1.Kakaretso
Sistimi ea HBS86H hybrid stepper servo drive e kopanya theknoloji ea taolo ea servo ho drive ea dijithale ea stepper ka mokhoa o phethahetseng.'Me sehlahisoa sena se amohela encoder ea optical e nang le maikutlo a phahameng a lebelo la sampole ea 50 μ s, hang ha phapang ea boemo e hlaha, e tla lokisoa hang-hang.Sehlahisoa sena se lumellana le melemo ea drive ea stepper le servo drive, joalo ka mocheso o tlase, ho sisinyeha ho fokolang, ho potlakisa ka potlako, joalo-joalo.Mofuta ona oa servo drive o boetse o na le ts'ebetso e ntle ea litšenyehelo.
- Likaroloana
u Ntle le ho lahleheloa ke mohato, Ho nepahala ho phahameng ka ho beha maemo
u 100% rated output torque
u Theknoloji e feto-fetohang ea taolo ea hajoale, Bokhoni bo phahameng ba hajoale
u Small vibration, Smooth le e ka tšeptjoang e tsamaeang ka lebelo le tlaase
u Potlakisa le ho theola taolo kahare, Ntlafatso e kholo ea boreleli ba ho qala kapa ho emisa koloi
u Mehato e menyenyane e hlalosoang ke basebelisi
u E lumellana le 1000 le 2500 mela encoder
u Ha ho phetoho lits'ebetsong tse akaretsang
u Ts'ireletso ea liphoso tsa hajoale, tse fetang motlakase le maemo a fetang
u Lebone le letala le bolela ho matha ha lebone le lefubelu le bolela tšireletso kapa ho tima mohala
3.Selelekela sa Maemakepe
3.1Phatlalatso ea lets'oao la ALM le PEND likou
| Boemakepe | Letšoao | Lebitso | Ela hloko |
| 1 | PEND+ | Sephethong sa lets'oao la boemo + | +
- |
| 2 | PEND- | Sephetho sa lets'oao la boemo - | |
| 3 | ALM+ | Ketso ea alamo + | |
| 4 | ALM- | Ketso ea alamo - |
3.2Laola Kenyo ya Letshwao Maemakepe
| Boemakepe | Letšoao | Lebitso | Ela hloko |
| 1 | PLS+ | Letšoao la Pulse + | E lumellana le 5V kapa 24V |
| 2 | PLS- | Letšoao la Pulse - | |
| 3 | DIR+ | Letšoao la tataiso + | E lumellana le 5V kapa 24V |
| 4 | DIR- | Letšoao la tataiso- | |
| 5 | ENA+ | Numella lets'oao + | E lumellana le 5V kapa 24V |
| 6 | ENA- | Numella lets'oao - |
3.3Encoder Feedback Signal Input Maemakepe
| Boemakepe | Letšoao | Lebitso | Mobala oa lithapo |
| 1 | PB+ | Mokhahlelo oa Encoder B + | MONAHANA |
| 2 | PB- | Mokhahlelo oa Encoder B - | TŠEHLA |
| 3 | PA+ | Mokhahlelo oa Encoder A + | PUTSOA |
| 4 | PA- | Encoder phase A - | TŠOANE |
| 5 | VCC | Matla a kenyang | KHIBIDUDU |
| 6 | GND | Sebaka sa motlakase se kenyang | TŠOEU |
3.4Sebopeho sa Matla Maemakepe
| Boemakepe | Boitsebiso | Letšoao | Lebitso | Ela hloko |
| 1 | Motor Phase Wire Input Ports | A+ | Mohato A+ (BLACK) | Motor Phase A |
| 2 | A- | Mokhahlelo A- (RED) | ||
| 3 | B+ | Mokhahlelo oa B+ (TSEHLA) | Motor Phase B | |
| 4 | B- | Mokhahlelo oa B-(BLUE) | ||
| 5 | Li-Ports tsa ho Kena ka Matla | VCC | Kena Matla + | AC24V-70V DC30V-100V |
| 6 | GND | Matla a Kena- |
4.Index ea Theknoloji
| Kenya Voltage | 24 ~ 70VAC kapa 30 ~ 100VDC | |
| Output Current | 6A 20KHz PWM | |
| Pulse Frequency max | 200K | |
| Sekhahla sa puisano | 57.6Kbps | |
| Tshireletso | l Ho feta tlhōrō ea boleng ba hona joale 12A±10%l Boleng ba motlakase o fetang 130Vl Lethathamo la liphoso tsa boemo bo ka holimo li ka hlophisoa ka HISU. | |
| Kakaretso ea litekanyo (mm) | 150×97.5×53 | |
| Boima ba 'mele | Hoo e ka bang 580g | |
| Litlhaloso tsa Tikoloho | Tikoloho | Qoba lerōle, moholi oa oli le likhase tse senyang |
| Ho sebetsa Mocheso | 70 ℃ Max | |
| Polokelo Mocheso | -20℃~+65℃ | |
| Mongobo | 40~90%RH | |
| Coolingmethod | Pholiso ea tlhaho kapa moea o qobelloang | |
Keletso:
VCC e lumellana le 5V kapa 24V;
R(3~5K) e tlameha ho hokeloa ho terminal ea mats'oao a taolo.
Keletso:
VCC e lumellana le 5V kapa 24V;
R(3~5K) e tlameha ho hokeloa ho terminal ea mats'oao a taolo.
5.2Lihokelo ho Tloaelehileng Cathode
Keletso:
VCC e lumellana le 5V kapa 24V;
R(3~5K) e tlameha ho hokeloa ho terminal ea mats'oao a taolo.
5.3Lihokelo ho Phapang Letshwao
| |
Keletso:
VCC e lumellana le 5V kapa 24V;
R(3~5K) e tlameha ho hokeloa ho terminal ea mats'oao a taolo.
5.4Lihokelo tsa puisano ea 232 Serial Sehokelo
PIN1 PIN6 PIN1PIN6
| Hlooho ea Crystal leoto | Tlhaloso | Ela hloko |
| 1 | TXD | Fetisetsa Lintlha |
| 2 | RXD | Fumana Boitsebiso |
| 4 | +5V | Phepelo ea Matla ho HISU |
| 6 | GND | Sebaka sa Matla |
5.5Tatelano Chate ea Taolo Lipontšo
Bakeng sa ho qoba ts'ebetso e itseng ea liphoso le ho kheloha, PUL, DIR le ENA li lokela ho latela melaoana e bonts'itsoeng e le setšoantšo se latelang:
Keletso:
PUL/DIR
- t1: ENA e tlameha ho ba ka pele ho DIR ka bonyane 5μ s.Hangata, ENA+ le ENA- ke NC (ha e kopane).
- t2: DIR e tlameha ho ba ka pele ho PUL e sebetsang ka 6μ s ho netefatsa tataiso e nepahetseng;
- t3: Pulse bophara eseng ka tlase ho 2.5μ s;
- t4: Bophara ba boemo bo tlase eseng ka tlase ho 2.5μ s.
6.Phetoho ea DIP Tlhophiso
6.1Kenya tshebetsong Edge Tlhophiso
SW1 e sebelisoa bakeng sa ho beha moeli oa ts'ebetso ea lets'oao la ho kenya tšebetsong, "tima" e bolela hore moeli o kentsoeng ke moeli o nyolohang, ha "on" e le moeli o oelang.
6.2Tsela ea ho matha Tlhophiso
SW2 e sebelisetsoa ho beha tsela ea ho matha, "off" e bolela CCW, ha "ho" e bolela CW.
6.3Micro mehato Tlhophiso
Litlhophiso tsa mehato e nyane li tafoleng e latelang, ha SW3 ,
SW4,SW5,SW6 kaofela li teng, mehato e menyenyane e ka hare e ka hare e ea sebetsa, karo-karolelano ena e ka behoa ka HISU.
| 8000 | on | on | tima | tima |
| 10000 | tima | on | tima | tima |
| 20000 | on | tima | tima | tima |
| 40000 | tima | tima | tima | tima |
7.Alamo ea liphoso le khanya ea LED makhetlo a mangata
| Flicker Khafetsa | Tlhaloso ho Liphoso |
| 1 | Phoso e etsahala ha khoele ea enjene e feta moeli oa hajoale oa koloi. |
| 2 | Phoso ea referense ea motlakase koloing |
| 3 | Li-parameter li kenya phoso ka har'a drive |
| 4 | Phoso e etsahala ha motlakase o kenang o feta moeli oa motlakase oa drive. |
| 5 | Phoso e etsahala ha boemo ba sebele bo latelang phoso bo feta moeli o behiloeng kemoeli oa phoso ea boemo. |
- Ponahalo le Tlhophiso Dimensi
- Khokahano e Tloaelehileng
Koloi ena e ka fana ka encoder ka phepelo ea matla ea +5v, boholo ba hajoale ba 80mA.E sebelisa mokhoa oa ho bala oa makhetlo a mane, 'me tekanyo ea tharollo ea encoder e atisang 4 ke maqhubu a ho potoloha ha servo motor.Mona ke khokahanyo e tloaelehileng ea
10.Paramethara Tlhophiso
Mokhoa oa ho beha paramethara oa 2HSS86H-KH drive ke ho sebelisa sehatisi sa HISU ka har'a likou tsa puisano tse 232, ke ka tsela ena feela re ka behang liparamente tseo re li batlang.Ho na le li-parameter tse ntle ka ho fetisisa tsa enjene e tsamaellanang e leng tlhokomelo
e fetotsoe ke baenjiniere ba rona, basebelisi ba hloka feela ho bua ka tafole e latelang, boemo bo itseng le ho beha litekanyo tse nepahetseng.
Boleng ba sebele = Beha boleng × boholo bo tsamaisanang
Ho na le litlhophiso tse felletseng tsa 20, sebelisa HISU ho khoasolla liparamente tse hlophisitsoeng ho drive, litlhaloso tsa tlhophiso e 'ngoe le e 'ngoe ea parametha li tjena:
| Ntho | Tlhaloso |
| Loop ea hona joale Kp | Eketsa Kp ho etsa hore e phahame ka potlako.Proportional Gain e etsa qeto ea karabelo ea koloi ho seta taelo.Phaello e tlase ea Proportional e fana ka sistimi e tsitsitseng (ha e sisinyehe), e na le boima bo tlase, le phoso e teng hona joale, e bakang ts'ebetso e mpe ea ho latela taelo ea maemo a hajoale mohatong o mong le o mong.Litefiso tse kholo haholo tse lekanang tsa phaello li tla baka oscillations le tsamaiso e sa tsitsang. |
| Loop ea hona joale Ki | Fetola Ki ho fokotsa phoso e tsitsitseng.Integral Gain e thusa drive ho hlola liphoso tsa hajoale.Theko e tlase kapa e se nang letho bakeng sa Integral Gain e kanna ea ba le liphoso tsa hajoale.Ho eketsa phaello ea bohlokoa ho ka fokotsa phoso.Haeba Phaello e Kopanetsoeng e le kholo haholo, sistimi e ka "tsoma" (oscillate) ho potoloha boemo bo batloang. |
| Damping coefficient | Paramethara ena e sebelisetsoa ho fetola coefficient ea damping haeba boemo bo lakatsehang bo sebetsa isunder resonance frequency. |
| Loop ea boemo Kp | Liparamente tsa PI tsa loop ea boemo.Litekanyetso tsa kamehla li loketse boholo ba ts'ebeliso, ha ho hlokahale hore u li fetole.Ikopanye le rona haeba u na le potso efe kapa efe. |
| Boemo loop Ki |
| Lebelo la lebelo Kp | Litekanyetso tsa PI tsa loop ea lebelo.Litekanyetso tsa kamehla li loketse boholo ba ts'ebeliso, ha ho hlokahale hore u li fetole.Ikopanye le rona haeba u na le potso efe kapa efe. |
| Lebelo loop Ki | |
| Bula loop jwale | Paramethara ena e ama torque e tsitsitseng ea enjene. |
| Koala loop current | Paramethara ena e ama torque e matla ea enjene.(Ea hona joale = ea hona joale ea loop e bulehileng + koala loop current) |
| Taolo ea Alamo | Paramethara ena e behiloe ho laola Alarm optocoupler output transistor.0 e bolela hore transistor e khaotsoe ha sistimi e sebetsa ka mokhoa o tloaelehileng, empa ha ho tluoa phosong ea koloi, transistor. eba conductive.1 e bolela ho fapana le 0. |
| Stop lock bulela | Paramethara ena e behiloe ho nolofalletsa nako ea ho emisa ea drive.1 e bolela ho nolofalletsa ts'ebetso ena ha 0 e bolela ho e tima. |
| Numella Taolo | Paramethara ena e behiloe ho laola boemo ba Enable inputsignal, 0 e bolela tlaase, ha 1 e bolela holimo. |
| Taolo ea ho Fihla | Paramethara ena e behiloe ho laola transistor ea Arrivaloptocoupler output.0 e bolela hore transistor e khaoha ha koloi e khotsofatsa ho fihla |
| Qeto ea sekhouto
Moeli oa phoso ea boemo
Mofuta oa koloi khetho
Boreleli ba lebelo | taelo, empa ha ho tluoa tabeng ea ho se etse, transistor e fetoha conductive.1 e bolela ho fapana le 0. | |||||||
| Koetliso ena e fana ka likhetho tse peli tsa palo ea mela ea encoder.0 e bolela mela e 1000, ha 1 e bolela mela e 2500. | ||||||||
| Moeli oa boemo bo latelang phoso.Ha phoso ea boemo ba sebele e feta boleng bona, koloi e tla kena ka mokhoa oa phoso 'me phoso e tla ba teng butsoe.(Boleng ba sebele = boleng bo behiloeng× 10) | ||||||||
| Paramethara | 1 | 2 | 3 | 4 | 5 | |||
| Mofuta | 86J1865EC | 86J1880EC | 86J1895EC | 86J18118EC | 86J18156EC | |||
| Paramethara ena e behiloe ho laola boreleli ba lebelo la enjene ha e ntse e potlakisa kapa e theoha, boleng bo boholo, lebelo le potlakisang ho potlakisa kapa ho fokotseha.
0 1 2 … 10 | ||||||||
| E hlalosoang ke mosebelisi p/r | Paramethara ena ke sete ya pulse e hlalosoang ke mosebelisi ka phetohelo, mehato e ka hare ea kamehla e nyane ka hare e sebetsa ha SW3, SW4, SW5, SW6 kaofela li ntse li le teng, basebelisi ba ka boela ba beha mehato e nyane ka li-switches tsa ka ntle tsa DIP.(Mehato ea sebele e nyane = boleng bo behiloeng× 50) |
11.Mekhoa ea Ts'ebetso ho Mathata le Mathata a Tloaelehileng
11.1Matla a lebone la matla tima
n Ha ho na motlakase, ka kopo sheba potoloho ea phepelo ea motlakase.Matla a motlakase a tlase haholo.
11.2Matla a lebone la alamo e khubelu on
n Ka kopo, sheba lets'oao la maikutlo a enjene le hore na koloi e hokahane le koloi.
n The stepper servo drive ke over voltage kapa under voltage.Ka kopo, theola kapa eketsa motlakase oa motlakase.
11.3Lebone le lefubelu la alamo le khantšitsoe ka mor'a hore motlakase o sebetse a nyane
angle
n Ka kopo, sheba lithapo tsa motlakase haeba li hokahane hantle,haeba ho se joalo,ka kopo sheba ho 3.4 Power Ports
n Ka kopo, hlahloba parameter ka koloi haeba lipalo tsa motlakase le mela ea encoder li lumellana le li-parameter tsa sebele, haeba ho se joalo, li behe ka nepo.
n Ka kopo, sheba hore na maqhubu a lets'oao la pulse a potlakile haholo, kahoo enjene e kanna ea tsoa ho eona e lekantsoe lebelo, 'me e lebisa phosong ea boemo.
11.4Kamora ho kenya lets'oao la pulse empa enjene ha e eo mathang
n Ka kopo, sheba hore na lithapo tsa motlakase li hokahane ka tsela e tšepahalang.
n Ka kopo etsa bonnete ba hore mokhoa oa ho kenya letsoho o lumellana le mokhoa oa 'nete oa ho kenya.
