Buku la Debugging Software V3.0

Mau oyamba a Tsamba Lalikulu

1.1. Tsegulani Debugging Software V3.0injini ikayatsidwa, dinani kawiri EXE file yotchedwa Assistant3.0, pulogalamuyo idzafufuza madoko omwe alipo ndikuyesera kulumikiza. Chiwonetsero cha doko cham'munsi chakumanzere kwa Chithunzi 1 chiwonetsa mawonekedwe olumikizira doko. Ngati kulumikizana kukuyenda bwino, ziwonetsa kuti doko la serial lalumikizidwa. Ngati izo zalephera, izo kulumpha kwa mawonekedwe otsatirawa, Inu mukhoza kupitiriza alemba pa chithunzi kuyesa kulumikizanso. Kuthekera kwa kulephera kwa kulumikizana ndi:

1. Galimotoyo siyiyendetsedwa bwino, ndipo magetsi ndi zolumikizira ziyenera kufufuzidwa;
2. Cholumikizira cholumikizira chili ndi mawaya molakwika;
3. The siriyo doko la kompyuta kale wotanganidwa;
4. The debugger sayika dalaivala woyenera;

1.2. Chiyambi cha Interface Area
Malo olumikizirana nawo agawidwa m'magawo otsatirawa malinga ndi Chithunzi 1:
A: Menyu yayikulu
B: Servo mode control panel
C: gulu lowongolera zoyenda
D: Real-time waveform status panel
E: Mawonekedwe a mawonekedwe a Waveform
F: Status bar
Malo akuluakulu a menyu ndi kapamwamba kamakhala kosasinthika mawonekedwe akasinthidwa, ndipo madera ena asintha malinga ndi mipiringidzo yosiyanasiyana.

Chiyambi cha Motor Running Interface

Mukatsegula pulogalamu ya debugging v3.0, mawonekedwe oyendetsa galimoto amalowetsedwa mwachisawawa, ndipo zosintha zenizeni zenizeni zimayatsidwa.
2.1. Servo Mode Control Panel
Pali mabatani 6 owongolera ndi mabokosi 4 olowetsa data mugawo lowongolera la servo.
Bokosi lolowera deta lili kumanja kwa mabatani olamulira.Mutatha kulowetsa deta yovomerezeka, dinani batani kumanzere kuti mupereke zofanana.

1. Kuwongolera kolowera:Mukalowa m'bokosi lazomwe mukufuna kulowa m'bokosi lolowetsa deta, dinani batani la incremental angle, ndipo galimotoyo idzayendetsa ngodya yowonjezereka ndi malo omwe alipo ngati poyambira.
2. Mtheradi Angle ControlMukalowa mtheradi wa chandamale m'bokosi lolowetsa deta, dinani batani la mtheradi, ndipo mota idzathamanga ndi malo okhazikika monga chandamale.
3. Speed ​​​​Commandm'bokosi lolowetsa deta, dinani batani la lamulo la liwiro, ndipo galimoto idzathamanga pa liwiro lokhazikitsidwa. Liwiro lokhazikitsidwa limachokera ku liwiro lakumapeto kwa injini, ndiye kuti, kumapeto kwa gawo lochepetsera.
4. Current CommandMukalowetsa zomwe mukufuna mubokosi lolowetsa deta, dinani batani lalamulo lomwe lilipo, ndipo mota idzayenda pakali pano.
5. Imani LamuloPambuyo pa lamulo loyimitsa galimoto, galimotoyo idzalowa m'malo oima ndipo sipadzakhala zotuluka.
6. Bwezeretsani Command
   Pambuyo pa lamulo lokhazikitsanso injini, pulogalamu yamagalimoto idzayambiranso.

2.2. Motion Mode Control Panel
Pali mabokosi olowetsamo 5 ndi batani limodzi lowongolera mugawo lowongolera zoyenda.

1. Ngongole yomwe mukufuna::p_desLowetsani ngodya yomwe mukufuna m'bokosi lolowera, ndipo mota idzayenda pakona iyi ngati mtengo womwe mukufuna. Malo okhawo amayendetsedwa pamene KD=0. Zindikirani kuti gawoli ndi rad, ndipo kulowa 6.28 ndikofanana ndi kukhazikitsa kolowera ku madigiri a 360.
2. Liwiro lomwe mukufuna:v_desLowetsani liwiro lomwe mukufuna mubokosi lolowera, ndipo mota idzathamanga pa liwiro ili. Kuthamanga kokha kumayendetsedwa KP=0. Chigawochi ndi rad/s, tchulani chilinganizo chosinthira: 1rad/s = 9.554RPM. Liwiro ndi liwiro la kumapeto kwa injini, ndiye kuti, liwiro la kumapeto kwa chotsitsa.
3. Torque yomwe mukufuna: t_ffLowetsani torque yomwe mukufuna m'bokosi lolowera, ndipo mota idzayenda ndi torque iyi.
4. KP:Imawonetsa kupotoka pakati pa ngodya yomwe mukufuna ndi mayankho.
5. KD:Imawonetsa kupatuka pakati pa liwiro la chandamale ndi liwiro la mayankho.
6. Kuwongolera koyendaMukalowetsa magawo a 5, dinani lamulo lowongolera ntchito, ndipo mota idzawerengedwa ndikutulutsa malinga ndi mtengo womwe ukuyembekezeka. Zowerengedwa motere:
   TorqueRef = (p_des – p_fb)*KP + (v_des – v_fb)*KD + t_ff;
   TorqueRef: Imawonetsa kutulutsa komaliza kwa torque kugalimoto;
   p_fb: ndemanga zenizeni;
   v_fb: mayankho enieni othamanga

2.3. Real-time Waveform Status Panel

1. Shaft angle:
   Imawonetsa ngodya yeniyeni pakutulutsa kwa chotsitsa mota.
2. Liwiro
   Imawonetsa liwiro lenileni lakumapeto kwa injini, ndiye kuti, kumapeto kwa chochepetsera.
3. Panopa:
   Imawonetsa torque yeniyeni (Iq) yamoto.
4. Kutentha kwagalimoto:
   Zimasonyeza kutentha kwenikweni kwa galimotoyo.
5. Basi Voltage:
   Imawonetsa voltage ya malo opangira magetsi.

2.4. Waveform Display Panel Mawonekedwe owonetsera ma waveform amatha kuwonetsa ma 3 ma waveform a data pawokha kapena nthawi imodzi, yomwe ndi IQ yapano, liwiro, ndi malo. Deta zitatuzi zimagwirizana ndi ma angle, liwiro, ndi mayankho apano mu bar ya nthawi yeniyeni. Mtengo weniweni wa deta ukuwonetsedwa kumbali yakumanzere ndi kumanja, ndipo mndandanda wake umasinthidwa molingana ndi kukula kwake.
2.5. Malo Otengera 
Mkhalidwe wa doko la serial ukuwonetsa momwe mungalumikizire doko. Mayendedwe agalimoto adzayambitsa zolakwika zina.

Chiyambi cha Basic Settings Interface

3.1. Lowetsani Chiyankhulo Zoyambira zazikulu za menyu yayikulu yamagalimoto zimatha kulowa mawonekedwe oyambira. Kompyuta yolandirayo yasintha magawo kamodzi pambuyo pa kulumikiza, kotero magawo omwe akuwonetsedwa mu mawonekedwe ndi magawo omwe amawerengedwa kuchokera ku galimoto. Zambiri zitha kuwerengedwanso kudzera pa batani la Read Data.
3.2. Ntchito Chiyambi

1. Dinani kuti muwerenge deta kuti musinthe magawo onse mu mawonekedwe;
2. Sinthani magawo oyenera a data, ndiyeno dinani Lembani Data kuti musunge;
3. Ngati kuwerenga deta kapena kulemba sikulephera, mukhoza kudinanso kuti muwerenge deta ndikulemba deta kuti mugwiritsenso ntchito.

3.3. Kufotokozera kwa Parameter
3.3.1. Communication Parameters

dzina la chizindikiro	Ranji	unit	Njira yothandiza	Kufotokozera
CAN/RS485ID	1-32	decimal	ogwira nthawi yomweyo	zikutanthauza kutumiza ID, Ox140+ID,
CAN Baudrate	kusankha	bps	ogwira nthawi yomweyo	Kusintha kwamitengo yaCAN kulumikizana, kupereka mwayi wosankha.
Yambitsani ZoseferaCAN	Oola		Kuchita bwino mukayambiranso	Ndikutanthauza kuti fyuluta ya CAN yayatsidwa, yomwe imatha kupititsa patsogolo kuyendetsa bwino kwa ma mota ndikulandila mukulankhulana kwa CAN. 0 imatanthawuza kuti fyuluta ya CAN yazimitsidwa, ndipo imayenera kuzimitsidwa pamene lamulo la multi-motor control 0x280 likufunika.
Yambitsani Mtundu waCAN	Oola		Kuchita bwino mukayambiranso	Ndikutanthauza kuti ntchito ya CAN yayatsidwa. 0 zikutanthauza kuti ntchito ya CAN yazimitsidwa. (Bodi la 485 silingathe kugwira ntchitoyi)
Mtengo wa RS485	kusankha	bps	ogwira nthawi yomweyo	Kuyika kwa baud kwa RS485 kulumikizana kumapereka mwayi wosankha.
COIBI brake chitetezo nthawi	0-232-1	millisecond	ogwira nthawi yomweyo	Panthawi yolankhulana, ngati galimotoyo silandira lamulo mkati mwa nthawi yoikidwiratu, imasiya kutuluka. Ngati pali brake yogwira, brake yogwira imatsekedwa. 0 zikutanthauza kuti ntchitoyi ndi yolakwika
Yambitsani Fault Status Send	Oola		ogwira nthawi yomweyo	1 imatanthawuza kuti zolakwikazo zimayatsidwa, ndipo lamulo lodziwikiratu limabwerera kumalo olakwika pamene cholakwika chanenedwa. 0 kumatanthauza kuzimitsa mawonekedwe olakwika

3.3.2. PI Parameters

dzina la chizindikiro	Ranji	unit	Njira yothandiza	Kufotokozera
Cor rent	0-255		ogwira nthawi yomweyo	Mtengo wokhazikika umagwirizana ndi kuchuluka kwa KP mkati mwa mota. Ngati mtengo wapamwamba wa KP ndi 1, ndiye 255 ikugwirizana ndi 1. Mtengo wapamwamba umagwirizana ndi chitsanzo cha galimoto ndipo sungathe kusinthidwa ndi wogwiritsa ntchito.
Loop KI yamakono	0-255		ogwira nthawi yomweyo	Momwemo
Speed ​​Loop NI'	0-255		ogwira nthawi yomweyo	Momwemo
Speed ​​​​Loop KI	0-255		ogwira nthawi yomweyo	Momwemo
udindo Loop KP	0-255		ogwira nthawi yomweyo	Momwemo
udindo Loop KI	0-255		ogwira nthawi yomweyo	Momwemo

Kuyambitsa kwa Advanced Settings Interface

4.1. Lowetsani Chiyankhulo4.1.1. Ntchito Chiyambi

1. Dinani kuti muwerenge deta kuti musinthe magawo onse mu mawonekedwe;
2. Sinthani magawo oyenera a data, ndiyeno dinani Lembani Data kuti musunge;
3. Ngati kuwerenga deta kapena kulemba sikulephera, mukhoza kudinanso kuti muwerenge deta ndikulemba deta kuti mugwiritsenso ntchito.

4.2. Kufotokozera kwa Parameter
4.2.1. Ma Parameters a Chitetezo

dzina la chizindikiro	Ranji	unit	Njira yothandiza	Kufotokozera
Loop yamakono 0 Max	Palibe	Palibe	ogwira nthawi yomweyo	Werengani kokha
Lopu yaposachedwa ya KI Max	Palibe	Palibe	ogwira nthawi yomweyo	Werengani kokha
Kuthamanga kwa KP Max	Palibe	Palibe	ogwira nthawi yomweyo	Werengani kokha
Speed ​​loop KI Max	Palibe	Palibe	ogwira nthawi yomweyo	Werengani kokha
Position loop KP Max	Palibe	Palibe	ogwira nthawi yomweyo	Werengani kokha
Position loop KI Max	Palibe	Palibe	ogwira nthawi yomweyo	Werengani kokha
Pa Voltage	0-100	Volt	ogwira nthawi yomweyo	Werengani kokha
Kutsika Voltage	0-100	Volt	ogwira nthawi yomweyo	Werengani kokha
Kuyimitsa nthawi	0-2'2-1	millisecond	ogwira nthawi yomweyo	Khazikitsani nthawi yayitali kuti muyimitse zotulutsa mutalowa mugawo lotsekeka, ndikutseka brake ngati pali brake.
Njira ya Brake	kusankha	Palibe	ogwira nthawi yomweyo	Imodzi yokha mwa ntchito ziwiri za Relay ndi Resistor ingasankhidwe, sankhani ntchitoyi ndikutsegula
Relay Start Duty	0-100%	Palibe	ogwira nthawi yomweyo	Ntchito yozungulira ya njirayi imasungidwa kuyambira pomwe ikuyamba mpaka 2seconds
Panopa Sampndi Res	Palibe	mR	Palibe	Werengani kokha
Relay Hold Duty	0-100%	Palibe	ogwira nthawi yomweyo	Ntchito yozungulira ya njirayi imasungidwa pakadutsa masekondi a 2 panthawi yoyambira

4.2.2. Mapulani magawo

Dzina la parameter	Ranji	unit	Njira yothandiza	Kufotokozera
Max Positive Position	Palibe	deg	ogwira nthawi yomweyo	malo opambana omwe angayendetsedwe mu loop yamalo
Max Negative Position	Palibe	deg	ogwira nthawi yomweyo	Malo ochepera omwe angapezeke mu malo ozungulira, pulogalamuyi idzawatenga ngati mtengo woipa
Udindo P1ar. Max Acc	100-60000	dps/s	ogwira nthawi yomweyo	Panthawi yogwira ntchito ya loop, nthawi yothamanga kuchokera pa liwiro lapano kupita pa liwiro lokhazikitsidwa
Udindo Mar. Max Dec	100-60000	dps/s	ogwira nthawi yomweyo	Panthawi yogwira ntchito ya loop, nthawi yochepetsera kuchoka pa liwiro lapano kupita pa liwiro lokhazikitsidwa
Position Plan Max Speed	10-motor ovotera liwiro	Rio.'	ogwira nthawi yomweyo	Kuthamanga kwapamwamba kwambiri panthawi ya ntchito ya loop
Speed ​​​​Plan Max Acc	100-60000	s	ogwira nthawi yomweyo	Pa ntchito ya Speed ​​loop, nthawi yothamangitsa kuchokera pa liwiro lapano kupita pa liwiro lokhazikitsidwa
Speed ​​​​Plan Max Dec	100-60000	dps/s	ogwira nthawi yomweyo	Panthawi yogwira ntchito ya Speed ​​loop, nthawi yochepetsera kuchokera pa liwiro lapano kupita pa liwiro lokhazikitsidwa
Motor Position Zero	-462	Kugunda	powercycle	kite pulse yomwe yatchulidwa ngati zero point of the motor position. Mutha kuwerenganso za zero pulse value of the current motor position
khazikitsani pomwe pano zero motere	Palibe	Palibe	powercycle	Mukadina batani lokhazikitsira, malo omwe ali pano amasunga ngati zero point udindo.

Kuyamba kwa Motor Adjust Interface

5.1. Lowetsani Chiyankhulo

5.2. Ntchito Chiyambi

1. Dinani werengani deta kuti musinthe magawo;
2. Sinthani mtengo wofananira ndi mawonekedwe otseguka, nthawi zambiri osapitilira theka la zomwe zidavotera popanda katundu;
3. Dinani batani la "Sinthani Encoder" ndikudikirira kusanja kwagalimoto;
4. Ngati kusanja kulephera, mutha kudinanso "Sinthani Encoder" kachiwiri;
5. Itha kukulitsa mawonekedwe ofananirako otseguka kuti ma calibration ayende bwino;
6. Pambuyo poyesa bwino, iwonetsa kuti yasinthidwa ndikusungidwa, ndipo palibe chifukwa chowerengeranso mutayambiranso;
7. Kuwongolera kwagalimoto ndikwabwino kuti injiniyo ikhale yopanda katundu;

5.3. Kufotokozera kwa Parameter
5.3.1. Master encoder

Dzina la parameter	Ranji	unit	Njira yothandiza	Kufotokozera
Yayatsidwa Powerdown Save MultTurn	o !a. 1	Palibe	ogwira nthawi yomweyo	Ndikutanthauza kuloleza kupulumutsa kosinthika kosiyanasiyana pamene mphamvu yazimitsidwa, ndiko kuti, mota imatha kukumbukira malo okhotakhota kambiri isanazime ngakhale mphamvuyo itazimitsidwa. 0 kumatanthauza kuzimitsa mphamvu yozimitsa kupulumutsa ndalama zambiri.
Pole-Paris	Palibe		Palibe	Kuwerenga kokha, magawo agalimoto sangathe kusinthidwa ndi wogwiritsa ntchito
Single-Resolution Value	Palibe	Palibe	Palibe	Kuwerenga kokha, magawo agalimoto sangathe kusinthidwa ndi wogwiritsa ntchito
Sinthani Current	0.1- injini ovotera panopa	1	ogwira nthawi yomweyo	Kuthamanga kwamphamvu kwa injini panthawi ya calibration. Ngati mphamvuyi ndi yaying'ono kwambiri, torque sikhala yokwanira, ndipo kuyendetsa galimoto kudzalephera. Kuchulukirachulukira kungayambitsenso chitetezo chapano. Nthawi zambiri m'magulu omwe adavotera.
Sinthani Njira Yamagalimoto	Palibe	Palibe	Palibe	Kuwerenga kokha, magawo agalimoto sangathe kusinthidwa ndi wogwiritsa ntchito
Mtengo Wosinthidwa wa Encoder	Palibe	Palibe	Palibe	Zongowerenga-zokha, zotsatira za ma calibration sizingasinthidwe ndi wogwiritsa ntchito
Kulondola kwa Encoder	Palibe	Palibe	Palibe	Zongowerenga-zokha, zotsatira za ma calibration sizingasinthidwe ndi wogwiritsa ntchito

5.3.2. Slaver Encoder

Dzina la parameter	Ranji	unit	Njira yothandiza	Kufotokozera
Encoder Direction	Palibe	Palibe	Palibe	Kuwerenga kokha, magawo agalimoto sangathe kusinthidwa ndi wogwiritsa ntchito
Encoder BCT	Palibe	Palibe	Palibe	Kuwerenga kokha, magawo agalimoto sangathe kusinthidwa ndi wogwiritsa ntchito
Encoder Sinthani	0 kapena 2	Palibe	Palibe	Lembani 2 mukamayesa encoder yaslavr, ndikusintha kukhala 0 mukamaliza kuwerengetsa.
Encoder Zero	Palibe	Palibe	Palibe	Kuwerenga kokha, magawo agalimoto sangathe kusinthidwa ndi wogwiritsa ntchito

Chiyambi cha Motor Update Interface

6.1. Lowetsani Chiyankhulo6.2. Ntchito Chiyambi
6.2.1. Werengani Ma Parameters
Dinani batani lowerenga kuti muwerenge magawo okhudzana ndi mota; 6.2.2. Bwezerani Fakitale
Dinani batani la "Bwezeretsani Fakitale", sankhani HEX file lolingana ndi galimoto, ndiyeno kubwezeretsanso magawo ma calibration kuti Bwezerani;

6.2.3. Kusintha
MYACTUATOR ikonza ntchito zoyendetsa ndipo makasitomala amatha kuzisintha patali.
Dinani Katundu File batani, sankhani fimuweya, ndi katundu fimuweya deta.Dinani "Sinthani File” kuti musinthe pulogalamuyo, zosinthazi ziwonetsa momwe kusinthaku kukuyendera munthawi yeniyeni, kuyambitsa uthenga wolakwika uliwonse wofiyira, muyenera kupeza chomwe chayambitsa vutoli ndikudina 'Sinthani. File' kachiwiri kuti mukonzenso pulogalamuyoPambuyo pokonzekera kumalizidwa, njira ya BOOT imayambitsidwa kuti iwonetse zotsatirazi.6.2.4. Sinthani Zifukwa Zolakwika za Pulogalamu ndi Mayankho

1. Panthawi yowunikira, kuyankhulana kumasokonekera ndipo kung'anima kumalephera. Yesetsani kupewa kusokoneza ndikuyambitsanso kuwomba.
2. Pang'onopang'ono, ngati mphamvu yatayika mwadzidzidzi kapena kompyuta ikulephera, muyenera kuyambitsanso kuwunikira pansi pazikhalidwe zokhazikika.
3. Ngati kuwunikiranso sikunayende bwino kangapo, funsani wopanga kuti akakonze kapena mubwerere kufakitale

6.3. Kufotokozera kwa Parameter

Dzina la parameter	Ranji	unit	Njira yothandiza	Kufotokozera
ID yamagalimoto	Palibe	Palibe	Palibe	Werengani kokha, magawo a fakitale
Dzina lamoto	Palibe	Palibe	Palibe	Werengani kokha, magawo a fakitale
Firmware Ver	Palibe	Palibe	Palibe	Werengani kokha, magawo a fakitale
Nominal Current	Palibe	A	Palibe	Werengani kokha, injini yamakono imatha kuthamanga mosalekeza
Malire omwe ali nawo panopa	Palibe	A	Palibe	Kuwerengera kokha, malo otetezedwa a motor phase pano, omwe angayambitse chitetezo pakafupika, kutayika kwa gawo, kapena kuthawa
Stall Current	\n,	A	Palibe	Werengani kokha, nsonga zapamwamba zomwe zitha kuyendetsedwa kwakanthawi kochepa
Shutdown Temp	0-150	C	Palibe	Werengani-pokha, kutentha kwa injini kukafika pamalo otetezedwa, imasiya kutulutsa ndikunena zolakwika
Yambitsaninso Temp	0-150	°C	Palibe	Werengani kokha, ntchito yabwinobwino idzayambiranso kutentha kwa injini kukafika pochira.
Kuthamanga Kwambiri	Palibe	RPM	Palibe	Kuwerenga kokha, mota imasiya kutulutsa cholakwika ikafika pa liwiro lalikulu
Mwadzina Liwiro	Palibe	RPM	Palibe	Werengani kokha, liwiro lalikulu lomwe injini ingathe kukwaniritsa pa voliyumu yovoteratage.
Yambitsani Encoder Yachiwiri	Palibe	Palibe	Palibe	Werengani-pokha, kusonyeza ngati galimoto ili ndi ntchito ziwiri za encoder
Multi-turn Value	0-65535	Tembenukira	Palibe	Werengani kokha, malo osungidwa agalimoto osinthika ambiri asanafike mphamvu yomaliza
Gear Radio	Palibe	Palibe	Palibe	Werengani kokha, kukula kwa chiŵerengero chochepetsera galimoto

Kufotokozera Mauthenga Olakwika

Uthenga wolakwika	Kufotokozera	Yankho
hardware overcurrent	Ngati mphamvu yamagalimoto ikuposa mtengo wocheperako, pakhoza kukhala dera lalifupi, kutayika kwa gawo, kutayika kwa mphamvu, kuwonongeka kwagalimoto	Yang'anani mphamvu yamagetsi ndi mawaya amagetsi kuti muyende mozungulira, kutaya gawo, kapena cholakwika cha parameter.
Vuto loyimitsa	Pambuyo pofika pazitsulo zotsekedwa-rotor panopa, liwiro ndilotsika kwambiri ndipo limapitirira kwa nthawi. Zimasonyeza kuti katundu wa galimoto ndi waukulu kwambiri	Katunduyo amatha kupitilira kuchuluka kwa magwiridwe antchito a mota.
undervoltagndi cholakwika	Kulowetsa kwamphamvu ndikotsika kuposa kuyika undervoltagndi mtengo	Onani ngati voltage wa magetsi ndi otsika kwambiri ndipo akhoza kuonjezedwa pamtengo woyenerera
Kupambanatagndi cholakwika	Kuyika kwamphamvu ndikwambiri kuposa mtengo wa seti yochulukirapotagndi mtengo	Onani ngati voltage wa magetsi ndi okwera kwambiri ndipo amatha kuchepetsedwa kukhala mtengo woyenera
Phase panopa overcurrent	Pulogalamuyi imazindikira kuti mphamvu yamagetsi imaposa mtengo wocheperako, ndipo pakhoza kukhala dera lalifupi, kutayika kwa gawo, kutayika kwamphamvu, kuwonongeka kwagalimoto, ndi zina zambiri.	Yang'anani mphamvu yamagetsi ndi mawaya amagetsi kuti muyende mozungulira, kutaya gawo, kapena cholakwika cha parameter
Kuwonongeka kwamphamvu kwamphamvu	Ngati kulowetsedwa kwa magetsi kumadutsa malire, pakhoza kukhala nthawi yomwe katunduyo ndi wamkulu kwambiri kapena liwiro liri lalikulu kwambiri.	Chepetsani katundu kapena kuchepetsa kuthamanga kwa injini
Kuwongolera kwa parameter kulakwitsa	Zalephera kulemba magawo omwe apangitsa kuti magawowo alephereke	Sinthani magawo pobwezeretsa makonda a fakitale
kulakwitsa kothamanga	Kuthamanga kwa injini kumaposa mtengo wocheperako, pangakhale kupanikizika kwambiri ndi kukoka ntchito.	Onani ngati mphamvu yolowetsayo ili yochulukatage, komanso ngati pali kuthekera kokakoka mokakamiza
Vuto la kutentha kwagalimoto	Ngati kutentha kwa injini kupitirira mtengo wokhazikitsidwa, pakhoza kukhala yochepa kuzungulira, zolakwika za parameter, ndikugwiritsa ntchito mochulukira kwa nthawi yayitali	Onani ngati magawo agalimoto ali olondola, ngati pali dera lalifupi, komanso ngati katunduyo ndi wamkulu kwambiri
Vuto lakusintha kwa encoder	Zotsatira zakusintha kwa encoder zimapatuka pamtengo wokhazikika	Onani ngati katundu wagalimoto ndi wamkulu kwambiri, mutha kuchotsa kapena kuchepetsa katunduyo, onjezerani Loop yotseguka yofananira pano moyenera, ndikuwongoleranso injiniyo.

Zolemba / Zothandizira

RobotShop V3.0 Debugging Software [pdf] Buku Logwiritsa Ntchito V3.0, V3.0 Debugging Software, Debugging Software, Software

Maumboni

• Buku Logwiritsa Ntchito