1.Txheej txheem cej luam
HBS86H hybrid stepper servo tsav system integrates servo tswj tshuab rau hauv cov stepper tsav zoo kawg nkaus.Thiab cov khoom no txais yuav optical encoder nrog kev kub ceev txoj hauj lwm sampling tawm tswv yim ntawm 50 μ s, ib zaug lub deviation txoj hauj lwm tshwm, nws yuav raug kho tam sim ntawd.Cov khoom no yog sib xws nrog qhov zoo ntawm lub stepper tsav thiab lub servo tsav, xws li qis cua sov, tsawg vibration, ceev acceleration, thiab lwm yam.Hom servo tsav no kuj muaj tus nqi zoo heev.
- Nta
u Tsis poob kauj ruam, siab raug nyob rau hauv qhov chaw
u 100% rated tso zis torque
u Variable tam sim no tswj technology, High tam sim no efficiency
u Me me kev co, du thiab txhim khu kev qha txav ntawm qhov ceev
u Accelerate thiab decelerate tswj nyob rau hauv, Zoo txhim kho nyob rau hauv smoothness ntawm pib los yog nres lub cev muaj zog
u Tus neeg siv-txhais micro cov kauj ruam
u Tau tshaj 1000 thiab 2500 kab encoder
u Tsis muaj kev hloov kho hauv kev siv dav dav
u Tshaj tam sim no, dhau voltage thiab dhau txoj haujlwm yuam kev tiv thaiv
u Lub teeb ntsuab txhais tau tias khiav thaum lub teeb liab txhais tau tias tiv thaiv lossis tawm kab
3.Ports Taw Qhia
3.1ALM thiab PEND teeb liab tso zis chaw nres nkoj
| Chaw nres nkoj | Cim | Lub npe | Lus ceeb toom |
| 1 | PEND + | Nyob rau hauv txoj hauj lwm teeb liab tso zis + | +
- |
| 2 | PEND- | Nyob rau hauv txoj hauj lwm teeb liab tso zis - | |
| 3 | ALM+ | Tswb tso zis + | |
| 4 | ALM- | Tswb tso zis - |
3.2Tswj lub teeb liab nkag Chaw nres nkoj
| Chaw nres nkoj | Cim | Lub npe | Lus ceeb toom |
| 1 | PLS + | Pulse signal + | Compatible nrog 5V los yog 24V |
| 2 | PLS- | Pulse signal - | |
| 3 | DIR + | Kev taw qhia teeb liab + | Tau tshaj 5V lossis 24V |
| 4 | DIR- | Kev taw qhia signal- | |
| 5 | ENA+ | Qhib lub teeb liab + | Compatible nrog 5V los yog 24V |
| 6 | ENA- | Qhib lub teeb liab - |
3.3Encoder Feedback Signal Input Chaw nres nkoj
| Chaw nres nkoj | Cim | Lub npe | Hlau xim |
| 1 | PB + | Encoder theem B + | Ntsuab |
| 2 | PB- | Encoder theem B - | YEEB |
| 3 | PA + | Encoder theem A + | BLUE |
| 4 | PA- | Encoder theem A - | BLACK |
| 5 | VCC | Input zog | RED |
| 6 | GND | Input zog hauv av | DAWB |
3.4Fais fab Interface Chaw nres nkoj
| Chaw nres nkoj | Kev txheeb xyuas | Cim | Lub npe | Lus ceeb toom |
| 1 | Motor Phase Wire Input Ports | A+ | Theem A + (BLACK) | Motor Phase A |
| 2 | A- | Theem A- (RED) | ||
| 3 | B+ | Phase B + (YELLOW) | Motor Phase B | |
| 4 | B- | Theem B- (BLUE) | ||
| 5 | Fais fab Input Ports | VCC | Input zog + | AC24V-70VDC30V-100V |
| 6 | GND | Lub zog input- |
4.Technology Index
| Input voltage | 24 ~ 70VAC los yog 30 ~ 100VDC | |
| Tso zis tam sim no | 6A 20KHz PWM | |
| Pulse zaus max | 200 K | |
| Kev sib txuas lus tus nqi | 5 7.6kb | |
| Kev tiv thaiv | l Tshaj tam sim no ncov tus nqi 12A ± 10%l Tshaj qhov hluav taws xob tus nqi 130Vl Qhov dhau ntawm txoj haujlwm yuam kev ntau tuaj yeem teeb tsa los ntawm HISU | |
| Zuag qhia tag nrho Dimensions (mm) | 150 × 97.5 × 53 | |
| Qhov hnyav | cav 580g | |
| Ib puag ncig Specifications | Ib puag ncig | Tsis txhob muaj plua plav, roj pos huab thiab corrosive gases |
| Kev khiav haujlwm Kub | 70 ℃ Max | |
| Cia Kub | -20 ℃ ~ + 65 ℃ | |
| Cov av noo | 40 ~ 90% RH | |
| Txoj kev txias | Ntuj cua txias los yog yuam cua txias | |
Lus Cim:
VCC tau tshaj 5V lossis 24V;
R (3 ~ 5K) yuav tsum tau txuas nrog tswj lub teeb liab davhlau ya nyob twg.
Lus Cim:
VCC tau tshaj 5V lossis 24V;
R (3 ~ 5K) yuav tsum tau txuas nrog tswj lub teeb liab davhlau ya nyob twg.
5.2Kev sib txuas rau Common Cathode
Lus Cim:
VCC tau tshaj 5V lossis 24V;
R (3 ~ 5K) yuav tsum tau txuas nrog tswj lub teeb liab davhlau ya nyob twg.
5.3Kev sib txuas rau Differential Teeb liab
| |
Lus Cim:
VCC tau tshaj 5V lossis 24V;
R (3 ~ 5K) yuav tsum tau txuas nrog tswj lub teeb liab davhlau ya nyob twg.
5.4Kev sib txuas rau 232 Serial Communication Interface
PIN 1 PIN 6 PIN 1PIN6
| Crystal taub hau ko taw | Txhais | Lus ceeb toom |
| 1 | TXD | Xa cov ntaub ntawv |
| 2 | RXD | Txais Cov Ntaub Ntawv |
| 4 | + 5 V | Fais fab mov rau HISU |
| 6 | GND | Lub zog hauv av |
5.5Sequence Chart of Control Teeb liab
Txhawm rau zam qee qhov kev ua txhaum cai thiab kev sib txawv, PUL, DIR thiab ENA yuav tsum ua raws li qee txoj cai, qhia raws li daim duab hauv qab no:
Lus Cim:
PUL/DIR
- t1: ENA yuav tsum ua ntej ntawm DIR los ntawm tsawg kawg yog 5μs.Feem ntau, ENA + thiab ENA- yog NC (tsis txuas).
- t2: DIR yuav tsum ua ntej ntawm PUL active ntug los ntawm 6μ s kom paub meej cov kev taw qhia raug;
- t3: mem tes dav tsis tsawg dua 2.5μs;
- t4: Tsawg theem dav tsis tsawg dua 2.5μs.
6.DIP Hloov Kev teeb tsa
6.1Qhib Edge Kev teeb tsa
SW1 yog siv rau kev teeb tsa ntug ntawm lub teeb liab tawm tswv yim, "tawm" txhais tau hais tias qhov qhib ntug yog qhov nce siab, thaum "rau" yog ntug ntog.
6.2Khiav Direction Kev teeb tsa
SW2 yog siv rau kev teeb tsa kev khiav, "tawm" txhais tau tias CCW, thaum "on" txhais tau tias CW.
6.3Micro cov kauj ruam Kev teeb tsa
Kev teeb tsa micro kauj ruam yog nyob rau hauv cov lus hauv qab no, thaum SW3 ,
SW 4,SW 5,SW6 yog tag nrho rau, lub hauv paus pib micro cov kauj ruam hauv yog qhib, qhov piv txwv no tuaj yeem teeb tsa los ntawm HISU
| 8000 | on | on | tawm | tawm |
| 10000 | tawm | on | tawm | tawm |
| 20000 | on | tawm | tawm | tawm |
| 40000 | tawm | tawm | tawm | tawm |
7.Faults tswb thiab LED flicker zaus
| Flicker Ntau zaus | Nqe lus piav qhia rau Faults |
| 1 | Kev ua yuam kev tshwm sim thaum lub cev muaj zog coil tam sim no tshaj tus tsav qhov kev txwv tam sim no. |
| 2 | Voltage reference yuam kev nyob rau hauv lub tsav |
| 3 | Parameters upload yuam kev nyob rau hauv lub tsav |
| 4 | Kev ua yuam kev tshwm sim thaum qhov hluav taws xob input tshaj qhov hluav taws xob ntawm lub drive. |
| 5 | Kev ua yuam kev tshwm sim thaum qhov tseeb txoj hauj lwm nram qab no tshaj qhov txwv uas tau teev tsegtxoj hauj lwm yuam kev txwv. |
- Cov tsos thiab installation Dimensi
- Hom kev sib txuas
Cov tsav no tuaj yeem muab cov encoder nrog lub zog ntawm +5v, qhov siab tshaj plaws tam sim no 80mA.Nws siv txoj kev suav quadruplicated zaus, thiab qhov kev daws teeb meem ntawm tus encoder multiply 4 yog cov pulses ib rotate ntawm servo lub cev muaj zog.Ntawm no yog qhov raug kev sib txuas ntawm
10.Parameter Kev teeb tsa
Txoj kev teeb tsa kev teeb tsa ntawm 2HSS86H-KH tsav yog siv HISU adjuster los ntawm 232 serial kev sib txuas lus chaw nres nkoj, tsuas yog hauv txoj kev no peb tuaj yeem teeb tsa qhov peb xav tau.Muaj cov txheej txheem zoo tshaj plaws tsis zoo rau lub cev muaj zog uas yog kev saib xyuas
kho los ntawm peb cov engineers, cov neeg siv tsuas yog xav tau xa mus rau cov lus hauv qab no, cov xwm txheej tshwj xeeb thiab teeb tsa qhov tsis raug.
Tus nqi tiag = Teem tus nqi × qhov sib thooj
Muaj tag nrho 20 parameter configurations, siv HISU mus download tau cov configured parameters rau tus tsav, cov lus piav qhia txog txhua qhov parameter configuration yog raws li nram no:
| Yam khoom | Kev piav qhia |
| Tam sim no lub voj Kp | Nce Kp kom tam sim no nce nrawm.Proportional Gain txiav txim siab cov lus teb ntawm tus tsav rau kev teeb tsa.Tsawg Tus Nqi Tshaj Lij muab qhov system ruaj khov (tsis oscillate), tsis tshua muaj zog, thiab qhov yuam kev tam sim no, ua rau kev ua haujlwm tsis zoo hauv kev taug qab cov lus txib tam sim no hauv txhua kauj ruam.Loj loj proportional nce qhov tseem ceeb yuav ua rau oscillations thiab tsis ruaj tsis khov. |
| Tam sim no lub voj voog Ki | Kho Ki kom txo qhov yuam kev tsis tu ncua.Integral Gain pab tus tsav kom kov yeej qhov teeb meem tam sim no.Tus nqi qis lossis xoom rau Integral Gain tuaj yeem muaj qhov yuam kev tam sim no thaum so.Kev nce qhov kev nce qib tuaj yeem txo qhov yuam kev.Yog tias Integral Gain loj dhau lawm, qhov system tej zaum yuav "ntaus" (oscillate) nyob ib ncig ntawm txoj haujlwm xav tau. |
| Damping coefficient | Qhov no parameter yog siv los hloov cov damping coefficient nyob rau hauv cov ntaub ntawv ntawm lub xav tau kev khiav hauj lwm lub xeev yog nyob rau hauv resonance zaus. |
| Position Loop Kp | PI parameters ntawm txoj hauj lwm voj.Lub neej ntawd tus nqi tsim nyog rau feem ntau ntawm daim ntawv thov, koj tsis tas yuav hloov lawv.Tiv tauj peb yog tias koj muaj tej lus nug. |
| Position Loop Ki |
| Speed Loop Kp | PI parameters ntawm lub voj voog ceev.Lub neej ntawd tus nqi tsim nyog rau feem ntau ntawm daim ntawv thov, koj tsis tas yuav hloov lawv.Tiv tauj peb yog tias koj muaj tej lus nug. |
| Speed loop Ki | |
| Qhib lub voj tam sim no | Qhov parameter no cuam tshuam rau qhov zoo li qub torque ntawm lub cev muaj zog. |
| Kaw lub voj tam sim no | Qhov kev ntsuas no cuam tshuam rau lub zog dynamic ntawm lub cev muaj zog.(Qhov tseeb tam sim no = qhib voj tam sim no + kaw voj tam sim no) |
| Tswb Control | Qhov no parameter yog teem los tswj lub tswb optocoupler tso zis transistor.0 txhais tau hais tias lub transistor raug txiav tawm thaum lub kaw lus ua haujlwm zoo, tab sis thaum nws los txog rau kev ua txhaum ntawm tus tsav, lub transistor. ua conductive.1 txhais hais tias opposite rau 0. |
| Nres xauv qhib | Qhov parameter no tau teeb tsa los ua kom lub sijhawm nres ntawm lub tsav.1 txhais tau tias qhib qhov haujlwm no thaum 0 txhais tau tias lov tes taw nws. |
| Qhib Tswj | Qhov no parameter yog teem los tswj lub Enable inputsignal theem, 0 txhais tau tias qis, thaum 1 txhais tau tias siab. |
| Tuaj Txog Kev Tswj | Qhov no parameter yog teem los tswj lub Arrivaloptocoupler tso zis transistor.0 txhais tau hais tias lub transistor raug txiav tawm thaum lub tsav txaus siab tuaj txog |
| Kev daws teeb meem encoder
Txoj hauj lwm yuam kev txwv
Lub cev muaj zog xaiv
Ceev smoothness | hais kom ua, tab sis thaum nws los txog rau tsis, lub transistor ua conductive.1 txhais hais tias opposite rau 0. | |||||||
| Qhov tsav no muab ob txoj kev xaiv ntawm tus lej ntawm cov kab ntawm lub encoder.0 txhais tau tias 1000 kab, hos 1 txhais tau tias 2500 kab. | ||||||||
| Qhov txwv ntawm txoj hauj lwm nram qab no yuam kev.Thaum qhov tseeb txoj hauj lwm yuam kev tshaj tus nqi no, tus tsav yuav mus rau hauv qhov kev ua yuam kev hom thiab qhov txhaum tso zis yuav yog qhib.(Tus nqi tiag tiag = tus nqi teev × 10) | ||||||||
| Parameter | 1 | 2 | 3 | 4 | 5 | |||
| Hom | 86j1865 ua | 86j1880 ua | 86j1895 ua | 86j18118 ua | 86j18156 ua | |||
| Qhov no parameter yog teem los tswj lub smoothness ntawm ceev ntawm lub cev muaj zog thaum acceleration los yog deceleration, qhov loj tus nqi, lub smoother tus ceev nyob rau hauv acceleration los yog deceleration.
0 1 2 … 10 | ||||||||
| Tus neeg siv-txhais p/r | Qhov kev ntsuas no yog teeb tsa ntawm cov neeg siv-txhais mem tes rau ib lub kiv puag ncig, lub hauv paus default micro cov kauj ruam hauv isactivate thaum SW3, SW4, SW5, SW6 tag nrho rau, cov neeg siv tuaj yeem teeb tsa cov kauj ruam micro los ntawm sab nraud DIP keyboards.(Qhov tseeb micro kauj ruam = tus nqi teev × 50) |
11.Kev ua cov txheej txheem rau cov teeb meem thiab kev ua yuam kev
11.1Fais fab ntawm lub teeb lub zog tawm
n Tsis muaj hluav taws xob tawm tswv yim, thov xyuas lub hwj huam mov hluav taws xob.Qhov hluav taws xob tsawg dhau lawm.
11.2Fais fab ntawm lub tswb liab on
n Thov xyuas lub cev muaj zog tawm tswv yim teeb liab thiab yog tias lub cev muaj zog txuas nrog lub tsav.
n Lub stepper servo tsav yog dhau voltage lossis qis dua voltage.Thov txo qis los yog nce qhov input voltage.
11.3Liab tswb teeb rau tom qab lub cev muaj zog khiav a me me
lub kaum sab xis
n Thov xyuas cov kab hluav taws xob theem yog tias lawv txuas raug raug,yog tsis yog,Thov xa mus rau 3.4 Fais Fab Chaw nres nkoj
n Thov xyuas qhov tsis muaj nyob rau hauv lub tsav yog tias cov ncej ntawm lub cev muaj zog thiab cov kab encoder sib haum nrog cov tsis muaj tseeb, yog tias tsis yog, teeb tsa kom raug.
n Thov xyuas seb qhov zaus ntawm lub teeb liab mem tes nrawm dhau, yog li lub cev muaj zog tuaj yeem tawm ntawm nws qhov ntsuas nrawm, thiab ua rau muaj qhov yuam kev.
11.4Tom qab input mem tes teeb liab tab sis lub cev muaj zog tsis khiav
n Thov xyuas cov tswv yim mem tes teeb liab xov hlau txuas nrog txoj kev txhim khu kev qha.
n Thov xyuas kom meej tias cov tswv yim mem tes yog sib txuam nrog cov tswv yim tiag tiag.
