1.Overview
Iyo HBS86H hybrid stepper servo drive system inobatanidza servo control tekinoroji mudhijitari stepper drive zvakakwana.Uye chigadzirwa ichi chinotora optical encoder ine yakakwira yekumhanya chinzvimbo sampling mhinduro ye50 μ s, kana iyo nzvimbo yekutsauka yaonekwa, inogadziriswa nekukasira.Ichi chigadzirwa chinoenderana zvakanakira iyo stepper drive uye servo drive, senge yakaderera kupisa, kushoma vibration, kukurumidza kukurumidza, zvichingodaro.Iyi mhando ye servo drive zvakare ine yakanakisa mutengo kuita.
- Features
u Pasina kurasikirwa nhanho, Yakanyanya kurongeka mukumisikidza
u 100% yakatarwa goho torque
u Variable current control technology, High current performance
u Diki vibration, Smooth uye yakavimbika inofamba nekumhanya kwakaderera
u Kurumidza uye udzikise kudzora mukati, Kuvandudza kukuru mukutsetseka kwekutanga kana kumisa mota
u Mushandisi-anotsanangurwa madiki matanho
u Inoenderana ne1000 uye 2500 mitsetse encoder
u Hapana kugadziridzwa mune zvakajairika maapplication
u Pamusoro pezvino, pamusoro pevoltage uye pamusoro pechinzvimbo kuchengetedza kukanganisa
u Green light zvinoreva kumhanya uku mwenje dzvuku zvichireva dziviriro kana kudzima tambo
3.Ports Nhanganyaya
3.1ALM uye PEND chiratidzo chekubuda ports
| Port | Symbol | Zita | Remark |
| 1 | PEND+ | Mune chinzvimbo chiratidzo chinobuda + | +
- |
| 2 | PEND- | In chinzvimbo chiratidzo kubuda - | |
| 3 | ALM+ | Alarm kubuda + | |
| 4 | ALM- | Alarm output - |
3.2Dzora Signal Input Ports
| Port | Symbol | Zita | Remark |
| 1 | PLS+ | Pulse chiratidzo + | Inopindirana ne 5V kana 24V |
| 2 | PLS- | Pulse chiratidzo - | |
| 3 | DIR+ | Kutungamira chiratidzo+ | Inoenderana ne5V kana 24V |
| 4 | DIR- | Direction chiratidzo- | |
| 5 | ENA+ | Gonesa chiratidzo + | Inopindirana ne 5V kana 24V |
| 6 | ENA- | Vhura chiratidzo - |
3.3Encoder Feedback Signal Input Ports
| Port | Symbol | Zita | Wiring ruvara |
| 1 | PB+ | Encoder chikamu B + | GIRINHI |
| 2 | PB- | Encoder chikamu B - | YELLLOW |
| 3 | PA+ | Encoder chikamu A + | BHURUU |
| 4 | PA- | Encoder chikamu A - | NHEMA |
| 5 | VCC | Input power | TSVUKU |
| 6 | GND | Input power ground | CHENA |
3.4Power Interface Ports
| Port | Identification | Symbol | Zita | Remark |
| 1 | Motor Phase Wire Input Ports | A+ | Phase A+ (BLACK) | Motor Phase A |
| 2 | A- | Chikamu A- (RED) | ||
| 3 | B+ | Chikamu B+ (YELLOW) | Motor Phase B | |
| 4 | B- | Chikamu B- (BLUE) | ||
| 5 | Power Input Ports | VCC | Input Power + | AC24V-70V DC30V-100V |
| 6 | GND | Kupinza Simba- |
4.Tekinoroji Index
| Input Voltage | 24 ~ 70VAC kana 30 ~ 100VDC | |
| Output Current | 6A 20KHz PWM | |
| Pulse Frequency max | 200K | |
| Kukurukurirana mwero | 57.6Kbps | |
| Dziviriro | l Pamusoro peazvino peak kukosha 12A±10%l Pamusoro pevoltage kukosha 130Vl Iyo pamusoro penzvimbo yekukanganisa huwandu inogona kusetwa kuburikidza neHISU. | |
| Zvose Zviyero (mm) | 150×97.5×53 | |
| Kurema | Inenge 580g | |
| Zvakatipoteredza Zvinotaurwa | Environment | Dzivisa guruva, mhute yemafuta uye magasi anoparadza |
| Kushanda Tembiricha | 70 ℃ Max | |
| Storage Tembiricha | -20 ℃~+65 ℃ | |
| Humidity | 40 ~ 90% RH | |
| Coolingmethod | Kutonhodza kwepanyama kana kutonhora kwemhepo | |
Cherechedza:
VCC inowirirana ne5V kana 24V;
R (3 ~ 5K) inofanirwa kuve yakabatana nekudzora chiratidzo chechiratidzo.
Cherechedza:
VCC inowirirana ne5V kana 24V;
R (3 ~ 5K) inofanirwa kuve yakabatana nekudzora chiratidzo chechiratidzo.
5.2Kubatanidza kune Common Cathode
Cherechedza:
VCC inowirirana ne5V kana 24V;
R (3 ~ 5K) inofanirwa kuve yakabatana nekudzora chiratidzo chechiratidzo.
5.3Zvisungo kune Kusiyana Signal
| |
Cherechedza:
VCC inowirirana ne5V kana 24V;
R (3 ~ 5K) inofanirwa kuve yakabatana nekudzora chiratidzo chechiratidzo.
5.4Kubatanidza ku232 Serial Kukurukurirana Interface
PIN1 PIN6 PIN1PIN6
| Crystal Head tsoka | Tsanangudzo | Remark |
| 1 | TXD | Transmit Data |
| 2 | RXD | Gamuchira Data |
| 4 | +5V | Simba rekupa kune HISU |
| 6 | GND | Simba Ground |
5.5Sequence Chart of Control Signals
Kuti udzivise kumwe kutadza kushanda uye kutsauka, PUL, DIR uye ENA inofanirwa kutevedzera mimwe mitemo, inoratidzwa seinotevera dhayagiramu:
Cherechedza:
PUL/DIR
- t1: ENA inofanira kunge iri pamberi peDIR neinenge 5μ s.Kazhinji, ENA+ uye ENA- iNC (isina kubatana).
- t2: DIR inofanira kunge iri pamberi pePUL inoshanda mupendero ne6μ s kuti ive nechokwadi chekutungamira;
- t3: Pulse width kwete pasi pe 2.5μ s;
- t4: Yakaderera mwero wakafara kwete isingasviki 2.5μ s.
6.DIP Switch Setting
6.1Activate Edge Setting
SW1 inoshandiswa kuseta mupendero wekubatisa wechiratidzo chekuisa, "kudzima" zvinoreva kuti activate edge ndiyo inosimuka, ukuwo "pa" kuri kudonha.
6.2Running Direction Setting
SW2 inoshandiswa kuseta nzira yekumhanya, "off" zvinoreva CCW, nepo "pa" zvichireva CW.
6.3Micro matanho Setting
Iyo micro nhanho kuseta iri mutafura inotevera, nepo SW3 ,
SW4,SW5,SW6 zvese zvakabatidzwa, iyo yemukati default diki nhanho mukati inobatidzwa, chiyero ichi chinogona kuseta kuburikidza neHISU.
| 8000 | on | on | off | off |
| 10000 | off | on | off | off |
| 20000 | on | off | off | off |
| 40000 | off | off | off | off |
7.Kukanganisa alarm uye LED flicker frequency
| Flicker Frequency | Tsananguro kune Mhosva |
| 1 | Kukanganisa kunoitika kana mota coil yazvino yadarika dhiraivha yazvino. |
| 2 | Voltage reference error mudhiraivha |
| 3 | Parameters kurodha kukanganisa mudhiraivha |
| 4 | Kukanganisa kunoitika kana magetsi ekuisa achipfuura thedrive's voltage limit. |
| 5 | Kukanganisa kunoitika kana chinzvimbo chinotevera kukanganisa chadarika muganhu unotarwa nemuganhu wekukanganisa kwechinzvimbo. |
- Chitarisiko uye Kuiswa Dimensi
- Typical Connection
Iyi dhiraivha inogona kupa encoder nemagetsi e +5v, yakanyanya ikozvino 80mA.Iyo inotora quadruplicated-frequency counting method, uye resolution reshiyo ye encoder yakawedzera mana ndiwo mapurusi pakutenderera kwe servo mota.Heino iyo yakajairika kubatana kwe
10.Parameter Setting
Iyo parameter yekumisikidza nzira ye2HSS86H-KH drive ndeye kushandisa HISU inogadzirisa kuburikidza ne232 serial yekutaurirana ports, nenzira iyi chete tinogona kuseta maparamita atinoda.Kune seti yeakanakisa default paramita kune inoenderana mota ayo ane hanya
yakagadziriswa nevainjiniya vedu, vashandisi vanongoda kunongedzera kune inotevera tafura, chaiyo mamiriro uye kuseta iwo chaiwo paramita.
Chaiyo kukosha = Seta kukosha × chiyero chinoenderana
Kune akazara makumi maviri ekumisikidzwa kweparameta, shandisa iyo HISU kurodha iyo yakamisikidzwa paramita kudhiraivha, tsananguro yezvese kune yega parameter kumisikidzwa ndeyotevera:
| Item | Tsanangudzo |
| Current loop Kp | Wedzera Kp kuita kuti ikozvino ikwire nekukurumidza.Proportional Gain inosarudza mhinduro yedhiraivha yekumisikidza kuraira.Yakaderera Proportional Gain inopa yakagadzikana sisitimu (haisi oscillate), ine yakaderera kuomarara, uye iko iko kukanganisa, zvichikonzera kusaita zvakanaka mukutevera ikozvino kuseta rairo mudanho rega rega.Kunyanya kuenzana kuwana kukosha kunokonzeresa oscillations uye isina kugadzikana system. |
| Current loop Ki | Gadzirisa Ki kuderedza kukanganisa kwakadzikama.Integral Gain inobatsira dhiraivha kukurira static ikozvino zvikanganiso.Yakaderera kana zero kukosha kweIntegral Gain inogona kunge iine zvikanganiso zvazvino pakuzorora.Kuwedzera kukosha kwakakosha kunogona kuderedza kukanganisa.Kana iyo Integral Gain yakakura zvakanyanya, iyo system inogona "kuvhima" (oscillate) yakapoteredza nzvimbo yaunoda. |
| Damping coefficient | Iyi parameter inoshandiswa kushandura daping coefficient kana iri yekuda kushanda state isunder resonance frequency. |
| Position loop Kp | Iyo PI paramita yenzvimbo loop.Iwo akasarudzika maitiro akakodzera kune mazhinji ekushandisa, haufanire kuachinja.Bata nesu kana uine chero mubvunzo. |
| Position loop Ki |
| Speed loop Kp | Iyo PI maparamita eiyo kasi loop.Iwo akasarudzika maitiro akakodzera kune mazhinji ekushandisa, haufanire kuachinja.Bata nesu kana uine chero mubvunzo. |
| Speed loop Ki | |
| Vhura loop current | Iyi parameter inokanganisa static torque yemota. |
| Vhara loop current | Iyi parameter inokanganisa dynamic torque yemota.(Iyo chaiyo ikozvino = vhura loop ikozvino + kuvhara loop ikozvino) |
| Alarm Control | Iyi parameter yakagadzirirwa kudzora iyo Alarm optocoupler inobuda transistor.0 zvinoreva kuti transistor inogurwa kana sisitimu iri mukushanda kwakajairika, asi kana zvasvika pakukanganisa kwekutyaira, transistor. inova conductive.1 zvinoreva zvinopesana na0. |
| Stop lock shandisa | Iyi parameter yakagadzirirwa kugonesa wachi yekumisa yedrive.1 inoreva kugonesa basa iri nepo 0 inoreva kuidzima. |
| Gonesa Kudzora | Iyi parameter yakagadzirirwa kudzora iyo Inogonesa inputsignal level, 0 inoreva yakaderera, nepo 1 ichireva yakakwirira. |
| Kudzora Kusvika | Iyi parameter yakagadzirirwa kudzora iyo Arrivaloptocoupler inobuda transistor.0 zvinoreva kuti transistor inogurwa kana dhiraivha ichigutsa kusvika |
| Encoder resolution
Position error limit
Motokari mhando sarudzo
Kumhanya kutsetseka | raira, asi kana zvasvika pakusadaro, iyo transistor inova conductive.1 zvinoreva zvinopesana na0. | |||||||
| Ichi chidhiraivho chinopa sarudzo mbiri dzenhamba yemitsara ye encoder.0 inoreva mitsara zana, nepo 1 ichireva mitsara mazana maviri nemazana mashanu. | ||||||||
| Muganho wenzvimbo inotevera kukanganisa.Kana iyo chaiyo chinzvimbo chikanganiso ichipfuura kukosha uku, dhiraivha ichapinda mune yekukanganisa modhi uye kukanganisa kunobva kwave activated.(Kukosha chaiko = kukosha kwakatarwa×10) | ||||||||
| Parameter | 1 | 2 | 3 | 4 | 5 | |||
| Type | 86J1865EC | 86J1880EC | 86J1895EC | 86J18118EC | 86J18156EC | |||
| Iyi parameter yakagadzirirwa kudzora kutsetseka kwekumhanya kwemota uku ichikwira kana kudzikisira, iyo yakakura kukosha, inotsvedzerera kumhanya mukumhanyisa kana kudzika.
0 1 2 … 10 | ||||||||
| Mushandisi-anotsanangurwa p/r | Iyi parameter seti yemushandisi-inotsanangurwa pulse per revolution, iyo yemukati default diki nhanho mukati ino activate nepo SW3, SW4, SW5, SW6 zvese zviri pa, vashandisi vanogona zvakare kuseta diki nhanho nekunze DIP switch.(Iyo chaiyo nhanho diki = iyo yakatarwa kukosha × 50) |
11.Maitiro ekugadzirisa kune zvakajairika Matambudziko uye Kukanganisa
11.1Simba pachiedza chemagetsi off
n Hapana simba rekuisa, ndapota tarisa magetsi emagetsi.Voltage yakadzikira.
11.2Simba pamwenje dzvuku aramu on
n Ndokumbira utarise chiratidzo chemhinduro yemota uye kana mota yakabatana nedhiraivha.
n The stepper servo drive iri pamusoro pevoltage kana pasi pemagetsi.Ndokumbira udzikise kana wedzera magetsi ekuisa.
11.3Aramu dzvuku mwenje inobatidzwa mushure memota inomhanya a diki
angle
n Ndokumbira utarise waya dzemota chikamu kana dzakabatana nemazvo,kana zvisiri,ndapota tarisa kune iyo 3.4 Power Ports
n Ndokumbira utarise parameter mudhiraivha kana matanda emota uye encoder mitsara inoenderana neiyo chaiyo paramita, kana zvisiri, isa iwo nemazvo.
n Ndokumbira utarise kana iyo frequency ye pulse chiratidzo ichimhanya zvakanyanya, saka mota inogona kunge iri kunze kwayo yakayerwa kumhanya, uye inotungamira kune chinzvimbo kukanganisa.
11.4Mushure mekuisa pulse chiratidzo asi mota haina kumhanya
n Ndokumbira utarise iyo yekuisa pulse chiratidzo waya dzakabatanidzwa nenzira yakavimbika.
n Ndapota ita shuwa kuti yekupinza pulse modhi inoenderana neiyo chaiyo yekuisa modhi.
