MODULE maka moto steepụ
Ụdị ngwaike V1.3
Akwụkwọ ntuziaka HARDWARE
TMCM-1140
1-Axis Stepper Controller / Ọkwọ ụgbọala
2 A/24V sensOstep™ Encoder
USB, RS485 na CAN
TMCM-1140 Single Axis Stepper Motor Controller/Module ọkwọ ụgbọ ala
IHE puru iche:
coolStep™
Atụmatụ
TMCM-1140 bụ otu onye na-ahụ maka axis / modul ọkwọ ụgbọ ala maka moto bipolar stepper 2-phase nwere njiri mara nka. A na-ejikọta ya nke ukwuu, na-enye njikwa dị mma yana enwere ike iji ya n'ọtụtụ ngwa enweghị isi. Enwere ike itinye modul ahụ n'azụ NEMA 17 (42mm flange size) stepper motors ma emebere ya maka mmiri iyi ruo 2 A RMS na 24 V DC ọkọnọ vol.tage. Site na ike ya dị elu sitere na teknụzụ TRINAMIC coolStep™ maka oriri ọkụ na-agbadata. Firmware TMCL™ na-enye ohere maka ọrụ abụọ kwụ ọtọ na ọnọdụ ozugbo.
B CH ÀFÀ MMAD CH
- Ihe njikwa ngagharị
- Motion profile ngụkọta oge na ozugbo
- Na ngbanwe nke parampat moto (dịka ọnọdụ, ọsọ, osooso)
- Microcontroller na-arụ ọrụ dị elu maka njikwa sistemu na njikwa usoro nkwukọrịta usoro
Onye ọkwọ ụgbọ ala bipolar stepper
- Ruo 256 microsteps kwa nzọụkwụ zuru ezu
- Ịrụ ọrụ dị elu nke ọma, nkwụsị ike dị ala
- Njikwa dị ugbu a dị ike
- Nchekwa agbakwunyere
- atụmatụ stallGuard2 maka nchọpụta ụlọ ahịa
- coolStep atụmatụ maka mbelata ike oriri na ikpo ọkụ
Encoder
sensOstep magnetik encoder (1024 increments kwa ntụgharị) eg maka nchọpụta ọnwụ n'okpuru ọnọdụ ọrụ niile yana nleba anya n'ọkwa.
Ọnụ ụzọ
- RS485 2-waya nkwurịta okwu interface
- CAN 2.0B nkwurịta okwu interface
- USB zuru ọsọ (12Mbit/s) ngwaọrụ interface
- Ntinye ọtụtụ ebumnuche 4:
- Ntinye dijitalụ 3x izugbe - (Ọrụ ndị ọzọ: STOP_L / STOP_R / ntinye ngbanwe ụlọ ma ọ bụ ntinye koodu A/B/N)
- 1x ntinye analog raara onwe ya nye - Mpụta 2 izugbe
- 1x emeghe-mmiri 1A max.
- 1x + 5V mmepụta mmepụta (nwere ike ịgbanwuo / gbanyụọ na ngwanrọ)
Ngwa ngwa
- TMCL: arụ ọrụ kwụ ọtọ ma ọ bụ ọrụ a na-achịkwa nke ọma, ebe nchekwa mmemme (anaghị agbanwe agbanwe) maka iwu 2048 TMCL, yana ngwanrọ mmepe ngwa dabere na PC TMCL-IDE dị n'efu.
Eletriki na igwe data
- Tụkwasịnụ voltage: +24 V DC ọnụ ọgụgụ (9… 28V DC)
- Ụgbọ ala ugbu a: ruo 2 A RMS / 2.8 A kacha elu (nwere ike ime)
Rụtụ aka ka ị kewaa akwụkwọ ntuziaka TMCL Firmware, kwa.
TRINAMICS pụrụ iche – Ọ dị mfe iji na TMCL
stallGuard2™ stallGuard2 bụ ihe nleba anya nke enweghị mmetụta dị elu na-eji azụ EMF na mkpuchi. Enwere ike iji ya mee nchọpụta ụlọ ahịa yana ihe ndị ọzọ na-ebu ibu n'okpuru ndị na-akụda moto ahụ. Uru nha stallGuard2 na-agbanwe n'usoro n'usoro n'ọtụtụ ibu, ọsọ na ntọala dị ugbu a. N'elu oke moto, uru ahụ na-aga na efu ma ọ bụ dị nso na efu. Nke a bụ ebe kacha arụ ọrụ ike maka moto.
coolStep™ coolStep bụ ihe na-agbanwe agbanwe na-akpaghị aka ugbu a dabere na nha ibu site na stallGuard2 na-emegharị ihe achọrọ na ibu ahụ. Enwere ike ibelata oriri ume site na ihe ruru 75%. coolStep na-enye ohere nchekwa ike dị ukwuu, ọkachasị maka moto nke na-ahụ ibu dị iche iche ma ọ bụ na-arụ ọrụ na okirikiri ọrụ dị elu. N'ihi na ngwa stepper moto kwesịrị ịrụ ọrụ na ebe nchekwa torque nke 30% ruo 50%, ọbụlagodi ngwa na-ebu mgbe niile na-enye ohere nchekwa ike dị ukwuu n'ihi na coolStep na-eme ka nchekwa nchekwa na-akpaghị aka mgbe achọrọ ya. Mbelata oriri ike na-eme ka sistemu ahụ dị jụụ, na-abawanye ndụ moto, ma na-enye ohere ibelata ọnụ ahịa. 
Koodu ịtụ
| Koodu ịtụ | Nkọwa | Nha (mm3) |
| TMCM-1140-nhọrọ | Otu axis bipolar stepper moto njikwa / igwe eletrọnịkị nke nwere ihe ntinye sensOstep agbakwunyere na njirimara coolStep. | 37 x 37 x 11.5 |
Tebụl 2.1 Koodu ịtụ
Nhọrọ ndị a dị:
| Nhọrọ firmware | Nkọwa | Koodu iwu exampLe: |
| -TMCL | Ejiri TMCL firmware emebere ya nke ọma | TMCM-1140-TMCL |
| - Nwere ike imeghe | Ejiri ngwa ngwa CANopen emebere ya | TMCM-1140-Nwere ike imepe |
Isiokwu 2.2 Firmware nhọrọ
Otu eriri USB dị maka modul a:
| Koodu ịtụ | Nkọwa |
| TMCM-1140-CABLE | eriri USB maka TMCM-1140: • eriri 1x maka njikọ ike na nkwukọrịta (ogologo 200mm) - eriri 1x maka njikọta In / Out multipurpose (ogologo 200mm) - 1x USB maka njikọ moto (ogologo 200mm) - 1 x ụdị USB A njikọ na mini-USB ụdị B njikọ USB (ogologo 1.5m) |
Tebụl 2.3 Koodu iji eriri USB
Biko mara na TMCM-1140 dị na NEMA17 stepper moto, kwa. Rụtụ aka na akwụkwọ PD-1140 maka ozi ndị ọzọ gbasara ngwaahịa ndị a.
Mechanical na Eletriki Interfacing
3.1 Akụkụ na oghere nrịgo
Akụkụ nke bọọdụ njikwa/ọkwọ ụgbọala dị ihe ruru. 37 mm x 37 mm x 11.5 mm ka ọ dabara na azụ nke moto stepper 42 mm. Oke akụrụngwa kachasị elu (ịdị elu karịa ọkwa PCB) na-enweghị njikọ njikọ dị gburugburu 8mm n'elu ọkwa PCB yana 2 mm n'okpuru ọkwa PCB. Enwere oghere abụọ maka skru M3 maka ịgbanye na moto stepper NEMA17. 
3.2 Atụmatụ ịrị elu Board
TMCM-1140 na-enye oghere mgbago ọla abụọ. A na-ejikọta oghere abụọ a na-arị elu na usoro na ala mgbaàmà (otu ihe dị ka ala ọkụ ọkụ).
Iji belata mgbagha nke akara na radieshon nke HF akara (mmalite EMC ndakọrịta) karịsịa na mmetụta uche / mkpọtụ gburugburu ọ dị mkpa iji hụ na njikọ ala siri ike n'ime usoro. Iji kwado nke a, a na-atụ aro ka ijikọta oghere abụọ na-arị elu nke osisi ahụ na mgbakwunye na njikọ njikọ ala na-enye usoro ọkụ ọkụ.
Ka o sina dị, nke a nwere ike ọ gaghị abụ nhọrọ mgbe niile dịka ma ọ bụrụ na chassis metal system chassis / TMCM-1140 na-ejikọta efere na ụwa na njikọ kpọmkwem n'etiti ala ọkọnọ (n'akụkụ nke abụọ) na mains ọkọnọ ụwa (isi n'akụkụ) achọghị / ọ bụghị nhọrọ. N'okwu a, ekwesịrị iji rọba (dịka ọmụmaatụ, naịlọn mee) oghere / oghere dị anya na skru.
3.3 Njikọ nke TMCM-1140
Igwe njikwa / onye ọkwọ ụgbọ ala nke TMCM-1140 na-enye njikọ anọ gụnyere njikọ moto nke a na-eji maka itinye eriri moto na ngwa elektrọn. A na-eji njikọ ike na nkwukọrịta maka ọkọnọ ike, CAN interface, na interface RS485. Njikọ 8pin multipurpose I/O na-enye ntinye multipurpose anọ yana nsonaazụ ebumnuche izugbe abụọ. Ọzọkwa, enwere njikọ maka interface USB. 
| Labelụ | Ụdị njikọ | Ụdị njikọ njikọ |
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Njikọ ike na nkwukọrịta |
CI0106P1VK0-LF |
Ụlọ njikọ CVIlux: CI01065000-A Ndị ana-akpọ CVIlux: CI01T011PE0-A or Ụlọ njikọ JST: PHR-6 Ndị ana-akpọ JST: SPH-002T-P0.5S waya: 0.22mm2 |
| Njikọ I/O Multipurpose | CI0108P1VK0-LF CVIlux CI01 usoro, 8 ntụtụ, 2mm pitch |
Ụlọ njikọ CVIlux: CI01085000-A kọntaktị CVIlux: CI01T011PE0-A or Ụlọ njikọ JST: PHR-8 Ndị ana-akpọ JST: SPH-002T-P0.5S waya: 0.22mm2 |
| Njikọ moto | CI0104P1VK0-LF
CVIlux CI01 usoro, 4 ntụtụ, 2mm pitch |
Ụlọ njikọ CVIlux: CI01045000-A kọntaktị CVIlux: CI01T011PE0-A or Ụlọ njikọ JST: PHR-4 Ndị ana-akpọ JST: SPH-002T-P0.5S waya: 0.22mm2 |
| Obere-USB njikọ | Molex 500075-1517 Obere eriri USB Ụdị B vetikal |
Obere-USB ọkọlọtọ ọ bụla |
Tebụl 3.1 Njikọ na njikọ mating, kọntaktị na waya ọdabara
3.3.1 Njikọ ike na nkwukọrịta
A na-eji 6pin CVIlux CI0106P1VK0-LF 2mm pitch otu ahịrị njikọ maka ọkọnọ ike, RS485 na CAN usoro nkwurịta okwu. Biko rịba ama ozi ikenye agbakwunyere na isi 3.3.1.1.
Mara: A ga-agbanyụ interface CAN ma ọ bụrụ na ejikọrọ USB n'ihi ikesa akụrụngwa akụrụngwa.
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Ntụtụ | Labelụ | Ntuziaka | Nkọwa |
| 1 | GND | Ike (GND) | Sistemu na ala mgbaàmà | |
| 2 | VDD | Ịnye ọkụ) | VDD (+9V…+28V) | |
| 3 | RS485+ | Nke abụọ | RS485 interface, dị iche. mgbaàmà (anaghị atụgharị) | |
| 4 | RS485- | Nke abụọ | RS485 interface, dị iche. mgbaàmà (atụgharị) | |
| 5 | Iche_H | Nke abụọ | Nwere ike interface, iche. mgbaàmà (anaghị atụgharị) | |
| 6 | _ CAN_L | Nke abụọ | Nwere ike interface, iche. mgbaàmà (atụgharị) |
Isiokwu 3.2 Njikọ maka ike ọkọnọ na interfaces
3.3.1.1 Ike inye
Maka ịrụ ọrụ nke ọma, a ga-enwerịrị nlekọta ahụike gbasara echiche na imepụta ọkụ. N'ihi mmachi oghere TMCM-1140 gụnyere ihe dị ka 40µF/35V nke ihe nzacha ihe nzacha ọkọnọ. Ndị a bụ seramiiki capacitors nke ahọpụtara maka ntụkwasị obi dị elu na ogologo ndụ. Modul ahụ gụnyere diode suppressor 28V maka oke-voltage nchedo.
Kpachara anya!
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Tinye ike ọkọnọ ike mpụga!
A na-atụ aro ka ijikọ capacitor electrolytic nke nnukwu nha (dịka opekata mpe 470µF/35V) na ahịrị ọkọnọ ọkụ na-esote TMCM-1140! |
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Ejikọla ma ọ bụ kwụpụ moto mgbe ị na-arụ ọrụ! Igwe moto na inductivity moto nwere ike iduga voltage spikes mgbe moto kwụsịrị / jikọọ moto mgbe ike. Ndị a voltage spikes nwere ike gafere voltage oke nke MOSFET ọkwọ ụgbọ ala ma nwee ike imebi ha kpamkpam. Ya mere, gbanyụọ ọkụ ọkụ mgbe niile tupu ijikọ / ịkwụpụ moto. |
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Debe ike ọkọnọ voltage n'okpuru oke elu nke 28V! Ma ọ bụghị ya, ngwá electronic ọkwọ ụgbọala ga-emebi nke ukwuu! Karịsịa, mgbe ahọpụtara ọrụ voltage dị nso na oke elu a na-atụ aro inye ọkụ a na-achịkwa nke ukwuu. Biko hụkwa isi nke asaa, ụkpụrụ eji arụ ọrụ. |
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Enweghị nchebe polarity ọzọ! Modul ga-ebelata ọkọnọ ọ bụla ewegharịrị voltage n'ihi esịtidem diodes nke ọkwọ ụgbọala transistor. |
3.3.1.2 R485
Maka njikwa anya na nkwurịta okwu na sistemụ nnabata, TMCM-1140 na-enye interface ụgbọ ala abụọ RS485 waya.
Maka ịrụ ọrụ nke ọma, ekwesịrị iburu n'uche ihe ndị a mgbe ị na-edozi netwọkụ RS485:
- ỤWA ụgbọ ala:
Topology netwọk kwesịrị ịgbaso usoro ụgbọ ala ka o kwere mee. Ya bụ, njikọ dị n'etiti ọnụ ọ bụla na ụgbọ ala n'onwe ya kwesịrị ịdị mkpụmkpụ dị ka o kwere mee. N'ụzọ bụ isi, ọ kwesịrị ịdị mkpụmkpụ ma e jiri ya tụnyere ogologo ụgbọ ala.
- Nkwụsị ụgbọ ala:
Karịsịa maka bọs dị ogologo na/ma ọ bụ ọtụtụ ọnụ ejikọrọ na bọs na/ma ọ bụ ọsọ nkwurịta okwu dị elu, ụgbọ ala kwesịrị ịkwụsị nke ọma na nsọtụ abụọ ahụ. TMCM-1140 anaghị ejikọta resistor nkwụsị ọ bụla. Ya mere, 120 Ohm nkwụsị nkwụsị na nsọtụ ụgbọ ala ga-agbakwunye na mpụga. - Ọnụọgụ ọnụ:
Ọkọlọtọ interface eletrọnịkị RS485 (EIA-485) na-enye ohere ijikọ ọnụ ọnụ 32 na otu ụgbọ ala. Ndị transceivers ụgbọ ala eji na nkeji TMCM-1140 (ngwaike V1.2: SN65HVD3082ED, ebe ngwaike V1.3: SN65HVD1781D) nwere belatara ibu ụgbọ ala nke ukwuu ma kwe ka ejikọta ọnụ ọgụgụ kacha nke 255 nkeji na otu ụgbọ ala RS485 site na iji TMCL firmware. . Biko mara: na-emekarị, ọ nweghị ike ịtụ anya ịnweta nkwurịta okwu a pụrụ ịdabere na ya na ọnụ ọgụgụ kachasị ọnụ nke ejikọrọ na otu ụgbọ ala yana ọsọ nkwurịta okwu akwadoro n'otu oge. Kama, a ga-achọta nkwekọrịta n'etiti ogologo eriri ụgbọ ala, ọsọ nkwurịta okwu na ọnụọgụ ọnụ. - Ọsọ nzikọrịta ozi:
Ọsọ nzikọrịta ozi RS485 kacha nke TMCM-1140 ngwaike V1.2 kwadoro bụ 115200 bit/s na 1Mbit/s kemgbe ngwaike V1.3. Ntọala ụlọ ọrụ bụ 9600 bit/s. Biko hụ akwụkwọ ntuziaka firmware TMCM-1140 TMCL dị iche maka ozi gbasara ọsọ nzikọrịta ozi ndị ọzọ enwere ike n'okpuru oke elu na ngwaike. - O nweghị ahịrị ụgbọ ala na-ese n'elu mmiri:
Zere ahịrị ụgbọ ala na-ese n'elu ebe ọ bụ na onye ọbịa / nna ukwu ma ọ bụ otu n'ime ndị ohu nọ n'akụkụ ahịrị ụgbọ ala na-ebufe data (ọnụ ụzọ ụgbọ ala niile gbanwere iji nweta ọnọdụ). Ahịrị ụgbọ ala na-ese n'elu mmiri nwere ike ibute njehie nkwukọrịta. Iji hụ na akara ngosi ziri ezi na ụgbọ ala, a na-atụ aro ka iji netwọk resistor na-ejikọ ahịrị ụgbọ ala abụọ ahụ na ọkwa mgbagha akọwapụtara nke ọma.
Enwere n'ezie nhọrọ abụọ enwere ike ịkwado:
Tinye netwọk resistor (Bias) n'otu akụkụ nke ụgbọ ala, naanị (120R nkwụsị resistor ka na nsọtụ abụọ):
Ma ọ bụ tinye netwọk resistor (Bias) n'akụkụ abụọ nke ụgbọ ala (dị ka njedebe Profibus™):
Ụfọdụ ndị ntụgharị interface RS485 dị maka PC agụnyelarị ihe mgbochi ndị a (dịka ọmụmaatụ USB-2485 nwere netwọk ihu n'ihu n'otu njedebe ụgbọ ala).
3.3.1.3 nwere ike
Maka njikwa anya na nkwurịta okwu na sistemụ nnabata, TMCM-1140 na-enye interface ụgbọ ala CAN. Biko mara na interface CAN adịghị ma ọ bụrụ na ejikọrọ USB. Maka ịrụ ọrụ nke ọma, ekwesịrị iburu n'uche ihe ndị a mgbe ị na-edozi netwọkụ CAN:
- ỤWA ụgbọ ala:
Topology netwọk kwesịrị ịgbaso usoro ụgbọ ala ka o kwere mee. Ya bụ, njikọ dị n'etiti ọnụ ọ bụla na ụgbọ ala n'onwe ya kwesịrị ịdị mkpụmkpụ dị ka o kwere mee. N'ụzọ bụ isi, ọ kwesịrị ịdị mkpụmkpụ ma e jiri ya tụnyere ogologo ụgbọ ala.
- Nkwụsị ụgbọ ala:
Karịsịa maka bọs dị ogologo na/ma ọ bụ ọtụtụ ọnụ ejikọrọ na bọs na/ma ọ bụ ọsọ nkwurịta okwu dị elu, ụgbọ ala kwesịrị ịkwụsị nke ọma na nsọtụ abụọ ahụ. TMCM-1140 anaghị ejikọta resistor nkwụsị ọ bụla. Ya mere, 120 Ohm nkwụsị nkwụsị na nsọtụ ụgbọ ala ga-agbakwunye na mpụga. -
Ọnụọgụ ọnụ:
Ihe ntụgharị ụgbọ ala ejiri na nkeji TMCM-1140 (TJA1050T) na-akwado ọnụ opekata mpe 110 n'okpuru ọnọdụ kacha mma. Ọnụ ọgụgụ ọnụ ọnụ nke ụgbọ ala CAN nwere ike nweta nke ukwuu dabere na ogologo ụgbọ ala (ụgbọ ala ogologo> obere ọnụ) yana ọsọ nkwukọrịta (ọsọ dị elu -> obere ọnụ).
3.3.2 Njikọ M/O ọtụtụ
Otu njikọ 8pin CVIlux CI0108P1VK0-LF 2mm pitch otu ahịrị njikọ dị maka ntinye na ntinye ọtụtụ ebumnuche niile.
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Ntụtụ | Labelụ | Ntuziaka | Nkọwa |
| 1 | GND | Ike (GND) | Sistemu na ala mgbaàmà | |
| 2 | VDD | Ịnye ọkụ) | VDD, ejikọrọ na VDD pin nke ike na nkwurịta okwu njikọ | |
| 3 | Mpụ_0 | Mpụta | Mmepe emepe-mmiri (max. 1A) agbakwunyere diode freewheeling na VDD | |
| 4 | Mpụ_1 | Mpụta | + 5V mmepụta mmepụta (max. 100mA) Enwere ike ịgbanwuo / gbanyụọ na ngwanrọ | |
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5 |
IN_0 |
Ntinye |
Ntinye analọgụ raara onwe ya nye, Ntinye voltage nso: 0..+10V Mkpebi: 12bit (0..4095) |
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6 |
IN_1, STOP_L, ENC_A | Ntinye | Ntinye dijitalụ ebumnuche izugbe (+ 24V dakọtara) | |
| Ọrụ ọzọ 1: ntinye ngbanwe nkwụsị aka ekpe | ||||
| Ọrụ ọzọ 2: ọwa ntinye koodu ntinye mpụga | ||||
|
7 |
IN_2, STOP_R, ENC_B |
Ntinye |
Ntinye dijitalụ ebumnuche izugbe (+ 24V dakọtara) | |
| Ọrụ ọzọ 1: ndenye ngbanwe nkwụsị aka nri | ||||
| Ọrụ ọzọ 2: ntinye ntinye koodu ntinye nke mpụga | ||||
| 8 | IN_3, Ụlọ, ENC_N | Ntinye | Ntinye dijitalụ ebumnuche izugbe (+ 24V dakọtara) | |
| Ọrụ ọzọ 1: ntinye ngbanwe ụlọ | ||||
| Ọrụ ọzọ 2: ndenye ntinye koodu ntinye mpụta / ntinye ọwa efu |
Tebụl 3.3 Njikọ I/O ọtụtụ
Mara:
- Ntinye niile nwere resistor dabere voltage ntinye nkesa nwere diode nchebe. Ndị na-emegide ndị a na-ahụkwa na ọkwa GND dị mma ma ọ bụrụ na ejikọtaghị ya.
- Maka ntinye dijitalụ niile (IN_1, IN_2, IN_3) enwere ike ịgbalite resistor 2k2 ka ọ bụrụ +5V (nhazi ndabere yana ụdị firmware TMCL niile na-adịbeghị anya). Mgbe ahụ ntinye ndị a nwere ọkwa mgbagha nke 1 nke ndabara (anaghị ejikọrọ) yana mgbanaka mpụga na GND nwere ike jikọọ. Nke a nwere ike ịmasị mmasị karịsịa ma ọ bụrụ na ejiri ntinye ndị a dị ka STOP_L / STOP_R na ntinye mgba ọkụ HOME (ọrụ ọzọ 1) ma ọ bụ dị ka ntinye ntinye maka ntinye A/B/N nke mpụga nwere mpụta onye nchịkọta mepere emepe (mwepu adịghị mkpa. maka encoder nwere ntinye ntinye).
3.3.2.1 Ntinye dijitalụ IN_1, IN_2, IN_3
Njikọ pin asatọ nke TMCM-1140 na-enye ntinye dijitalụ ọtụtụ ebumnuche atọ IN_1, IN_2 na IN_3. Ntinye atọ niile na-anabata akara ntinye ruo +24V (nom.) ma na-enye otu sekit ntinye na voltage resistor dividers, ịmachi
diodes megide over- and under-voltage na programmable 2k2 sere-elu resistors.
Enwere ike ịgbanwuo ma ọ bụ gbanyụọ ndọtị ahụ maka ntinye atọ n'otu oge na ngwanrọ.
Site na iwu firmware TMCL SIO 0, 0, 0 ga-agbanyụ-apụ ma nye iwu SIO 0, 0, 1 ga-agbanye ha (lee akwụkwọ ntuziaka firmware TMCL iche, nye iwu SIO maka ozi zuru ezu). 
Ntinye dijitalụ atọ nwere ọrụ ọzọ dabere na nhazi na ngwanrọ. Ọrụ ndị a dị:
| Labelụ (ntụtụ) | Ọrụ izizi | Ọrụ ọzọ 1 | Ọrụ ọzọ 2 |
| IN_1 (6) | Ntinye dijitalụ ebumnuche izugbe TMCL: GIO 1, 0 // nweta uru dijitalụ nke ntinye IN_1 |
STOP_L - ntinye ngbanwe nkwụsị aka ekpe, jikọọ na processor yana ntinye TMC429 REF (na-akwado ọrụ nkwụsị aka ekpe na ngwaike)
TMCL: GAP 11, 0 // nweta uru dijitalụ nke ntinye STOP_L |
ENC_A – ọwa ntinye koodu ntinye mgbakwunye mpụga A, ejikọrọ na ntinye ihe nrụnye ihe nrụpụta |
| IN_2 (7) | Ntinye dijitalụ ebumnuche izugbe TMCL: GIO 2, 0 // nweta uru dijitalụ nke ntinye IN_2 |
STOP_R - ntinye ngbanwe nkwụsị aka nri, jikọọ na processor yana ntinye TMC429 REF (na-akwado ọrụ nkwụsị aka nri na ngwaike) TMCL: GAP 10, 0 // nweta uru dijitalụ nke ntinye STOP_R |
ENC_B – ọwa ntinye ntinye koodu ntinye nke mpụga B, ejikọrọ na ntinye ihe ngbanwe ihe nrụpụta |
| IN_3 (8) | Ntinye dijitalụ ebumnuche izugbe TMCL: GIO 3, 0 // nweta uru dijitalụ nke ntinye IN_3 |
Ụlọ – ndenye mgba ọkụ ụlọ, ejikọrọ na nhazi TMCL: GAP 9, 0 // nweta uru dijitalụ nke ntinye Ụlọ |
ENC_N – ndenye ntinye koodu ntinye / ọwa efu, ejikọrọ na ntinye nkwụsị nke nrụpụta |
Tebụl 3.4 Ntinye ọtụtụ ebumnuche / ọrụ ọzọ
- A na-ejikọta ihe ntinye dijitalụ atọ niile na ihe nrụpụta on-board ma enwere ike iji ya dị ka ihe ntinye dijitalụ n'ozuzu ya (nke ndabara).
- Iji jiri IN_1 na IN_2 dị ka ntinye STOP_L na STOP_R, a ga-emerịrị ọrụ a n'ụzọ doro anya na ngwanrọ (ndabara ụlọ ọrụ: gbanyụọ). Na TMCL firmware enwere ike ịgbanye ọrụ nkwụsị nkwụsị site na iji SAP 12, 0, 0 (STOP_R / right limit switch) na SAP 13, 0, 0 (STOP_L / left limit switch). Dị ka aha ugbua na-egosi: ọnọdụ nke ekpe ịgba mgba ọkụ (STOP_L) ga-adị ịrịba ama n'oge moto ekpe ntụgharị na ọnọdụ nke nri ịgba ọkụ n'oge moto nri ntụgharị (ezi ntụziaka), naanị. Ịgụ ụkpụrụ ndenye site na iji iwu GAP dị ka edepụtara na tebụl dị n'elu ga-ekwe omume n'oge ọ bụla. Biko hụ akwụkwọ ntuziaka firmware TMCL dị iche maka ozi ndị ọzọ.
- Ihe mkpuchi mpụga: enwere ike ijikọ ihe ngbanwe A/B/N nke mpụga na TMCM-1140 wee jiri ya na mgbakwunye ma ọ bụ dị ka ihe ọzọ na ntinye sensOstep™ dị n'ime. Iji TMCL uru counter koodu maka nke abụọ a nwere ike ịgụpụta ya site na iwu TMCL GAP 216, 0 (lee akwụkwọ ntuziaka firmware TMCL iche maka nkọwa ndị ọzọ). Ntụle ndabara ụlọ ọrụ nke counter encoder bụ 1: 1 - ya bụ, mgbe otu ntụgharị koodu gachara, a ga-abawanye / decremented counter koodu site na ọnụ ọgụgụ nke akara koodu (ahịrị mkpuchi x 4). Mgbe ị na-eji ihe mkpuchi mpụga jikọọ ọwa koodu A na IN_1, ọwa B ruo IN_2, ọwa N ma ọ bụ efu na IN_3 (nhọrọ), ala mkpuchi maka modul nye ala (dịka ọmụmaatụ Pin 1 nke njikọ I/O Multipurpose) na +5V ntinye ntinye koodu na OUT_1 (ha niile na njikọ I/O Multipurpose). Biko mara na iji nye koodu ntinye ya na +5V, a ga-ebu ụzọ rụọ ọrụ OUT_1 site na iji SIO 1, 2, 1 (leekwa isi 3.3.2.3).
3.3.2.2 Ntinye Analog IN_0
Njikọ pin asatọ nke TMCM-1140 na-enye otu ntinye analọgụ raara onwe ya nye IN_0. Ntinye analọgụ a raara onwe ya nye na-enye oke ntinye n'ogo zuru oke nke ihe ruru. 0… +10 V (0..+10.56V nom.) na mkpebi nke esịtidem analọg-na dijitalụ Ntụgharị nke microcontroller nke 12bit (0… 4095).
A na-echekwa ntinye ahụ pụọ na volta dị elutages ruo +24 V na-eji voltage resistor nkesa yana mmachi diode megide voltages n'okpuru 0 V (GND) na n'elu +3.3 V DC (lee foto n'okpuru). 
Na TMCL firmware enwere ike ịgụ uru analọg nke ntinye a site na iji iwu GIO 0, 1. Iwu a ga-eweghachite uru nke 12bit analog-to-dijital converter n'etiti 0 .. 4095. Ọ dịkwa ike ịgụ uru dijitalụ. nke ntinye a site na iji TMCL iwu GIO 0, 0. Ebe njem (n'etiti 0 na 1) ga-adị na ihe ruru. + 5V ntinye voltage (ọkara ndenye analọgụ).
3.3.2.3 Mpụta OUT_0, OUT_1
Njikọ pin asatọ nke TMCM-1140 na-enye mpụta ebumnuche izugbe abụọ OUT_0 na OUT_1. OUT_0 bụ mmepụta mmiri na-emeghe nke nwere ike ịgbanwe (mikpu) ruo 1A. A na-ejikọta mmepụta nke ọwa N-channel MOSFET transistors na diode na-agba ọsọ maka nchebe megide vol.tage spikes karịsịa site na ibu inductive (relais wdg) n'elu ọkọnọ voltage (lee foto n'okpuru).
Ekwesighi ijikọ OUT_0 na voltage n'elu ọkọnọ voltage nke modul n'ihi n'ime freewheeling diode.
Na TMCL firmware OUT_0 enwere ike ịgbanwuo (OUT_0 wedara ala) site na iji iwu SIO 0, 2, 1 na gbanyụọ ọzọ (OUT_0 na-ese n'elu mmiri) site na iji iwu SIO 0, 2, 0 (nke a bụkwa ntọala ntọala ụlọ ọrụ nke mmepụta a). Ọ bụrụ na mmepụta na-ese n'elu mmiri
Achọghị na ngwa ngwa resistor mpụga ka eg ọkọnọ voltage nwere ike ịgbakwunye.
N'ụzọ dị iche, OUT_1 nwere ike ịnye +5V (na-enweta 100mA max.) na ibu mpụga. MOSFET P-channel agbakwunyere na-enye ohere ịgbanwuo / gbanyụọ ọkọnọ + 5V na ngwanrọ (lee foto dị n'okpuru). Enwere ike iji mmepụta a weta ya
+ 5V gaa na sekit ihe mkpuchi mpụga. Biko mara na ọkọnọ +5V ga-arụ ọrụ nke ọma na ngwanrọ.
Na TMCL firmware OUT_1 nwere ike ịgbanwuo (ọnye + 5V na mpụga sekit) site na iji iwu SIO 1, 2, 1 na gbanyụọ (mmepụta wetara ala site na 10k pull-down resistor) site na iji iwu SIO 1, 2, 0 (nke a bụkwa nke ntọala ndabere ụlọ ọrụ nke mmepụta a).
3.3.3 Njikọ moto
Dị ka njikọ moto njikọ 4pin CVIlux CI0104P1VK0-LF 2mm pitch otu ahịrị njikọ dị. A na-eji njikọ moto maka ijikọ wired moto anọ nke igwe igwe abụọ nke bipolar stepper moto na ngwa elektrọn.
 |
Ntụtụ | Labelụ | Ntuziaka | Nkọwa |
| 1 | OB2 | Mpụta | Pin 2 nke moto eriri igwe B | |
| 2 | OB1 | Mpụta | Pin 1 nke moto eriri igwe B | |
| 3 | OA2 | Mpụta | Pin 2 nke moto eriri igwe A | |
| 4 | OA1 | Mpụta | Pin 1 nke moto eriri igwe A |
Tebụl 3.5 Njikọ moto
| Exampmaka ijikọ QSH4218 NEMA 17/42mm stepper moto: | |||||
| TMCM-1140 | QS4218 moto | ||||
| pin njikọ moto | USB agba | Igwe mmiri | Nkọwa | ||
| 1 | Uhie | B | moto eriri igwe B pin 1 | ||
| 2 | Acha anụnụ anụnụ | B- | moto eriri igwe B pin 2 |
| 3 | Akwụkwọ ndụ akwụkwọ ndụ | A- | Igwe mkpuchi moto A pin 2 |
| 4 | Nwa | A | Igwe mkpuchi moto A pin 1 |
3.3.4 Obere-USB njikọ
Njikọ Obere-USB 5pin dị na bọọdụ maka nkwurịta okwu serial (dị ka ihe ọzọ na interface CAN na RS485). Modul a na-akwado njikọ USB 2.0 Full-Speed (12Mbit/s).
A ga-eme ka interface CAN kwụsị ọrụ ozugbo ejikọrọ USB n'ihi ikesa akụrụngwa akụrụngwa.
 |
Ntụtụ | Labelụ | Ntuziaka | Nkọwa |
| 1 | V-BUS | Ike
(ntinye ntinye) |
+ 5V ọkọnọ sitere na onye ọbịa | |
| 2 | D- | Nke abụọ | USB data - | |
| 3 | D+ | Nke abụọ | USB Data + | |
| 4 | ID | Ike (GND) | Ejikọtara na mgbama na ala sistemụ | |
| 5 | GND | Ike (GND) | Ejikọtara na mgbama na ala sistemụ |
Tebụl 3.6 Njikọ maka USB
Maka njikwa anya na nkwurịta okwu na sistemụ nnabata, TMCM-1140 na-enye interface USB 2.0 zuru oke (12Mbit / s) (njikọ obere-USB). Ozugbo ejikọrọ USB-Ọbịa, modul ga-anabata iwu site na USB.
ỤDỌDỤ Ịrụ ọrụ ụgbọ ala ụgbọ ala
TMCM-1140 na-akwado ma, USB onwe arụ ọrụ (mgbe a na-enye ike mpụga site na njikọ ọkụ ọkụ) na ụgbọ ala USB na-arụ ọrụ, (enweghị ike mpụga site na njikọ ọkụ eletrik).
A ga-akwado mgbagha mgbagha isi dijitalụ n'ime ụgbọ site na USB ma ọ bụrụ na enweghị njikọ ọzọ (ọrụ ụgbọ ala USB kwadoro). Isi mgbagha dijitalụ gụnyere microcontroller n'onwe ya yana EEPROM. Emejuputala ọnọdụ ọrụ ụgbọ ala USB iji mee ka nhazi, ntọala paramita, agụpụta, mmelite firmware, wdg site na ijikọ eriri USB n'etiti modul na PC onye ọbịa. Enweghị eriri ọzọ ma ọ bụ ngwaọrụ mpụga (dịka ọkọnọ ike) achọrọ.
Biko mara na modul ahụ nwere ike ị nweta ihe dị ugbu a site na ụgbọ ala USB + 5V ọbụlagodi na ọrụ USB na-akwado ya dabere na vol.tage larịị nke a ọkọnọ.
Njegharị moto agaghị ekwe omume na ọnọdụ a. Ya mere, jikọọ ọkụ ọkụ mgbe niile na njikọ ọkụ na nkwukọrịta maka mmegharị moto.
Ọkwọ ụgbọala ugbu a
Onye na-anya ụgbọ ala stepper moto na-arụ ọrụ ugbu a na-achịkwa. Enwere ike ịhazi ọkwọ ụgbọ ala ugbu a na sọftụwia maka mmiri iyi moto ruo 2A RMS nwere usoro 32 dị irè na ngwaike (CS dị na tebụl n'okpuru).
Nkọwa nke ogidi dị iche iche na tebụl n'okpuru:
Ntọala moto ugbu a na ngwanrọ (TMCL)
Ndị a bụ ụkpụrụ maka TMCL axis parameter 6 (moto run current) na 7 (moto standby current). A na-eji ha ịtọ ọsọ ọsọ / nọrọ na njikere site na iji iwu TMCL ndị a:
SAP 6, 0, // setịpụ ọsọ ugbu a
SAP 7, 0, // setịpụ ugbu a na-echere ugbu a (uru agụpụta na GAP kama SAP. Biko hụ akwụkwọ ntuziaka firmware TMCM-1140 iche maka ozi ndị ọzọ)
moto dị ugbu a IRMS [A] moto na-arụpụta ugbu a dabere na ntọala moto dị ugbu a
| moto ntọala ugbu a na software (TMCL) | Nzọụkwụ ịrị elu ugbu a (CS) | moto ugbu a ICOIL_PEAK [A] | moto ugbu a 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 |
Na mgbakwunye na ntọala ndị dị na tebụl, enwere ike ịgbanyụ moto ugbu a kpamkpam (ịkwọgharị efu) site na iji axis parameter 204 (lee ntuziaka firmware TMCM-1140).
Tọgharịa ka ọ bụrụ ụlọ nrụpụta
Ọ ga-ekwe omume ịtọgharịa TMCM-1140 ka ọ bụrụ ntọala ntọala ụlọ ọrụ na-ewepụtaghị njikọ nkwukọrịta. Nke a nwere ike inye aka ma ọ bụrụ na etinyere nzikọrịta ozi nke interface kachasị amasị ya ka ọ bụrụ ụkpụrụ amaghi ama ma ọ bụ tufuo na mberede. Maka usoro a, a ga-ebelata mpe mpe akwa abụọ n'akụkụ ala nke bọọdụ ahụ.
Biko mee usoro ndị a:
- Gbanyụọ ọkụ na eriri USB kwụsịrị
- Mpekere abụọ dị mkpụmkpụ dị ka akara na foto 5.1
- Agbanye ọkụ (ike site na USB zuru oke maka ebumnuche a)
- Chere ruo mgbe LEDs na-acha uhie uhie na akwụkwọ ndụ akwụkwọ ndụ ga-amalite na-egbu maramara (nke a nwere ike iwe obere oge)
- bọọdụ mgbanyụ ọkụ (Kwupu eriri USB)
- Wepu mkpụmkpụ n'etiti mpe mpe akwa
- Mgbe ịgbanwunye ọkụ-ebunye/jikọọ eriri USB eweghachila ntọala niile na-adịgide adịgide na ndabara ụlọ ọrụ
LEDs nọ n'ụgbọ
Ụlọ ọrụ ahụ na-enye LED abụọ iji gosi ọkwa ọkwa. Ọrụ nke LED abụọ ahụ dabere na ụdị firmware. Na ọkọlọtọ TMCL firmware na green LED kwesịrị na-egbu maramara nwayọọ nwayọọ n'oge ọrụ na-acha uhie uhie LED
kwesịrị gbanyụọ.
Mgbe enweghị firmware dị mma emebere n'ime bọọdụ ma ọ bụ n'oge firmware melite LEDs na-acha uhie uhie na akwụkwọ ndụ akwụkwọ ndụ na-adịgide adịgide.
Omume nke LEDs nwere ọkọlọtọ TMCL FirmWARE
| Ọnọdụ | Labelụ | Nkọwa |
| Obi mgbawa | Gbaa ọsọ | Ikanam ndụ ndụ a na-enwu nwayọọ nwayọọ n'oge ọrụ. |
| Njehie | Njehie | Ikanam uhie a na-enwu ma ọ bụrụ na njehie emee. |
Ntụle arụmọrụ
Ogo arụ ọrụ na-egosi ọkwa echere ma ọ bụ njirimara ma ekwesịrị iji ya dị ka ụkpụrụ nhazi.
N'ọnọdụ ọ bụla agaghị agafe oke ọnụ ahịa!
| Akara | Oke | Min | Ụdị | Oke | Nkeji |
| VDD | Ịnye ọkụ voltage maka ọrụ | 9 | 12… 24 | 28 | V |
| ICOIL_peak | Igwe mkpuchi moto maka ebili mmiri elu (chopper na-achịkwa, nke a na-agbanwe site na ngwanrọ) | 0 | 2.8 | A | |
| ICOIL_RMS | moto na-aga n'ihu (RMS) | 0 | 2.0 | A | |
| IDD | Ike ọkọnọ ugbu a | << ICOIL | 1.4 * Ieriri igwe | A | |
| TENV | Okpomọkụ gburugburu na ogo nke ugbu a (ọ dịghị mmanye mmanye achọrọ) | -30 | +50 | Celsius C | |
| TENV_1A | Okpomọkụ gburugburu na 1A RMS moto ugbu a / ọkara max. ugbu a (ọ dịghị mmanye mmanye chọrọ) | -30 | +70 | Celsius C |
Isiokwu 7.1 General arụmọrụ ratings nke modul
Ntụle ọrụ nke I/OS multipurPOSE
| Akara | Oke | Min | Ụdị | Oke | Nkeji |
| VOUT_0 | Voltage na mmepụta mmiri mepere emepe OUT_0 | 0 | + VDD | V | |
| IOUT_0 | Mbupụta sink ugbu a nke mmepụta mmiri mepere emepe OUT_0 | 1 | A | ||
| VOUT_1 | Voltage na mmepụta OUT_1 (mgbe agbanyere) | +5 | V | ||
| IOUT_1 | Isi mmalite mmepụta ihe ugbu a maka OUT_1 | 100 | mA | ||
| VIN_1/2/3 | Ntinye voltage maka IN_1, IN_2, IN_3 (ntinye dijitalụ) | 0 | + VDD | V | |
| VIN_L 1/2/3 | Ọkwa dị ala voltage maka IN_1, IN_2 na IN_3 | 0 | 1.1 | V | |
| VIN_H 1/2/3 | Ọkwa dị elu voltage maka IN_1, IN_2 na IN_3 | 3.4 | + VDD | V | |
| VIN_0 | Oke nha maka ntinye analọgụ IN_0 | 0 | +10*) | V |
Tebụl 7.2 Ntụle arụmọrụ nke I/Os multipurpose
*) ihe ruru. 0…+10.56V na ntinye analọgụ IN_0 ka atụgharịrị ka ọ bụrụ 0..4095 (12bit ADC, ụkpụrụ raw). N'elu ihe ruru.
+10.56V ntinye analọgụ ga-ejuju mana, anaghị emebi emebi (ruo VDD).
Ntụle ọrụ nke RS485 INTERFACE
| Akara | Oke | Min | Ụdị | Oke | Nkeji |
| NRS485 | Ọnụọgụ ọnụ nke ejikọrọ na otu netwọk RS485 | 256 | |||
| fRS485 | Oke bit akwadoro na njikọ RS485 | 9600 | 115200 1000000*) | bps |
Tebụl 7.3: Ntụle arụmọrụ nke interface RS485
*) nlebanya ngwaike V1.2: max. 115200 bit/s, ngwaike nyocha V1.3: max. 1Mbit/s
Ntụle ọrụ nke nwere ike ihu
| Akara | Oke | Min | Ụdị | Oke | Nkeji |
| NCAN | Ọnụọgụ ọnụ nke ejikọrọ na otu netwọk RS485 | > 110 | |||
| fCAN | Oke bit akwadoro na njikọ CAN | 1000 | 1000 | kbit/s |
Tebụl 7.4 Nleba arụmọrụ nke interface CAN
Nkọwa ọrụ
TMCM-1140 bụ ihe njikwa / modul ọkwọ ụgbọ ala jikọtara nke ukwuu nke enwere ike ijikwa ya site na ọtụtụ oghere serial. A na-edobe okporo ụzọ nzikọrịta ozi dị ala kemgbe ọ na-arụ ọrụ dị oke mkpa (dịka ọmụmaatụ ramp A na-eme mgbakọ na mwepụ) n'ime ụgbọ mmiri. Ọkọnọ aha voltage nke unit bụ 24V DC. Emebere modul ahụ maka ma, ọrụ kwụ ọtọ na ọnọdụ ozugbo. Njikwa ime ngwaọrụ zuru oke nwere nzaghachi ga-ekwe omume. Enwere ike imelite firmware nke modul site na oghere ọ bụla.
Na eserese 8.1, egosiri akụkụ ndị bụ isi nke TMCM-1140:
- microprocessor, nke na-arụ ọrụ sistemụ TMCL (jikọrọ na ebe nchekwa TMCL),
- onye na-ahụ maka ngagharị, nke na-agbakọ ramps na ọsọ profiles internally site ngwaike,
- onye ọkwọ ụgbọ ala nwere stallGuard2 na ike ya dị mma coolStep,
- onye ọkwọ ụgbọ ala MOSFET stage, na
- SensOstep encoder nwere mkpebi 10bit (1024 nzọụkwụ) kwa mgbanwe. 
TMCM-1140 na-abịa na gburugburu mmepe ngwanrọ PC dabere na TMCL-IDE maka Asụsụ Mgbanwe Motion Control (TMCM). Iji ọkwa ọkwa dị elu TMCL akọwapụtagoro dị ka ịkwaga n'ọnọdụ mmepe ngwa ngwa na ngwa ngwa nke ngwa njikwa ngagharị na-ekwe nkwa.
Biko rụtụ aka na akwụkwọ ntuziaka TMCM-1140 Firmware maka ozi ndị ọzọ gbasara iwu TMCL.
TMCM-1140 Nkọwapụta Ọrụ
9.1 Mgbakọ: Ọsọ na osooso vs. Microstep na ugboro zuru ezu nzọụkwụ
Ụkpụrụ nke parampat ezigara na TMC429 enweghị ụkpụrụ moto a na-ahụkarị dị ka ntụgharị kwa sekọnd dị ka ọsọ. Mana enwere ike gbakọọ ụkpụrụ ndị a site na paramita TMC429 dịka egosiri na ngalaba a.
Mkpebi nke TMC429
| Signal | Nkọwa | Oke |
| fCLK | elekere-ugboro | 16 MHz |
| ọsọ | – | 0… 2047 |
| a_max | kacha osooso | 0… 2047 |
| pulse_div | nkesa maka ọsọ. Ka ọnụ ahịa ya dị elu, nke na-erughị ya bụ uru ndabara ọsọ kachasị elu = 0 | 0… 13 |
|
ramp_div |
nkesa maka osooso. Ọnụ ahịa dị elu, nke na-erughị ya bụ ngwangwa kachasị elu
ndabara uru = 0 |
0… 13 |
| Usrs | Mkpebi microstep (microsteps kwa nzọụkwụ zuru ezu = 2usrs) | 0… 8 |
Tebụl 9.1 TMC429 oke ọsọ
Ugboro ugboro MICROSTEP
A na-agbakọ ugboro microstep nke moto stepper 
Ugboro ugboro
Iji gbakọọ ugboro n'uju site na microstep ugboro, a ga-ekewa ugboro microstep site na ọnụọgụ microsteps kwa n'uju.
Mgbanwe na ọnụego pulse kwa nkeji oge (mgbanwe ugboro ugboro kwa nkeji - ngwangwa a) nyere site na.
Nke a na-ebute osooso n'uju nke:
EXAMPLE
| Signal | uru |
| f_CLK | 16 MHz |
| ọsọ | 1000 |
| a_max | 1000 |
| pulse_div | 1 |
| ramp_div | 1 |
| usrs | 6 |
Ngụkọta ọnụ ọgụgụ nke ntụgharị
A stepper moto nwere eg 72 flusters kwa ntụgharị.
Amụma Nkwado Ndụ
TRINAMIC Motion Control GmbH & Co. KG anaghị enye ikike ma ọ bụ kwado ngwaahịa ya ọ bụla maka iji na sistemụ nkwado ndụ, na-enweghị nkwenye ederede kpọmkwem nke TRINAMIC Motion Control GmbH & Co. KG.
Sistemu nkwado ndụ bụ akụrụngwa ezubere iji kwado ma ọ bụ kwado ndụ, yana ọdịda nke ịrụ ọrụ ya, mgbe ejiri ya nke ọma dịka ntuziaka enyere, enwere ike ịtụ anya n'ụzọ ezi uche bute mmerụ ahụ ma ọ bụ ọnwụ.
© TRINAMIC Motion Control GmbH & Co. KG 2013 – 2015
Ekwenyere na ozi enyere na mpempe data a bụ eziokwu na ntụkwasị obi. Agbanyeghị, ọnweghị ọrụ ọ bụla ewetere maka nsonaazụ nke ojiji ya ma ọ bụ maka mmebi iwu patent ma ọ bụ ikike ndị ọzọ nke ndị ọzọ nwere ike ịpụta na ojiji ya.
Nkọwapụta nwere ike ịgbanwe na-enweghị ọkwa.
ụghalaahịa niile ejiri mee ihe bụ nke ndị nwe ha.
Akụkọ ngbanwe
11.1 Ndozigharị akwụkwọ
| Ụdị | Ụbọchị | Odee | Nkọwa |
| 0.90 | 2011-DEC-22 | GE | Ụdị mbụ |
| 0.91 | 2012-MAY-02 | GE | Emelitere maka ụdị pcb TMCM-1140_V11 |
| 1.00 | 2012-JUN-12 | SD | Ụdị zuru ezu nke mbụ gụnyere isiakwụkwọ ọhụrụ gbasara: – tọgharịa na ụlọ nrụpụta ihe ndabara, na - LED |
| 1.01 | 2012-JUL-30 | SD | Edoziri sekit dị n'ime nke ntinye. |
| 1.02 | 2013-MARA-26 | SD | Agbanwere aha ntinye: AIN_0 IN_0 IN_0 IN_1 IN_1 IN_2 IN_2 IN_3 Agbanwere aha mbupute: Mpụ_1 = Ọpụpụ_0 Mpụ_0 = Ọpụpụ_1 |
| 1.03 | 2013-JUL-23 | SD | – Njikọ ụdị emelitere. - Isi nke 3.3.1.1 emelitere. |
| 1.04 | 2015-JAN-05 | GE | - agbakwunyere ụdị ngwaike ọhụrụ V13 - agbakwunyere ntọala ọkwọ ụgbọ ala ugbu a (isi nke 4) – Ọtụtụ mgbakwunye |
Tebụl 11.1 Ndozigharị akwụkwọ
11.2 Ntughari ngwaike
| Ụdị | Ụbọchị | Nkọwa |
| TMCM-1040_V10*) | 2011-MARA-08 | Ụdị mbụ |
| TMCM-1140_V11*) | 2011-JUL-19 | - nkwalite nke sekit I/O ọtụtụ ebumnuche - Ọgbọ elekere na nkesa gbanwere (16MHz oscillator) |
| TMCM-1140_V12**) | 2012-APR-12 | – Nkwalite ọnụ ahịa ndị ọzọ gụnyere. ihe mmetụta IC dị iche iche nwere 10bit max. mkpebi |
| TMCM-1140_V13**) | 2013-AUG-22 | - MOSFET ọkwọ ụgbọ ala Stepper: MOSFET nke ọkwọ ụgbọ ala stage dochiela. MOSFET ọhụrụ ahụ na-enye mbelata okpomọkụ dị ntakịrị karịa nke gara aga / eji ugbu a. E wezụga na arụmọrụ na ntọala gụnyere ọkwọ ụgbọala mmepụta ugbu a na mmepụta waveform bụ n'ezie otu. – Mpụtara ebumnuche izugbe OUT_0 / OUT_1: MOSFET ejiri maka ịgbanwuo ma gbanyụọ nsonaazụ ndị a ka edochila ya. MOSFET ọhụrụ ahụ na-enye mbelata okpomọkụ dị ntakịrị karịa nke gara aga / eji ugbu a. Ewezuga nke ahụ ọrụ na ọkwa bụ n'ezie otu. - RS485 transceiver: ejiri SN485HVD65 transceiver dochie RS1781 transceiver na-enye nchebe mmejọ ka mma (ihe ruru 70V mmejọ nchebe) yana ịkwado ọsọ nkwurịta okwu dị elu (ruo 1Mbit / s). - Na-aga n'ihu (na-abịa n'oge adịghị anya): mkpuchi mkpuchi nke akụkụ abụọ nke PCB. Na-enye nchebe ka mma megide iru mmiri na uzuzu / swarf (dịka ọmụmaatụ, ụdị moto etinyere PD42-x-1140: obere akụkụ ọla na |
| Ụdị | Ụbọchị | Nkọwa |
| PCB ndọta ihe ngbanwe dọtara nwere ike bute arụrụ arụ nke ngwaọrụ anaghị echebe ya). |
Isiokwu 11.2 Akụrụngwa nyocha
*): V10, V11: naanị prototypes.
**) V12: ụdị ngwaahịa usoro. Ejiri ụdị ngwaahịa V13 dochie ya n'ihi EOL (njedebe nke ndụ) nke MOSFET. Biko hụ
"PCN_1014_08_29_TMCM-1140.pdf" na anyị Web- saịtị, kwa
Ntụaka
| [TMCM-1140 TMCL] | TMCM-1140 TMCL Firmware akwụkwọ ntuziaka |
| [TMC262] | Mkpokọta TMC262 |
| [TMC429] | Mkpokọta TMC429 |
| [TMCL-IDE] | Akwụkwọ ntuziaka onye ọrụ TMCL-IDE |
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Biko rụtụ aka www.trinamic.com.
www.trinamic.com
E sitere na Arrow.com.
Akwụkwọ / akụrụngwa
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TRINAMIC TMCM-1140 Single Axis Stepper Motor Controller/Module ọkwọ ụgbọ ala [pdf] Akwụkwọ ntuziaka onye ọrụ V1.3, TMCM-1140, Single Axis Stepper Motor Controller Module, TMCM-1140 Single Axis Stepper Motor Controller Module, Axis Stepper Motor Controller Module Modul, modul |