1746-HSCE2
由于完全依賴CoDeSys，客戶自己產品硬件的升級換代需要重新定制移植，導致成本增加。
3開源方案
目前存在一些開源的控制系統方案，例如Beremiz、Orocos、OpenPLC、OpenRTM、ORCA。
開發機器人控制器是個繁重的工作，要明確一系列性能要求，首先是實時性。
實時性對于工業機器人來說一般是必須的，對于服務或機器人則未必。一般人很容易錯把“實時性”理解為處理或者響應速度快，但是其實“實時性”表示時間上的“確定性”，例如實時操作系統（RTOS）中的中斷響應或者進程切換的延遲時間一定是在一個時間范圍內。
我們常用的操作系統（Windows、Linux）都不是實時操作系統，因為它們設計的初衷是吞吐量，不能保證每個事件都在一定范圍內得到處理。再比如，標準以太網的傳輸速度比實時工業以太網快多了，但是它也卻不是實時的，因為它同樣不能保證數據在給定的時間內完成傳輸。
理解實時性不太難，可是機器人哪些的任務需要實時運行呢？如何根據機器人的性能要求確定程序運行的時間間隔呢（是1ms還是10ms）？實時性取決于硬件還是軟件呢？
如何根據實時性選擇具體的軟硬件呢（該選擇ARM還是X86、Linux RTAI還是VxWorks）？網上缺少這方面的深入討論，各大機器人廠家也不會公開自己的測試和試驗結果，似乎這方面主要依靠經驗和試錯。
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1746-HSCE2 Electroglas EG5 / 300 ARGOS Wafer Prober (Reduced!)
Tenney / Lunaire T-Series Environmental Chamber
TA Instruments TMA2940 Thermomechanica?l Analyzer
Tektronix DTG5274 Data Time Generator w/ Modules
Rohde & Schwarz UPL16 Audio Analyzer (Reduced)
Rohde & Schwarz UPL16 w/ Options & Accessories
Lindgren ETS Series 81 RF Shielded Room 9' x 7' x 8'
Thermotron S-32C Environmental Chamber
HP Agilent 35670A Dynamic Signal Analyzer w/ opt's
Bio-Rad FTS 45 FT-IR Spectrometer w/UMA 300A FTIR
Alzmetall AB3R Drilling Machine
Perkin Elmer Autosystem Gas Chromatograph
Mattson Polaris IR-10410 FTIR Spectrometer (Reduced!)
Alloyd 2SC1016 Dual Shuttle Sealer, 10 x 16!
Bio Rad UMA-500 Spectroscopic Microscope, 15x & 4x
Telsonic USP3000 Ultrasonic Welding System
Metrum MET64SCUA 8000 Speed (Reduced!)
HP E4433B opt's 1E5/UND/UN4/UN5?/UN7
Rohde & Schwarz FSEB20 Spectrum Analyzer
Agilent 70420A Phase Noise Test Set w/ opt 001
GLSI Hg253 Portable Vapor Mercury Analyzer
Caliper Life Science Tekmar Autotrace SPE Workstation
HP 89441A Vector Signal Analyzer AYA / AYB / AY9 / UFG
LMI SE2050 Laser Engraver (Reduced!)
SSEC Evergreen M10 Wafer & Mask Cleaner
Includes Manual, Software & Ammonia Cabinet
Agilent 35670A opts AY2/1D0/1D1/1D2?/1D3/1D4/1C2
Kester KWB-1000 Automated Wetting Balance Tester
Mobicom Accetio 2189 Lot of 1000, All New (Reduced)
Each Brand New Cell Phone is Complete with Accessories
Wandel & Goltermann OSA-155 DWDM System Analyzer
HP Agilent 83621A Synthesized Signal Generator
DynaMyte 4000 Milling Machine
Mech-El Industries 709 Manual Eutectic Die Attacher
HP/Agilent E9850A VXI Embedded PC Controller
HP Agilent 5373A Domain Pulse Analyzer (Reduced!)
Tektronix PB200 Packet / Cell BERT Tester (Reduced!)
Nicolet Model 730 FTIR Spectrometer with AEM Module
Wavetek 4808 Multifunction Calibrator
DRANETZ PP1-P
Hardinge DV-59 / DSM-59 Industrial Lathe
3M-Matic 700r Random Case Sealer, 15 boxes per min!
Zero Products BNP65-600R&DC Media Blaster w/ Filter
Blue M IGF-7780F Environmental Oven 1100°F
Heller 1148 IRC Reflow Convection Oven
Rohde & Schwarz CMD55 Com Test Set w/ opt's and manuals
Applied Systems Eng.167KU 300 Watt TWT (Reduced!)
Despatch LFD2-24-3 Forced Air Oven
GSI ScanArray 3000 Microarray Scanner
Azco FG160 SUR-PAK Precision Cutting Machine
Empire Pro-Finish FS-2636 3 Piece System!
HP 83420A opts 014 / 210 (Reduced!)
HP Agilent 8665A Signal Generator 100KHz - 4.2GHz
Agilent 8509B Lightwave Polarization Analyzer
HP 35665A opts 1C1/1C2/1D0/1D2?/ANA
Amtech Ultraweld 20 Precision Ultrasonic Welder
Coherent Innova 90-6 with LaserPure 20N & Power Supply
Tektronix GB1400 Analyzer/Genera?tor Test Set (Reduced)
Coulter Delsa 440 Particle Counter w/ Power Supply
Tektronix PQA300 Picture Quality Analysis System
Perkin Elmer ABI Prism 7700 Sequence Detector
Clausing Colchester 11 Lathe w/ Accessories
Lydall Affinity CBD-007S-BB09C-?BD3 Chiller
Unadyn UDC-55 Mini Dryer with 300 Modular Hopper
Bruel & Kjaer 4602B w/ 4185 & Accessories (Reduced)
Microtrac FRA 9250 Particle Size Analyzer
Cumberland 284 Pelletizer, Granulator
Graco Air Powered Pump with Drum
Blue M Lindberg WSP-109C-MP3 Shock Chamber (Reduced!)
Mitutoyo PH-350A Optical Comparator
Metrum MET64SCUAO 4000 Speed (Reduced!)
1746-HSCE2
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