插(cha)(cha)補(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)插(cha)(cha)補(bu)常見的(de)(de)兩(liang)種方(fang)式是(shi)(shi)直線(xian)(xian)插(cha)(cha)補(bu)和圓(yuan)弧插(cha)(cha)補(bu)。插(cha)(cha)補(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)至少需要兩(liang)個軸參與，進行插(cha)(cha)補(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)時，將規劃軸映射到(dao)相(xiang)應的(de)(de)機(ji)臺坐標系(xi)中(zhong)，運(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)制器(qi)根據坐標映射關系(xi)，控(kong)(kong)制各軸運(yun)(yun)(yun)(yun)動(dong)(dong)，實(shi)(shi)現要求的(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)軌跡。插(cha)(cha)補(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)指令會(hui)存入運(yun)(yun)(yun)(yun)動(dong)(dong)緩(huan)沖區，再(zai)依(yi)次從運(yun)(yun)(yun)(yun)動(dong)(dong)緩(huan)沖區中(zhong)取出指令執(zhi)行，直到(dao)插(cha)(cha)補(bu)運(yun)(yun)(yun)(yun)動(dong)(dong)全(quan)部(bu)執(zhi)行完。1.直線(xian)(xian)插(cha)(cha)補(bu)直線(xian)(xian)插(cha)(cha)補(bu)方(fang)式中(zhong)，兩(liang)點間的(de)(de)插(cha)(cha)補(bu)沿(yan)著(zhu)直線(xian)(xian)的(de)(de)點群來(lai)逼(bi)近(jin)。首先(xian)假設在(zai)實(shi)(shi)際(ji)輪(lun)(lun)廓(kuo)起始點處沿(yan)X方(fang)向(xiang)(xiang)走一(yi)(yi)小(xiao)段(duan)(給一(yi)(yi)個脈沖當(dang)量軸走一(yi)(yi)段(duan)固定距離)，發(fa)現終(zhong)點在(zai)實(shi)(shi)際(ji)輪(lun)(lun)廓(kuo)的(de)(de)下(xia)方(fang)，則下(xia)一(yi)(yi)條線(xian)(xian)段(duan)沿(yan)Y方(fang)向(xiang)(xiang)走一(yi)(yi)小(xiao)段(duan)，此(ci)時如果線(xian)(xian)段(duan)終(zhong)點還在(zai)實(shi)(shi)際(ji)輪(lun)(lun)廓(kuo)下(xia)方(fang)，則繼續沿(yan)Y方(fang)向(xiang)(xiang)走一(yi)(yi)小(xiao)段(duan)，直到(dao)在(zai)實(shi)(shi)際(ji)輪(lun)(lun)廓(kuo)上(shang)方(fang)以(yi)后，再(zai)向(xiang)(xiang)X方(fang)向(xiang)(xiang)走一(yi)(yi)小(xiao)段(duan)，依(yi)此(ci)類(lei)推，直到(dao)到(dao)達輪(lun)(lun)廓(kuo)終(zhong)點為止。這樣實(shi)(shi)際(ji)輪(lun)(lun)廓(kuo)是(shi)(shi)由一(yi)(yi)段(duan)段(duan)的(de)(de)折線(xian)(xian)拼(pin)接而(er)成(cheng)，雖然是(shi)(shi)折線(xian)(xian)，但每一(yi)(yi)段(duan)插(cha)(cha)補(bu)線(xian)(xian)段(duan)在(zai)精度允許范(fan)圍(wei)內非常小(xiao)，那么此(ci)段(duan)折線(xian)(xian)還是(shi)(shi)可(ke)以(yi)近(jin)似看做(zuo)一(yi)(yi)條直線(xian)(xian)段(duan)，這就是(shi)(shi)直線(xian)(xian)插(cha)(cha)補(bu)。比如在(zai)機(ji)械加工方(fang)面，用電子凸輪(lun)(lun)來(lai)代(dai)替笨重(zhong)的(de)(de)機(ji)械凸輪(lun)(lun)當(dang)然是(shi)(shi)比較簡單(dan)的(de)(de)了。佛山運(yun)(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)制器(qi)廠(chang)家

博派智能(neng)科技(ji)運(yun)(yun)(yun)動控制(zhi)(zhi)卡(ka)的(de)開發方(fang)式(shi)(shi)(shi)：（1）支(zhi)持(chi)(chi)網絡式(shi)(shi)(shi)PC上位機開發（C#/C++/Labview/Qt/Python/vb/.NET/ROS/MATLAB/Delphi/linux）；（2）可(ke)(ke)(ke)(ke)支(zhi)持(chi)(chi)PC程序(xu)和(he)控制(zhi)(zhi)器(qi)(qi)內(nei)置程序(xu)同時工作(zuo);（3）多(duo)種加密方(fang)式(shi)(shi)(shi)，確保用(yong)戶程序(xu)安(an)全(quan);（4）統一的(de)API函數(shu)(shu)接(jie)口，所(suo)有(you)產品共(gong)用(yong)同一套API函數(shu)(shu)。豐富的(de)運(yun)(yun)(yun)動控制(zhi)(zhi)功能(neng)：（1）點位運(yun)(yun)(yun)動、電(dian)子凸輪、電(dian)子齒(chi)輪、位置鎖(suo)(suo)存、同步(bu)跟隨、虛擬(ni)軸等(deng)；（2）直線(xian)(xian)插(cha)補、圓弧插(cha)補、螺旋插(cha)補、連續軌(gui)跡等(deng)；（3）動態變速、自適應前(qian)瞻等(deng)。功能(neng)特(te)點：（1）軸數(shu)(shu)：2-32軸可(ke)(ke)(ke)(ke)選；32軸EtherCAT,（2）IO：16進16出，通過IO擴(kuo)展(zhan)或Ethernet交換(huan)機可(ke)(ke)(ke)(ke)擴(kuo)展(zhan)至(zhi)4096進4096出；（3）編碼器(qi)(qi)數(shu)(shu)：1~N路(lu);（4）模擬(ni)量：支(zhi)持(chi)(chi)擴(kuo)展(zhan)，可(ke)(ke)(ke)(ke)擴(kuo)展(zhan)至(zhi)16路(lu)AD，16路(lu)DA；（5）通訊(xun)：Ethernet;（6）脈(mo)沖頻率(lv)：2M;（7）脈(mo)沖模式(shi)(shi)(shi)：方(fang)向(xiang)/脈(mo)沖ECAT。GAS系列高(gao)性能(neng)多(duo)軸運(yun)(yun)(yun)動控制(zhi)(zhi)卡(ka)可(ke)(ke)(ke)(ke)用(yong)于(yu)電(dian)子半(ban)導體(ti)設備(bei)(bei)(bei)（檢(jian)測類(lei)設備(bei)(bei)(bei)、組裝(zhuang)類(lei)設備(bei)(bei)(bei)、鎖(suo)(suo)附類(lei)設備(bei)(bei)(bei)、焊(han)接(jie)機）、點膠設備(bei)(bei)(bei)、激光加工設備(bei)(bei)(bei)、非標(biao)設備(bei)(bei)(bei)、印(yin)刷包(bao)裝(zhuang)設備(bei)(bei)(bei)、紡織服(fu)裝(zhuang)設備(bei)(bei)(bei)、舞(wu)臺娛樂設備(bei)(bei)(bei)和(he)醫(yi)療設備(bei)(bei)(bei)和(he)流水(shui)線(xian)(xian)等(deng)應用(yong)場合。武(wu)漢(han)以太網運(yun)(yun)(yun)動控制(zhi)(zhi)器(qi)(qi)排名博派ETH_GAS控制(zhi)(zhi)卡(ka)支(zhi)持(chi)(chi)多(duo)個并聯使用(yong)，可(ke)(ke)(ke)(ke)擴(kuo)展(zhan)至(zhi)2000 個軸，可(ke)(ke)(ke)(ke)滿足所(suo)有(you)應用(yong)場合。

一(yi)、電(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)簡介1.1組成部分電(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)（ECAM）是利用構造的(de)(de)(de)凸(tu)(tu)輪(lun)(lun)(lun)曲線(xian)(xian)來模(mo)(mo)擬機(ji)(ji)械凸(tu)(tu)輪(lun)(lun)(lun)，以達(da)到(dao)機(ji)(ji)械凸(tu)(tu)輪(lun)(lun)(lun)系統相(xiang)同(tong)的(de)(de)(de)凸(tu)(tu)輪(lun)(lun)(lun)軸于(yu)主(zhu)(zhu)軸之(zhi)間相(xiang)對運(yun)動(dong)的(de)(de)(de)軟件系統。通過控制(zhi)器控制(zhi)伺服電(dian)(dian)機(ji)(ji)來模(mo)(mo)擬機(ji)(ji)械凸(tu)(tu)輪(lun)(lun)(lun)的(de)(de)(de)功(gong)能，不需要另外安裝機(ji)(ji)械結構。1.2工(gong)作(zuo)原理電(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)屬(shu)于(yu)多軸同(tong)步運(yun)動(dong)。與(yu)機(ji)(ji)械齒輪(lun)(lun)(lun)一(yi)樣，電(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)需要主(zhu)(zhu)軸和從軸。若定(ding)義凸(tu)(tu)輪(lun)(lun)(lun)為(wei)主(zhu)(zhu)軸，推(tui)桿(gan)為(wei)從軸，那么凸(tu)(tu)輪(lun)(lun)(lun)的(de)(de)(de)實質就是從軸對應主(zhu)(zhu)軸的(de)(de)(de)一(yi)種函數(shu)關系。如下圖，機(ji)(ji)械凸(tu)(tu)輪(lun)(lun)(lun)按照凸(tu)(tu)輪(lun)(lun)(lun)的(de)(de)(de)輪(lun)(lun)(lun)廓(kuo)可(ke)(ke)以得出一(yi)段轉動(dong)角度與(yu)加工(gong)位置(zhi)運(yun)動(dong)軌(gui)(gui)跡(ji)，此軌(gui)(gui)跡(ji)為(wei)弧線(xian)(xian)，將(jiang)該段弧線(xian)(xian)分解成無(wu)數(shu)個直線(xian)(xian)軌(gui)(gui)跡(ji)，組合起來得到(dao)一(yi)串趨近于(yu)弧線(xian)(xian)運(yun)動(dong)軌(gui)(gui)跡(ji)，電(dian)(dian)子(zi)(zi)凸(tu)(tu)輪(lun)(lun)(lun)直接將(jiang)此段軌(gui)(gui)跡(ji)運(yun)動(dong)參(can)數(shu)裝入運(yun)動(dong)指令，即可(ke)(ke)控制(zhi)軸走(zou)出目標軌(gui)(gui)跡(ji)。

運(yun)動(dong)(dong)控(kong)(kong)(kong)制卡(ka)是一種基(ji)于PC機(ji)(ji)(ji)(ji)及工業PC機(ji)(ji)(ji)(ji)、用(yong)于各種運(yun)動(dong)(dong)控(kong)(kong)(kong)制場合（包(bao)括位移、速(su)度、加速(su)度等）的(de)(de)上(shang)位控(kong)(kong)(kong)制單元。利用(yong)高性能微處理器及大規模(mo)可編程(cheng)器件，運(yun)動(dong)(dong)控(kong)(kong)(kong)制卡(ka)可以實現對伺服(fu)電(dian)機(ji)(ji)(ji)(ji)的(de)(de)高性能多(duo)軸協調控(kong)(kong)(kong)制，能夠發(fa)出(chu)(chu)連續且高頻率的(de)(de)脈(mo)沖(chong)，并(bing)通過(guo)改(gai)編脈(mo)沖(chong)的(de)(de)頻率來控(kong)(kong)(kong)制電(dian)機(ji)(ji)(ji)(ji)的(de)(de)速(su)度。作為(wei)基(ji)于PC機(ji)(ji)(ji)(ji)的(de)(de)上(shang)位控(kong)(kong)(kong)制單元，運(yun)動(dong)(dong)控(kong)(kong)(kong)制卡(ka)在專機(ji)(ji)(ji)(ji)系統的(de)(de)開發(fa)過(guo)程(cheng)中，具(ju)有更(geng)大的(de)(de)靈活性和(he)開放性。在此基(ji)礎上(shang)，程(cheng)序員也能開發(fa)出(chu)(chu)功能強大的(de)(de)運(yun)動(dong)(dong)控(kong)(kong)(kong)制系統。正因為(wei)以上(shang)的(de)(de)特(te)(te)點，專業運(yun)動(dong)(dong)控(kong)(kong)(kong)制卡(ka)不僅在機(ji)(ji)(ji)(ji)床行業得(de)到(dao)大量推廣使用(yong)，而且在在許多(duo)小型專機(ji)(ji)(ji)(ji)系統中也得(de)到(dao)應(ying)用(yong)。在水處理和(he)水利水電(dian)方(fang)面，電(dian)子凸輪也有其特(te)(te)別(bie)的(de)(de)應(ying)用(yong)價值。

運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)主(zhu)要(yao)涉(she)及步(bu)進(jin)電(dian)機(ji)、伺(si)服(fu)電(dian)機(ji)的(de)(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)，控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)結構(gou)模式(shi)一(yi)般是(shi)(shi)：控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)裝(zhuang)(zhuang)置(zhi)+驅動(dong)器(qi)(qi)(qi)+（步(bu)進(jin)或伺(si)服(fu)）電(dian)機(ji)。控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)裝(zhuang)(zhuang)置(zhi)可(ke)以是(shi)(shi)PLC系(xi)統，也可(ke)以是(shi)(shi)自動(dong)化(hua)裝(zhuang)(zhuang)置(zhi)（如(ru)運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)、運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)卡）。PLC系(xi)統作為控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)裝(zhuang)(zhuang)置(zhi)時，雖具有PLC系(xi)統的(de)(de)靈活(huo)性、一(yi)定的(de)(de)通用性，但(dan)對于精(jing)度較高，如(ru)-插補控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)，反應(ying)靈敏的(de)(de)要(yao)求時難以做到或編程非常困難，而(er)(er)且成本(ben)可(ke)能較高。隨著技術(shu)進(jin)步(bu)和技術(shu)積累(lei)，運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)應(ying)運(yun)而(er)(er)生(sheng)了，它把(ba)一(yi)些(xie)普遍性的(de)(de)、特(te)殊的(de)(de)運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)功(gong)(gong)能固化(hua)在其(qi)中—如(ru)插補指(zhi)令(ling)，用戶只需組態、調(diao)用這些(xie)功(gong)(gong)能塊(kuai)或指(zhi)令(ling)，這樣減輕(qing)了編程難度，性能、成本(ben)等方面也有優勢。也可(ke)以這樣理(li)解：PLC的(de)(de)使用是(shi)(shi)一(yi)種(zhong)(zhong)普通的(de)(de)運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)裝(zhuang)(zhuang)置(zhi)。運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)是(shi)(shi)一(yi)種(zhong)(zhong)特(te)殊的(de)(de)PLC，專職用于運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)。運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)主(zhu)要(yao)涉(she)及步(bu)進(jin)電(dian)機(ji)、伺(si)服(fu)電(dian)機(ji)的(de)(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)，控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)結構(gou)模式(shi)一(yi)般是(shi)(shi)：控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)裝(zhuang)(zhuang)置(zhi)+驅動(dong)器(qi)(qi)(qi)+（步(bu)進(jin)或伺(si)服(fu)）電(dian)機(ji)。溫州雷賽運(yun)動(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)代理(li)

博派ETH_GAS系列(lie)運動控制(zhi)卡支持以太網或者串(chuan)口(kou)編程。脈沖輸出(chu)頻率達2MHz。佛(fo)山運動控制(zhi)器(qi)廠家

東莞(guan)博(bo)派(pai)智能(neng)(neng)(neng)科技(ji)(ji)(ji)有(you)限(xian)公司專注于運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)技(ji)(ji)(ji)術研(yan)究和(he)通用(yong)運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)軟硬(ying)件產(chan)(chan)(chan)品(pin)的(de)研(yan)發(fa)。在性能(neng)(neng)(neng)和(he)穩(wen)定性方面均處(chu)于國內較前(qian)地位(wei)。博(bo)派(pai)科技(ji)(ji)(ji)匯集了(le)來自(zi)工控(kong)(kong)(kong)(kong)(kong)(kong)行業(ye)的(de)擁(yong)有(you)10多(duo)(duo)年豐(feng)富經驗(yan)的(de)技(ji)(ji)(ji)術人才，是(shi)國內工控(kong)(kong)(kong)(kong)(kong)(kong)領域(yu)發(fa)展較快的(de)企業(ye)之一(yi)，也(ye)是(shi)國內少有(you)、完整掌握運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)技(ji)(ji)(ji)術和(he)實時工控(kong)(kong)(kong)(kong)(kong)(kong)軟件平臺(tai)技(ji)(ji)(ji)術的(de)企業(ye)。博(bo)派(pai)科技(ji)(ji)(ji)的(de)運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)產(chan)(chan)(chan)品(pin)包(bao)括1~6軸(zhou)串口運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡、2~16軸(zhou)網(wang)口/以(yi)太(tai)網(wang)運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)卡，以(yi)及各(ge)類(lei)IO、模擬量擴展模塊(kuai)等。博(bo)派(pai)科技(ji)(ji)(ji)的(de)運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)產(chan)(chan)(chan)品(pin)支(zhi)持(chi)點位(wei)、直(zhi)線、圓(yuan)弧、連續插補(bu)、自(zi)適應(ying)前(qian)瞻、電(dian)(dian)子齒(chi)輪、刀(dao)向跟隨、反向間隙(xi)、PWM、模擬量輸入(ru)輸出(chu)、脈沖比較輸出(chu)、編碼器(qi)(qi)輸入(ru)、硬(ying)件捕獲等運(yun)(yun)(yun)動(dong)(dong)功(gong)能(neng)(neng)(neng)。單控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)平臺(tai)插補(bu)可支(zhi)持(chi)16軸(zhou)，可1024個板卡聯動(dong)(dong)協作;支(zhi)持(chi)多(duo)(duo)卡并聯，軸(zhou)數量可以(yi)上萬軸(zhou)同時控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)，IO數量沒有(you)限(xian)制(zhi)(zhi)(zhi)。博(bo)派(pai)科技(ji)(ji)(ji)一(yi)直(zhi)致(zhi)力(li)于做好用(yong)的(de)運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)產(chan)(chan)(chan)品(pin)，經過眾多(duo)(duo)合(he)(he)作伙伴多(duo)(duo)年的(de)應(ying)用(yong)開發(fa)，產(chan)(chan)(chan)品(pin)應(ying)用(yong)于3C電(dian)(dian)子、印刷包(bao)裝(zhuang)、紡織服裝(zhuang)、激光(guang)加(jia)工、機器(qi)(qi)人、醫療(liao)保健、舞臺(tai)娛(yu)樂等領域(yu)。博(bo)派(pai)科技(ji)(ji)(ji)堅(jian)持(chi)產(chan)(chan)(chan)品(pin)質(zhi)量至上，以(yi)滿(man)足客(ke)戶需求為(wei)中心、以(yi)創造價值為(wei)根本、以(yi)提升體驗(yan)為(wei)追求，將(jiang)鍥(qie)而不舍地與各(ge)行業(ye)客(ke)戶深入(ru)合(he)(he)作，為(wei)智能(neng)(neng)(neng)制(zhi)(zhi)(zhi)造提供更有(you)價值的(de)運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)產(chan)(chan)(chan)品(pin)、方案與服務。佛山運(yun)(yun)(yun)動(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)廠家

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