Module bakeng sa BLDC
MODULE
TMCM-1636 Single Axis Servo Drive
TMCM-1636 Hardware Manual
HW Version V1.1 | Tokomane Phetoho V1.30 • 2021-03-08
TMCM-1636 ke axis servo drive e le 'ngoe bakeng sa li-mothara tse 3 tsa BLDC le DC tse fihlang ho k. 1000W e sebetsang ho +24V kapa +48V. E fana ka sebopeho sa CAN & UART se nang le protocol ea TMCL kapa CANopen bakeng sa puisano. TMCM-1636 e ts'ehetsa likhetho tse fapaneng tsa maikutlo a boemo: li-encoder tse 2x tse eketsang quadrature, sensor ea dijithale ea HALL, li-encoder tse thehiloeng ho SPI- le SSI e felletseng. Hoa khoneha ho iketsetsa firmware le hardware.
Likaroloana
- Servo Drive bakeng sa BLDC le DC Motor
- +24V le +48V Supply Version
- Ho fihlela ho 1000W e tsoelang pele
- Ho fihla ho 60A RMS phase max max.
- CAN & UART interface
- 2x sekhouto se ntseng se eketseha
- Digital HALL sensor
- Ts'ehetso e felletseng ea SPI & SSI-based encoder
- Li-GPIO tse fapaneng
- Taolo ea mariki a enjene le ho fetatage tshireletso
Lisebelisoa
- Liroboto
- Laboratori ea boiketsetso
- Tlhahiso
- Feme ea Boiketsetso
- Servo Drives
- Litafole le Litulo tsa Motorized
- Liindasteri tsa BLDC & DC Motor Drives
Setšoantšo se Nolofalitsoeng sa Block
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Lipehelo tsa phano le litokelo tsa phetoho ea tekheniki li bolokiloe.
Khoasolla mofuta o mocha ho:www.trinamic.com
Bala litokomane kaofela.
Likaroloana
TMCM-1636 ke sethala se le seng sa axis servo drive bakeng sa li-mothara tse 3 tsa BLDC le li-motor tsa DC tse fihlang ho k. 1000W e sebetsang ho +24V kapa +48V
E fana ka khokahano ea CAN e nang le protocol ea TMCL kapa CANopen bakeng sa puisano.
TMCM-1636 e ts'ehetsa likhetho tsa maikutlo a maemo a fapaneng: li-encoder tse 2 tsa incremental quadrature, li-sensor tsa holo tsa dijithale, li-encoder tse thehiloeng ho SPI- le SSI tse felletseng.
Hoa khoneha ho iketsetsa firmware le hardware.
Molaoli & Mokhanni
- TMCM-1636-24V-TMCL/CANOPEN
- Motlakase oa hajoale: ho fihla ho 30A RMS e tsoelang pele, 60A RMS nako e khuts'oane tlhoro 1
– Phepelo voltage: +24VDC lebitso - TMCM-1636-48V-TMCL/CANOPEN
- Motlakase oa hajoale: ho fihla ho 20A RMS e tsoelang pele, 60A RMS nako e khuts'oane tlhoro 1
– Phepelo voltage: +48VDC lebitso - Taolo e Lebisitsoeng Tšimong ho Hardware e fihlang ho 100kHz PWM le loop ea taolo ea hajoale
- Tšehetso bakeng sa likoloi tsa DC le BLDC
- Tekanyo ea mocheso: -30. . . +60°
Maikutlo a boemo
- 2x Keketseho ea khouto (ABN)
- Digital HALL sensors
- Li-encoder tse felletseng tse thehiloeng ho SPI, ho latela khetho ea rmware
- RS422-based absolute encoder (SSI, BiSS), ho latela khetho ea rmware
- + 5VDC phepelo bakeng sa li-sensor tsa kantle
IO & Interfaces
- Khokahano ea CAN e nang le transceiver ea CAN (bakeng sa protocol ea TMCL kapa CANopen)
- Sehokelo sa UART se nang le +3.3V phepelo (e tšehetsa TMCL feela)
- 4x optically arola ka kakaretso morero oa ho kenya lintho tsa digital
- 2x liphetho tsa sepheo se akaretsang
- 2x lisebelisoa tsa analoge
- 3x Reference Inputs (Ka ho le letšehali, ka ho le letona, ka lapeng)
- Sephetho sa taolo ea brake ea enjene
- Ho tlolatage tshireletso tlhahiso
Lintlha tsa mechini
1 Ena ke lintlha tse holimo tsa hajoale. Sena ha se bakeng sa ts'ebetso e tsoelang pele empa se ipapisitse le mofuta oa enjene, potoloho ea mosebetsi, mocheso oa tikoloho, le mehato e sebetsang ea ho pholisa.
- Max. boholo: 100mm x 50mm x 18mm (L/W/H)
- Boima: k. 70g (ntle le likhokahano tsa ho nyalana le likhoele)
- 2x likoti tse kenyang M3
- Ho ikhethela ho pholile ka lehlakoreng le ka tlase la aluminium PCB
Lisebelisoa tsa Software
- TMCL™ remote (mokhoa o tobileng) le ts'ebetso e ikemetseng (memori ea ho fihla ho litaelo tse 1024 TMCL™), e tšehetsoa ka botlalo ke TMCL-IDE (tikoloho ea ntlafatso e kopaneng ea PC). Lintlha tse ling tse fanoeng bukeng ea firmware ea TMCM-1636 TMCL.
- CANopen firmware e nang le CANopen standard protocol stack bakeng sa sebopeho sa CAN. Lintlha tse ling tse fanoeng ho TMCM-1636 CANopen rmware manual.
- Likhetho tse ikhethileng tsa firmware, mohlalaampe ts'ehetsa mefuta e ikhethileng ea likhouto e nang le SPI kapa RS422based interface.
Likhoutu tsa Odara
| Khoutu ea Odara | Tlhaloso | Boholo (LxWxH) |
| TMCM-1636-24V-TMCL | Servo Drive, 24V firmware Supply, ka TMCL | 100mm x 50mm x 18mm |
| TMCM-1636-24V-CANOPEN | Servo Drive, 24V Supply, e nang le firmware ea CANopen | 100mm x 50mm x 18mm |
| TMCM-1636-48V-TMCL | Servo Drive, 48V firmware Supply, ka TMCL | 100mm x 50mm x 18mm |
| TMCM-1636-48V-CANOPEN | Servo Drive, 48V Supply, e nang le firmware ea CANopen | 100mm x 50mm x 18mm |
| TMCM-1636-CABLE | TMCM-1636 cable loom - 1x 2-pin Molex MicroLock Plus thapo bakeng sa sehokelo sa brake ea motlakase - 1x 40-pin Molex MicroLock Plus cable bakeng sa sehokelo sa I/O - 7x 1.5sqmm e etella pele ka mahlo a M4 a mebala e fapaneng, mocheso o phahameng / SIF |
bolelele ba hoo e ka bang 150mm |
Lethathamo la 1: Melao ea Taelo ea TMCM-1636
Lihokelo le Lipontšo
TMCM-1636 e na le lihokelo tse 9:
- 7 M4 screw terminals bakeng sa phepelo le matla a phahamengtage IO (letšoao le khubelu)
- 1 IO le sehokelo sa sebopeho se nang le likhoele tse 40 (letšoao le leputsoa)
- Sehokelo se 1 sa Brake control se nang le lithapo tse 2 (letšoao la lamunu)
TSEBISO
Qala ka phepelo ea motlakase OFF 'me u se ke oa hokela kapa ho hakolla enjene nakong ea ts'ebetso! Motlakase oa motlakase le motlakase oa motlakase o ka lebisa ho voltage spikes ha enjene e (khaotsoe) e hoketsoe ha e ntse e le matla. Tsena voltagli-spikes li ka feta voltage na le meeli ea li-MOSFET tsa mokhanni 'me e ka ba senya ruri.
Ka hona, kamehla tima / tima motlakase kapa bonyane tima mokhannitage pele o hokela / o kgaola enjene.
TSEBISO
Hlokomela polarity, polarity e fosahetseng e ka senya boto!
3.1 Screw Terminals
Lithapo tsa mating ke lithapo life kapa life tse nang le likhoele tsa M4 tse loketseng.
TSEBISO
Hlokomela ho sebelisa lithapo tse lumellanang le lintlha tse hlokahalang tse tsoelang pele bakeng sa ts'ebeliso ea hau!
TSEBISO
Thapo ea phepelo e lokela ho ba e khuts'oane ka hohle kamoo ho ka khonehang ho fokotsa khanyetso le ho fokotsa matlatage theoha ka mojaro o phahameng phepelong.
TSEBISO
Ho ipapisitse le kopo ea hau, etsa bonnete ba hore o eketsa li-capacitor tse lekaneng ho sesebelisoa sa mokhanni ho tsitsisa phepelo ea mokhanni.
Li-caps tsa electrolyte tse tlase tsa ESR lia khothaletsoa, haholo-holo bakeng sa lits'ebetso tse phahameng tsa hajoale. Sheba Karolo ea 4.1 bakeng sa lintlha tse ling mabapi le sena.
|
Theminale |
Letshwao |
Tlhaloso |
| 1 | +VM | Phepelo ea motlakase voltage, moqtage fapaneng itšetlehile ka mokhanni stage |
| 2 | OVP | Ho feta-voltage tshireletso tlhahiso |
| 3 | GND | Sebaka sa pontšo le thepa |
| 4 | W | Karolo ea BLDC W |
| 5 | V_X2 | BLDC phase V, X2 ea DC motor |
| 6 | U_X1 | BLDC phase U, X1 ea DC motor |
| 7 | CH/PE | Lefats'e le sireletsang / chassis |
3.2 I/O le Sehokelo sa Sehokelo
Sehokelo ke sa mofuta oaMolex Micro-Lock Plus 5054484071 (1.25mm pitch, dual row, right-angle, 40 pitch).
Sehokelo sa mating keMolex 5054324001(1.25mm pitch, dual row, 40 pins, positive lock, crimp housing).
E sebelise ka li-terminals tse latelang tsa Micro-Lock Plus tsa basali tsa crimp:Molex 5054311100(1.25mm pitch, Auplating, 26-30 AWG).
|
Pin |
Letshwao | Tlhaloso | Pin | Letshwao |
Tlhaloso |
| 1 | COM | COM terminal ea opto- couplers bakeng sa GPIx | 2 | EA-0-AI | Kenyelletso ea analoge 0, 0…5V sebaka |
| 3 | GPI0 | Sepheo se akaretsang 0, se arotsoe ka mahlo | 4 | EA-1-AI | Kenyelletso ea analoge 1, 0…5V sebaka |
| 5 | GPI1 | Sepheo se akaretsang 1, se arotsoe ka mahlo | 6 | EA-0 | Sepheo se akaretsang sa tlhahiso 0, (drain e bulehileng) |
| 7 | GPI2 | Sepheo se akaretsang 2, se arotsoe ka mahlo | 8 | EA-1 | Sepheo se akaretsang sa tlhahiso 1, (drain e bulehileng) |
| 9 | GPI3 | Sepheo se akaretsang 3, se arotsoe ka mahlo | 10 | +5V_OUT | + 5V e hlahisang seporo bakeng sa phepelo ea sensor ea kantle kapa boemo ba matšoao |
| 11 | HALL_UX | Kenyelletso ea sensor ea Digital Hall, +5.0V boemo | 12 | ENC2_A | Digital quadrature/in- cremental encoder 2, A channel, +5.0V level |
| 13 | HALL_V | Kenyelletso ea sensor ea Digital Hall, + 5.0V boemo | 14 | ENC2_B | Digital quadrature/in- cremental encoder 2, B channel, +5.0V level |
| 15 | HALL_WY | Kenyelletso ea sensor ea Digital Hall, + 5.0V boemo | 16 | ENC2_N | Digital quadrature/in- cremental encoder 2, N channel, +5.0V level |
| 17 | GND | Sebaka sa pontšo le thepa | 18 | UART_TX | UART segokanyimmediamentsi sa sebolokigolo, fetisa line |
| 19 | +3.3V_OUT | +3.3V seporo sa tlhahiso | 20 | UART_RX | UART interface, amohela mohala |
| 21 | REF_L | Ka ho le letšehali ho kenya, +5.0V | 22 | ENC1_A | Digital quadrature/in- cremental encoder 1, A channel, +5.0V level |
| 23 | REF_H | Kenyelletso ea switjha ea litšupiso tsa lapeng, boemo ba +5.0V | 24 | ENC1_B | Digital quadrature/in- cremental encoder 1, B channel, +5.0V level |
| 25 | REF_R | Ho kenya switjha ka ho le letona, boemo ba +5.0V | 26 | ENC1_N | Digital quadrature/in- cremental encoder 1, N channel, +5.0V level |
| 27 | GND | Sebaka sa pontšo le thepa | 28 | nc | e boloketsoeng tshebediso ya kamoso |
| 29 | TLHOKOMELISO | CAN interface, diff. lets'oao (le sa fetoheng) | 30 | nc | e boloketsoeng tshebediso ya kamoso |
| 31 | KA_L | CAN interface, diff. lets'oao (inverting) | 32 | nc | e boloketsoeng tshebediso ya kamoso |
| 33 | SSI_ENC_DATA_P | SSI Encoder, sebaka se setle sa marang-rang a fapaneng | 34 | nCS_ENC | SPI / SSI Encoder, lets'oao la khetho ea chip, boemo ba +5.0V |
| 35 | SSI_ENC_DATA_N | SSI Encoder, terminal e fosahetseng ea dataline e fapaneng | 36 | SPI_ENC_SCK | SPI Encoder, lets'oao la oache, +5.0V boemo |
| 37 | SSI_ENC_CLK_N | SSI Encoder, terminal e fosahetseng ea oache e fapaneng | 38 | SPI_ENC_MOSI | SPI Encoder, lets'oao la MOSI, +5.0V boemo |
| 39 | SSI_ENC_CLK_P | SSI Encoder, terminal e ntle ea oache e fapaneng | 40 | SPI_ENC_MISO | SPI Encoder, lets'oao la MISO +5.0V boemo |
Lethathamo la 3: TMCM-1636 I/O & Sehokelo sa Sehokelo
3.3 Sehokelo sa Brake
Sehokelo ke sa mofuta oaMolex Micro-Lock Plus 5055680271 (1.25mm pitch, mola o le mong, o otlolohileng, lipini tse 2).
Sehokelo sa mating keMolex 5055650201 (1.25mm pitch, mola o le mong, lipini tse 2, senotlolo se setle, ntlo ea crimp).
E sebelise ka li-terminals tse latelang tsa Micro-Lock Plus tsa basali tsa crimp:Molex 5054311100(1.25mm pitch, Au plating, 26-30 AWG).
| Theminale | Letshwao | Tlhaloso |
| 1 | +VM | Phepelo ea motlakase voltage, moqtage fapaneng itšetlehile ka mokhanni stage |
| 2 | BRAKE_CTRL | PWM e ne e laola tlhahiso ea lehlakore le tlase bakeng sa ho khanna li-solenoids. Drive ea hona joale e ka hlophisoa ho fihla ho 1A. |
Letlapa la 4: li-terminals tsa TMCM-1636 screw
Lipotoloho tsa Interface
4.1 Khokahano ea phepelo le phepelo ea phepelo
TMCM-1636 e kenyelletsa feela bokhoni bo fokolang ba ka har'a sekepe. Bakeng sa lisebelisoa tse phahameng tsa hona joale li-capacitor tse eketsehileng li tlameha ho behoa haufi le motlakase oa mojule ho tsitsisa phepelo ea motlakase. Ho feta moo, phepelo ea motlakase e laoloang e khothaletsoa haholo.
TSEBISO
Ho ipapisitse le kopo ea hau, etsa bonnete ba hore o eketsa li-capacitor tse lekaneng ho sesebelisoa sa mokhanni ho tsitsisa phepelo.
Li-caps tsa electrolyte tse tlase tsa ESR li khothaletsoa.
Ho lumelloa ho fana ka ripple ea 0.25V (TBD).
Ho khothalletsoa ho hokahanya li-capacitor tsa electrolytic tsa boholo ba bohlokoa ho melapo ea phepelo ea motlakase haufi le TMCM-1636!
Molao oa monoana bakeng sa boholo ba electrolytic capacitor: C = 1000 μF/A ....ISUP P LY
Li-capacitor li lokela ho khethoa mabapi le litekanyetso tse phahameng tsa hona joale.
Ntle le ho tsitsisa matla (buffer) le ho sefa capacitor ena e ekelitsoeng e tla fokotsa matla afe kapa afe.tagli-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.
4.2 Keketso ea Morero oa Kakaretso
Lintlha tse 'ne tse akaretsang li arotsoe ka mokhoa o ikhethileng le li-opto-couplers. Bohle ba GPI ba arolelana khokahano e tšoanang ea COM.
Ho ka sebelisoa phepelo e arohaneng / e ikhethileng bakeng sa ho kenya - joalo ka ha ho boletsoe setšoantšong (+24V_ISO le GND_ISO e amanang le eona) - empa, phepelo e tšoanang le ea TMCM-1636 e ka sebelisoa hape.
4.3 Liphello tsa Morero o Akaretsang
Liphello tse peli tse akaretsang ke liphetho tse bonolo tse bulehileng tse sebelisang li-n-channel FET.
Liheke tsa li-n-channel FET li huleloa tlase.
Ha ho na li-diode tsa flyback ho TMCM-1636.
Lintho tse 4.4 tsa Analog
Lisebelisoa tse peli tsa analoge li feta ka voltage divider le filthara e bonolo pele o hokela ho likenyelletso tsa ADC tsa microcontroller.
Lisebelisoa tsa analog li lumella hore ho be le mefuta e mengata ea 5V.
Sesefa sa ho kenya se na le maqhubu a khaotsoeng a ca. 285Hz.
4.5 Litlhahiso tsa Litšupiso
TMCM-1636 e fana ka lintlha tse tharo tsa litšupiso: Ho le letšehali, ho le letona, le Lehae.
Nput voltagsebaka sa eona ke 0V…5V.
Lisebelisoa li na le ho hula ka hare ho fihla ho 5V.
Sesefa sa ho kenya se na le makhetlo a seng makae. 34kHz
4.6 Sephetho sa Taolo ea Brake
Sephetho sa taolo ea brake BRAKE ke sehlahisoa se laoloang ke PWM se tlase bakeng sa ho khanna li-solenoids. Motlakase oa hona joale o ka lokisoa ho fihlela ho 1A.
4.7 Over-Voltage Sephetho sa Tšireletso
The over-voltage protection output OVP ke karolo e tlase ea lehlakore bakeng sa sehanyetsi sa brake sa kantle. E ka sebelisoa ho thibela seporo sa phepelo hore se fetele maemo a holimo maemong a phahamengtage maemo.
4.8 Feedback Interfaces
4.8.1 Keketseho ea Likhouto tsa Quadrature 1 & 2
TMCM-1636 e fana ka likhokahano tse peli tse ntseng li eketseha tsa quadrature encoder tse nang le matšoao a A, B, le N e 'ngoe le e 'ngoe.
Tlatsetso voltagsebaka sa eona ke 0V…5V.
Lisebelisoa tsa encoder li na le ho hula ka hare ho fihla ho 5V.
Sesefa sa ho kenya se na le makhetlo a seng makae. 1.6MHz.
4.8.2 Digital Hall Sensors
TMCM-1636 e fana ka sebopeho sa pontšo ea Holo.
Tlatsetso voltagsebaka sa eona ke 0V…5V.
Lisebelisoa tsa Holo li na le ho hula ka hare ho fihla ho 5V.
Sesefa sa ho kenya se na le makhetlo a seng makae. 4kHz.
4.8.3 Absolute Encoder e thehiloeng ho SPI
TMCM-1636 e fana ka sebopeho se hloahloa sa SPI bakeng sa li-sensor tsa maemo a kantle kapa li-peripheral tse ling (ka khetho ea firmware ea tloaelo).
Sehokelo sa SPI se sebetsa maemong a mats'oao a 5V.
4.8.4 RS422 e thehiloeng ho Absolute Encoder
TMCM-1636 e fana ka sebopeho sa RS422 bakeng sa li-sensor tsa maemo a kantle tse sebelisang sebopeho sa SSI kapa BiSS (ho ipapisitse le khetho ea firmware kapa firmware ea tloaelo).
TMCM-1636 e kopanya RS422 transceiver (TI THVD1451DRBR).
Mohala oa data oa RS422 o tlang (SSI_ENC_DATA_P le SSI_ENC_DATA_N) o na le pheletso ea 120R.
Lipontšo tsa Boemo ba LED
TMCM-1636 e na le matšoao a mabeli a mapolanka a LED.
| LED | Tlhaloso |
| RUN_LED | MCU/CANopen boemo ba LED, botala |
| ERR_LED | Phoso ea MCU/CANopen LED, e khubelu |
Letlapa la 5: TMCM-1636 dijithale matshwao a tlhahiso ya LED
Puisano
Likarolo tse latelang li fana ka litataiso le mekhoa e metle ha u theha lits'ebetso tsa libese tsa puisano tse tšehelitsoeng ke TMCM-1636.
6.1 KA
Bakeng sa taolo e hole le puisano le sistimi e amohelang TMCM-1636 e fana ka sebopeho sa libese tsa CAN.
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 amanang le bese le / kapa lebelo le phahameng la puisano, bese e lokela ho emisoa hantle ka bobeli. TMCM-1636 ha e kenyelle mohanyetsi ofe kapa ofe oa ho felisa. Ka hona, li-resistors tsa 120 Ohm tsa ho emisa lipheletsong tse peli tsa bese li tlameha ho eketsoa kantle. - HO FETSA BESE:
Transceiver ea libese e sebelisoang li-unit tsa TMCM-1636 kapa botong ea motheo (TJA1042TK/3) e tšehetsa bonyane li-node tsa 110 tlas'a maemo a nepahetseng. Palo e ka finyelloang ea li-node ka bese ea CAN e itšetlehile haholo ka bolelele ba libese (bese e telele -> libaka tse fokolang) le lebelo la puisano (lebelo le phahameng -> li-node tse fokolang).
Lintlha tsa Ts'ebetso le Litšobotsi
7.1 Likhakanyo tse Felletseng ka ho Fetisisa
| Paramethara | Letšoao | Min | Abs. Max | Yuniti |
| Enjene le phepelo voltage +24V mofuta | +VM | +12 | +30 | V |
| Enjene le phepelo voltage +48V mofuta | +VM | +12 | +58 | V |
| Abs. max. Mofuta oa hona joale oa RMS motor phase +24V | IPhaseRMS, MAX | 601 | A | |
| Abs. max. Mofuta oa hona joale oa RMS motor phase +48V | IPhaseRMS, MAX | 601 | A | |
| Abs. max. mocheso o sebetsang oa tikoloho | TA | -40 | +852 | °C |
| Boholo ba hajoale ke +5V_OUT | IOUT+5V,MAX | 100 | mA |
TSEBISO
Mathata a ka holimo ho a thathamisitsoeng tlas'a "'Absolute Maximum Ratings"' a ka baka tšenyo e sa feleng ea sesebelisoa. Ena ke boemo ba khatello ea maikutlo feela 'me ts'ebetso ea ts'ebetso ea sesebelisoa maemong ao kapa afe kapa afe a kaholimo ho a bontšitsoeng lethathamong la ts'ebetso ea litlhaloso tsena ha e bolele letho. Ho pepesehela maemo a phahameng a ho reiti ka nako e telele ho ka ama ts'epahalo ea sesebelisoa.
7.2 Litekanyetso tsa Ts'ebetso
Thempereichara ea 25° C, haeba ho sa boleloa ka tsela e fapaneng.
| Paramethara | Letšoao | Min | Tlanya | Max | Yuniti |
| Enjene le phepelo voltage +24V mofuta | +VM | +12 | +24 | +28 | V |
| Enjene le phepelo voltage +48V mofuta | +VM | +12 | +48 | +52 | V |
| Phetolelo e tsoelang pele ea RMS Motor phase +24V | IPhaseRMS | 30 | A | ||
| Phetolelo e tsoelang pele ea RMS Motor phase +48V | IPhaseRMS | 20 | A | ||
| Mocheso o sebetsang | TA | -30 | +602 | °C |
7.3 Litekanyetso tsa I/O
Thempereichara ea 25° C, haeba ho sa boleloa ka tsela e fapaneng.
| Paramethara | Letšoao | Min | Tlanya | Max | Yuniti |
| Keletso voltage bakeng sa lisebelisoa tsa analoge | VAIN | 0 | 5.0 | V | |
| GPI input voltage | VGPI | 0 | 24 | V |
- Ena ke lintlha tse holimo tsa hajoale. Sena ha se bakeng sa ts'ebetso e tsoelang pele empa se ipapisitse le mofuta oa enjene, potoloho ea mosebetsi, mocheso oa tikoloho, le mehato e sebetsang ea ho pholisa.
- Ho sebetsa maemong a mocheso a phahameng a tikoloho ho ka hloka mehato e meng ea ho pholisa ho ipapisitse le potoloho ea mosebetsi le ho hula matla a mangata a hona joale / matla.
| Phallo ea GPO voltage | VGPO | 0 | 24 | V | |
| GPO sink hona joale | IGPO | 0 | 1 | A | |
| Brake control output voltage | VBREKE | 0 | +VM | V | |
| Brake control sink current | IBREKE | 0 | 1 | A | |
| Ho feta-voltage protection output voltage | VOV P | 0 | +VM | V | |
| Ho feta-voltage protection sink current | IOV P | 0 | 10 | A | |
| Kenyeletso e ntseng e eketseha ea sekhoutotage | VENC | 0 | 5 | V | |
| Kenyelletso ea lets'oao la holotage | VHLALELE | 0 | 5 | V | |
| Reference switch input voltage | VREF | 0 | 5 | V | |
| SPI Interface voltage | VSPI | 0 | 5 | V | |
| SSI (RS422) Interface voltage | VSSI | -15 | +15 | V |
Lethathamo la 8: Lintlha tsa I/O
7.4 Litlhoko tse ling
| Litlhaloso | Tlhaloso kapa Boleng |
| Ho phodisa | Moea oa mahala kapa sinki ea mocheso e kentsoeng ho ipapisitsoe le sesebelisoa, tlhahiso ea matla e hlokahalang, le mocheso oa tikoloho. |
| Tikoloho ya mosebetsi | Qoba lerōle, metsi, moholi oa oli le likhase tse senyang, ha ho condensation, ha ho serame |
Lethathamo la 9: Litlhokahalo le Litšobotsi Tse Ling
Litaelo tsa Tlatsetso
10.1 Tlhahisoleseding ea Moetsi
10.2 Copyright
TRINAMIC e laola litaba tsa bukana ea mosebelisi ka botlalo, ho kenyeletsoa empa ho sa felle feela litšoantšong, li-logo, matšoao le lisebelisoa. © Copyright 2021 TRINAMIC. Litokelo tsohle li sirelelitsoe. E phatlalalitsoe ka mokhoa oa elektronike ke TRINAMIC, Jeremane.
Kabo bocha ea mohloli kapa sebopeho se nkiloeng (bakeng sa mohlalaample, Portable Document Format kapa Hypertext Markup Language) e tlameha ho boloka tsebiso e kaholimo ea litokelo, le litokomane tse felletseng tsa Datasheet User Manual tsa sehlahisoa sena ho kenyeletsoa Lintlha tsa Kopo tse amanang; le tšupiso ea litokomane tse ling tse fumanehang tse amanang le sehlahisoa.
10.3 Likhetho le Matšoao a Letšoao la Khoebo
Matshwao a matshwao a kgwebo le matshwao a sebediswang ditokomaneng tsena a bontsha hore sehlahiswa kapa karolo e mong ke ya hae mme e ngodisitswe e le letshwao la kgwebo le/kapa patent ebang ke TRINAMIC kapa ke bahlahisi ba bang, bao dihlahiswa tsa bona di sebediswang kapa ho bolelwang ka tsona mmoho le dihlahiswa tsa TRINAMIC le ditokomane tsa sehlahiswa sa TRINAMIC. Bukana ena ea Hardware ke sengoliloeng se seng sa khoebo se batlang ho fana ka lintlha tse khutšoane tsa mosebelisi oa saense le tekheniki ho mosebelisi eo ho lebeletsoeng ho eena. Ka hona, mabitso a matšoao a khoebo le matšoao a kenngoa feela ho Short Spec ea tokomane ena e hlahisang sehlahisoa ka pono e potlakileng. Lebitso la letshwao la kgwebo/letshwao le lona le kentswe ha sehlahiswa kapa lebitso la sebopeho se hlaha kgetlo la pele tokomaneng. Matshwao ohle a kgwebo le mabitso a mabitso a sebediswang ke thepa ya beng ba ona.
10.4 Mosebelisi ea Lebeletsoeng
Litokomane tse fanoeng mona, ke tsa baetsi ba mananeo le baenjiniere feela, ba nang le tsebo e hlokahalang 'me ba koetliselitsoe ho sebetsa ka mofuta ona oa sehlahisoa.
Mosebelisi ea Lebeletsoeng o tseba ho sebelisa sehlahisoa sena ka boikarabello ntle le ho ntša kotsi ho eena kapa ho ba bang, le ntle le ho senya lits'ebetso kapa lisebelisoa, tseo mosebelisi a kenyelletsang sehlahisoa ho tsona.
10.5 Tlhaloso: Mekhoa ea 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 bakeng sa tšebeliso ea mekhoa ea 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.
Ho lumeloa hore boitsebiso bo fanoeng tokomaneng ena bo nepahetse ebile bo tšepahala. Leha ho le joalo, ha ho na boikarabelo bo nkoang bakeng sa liphello tsa tšebeliso ea eona kapa tlōlo ea molao kapa litokelo tse ling tsa batho ba bang tse ka bakoang ke tšebeliso ea eona. Litlhaloso li ka fetoha ntle le tsebiso.
10.6 Boitlhotlhollo: Tšebeliso e Reriloeng
Lintlha tse boletsoeng bukeng ena ea mosebelisi li reretsoe feela ho hlalosa sehlahisoa. Ha ho boemeli kapa litiisetso, ebang ke tse hlakisitsoeng kapa tse boletsoeng, tsa thekiso, ho phela hantle molemong oa morero o itseng kapa mofuta ofe kapa ofe tse entsoeng ka tlase mona mabapi le tlhaiso-leseling / litlhaloso kapa lihlahisoa tseo tlhaiso-leseling e buang ka tsona mme ha ho tiisetso mabapi le ho latela ts'ebeliso e reriloeng. ho fanoa. Haholo-holo, sena se sebetsa le lits'ebetsong tse boletsoeng tse ka bang teng kapa libaka tsa ts'ebeliso ea sehlahisoa.
Lihlahisoa tsa TRINAMIC ha lia etsetsoa 'me ha lia lokela ho sebelisoa mabapi le lits'ebetso leha e le life moo ho hlōleha ha lihlahisoa tse joalo ho ka lebelloang ka mokhoa o utloahalang ho baka kotsi e kholo ea botho kapa lefu (safety-Critical Applications) ntle le tumello e ngotsoeng e tobileng ea TRINAMIC.
Lihlahisoa tsa TRINAMIC ha lia etsetsoa kapa hona ho rereloa ho sebelisoa lits'ebetsong tsa sesole kapa tsa sefofane kapa tikolohong kapa lits'ebetsong tsa likoloi ntle le haeba li etselitsoe tšebeliso e joalo ke TRINAMIC. TRINAMIC ha e fane ka tokelo ea molao, litokelo tsa molao, mosebetsi oa mask o nepahetseng kapa letšoao le leng la khoebo sehlahisoa sena. TRINAMIC ha e nke boikarabelo ba patent efe kapa efe le/kapa ditokelo tse ding tsa letshwao la kgwebo tsa motho e mong ka lebaka la ho sebetsa kapa ho sebetsana le sehlahiswa le/kapa tshebediso efe kapa efe ya sehlahiswa.
10.7 Litokomane tsa Tšireletso le Lisebelisoa
Litokomane tsa sehlahisoa sena li amana le/kapa li amahanngoa le lisebelisoa tse ling tsa lisebelisoa, firmware le lintho tse ling, joalo ka ha ho fanoe leqepheng la sehlahisoa ho:www.trinamic.com.
Nalane ea Phetoho
11.1 Phetoho ea Hardware
| Phetolelo | Letsatsi | Mongoli | Tlhaloso |
| V1.1 | 2020-01-06 | Phetolelo |
Lethathamo la 10: Phetoho ea Hardware
11.2 Phetoho ea Litokomane
| Phetolelo | Letsatsi | Mongoli | Tlhaloso |
| V1.20 | 2020-06-08 | TMC | Phetolelo ea ho lokolloa. |
| V1.30 | 2021-03-08 | TMC | Khetho ea "analog encoder" e tlositsoe. |
Letlapa la 11: Phetoho ea Litokomane
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Lipehelo tsa phano le litokelo tsa phetoho ea tekheniki li bolokiloe.
Khoasolla mofuta o mocha ho www.trinamic.com
E jarollotsoe ho tsoa Arrow.com.
Litokomane / Lisebelisoa
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TRINAMIC TMCM-1636 Single Axis Servo Drive [pdf] Bukana ea Mosebelisi TMCM-1636 Single Axis Servo Drive, TMCM-1636, Single Axis Servo Drive, Axis Servo Drive, Servo Drive, Drive |
