描述
自从1968年在通用汽车公司使用开始（用来代替硬连线继电器），PLC就使用梯形逻辑编程。它们可容易地控制数字和模拟设备的过程，但对更复杂、连续性质过程的编程要比用高级编程语言，如BASIC、C或C＃更加困难。多年来，PLC已经进化到可以用BASIC或C语言编程的水平，但大部分仍然依赖于梯形逻辑。很多低端PLC通过步进和方向输出支持运动控制。一些更高水平的运动控制可以通过昂贵的专用模块来实现，但必须添加到基本系统。尽管这样，大多数设备用梯形逻辑编程，需要熟悉编程环境，制造工艺，以及专门的功能块才能实现需要的功能。一般市场中的运动控制器通常包括插补功能（直线插补或圆弧插补），协同运动、齿轮、凸轮和事件触发动作（使用传感器和位置锁存）。在老控制器中，每轴使用专用的输入和输出。运动输入，如使能、超程限位和编码器输入（每轴一个或两个）和类似伺服命令的运动输出（通常为+/-10V模拟量）和/或步进指令（步进和方向）。多数控制器还具有一些通用的I/ O。新控制器依靠数字网络，如EtherCAT或SERCOS用来传递控制信号至驱动器，接收和发送直接连接到驱动器的数字IO。在处理联动的运动时，典型的运动控制器无法与机器人控制器竞争。典型的运动控制器，如果你想把末端执行器移动到一个特定点，你必须为每个轴找出正确的位置。你需要对机器人和有机械连接机制的其他机器做的事情是使用反向运动学的方法来编程。使用时需要公式，在物理空间中，需要把特定点转换为各自的位置，描述每个关节（或轴）需要移动至所述机械连接机构的终点。同样，这些系统应用广泛多样，需要熟悉他们的特定编程环境。机器人控制器已经设计为实现特定复杂机制的最佳控制。多数控制器为特定设备。制造商创建一种专门的语言编程，从平台到平台的变化很大。当控制设备使用为他们设计的控制库时，非常高效；然而，大多数都不能很好地进行通信、集成或编程。在过去，几乎专用的机器人控制器只支持的运动学和反向运动学。现在，很多常见的运动控制器提供机器人类型命令的某些子集，尤其在针对包装自动化的控制器。机器人控制器和运动控制器之间的界限正变得模糊，但仍然用不同的系统和不同的语言编程，需要程序员进行协调，设计通常用于特定目的。
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主营DCS系统配件
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