當(dāng)然，用戶也可以使用其它IDE，例如倍福就使用了微軟的Visual Studio，而背后的編譯器等內(nèi)核以及函數(shù)庫仍然采用CoDeSys的方案。
CoDeSys的Runtime具有強(qiáng)大的適應(yīng)性，支持絕大多數(shù)的操作系統(tǒng)和硬件芯片架構(gòu)。
2.2CoDeSys Runtime原理
CoDeSys的IDE部分是免費(fèi)的，你可以從其官網(wǎng)下載體驗(yàn)體驗(yàn)。真正收費(fèi)的是運(yùn)行系統(tǒng)Runtime System。
CoDeSys在設(shè)計(jì)之初就將功能劃分為若干組件模塊，例如總線協(xié)議棧、可視化界面、運(yùn)動(dòng)控制、安全控制等等，用戶可以像搭積木一樣選購必需的模塊搭建自己的系統(tǒng)，最后形成一個(gè)定制化的控制軟件平臺(tái)。
一些初次接觸軟PLC的用戶可能對(duì)這部分感到陌生，但其實(shí)這種設(shè)計(jì)方式非常普遍。舉幾個(gè)例子，MATLAB Simulink的實(shí)時(shí)工具箱（Real-Time）就是這樣的工作方式，用戶在Simulink的圖形界面里通過拖拽設(shè)計(jì)控制程序，然后下載到真實(shí)的硬件中跑，可以在這里了解。
還有像倍福也是這樣的使用方式，用戶在TwinCAT IDE里進(jìn)行編程，然后下載到倍福的控制器中，控制器里面其實(shí)已經(jīng)預(yù)裝了一個(gè)Runtime。西門子的STEP7也是一款I(lǐng)DE，它的PLC中也存在一個(gè)配套的Runtime。
用戶編寫的PLC程序就像我們電腦里的應(yīng)用程序，它運(yùn)行在Runtime System上，而Runtime System又運(yùn)行在操作系統(tǒng)之上。
Runtime System位于應(yīng)用程序和操作系統(tǒng)之間。所以可以被稱為中間件（Middleware）。在機(jī)器人軟件里面，處于同樣地位的還有ROS、OROCOS（Real-Time Toolkit）等等。
機(jī)器人的控制，像數(shù)控機(jī)床一樣，對(duì)實(shí)時(shí)性有要求，因此我們選擇的操作系統(tǒng)是實(shí)時(shí)操作系統(tǒng)（RTOS）。遺憾的是，我們經(jīng)常用的操作系統(tǒng)都不是實(shí)時(shí)的，例如Windows和Linux。但幸運(yùn)的是，有人對(duì)它們進(jìn)行了改造，也就是加入實(shí)時(shí)補(bǔ)丁。
常用的實(shí)時(shí)操作系統(tǒng)有：VxWorks、QNX、Windows RTX、Xenomai、RT Linux、Linux RTAI、WinCE、μC/OS、SylixOs等等。考慮到Windows和Linux這兩款操作系統(tǒng)的用戶較多，CoDeSys推出了相應(yīng)的實(shí)時(shí)補(bǔ)丁（RTE），為用戶免去了改造的煩惱。
6301000ITE/Siemens B360 Circuit Breaker *
ITE/Siemens B330 Circuit Breaker *
ITE - ET 225amp "K" Frame 225 amp Circuit Breaker
ITE - ET 225amp "K" Frame 200 amp Circuit Breaker
ITE - ET 225amp "K" Frame 175 amp Circuit Breaker
ITE -ET 100 "F" Frame 20 amp Circuit Breaker *
ITE -ET 100 "F" Frame 50 amp Circuit Breaker *
ITE -ET 100 "F" Frame 70 amp Circuit Breaker *
ITE -ET 100 "F" Frame 90 amp Circuit Breaker *
ITE JL63F400, 200 amp Circuit Breaker *
ITE JL63F400, 250 amp Circuit Breaker *
ITE JL63F400, 300 amp Circuit Breaker *
Siemens Q120 Circuit Breaker *
Siemens B120H Circuit Breaker
GE DFPTQL4 50amp Bus Plug *
Siemens SN426 600 Amp F Disconnect *
Square D KAL362001021 Circuit Breaker, Grey Label *
Square D KHL36200 Circuit Breaker, Grey Label *
Square D KHL36225 Circuit Breaker, Black Label *
Square D KHL362251212 Circuit Breaker, Grey Label *
Square D KHL3625025DC161?6 Circuit Breaker *
Square D KHL362501291 Circuit Breaker *
Square D KHL36250 Circuit Breaker *
Square D KCL34150 I-Line Circuit Breaker *
Square D KCL34225 I-Line Circuit Breaker *
Square D KA36150 Circuit Breaker, Grey Label *
Square D KA36125 Circuit Breaker, Grey Label *
Square D KA36175 Circuit Breaker, Grey Label *
Square D KA362001021 Circuit Breaker, Grey Label *
Square D FC34100 Circuit Breaker *
Square D KC342251021 Circuit Breaker w/ Shunt Trip
Square D KC34225 Circuit Breaker *
Square D FC34030 Circuit Breaker *
Square D KC34175 I-Line Circuit Breaker *
Square D KC34110 I-Line Circuit Breaker *
Square D KAF361251143 Circuit Breaker *
Bryant BRWH230 Tandem 2 Pole Circuit Breaker *
Bryant BRSN220 Switch Neutral Circuit Breaker *
Bryant BR230 Bolt On GFI Circuit Breaker *
Bryant BR120 Bolt On GFI Circuit Breaker *
Bryant BR115 Bolt On GFI Circuit Breaker *
Bryant BR230 GFI Circuit Breaker *
Bryant BR215 GFI Circuit Breaker *
Bryant BR120 GFI Circuit Breaker *
Bryant BR140 Circuit Breaker *
Bryant BR130 Circuit Breaker *
Bryant BR120 Circuit Breaker *
Square D FAL24045 Circuit Breaker, Grey Label *
Square D FAL36040 Circuit Breaker, Grey Label *
Square D FAL34030 Circuit Breaker, Grey Label *
Square D FAL34025 Circuit Breaker, Grey Label *
Square D FAL34020 Circuit Breaker, Grey Label *
Square D FAL34015 Circuit Breaker, Grey Label *
Square D FA3600712M Circuit Breaker, Black Label *
Square D FAL360801017 Circuit Breaker, Grey Label *
Square D FAL341006471 Circuit Breaker, Grey Label *
Square D FAL360251212 Circuit Breaker, Grey Label *
Square D FAL360801143 Circuit Breaker, Grey Label *
Square D FAL341001212 Circuit Breaker, Grey Label *
Square D KAL36125DC1616 Circuit Breaker, Grey Label
Square D KAL36175DC1680 Circuit Breaker, Grey Label
Bryant BR350 Circuit Breaker *
Bryant BR340 Circuit Breaker *
Bryant BR330 Circuit Breaker *
Bryant BR320 Circuit Breaker *
Bryant BR315 Circuit Breaker *
Bryant BR270 Circuit Breaker *
Bryant BR260 Circuit Breaker *
Bryant BR250 Circuit Breaker *
Item title
Bryant BR230 Circuit Breaker *
Bryant BR225 Circuit Breaker *
Bryant BR220 Circuit Breaker *
Bryant BR215 Circuit Breaker *
Bryant BR115 GFI Circuit Breaker *
Bryant BR3100 Circuit Breaker *
Bryant BR370 Circuit Breaker *
Bryant BR360 Circuit Breaker *
Square D QOU230 Circuit Breaker *NEW TAKE OUT*
Square D QOU220 Circuit Breaker *NEW TAKE OUT*
Bryant BR115 Circuit Breaker *
Joslyn 1261-49-R-TT Transient Voltage Surge Suppressor
Ferraz Shawmut 67575 Terminal Block *NEW TAKE OUT*
Square D QOU240 Circuit Breaker *NEW TAKE OUT*
Siemens HNF361 30 Amp Non F Disconnect *
ITE/Siemens F351 30 Amp F Disconnect *
ITE F354 200 Amp F Disconnect *
Cutler Hammer DH362FRK 60 Amp F Disconnect
Temporary Job Site Electrical Service ***
Challenger HD321SN 30 Amp F Disconnect *NEW IN BOX*
Square D QOM100 Circuit Breaker ***
Square D FA36080 Grey Face Circuit Breaker *
FPE 500 KVA, 480x240, 3 Phase Transformer *
Square D Q2M3225MT Circuit Breaker *NEW IN BOX*
Square D LA36400 Circuit Breaker *NEW TAKE OUT*
Square D FH36030 Circuit Breaker *NEW TAKE OUT*
在線咨詢 
