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Eaton PKZM 0-1.6 

CoDeSys給我們開發控制器帶來了便利，省去了從零開始的麻煩，但是依靠CoDeSys這類商業軟件開發自己的控制器產品也存在不少的缺點：

（1）底層算法不公開

CoDeSys集成的運動控制組件、總線協議棧都是封裝好的，用戶無法了解其內部細節，也無法針對自己的具體需求進行定制優化，只能簡單地調用。用戶只能依附于CoDeSys平臺，難以形成自己的核心技術。

（2）功能有限，難以擴展

現在以機器視覺、人工智能、自動駕駛等為代表的新技術突飛猛進，而工業控制上的很多技術仍然停留在20年前。以移動機器人中的導航場景為例，基于視覺或者激光的導航方法需要采集大量的數據并對其進行處理，其中涉及相當多的矩陣計算。

而現在PLC只能進行落后的一維數字計算，難以實現復雜的算法。與人工智能圈子喜歡開源的風格正好相反，工業控制圈子相互封閉，誰都不肯開放自家的函數庫，開源函數庫極少（OSCAT），就連最基本的濾波算法、矩陣計算都要自己從頭開始寫。而且，國際標準提供的基本函數太過有限，完全無法適應新的場景，急需擴展。

Eaton PKZM 0-1.6  
FPE 500 KVA, 480x240, 3 Phase Transformer *

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