MODULE DON MUSULUN MUTUM TATTAKI
Tsarin Hardware V1.3
MANHAJAR HARDWARESaukewa: TMCM-1140
1-Axis Stepper Controller / Direba
2 A / 24 V sensOstep™ Encoder
USB, RS485, da CAN

TMCM-1140 Single Axis Stepper Mai Kula da Mota / Module Direba

SIFFOFI NA BABBAN:

coolStep™

Siffofin

TMCM-1140 shine mai sarrafa axis guda ɗaya / module ɗin direba don injinan stepper bipolar 2-phase tare da saitin fasalin fasahar fasaha. Yana da haɗin kai sosai, yana ba da dacewa mai dacewa kuma ana iya amfani dashi a yawancin aikace-aikacen da aka raba. Za'a iya shigar da na'urar a bayan NEMA 17 (girman flange 42mm) matakan stepper kuma an tsara shi don igiyoyin wuta har zuwa 2 A RMS da 24 V DC wadata vol.tage. Tare da babban ƙarfin ƙarfin sa daga TRINAMIC's coolStep™ farashin fasaha don amfani da wutar lantarki yana raguwa. Firmware na TMCL™ yana ba da damar duka biyu, aiki na tsaye da yanayin kai tsaye.

MAI KYAU CIKIN SAUKI

• Mai sarrafa motsi
• Motion profile lissafi a hakikanin lokaci
• Canje-canjen sigogin mota a kan tashi (misali matsayi, saurin gudu, hanzari)
• Babban aikin microcontroller don sarrafa tsarin gabaɗaya da sarrafa tsarin sadarwa na serial

Direban Motar Bipolar Stepper

• Har zuwa 256 microsteps kowane cikakken mataki
• Babban aiki mai inganci, ƙarancin wutar lantarki
• Sarrafawar halin yanzu
• Hadakar kariya
• fasalin stallGuard2 don gano rumbun
•  coolStep fasalin don rage yawan amfani da wutar lantarki da kuma zubar da zafi

Encoder
SensOstep Magnetic encoder (karu 1024 a kowace juyi) misali don gano asarar mataki a ƙarƙashin duk yanayin aiki da saka idanu.

Hanyoyin sadarwa

• RS485 2-waya sadarwa dubawa
• CAN 2.0B sadarwar sadarwa
• Kebul cikakken gudun (12Mbit/s) na'urar dubawa
• 4 abubuwan shigar da abubuwa da yawa:
  - 3x abubuwan shigar da dijital na gaba ɗaya
• (Madaidaicin ayyuka: STOP_L / STOP_R / shigarwar sauyawar GIDA ko shigarwar A/B/N)
  - 1x shigarwar analog na musamman
• 2 gama gari abubuwan fitarwa
  - 1 x buɗaɗɗen ruwa 1A max.
  - 1x + 5V fitarwa fitarwa (ana iya kunnawa / kashewa a cikin software)

Software

• TMCL: aiki na tsaye ko sarrafawa mai nisa, ƙwaƙwalwar shirye-shirye (ba maras canzawa) har zuwa 2048 TMCL umarni, da software na ci gaban aikace-aikacen PC TMCL-IDE akwai kyauta.

Bayanan lantarki da na inji

• Ƙarar voltage: +24V DC maras kyau (9… 28V DC)
• Motar halin yanzu: har zuwa 2 A RMS / 2.8 A kololuwa (mai tsarawa)

Koma zuwa raba TMCL Firmware Manual, kuma.

SIFFOFIN TRINAMICS na musamman - SAUKI don AMFANI DA TMCL

stallGuard2™ stallGuard2 babban madaidaicin ma'aunin nauyi mara nauyi ta amfani da EMF na baya akan coils. Ana iya amfani da shi don gano rumbun da kuma sauran amfani a lodin da ke ƙasa da waɗanda ke dakatar da motar. Ƙimar ma'aunin stallGuard2 yana canzawa a layi ɗaya akan kewayon kaya, saurin gudu, da saitunan yanzu. A matsakaicin nauyin motar, ƙimar tana zuwa sifili ko kusa da sifili. Wannan shine wurin aiki mafi ƙarfin kuzari ga motar.

coolStep™ coolStep ne mai ɗaukar nauyi-daidaitaccen sikelin atomatik na halin yanzu dangane da ma'aunin nauyi ta hanyar stallGuard2 yana daidaita halin da ake buƙata zuwa nauyin. Za a iya rage yawan amfani da makamashi da kusan kashi 75%. coolStep yana ba da damar tanadin makamashi mai yawa, musamman ga injina waɗanda ke ganin kaya iri-iri ko aiki a babban zagayowar aiki. Saboda aikace-aikacen motar stepper yana buƙatar yin aiki tare da ajiyar juzu'i na 30% zuwa 50%, ko da aikace-aikacen ɗaukar nauyi akai-akai yana ba da damar tanadin makamashi mai mahimmanci saboda coolStep yana ba da damar ajiyar juzu'i ta atomatik lokacin da ake buƙata. Rage amfani da wutar lantarki yana kiyaye tsarin sanyaya, yana ƙara rayuwar motar, kuma yana ba da damar rage farashi.

Lambobin oda

Lambar oda	Bayani	Girman (mm3)
TMCM-1140-zaɓi	Single axis bipolar stepper motor controller / driver electronics with hadedde sensOstep encoder da coolStep fasalin	37 x 37 x 11.5

Tebur 2.1 Lambobin oda
Akwai zaɓuɓɓuka masu zuwa:

Zaɓin firmware	Bayani	Lambar oda exampda:
-TMCL	Module wanda aka riga aka tsara shi tare da firmware TMCL	TMCM-1140-Farashin TMCL
- CAN Buɗe	Module wanda aka riga aka tsara shi tare da CANopen firmware	TMCM-1140-CAN Buɗe

Table 2.2 Zaɓuɓɓukan Firmware
Akwai saitin loom na USB don wannan ƙirar:

Lambar oda	Bayani
Saukewa: TMCM-1140-CABLE	Cable loom ga TMCM-1140: • 1x na USB don wutar lantarki da mai haɗin sadarwa (tsawon 200mm) - 1x kebul don haɗawa mai haɗawa In / waje da yawa (tsawon 200mm) - 1x na USB don mai haɗin mota (tsawon 200mm) - 1 x Nau'in USB A mai haɗa zuwa mini-USB nau'in kebul na USB (tsawon 1.5m)

Tebur 2.3 Lambobin oda na USB
Lura cewa TMCM-1140 yana samuwa tare da NEMA17 stepper Motors, kuma. Koma zuwa takaddun PD-1140 don ƙarin bayani game da waɗannan samfuran.

Ma'amalar Injini da Wutar Lantarki

3.1 Girma da Ramukan Hawa
Girman allon kulawa/direba sun kusan. 37 mm x 37 mm x 11.5 mm don dacewa a bayan motar stepper 42 mm. Matsakaicin tsayin bangaren (tsawo sama da matakin PCB) ba tare da masu haɗin mating ba yana kusa da 8mm sama da matakin PCB da 2 mm ƙasa matakin PCB. Akwai ramukan hawa guda biyu don sukurori na M3 don hawa zuwa injin NEMA17 stepper.

3.2 Matsalolin hawan jirgi
TMCM-1140 yana ba da ramukan hawa da ƙarfe biyu. Dukansu ramukan hawa suna da alaƙa da tsarin da ƙasan sigina (daidai da ƙasa mai samar da wutar lantarki).
Don rage girman murdiya na sigina da radiation na siginar HF (inganta EMC dacewa) musamman a cikin yanayi mai mahimmanci / hayaniya yana da mahimmanci don tabbatar da ingantaccen haɗin ƙasa a cikin tsarin. Don tallafawa wannan, ana bada shawara don haɗa duka ramuka masu hawa biyu na jirgi ban da haɗin haɗin ƙasa zuwa tsarin samar da wutar lantarki.
Duk da haka, wannan bazai zama zaɓi koyaushe ba misali idan tsarin ƙarfe tsarin chassis / TMCM-1140 an riga an haɗa farantin hawa zuwa ƙasa da haɗin kai tsaye tsakanin ƙasa mai wadatarwa (gefen na biyu) da kuma abubuwan samar da ƙasa (gefen farko) ba a so / ba zaɓi ba. A wannan yanayin ya kamata a yi amfani da robobi (misali da nailan) masu sarari / kusoshi na nesa da sukurori.
3.3 Masu haɗin TMCM-1140
Mai sarrafawa / hukumar direba na TMCM-1140 yana ba da masu haɗin kai huɗu ciki har da na'ura mai haɗawa wanda ake amfani da shi don haɗa coils ɗin motar zuwa kayan lantarki. Ana amfani da mai haɗa wutar lantarki da sadarwa don samar da wutar lantarki, CAN interface, da RS485 dubawa. Mai haɗin I/O da yawa na 8pin yana ba da abubuwan shigar da maƙasudin manufa guda huɗu da fitowar manufa guda biyu. Har ila yau, akwai mai haɗawa don kebul na USB.

Lakabi	Nau'in haɗi	Nau'in haɗin haɗi
Mai Haɗin Wuta da Sadarwa	Saukewa: CI0106P1VK0-LF CVIlux CI01 jerin, 6 fil, farar 2mm	Mai haɗin mahalli CVIlux: CI01065000-A Bayanan Bayani na CVIlux: CI01T011PE0-A or Gidan haɗi JST: PHR-6 Lambobin sadarwa JST: SPH-002T-P0.5S Waya: 0.22mm2
Mai Haɗin I/O Multipurpose	Saukewa: CI0108P1VK0-LF CVIlux CI01 jerin, 8 fil, farar 2mm	Mahalli mai haɗi CVIlux: CI01085000-A Lambobin sadarwa CVIlux: CI01T011PE0-A or Gidan haɗi JST: PHR-8 Lambobin sadarwa JST: SPH-002T-P0.5S Waya: 0.22mm2
Mai haɗa motoci	Saukewa: CI0104P1VK0-LF CVIlux CI01 jerin, 4 fil, farar 2mm	Mahalli mai haɗi CVIlux: CI01045000-A Lambobin sadarwa CVIlux: CI01T011PE0-A or Gidan haɗi JST: PHR-4 Lambobin sadarwa JST: SPH-002T-P0.5S Waya: 0.22mm2
Mini-USB Connector	Farashin 500075-1517 Mini USB Type B rumbun ajiya a tsaye	Duk wani madaidaicin filogin mini-USB

Tebura 3.1 Masu haɗawa da masu haɗa mating, lambobi da waya mai dacewa

3.3.1 Mai Haɗin Wuta da Sadarwa
Ana amfani da 6pin CVIlux CI0106P1VK0-LF 2mm mai haɗin layi ɗaya don samar da wutar lantarki, RS485 da CAN serial sadarwa. Lura da ƙarin bayanin samar da wutar lantarki a babi na 3.3.1.1.
Lura: CAN za a kashe aiki idan an haɗa USB saboda rabawa na kayan masarufi na ciki.

	Pin	Lakabi	Hanyar	Bayani
	1	GND	Wutar Lantarki (GND)	Tsarin da ƙasa sigina
	2	VDD	Tushen wutan lantarki)	VDD (+9V…+28V)
	3	Saukewa: RS485+	Bidire	RS485 dubawa, daban-daban. sigina (ba mai juyawa)
	4	Bayani na RS485-	Bidire	RS485 dubawa, daban-daban. sigina (inverting)
	5	BA_H	Bidire	CAN interface, bambanta. sigina (ba mai juyawa)
	6	BA_L	Bidire	CAN interface, bambanta. sigina (inverting)

Tebur 3.2 Mai haɗawa don samar da wutar lantarki da musaya
3.3.1.1 Samar da Wutar Lantarki
Don aikin da ya dace dole ne a kula da batun samar da wutar lantarki da ƙira. Saboda ƙuntatawar sararin samaniya TMCM-1140 ya haɗa da kusan 40µF/35V na masu ƙarfin tacewa. Waɗannan su ne yumbu capacitors waɗanda aka zaɓa don babban aminci da tsawon rayuwa. Module ɗin ya haɗa da diode mai ɗaukar nauyi na 28V don over-voltage kariya.
HANKALI!

	Ƙara capacitors na wutar lantarki na waje! Ana ba da shawarar haɗa wutar lantarki mai mahimmanci mai girma (misali aƙalla 470µF/35V) zuwa layin samar da wutar lantarki kusa da TMCM-1140! Dokokin babban yatsan hannu don girman ƙarfin wutar lantarki: c = 1000 μF/ A × ISUPPLY Baya ga daidaitawar wutar lantarki (buffer) da tace wannan ƙarin capacitor zai kuma rage kowane voltage spikes wanda in ba haka ba zai iya faruwa daga haɗuwa da manyan wayoyi masu samar da wutar lantarki da na yumbu. Bugu da kari zai iyakance kashe-kudi na samar da wutar lantarki voltage a module. Ƙananan ESR na yumbu-kawai masu ƙarfin tacewa na iya haifar da matsalolin kwanciyar hankali tare da wasu kayan wutar lantarki na sauyawa.
	Kar a haɗa ko cire haɗin mota yayin aiki! Kebul na mota da inductivity na mota na iya haifar da voltage spikes lokacin da aka katse / haɗa motar yayin da ake samun kuzari. Waɗannan voltage spikes na iya wuce voltage iyakoki na direba MOSFETs kuma zai iya lalata su har abada. Don haka, koyaushe cire haɗin wutar lantarki kafin haɗawa / cire haɗin motar.
	Rike wutar lantarki voltage kasa da babba iyaka na 28V! In ba haka ba kayan lantarkin direban zai lalace sosai! Musamman, lokacin da zaɓin aiki voltage yana kusa da babba iyaka ana ba da shawarar samar da wutar lantarki da aka tsara sosai. Da fatan za a duba kuma babi na 7, ƙimar aiki.
	Babu wani juyi polarity kariya! Module ɗin zai gajarta kowane juzu'i mai jujjuyawatage saboda ciki diodes na direba transistor.

3.3.1.2 RS485
Don kula da nesa da sadarwa tare da tsarin runduna TMCM-1140 yana ba da hanyar haɗin bas na RS485 na waya guda biyu.
Don aikin da ya dace ya kamata a yi la'akari da abubuwa masu zuwa yayin kafa hanyar sadarwa ta RS485:

1. TSARIN BAS:
   Tsarin topology na cibiyar sadarwa yakamata ya bi tsarin bas a hankali sosai. Wato, alaƙar da ke tsakanin kowane kumburi da bas ɗin kanta ya kamata ya zama gajere gwargwadon yiwuwa. Ainihin, ya kamata ya zama gajere idan aka kwatanta da tsawon bas.
2. KARSHEN BAS:
   Musamman don dogayen bas da/ko nodes masu yawa da ke da alaƙa da bas da/ko babban saurin sadarwa, ya kamata a dakatar da bas ɗin da kyau a ƙarshen duka biyun. TMCM-1140 ba ya haɗa duk wani resistor ƙarewa. Saboda haka, 120 Ohm termination resistors a duka ƙarshen bas dole ne a ƙara waje.
3. YAWAN NODE:
   Ma'aunin mu'amalar wutar lantarki na RS485 (EIA-485) yana ba da damar haɗa nodes har 32 zuwa bas ɗaya. Masu jigilar bas ɗin da aka yi amfani da su akan raka'a TMCM-1140 (hardware V1.2: SN65HVD3082ED, tun hardware V1.3: SN65HVD1781D) sun rage nauyin bas ɗin da yawa kuma suna ba da damar iyakar 255 raka'a don haɗawa zuwa bas ɗin RS485 guda ɗaya ta amfani da TMCL firmware. . Lura: yawanci ba za a iya tsammanin samun ingantaccen sadarwa tare da matsakaicin adadin nodes da aka haɗa zuwa bas ɗaya da matsakaicin saurin sadarwa mai goyan baya a lokaci guda. Madadin haka, dole ne a sami sulhu tsakanin tsayin kebul na bas, saurin sadarwa da adadin nodes.
4. SAURAN SADARWA:
   Matsakaicin saurin sadarwar RS485 wanda ke goyan bayan TMCM-1140 hardware V1.2 shine 115200 bit/s da 1Mbit/s tun hardware V1.3. Tsohuwar masana'anta shine 9600 bit/s. Da fatan za a duba littafin firmware na TMCM-1140 TMCL daban don bayani game da wasu yuwuwar saurin sadarwa ƙasa da babba a cikin kayan aiki.
5. BABU LAYIN BAS MAI iyo:
   Guji layukan bas masu iyo yayin da mai gida/majibi ko ɗaya daga cikin bayin da ke kan layin bas ɗin ba ya isar da bayanai (duk nodes ɗin bas sun canza zuwa yanayin karɓa). Layukan bas masu iyo na iya haifar da kurakuran sadarwa. Don tabbatar da ingantattun sigina akan bas ana ba da shawarar yin amfani da hanyar sadarwa ta resistor mai haɗa layukan bas guda biyu zuwa ƙayyadaddun matakan dabaru.
   Akwai ainihin zaɓuɓɓuka guda biyu waɗanda za a iya ba da shawarar:
   Ƙara hanyar sadarwa ta resistor (Bias) a gefe ɗaya na bas ɗin, kawai (120R termination resistor har yanzu a ƙarshen duka):

Ko ƙara hanyar sadarwa ta resistor (Bias) a ƙarshen bas ɗin (kamar ƙarshen Profibus™):

Wasu RS485 masu juyawa da ke akwai don kwamfutoci sun riga sun haɗa da waɗannan ƙarin masu adawa (misali USB-2485 tare da hanyar sadarwar son zuciya a ƙarshen bas ɗin).

3.3.1.3 Can
Don kula da nesa da sadarwa tare da tsarin mai watsa shiri TMCM-1140 yana ba da haɗin bas na CAN. Da fatan za a lura cewa ba a samun haɗin kebul na CAN idan an haɗa USB. Don aiki mai kyau ya kamata a yi la'akari da abubuwa masu zuwa yayin kafa hanyar sadarwar CAN:

1. TSARIN BAS:
   Tsarin topology na cibiyar sadarwa yakamata ya bi tsarin bas a hankali sosai. Wato, alaƙar da ke tsakanin kowane kumburi da bas ɗin kanta ya kamata ya zama gajere gwargwadon yiwuwa. Ainihin, ya kamata ya zama gajere idan aka kwatanta da tsawon bas.
2. KARSHEN BAS:
   Musamman don dogayen bas da/ko nodes masu yawa da ke da alaƙa da bas da/ko babban saurin sadarwa, ya kamata a dakatar da bas ɗin da kyau a ƙarshen duka biyun. TMCM-1140 ba ya haɗa duk wani resistor ƙarewa. Saboda haka, 120 Ohm termination resistors a duka ƙarshen bas dole ne a ƙara waje.

3. YAWAN NODE:
   Mai ɗaukar bas ɗin da aka yi amfani da shi akan raka'a TMCM-1140 (TJA1050T) yana goyan bayan aƙalla nodes 110 a ƙarƙashin ingantattun yanayi. Haƙiƙan adadin nodes ɗin da za a iya cimmawa a kowane bas na CAN ya dogara da tsayin bas (tsawon bas> ƙarancin nodes) da saurin sadarwa (mafi girman gudu -> ƙarancin nodes).

3.3.2 Mai Haɗin I/O Multipurpose
Ana samun 8pin CVIlux CI0108P1VK0-LF 2mm mai haɗin layin farar guda ɗaya don duk abubuwan shigarwa da abubuwan da ake buƙata.

	Pin	Lakabi	Hanyar	Bayani
	1	GND	Wutar Lantarki (GND)	Tsarin da ƙasa sigina
	2	VDD	Tushen wutan lantarki)	VDD, an haɗa zuwa fil ɗin VDD na mai haɗa wuta da sadarwa
	3	FITA_0	Fitowa	Fitowar buɗaɗɗen ruwa (max. 1A) Haɗaɗɗen diode mai ƙayatarwa zuwa VDD
	4	FITA_1	Fitowa	+5V fitarwa fitarwa (max. 100mA) Ana iya kunnawa / kashewa a cikin software
	5	IN_0	Shigarwa	Ƙaddamar shigarwar analog, Input voltage kewayon: 0..+10V Resolution: 12bit (0)
	6	IN_1, STOP_L, ENC_A	Shigarwa	Babban manufar shigar da dijital (+24V masu jituwa)
				Madadin aikin 1: shigarwar tasha tasha ta hagu
				Madadin aikin 2: tashar ƙarawa ta waje A shigarwa
	7	IN_2, STOP_R, ENC_B	Shigarwa	Babban manufar shigar da dijital (+24V masu jituwa)
				Madadin aiki 1: shigar da kunna tasha dama
				Madadin aikin 2: shigarwar tashar B na ƙarawa ta waje
	8	IN_3, GIDA, ENC_N	Shigarwa	Babban manufar shigar da dijital (+24V masu jituwa)
				Madadin aikin 1: shigarwar sauya gida
				Madadin aiki 2: Indexididdigar ƙarawa ta waje / shigarwar tashar sifili

Tebur 3.3 Mai haɗa I/O Multipurpose

Lura:

•  Duk abubuwan shiga suna da tushen resistor voltage shigar da masu rarrabawa tare da diodes kariya. Waɗannan resistors kuma suna tabbatar da ingantaccen matakin GND lokacin da ba'a haɗa su ba.
• Don duk abubuwan shigar da dijital (IN_1, IN_2, IN_3) ana iya kunna 2k2 mai juye-juye zuwa +5V (tsarin saitin tare da duk sabbin sigogin firmware na TMCL na baya-bayan nan). Sannan waɗannan abubuwan shigar suna da matakin tunani na tsoho (wanda ba a haɗa su ba) kuma ana iya haɗa maɓalli na waje zuwa GND. Wannan na iya zama mai ban sha'awa musamman idan ana amfani da waɗannan abubuwan shigar azaman STOP_L / STOP_R da shigarwar HOME (madaidaicin aiki 1) ko azaman shigar da maɓalli don ƙarar A/B/N na waje tare da buɗaɗɗen kayan tattarawa (jawo sama ba lallai ba ne. don encoder tare da abubuwan da aka cire).

3.3.2.1 Abubuwan Shiga na Dijital IN_1, IN_2, IN_3
Mai haɗin fil takwas na TMCM-1140 yana ba da abubuwan shigar dijital iri-iri uku IN_1, IN_2 da IN_3. Duk abubuwan shigarwa guda uku suna karɓar siginar shigarwa har zuwa +24V (nom.) kuma suna ba da da'irar shigarwa iri ɗaya tare da voltage resistor dividers, iyakance
diodes a kan over- da under-voltage da shirye-shirye 2k2 ja-up resistors.
Ana iya kunna ko kashe abubuwan da aka cire don duk abubuwan shigar guda uku a lokaci ɗaya a cikin software.
Tare da umarnin firmware na TMCL SIO 0, 0, 0 zai kashe abubuwan cirewa kuma umarni SIO 0, 0, 1 zai kunna su (duba littafin firmware na TMCL daban, umarni SIO don ƙarin cikakkun bayanai). Abubuwan shigar da dijital guda uku suna da madadin ayyuka dangane da daidaitawa a cikin software. Akwai ayyuka masu zuwa:

Lakabi (pin)	Tsohuwar aikin	Madadin aikin 1	Madadin aikin 2
IN_1 (6)	Gabaɗaya manufa shigarwar dijital TMCL: GIO 1, 0 // sami ƙimar shigarwar dijital IN_1	STOP_L - shigarwar tasha tasha ta hagu, haɗe zuwa mai sarrafawa da shigarwar TMC429 REF (mai goyan bayan ayyukan tasha na hagu a cikin hardware) TMCL: GAP 11, 0 // sami ƙimar dijital na shigarwar STOP_L	ENC_A – tashar shigar da kari na waje A, haɗe da shigarwar mai rikodin rikodin
IN_2 (7)	Gabaɗaya manufa shigarwar dijital TMCL: GIO 2, 0 // sami ƙimar shigarwar dijital IN_2	STOP_R - shigarwar tasha ta dama ta dama, an haɗa ta da mai sarrafawa da shigarwar TMC429 REF (mai goyan bayan aikin sauyawa na dama a cikin hardware) TMCL: GAP 10, 0 // sami ƙimar dijital na shigarwar STOP_R	ENC_B – tashar shigar da kari na waje B, haɗe zuwa shigarwar mai rikodin rikodin
IN_3 (8)	Gabaɗaya manufa shigarwar dijital TMCL: GIO 3, 0 // sami ƙimar shigarwar dijital IN_3	GIDA – shigarwar canjin gida, an haɗa zuwa mai sarrafawa TMCL: GAP 9, 0 // samun ƙimar dijital na shigarwar GIDA	ENC_N – Indexididdigar shigar da ƙara na waje / tashar sifili, an haɗa zuwa shigarwar katsewar mai sarrafawa

Tebur 3.4 Mahimman bayanai masu yawa / ayyuka dabam dabam

- Duk abubuwan shigar da dijital guda uku an haɗa su zuwa na'ura mai sarrafa kan-board kuma ana iya amfani da su azaman abubuwan shigar da dijital gaba ɗaya (tsoho).
Don amfani da IN_1 da IN_2 azaman abubuwan shigar STOP_L da STOP_R, dole ne a kunna wannan aikin a sarari a cikin software (Tsoffin masana'anta: a kashe). Tare da TMCL firmware za a iya kunna aikin sauya tasha ta amfani da SAP 12, 0, 0 (STOP_R / STOP_R) da SAP 13, 0, 0 (STOP_L / hagu iyaka). Kamar yadda sunayen da aka rigaya suka nuna: matsayin madaidaicin madaidaicin hagu (STOP_L) zai zama mahimmanci yayin jujjuyawar hagu na motar da matsayi na madaidaicin madaidaicin madaidaicin yayin jujjuyawar dama (tabbatacciyar hanya), kawai. Karanta ƙimar shigarwa ta amfani da umarnin GAP kamar yadda aka jera a teburin da ke sama yana yiwuwa a kowane lokaci. Da fatan za a duba jagorar firmware na TMCL daban don ƙarin bayani.
- Mai rikodin waje: za'a iya haɗa mai rikodin A/B/N na waje zuwa TMCM-1140 kuma a yi amfani da shi ƙari ko azaman madadin na ciki sensOstep™ encoder. Yin amfani da TMCL ƙima mai rikodin rikodin wannan na biyu za a iya karanta ta ta TMCL umurnin GAP 216, 0 (duba littafin firmware na TMCL daban don ƙarin cikakkun bayanai). Tsohuwar sikelin ma'auni na ma'ajin rikodin shine 1:1 - wato, bayan jujjuyawar encoder guda ɗaya za'a ƙara ko rage ƙididdiga ta adadin tikitin encoder (layin encoder x 4). Lokacin amfani da encoder na waje haɗa tashar encoder A zuwa IN_1, tashar B zuwa IN_2, tashar N ko sifili zuwa IN_3 (na zaɓi), ƙasa mai ɓoye don samar da ƙasa (misali Pin 1 na mai haɗa I/O Multipurpose) da +5V shigar da shigar da mai rikodin zuwa OUT_1 (duk akan mahaɗin I/O Multipurpose). Lura cewa don samar da mai rikodin tare da +5V dole ne a kunna fitarwa OUT_1 da farko ta amfani da SIO 1, 2, 1 (duba kuma babi 3.3.2.3).
3.3.2.2 Analog Input IN_0
Mai haɗin fil takwas na TMCM-1140 yana ba da shigarwar analog guda ɗaya IN_0. Wannan shigarwar analog ɗin da aka keɓe yana ba da cikakken kewayon shigarwar sikelin kusan. 0… +10 V (0..+10.56V nom.) tare da ƙuduri na ciki analog-zuwa mai canza dijital na microcontroller na 12bit (0… 4095).
Ana kiyaye shigarwar daga mafi girma voltag+24V ta amfani da voltage resistor dividers tare da iyakance diodes a kan voltages kasa 0 V (GND) da sama +3.3 V DC (duba adadi a ƙasa). Tare da firmware TMCL ana iya karanta ƙimar analog ɗin wannan shigarwar ta amfani da umarnin GIO 0, 1. Umurnin zai dawo da ɗanyen ƙimar analog-to-dijital Converter 12bit tsakanin 0 .. 4095. Hakanan yana yiwuwa a karanta ƙimar dijital. na wannan shigarwar ta amfani da umurnin TMCL GIO 0, 0. Matsayin tafiya (tsakanin 0 da 1) zai kasance a kusan. + 5V shigar da voltage (rabin kewayon shigarwar analog).
3.3.2.3 Fitowa OUT_0, OUT_1
Mai haɗin fil takwas na TMCM-1140 yana ba da fitowar manufa guda biyu OUT_0 da OUT_1. OUT_0 fitowar magudanar ruwa ce mai buɗewa mai iya canzawa ( nutsewa ) har zuwa 1A. Fitar da tashar N-channel MOSFET transistor yana haɗe zuwa diode mai motsi don kariya daga vol.tage spikes musamman daga inductive lodi (relais da dai sauransu) a sama wadata voltage (duba hoton da ke ƙasa).
OUT_0 bai kamata a haɗa shi da kowane voltage sama wadata voltage na module saboda na ciki freewheeling diode.

Tare da TMCL firmware OUT_0 za a iya kunna (OUT_0 low) ta amfani da umarni SIO 0, 2, 1 da kuma kashewa (OUT_0 iyo) ta amfani da umarnin SIO 0, 2, 0 (wannan kuma shine saitin tsohowar masana'anta na wannan fitarwa). Idan an fitar da fitarwa mai iyo
ba a so a cikin aikace-aikacen resistor waje zuwa misali wadata voltage iya ƙarawa.
Sabanin OUT_1 yana iya samar da +5V (samar da 100mA max.) zuwa kaya na waje. MOSFET mai haɗin P-tashar yana ba da damar kunna / kashe wannan wadatar +5V a cikin software (duba adadi a ƙasa). Ana iya amfani da wannan fitarwa don samarwa
+ 5V zuwa da'irar encoder na waje. Lura cewa samar da +5V dole ne a kunna shi a sarari a cikin software.Tare da TMCL firmware OUT_1 za'a iya kunna (sayar + 5V zuwa kewayen waje) ta amfani da umarnin SIO 1, 2, 1 da kashe (fitarwa da aka ja ƙasa ta hanyar 10k resistor) ta amfani da umarnin SIO 1, 2, 0 (wannan kuma shine factory tsoho saitin wannan fitarwa).
3.3.3 Mai Haɗin Mota
A matsayin mai haɗin mota akwai 4pin CVIlux CI0104P1VK0-LF 2mm mai haɗin layi guda ɗaya. Ana amfani da mahaɗar motar don haɗa wayoyi huɗu na injin ɗin coils biyu na injin bipolar stepper motor zuwa na'urar lantarki.

	Pin	Lakabi	Hanyar	Bayani
	1	Farashin OB2	Fitowa	Fin 2 na Motar Coil B
	2	Farashin OB1	Fitowa	Fin 1 na Motar Coil B
	3	OA2	Fitowa	Pin 2 na coil motor A
	4	OA1	Fitowa	Pin 1 na coil motor A

Tebur 3.5 Mai haɗa mota

ExampLe don haɗa QSH4218 NEMA 17 / 42mm stepper Motors:
	Saukewa: TMCM-1140	Motocin QS4218
	fil mai haɗa mota	Kalar igiya	Kwanci	Bayani
	1	Ja	B	Motar coil B fil 1

2	Blue	B-	Motar coil B fil 2
3	Kore	A-	Motoci A fil 2
4	Baki	A	Motoci A fil 1

3.3.4 Mini-USB Connector
Ana samun mai haɗa mini-USB mai 5pin akan-jirgin don sadarwar serial (a madadin CAN da RS485 interface). Wannan tsarin yana goyan bayan haɗin USB 2.0 Cikakken-Speed ​​(12Mbit/s).
Za a kashe kebul na CAN da zaran an haɗa USB saboda rabawa na kayan masarufi na ciki.

	Pin	Lakabi	Hanyar	Bayani
	1	V-BUS	Ƙarfi (shigar da kaya)	+ 5V wadata daga mai watsa shiri
	2	D-	Bidire	Bayanin USB -
	3	D+	Bidire	Bayanai na USB +
	4	ID	Wutar Lantarki (GND)	Haɗa zuwa sigina da ƙasa tsarin
	5	GND	Wutar Lantarki (GND)	Haɗa zuwa sigina da ƙasa tsarin

Table 3.6 Mai haɗa don USB

Don kula da nesa da sadarwa tare da tsarin mai watsa shiri TMCM-1140 yana samar da kebul na 2.0 mai cikakken sauri (12Mbit/s) dubawa (mini-USB connector). Da zaran an haɗa mai watsa shiri na USB, tsarin zai karɓi umarni ta USB.
YANAYIN AIKI MAI KARFIN BUS BUS
TMCM-1140 yana goyan bayan duka biyun, USB mai sarrafa kansa (lokacin da ake ba da wutar lantarki ta waje ta hanyar haɗin wutar lantarki) da kuma aikin bas na USB, (babu wutar lantarki ta waje ta hanyar haɗin wutar lantarki).
Za a yi amfani da dabaru na dijital na kan-jirgin ta USB idan ba a haɗa wasu kayayyaki ba (aikin bas na USB). Mahimmin mahimmanci na dijital ya haɗa da microcontroller kanta da kuma EEPROM. An aiwatar da yanayin aiki na bas na USB don ba da damar daidaitawa, saitunan sigogi, abubuwan karantawa, sabunta firmware, da sauransu ta hanyar haɗa kebul na USB kawai tsakanin ƙirar da PC mai masaukin baki. Babu ƙarin cabling ko na'urorin waje (misali wutar lantarki) da ake buƙata.
Lura cewa ƙirar zata iya zana halin yanzu daga wadatar bas na USB + 5V ko da a cikin kebul na aiki da kansa ya danganta da vol.tage matakin wannan wadata.
Motsa jiki ba zai yiwu ba a wannan yanayin. Don haka, koyaushe haɗa wutar lantarki zuwa Mai Haɗin Wuta da Sadarwa don motsin mota.

Direban mota na yanzu

Direban motar stepper a kan jirgi yana aiki da sarrafawa na yanzu. Ana iya tsara direban halin yanzu a cikin software don igiyoyin murɗar motsi har zuwa 2A RMS tare da ingantattun matakan sikeli guda 32 a cikin kayan aiki (CS a tebur a ƙasa).
Bayanin ginshiƙai daban-daban a cikin tebur da ke ƙasa:
Saitin motsi na yanzu a cikin software (TMCL)
Waɗannan su ne ƙimar TMCL axis axis 6 (motor run current) da 7 (motar jiran aiki na yanzu). Ana amfani da su don saita yanayin gudu / jiran aiki ta amfani da umarnin TMCL masu zuwa:
SAP 6, 0, // saita gudu halin yanzu
SAP 7, 0, // saita halin yanzu (ƙimar karantawa tare da GAP maimakon SAP. Da fatan za a duba littafin firmware na TMCM-1140 daban don ƙarin bayani)
Motoci na yanzu IRMS [A] Sakamakon injin halin yanzu dangane da saitin motsi na yanzu

Motoci saitin yanzu a software (TMCL)	Matakin sikeli na yanzu (CS)	Motar halin yanzu ICOIL_PEAK [A]	Motoci halin yanzu ICOIL_RMS [A]
0..7	0	0.092	0.065
8..15	1	0.184	0.130
16..23	2	0.276	0.195
24..31	3	0.368	0.260
32..39	4	0.460	0.326
40..47	5	0.552	0.391
48..55	6	0.645	0.456
56..63	7	0.737	0.521
64..71	8	0.829	0.586
72..79	9	0.921	0.651
80..87	10	1.013	0.716
88..95	11	1.105	0.781
96..103	12	1.197	0.846
104..111	13	1.289	0.912
112..119	14	1.381	0.977
120..127	15	1.473	1.042
128..135	16	1.565	1.107
136..143	17	1.657	1.172
144..151	18	1.749	1.237
152..159	19	1.842	1.302
160..167	20	1.934	1.367
168..175	21	2.026	1.432
176..183	22	2.118	1.497
184..191	23	2.210	1.563
192..199	24	2.302	1.628
200..207	25	2.394	1.693
208..215	26	2.486	1.758
216..223	27	2.578	1.823
224..231	28	2.670	1.888
232..239	29	2.762	1.953
240..247	30	2.854	2.018
248..255	31	2.946	2.083

Baya ga saitunan da ke cikin tebur, ana iya kashe injin na yanzu gaba ɗaya (mai motsa jiki kyauta) ta amfani da sigar axis 204 (duba TMCM-1140 firmware manual).

Sake saita zuwa Tsoffin Factory

Yana yiwuwa a sake saita TMCM-1140 zuwa saitunan masana'anta ba tare da kafa hanyar sadarwa ba. Wannan na iya zama taimako idan an saita sigogin sadarwa na abin da aka fi so zuwa ƙimar da ba a san su ba ko kuma sun ɓace da gangan. Don wannan hanya dole ne a gajarta mashin biyu a gefen allo.

Da fatan za a yi matakai masu zuwa:

1. A kashe wutar lantarki kuma an cire kebul na USB
2. Shortan ganyaye guda biyu kamar yadda aka yi alama a hoto 5.1
3. Ƙarfin wutar lantarki (ikon ta USB ya isa don wannan dalili)
4. Jira har sai in-board ja da kore LEDs fara walƙiya da sauri (wannan na iya ɗaukar ɗan lokaci)
5. Allon kashe wutar lantarki (cire haɗin kebul na USB)
6. Cire gajere tsakanin pads
7. Bayan kunna wutar lantarki / haɗa kebul na USB duk saituna na dindindin an mayar da su zuwa maƙasudin masana'anta

A-Board LEDs

Hukumar tana ba da LEDs guda biyu don nuna matsayin hukumar. Ayyukan LEDs biyu sun dogara ne akan sigar firmware. Tare da daidaitaccen firmware TMCL koren LED yakamata ya kasance yana walƙiya a hankali yayin aiki da jajayen LED
ya kamata a kashe.
Lokacin da babu ingantaccen firmware da aka tsara a cikin allo ko yayin sabunta firmware ɗin LEDs ja da kore suna kunne na dindindin.
HALI NA LEDS TARE DA STANDARD TMCL FirmWARE

Matsayi	Lakabi	Bayani
bugun zuciya	Gudu	Wannan koren LED yana walƙiya a hankali yayin aiki.
Kuskure	Kuskure	Wannan jan LED yana haskakawa idan kuskure ya faru.

Ƙimar Aiki

Ƙididdiga masu aiki suna nuna abubuwan da aka yi niyya ko siffa kuma ya kamata a yi amfani da su azaman ƙimar ƙira.
A kowane hali ba za a wuce iyakar ƙimar ba!

Alama	Siga	Min	Buga	Max	Naúrar
VDD	Wutar lantarki voltage don aiki	9	12… 24	28	V
ICOIL_peak	Motoci na yanzu don igiyar ruwa kololuwa (chopper an tsara shi, daidaitacce ta hanyar software)	0		2.8	A
ICOIL_RMS	Ci gaba da motsin motsi (RMS)	0		2.0	A
IDD	Wutar lantarki na yanzu		<< IKO	1.4 * ISanya	A
TENV	Zazzabi na muhalli a halin yanzu (ba a buƙatar sanyaya tilas)	-30		+50	°C
TENV_1A	Yanayin yanayi a 1 RMS motor halin yanzu / rabin max. halin yanzu (babu tilasta sanyaya da ake buƙata)	-30		+70	°C

Tebura 7.1 Gabaɗaya ƙimar aiki na module

KIMANIN AIKI NA I/OS DUNIYA

Alama	Siga	Min	Buga	Max	Naúrar
VOUT_0	Voltage a buɗaɗɗen fitarwar magudanar ruwa OUT_0	0		+ VDD	V
IOUT_0	Fitar nutsewar halin yanzu na buɗaɗɗen fitarwar magudanar ruwa OUT_0			1	A
VOUT_1	Voltage a fitarwa OUT_1 (idan an kunna)		+5		V
IOUT_1	Madogararsa na yanzu don OUT_1			100	mA
VIN_1/2/3	Shigar da kunditage na IN_1, IN_2, IN_3 (shigar da dijital)	0		+ VDD	V
VIN_L 1/2/3	Low matakin voltage na IN_1, IN_2 da IN_3	0		1.1	V
VIN_H 1/2/3	Babban matakin voltage na IN_1, IN_2 da IN_3	3.4		+ VDD	V
VIN_0	Ma'auni don shigarwar analog IN_0	0		+10*)	V

Tebura 7.2 Ƙididdiga masu aiki na I/Os masu yawa
*) kusan. 0…+10.56V a shigar da analog ɗin IN_0 an fassara shi zuwa 0..4095 (12bit ADC, ɗanyen dabi'u). Sama da kusan
+10.56V shigarwar analog ɗin za ta cika amma, ba lalacewa (har zuwa VDD).
KIMANIN AIKI NA RS485 INTERFACE

Alama	Siga	Min	Buga	Max	Naúrar
Saukewa: NRS485	Adadin nodes da aka haɗa zuwa cibiyar sadarwar RS485 guda ɗaya			256
fRS485	Matsakaicin ƙimar bit yana goyan bayan haɗin RS485		9600	115200 1000000*)	bps

Shafin 7.3: Ma'auni na aiki na RS485 dubawa
*) bita na hardware V1.2: max. 115200 bit/s, hardware bita V1.3: max. 1Mbit/s
ratings ɗin Aiki na CAN INTERFACE

Alama	Siga	Min	Buga	Max	Naúrar
NCAN	Adadin nodes da aka haɗa zuwa cibiyar sadarwar RS485 guda ɗaya			> 110
fCAN	Matsakaicin ƙimar bit yana goyan bayan haɗin CAN		1000	1000	kbit/s

Tebura 7.4 Ma'auni na aiki na CAN interface

Bayanin Aiki

TMCM-1140 babban haɗe-haɗe ne mai sarrafawa / module direba wanda za'a iya sarrafa shi ta hanyar mu'amala da yawa. Ana kiyaye zirga-zirgar sadarwar ƙasa da ƙasa tun kowane lokaci mai mahimmanci ayyuka (misali ramp ana yin lissafin) akan jirgin. Ƙididdigar ƙayyadaddun ƙididdiga voltage na naúrar ne 24V DC. An tsara tsarin don duka biyu, aiki na tsaye da yanayin kai tsaye. Cikakken iko mai nisa na na'ura tare da amsa yana yiwuwa. Za'a iya sabunta firmware na module ɗin ta kowace hanyar musaya na serial.
A cikin hoto 8.1 an nuna manyan sassan TMCM-1140:
- microprocessor, wanda ke gudanar da tsarin aiki na TMCL (wanda aka haɗa da ƙwaƙwalwar TMCL),
- mai sarrafa motsi, wanda ke lissafin ramps da kuma gudun profiles ciki ta hardware,
- direban wutar lantarki tare da stallGuard2 da ingantaccen yanayin sanyin matakin sa,
– direban MOSFET stage, kuma
- SensOstep encoder tare da ƙuduri na 10bit (matakai 1024) kowane juyi.

TMCM-1140 ya zo tare da yanayin haɓaka software na tushen PC TMCL-IDE don Harshen Kula da Motsi na Trinamic (TMCM). Amfani da ƙayyadaddun umarni na babban matakin TMCL kamar matsawa zuwa matsayi mai sauri da saurin haɓaka aikace-aikacen sarrafa motsi yana da garanti.
Da fatan za a koma zuwa TMCM-1140 Firmware Manual don ƙarin bayani game da umarnin TMCL.

Bayanan Bayani na TMCM-1140

9.1 Lissafi: Gudu da Haɗawa vs. Microstep da Mitar Cikakkiyar Mataki
Ma'auni na sigogin da aka aika zuwa TMC429 ba su da kimar motsi na yau da kullun kamar jujjuyawar daƙiƙa ɗaya azaman gudu. Amma ana iya ƙididdige waɗannan ƙimar daga sigogin TMC429 kamar yadda aka nuna a wannan sashe.
Saukewa: TMC429

Sigina	Bayani	Rage
fCLK	agogo-mita	16 MHz
gudu	–	0… 2047
a_max	matsakaicin hanzari	0… 2047
bugun_div	mai rarraba don saurin gudu. Mafi girman ƙimar ita ce, ƙasa da ita shine matsakaicin ƙimar tsohowar gudu = 0	0… 13
ramp_div	mai rarrabawa don haɓakawa. Mafi girman ƙimar shine, ƙananan shine matsakaicin hanzari darajar tsoho = 0	0… 13
Usrs	microstep-ƙuduri (microsteps per fullstep = 2usrs)	0… 8

Tebur 9.1 TMC429 sigogi masu saurin gudu

YAWAN MICROSTEP
Ana ƙididdige mitar microstep na motar stepper da

CIKAKKEN MATAKI
Don ƙididdige mitar cikakken mataki daga mitar microstep, dole ne a raba mitar microstep da adadin microsteps kowane cikakken mataki.

Canjin bugun bugun jini a kowace naúrar lokaci (canjin mitar bugun jini a sakan daya - saurin a) yana bayarwa ta

Wannan yana haifar da hanzari a cikin cikakkun matakai:

EXAMPLE

Sigina	daraja
f_CLK	16 MHz
gudu	1000
a_max	1000
bugun_div	1
ramp_div	1
usrs	6

LISSAFI NA LAMBAR JUJUMA'A
Motar stepper yana da misali 72 flusters kowane juyi.

Manufar Taimakon Rayuwa

TRINAMIC Motion Control GmbH & Co. KG baya ba da izini ko garantin kowane samfuransa don amfani da su a cikin tsarin tallafi na rayuwa, ba tare da takamaiman izini na TRINAMIC Motion Control GmbH & Co. KG ba.
Tsarin tallafin rayuwa kayan aiki ne da aka yi niyya don tallafawa ko dorewar rayuwa, kuma waɗanda gazawarsu ta yi, lokacin da aka yi amfani da su yadda ya kamata daidai da umarnin da aka bayar, ana iya sa ran su cikin haƙiƙa zai haifar da rauni ko mutuwa.
© TRINAMIC Motion Control GmbH & Co. KG 2013 - 2015

An yi imanin bayanan da aka bayar a cikin wannan takardar bayanan gaskiya ne kuma abin dogaro ne. Koyaya, ba a ɗauki alhakin sakamakon amfani da shi ba ko kuma wani keta haƙƙin mallaka ko wasu haƙƙoƙin ɓangare na uku, wanda zai iya haifar da amfani da shi.
Ana iya canza ƙayyadaddun bayanai ba tare da sanarwa ba.
Duk alamun kasuwanci da aka yi amfani da su mallakin masu su ne.

Tarihin Bita

11.1 Bitar daftarin aiki

Sigar	Kwanan wata	Marubuci	Bayani
0.90	2011-DEC-22	GE	Sigar farko
0.91	2012-MAI-02	GE	An sabunta don TMCM-1140_V11 pcb sigar
1.00	2012-JUN-12	SD	Cikakken sigar farko gami da sabbin surori game da: – sake saitin zuwa factory Predefinicións, kuma - LEDs
1.01	2012-YUL-30	SD	An gyara da'irar abubuwan shiga ciki.
1.02	2013-MAR-26	SD	An canza sunayen abubuwan shigarwa: AIN_0   IN_0 IN_0       IN_1 IN_1       IN_2 IN_2       IN_3 An canza sunayen abubuwan da aka fitar: FITA_1 = FITA_0 FITA_0 = FITA_1
1.03	2013-YUL-23	SD	– An sabunta nau'ikan masu haɗawa. - Babi na 3.3.1.1 sabunta.
1.04	2015-JAN-05	GE	- Sabuwar kayan aikin V13 da aka kara - Ƙara saitunan direba na yanzu (babi na 4) – Ƙari da yawa

Tebur 11.1 Bitar daftarin aiki
11.2 Hardware Bita

Sigar	Kwanan wata	Bayani
TMCM-1040_V10*)	2011-MAR-08	Sigar farko
TMCM-1140_V11*)	2011-YUL-19	- Haɓaka da'irori na I/O masu yawa - An canza ƙarni na agogo da rarraba (16MHz oscillator)
TMCM-1140_V12**)	2012-APR-12	- Ƙarin inganta farashi incl. daban-daban firikwensin IC tare da 10bit max. ƙuduri
TMCM-1140_V13**)	2013-AUG-22	- Direban Mota MOSFETs: MOSFET na direban stage an maye gurbinsu. Sabbin MOSFETs suna ba da ƙarancin zubar da zafi fiye da na baya / waɗanda ake amfani da su a halin yanzu. Baya ga wannan aikin da saitunan da suka haɗa da fitarwar direba na halin yanzu da kuma yanayin fitarwa iri ɗaya ne. – Babban maƙasudin fitowar OUT_0 / OUT_1: MOSFET ɗin da aka yi amfani da su don kunna waɗannan abubuwan fitarwa an maye gurbinsu. Sabbin MOSFETs suna ba da ƙarancin zubar da zafi fiye da na baya / waɗanda ake amfani da su a halin yanzu. Baya ga wannan ayyuka da ƙididdiga suna da gaske iri ɗaya. - RS485 transceiver: RS485 transceiver da aka maye gurbinsu da SN65HVD1781 transceiver bayar da mafi kyau kuskure kariya (har zuwa 70V kuskure kariya) da kuma goyon bayan mafi girma sadarwa gudun (har zuwa 1Mbit/s). - Ana ci gaba (zai zo nan ba da jimawa): Rubutun ɓangarorin biyu na PCB. Yana ba da ingantacciyar kariya daga zafi da ƙura / swarf (misali idan akwai nau'ikan nau'ikan injin da aka ɗora PD42-x-1140: ƙananan sassa na ƙarfe akan

Sigar	Kwanan wata	Bayani
		PCB wanda magnet mai rikodin ke jawowa zai iya haifar da rashin aiki na na'urar da ba ta da kariya).

Table 11.2 Hardware bita
*): V10, V11: samfuri kawai.
**) V12: sigar samfurin samfurin. An maye gurbinsa da samfurin samfurin V13 saboda EOL (ƙarshen rayuwa) na MOSFETs. Da fatan za a gani
"PCN_1014_08_29_TMCM-1140.pdf" akan mu Web- site, kuma

Magana

[TMCM-1140 TMCL]	Bayanan Bayani na TMCM-1140 TMCL
[TMC262]	Takardar bayanai:TMC262
[TMC429]	Takardar bayanai:TMC429
[TMCL-IDE]	TMCL-IDE Manual mai amfani

TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Jamus
www.trinamic.com
Da fatan za a koma zuwa www.trinamic.com.
www.trinamic.com
An sauke daga Kibiya.com.

Takardu / Albarkatu

TRINAMIC TMCM-1140 Single Axis Stepper Mai Kula da Mota/Module Direba [pdf] Manual mai amfani V1.3, TMCM-1140, Single Axis Stepper Motor Controller Driver Module, TMCM-1140 Single Axis Stepper Motor Controller Driver Module Module, Module

Magana

• Manual mai amfani