(su)度(du)，在(zai)(zai)(zai)減速(su)(su)(su)的(de)(de)(de)(de)末(mo)段(duan)(duan)減速(su)(su)(su)的(de)(de)(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)策略(lve)。為了防止系(xi)(xi)(xi)統(tong)到(dao)位后震動(dong)(dong)(dong)，規(gui)劃到(dao)位后，又(you)會適當減小(xiao)系(xi)(xi)(xi)統(tong)的(de)(de)(de)(de)增益。所以(yi)(yi)，點位運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器往(wang)(wang)往(wang)(wang)具(ju)有(you)在(zai)(zai)(zai)線(xian)可(ke)變(bian)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)參數和可(ke)變(bian)加(jia)減速(su)(su)(su)曲線(xian)的(de)(de)(de)(de)能力。連續(xu)軌跡(ji)(ji)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)：該控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)又(you)稱為輪(lun)(lun)廓(kuo)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，主(zhu)要(yao)應(ying)用在(zai)(zai)(zai)傳(chuan)統(tong)的(de)(de)(de)(de)數控(kong)(kong)系(xi)(xi)(xi)統(tong)、切割系(xi)(xi)(xi)統(tong)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)輪(lun)(lun)廓(kuo)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)。相應(ying)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器要(yao)解決的(de)(de)(de)(de)題目是(shi)如(ru)何(he)使系(xi)(xi)(xi)統(tong)在(zai)(zai)(zai)高(gao)速(su)(su)(su)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)的(de)(de)(de)(de)情況(kuang)下，既要(yao)保證系(xi)(xi)(xi)統(tong)加(jia)工的(de)(de)(de)(de)輪(lun)(lun)廓(kuo)精度(du)，還要(yao)保證刀具(ju)沿(yan)輪(lun)(lun)廓(kuo)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)時(shi)(shi)(shi)的(de)(de)(de)(de)切向速(su)(su)(su)度(du)的(de)(de)(de)(de)恒定。對小(xiao)線(xian)段(duan)(duan)加(jia)工時(shi)(shi)(shi)，有(you)多段(duan)(duan)程(cheng)序預處理(li)功能。同(tong)步(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)：是(shi)指多個(ge)軸之(zhi)間的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)協調控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，可(ke)以(yi)(yi)是(shi)多個(ge)軸在(zai)(zai)(zai)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)全程(cheng)中進行(xing)同(tong)步(bu)，也可(ke)以(yi)(yi)是(shi)在(zai)(zai)(zai)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)過程(cheng)中的(de)(de)(de)(de)局部有(you)速(su)(su)(su)度(du)同(tong)步(bu)，主(zhu)要(yao)應(ying)用在(zai)(zai)(zai)需要(yao)有(you)電子(zi)齒輪(lun)(lun)箱和電子(zi)凸輪(lun)(lun)的(de)(de)(de)(de)系(xi)(xi)(xi)統(tong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)中。博派ETH_GAS系(xi)(xi)(xi)列運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡支持以(yi)(yi)太網或者串口編程(cheng)。脈沖輸出(chu)頻率(lv)達2MHz。武漢正(zheng)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡經銷商(shang)

圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)與直(zhi)線插(cha)(cha)補(bu)類(lei)似，給出兩端點(dian)(dian)間的(de)(de)插(cha)(cha)補(bu)數(shu)字信息，以一定(ding)的(de)(de)算(suan)法(fa)計算(suan)出逼近實(shi)際圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)的(de)(de)點(dian)(dian)群，控(kong)制軸(zhou)(zhou)(zhou)(zhou)沿(yan)這些點(dian)(dian)運動(dong)，加工出圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)曲(qu)線。圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)可以是(shi)(shi)平(ping)面(mian)圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)(至少(shao)兩個軸(zhou)(zhou)(zhou)(zhou))，還(huan)可以是(shi)(shi)空(kong)(kong)間圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)(至少(shao)三個軸(zhou)(zhou)(zhou)(zhou))。假設軸(zhou)(zhou)(zhou)(zhou)需(xu)要在XY平(ping)面(mian)一象限走(zou)一段(duan)逆圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)，圓(yuan)(yuan)(yuan)心(xin)為(wei)起點(dian)(dian)，其圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)的(de)(de)加工過程。控(kong)制器的(de)(de)空(kong)(kong)間圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)功能是(shi)(shi)根據當前點(dian)(dian)和圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)指令(ling)參數(shu)設置的(de)(de)終點(dian)(dian)和中間點(dian)(dian)(或圓(yuan)(yuan)(yuan)心(xin))，由三個點(dian)(dian)確(que)定(ding)圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)，并實(shi)現(xian)空(kong)(kong)間圓(yuan)(yuan)(yuan)弧(hu)(hu)(hu)(hu)(hu)插(cha)(cha)補(bu)運動(dong)，坐(zuo)標為(wei)三維坐(zuo)標，至少(shao)需(xu)要三個軸(zhou)(zhou)(zhou)(zhou)分別沿(yan)X軸(zhou)(zhou)(zhou)(zhou)、Y軸(zhou)(zhou)(zhou)(zhou)和Z軸(zhou)(zhou)(zhou)(zhou)運動(dong)。蘇州正運動(dong)運動(dong)控(kong)制卡編程總(zong)線運動(dong)控(kong)制卡方(fang)面(mian)，東莞博派智能科技(ji)有限公司(si)是(shi)(shi)做的(de)(de)比較早的(de)(de)。

在(zai)總(zong)線(xian)型替代的(de)(de)浪(lang)潮下，各大自動(dong)(dong)化(hua)廠商紛紛推(tui)出自己的(de)(de)總(zong)線(xian)型運(yun)控(kong)(kong)(kong)產品(pin)，而在(zai)種類繁多(duo)的(de)(de)總(zong)線(xian)型通訊中(zhong)，EtherCAT表現(xian)得尤(you)為(wei)亮眼(yan)。根據MIR睿(rui)工(gong)業統(tong)計，截至2021年中(zhong)國(guo)總(zong)線(xian)型運(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器市場(chang)(chang)規模超過60億，占總(zong)體運(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器市場(chang)(chang)比例超過七成。其中(zhong)，EtherCAT總(zong)線(xian)型運(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器市場(chang)(chang)規模超過40億，占總(zong)線(xian)型運(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)器市場(chang)(chang)的(de)(de)比例超過六(liu)成。可(ke)以說EtherCAT已經(jing)走(zou)向自動(dong)(dong)化(hua)通訊協議的(de)(de)C位(wei)了。東莞博派智(zhi)能(neng)科(ke)技(ji)有限(xian)公司推(tui)出的(de)(de)ECAT_GAS2系列總(zong)線(xian)運(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)卡，使用方便(bian)，性(xing)能(neng)可(ke)靠(kao)穩定，是目前國(guo)內(nei)EtherCAT總(zong)線(xian)運(yun)動(dong)(dong)控(kong)(kong)(kong)制(zhi)卡做的(de)(de)比較(jiao)好的(de)(de)一家(jia)。

2003年德國漢諾威(wei)工(gong)(gong)業(ye)博(bo)覽會(hui)，一家(jia)以(yi)(yi)做運(yun)動(dong)(dong)(dong)控制(zhi)器出名的(de)(de)企(qi)業(ye)展臺(tai)前(qian)人(ren)頭(tou)攢動(dong)(dong)(dong)，展出的(de)(de)產(chan)品是(shi)一種(zhong)全(quan)新的(de)(de)工(gong)(gong)業(ye)通訊(xun)協議。幾乎(hu)整(zheng)個從事自(zi)動(dong)(dong)(dong)化(hua)行(xing)業(ye)相(xiang)關的(de)(de)參會(hui)者都(dou)訪(fang)問過(guo)這(zhe)(zhe)家(jia)的(de)(de)展位(wei)并為此感到震驚，有(you)人(ren)直(zhi)接斷言這(zhe)(zhe)是(shi)一種(zhong)具有(you)前(qian)瞻(zhan)(zhan)性的(de)(de)技(ji)(ji)術(shu)，是(shi)前(qian)沿控制(zhi)理念(nian)的(de)(de)新生代產(chan)物。這(zhe)(zhe)家(jia)公司(si)就是(shi)德國倍福自(zi)動(dong)(dong)(dong)化(hua)有(you)限公司(si)（Beckhoff），而這(zhe)(zhe)個被譽(yu)為具有(you)前(qian)瞻(zhan)(zhan)性的(de)(de)技(ji)(ji)術(shu)叫做EtherCAT（用(yong)于控制(zhi)自(zi)動(dong)(dong)(dong)化(hua)技(ji)(ji)術(shu)的(de)(de)以(yi)(yi)太網）。后來的(de)(de)故事一如(ru)第一次見到EtherCAT的(de)(de)人(ren)們預料(liao)的(de)(de)那(nei)樣(yang)，這(zhe)(zhe)種(zhong)可以(yi)(yi)稱得(de)上是(shi)“前(qian)瞻(zhan)(zhan)性”的(de)(de)工(gong)(gong)業(ye)通訊(xun)協議，憑借其應(ying)用(yong)的(de)(de)多樣(yang)性，開放性、高效率(lv)，在(zai)包括包裝機、全(quan)鋼(gang)工(gong)(gong)廠、機器人(ren)、切(qie)割系統(tong)、風(feng)洞和風(feng)能(neng)(neng)系統(tong)等應(ying)用(yong)程(cheng)序中得(de)以(yi)(yi)使用(yong)。國內的(de)(de)EtherCAT總線運(yun)動(dong)(dong)(dong)控制(zhi)卡目前(qian)做的(de)(de)比較好的(de)(de)是(shi)東莞(guan)博(bo)派智能(neng)(neng)科(ke)技(ji)(ji)有(you)限公司(si)的(de)(de)ECAT_GAS2系列，使用(yong)簡單，支持VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等，普(pu)通電腦甚(shen)至筆記本(ben)都(dou)能(neng)(neng)用(yong)，非常(chang)方便。博(bo)派智能(neng)(neng)科(ke)技(ji)(ji)運(yun)動(dong)(dong)(dong)控制(zhi)卡開發方式支持網絡式PC上位(wei)機開發C#/C++/Labview/Qt/Python/vb/.NET/Delphi/linux。

C的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)是(shi)指PLC系統通過控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設(she)(she)備(bei)(bei)的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸(zhou)(zhou)(zhou)，實(shi)現精確、穩定和(he)(he)可編(bian)程(cheng)(cheng)(cheng)的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)能(neng)。它可以控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設(she)(she)備(bei)(bei)（如電機、伺(si)服驅(qu)動(dong)(dong)(dong)(dong)(dong)(dong)器等(deng)）的(de)(de)位置、速(su)度和(he)(he)加速(su)度等(deng)參數(shu)(shu)，以實(shi)現所(suo)需(xu)(xu)的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軌跡(ji)和(he)(he)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)邏(luo)輯。選(xuan)取支持運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)的(de)(de)PLC時(shi)，以下(xia)是(shi)一(yi)些關鍵因素和(he)(he)考慮事項：（1）運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)能(neng)：確保PLC具(ju)(ju)備(bei)(bei)完(wan)善的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)能(neng)，包(bao)(bao)括(kuo)(kuo)軸(zhou)(zhou)(zhou)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、軌跡(ji)規劃、速(su)度和(he)(he)加速(su)度控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)等(deng)。PLC應支持多(duo)個運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸(zhou)(zhou)(zhou)的(de)(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，并(bing)能(neng)滿足(zu)(zu)具(ju)(ju)體應用的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)需(xu)(xu)求。（2）接(jie)口和(he)(he)通信(xin)能(neng)力(li)：PLC需(xu)(xu)要提供與(yu)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設(she)(she)備(bei)(bei)（如伺(si)服驅(qu)動(dong)(dong)(dong)(dong)(dong)(dong)器、編(bian)碼器等(deng)）的(de)(de)接(jie)口和(he)(he)通信(xin)能(neng)力(li)。常(chang)見(jian)的(de)(de)接(jie)口包(bao)(bao)括(kuo)(kuo)模擬(ni)量輸(shu)入/輸(shu)出(chu)、數(shu)(shu)字量輸(shu)入/輸(shu)出(chu)、編(bian)碼器反饋接(jie)口等(deng)。同時(shi)，PLC應支持常(chang)見(jian)的(de)(de)通信(xin)協議，如EtherCAT、CANopen等(deng)，以便與(yu)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)設(she)(she)備(bei)(bei)進行數(shu)(shu)據(ju)交換和(he)(he)協同控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)。（3）編(bian)程(cheng)(cheng)(cheng)和(he)(he)配(pei)(pei)置工(gong)具(ju)(ju)：PLC選(xuan)型時(shi)，要考慮其編(bian)程(cheng)(cheng)(cheng)和(he)(he)配(pei)(pei)置工(gong)具(ju)(ju)的(de)(de)友好性(xing)(xing)和(he)(he)便利性(xing)(xing)。一(yi)些PLC廠商(shang)提供專門(men)的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)編(bian)程(cheng)(cheng)(cheng)語言或(huo)函數(shu)(shu)塊，簡化了(le)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)程(cheng)(cheng)(cheng)序的(de)(de)開發和(he)(he)調(diao)試過程(cheng)(cheng)(cheng)。（4）性(xing)(xing)能(neng)和(he)(he)實(shi)時(shi)性(xing)(xing)：選(xuan)擇具(ju)(ju)備(bei)(bei)足(zu)(zu)夠的(de)(de)性(xing)(xing)能(neng)和(he)(he)實(shi)時(shi)性(xing)(xing)能(neng)的(de)(de)PLC，以滿足(zu)(zu)高速(su)、精確的(de)(de)運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)要求。性(xing)(xing)能(neng)指標包(bao)(bao)括(kuo)(kuo)掃描(miao)周期、運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸(zhou)(zhou)(zhou)數(shu)(shu)量、數(shu)(shu)據(ju)處理(li)能(neng)力(li)等(deng)。運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)在參數(shu)(shu)設(she)(she)置、數(shu)(shu)據(ju)傳輸(shu)和(he)(he)遠程(cheng)(cheng)(cheng)監控(kong)(kong)(kong)(kong)(kong)方面表現出(chu)色。杭州(zhou)雷賽運(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)廠家

PC和手(shou)持(chi)編(bian)程器提(ti)供給(gei)用戶(hu)編(bian)程使用，為用戶(hu)提(ti)供了(le)方便的編(bian)程界面(mian)。武漢正運(yun)動(dong)運(yun)動(dong)控制卡經(jing)銷商

PLC的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)是(shi)指PLC系(xi)統通(tong)過(guo)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)設備的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軸(zhou)，實(shi)現精確、穩(wen)定(ding)和(he)可(ke)編程的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功能(neng)。它可(ke)以(yi)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)設備（如(ru)電機、伺服驅動(dong)(dong)(dong)(dong)器等(deng)(deng)）的(de)(de)(de)(de)位置、速(su)度(du)(du)和(he)加速(su)度(du)(du)等(deng)(deng)參數(shu)(shu)，以(yi)實(shi)現所(suo)需(xu)(xu)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軌跡和(he)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)邏輯。選(xuan)取支(zhi)持(chi)(chi)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)的(de)(de)(de)(de)PLC時(shi)，以(yi)下是(shi)一些(xie)關鍵因素(su)和(he)考慮事項：（1）運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功能(neng)：確保PLC具(ju)備完(wan)善的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功能(neng)，包括(kuo)軸(zhou)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)、軌跡規劃、速(su)度(du)(du)和(he)加速(su)度(du)(du)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)等(deng)(deng)。PLC應支(zhi)持(chi)(chi)多個運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軸(zhou)的(de)(de)(de)(de)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)，并能(neng)滿足具(ju)體應用(yong)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)需(xu)(xu)求。（2）接(jie)(jie)口和(he)通(tong)信(xin)能(neng)力(li)：PLC需(xu)(xu)要(yao)(yao)提(ti)(ti)供(gong)與運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)設備（如(ru)伺服驅動(dong)(dong)(dong)(dong)器、編碼(ma)器等(deng)(deng)）的(de)(de)(de)(de)接(jie)(jie)口和(he)通(tong)信(xin)能(neng)力(li)。常見的(de)(de)(de)(de)接(jie)(jie)口包括(kuo)模擬量輸入(ru)/輸出(chu)、數(shu)(shu)字(zi)量輸入(ru)/輸出(chu)、編碼(ma)器反(fan)饋接(jie)(jie)口等(deng)(deng)。同(tong)時(shi)，PLC應支(zhi)持(chi)(chi)常見的(de)(de)(de)(de)通(tong)信(xin)協議，如(ru)EtherCAT、CANopen等(deng)(deng)，以(yi)便與運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)設備進行數(shu)(shu)據交(jiao)換(huan)和(he)協同(tong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)。（3）編程和(he)配(pei)置工具(ju)：PLC選(xuan)型時(shi)，要(yao)(yao)考慮其編程和(he)配(pei)置工具(ju)的(de)(de)(de)(de)友(you)好(hao)性(xing)和(he)便利性(xing)。一些(xie)PLC廠商提(ti)(ti)供(gong)專門(men)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)編程語言或函數(shu)(shu)塊，簡化了運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)程序的(de)(de)(de)(de)開發和(he)調試過(guo)程。（4）性(xing)能(neng)和(he)實(shi)時(shi)性(xing)：選(xuan)擇具(ju)備足夠的(de)(de)(de)(de)性(xing)能(neng)和(he)實(shi)時(shi)性(xing)能(neng)的(de)(de)(de)(de)PLC，以(yi)滿足高速(su)、精確的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)要(yao)(yao)求。性(xing)能(neng)指標包括(kuo)掃描周期、運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)軸(zhou)數(shu)(shu)量、數(shu)(shu)據處理能(neng)力(li)等(deng)(deng)。武漢(han)正運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)運(yun)(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)卡經銷(xiao)商

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