TRINAMIC PD-1160 UNIQUE FEATURES Stepper Motor e nang le Controller Driver
Tlhahisoleseding ya Sehlahiswa
- Lebitso la Sehlahiswa: PANdrive Stepper Motor e nang le Molaoli / Mokhanni
- Hardware Version: V1.1
- Moetsi: TRINAMIC Motion Control GmbH & Co. KG
- Websebaka: www.trinamic.com
Likarolo tse Ikhethang
- Stepper motor e nang le molaoli / mokhanni
- 0.55 - 3.1 Nm torque
- 48V sensOstepTM Encoder
- USB, RS485, le likhokahano tsa CAN
- Mohato/Dir Interface
Likhoutu tsa Odara
PD-1160
Tšebelisano ea Mechini le Motlakase
Litekanyo tsa PD57-1160
Litekanyo tsa PD57-1160 li fumaneha bukeng ea Hardware.
Litekanyo tsa PD60-1160
Litekanyo tsa PD60-1160 li fumaneha bukeng ea Hardware.
Li-Jumpers
Pheliso ea libese ea RS485
Litaelo tsa ho felisoa ha libese tsa RS485 li fumaneha bukeng ea Hardware.
CAN Ho Felisoa ha Libese
Litaelo tsa ho emisa libese tsa CAN li fumaneha bukeng ea lisebelisoa.
Li-curve
PD57-1160 Torque Curves
Li-curve tsa torque bakeng sa PD57-1160 li fumaneha bukeng ea lisebelisoa.
PD60-1160 Torque Curves
Li-curve tsa torque bakeng sa PD60-1160 li fumaneha bukeng ea lisebelisoa.
Tlhaloso ea Ts'ebetso
Tlhaloso e qaqileng ea ts'ebetso e fumaneha bukeng ea hardware.
Tlhaloso ea Ts'ebetso
Tlhaloso ea ts'ebetso ea PD-1160 e fumaneha bukeng ea hardware.
Leano la Tšehetso ea Bophelo
Lintlha tse mabapi le leano la ts'ehetso ea bophelo li fumaneha bukeng ea hardware.
Nalane ea Phetoho
Nalane ea ntlafatso ea PD-1160 e fumaneha bukeng ea lisebelisoa.
PD-1160
Stepper Motor e nang le Controller / Driver 0.55 - 3.1 Nm / 48 V sensOstep™ Encoder USB, RS485, le CAN Step/Dir Interface
Likaroloana
PANdrive™ PD-1160 ke tharollo e felletseng ea mochini o nang le likarolo tsa boemo ba bonono. E kopantsoe haholo mme e fana ka ts'ebetso e bonolo. PD-1160 e kenyelletsa enjene ea stepper, controller/driver electronics, le TRINAMICs sensOstep™ encoder. E ka sebelisoa lits'ebetsong tse ngata tse arohaneng 'me e etselitsoe 0.55… 3.1Nm max. e tšoereng torque le 24 kapa 48 V DC nominal supply voltage. Ka matla a eona a phahameng a matla a tsoang ho TRINAMIC's coolStep tekhenoloji litšenyehelo tsa tšebeliso ea matla li lula li le tlase. Firmware ea TMCL™ e lumella ts'ebetso e ikemetseng le mokhoa o tobileng.
LIEKETSENG SEHOLO
Molaoli oa motsamao
- Motion profile palo ka nako ea sebele
- Phetoho e fofang ea liparamente tsa makoloi (mohlala, boemo, lebelo, lebelo)
- Microcontroller e phahameng ea ts'ebetso bakeng sa taolo ea sistimi ka kakaretso le ho sebetsana le protocol ea serial communication
Bipolar stepper motor driver
- Ho fihla ho li-microstep tse 256 ka mohato o felletseng
- Ts'ebetso e phahameng haholo, ho felloa ke matla a fokolang
- Taolo ea hona joale e matla
- Tšireletso e kopaneng
- stallGuard2 tšobotsi bakeng sa ho fumanoa ha li-stall
- coolStep tšobotsi bakeng sa ho fokotsa tshebediso ya matla le ho qhala mocheso
Encoder
- sensOstep magnetic encoder (1024 increments per rotation) mohlala bakeng sa ho lemoha tahlehelo ea mehato tlas'a maemo ohle a ts'ebetso le tlhokomelo ea boemo.
- Sehokelo sa khokahanyo ea khouto ea kantle ea a/b/n
Li-interface
- RS485 sebopeho
- CAN (2.0B ho fihla ho 1Mbit/s) segokanyimmediamentsi sa sebolokigolo
- Sehokelo sa USB sa lebelo le felletseng (12Mbit/s).
- Sehokelo sa Mohato/Tsamaiso (se ikhethileng ka mokhoa o ikhethileng)
- Lisebelisoa tse 3 bakeng sa li-stop switch le switch ea lapeng (+24V e lumellana) e nang le lenaneo le hulang
- Lisebelisoa tse 2 tsa sepheo se akaretsang (+24V e tsamaellana) le liphetho tse 2 tsa sepheo se akaretsang (moqokeleli ea bulehileng)
- Sehokelo sa encoder sa a/b/n (TTL le matshwao a pokelli a bulehileng a tsheheditswe ka kotloloho)
Likarolo tsa polokeho
- Kenyelletso ea ho koala - mokhanni o tla holofala ka har'a Hardware ha feela phini ena e siiloe e butsoe kapa e khutsufalitsoe fatše
- Arohane phepelo voltage inputs for driver and digital logic - driver supply voltage ka 'na ea tima ka ntle ha phepelo ea logic ea dijithale e ntse e sebetsa
Software
- TMCL: ts'ebetso e ikemetseng kapa ts'ebetso e laoloang hole, memori ea lenaneo (e sa fetoheng) bakeng sa litaelo tse fihlang ho 2048 TMCL, le software ea nts'etsopele ea ts'ebeliso e thehiloeng ho PC ea TMCL-IDE e fumanehang mahala.
- E loketse CANopen
Lintlha tsa motlakase le tsa mochini
- Phepelo voltage: phepelo e tloaelehileng voltages +12 V DC / +24 V DC / +48 V DC e tšehelitsoe (+9 V… +51 V DC)
- Motlakase oa hona joale: ho fihla ho 2.8 A RMS (e hlophisitsoeng)
- 0.55… 3.1Nm boholo. ho tšoara torque (ho itšetlehile ka motlakase)
- E nang le NEMA23 (57mm motor flange size) kapa NEMA24 (60mm motor flange size) stepper motor
Sheba ho arola TMCL Firmware Manual, hape.
LINTLHA TSE KHETHEHILENG tsa TRINAMICS – HO BOnolo ho li SEBELISA LE TMCL
stallGuard2™ stallGuard2 ke tekanyo e nepahetseng ea mojaro e se nang kutlo e sebelisang mokokotlo oa EMF holim'a likhoele. E ka sebelisoa bakeng sa ho bona li-stall le litšebeliso tse ling mejarong e ka tlase ho e emisang koloi. Boleng ba tekanyo ea stallGuard2 bo fetoha ka tsela e fapaneng holim'a mefuta e mengata ea mojaro, lebelo le maemo a hona joale. Boemong bo phahameng ba motlakase, boleng bo ea ho zero kapa haufi le zero. Ena ke ntlha e sebetsang hantle ka ho fetesisa bakeng sa enjene.
coolStep™ coolStep ke sekala sa hajoale se ikamahanyang le mojaro se ipapisitseng le tekanyo ea mojaro ka stallGuard2 ho ikamahanya le nako e hlokahalang ho mojaro. Tšebeliso ea matla e ka fokotsoa ka hoo e ka bang 75%. coolStep e lumella ho boloka matla a mangata, haholo-holo bakeng sa lienjineri tse bonang meroalo e fapaneng kapa tse sebetsang ka nako ea mosebetsi o mongata. Hobane sesebelisoa sa motor stepper se hloka ho sebetsa le torque reserve ea 30% ho isa ho 50%, esita le ts'ebeliso e sa khaotseng ea mojaro e lumella ho boloka matla a bohlokoa hobane coolStep e etsa hore torque e bolokehe ha ho hlokahala. Ho fokotsa tšebeliso ea matla ho boloka sistimi e pholile, ho eketsa bophelo ba koloi, hape ho lumella ho fokotsa litšenyehelo.
Likhoutu tsa Odara
PD-1160 hajoale e fumaneha ka letoto la li-motor tse peli tse fapaneng (NEMA23 / 57mm flange size kapa NEMA24 / 60mm flange size):
Ka NEMA 23 / 57mm enjene ea boholo ba flange:
Bolelele ba PANdrives bo hlalositsoe ntle le bolelele ba axis. Bakeng sa bolelele bohle ba sehlahisoa ka kopo eketsa 24mm.
Lethathamo la 2.1 Likhoutu tsa odara (PD57-1160)
| Odara khoutu | Tlhaloso | Boholo (mm3) |
| PD57-1-1160 | PANDrive le 0.55Nm max./holding torque | 60 x 60 x 58 |
| PD57-2-1160 | PANDrive le 1.01Nm max./holding torque | 60 x 60 x 68 |
Ka NEMA 24 / 60mm enjene ea boholo ba flange:
Bolelele ba PANdrives bo hlalositsoe ntle le bolelele ba axis. Bakeng sa bolelele bohle ba sehlahisoa eketsa 24mm.
Lethathamo la 2.2 Likhoutu tsa odara (PD60-1160)
| Odara khoutu | Tlhaloso | Boholo (mm3) |
| PD60-3-1160 | PANDrive le 2.10Nm max./holding torque | 60 x 60 x 82 |
| PD60-4-1160 | PANDrive le 3.10Nm max./holding torque | 60 x 60 x 103 |
Sete ea loom ea cable e teng bakeng sa mojule ona:
Lethathamo la 2.3 Likhoutu tsa odara tsa thapo
| Odara khoutu | Tlhaloso |
| PD-1160-CABLE | Lesela la thapo bakeng sa PD-1160:
- 1x lesela la thapo bakeng sa sehokelo sa matla (bolelele ba 200mm) - 1x lesela la thapo bakeng sa sehokelo sa puisano (bolelele ba 200mm) – 1x thapo loom bakeng sa multipurpose I/O sehokelo (bolelele 200mm) - 1x sehokelo sa thapo bakeng sa sehokelo sa S/D (bolelele ba 200mm) - 1x sehokelo sa thapo bakeng sa sehokelo sa encoder (bolelele ba 200mm) - 1x sehokelo sa mofuta oa USB oa mofuta oa A ho thapo ea sehokelo sa mofuta oa B mini-USB (bolelele ba 1.5m) |
Tšebelisano ea Mechini le Motlakase
PD57-1160 le PD60-1160 Litekanyo
- Litekanyo tsa PD57-1160
PD57-1160 e kenyelletsa TMCM-1160 stepper motor controller/driver module, encoder ea makenete e thehiloeng ho theknoloji ea sensOstep le NEMA23 bipolar stepper motor. Hajoale, ho na le khetho pakeng tsa li-motor tse peli tsa NEMA 23/57mm bipolar stepper tse nang le bolelele bo fapaneng le li-torque tse fapaneng.
- Litekanyo tsa PD60-1160
Hajoale, ho na le khetho lipakeng tsa li-motor tse peli tsa NEMA 24/60mm bipolar stepper tse nang le bolelele bo fapaneng le li-torque tse fapaneng.
Lihokelo tsa PD-1160
PD-1160 e fana ka likhokahano tse supileng ho kenyelletsa le sehokelo sa enjene se sebelisetsoang ho hokela likhoele tsa enjene ho lisebelisoa tsa elektroniki. Ntle le sehokelo sa matla ho na le likhokahano tse peli bakeng sa puisano ea serial (sehokelo sa mini-USB le sehokelo sa 5pin bakeng sa RS485 le CAN) le likhokahano tse tharo bakeng sa Mohato / Tataiso, matšoao a mangata a ho kenya / ho tsoa, le bakeng sa encoder ea kantle.
Sehokelo sa merero e mengata se fana ka liphetho tse peli tse akaretsang, tse peli tsa sepheo se akaretsang, tse peli bakeng sa switch switch ea lapeng le e 'ngoe bakeng sa switch ea lapeng.
Sehokelo sa phepelo ea motlakase se fana ka lintho tse kentsoeng ka thoko bakeng sa mokhanni le bakeng sa phepelo ea motlakase ea logic hammoho le ho koala ha hardware. Ho siea senotlolo sa ho koala se butsoe kapa ho se tlamella fatše ho tla tima mokhanni oa koloi stage ka hardware. Bakeng sa ts'ebetso, tlhahiso ena e lokela ho tlamahanngoa le voltage.
Lethathamo la 3.1 Lihokelo le likhokahanyo tsa ho nyalana, mabitso le terata e sebetsang
| Label | Mofuta oa sehokelo | Mofuta oa sehokelo sa mating |
| Sehokelo sa Matla | JST B4B-EH-A
(Letoto la JST EH, 4pins, 2.5mm pitch) |
Ntlo ea likhokahanyo: JST EHR-4 Mabitso: JST SEH-001T-P0.6
Mohala: 0.33mm2, AWG 22 |
| Puisano ka serial
Sehokedi |
JST B5B-PH-KS
(Letoto la JST PH, 5pins, 2mm pitch) |
Ntlo ea likhokahanyo: JST PHR-5 Mabitso: JST SPH-002T-P0.5S
Mohala: 0.22mm2, AWG 24 |
| Multi-purpose I/O Connector | JST B8B-PH-KS
(Letoto la JST PH, 8pins, 2mm pitch) |
Ntlo ea likhokahanyo: JST PHR-8 Mabitso: JST SPH-002T-P0.5S
Mohala: 0.22mm2, AWG 24 |
| Mohokahanyi oa Mohato/Tsamaiso | JST B4B-PH-KS
(Letoto la JST EH, 4pins, 2mm pitch) |
Ntlo ea likhokahanyo: JST PHR-4 Mabitso: JST SPH-002T-P0.5S
Mohala: 0.22mm2, AWG 24 |
| Sehokelo sa Encoder | JST B5B-PH-KS
(Letoto la JST EH, 5pins, 2mm pitch) |
Ntlo ea likhokahanyo: JST PHR-5 Mabitso: JST SPH-002T-P0.5S
Mohala: 0.22mm2, AWG 24 |
| Motlakase oa Motlakase | JST B4B-EH-A
(Letoto la JST PH, 4pins, 2.5mm pitch) |
Ntlo ea likhokahanyo: JST EHR-4 Mabitso: JST SEH-001T-P0.6
Mohala: 0.33mm2, AWG 22 |
| USB e nyane
Sehokedi |
Molex 500075-1517
Sebapali se theohileng sa mofuta oa B sa USB se senyenyane |
Polaka efe kapa efe e tloaelehileng ea mini-USB |
Sehokelo sa Matla
PANdrive ena e fana ka lisebelisoa tse arohaneng tsa phepelo ea motlakase bakeng sa logic ea dijithale (pin 2) le driver/power stage (pin 1). Lisebelisoa tsa phepelo ka bobeli li sebelisa likhokahano tse tloaelehileng (pin 4). Ka tsela ena, phepelo ea motlakase bakeng sa mokhanni stage ka 'na ea tima ha e ntse e boloka tlhahisoleseding ea boemo le boemo ha e boloka phepelo ea logic ea digital e sebetsa. Ka lebaka la diode e ka hare, phepelo ea logic ea dijithale e tlameha ho lekana kapa e phahame ho feta mokhanni / matla a stage phepelo. Ho seng joalo diode pakeng tsa mokhanni / matla stagphepelo ea e le phepelo ea kelello ea dijithale e ka khutsufatsa lisebelisoa tse fapaneng.
+ PHEPO FEELA
Haeba motlakase o fanoa feela karolong ea matla (pin 1) diode e ka hare e tla aba matla karolong ea logic. Kahoo, ha lisebelisoa tsa motlakase tse arohaneng li sa hlokehe, ho ka khoneha ho sebelisa pin 1 le 4 bakeng sa ho matlafatsa mojule. Haeba ho joalo, pin 2 (phepelo ea logic) le pin 3 (/SHUTDOWN input) li ka hokahana hammoho ho thusa mokhanni s.tage.
HO THUSA MOKHAHIRI STAGE
Hokela /SHUTDOWN kenyeletso ho +UDriver kapa +ULogic ho kenya tšebetsong mokhanni stage. Ho tlohela tlhahiso ena e butsoe kapa ho e hokela fatše ho tla tima mokhanni stage.
Sehokelo sa 4-pin JST EH letoto la B4B-EH se sebelisoa e le sehokelo sa matla botong.
Lethathamo la 3.2 Sehokelo bakeng sa phepelo ea motlakase
| Pin | Label | Tlhaloso | |
| 1 | + VDriver | Mojule + mokhanni stage kenya letsoho phepelo ea motlakase | |
| 2 | + VLogic | (Ka boikhethelo) ho kenya letsoho ka thoko ho matla a matla a dijithale | |
 |
3 |
/KOALA |
Ho koala sekheo. Hokela tlhahiso ena ho +VMokhanni kapa +VMaikutlo molemong oa ho
kenya tshebetsong mokhanni stage. Ho siea molaetsa ona o butsoe kapa o o hokela fatše |
| e tla tima mokhanni stage | |||
| 4 | GND | Sebaka sa module (phepelo ea motlakase le sebaka sa pontšo) |
Phepelo ea motlakase
Bakeng sa ts'ebetso e nepahetseng, tlhokomelo e tlameha ho nkuoa mabapi le mohopolo oa phepelo ea motlakase le moralo. Ka lebaka la lithibelo tsa sebaka mojule oa TMCM-1160 o kenyelletsa hoo e ka bang 20 μF / 100 V ea li-capacitor tsa filthara ea phepelo. Tsena ke li-capacitor tsa ceramic tse khethiloeng bakeng sa ts'epo e phahameng le nako e telele ea bophelo.
LITLHAKISO TSA LIKHABELLO TSA PHEKO EA MATLA
- Boloka lithapo tsa phepelo ea motlakase li le khutšoane ka moo ho ka khonehang.
- Sebelisa li-diameter tse kholo bakeng sa likhoele tsa phepelo ea motlakase.
TLHOKOMELO!
 |
Kenya li-capacitor tsa phepelo ea matla a kantle!
Ho kgothaletswa ho hokahanya electrolytic capacitor ea boholo ba bohlokoa (mohlala, 2200 µF / 63 V) ho lithapo tsa phepelo ea motlakase haufi le PD-1160 haholo-holo haeba sebaka sa motlakase se le seholo (ke hore ho feta 2-3m)!
μF Molao oa monoana bakeng sa boholo ba electrolytic capacitor: c = 1000 × IMOT A Ntle le ho tsitsisa matla (buffer) le ho sefa capacitor ena e ekelitsoeng le eona e tla fokotsa voltagli-spikes tse ka 'nang tsa hlaha ho tsoa ho motsoako oa lithapo tse phahameng tsa motlakase le li-capacitor tsa ceramic. Ho feta moo, e tla fokotsa sekhahla sa phepelo ea motlakasetage mojuleng. ESR e tlase ea li-filter capacitor tsa ceramic-feela e ka baka mathata a botsitso ka lisebelisoa tse ling tsa motlakase. |
| |
Se ke oa hokela kapa oa khaola motlakase nakong ea ts'ebetso!
Motlakase oa motlakase le motlakase oa motlakase o ka lebisa ho voltage spikes ha enjene e khaotsoe / e hokahantsoe ha e ntse e le matla. Tsena voltagli-spikes li ka feta voltage meeli ea mokhanni MOSFETs |
| 'me e ka ba senya ka ho sa feleng. Ka hona, kamehla khaola phepelo ea motlakase pele o hokela / o hakolla enjene. | |
| |
Boloka matla a phepelo ea matlatage ka tlase ho moeli o ka holimo oa 51V!
Ho seng joalo, lisebelisoa tsa motlakase tsa mokhanni li tla senyeha haholo! Haholo-holo, ha a khetha tshebetso voltage haufi le moeli o ka holimo, phepelo ea motlakase e laoloang e khothaletsoa haholo. Ka kopo sheba hape khaolo Fehler! Verweisquelle konnte nicht gefunden werden.Fehler! Verweisquelle konnte nicht gefunden werden. (litekanyetso tsa ts'ebetso). |
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Ha ho na tšireletso ea reverse polarity!
Mojule o tla khutsufatsa phepelo efe kapa efe e fetotsoengtage ka lebaka la diode tse ka hare tsa mokhanni oa transistors. |
Sehokelo sa Puisano ea Seri
Mojule o tšehetsa puisano ea RS485 le CAN ka sehokelo sena.
CAN segokanyimmediamentsi sa sebolokigolo se tla tima haeba USB e hoketswe ka lebaka la karohano ya ka hare ya mehlodi ya hardware.
Sehokelo sa 2mm pitch 5-pin JST B5B-PH-K se sebelisoa bakeng sa puisano ea serial.
Lethathamo la 3.3 Sehokelo bakeng sa puisano ea serial
 |
Pin | Label | Tlhaloso |
| 1 | TLHOKOMELISO | Lets'oao la libese la CAN (e holimo holimo) | |
| 2 | KA_L | Lets'oao la libese la CAN (le tlase haholo) | |
| 3 | GND | Sebaka sa module (sistimi le sebaka sa lipontšo) | |
| 4 | RS485+ | Letšoao la libese la RS485 (le sa khelosoa) | |
| 5 | EA-RS485 | Letšoao la libese la RS485 (le kentsoeng) |
RS485
Bakeng sa taolo e hole le puisano le sistimi e amohelang PD-1160 e fana ka sebopeho sa libese tse peli tsa RS485.
Bakeng sa ts'ebetso e nepahetseng, lintlha tse latelang li lokela ho tsotelloa ha u theha marang-rang a RS485:
- SEBOPEHO SA BESE:
Topology ea marang-rang e lokela ho latela sebopeho sa libese haufi-ufi kamoo ho ka khonehang. Ke hore, kamano pakeng tsa
node ka 'ngoe le bese ka boeona e lokela ho ba khutšoanyane kamoo ho ka khonehang. Ha e le hantle, e lokela ho ba khutšoanyane bapisoa le
bolelele ba bese.
- HO FETSA BESE:
Haholo-holo bakeng sa libese tse telele le/kapa li-node tse ngata tse hokahaneng le bese le/kapa lebelo le phahameng la puisano, bese e lokela ho emisoa hantle lintlheng tse peli. PD-1160 e fana ka li-resistant tsa ho emisa ka har'a board tse ka sebelisoang ka thuso ea jumper. jumper e tlameha ho tlosoa bakeng sa likarolo tse sa hokahaneng le pheletsong e 'ngoe ea bese! - NUMBER OF NODE:
Tekanyetso ea sehokelo sa motlakase ea RS485 (EIA-485) e lumella li-node tse fihlang ho tse 32 ho hokela beseng e le 'ngoe.
Transceiver ea libese e sebelisoang li-unit tsa PD-1160 (SN65HVD485ED) e na le 1/2 ea mojaro o tloaelehileng oa libese mme e lumella boholo ba li-unit tsa 64 hore li hokahane le bese e le 'ngoe ea RS485. - HA HO LILINE TSA LIBOSE TSE PHAPANG:
Qoba litselana tsa libese tse phaphametseng ha moamoheli/monghali kapa le le leng la makhoba a tseleng ea bese a fetisang data (li-node tsohle tsa libese li fetotsoe ho amohela mokhoa oa ho amohela). Litsela tsa libese tse phaphametseng li ka baka liphoso tsa puisano. E le ho etsa bonnete ba hore matšoao a sebetsang ka beseng ho khothalletsoa ho sebelisa marang-rang a hanyetsanang a kopanyang litsela tse peli tsa libese ho ea ho maemo a hlalositsoeng hantle. Ho fapana le li-resistars tsa ho felisa marang-rang ana hangata a hlokahala hanngoe feela ka bese. Li-converter tse ling tsa RS485 tse fumanehang bakeng sa li-PC li se li kenyelletsa li-resistance tsena tse eketsehileng (mohlala, USB-2-485).
KA
Bakeng sa taolo e hole le puisano le sistimi e amohelang PD-1160 e fana ka sebopeho sa libese tsa CAN. Ka kopo hlokomela hore sebopeho sa CAN ha se fumanehe haeba USB e hokahane. Bakeng sa ts'ebetso e nepahetseng, lintlha tse latelang li lokela ho tsotelloa ha u theha marang-rang a CAN:
- SEBOPEHO SA BESE:
Topology ea marang-rang e lokela ho latela sebopeho sa libese haufi-ufi kamoo ho ka khonehang. Ke hore, kamano pakeng tsa node ka 'ngoe le bese ka boeona e lokela ho ba khutšoanyane ka hohle kamoo ho ka khonehang. Ha e le hantle, e lokela ho ba khutšoanyane ha e bapisoa le bolelele ba bese.
- HO FETSA BESE:
Haholo-holo bakeng sa libese tse telele le/kapa li-node tse ngata tse hokahaneng le bese le/kapa lebelo le phahameng la puisano, bese e lokela ho emisoa hantle lintlheng tse peli. PD-1160 e fana ka lihanyetsi tsa ho emisa ka har'a board tse ka sebelisoang ka thuso ea jumper (sheba khaolo ea 7). jumper e tlameha ho tlosoa bakeng sa likarolo tse sa hokahaneng le pheletsong e 'ngoe ea bese! - NUMBER OF NODE:
Transceiver ea libese e sebelisoang ho li-unit tsa PD-1160 (TJA1050T kapa tse tšoanang) e tšehetsa bonyane li-node tsa 110 tlas'a maemo a nepahetseng. Palo e ka finyelloang ea li-node ka bese ea CAN haholo e itšetlehile ka bolelele ba libese (bese e telele -> libaka tse fokolang) le lebelo la puisano (lebelo le phahameng -> li-node tse fokolang).
Multipurpose I/O Connector
Sehokelo sa 2mm pitch 8-pin JST B8B-PH-K se sebelisoa bakeng sa ho hokela lisebelisoa tsa sepheo se akaretsang, li-switches tsa lapeng le tsa ho emisa le liphetho ho yuniti:
Lethathamo la 3.4 Multipurpose I/O sehokedi
 |
Pin | Label | Tlhaloso |
| 1 | OUT_0 | Tlhahiso e akaretsang, drainage e bulehileng (max. 1A) Diode e kopantsoeng ea freewheeling e hoketsoeng ho +VMaikutlo | |
| 2 | OUT_1 | Sephetho sa sepheo se akaretsang, drain e bulehileng (max. 1A)
Diode e kopantsoeng ea freewheeling e hokahaneng le +VMaikutlo |
|
| 3 | IN_0 | Kenyelletso ea sepheo se akaretsang (analoge le dijithale), +24V e tsamaellana
Qeto ha e sebelisoa e le tlhahiso ea analog: 12bit (0..4095) |
|
| 4 | IN_1 | Kenyelletso ea sepheo se akaretsang (analoge le dijithale), +24V e tsamaellana
Qeto ha e sebelisoa e le tlhahiso ea analog: 12bit (0..4095) |
|
| 5 | STOP_L | Kenyelletso ea ho emisa ho emisa ka ho le letšehali (kenyelletso ea dijithale), +24V e tsamaellana, e ka hlophiseha
ka hare ho hula-ho fihlela ho +5V |
|
| 6 | STOP_R | Kenyelletso ea switjha ea ho emisa ka ho le letona (kenyo ea dijithale), +24V e tsamaellana, e ka lokisoa
ka hare ho hula-ho fihlela ho +5V |
|
| 7 | LEHAE | Kenyelletso ea sesebelisoa sa lapeng (ho kenya dijithale), +24V e tsamaellana, e ka hlophiseha
ka hare ho hula-ho fihlela ho +5V |
|
| 8 | GND | Sebaka sa module (sistimi le sebaka sa lipontšo) |
Hlokomela:
Lisebelisoa tsohle li na le matla a matla a ho hanyetsatagli- dividers tse nang le li-diode tsa tšireletso. Lihanyetsi tsena li boetse li netefatsa boemo bo nepahetseng ba GND ha bo siuoa bo sa hokahane.
Bakeng sa lisebelisoa tsa litšupiso (STOP_L, STOP_R, HOME) sehanyetsi se hulang holimo sa 1k ho +5V se ka kengoa tšebetsong (ka thoko bakeng sa kenyo ka 'ngoe). Ebe lintho tsena tse kenang li na le boemo ba "1" bo sa fetoheng (bo sa hokahaneng) 'me switch ea kantle ho GND e ka hokahanngoa.
- Litlhahiso tsa Digital STOP_L, STOP_R, le HOME
Sehokelo sa phini tse robeli sa PD-1160 se fana ka lisebelisoa tse tharo tsa litšupiso tsa dijithale STOP_L, STOP_R le HOME.
Lisebelisoa tse tharo kaofela li amohela ho fihla ho +24 V matshwao a ho kenya. Li sirelelitsoe khahlanong le matla ana a phahamengtage sebelisa voltagli-resistor dividers hammoho le li-diode tse fokotsang khahlano le voltages ka tlase ho 0 V (GND) le ka holimo +3.3 V DC.
Lisebelisoa tse tharo tsa dijithale li hokahantsoe le processor ea board, 'me li ka sebelisoa e le lisebelisoa tse akaretsang tsa dijithale! - Litlhahiso tsa Morero ka Kakaretso IN_0 le IN_1
Sehokelo sa phini tse robeli sa PD-1160 se fana ka likenyelletso tse peli tse akaretsang tse ka sebelisoang e le litlatsetso tsa dijithale kapa tsa analog.
LIKENYETSO TSE KAKARETSO JOALOKA LINTHO TSA ANALOGE
Joalo ka tlhahiso ea analoge ba fana ka mefuta e felletseng ea 0… +10 V e nang le qeto ea sesebelisoa sa kahare sa analog-to-digital sa microcontroller ea 12bit (0… 4095). Kenyelletso e sirelelitsoe khahlanong le matla a holimotage fihla ho +24 V ho sebelisa voltagli-resistor dividers hammoho le li-diode tse fokotsang khahlano le voltages ka tlase ho 0 V (GND) le ka holimo +3.3 V DC.
- Liphetho OUT_0, OUT_1
Sehokelo sa phini tse robeli sa PD-1160 se fana ka liphetho tse peli tsa sepheo se akaretsang OUT_0 le OUT_1. Liphetho tsena tse peli ke liphetho tse bulehileng 'me li ka teba ho fihla ho 1 A e' ngoe le e 'ngoe. Liphetho tsa li-transistors tsa N-channel MOSFET li hokahane le li-diode tsa freewheeling e 'ngoe le e' ngoe bakeng sa ts'ireletso khahlanong le vol.tage spikes haholo-holo ho tloha meroalo e inductive (li-relay joalo-joalo) ka holimo ho matla a phepelotage.- Haeba li-diode tsa mahala tsa mabili li hokahantsoe le phallo ea VDD voltage:
Ha ho le e 'ngoe ea liphetho tse peli e lokelang ho amahanngoa le molumo ofe kapa ofetage ka holimo phepelo voltage ea mojule. - Ho khothaletsoa ho hokela +Vlogic ea sehokelo sa matla ho phepelo ea motlakase e le hore liphetho tsa OUT_0/1 li sebelisoe ho chencha meroalo e kenang (mohlala, li-relay jj.).
- Haeba li-diode tsa mahala tsa mabili li hokahantsoe le phallo ea VDD voltage:
Mohokahanyi oa Mohato/Tsamaiso
Sehokelo sa 2mm pitch 4-pin JST B4B-PH-K se sebelisoa bakeng sa matshwao a ho kenya mehato le tataiso. Ena ke khetho haeba molaoli oa on-board o sebelisoa bakeng sa tlhophiso ea mokhanni stage, feela. Phapang ea Mohato / Tataiso e arotsoe ka mokhoa o ikhethileng 'me e tla lumella taolo e tobileng ea mokhanni stage.
Ka kopo o se ke oa hokela lets'oao lefe kapa lefe ho kenyelletso ena haeba ho sebelisoa molaoli oa motsamao o holim'a board! Ho seng joalo, lets'oao kapa lets'oao le hoketsoeng mona le ka kena-kenana le matšoao a hlahang botong.
Lethathamo la 3.4 Sehokelo bakeng sa matshwao a kgato/taelo
 |
Pin | Label | Tlhaloso |
| 1 | COM | Phepelo e tloaelehileng bakeng sa lisebelisoa tsa opto-coupler (+5V… +24V) | |
| 2 | THUSOA | Dumella ho kenya letshwao
(ts'ebetso e ipapisitse le firmware) |
|
| 3 | MOHATO | Mohato oa ho kenya lets'oao
(e hokahane le mohato oa ho kenya mokhanni oa TMC262 IC) |
|
| 4 | TS'ELISO | Lesupa la tataiso
(e hokahane le tlhahiso ea tataiso ea mokhanni oa TMC262 IC) |
Mohato / Tataiso / Nolofatsa lintho tse kenang
Lintlha tse kenang Mohato, Tataiso le Enable li arotsoe ka motlakase (optically) ho tloha phepelong ea motlakase le matšoao a mang kaofela a mojule. Litlhahiso tsena li na le litšupiso tse tšoanang COMMON.
Kenyelletso ea COMMON e lokela ho amahanngoa le phallo e ntle ea voltage pakeng tsa +5 V le +24 V. Mohato / Tataiso / Numella matšoao a ka 'na a khannoa ke li-open-collector / open-drain outputs kapa ka push-pull outputs.
Haeba ho ka ba le liphetho tsa push-pull the COMMON supply voltage e lokela ho lekana / tšoana le molumo o phahameng oa lets'oaotage boemo ba bakhanni ba push-pull.
Sehokelo sa Encoder
Mojule o ts'ehetsa sehokelo sa kantle sa a/b/n ka sehokelo sena. Encoder ea kantle e ka sebelisoa ho ekelletsa kapa e le mokhoa o mong ho encoder ea kahare / ka board ea sensOstep.
Sehokelo sa 2mm pitch 5-pin JST B5B-PH-K se sebelisetsoa ho hokela encoder ea kantle le TTL (+5 V push-pull) kapa mats'oao a bulehileng ka kotloloho:
Lethathamo la 3.5 Sehokelo bakeng sa sekhoudara sa ka ntle
|
Pin | Label | Tlhaloso |
| 1 | GND | Sebaka sa module (sistimi le sebaka sa lipontšo) | |
| 2 | +5V | + 5V phepelo e hlahisoang bakeng sa potoloho ea encoder ea kantle (100 mA max.) | |
| 3 | ENC_A | Kouto se kentsweng sa kanale (ho hula ka hare) | |
| 4 | ENC_B | Kenyeletso ea mocha oa Encoder b (ho hula ka hare) | |
| 5 | ENC_N | Ho ikhethela encoder n / index channel (ho hula ka hare) |
Litlhahiso tsa Encoder
PD-1160 e fana ka tlhahiso e inehetseng ea encoder bakeng sa li-encoder tsa a/b tse nang le boikhethelo ba n / index-channel.
Li-encoder tse nang le matšoao a +5 V push-pull (TTL) kapa mats'oao a kolekeng a bulehileng (li-pull-ups) li ka hokelloa ka kotloloho.
Sehokelo sena se fana ka tlhahiso ea phepelo ea +5 V bakeng sa phepelo ea potoloho ea encoder. Ho ka huloa ho fihla ho 100mA ho tsoa tlhahisong ena.
Ho hokela encoder ea kantle ke khetho. Encoder ea kantle e kanna ea sebelisoa ho ekelletsa kapa joalo ka mokhoa o mong ho sensOstep encoder ea kahare.
Motlakase oa Motlakase
Ka bobeli li-coil windings (bipolar stepper motor) li hokahane le sehokelo sa enjene.
Setšoantšo sa 3.4 Sehokedi sa makoloi
 |
Pin | Label | Tlhaloso |
| 1 | OA1 | Motlakase oa motlakase A | |
| 2 | OA2 | Motlakase oa motlakase A | |
| 3 | OB1 | Koele ea motlakase B | |
| 4 | OB2 | Koele ea motlakase B |
TLHOKOMELO!
Boloka lisebelisoa tsa elektroniki li se na likaroloana (tsa tšepe)!
Sesebelisoa se kopaneng sa sensOstep™ se sebelisa makenete qetellong ea axis ea enjine ho lekola boemo. Ka tlhaho makenete o hohela likaroloana tsa tšepe tse nyane haholo. Likaroloana tsena li ka ts'oaroa ka lehlakoreng le ka holimo la PCB mme le ho feta - qala ho tsamaea ho latela matla a khoheli a potolohang hang ha enjene e qala ho tsamaea. Sena se ka lebisa ho likhutšoane tsa likhokahano / lithapo tsa elektroniki botong le boitšoaro bo sa tsitsang ba mojule! Sebelisa moea o hatelitsoeng ho hloekisa mojule ha ho hlokahala.
Sehokelo se senyane sa USB
Sehokelo sa 5-pin se tloaelehileng sa mini-USB se fumaneha ka sekepeng. Mojule ona o ts'ehetsa likhokahano tsa USB 2.0 tsa lebelo le felletseng (12Mbit/s).
Lemoha ka kopo:
- On-board digital core logic (haholo-holo processor le EEPROM) e tla tsamaisoa ka USB haeba ho se na phepelo e 'ngoe e hoketsoeng. Khokahano ea USB e kanna ea sebelisoa ho seta liparamente / khoasolla mananeo a TMCL kapa ho etsa liapdeite tsa firmware ha phepelo ea motlakase bakeng sa module (le mochini o mong) e tingoe kapa e sa hokahanngoa.
- CAN segokanyimmediamentsi sa sebolokigolo se tla tima hang ha USB e hoketswe ka lebaka la karohano ya ka hare ya mehlodi ya hardware.
Lethathamo la 3.6 Sehokedi sa Mini Mini
 |
Pin | Label | Tlhaloso |
| 1 | V-BUS | + 5V phepelo e tsoang ho moamoheli | |
| 2 | D- | Lintlha - | |
| 3 | D+ | Lintlha + | |
| 4 | ID | Ha e kopane | |
| 5 | GND | Sebaka sa module (sistimi le sebaka sa lipontšo) |
Bakeng sa taolo e hole le puisano le sistimi e amohelang PD-1160 e fana ka sebopeho sa USB 2.0 se lebelo le felletseng (12Mbit/s) (sehokelo sa mini-USB). Hang ha USB-Host e hokahantsoe module e tla amohela litaelo ka USB.
TSAMAISO EA TS'EBETSO E TLA TS'OA KE USB
PD-1160 e ts'ehetsa ka bobeli, ts'ebetso e ikemetseng ea USB (ha matla a kantle a fanoa ka sehokelo sa phepelo ea motlakase) le ts'ebetso ea bese ea USB, (ha ho na motlakase o kantle ka sehokelo sa phepelo ea motlakase).
On-board digital core logic e tla tsamaisoa ka USB haeba ho se na phepelo e 'ngoe e hoketsoeng (ts'ebetso ea bese ea USB). The digital core logic e utloisisa microcontroller ka boeona le EEPROM. Mokhoa oa ts'ebetso oa libese tsa USB o kentsoe ts'ebetsong ho nolofalletsa tlhophiso, litlhophiso tsa paramethara, ho bala, liapdeite tsa firmware, joalo-joalo ka ho hokahanya thapo ea USB lipakeng tsa module le PC e amohelang. Ha ho na li-cabling tse eketsehileng kapa lisebelisoa tsa kantle (mohlala, phepelo ea motlakase) tse hlokahalang.
Ka kopo elelloa hore mochini o ka nka hajoale ho tsoa phepelong ea libese tsa USB +5 V esita le ts'ebetsong ea USB e ikemetseng ho latela bophahamo ba motlakase.tage boemo ba phepelo ena.
Ho tsamaisa likoloi ha ho khonehe ka mokhoa ona oa ts'ebetso. Ka hona, hokela sehokelo sa matla 'me u fetohele ho mokhoa oa ts'ebetso o ikemetseng oa USB.
Li-Jumpers
Litlhophiso tse ngata tsa boto li etsoa ka software. Leha ho le joalo, li-jumpers tse peli li fumaneha bakeng sa ho hlophisoa.
- Pheliso ea libese ea RS485
Boto e kenyelletsa mohanyetsi oa 120 Ohm bakeng sa pheliso e nepahetseng ea libese ea sebopeho sa RS485. Ha jumper ena e koetsoe, mohanyetsi o tla beoa lipakeng tsa litsela tse peli tse fapaneng tsa libese RS485+ le RS485-. - CAN Ho Felisoa ha Libese
Boto e kenyelletsa mohanyetsi oa 120 Ohm bakeng sa pheliso e nepahetseng ea libese ea sebopeho sa CAN. Ha jumper ena e koetsoe, sehanyetsi se tla behoa lipakeng tsa litsela tse peli tse fapaneng tsa libese CAN_H le CAN_L.
Khutlisa ho Femethari ea Li-Defaults
Hoa khoneha ho seta PD-1160 ho li-setting tsa kamehla tsa feme ntle le ho theha sehokelo sa puisano. Sena se ka thusa haeba maemo a puisano a sebopeho se ratoang a ka beoa ho boleng bo sa tsejoeng kapa a lahleha ka phoso.
Bakeng sa ts'ebetso ena, li-pads tse peli tse lehlakoreng le ka tlase la boto li tlameha ho khutsufatsoa (sheba setšoantšo sa 5.1).
ETSA MEHATO E LATELANG:
- Motlakase oa tima 'me thapo ea USB e khaotsoe
- Li-pads tse peli tse khutšoane joalo ka ha li tšoailoe ho Setšoantšo sa 5.1
- Power up board (matla ka USB a lekane molemong ona)
- Ema ho fihlela li-LED tse khubelu le tse tala tse ka board li qala ho benya ka potlako (sena se ka nka nakoana)
- Boto ea ho tima (khaola thapo ea USB)
- Tlosa e khuts'oane pakeng tsa li-pads
- Kamora ho bulela thapo ea motlakase/ho hokela thapo ea USB litlhophiso tsohle tsa ka mehla li khutliselitsoe mekhoeng ea feme
Li-LED tse ka har'a board
Boto e fana ka li-LED tse peli ho bontša boemo ba boto. Mosebetsi oa li-LED ka bobeli o ipapisitse le mofuta oa firmware. Ka firmware e tloaelehileng ea TMCL LED e tala e lokela ho benya nakong ea ts'ebetso 'me LED e khubelu e lokela ho tima.
Ha ho se na firmware e nepahetseng e kentsoeng ka har'a boto kapa nakong ea ntlafatso ea firmware, li-LED tse khubelu le tse tala li bulehile ka ho sa feleng.
BOITŠOARO BA LI-LED LE FIRMWARE EA STANDARD TMCL
| Boemo | Label | Tlhaloso |
| Ho otla ha pelo | Matha | LED e tala e benya nakong ea ts'ebetso. |
| Phoso | Phoso | LED e khubelu ea bonesa haeba phoso e etsahala. |
Litekanyetso tsa Ts'ebetso
Lintlha tsa ts'ebetso li bonts'a mefuta e reriloeng kapa e ikhethang 'me e lokela ho sebelisoa e le boleng ba moralo.
Ho hang ha ho na maemo a tla fetisoa litekanyetso tse phahameng!
KAKARETSO TŠEBETSO RATINGS EA MODULE
Lethathamo la 7.1 Litekanyetso tse akaretsang tsa ts'ebetso ea module
| Letšoao | Paramethara | Min | Tlanya | Max | Yuniti |
| +VDriver / +VLogic | Phepelo ea motlakase voltage bakeng sa ts'ebetso | 9 | 12, 24, 48 | 51 | V DC *) |
| IUSB | Hajoale phepelo ea USB ha bese ea USB e tsamaisoa (+5V
Sesebelisoa sa USB) |
70 | mA | ||
| ICOIL_tlhoro | Motor coil ea hona joale bakeng sa sine wave peak (chopper
e laoloa, e ka fetoloa ka software) |
0 | 4 | A | |
| ICOIL_RMS | Mohala oa motlakase o tsoelang pele (RMS) | 0 | 2.8 | A | |
| TS'ELISO | Motlakase oa motlakase | << ICOIL | 1.4 *Ikela | A | |
| TENV | Mocheso oa tikoloho ho + 48V phepelo le hajoale e lekantsoe (100% ea potoloho ea mosebetsi, ha ho na pholiso e qobelloang
hlokahala) |
40 | °C | ||
| TENV | Mocheso oa tikoloho ho + 24V phepelo le hajoale e lekantsoe (100% ea potoloho ea mosebetsi, ha ho na pholiso e qobelloang
hlokahala) |
50 | °C |
Tlhokomeliso: ka lebaka la diode e ka hare pakeng tsa VDriver le VLogic VLogic e lokela ho lula e lekana kapa e phahame ho feta VDriver.
KAKARETSO TSA MOSEBETSI OA HO KENYA MOHATO/TSAMAISO
Lethathamo la 7.2 Litekanyetso tsa ts'ebetso ea ho kenya mohato / Dir
| Letšoao | Paramethara | Min | Mofuta | Max | Yuniti |
| TSOHLE | Phepelo voltage bakeng sa tlhahiso e tloaelehileng ea phepelo bakeng sa mohato,
tataiso le ho nolofalletsa (litlhahiso li na le maikutlo a fosahetseng) |
5… 24 | 27 | V | |
| VSTEP/DIR/ENABLE_O
N |
Pontšo voltage ka mohato, tataiso le ho nolofalletsa ho kenya
(e sebetsa, opto-coupler e butswe) |
3.5 | 4.5… 24 | 30 | V |
| VSTEP/DIR/ENABLE_OF
F |
Pontšo voltage ka mohato, tataiso le ho nolofalletsa ho kenya
(ha e sebetse, opto-coupler e tima) |
-5.5 | 0 | 2 | V |
| VSTEP/DIR/ENABLE_O
N |
Opto-coupler hajoale ha e buletsoe
(e laoloa ka hare ho naha) |
6… 8 | mA | ||
| FSTEP | Khafetsa mohato | 1*) | MHz |
Maqhubu a phahameng a +5 V TTL a mats'oao a mohato a nang le 50 % potoloho ea mosebetsi.
LITEKELO TSA TŠEBELETSO TSA LITLHAHISO TSA TŠEBELETSO KAKARETSO
Lethathamo la 7.3 Litekanyetso tsa ts'ebetso tsa sepheo se akaretsang / sephetho
| Letšoao | Paramethara | Min | Mofuta | Max | Yuniti |
| VSTOP_L/R/HOME | Keletso voltage bakeng sa STOP_L/R/HOME | 0 | 24 | V | |
| VSTOP_L/R/HOME_L | Boemo bo tlase ba molumotage bakeng sa STOP_L/R/HOME | 0 | 1.3 | V | |
| VSTOPL/R/HOME_H | Boemo bo phahameng voltage bakeng sa STOP_L/R/HOME
(ka hare ho 1k hula-ho fihlela ho +5V) |
3 | 24 | V | |
| VIN_0/1_digital | Keletso voltage bakeng sa IN_0 le IN_1 ha e sebelisoa joalo ka
tlhahiso ea dijithale |
0 | 24 | V | |
| VIN_0/1_analoge | Phaello e felletseng ea molumotage bakeng sa IN_0 le IN_1 neng
e sebelisoa e le tlhahiso ea analoge |
0 | 10 | V | |
| VIN_0/1_L | Boemo bo tlase ba molumotage bakeng sa IN_0 le IN_1 ha e sebelisoa joalo ka mokhoa oa digital
(ho hula ka hare ho 10k) |
0 | 1.3*) | V | |
| VIN_0/1_H | Boemo bo phahameng voltage bakeng sa IN_0 le IN_1 ha e sebelisoa
joalo ka tlhahiso ea dijithale |
3*) | 24 | V | |
| VOUT_0/1 | Moqtage ka tlhahiso e bulehileng ea pokello | 0 | VLOGIC +
0.5 **) |
V | |
| IOUT_0/1 | Sehlahisoa sa sink se hlahisoang ke moqokelli o bulehileng | 1 | A |
- voltage ea hlophiseha (ka hare 12bit ADC)
- e lekantsoeng ho phepelo ea module voltage + 0.5V ka lebaka la diode e kopaneng ea freewheeling lipakeng tsa tlhahiso ea sepheo se akaretsang le phano ea mojuletage
Li-curve tsa Torque
TRINAMIC e fana ka TMCM-1160 hammoho le letoto la likoloi tse peli tse fapaneng: QSH5718 le QSH6018. Litemana tse latelang li tla u bontša mekoloko ea PANdrive ka 'ngoe.
Likhahla tsa PD57-1160
PD57-1-1160 Torque Curves
PD57-2-1160 Torque Curves
Likhahla tsa PD60-1160
PD60-3-1160 Torque Curves
PD60-4-1160 Torque Curves
Tlhaloso ea Ts'ebetso
PD-1160 ke sesebelisoa sa mechatronic se kopantsoeng haholo se ka laoloang ka li-interfaces tse 'maloa tsa serial. Sephethephethe sa puisano se bolokoa se le tlase ho tloha nakong eohle ea ts'ebetso ea bohlokoa, mohlala ramp lipalo li etsoa ka boto. Phepelo e tloaelehileng voltagEs ke +12VDC / +24VDC / +48VDC. PANdrive e etselitsoe ka bobeli: mokhoa o tobileng le ts'ebetso e ikemetseng. Taolo e felletseng ea sesebelisoa se nang le maikutlo e ka khoneha. Firmware ea module e ka ntlafatsoa ka li-interfaces tsa serial.
Setšoantšong sa 9.1 likarolo tse kholo tsa PD-1160 li bontšitsoe:
- microprocessor, e tsamaisang sistimi ea ts'ebetso ea TMCL (e hokahaneng le memori ea TMCL),
- molaoli oa motsamao, ea balang ramps le lebelo la profiles ka hare ka hardware,
- mokhanni oa matla ea nang le stallGuard2 le karolo ea eona ea coolStep e sebetsang hantle,
- mokhanni oa MOSFET stage,
- QSH stepper enjene, le
- sensOstep encoder e nang le liqeto tsa 10bit (mehato ea 1024) ka phetoho e 'ngoe.
PD-1160 e tla le tikoloho ea nts'etsopele ea software e thehiloeng ho PC TMCL-IDE bakeng sa Puo ea Taolo ea Motsamao oa Trinamic (TMCL). Ho sebelisa litaelo tsa boemo bo holimo tsa TMCL tse boletsoeng esale pele joalo ka ho falla ho beha nts'etsopele e potlakileng le e potlakileng ea lits'ebetso tsa taolo ea motsamao ho netefalitsoe.
Ka kopo, sheba Bukana ea Firmware ea PD-1160 bakeng sa lintlha tse ling mabapi le litaelo tsa TMCL.
PD-1160 Tlhaloso ea Ts'ebetso
Palo: Velocity le Acceleration vs. Microstep le Fullstep Frequency
Boleng ba liparamente tse rometsoeng ho TMC429 ha li na boleng bo tloaelehileng ba makoloi joalo ka ho potoloha ka motsotsoana joalo ka lebelo. Empa boleng bona bo ka baloa ho tsoa ho li-parameter tsa TMC429 joalo ka ha ho bonts'itsoe karolong ena.
LITŠOANTŠISO TSA TMC429
Lethathamo la 10.1 Litekanyetso tsa lebelo la TMC429
| Letshwao | Tlhaloso | Range |
| fCLK | tshupanako-nako | 16 MHz |
| lebelo | – | 0… 2047 |
| a_max | matsapa a maholohali | 0… 2047 |
|
pulse_div |
karohano bakeng sa lebelo. Ha boleng bo phahame, bo tlase ke lebelo le phahameng
boleng ba kamehla = 0 |
0… 13 |
|
ramp_div |
karohano bakeng sa ho potlakisa. Ha boleng bo phahame, bo tlase ke ho potlakisa ho hoholo
boleng ba kamehla = 0 |
0… 13 |
| Usrs | microstep-resolution (microsteps per fullstep = 2usrs) | 0… 8 |
MICROSTEP MOEKETSI
Maqhubu a microstep ea motor stepper e baloa ka
PHETHA MOHATO
Ho bala lebelo le felletseng ho tsoa ho frequency ea microstep, frequency ea microstep e tlameha ho aroloa ka palo ea microsteps ka botlalo.
Phetoho ea sekhahla sa sekhahla sa lebelo ka nako (phetoho ea maqhubu a pulse motsotsoana - ho potlakisa a) e fanoa ke
Sena se fella ka ho potlakisa ka mehato e felletseng ea:
EXAMPLE:
| Letshwao | boleng |
| f_CLK | 16 MHz |
| lebelo | 1000 |
| a_max | 1000 |
| pulse_div | 1 |
| ramp_div | 1 |
| usrs | 6 |
PAKALA MOTSOALI OA LIPOTO
Enjene ea stepper e na le mohlala, methati e felletseng e 72 ka rotatio
Leano la Tšehetso ea Bophelo
TRINAMIC Motion Control GmbH & Co. KG ha e fane ka tumello kapa ho fana ka tumello leha e le efe ea lihlahisoa tsa eona hore li sebelisoe lits'ebetsong tsa ts'ehetso ea bophelo, ntle le tumello e tobileng e ngotsoeng ea TRINAMIC Motion Control GmbH & Co. KG.
Litsamaiso tsa ts'ehetso ea bophelo ke lisebelisoa tse reretsoeng ho tšehetsa kapa ho boloka bophelo, 'me ho hlōleha ha tsona ho sebetsa, ha li sebelisoa hantle ho latela litaelo tse fanoeng, ho ka lebelloang ka mokhoa o utloahalang ho fella ka kotsi ea botho kapa lefu.
© TRINAMIC Motion Control GmbH & Co. KG 2013
Ho lumeloa hore lintlha tse fanoeng leqepheng lena la data li nepahetse ebile lia tšepahala. Leha ho le joalo, ha ho boikarabello bo nkuoang bakeng sa litlamorao tsa ts'ebeliso ea eona kapa tlolo ea molao kapa litokelo tse ling tsa batho ba bang, tse ka bakoang ke ts'ebeliso ea eona.
Litlhaloso li ka fetoha ntle le tsebiso.
Matšoao ohle a sebelisoang ke thepa ea beng ba ona.
Nalane ea Phetoho
Phetoho ea Litokomane
Lethathamo la 12.1 Phetoho ea tokomane
| Phetolelo | Letsatsi | Mongoli
GE - Göran Eggers SD - Sonja Dwersteg |
Tlhaloso |
| 0.91 | 2012-MAY-03 | GE | Phetolelo ea pele |
|
1.00 |
2012-JUN-12 |
SD |
Mofuta oa pele o felletseng o kenyelletsa likhaolo tse latelang:
- Khutlela ho li-factors tsa feme, - li-LED |
| 1.01 | 2012-JUL-30 | SD | Maikemisetso a akaretsang a lokisitsoe. |
| 1.02 | 2013-JUL-08 | SD | Khaolo ea 3.2.1 e ntlafalitsoe. |
Hardware Revision
Lethathamo la 12.2 Hardware ntlafatso
| Phetolelo | Letsatsi | Tlhaloso |
| TMCM-1160_V10 | 2011-JUL-20 | Phetolelo ea pele |
| TMCM-1160_V11 | 2012-JAN-24 | – Inputs IN_0 le IN_1 li ka sebelisoa e le li-analog, hape |
Litšupiso
[PD-1160 TMCL] PD-1160 TMCL Firmware Manual[TMCL-IDE] TMCL-IDE Bukana ea Mosebelisi
[QSH5718] QSH5718 Buka ea tataiso
[QSH5718] QSH5718 Buka ea tataiso
Ka kopo sheba ho www.trinamic.com.
E jarollotsoe ho tsoa Arrow.com.
Litokomane / Lisebelisoa
 |
TRINAMIC PD-1160 UNIQUE FEATURES Stepper Motor e nang le Controller Driver [pdf] Bukana ea Mosebelisi PD-1160 LITŠOANTŠISO TSE KHETHAHETSENG Motlakase oa Stepper o nang le Controller Driver, PD-1160, UNIQUE FEATURES Stepper Motor e nang le Controller Driver, Motor e nang le Controller Driver, Controller Driver, Driver |