PC_BASE刚出现时也是在工控界引起了很大的反响，那个时代的控制器都是相当贵的，我记得当时一块西屋公司WDPF控制系统的250M硬盘卖5万块，而PC硬件的低成本对于大家来说是相当大的吸引力。当时的工程师分为两派，一派认为PC是为商用开发的，控制界只能吸收其有用的技术，而另一派认为PC技术的广泛应用，有如此之多的软件和硬件资源可供利用，对于控制器的标准化和降低成本有很大的好处。

　　在这个过程中，国内的工控厂商包括DCS、PLC和各种专用控制器都广泛的采用了PC_BASE结构来开发新产品，当时大多使用386和486，其中ICOP的386X_M6117D是其中好的工业级386 ，可惜我只能买到M6117C所以只好改用了MAPLE的486DX4-100M。

PC_BASE在近些年的发展之中遇到了一个很大的难题，当初大家之所以选用PC_BASE是因为开发方便，特别是DOS和X86兼容年代，大家可以在一周的时间编写出一个很复杂的控制类程序，在刚有网络的时候，大家通过BBS互通有无，当时感觉有一种一切均在掌握之中的感觉。

　　现在DOS使用者越来越少，于是很多的厂商在引导工程师走WINNT的平台，而WINNT对于底层的屏蔽使广大底层软件开发工程师感到相当郁闷，因为WINNT体系的WDM驱动程序开发需要用到DDK等复杂工具，但如果使用XTOOLS之类的简易开发工具又会让人有一种隔鞋搔痒的感觉，让PC_BASE的开放性和方便性大大的被抵消了。同时WINNT体系的低可靠性让大多数自动化工程师望而止步。

2.0以前的WINCE也是一个让人发狂的软件，不光可靠性差，实时性也相当差劲，让人怀疑这玩意只能用来做做显示屏，后来wince2.0出来后还好一点，但个人对WINCE还是有抵触，可能是当初吃苦头吃多了，总认为一个工控产品不适合选用WINCE做操作系统，因为WINCE的系统结构包括兼容性、开放性、图形方面的优点都是针对手持消费类产品的，如PDA之类，对于工控需要的高实时性和高可靠性实在有点不及格。这一方面linux要更差一些，因为linux是为商用电脑开发的，很多公司都在为linux进行减肥并把抢占式的调度机制强行加入linux，从而可以使linux可以用在嵌入式的环境，但WINCE有的缺点它也都有，同时还要更严重，所以也不是一个好的选择。在操作系统方面，其实像VXWORKS和NECLUES之类的可能是一个不错的选择，因为用户多是工业方面的，对系统的可控制性比较强，如果是高要求的开发者还可以买源码，这样如果操作系统内有问题就可以自己调试，我们就曾发现NECLUES操作系统的8019驱动方面有问题，主要是实时高速通信会有堵塞的问题，后来发现这一部分代码是从linux的源码中移植过来的，所以linux也有类似的问题。

　　对于PC_BASE体系更要命的是低档X86的配套芯片都已停产，包括DRAM等，使大家想接着使用386、486、586都不可能了，（我一直很喜欢ICOP的M6117，可惜现在DRAM真是买不到新货，全吃库存了），除非使用旧芯片。同时现在intel和微软已完全放弃了向下兼容的规则，使PC_BASE存在的意义日益减少。没有哪家工控厂商都跟上这两位大佬的更新速度，当你的产品准备面市时，你会发现你使用的所有器件均已停产，你只能上二手市场去买拆机件。

　　在PC_BASE发展过程中大多数厂商都遇到了PC_BASE单体成本高、需要用户有较强的开发能力的问题，使PC_BASE的量很难做大，对厂商的技术支持的能力和要求很高。为此很多工控机的厂商都找到了像KW、infoteam、ISAGRAF、3S这样的软逻辑开发商，利用工控机或者PC104+IO板卡来组成一个控制平台，这种控制平台大的优点在于可以支持现有PC的各种资源，使监、控可以做在一体，缺点主要是从小型PLC来说，成本太高，从中大型PLC来说点数又太少，同时抗干扰和抗振动方面存在许多架构性问题。

在前些年我们花了很多的时间试用过多种不同类型的中想选一款理想的处理器而不可得，那个时侯民品方面的工程师都将目光转向ARM，因为大多数情况下在WINCE和linux上开发X86的软硬件和在ARM上开发类似的程序难度差别不大，而且ARM的成本比X86要低很多。我们试用了几种ARM后（当时ADI公司的工业级ARM还没出来）感觉ARM用在工业上面不大理想，大把显示、音频、VGA、以太网MAC之类的功能都在工控常规平台内用不上，而且ARM的抗电磁兼容方面也是一个头痛的问题，对于一般要求的2000V快速脉冲还可以满足，但再向上走就很难做到。目前来说选择可能会简单很多，相当多的工业用ARM、coolfire、AVR、M16使开发者有更多的选择，其中做为控制来说，M16真是一个很合适的处理器，可惜是产的。

1.4、PLC、DCS、PC的交叉点：

　　在现有技术的发展过程中，因为IC技术、通信技术、软件技术的高速发展。PLC、DCS、IPC在近几年出现了相当多的交叉和重复，基本上变成了PLC看起来更像DCS，而IPC改头换面之后与大多数的软PLC并无二样，也采用模块化结构，也使用IEC61131-3的五种语言，在使用上面比大多数的PLC更加容易更加偏软件。

　　这些年经常见到一些朋友问到底DCS与PLC的区别是什么，IPC+软逻辑之后是不是PLC？

　　这个问题真是一个很模糊的问题，因为差别实在是太小了。我曾经研发了五年的DCS又研发了四年的PLC，其中更多次使用IPC+软逻辑开发过PLC产品，所以从我们做研发的定义来分辨这几种产品吧。

DCS原来设计主要是为顺序控制开发的，大多数执行是定时扫描方式，循环的速度要求不高，多数在50ms~1秒以上可以设，但DCS应用的场合主要是电厂的主控、化工、造纸等，这些场合是一些比较复杂的模型，需要较强的模拟量运算能力，同时大多数DCS都针对不同的行业开发不同的功能块，使用户在使用时不需要自己用PID之类的算法做控制，而是抽象到了模型或者回路这一层。

　　另外DCS的用途点数通常比较多，很多大系统加上中间点可以达到20万点以上，硬IO点数也在数万点之多，如果用一台控制器当然是很困难的，所以大多数DCS在基于网络的多DPU协同工作方面有很强的能力。

　　超强的冗余功能，冗余与热备这是两种完全不同的技术，很多厂商完全混淆这两种概念误导客户，大多数冗余的故障切换时间都在uS级，这是严格的无缝切换，而热备则带有很多的软件特征，切换慢一点的如某公司的400系列某型大型PLC，需要数分钟之久。同时冗余也还有双通过双口RAM和通过串行通信等数种不同的实现方式，这里面带有着相当大的成本和性能不同，用户在选取时需要认真调研。

　　每一个DPU内均有一块实时数据库，实时数据库按站数和内外分成多块，每个站都用广播方式将自己的变量全量发送出去，同时每个站都会接收和更新其它站广播过来的全局变量，这样使每个站都可以实时的得到其它站的数据，从而使DCS可以很好的控制一个大系统。

DCS的控制器和HMI（人机界面）通常是合二为一的，这也比较适合大型过程控制的监控室，这使DCS更显示出浓厚的PC根源。

DCS的控制网络通常都是封闭的，通过一个历史数据库或者网关与外网交互，同时DCS对于工程师站、操作员站的定义比PLC工程体系要更为清晰和明显。

PLC：

　　小型微型PLC倒没什么冲突，因为结构和低成本的原因与其它两类产品完全不同。但中大型PLC因为大量使用PC_BASE技术使其与DCS和IPC+软逻辑基本上没有差别，只是因为这些厂商大多之前就是PLC厂商而且客户群都是PLC的客户，所以他的产品就叫PLC。

IPC+软逻辑：

　　在十几年前美欧的几个专家在这个问题有过一段很长时间的争论，围绕了一个问题是IPC+软逻辑如何实现才是合理的，因为当时主要有几种声音，一种是完全反对IPC在控制中的使用，因为显而易见的可靠性问题，包括操作系统的兼容性与可靠性如何并重。另一种是完全支持IPC在工控中的应用，并认为要使用标准的PC软硬件，这样才可以使兼容性和开放性的优点充分体现。后一种是一种折中的方案，把PLC插入IPC内，做为IPC的一个板卡。在实现上面也有这么几种方案：

　　方案一：标准操作系统，包括WINNT（含XP、2000、NT等）、linux、DOS，加软逻辑软件

　　方案二：标准操作系统加PLC卡，这样当电脑死机时控制不会受影响，重启电脑并不影响PLC，同时PLC与PC之间通过共享内存或者双口RAM进行数据交互。使其可以有PC的开放性和各种资源同时可以保证控制部分的可靠性。

　　方案三：重新设计的硬件系统如模块化结构再加上软逻辑软件，使其硬可靠性与PLC完全相同，只是使用了X86的和芯片组而已。

　　方案一，在一些特殊的应用场合有一部分市场，主要是在运控、图像、显示方面有其很大的优点；方案二是一个很保守的做法，但成本方面比较高；方案三其实已经是一个PLC 1.5、数控系统

　　数控系统的实现目前也有好几种方案：

　　方案一：通用PLC带数控功能

　　这对于需要逻辑控制又需要相对简单的位置控制的用户来说是一个很好的选择，无论是成本和开发难易度都有很多优势，不过通用型的PLC大多没有插补指令（部分产品有），并且不支持G代码，无法与CAD软件进行无缝联接。



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CACR-SR05SB1AF Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-SR05BC1ES-​Y278 Yaskawa Yasnac AC Servo Drive Servo
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CACR-SR05SB1AFY​187 Yaskawa Yasnac AC Servo Drive ServoP
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CACR-SR05BC1CS-​Y159 Yaskawa Yasnac AC Servo Drive Servo
One-day shipping available

YASKAWA SERVO MOTOR DRIVE- CACR-HR10BB NIB CACRHR10BB
One-day shipping available

YASKAWA YASNAC CIMR MT II 7.5K SPINDLE DRIVE

Yaskawa Varispeed 626VM3 Spindle Drive CIMR-VMS20110-P​X

Yaskawa Yasnac CACR-SR44SB1AFY​307 AC Servo Drive Servo

CACR-HR05BAB11 Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-SR03SZ1SSY​106 Yaskawa AC Servo Drive Unit
One-day shipping available

CACR-SR03SZ1SSY​223 Yaskawa Yasnac AC Servo Drive ServoP
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CACR-SR03SZ1SSY​84 Yaskawa Yasnac AC Servo Drive ServoPa
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CACR-SR03AB2ER Yaskawa Yasnac AC Servo Drive ServoPack
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CACR-SR03SZ1SSY​215 Yaskawa Yasnac AC Servo Drive ServoP
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CACR-PR03AC4ER Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-PR03BC3CSY​54 Yaskawa Yasnac AC Servo Drive ServoPa
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CACR-SR03AA2AH Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-SR03BE12G Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-SR03SB1AFY​187 Yaskawa Yasnac AC Servo Drive ServoP
One-day shipping available

CACR-SR03BE12F-​E Yaskawa Yasnac AC Servo Drive ServoPac
One-day shipping available

CACR-SR03BE12G-​E Yaskawa Yasnac AC Servo Drive ServoPac
One-day shipping available

CACR-SR03SZ1SSY​109 Yaskawa Yasnac AC Servo Drive ServoP
One-day shipping available

CACR-SR03SZ1SSY​318 Yaskawa Yasnac AC Servo Drive ServoP
One-day shipping available

Yaskawa Drive Servopack CACR-SR44BE12G CACRSR44BE12G-E

Yaskawa / Magnetek CIMR-G3U45P5 7.5HP 460V AC Drive G3
One-day shipping available

Yaskawa / Magnetek CIMR-G5M2022 30HP 230V AC Drive G5
One-day shipping available

CACR-SR02BY1SG-​E Yaskawa Yasnac AC Servo Drive ServoPac
One-day shipping available

CACR-SR02AZ1SR-​Y2 Yaskawa Yasnac AC Servo Drive ServoPa
One-day shipping available

CACR-SR02BE13SY​44 Yaskawa Yasnac AC Servo Drive ServoPa
One-day shipping available

CACR-SR02BE12G-​E Yaskawa Yasnac AC Servo Drive ServoPac
One-day shipping available

CACR-SR02AC1ER Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

Yaskawa AC servo drive motor USASEM-30YRW11 fanuc NEW

YASKAWA SERVO DRIVE (CONTROLLER) CACR-SR10SZ1SFY​221






NEW YASKAWA 7.5 HP AC VFD DRIVE CIMR-P7U45P5 P7BVB011J 

YASKAWA SERVOPACK DRIVE SGDM-75AC-PY389

Yaskawa AC servo drive motor USASEM-03YRS21 03YRS22 NEW

Yaskawa C21-B20V Frequency Drive (ESC1078)

YASKAWA CACR-IR15SFB SERVO DRIVE CACRIR15SFB
Expedited shipping available

REPAIR CDMR-MR-15K Yaskawa DC Drive Varispeed 505
One-day shipping available

REPAIR CDMR-MR-22K Yaskawa DC Spindle drive Varispeed 5
One-day shipping available

REPAIR CDMR-MR-11K Yaskawa DC Spindle drive Varispeed 5
One-day shipping available

CACR-SR01AA2AH-​Y3 Yaskawa Yasnac AC Servo Drive ServoPa
One-day shipping available

CACR-PR01AC4ER Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-SR01AC1ER Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-PRA5AC3ER Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-PRA5AC4ER Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

CACR-HR03BB Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

Yaskawa CIMR-37AS3 Juspeed Drive 230 V 3.7 kW
One-day shipping available

Yaskawa Servopack CACR-SR15SZ1SDY​77 Servo Drive Rebuilt

Yaskawa Servopack CACR-SR15SZ1SDY​77 Servo Drive Rebuilt

Yaskawa / Magnetek GPD506V-A080 25HP 230V AC Drive
One-day shipping available

CACR-HR01BAB12 Yaskawa Yasnac AC Servo Drive ServoPack
One-day shipping available

DR2-03BCP-F TUV Yaskawa AC Servo Drive Unit Servopack
One-day shipping available

Matsuura 7.5K Yaskawa Spindle Drive, Amplifier CNC Mill

CACR-SR20BB1BF-​H YASKAWA SERVO DRIVE *1YR.WRTY*
One-day shipping available

CIMR-G5C47P5 YASKAWA VARISPEED DRIVE
One-day shipping available

YASNAK SGDM-20AD SERVO DRIVE Yaskawa

NEW YASKAWA E7 N BYPASS VARISPEED AC DRIVE

Yaskawa CIMR-37AS2 Yaskawa Juspeed Drive 230 V 3.7 kW
One-day shipping available

Yaskawa CIMR-M5A20225 VS-626M5 Inverter Spindle Drive

YASKAWA CIMR-P7U4015 VARISPEED DRIVE 34A 26KVA **RFB**

Yaskawa CIMR-P7U40151 AC Drive 25HP 460V

YASKAWA CACR-SR01AC1ERY​102 SERVOPACK SERVO DRIVE *XLNT*

Yaskawa CIMR-VU4A0038FA​A AC Drive 25HP 460V

SGDB-10VD Yaskawa AC ServoPack SIGMA I Servo Drive Unit
One-day shipping available

Yaskawa / Magnetek CIMR-G5M25P5 7.5HP 230V AC Drive
One-day shipping available

SGDB-10ADGY1 Yaskawa AC ServoPack SIGMA I Servo Drive
One-day shipping available

SGDB-10ADGY8 Yaskawa AC ServoPack SIGMA I Servo Drive
One-day shipping available

Yaskawa Servopack Servo Drive CACR-SR20ZISFY-​1 USED
Expedited shipping available

Yaskawa / Magnetek CIMR-G5M2015 20HP 230V AC Drive 
One-day shipping available

Yaskawa / Magnetek CIMR-G3U4011 15HP 460V AC Drive G3
One-day shipping available

YASKAWA SERVOPACK SGDH-75AE VER 0810E SERVO DRIVE 

YASKAWA CACR-IR02SFB AC SERVO DRIVE 3 AMP ***NIB***

Yaskawa CACR-SR03AA2 Yasnac AC Servo Drive ServoPack

Yaskawa / Magnetek CIMR-G5M5018 600V 25HP AC Drive 
One-day shipping available

Yaskawa ServoPack Drive 400V SGDH-1ADE IP1X SGDH1ADE

Yaskawa / Magnetek GPD506V-B034 25HP 460V AC Drive
One-day shipping available

YASKAWA SERVO DRIVE

YASKAWA SPINDLE DRIVE VARISPEED 505 MT #CDMR-MR-15K

Yaskawa Varispeed 15hp drive CIMR-PRC45P5 CIMRPR45P5
One-day shipping available

YASKAWA YASNAC Spindle Drive VS-626MTIII Top Board

Yaskawa / Magnetek CIMR-G5M4011 20HP 460V AC Drive
One-day shipping available

CIMR-08JP2-1 Yaskawa Juspoint Controller AC drive
One-day shipping available

YASKAWA CIMR-H7.5B.D06 460V 10HP AC DRIVE * TESTED

YASKAWA CACR-SR10BC1ESY​262 SERVOPACK SERVO DRIVE *XLNT*

Yaskawa Servo Drive SGDB-10AN Rebuilt w/Warranty

Yaskawa / Magnetek GPD515C-A033 10HP 230V AC Drive
One-day shipping available

Yaskawa / Magnetek CIMR-G5M5022 600V 30HP AC Drive
One-day shipping available

YASKAWA CIMR-08JP3-3B00​M JUSPOINT III AC DRIVE***NIB***

Yaskawa / Magnetek GPD515C-C017 600V 15HP AC Drive
One-day shipping available

SGDH-50AE Yaskawa AC ServoPack SIGMA II Servo Drive
One-day shipping available

SGDB-15ADG Yaskawa AC ServoPack SIGMA I Servo Drive
One-day shipping available

Yaskawa / Magnetek CIMR-G3U42P2 3HP 460V AC Drive G3
One-day shipping available

Yaskawa / Magnetek CIMR-G5M5011 600V 15HP AC Drive
One-day shipping available

Yaskawa / Magnetek CIMR-P5M4015 25HP 460V AC Drive
One-day shipping available

Yaskawa CIMR-37A Juspeed Drive 230 V 3.7 kW
One-day shipping available

Yaskawa ServoPack Drive 400V SGDH-1ADE IP1X SGDH1ADE

Yaskawa Varispeed F7 7.5 hp AC Variable Torque Drive

YASKAWA SERVOPACK CPCR-MR055K SERVO DRIVE

YASKAWA SERVOPACK CPCR-MR085K2 SERVO DRIVE

REPAIR GPD506V-A068 Magnetek / Yaskawa AC Drive P5 GPD5
One-day shipping available

Yaskawa / Magnetek CIMR-G3U2011 15HP 230V AC Drive G3
One-day shipping available

Yaskawa Servopack CACR-IR30SFB servo drive motoman NEW

NOS YASKAWA AC Drive CIMR-V7CU47P54

SGDH-30AE Yaskawa AC ServoPack SIGMA II Servo Drive
One-day shipping available

Yaskawa / Magnetek GPD506V-B041 30HP 460V AC Drive
One-day shipping available

Yaskawa / Magnetek GPD506V-A054 15HP 230V AC Drive
One-day shipping available

Yaskawa / Magnetek CIMR-P5M2011 20HP 230V AC Drive
One-day shipping available

Yaskawa CACR-IR44SFB Servopack AC Servo Drive
One-day shipping available

Yaskawa ServoPack Drive 400V SGDH-1ADE IP1X SGDH1ADE

Yaskawa / Magnetek CIMR-G5M2011 15HP 230V AC Drive
One-day shipping available

YASKAWA SERVOPACK DRIVE CACR-HR10SB CNC KITAMURA 0

YASKAWA SGDB-60ADM SERVOPACK SERVO DRIVE 46.9A 8HP*NNB*