姣嬪焊缃枒锛屼繚榻＄悆鍦ㄧ編鍦嬫槸涓€闋�(xi脿ng)寰堝彈姝¤繋鐨勯珨鑲查亱(y霉n)鍕�銆傛摎(j霉)浼拌▓(j矛)锛岀編鍦嬫瘡骞寸磩鏈� 7 鍗冭惉浜烘渻鍘绘墦淇濋健鐞冿紱鍏朵腑鏈夎秴閬庡叐鐧捐惉浜烘槸淇濋健鐞冧勘妯傞儴鎴愬摗锛屽畾鏈熷幓鎵撲繚榻＄悆銆備綔鐐轰竴鍊嬭伅(li谩n)鐩熸(j墨)妲�(g貌u)锛�“缇庡湅淇濋健鐞冨崝(xi茅)鏈�”锛圲SBC锛夎矤(f霉)璨�(z茅)閫氶亷澶ч噺鐨勬潗鏂欏拰璩�(zh矛)閲忔脯瑭﹀崝(xi茅)瑾�(di脿o)鍜岀⒑淇濋€欓爡(xi脿ng)閬�(y霉n)鍕曠殑鎶€琛�(sh霉)瀹屽杽鎬�銆�2010 骞达紝鍗�(xi茅)鏈冮€氶亷鐢� ARM Automation 闁嬬櫦(f膩)鐨勯珮鎬ц兘淇濋健鐞冩(j墨)鍣ㄤ汉 E.A.R.L. [寮�(qi谩ng)鍖栬嚜鍕曚繚榻＄悆鐧�(f膩)灏勫櫒锛圗nhanced Automated Robot Launcher锛塢瑷�(sh猫)绔嬩簡涓€鍊嬮噷绋嬬銆備粬鍊戦噰鐢� Beckhoff 鍩轰簬 PC 鍜� EtherCAT 鐨勫钩鑷虹簿纰烘帶鍒舵(j墨)鍣ㄤ汉銆�

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绺介儴浣嶄簬寰峰厠钖╂柉娲插ェ鏂眬鐨� ARM Automation 鍏徃涓昏鐐哄叿鏈夋寫鎴�(zh脿n)鎬х殑宸ユキ(y猫)鎳�(y墨ng)鐢ㄩ牁(l菒ng)鍩熼枊鐧�(f膩)瀹氬埗鍖栬嚜鍕曞寲瑙ｆ焙鏂规銆傚叕鍙告垚绔嬩簬 1993锛屼富瑕佹キ(y猫)鍕�(w霉)鏄偤鍚勫€嬫噳(y墨ng)鐢ㄩ牁(l菒ng)鍩熷拰寤洪€犳(j墨)鍣ㄤ汉锛氭鍏ョ墿娓│绯荤当(t菕ng)銆佺敤浜庢惉閬�(y霉n)鏍告潗鏂欑殑姗�(j墨)鍣ㄤ汉銆佸櫞娉夎〃婕旂敤姘翠笅姗�(j墨)鍣ㄤ汉銆侀嚌灏� PC 鐢熺敘(ch菐n)鐨勫寘瑁濆拰瑁濋厤绶氥€侀嚌灏嶅€夊韩鑷嫊鍖栫殑绉诲嫊寮忔(j墨)鍣ㄤ汉銆佸崐灏�(d菐o)楂斿埗閫犱腑浣跨敤鐨勬縺鍏夊井鍔犲伐鍒€鍏凤紝绛夌瓑銆侫RM Automation 鐨勫挤(qi谩ng)闋�(xi脿ng)鏄牴鎿�(j霉)瀹㈡埗鐨勫叿楂旈渶姹傛彁渚涢噺韬墦閫犵殑瑙ｆ焙鏂规銆�“ARM Automation 鏄敮涓€涓€瀹惰兘澶犳彁渚涙垜鍊戠殑鎵€闇€瑕佺殑姗�(j墨)鍣ㄤ汉瑙ｆ焙鏂规鐨勫叕鍙�銆�”USBC 鍦嬪绠＄悊鍗�(xi茅)鏈冪附缍�(j墨ng)鐞� Neil Stremmel 濡傛瑾亾銆�

淇濋健鐞冩(j墨)鍣ㄤ汉妯℃摤閬�(y霉n)鍕曞摗鐨勮鐐鸿垑姝�

E.A.R.L. 淇濋健鐞冩(j墨)鍣ㄤ汉鐨勯枊鐧�(f膩)涓昏鏄偤浜嗗皪淇濋健鐞冮亱(y霉n)鍕曚腑鐨勪娇鐢ㄧ殑鐢�(ch菐n)鍝佸拰鏉愭枡閫�(j矛n)琛岀爺绌跺拰娓│銆�“鏍规摎(j霉)灏嶆(j墨)鍣ㄤ汉鏁�(sh霉)鎿�(j霉)鐨勮⿻浼板拰鍒嗘瀽鑳藉鎺ㄦ柗鍑虹悆鐨勯亱(y霉n)鍕曞拰寰楀垎涔嬮枔鐨勭浉浜掗棞(gu膩n)绯�銆�”Neil Stremmel 瑙ｉ噵閬撱€�“E.A.R.L. 鑳藉寰�(f霉)鍒跺咕涔庝换浣曚繚榻＄悆閬�(y霉n)鍕曞摗鐨勯ⅷ(f膿ng)鏍�锛岄€欏皣骞姪鏁欑反绲勬紨绀烘瘡鍊嬩繚榻＄悆閬�(y霉n)鍕曞摗鍦ㄦ瘮璩芥檪鐝�(xi脿n)鍫存儏娉佹槸濡備綍璁婂寲鐨勶紝濡備綍鏍规摎(j霉)涓嶆柗璁婂寲鐨勪繚榻＄悆姣旇辰鐠�(hu谩n)澧冮€�(j矛n)琛岄仼鐣�(d膩ng)瑾�(di脿o)鏁�銆�”鐐轰簡璁撲繚榻＄悆閬�(y霉n)鍕曞摗鍦ㄦ瘮璩芥檪鍥�?y脿n)妲熸壙顭磍浠剁殑璁婂寲鑰屽皪姣旇辰绲�(ji茅)鏋滅敘(ch菐n)鐢熷奖闊跨殑浜嬫儏涓嶅啀鐧�(f膩)鐢�锛孶SBC 鏇惧紩鐢ㄤ簡淇濋健鐞冩(j墨)鍣ㄤ汉 Harry銆�“浣嗘槸 Harry 鐨勯噸鐝�(xi脿n)鎬т笉澶犲ソ锛屽湪瑾�(di脿o)鏁存脯瑭︽浠讹紙濡備綅缃殑宸垾锛夋檪闈炲父涓嶉潏娲汇€�”ARM Automation 鍏徃绺借 Stephen Grupinski 鍦ㄦ弿杩伴枊濮嬫檪鐨勬儏娉佹檪瑾亾銆�

E.A.R.L. 姗�(j墨)鍣ㄤ汉閬�(y霉n)鍕曟帶鍒剁郴绲�(t菕ng)鐢变竴鏍圭敤浜庡湪鏁村€嬩繚榻＄悆閬撳畾浣嶄繚榻＄悆鐨勭洿绶氳桓銆佷竴鍊� 5 杌稿畾浣嶆(j墨)姊版墜锛�涓€鍊嬬（鐞冩(j墨)鍜屼竴鍊嬪畨瑁濆湪鍗＄埅涓婄殑閲嬫斁姗�(j墨)妲�(g貌u)绲勬垚

閬�(y霉n)鍕曞簭鍒楃殑鏈€浣冲悓姝ュ拰绮惧害

E.A.R.L. 姗�(j墨)鍣ㄤ汉閬�(y霉n)鍕曟帶鍒剁郴绲�(t菕ng)鐢变竴鏍圭敤浜庡湪鏁村€嬩繚榻＄悆閬撳畾浣嶄繚榻＄悆鐨勭洿绶氳桓銆佷竴鍊� 5 杌稿畾浣嶆(j墨)姊版墜锛屼竴鍊嬬（鐞冩(j墨)鍜屼竴鍊嬪畨瑁濆湪鍗＄埅涓婄殑閲嬫斁姗�(j墨)妲�(g貌u)绲勬垚?锛熼泴楗�?锛屾(j墨)鍣ㄤ汉濂藉儚鍙渶绨″柈鍦�?f霉)]涓€涓嬫墜鑷傚氨鍙互鎶撲綇淇濋健鐞冨苟灏囩悆鎵撳埌鐞冮亾閲岋紝浜嬪(sh铆)涓�锛屾瘡涓€鍊嬫姇鎿叉脯瑭﹂兘闇€瑕侀噰闆嗗緢澶氬弮鏁�(sh霉)銆傚吀鍨嬬殑 E.A.R.L. 瑭﹂(y脿n)瑷�(sh猫)缃敱涓嬮潰骞惧€嬮儴鍒嗙祫鎴愶細

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“姗�(j墨)姊板拰闆绘埃鎺у埗闁嬬櫦(f膩)鐨勬渶澶ф寫鎴�(zh脿n)鏄皪淇濋健鐞冮噵鏀剧殑瀹氭檪銆�”ARM Automation 鍏徃鐨勯爡(xi脿ng)鐩伐绋嬪斧 Greg Wiese 瑙ｉ噵閬�銆俇SBC 閲嬫斁鐞冩檪闇€瑕佺殑閫熷害绱勭偤 24 mph 鎴� 10.7 m/s銆傚鏋滅郴绲�(t菕ng)鎶栧嫊鏈� 1 ms锛屽氨鐩哥暥(d膩ng)浜庣悆鍌捐鍋忓樊涓€搴�锛岃垏閭婄晫鍋忓樊 12.7 mm锛堝鏋滃畠瓒呴亷閫欐绶氾紝鍓囨娆℃姇鎿茬劇鏁堟垨鍑虹晫锛�銆備换浣曚竴榛�(di菐n)椤嶅鐨勬姈鍕�锛岀悆灏卞彲鑳芥渻琚姇鍒板ぉ鑺辨澘涓�锛屾垨鎾炲埌淇濋健鐞冮亾閲�銆�

“鐢变簬閲囩敤浜� EtherCAT 鐨勫垎甯冨紡鏅傞悩鍔熻兘锛屽悓姝ュ拰绮惧害閮介仈(d谩)鍒颁簡鏈€楂樸€�”ARM Automation 鍏徃 CTO Joe Geisinger 瑾亾銆�“閫欐ǎ灏辫兘澶犱互姣绮惧害鍗�(xi茅)瑾�(di脿o)澶栭儴 I/O 鑸囬﹨(q奴)鍕曟帶鍒跺拰瀹氫綅锛欵.A.R.L. 姗�(j墨)鍣ㄤ汉鏈鍩�(zh铆)琛屽櫒鐨勪綅缃暩(sh霉)鎿�(j霉)琚偝杓哥郸 EtherCAT 椹�(q奴)鍕曞櫒锛屼互娓畾鐞冮噵鏀剧殑绮剧⒑鏅傞枔銆備綅缃脯閲忛潪甯哥簿纰猴紝鏅傞枔灏忎簬 1 ms锛屾垚鍔熷壍(chu脿ng)寤轰簡姣忔鎶曟摬鏅傜悆鐨勬纰哄偩瑙�銆傚湪瑭﹂(y脿n)闅庢锛孍.A.R.L. 鑳藉鍦� 250 μs 鍏�(n猫i)瀹屾垚涓€娆′綅缃巸鎻忓苟閲嬫斁涓€鍊嬩繚榻＄悆銆�”

鍦ㄦ暩(sh霉)绉掓檪闁撳収(n猫i)鍗冲彲瀹屾垚鍙冩暩(sh霉)瑾�(di脿o)鏁�

鐐轰簡婊胯冻閫欎竴鐛�(d煤)鐗圭殑姗�(j墨)鍣ㄤ汉鎳�(y墨ng)鐢ㄧ殑鍤�(y谩n)鑻涚簿搴﹁姹�锛孉RM Automation 鍏徃閬告搰浜� Beckhoff 鍩轰簬 EtherCAT 鍜� PC 鐨勬帶鍒剁郴绲�(t菕ng)銆俇SBC 浜哄摗鑳藉杓曟澗閫氶亷鎺у埗闈㈡澘杓稿叆浠栧€戠殑娓│瑷�(sh猫)缃�銆傛湁 11 鍊嬭畩閲忕敤浜庨厤缃瘡娆℃姇鎿�锛岄€氶亷鎺у埗闈㈡澘瑾�(di脿o)鏁撮€熷害鍜屾嬀鍙栧畾鍚戙€傛(j墨)鍣ㄤ汉鑳藉鍦ㄤ笉鍒� 10 绉掔殑鏅傞枔鍏�(n猫i)閰嶇疆鍚勫€嬩笉鍚岀殑鍙冩暩(sh霉)銆�

鎺у埗绯荤当(t菕ng)鐢变竴鑷鸿鏈� TwinCAT NC PTP 杌熶欢鍜岄噰鐢� Windows CE 鎿嶄綔绯荤当(t菕ng)鐨� Beckhoff C6920 宸ユキ(y猫) PC 妲�(g貌u)鎴愩€侲therCAT 鐢ㄤ綔 I/O 鍜岄﹨(q奴)鍕曠殑閫氳▕绯荤当(t菕ng)銆傛搷浣滅晫闈娇鐢ㄧ殑鏄付 12 鑻卞瑙告懜灞忕殑 Beckhoff CP6901 鎺у埗闈㈡澘銆�

鐪嬭捣渚�锛屾(j墨)鍣ㄤ汉濂藉儚鍙渶绨″柈鍦�?f霉)]涓€涓嬫墜鑷傚氨鍙互鎶撲綇淇濋健鐞冨苟灏囩悆鎵撳埌鐞冮亾閲岋紝浜嬪(sh铆)涓�锛屾瘡涓€鍊嬫姇鎿叉脯瑭﹂兘闇€瑕侀噰闆嗗緢澶氬弮鏁�(sh霉)

EtherCAT 闆嗘垚閬�(y霉n)鍕曟帶鍒跺拰 I/O

ARM Automation 澶氬勾渚嗕竴鐩存槸 EtherCAT 鎶€琛�(sh霉)绲勭箶锛圗TG锛夌殑娲昏簫鎴愬摗锛屽凡缍�(j墨ng)闁嬬櫦(f膩)鍑� EtherCAT 寰炵珯瑷�(sh猫)鍌�銆�“骞惧勾鍓�锛屾垜鍊戝氨宸茬稉(j墨ng)杞�(zhu菐n)鍚戜娇鐢� EtherCAT锛岃垏鍌崇当(t菕ng)鐨勭従(xi脿n)鍫寸附绶氱郴绲�(t菕ng)鐩告瘮锛屽畠鐐烘垜鍊戝付渚嗕簡寰堝鍎�(y艒u)鍕�銆�”Stephen Grupinski 寮�(qi谩ng)瑾�(di脿o)瑾亾銆�“浠ュお缍�(w菐ng)鐗╃悊鐗规€э紝涓€鑸€ц兘鏁�(sh霉)鎿�(j霉)锛屽鎴跺皪鍩轰簬浠ュお缍�(w菐ng)鐨勭恫(w菐ng)绲�(lu貌)鑸堣叮鐨勯€愭澧炲姞浠ュ強鍦ㄥ悓涓€鍊嬬郴绲�(t菕ng)涓皣閬�(y霉n)鍕曟帶鍒跺拰 I/O 鏁村悎鍦ㄤ竴璧风殑鑳藉姏閮芥槸鎴戝€戣綁(zhu菐n)鍚戜娇鐢� EtherCAT 鐨勯噸瑕佸師鍥�銆�“EtherCAT 閭勮畵鎴戝€戣兘澶犺ê鏂风附绶�锛屼互妾㈡脯鐗╃悊灞や笂鏄惁鏈夋柗閺堝苟绮剧⒑娓畾鏁呴殰浣嶇疆銆�”Joe Geisinger 瑁�(b菙)鍏呰閬�銆�“鐢变簬 TwinCAT 鎺у埗杌熶欢鏈夐枊鏀剧殑鏋舵(g貌u)锛屾湁浜嗗畠锛屽氨鑳藉闈炲父闈堟椿鍦伴€氶亷涓€鍊嬪畨瑁濆湪 C6920 宸ユキ(y猫) PC 涓殑杩蜂綘 SERCOS 鐝�(xi脿n)鍫寸附绶氬崱閫ｆ帴鐝�(xi脿n)鏈夌殑 SERCOS 瑷�(sh猫)鍌�銆�”

USBC 浜哄摗鑳藉閫氶亷甯� 12 鑻卞瑙告懜灞忕殑 Beckhoff CP6901 鎺у埗闈㈡澘杓曟澗杓稿叆娓│瑷�(sh猫)缃湁 11 鍊嬭畩閲忕敤浜庨厤缃瘡娆℃姇鎿�锛岄€氶亷鎺у埗闈㈡澘瑾�(di脿o)鏁撮€熷害鍜屾嬀鍙栧畾鍚�銆傛(j墨)鍣ㄤ汉鑳藉鍦ㄤ笉鍒� 10 绉掔殑鏅傞枔鍏�(n猫i)閰嶇疆鍚勫€嬩笉鍚岀殑鍙冩暩(sh霉)

鍦� TwinCAT 鍩虹(ch菙)涓婇枊鐧�(f膩)閬�(y霉n)鍕曟帶鍒剁郴绲�(t菕ng)

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