I-TRINAMIC PD-1160 EZIPHUMA EZIYI-Stepper Motor enomshayeli wesilawuli

Ulwazi Lomkhiqizo

• Igama Lomkhiqizo: I-PANdrive Stepper Motor enoMlawuli / Umshayeli
• Inguqulo ye-Hardware: V1.1
• Umkhiqizi: I-TRINAMIC Motion Control GmbH & Co. KG
• Webindawo: www.trinamic.com

Izici Eziyingqayizivele

• I-stepper motor enomlawuli/umshayeli
• 0.55 - 3.1 Nm torque
• 48V sensOstepTM Encoder
• Izixhumanisi ze-USB, RS485, kanye ne-CAN
• Isinyathelo/Dir Interface

Oda Amakhodi

PD-1160

I-Mechanical Interfacing kanye nogesi

PD57-1160 Ubukhulu
Ubukhulu be-PD57-1160 buyatholakala kumanuwali wehadiwe.

PD60-1160 Ubukhulu
Ubukhulu be-PD60-1160 buyatholakala kumanuwali wehadiwe.

Abagxumayo

I-RS485 Ukunqanyulwa Kwebhasi

Imiyalo yokunqanyulwa kwebhasi ye-RS485 iyatholakala kumanuwali wehadiwe.

I-CAN Bus Termination
Imiyalo yokunqanyulwa kwebhasi ye-CAN iyatholakala kumanuwali wehadiwe.

Amajika
I-PD57-1160 Torque Curves
Amajika e-torque we-PD57-1160 ayatholakala kumanuwali wehadiwe.

I-PD60-1160 Torque Curves
Amajika e-torque we-PD60-1160 ayatholakala kumanuwali wehadiwe.

Incazelo Esebenzayo
Incazelo enemininingwane yokusebenza iyatholakala kumanuwali wehadiwe.

Incazelo Yokusebenza
Incazelo yokusebenza ye-PD-1160 iyatholakala kumanuwali wehadiwe.

Inqubomgomo Yokusekela Impilo
Ulwazi mayelana nenqubomgomo yokusekela impilo luyatholakala kumanuwali wehadiwe.

Umlando Wokubuyekeza
Umlando wokubuyekeza we-PD-1160 uyatholakala kumanuwali wehadiwe.

PD-1160

I-Stepper Motor enoMlawuli / Umshayeli 0.55 – 3.1 Nm / 48 V sensOstep™ Encoder USB, RS485, kanye ne-CAN Step/Dir Interface

Izici

I-PANdrive™ PD-1160 iyisixazululo esigcwele se-mechatronic esinesethi yesici sesimo sobuciko. Ihlanganiswe kakhulu futhi inikeza ukuphatha okulula. I-PD-1160 ifaka i-stepper motor, isilawuli/i-electronics yomshayeli, kanye nesishumeki se-TRINAMIC sensOstep™. Ingasetshenziswa ezinhlelweni eziningi ezihlukaniselwe futhi yakhelwe u-0.55… 3.1Nm max. ukubamba i-torque kanye ne-24 noma 48 V DC okuphakelayo okuyigamatage. Ngokusebenza kwayo kahle kwamandla aphezulu avela ku-TRINAMIC's coolStep izindleko zobuchwepheshe zokusetshenziswa kwamandla zigcinwa ziphansi. I-firmware ye-TMCL™ ivumela ukusebenza okuzimele kanye nemodi eqondile.

IZIMPAWU EZIBALULEKILE

Isilawuli sokunyakaza

• I-Motion profile ukubala ngesikhathi sangempela
• Ukushintsha endizeni kwamapharamitha emoto (isb. indawo, isivinini, ukusheshisa)
• Ukusebenza okuphezulu kwe-microcontroller yokulawula uhlelo jikelele kanye nokuphathwa kwephrothokholi yokuxhumana kwe-serial

Umshayeli we-Bipolar stepper motor

• Kufika kuma-microsteps angu-256 ngesinyathelo ngasinye esigcwele
• Ukusebenza kahle okuphezulu, ukuchithwa kwamandla amancane
• Ukulawula kwamanje okunamandla
• Ukuvikelwa okuhlanganisiwe
• Isici se-stallGuard2 sokutholwa kwe-stall
• Isici se-coolStep sokunciphisa ukusetshenziswa kwamandla kanye nokuqeda ukushisa

Isifaki khodi

• I-sensOstep magnetic encoder (1024 increments ngokuzungezisa ngakunye) isb ukuthola ukulahleka kwesinyathelo ngaphansi kwazo zonke izimo zokusebenza nokugadwa kwendawo
• Isixhumi esibonakalayo sokuxhumeka kwesishumeki sekhodi sangaphandle a/b/n

Izixhumi ezibonakalayo

• RS485 interface
• CAN (2.0B kufika ku-1Mbit/s) isixhumi esibonakalayo
• Isivinini esigcwele se-USB (12Mbit/s) isixhumi esibonakalayo
• Isinyathelo/Isikhombisi-ndlela (sihlukanisiwe ngokubonakalayo)
• 3 okokufaka kokushintsha kokumisa nokushintsha kwasekhaya (+24V kuyahambisana) nokudonsa okuhlelekayo
• 2 okokufaka kwenhloso evamile (+24V kuyahambisana) kanye nezinjongo ezijwayelekile ezingu-2 (umqoqi ovuliwe)
• Isixhumi esibonakalayo esikhulayo se-a/b/n (i-TTL namasiginali weqoqo elivulekile asekelwa ngokuqondile)

Izici zokuphepha

• Okokufaka kokuvala shaqa - umshayeli uzokhutshazwa ku-hardware inqobo nje uma leli phini lishiywe livuliwe noma lifinyezwe phansi
• I-separate supply voltage okokufaka komshayeli kanye ne-digital logic - driver supply voltagI-e ingase ivalwe ngaphandle ngenkathi ukunikezwa kwelogic yedijithali ngakhoke ingqondo yedijithali ihlala isebenza

Isofthiwe

• I-TMCL: ukusebenza okuzimele noma ukusebenza okulawulwa kude, inkumbulo yohlelo (engaguquguquki) kuze kufike ku-2048 imiyalo ye-TMCL, kanye nesofthiwe yokuthuthukisa izinhlelo zokusebenza ezisekelwe ku-PC i-TMCL-IDE etholakala mahhala.
• Ilungele i-CANopen

Idatha kagesi kanye nemishini

• Ukunikezwa kwevoltage: ukunikezwa okujwayelekile voltages +12 V DC / +24 V DC / +48 V DC esekelwe (+9 V… +51 V DC)
• Injini yamanje: kufika ku-2.8 A RMS (iyahleleka)
• 0.55… 3.1Nm ubuningi. ukubamba i-torque (kuya nge-motor)
• Nge-NEMA23 (57mm motor flange size) noma i-NEMA24 (60mm motor flange size) stepper motor

Bheka futhi ekuhlukaniseni i-TMCL Firmware Manual.

IZICI EZIYI-TRINAMICS EZIHLUKENEYO – KULULA UKUZISEBENZISA NE-TMCL

i-stallGuard2™ i-stallGuard2 iyisilinganiso esiphezulu somthwalo ongenazinzwa sisebenzisa i-EMF yangemuva kumakhoyili. Ingasetshenziselwa ukubona indawo yokudayisa kanye nokunye ukusetshenziswa emithwalweni engaphansi kwaleyo emisa injini. Inani lokulinganisa le-stallGuard2 liyashintsha ngokuhambisana nenani elibanzi lomthwalo, isivinini, nezilungiselelo zamanje. Ekulayisheni kwemoto okukhulu, inani liya kuqanda noma eduze noziro. Leli yiphuzu eliwonga kakhulu amandla okusebenza kwenjini.

coolStep™ I-coolStep iyisikali samanje esishintshashintshayo esishintshayo esisuselwe esilinganisweni somthwalo nge-stallGuard2 evumelanisa umthamo wamanje odingekayo ukuze ulayishe. Ukusetshenziswa kwamandla kungancishiswa kuze kufike ku-75%. I-coolStep ivumela ukonga amandla amakhulu, ikakhulukazi kumamotho abona imithwalo ehlukahlukene noma asebenza ngomjikelezo wokusebenza okuphezulu. Ngenxa yokuthi uhlelo lwe-stepper motor ludinga ukusebenza netorque reserve engu-30% ukuya ku-50%, ngisho nohlelo lokusebenza olulayisha njalo luvumela ukonga okubalulekile kwamandla ngoba i-coolStep yenza ngokuzenzakalelayo ukugcinwa kwetorque lapho kudingeka. Ukunciphisa ukusetshenziswa kwamandla kugcina uhlelo lupholile, kukhulisa impilo yemoto, futhi kuvumela ukwehlisa izindleko.

Oda Amakhodi

I-PD-1160 okwamanje itholakala ngochungechunge lwezimoto ezimbili ezihlukene (NEMA23 / 57mm usayizi we-flange noma usayizi we-Flange we-NEMA24 / 60mm):

Nge-NEMA 23 / 57mm usayizi we-flange motor:
Ubude be-PANdrives bucaciswe ngaphandle kobude be-eksisi. Ngobude bayo bonke bomkhiqizo sicela wengeze u-24mm.

Ithebula 2.1 Amakhodi e-oda (PD57-1160)

Ikhodi ye-oda	Incazelo	Usayizi (mm3)
I-PD57-1-1160	I-PANdrive ene-torque engu-0.55Nm max./holding	60 x 60 x 58
I-PD57-2-1160	I-PANdrive ene-torque engu-1.01Nm max./holding	60 x 60 x 68

Nge-NEMA 24 / 60mm usayizi we-flange motor:
Ubude be-PANdrives bucaciswe ngaphandle kobude be-eksisi. Ngobude obuphelele bomkhiqizo engeza u-24mm.

Ithebula 2.2 Amakhodi e-oda (PD60-1160)

Ikhodi ye-oda	Incazelo	Usayizi (mm3)
I-PD60-3-1160	I-PANdrive ene-torque engu-2.10Nm max./holding	60 x 60 x 82
I-PD60-4-1160	I-PANdrive ene-torque engu-3.10Nm max./holding	60 x 60 x 103

Isethi yokuluka ikhebula iyatholakala kule mojula:

Ithebula 2.3 Amakhodi e-oda le-loom yekhebula

Ikhodi ye-oda

Incazelo

I-PD-1160-CABLE

Intambo yokuluka intambo ye-PD-1160: - 1x uhlaka lwentambo yesixhumi samandla (ubude 200mm) - 1x intambo yokweluka intambo yesixhumi sokuxhumana (ubude obungu-200mm) - 1x intambo yokweluka intambo yesixhumi se-I/O esinezinhloso eziningi (ubude buyi-200mm) - 1x intambo yokweluka intambo yesixhumi se-S/D (ubude buyi-200mm) - 1x intambo yokweluka intambo yesixhumi sekhodi (ubude 200mm) – I-1x ye-USB yohlobo A isixhumi kukhebuli yokuxhuma ye-USB encane yohlobo B (ubude obuyi-1.5m)

I-Mechanical Interfacing kanye nogesi

PD57-1160 kanye PD60-1160 Ubukhulu

1. PD57-1160 Ubukhulu
   I-PD57-1160 ihlanganisa i-TMCM-1160 stepper motor controller/driver module, i-encoder magnetic esekelwe kubuchwepheshe be-sensOstep kanye ne-NEMA23 bipolar stepper motor. Njengamanje, kukhona ukukhetha phakathi kwama-NEMA 23/57mm ama-bipolar stepper motors anobude obuhlukene nama-torque ahlukene okubamba.
2. PD60-1160 Ubukhulu
   Njengamanje, kukhona ukukhetha phakathi kwama-NEMA 24/60mm ama-bipolar stepper motors anobude obuhlukene nama-torque okubamba ahlukene.

Izixhumi ze-PD-1160
I-PD-1160 inikeza izixhumi eziyisikhombisa okuhlanganisa nesixhumi semoto esisetshenziselwa ukunamathisela amakhoyili emoto ku-electronics. Ngaphezu kwesixhumi samandla kukhona izixhumi ezimbili zokuxhumana kwe-serial (isixhumi se-USB esincane nesixhumi esingu-5pin se-RS485 ne-CAN) nezixhumi ezintathu ze-Isinyathelo/Isiqondiso, amasiginali wokufaka/okukhiphayo wemisebenzi eminingi, kanye nesishumeki sangaphandle.

Isixhumi esinezinjongo eziningi sinikeza okuphumayo okuyizinjongo ezimbili ezivamile, okokufaka okuyizinjongo ezimbili ezivamile, okokufaka okubili kokushintsha kokumisa kanye nokukodwa okokufaka kweswishi yasekhaya eyengeziwe.
Isixhumi sikagesi sinikeza okokufaka okuhlukene komshayeli nokokufaka kwamandla okunengqondo kanye nokokufaka kokuvala shaqa kwehadiwe. Ukushiya okokufaka kokuvala shaqa kuvuliwe noma ukukubopha phansi kuzokhubaza umshayeli wemototage hardware. Ukuze usebenze, lokhu kokufaka kufanele kuboshwe ku-voltagetage.

Ithebula 3.1 Izixhumi nezixhumi zokukhwelana, abathintwayo nocingo olusebenzayo

Ilebula	Uhlobo lwesixhumi	Uhlobo lwesixhumi sokukhwelana
Isixhumi Samandla	I-JST B4B-EH-A (Uchungechunge lwe-JST EH, 4pins, 2.5mm pitch)	Izindlu zokuxhuma: JST EHR-4 Oxhumana nabo: JST SEH-001T-P0.6 Intambo: 0.33mm2, AWG 22
Ukuxhumana kwe-serial Isixhumi	I-JST B5B-PH-KS (JST PH series, 5pins, 2mm pitch)	Izindlu zokuxhuma: JST PHR-5 Oxhumana nabo: JST SPH-002T-P0.5S Intambo: 0.22mm2, AWG 24
Isixhumi se-I/O esinezinjongo eziningi	I-JST B8B-PH-KS (JST PH series, 8pins, 2mm pitch)	Izindlu zokuxhuma: JST PHR-8 Oxhumana nabo: JST SPH-002T-P0.5S Intambo: 0.22mm2, AWG 24
Isinyathelo/Isixhumi Sendlela	I-JST B4B-PH-KS (Uchungechunge lwe-JST EH, 4pins, 2mm pitch)	Izindlu zokuxhuma: JST PHR-4 Oxhumana nabo: JST SPH-002T-P0.5S Intambo: 0.22mm2, AWG 24
Isixhumi sekhodi	I-JST B5B-PH-KS (Uchungechunge lwe-JST EH, 5pins, 2mm pitch)	Izindlu zokuxhuma: JST PHR-5 Oxhumana nabo: JST SPH-002T-P0.5S Intambo: 0.22mm2, AWG 24
Isixhumi Sezimoto	I-JST B4B-EH-A (JST PH series, 4pins, 2.5mm pitch)	Izindlu zokuxhuma: JST EHR-4 Oxhumana nabo: JST SEH-001T-P0.6 Intambo: 0.33mm2, AWG 22
I-Mini-USB Isixhumi	I-Molex 500075-1517 Isitsha se-USB esincane sohlobo lwe-B esime mpo	Noma iyiphi ipulaki ye-mini-USB evamile

Isixhumi Samandla
Le PANdrive inikezela okokufaka okuhlukile kokuphakelwa kwamandla kwe-digital logic (pin 2) kanye nomshayeli/amandla stage (iphini 1). Kokubili okokufaka kokunikezela kusebenzisa ukuxhumana okujwayelekile (iphinikhodi 4). Ngale ndlela, ukunikezwa kwamandla kumshayeli stagi-e ingase icishwe ngenkathi igcina ulwazi lwendawo kanye nesimo lapho igcina ukunikezwa kokunengqondo kwedijithali kusebenza. Ngenxa ye-diode yangaphakathi ukunikezwa kwe-digital logic kufanele kulingane noma kube phezulu kunomshayeli/amandla stage supply. Uma kungenjalo i-diode phakathi komshayeli/amandla stagUkunikezwa kwe-e nokusetshenziswa komqondo wedijithali kungase kufinyeze izinsiza ezihlukene.

+UDRIVER SUPPLY KUPHELA
Uma kwenzeka ukunikezwa kwamandla kunikezwa kuphela esigabeni samandla (iphinikhodi 1) i-diode yangaphakathi izosabalalisa amandla esigabeni sokucabanga. Ngakho-ke, lapho izinsiza zamandla ezihlukene zingadingeki kungenzeka ukuthi usebenzise iphinikhodi 1 no-4 ukuze unike amandla imojula. Uma kunjalo, iphinikhodi 2 (i-logic supply) kanye ne-pin 3 (/SHUTDOWN input) ingaxhunywa ndawonye ukuze umshayelitage.

UKUVUMELA UMSHAYELI STAGE
Xhuma /SHUTDOWN okokufaka ku-+UDriver noma +ULogic ukuze wenze kusebenze umshayelitage. Ukushiya lokhu kokufaka kuvuliwe noma ukukuxhuma phansi kuzokhubaza umshayelitage.

Isixhumi esingu-4-pin JST EH se-B4B-EH sisetshenziswa njengesixhumi samandla ebhodini.

Ithebula 3.2 Isixhumi sokuphakelwa kwamandla

	Phina	Ilebula	Incazelo
	1	+VDriver	Imojula + umshayeli stage-power supply input
	2	+VLogic	(Ongakukhetha) okokufaka okuhlukile kokunikezwa kwamandla okunengqondo yedijithali
	3	/VALA SHAQA	Vala shaqa okokufaka. Xhuma lokhu kokufaka kokuthi +VUmshayeli noma +VOkunengqondo ukuze vula umshayeli stage. Ishiya lokhu kokufaka kuvuliwe noma ukukuxhuma phansi
			izokhubaza umshayeli stage
	4	GND	I-module ground (ukunikezwa kwamandla kanye nendawo yesiginali)

Ukunikezwa kwamandla kagesi
Ukuze usebenze ngendlela efanele kufanele kuqashelwe mayelana nomqondo wokuphakelwa kwamandla kanye nomklamo. Ngenxa yemikhawulo yesikhala imojuli ye-TMCM-1160 ihlanganisa cishe u-20 μF / 100 V wama-capacitor okuhlunga okuhlinzeka. Lawa ama-capacitor e-ceramic akhethelwe ukuthembeka okuphezulu nesikhathi eside sokuphila.

AMACEBISO AMAKHABULA OKUNIKEZA AMANDLA

• Gcina izintambo zikagesi zifushane ngangokunokwenzeka.
• Sebenzisa amadayimitha amakhulu kumakhebuli kagesi.

ISEXWAYISO!

Engeza ama-capacitor okunikezwa kwamandla angaphandle! Kunconywa ukuxhuma i-electrolytic capacitor yosayizi obalulekile (isb. 2200 µF / 63 V) emigqeni yokuphakela amandla eduze kwe-PD-1160 ikakhulukazi uma ibanga lokuya kugesi lilikhulu (okungukuthi lingaphezu kuka-2-3m)!   μF Umthetho wesithupha wosayizi we-electrolytic capacitor: c = 1000 × IMOT A Ngaphezu kokuqiniswa kwamandla (i-buffer) kanye nokuhlunga le capacitor eyengeziwe kuzonciphisa noma iyiphi ivolumutagama-e spikes okungenzeka ukuthi avele ekuhlanganisweni kwezintambo zikagesi ezidonsa ngamandla kanye nama-ceramic capacitor. Ngaphezu kwalokho izokhawulela i-slew-rate of power supply voltage module. I-ESR ephansi yama-capacitor okuhlunga e-ceramic kuphela ingase ibangele izinkinga zokuzinza ngokushintsha kwezinto zamandla.

Ungaxhumi noma unqamule injini ngesikhathi sokusebenza! Ikhebula lemoto kanye ne-motor inductivity kungase kuholele ku-voltagi-e spikes lapho injini inqanyulwa / ixhunyiwe ngenkathi inamandla. Lezi voltagama-e spikes angase eqe umthamotage imikhawulo yomshayeli MOSFETs

	futhi ingase ilimaze unomphela. Ngakho-ke, nqamula ukunikezwa kwamandla ngaphambi kokuxhuma / ukunqamula injini.
	Gcina umthamo wamandla kagesitage ngaphansi komkhawulo ophezulu we-51V! Uma kungenjalo izinto zikagesi zomshayeli zizolimala kakhulu! Ikakhulukazi, lapho ekhethiwe yokusebenza voltagi-e iseduze nomkhawulo ophezulu ukunikezwa kwamandla okulawulwayo kunconywa kakhulu. Sicela ubheke futhi isahluko Fehler! Verweisquelle konnte nicht gefunden werden.Fehler! I-Verweisquelle konnte nicht gefunden werden. (amanani okusebenza).
	Akukho ukuvikelwa kwe-polarity okuphambene! Imojula izofinyeza noma iyiphi ivolumu yokuhlinzeka ehlehlisiwetage ngenxa ye-diode yangaphakathi ye-transistors yomshayeli.

I-Serial Communication Connector
Imojula isekela ukuxhumana kwe-RS485 kanye ne-CAN ngalesi sixhumi.

Isixhumi esibonakalayo se-CAN sizovalwa uma kwenzeka i-USB ixhunyiwe ngenxa yokwabelana kwangaphakathi kwezisetshenziswa zehadiwe.

Isixhumi esingu-2mm pitch 5-pin JST B5B-PH-K sisetshenziselwa ukuxhumana kwe-serial.

Ithebula 3.3 Isixhumi sokuxhumana kwe-serial

	Phina	Ilebula	Incazelo
	1	I-CAN_H	Isignali yebhasi ye-CAN (iphezulu ephezulu)
	2	I-CAN_L	Isignali yebhasi ye-CAN (iphansi kakhulu)
	3	GND	I-module ground (isistimu nendawo yesiginali)
	4	RS485+	Isiginali yebhasi ye-RS485 (engaphenduleki)
	5	RS485-	Isiginali yebhasi ye-RS485 (ihlanekezelwe)

RS485
Ukuze uthole isilawuli kude nokuxhumana ngohlelo lokusingatha i-PD-1160 inikeza isixhumi esibonakalayo sebhasi le-RS485 elinezintambo ezimbili.
Ukuze usebenze kahle izinto ezilandelayo kufanele zicatshangelwe lapho kusethwa inethiwekhi ye-RS485:

1. UKWAKHIWA KWEBHASI:
   I-topology yenethiwekhi kufanele ilandele isakhiwo sebhasi eduze ngangokunokwenzeka. Okusho ukuthi, ukuxhumana phakathi
   i-node ngayinye kanye nebhasi ngokwayo kufanele ibe mfushane ngangokunokwenzeka. Ngokuyisisekelo, kufanele ibe mfushane uma iqhathaniswa ne
   ubude bebhasi.
2. UKUMISA IBHASI:
   Ikakhulukazi kumabhasi amade kanye/noma ama-node amaningi axhunywe ebhasini kanye/noma isivinini esikhulu sokuxhumana, ibhasi kufanele linqanyulwe kahle kuzo zombili iziphetho. I-PD-1160 ihlinzeka ngezinto eziphikisayo zokunqamula ebhodini ezingasebenza ngosizo lwe-jumper. I-jumper kufanele isuswe kumayunithi angaxhumekile ekugcineni kwebhasi!
3. INANI LAMANODI:
   Izinga le-RS485 le-electrical interface (EIA-485) livumela ama-node angafika kwangu-32 ukuthi axhunywe ebhasini elilodwa.
   I-transceiver yebhasi esetshenziswa kumayunithi e-PD-1160 (SN65HVD485ED) ine-1/2 yomthwalo webhasi ojwayelekile futhi ivumela umkhawulo wamayunithi angama-64 ukuthi axhunywe ebhasini elilodwa le-RS485.
4. AYIKHO IZINTAMBO ZEBHASI:
   Gwema olayini bamabhasi abantantayo kuyilapho umsingathi/umphathi noma isigqila esisodwa emgceni webhasi sidlulisela idatha (wonke amabhasi ashintshiwe ukuze athole imodi). Imigqa yamabhasi antantayo ingase iholele emaphutheni okuxhumana. Ukuze uqinisekise amasignali avumelekile ebhasini kunconywa ukusebenzisa inethiwekhi ye-resistor exhumanisa imigqa yomibili yamabhasi emazingeni anengqondo achazwe kahle. Ngokuphambene nezinqamuli zokunqanyulwa le nethiwekhi ivamise ukudingeka kanye nje ngebhasi ngalinye. Ezinye iziguquli ezisebenzisanayo ze-RS485 ezitholakalayo kuma-PC sezivele zifaka lezi zixhasi ezengeziwe (isb. i-USB-2-485).

CAN
Ukuze uthole isilawuli kude nokuxhumana ngohlelo lokusingatha i-PD-1160 inikeza isixhumi esibonakalayo sebhasi le-CAN. Sicela uqaphele ukuthi isixhumi esibonakalayo se-CAN asitholakali uma kwenzeka i-USB ixhunyiwe. Ukuze usebenze kahle izinto ezilandelayo kufanele zicatshangelwe lapho kusethwa inethiwekhi ye-CAN:

1. UKWAKHIWA KWEBHASI:
   I-topology yenethiwekhi kufanele ilandele isakhiwo sebhasi eduze ngangokunokwenzeka. Okusho ukuthi, ukuxhumana phakathi kwe-node ngayinye kanye nebhasi ngokwayo kufanele kube mfushane ngangokunokwenzeka. Ngokuyisisekelo, kufanele ibe mfushane uma iqhathaniswa nobude bebhasi.
2. UKUMISA IBHASI:
   Ikakhulukazi kumabhasi amade kanye/noma ama-node amaningi axhunywe ebhasini kanye/noma isivinini esikhulu sokuxhumana, ibhasi kufanele linqanyulwe kahle kuzo zombili iziphetho. I-PD-1160 ihlinzeka ngezinto eziphikisa ukunqanyulwa ezisebhodini ezingavulwa ngosizo lwe-jumper (bona isahluko 7). I-jumper kufanele isuswe kumayunithi angaxhumekile ekugcineni kwebhasi!
3. INANI LAMANODI:
   I-transceiver yebhasi esetshenziswa kumayunithi e-PD-1160 (TJA1050T noma efanayo) isekela okungenani ama-node ayi-110 ngaphansi kwezimo ezifanele. Inani lama-node elingafinyeleleka ngebhasi ngalinye le-CAN lincike kakhulu kubude bebhasi (ibhasi elide -> izindawo ezincane) kanye nesivinini sokuxhumana (isivinini esiphezulu -> izindawo ezincane).

I-Multipurpose I/O Isixhumi
Isixhumi esingu-2mm pitch 8-pin JST B8B-PH-K sisetshenziselwa ukuxhuma okokufaka kwenjongo evamile, ukushintsha kwekhaya nokumisa kanye nokuphumayo kuyunithi:

Ithebula 3.4 Isixhumi se-I/O se-Multipurpose

	Phina	Ilebula	Incazelo
	1	OUT_0	Inhloso evamile okukhiphayo, i-drain evulekile (ubukhulu 1A) I-freewheeling diode ehlanganisiwe exhunywe ku-+VOkunengqondo
	2	OUT_1	Inhloso evamile okukhiphayo, vula amanzi (ubukhulu 1A) I-freewheeling diode ehlanganisiwe exhunywe ku-+VOkunengqondo
	3	IN_0	Okokufaka kwenhloso evamile (i-analog nedijithali), +24V ehambisanayo Ukulungiswa lapho kusetshenziswa okokufaka kwe-analog: 12bit (0..4095)
	4	IN_1	Okokufaka kwenhloso evamile (i-analog nedijithali), +24V ehambisanayo Ukulungiswa lapho kusetshenziswa okokufaka kwe-analog: 12bit (0..4095)
	5	STOP_L	Okokufaka kokushintsha kokumisa kwesokunxele (okufakwayo kwedijithali), +24V kuyahambisana, kuyahleleka ukudonsa kwangaphakathi kufike ku +5V
	6	STOP_R	Okokufaka kweswishi yokumisa kwesokudla (okufakwayo kwedijithali), +24V kuyahambisana, kuyahleleka ukudonsa kwangaphakathi kufike ku +5V
	7	EKHAYA	Okokufaka kweswishi yasekhaya (okufakwayo kwedijithali), +24V kuyahambisana, kuyahleleka ukudonsa kwangaphakathi kufike ku +5V
	8	GND	I-module ground (isistimu nendawo yesiginali)

Qaphela:
Wonke ama-input ane-resistor based voltagama-e dividers ane-protection diode. Lezi zinto eziphikisayo futhi ziqinisekisa izinga elivumelekile le-GND uma lishiywe lingaxhumekile.
Okokufaka okushintshiwe kwereferensi (STOP_L, STOP_R, HOME) isimelaphi sokudonsela phezulu esingu-1k siye ku-+5V singavulwa (ngokuhlukene ngokokufaka ngakunye). Bese lokhu okokufaka kuneleveli enengqondo ezenzakalelayo (engaxhumekile) ethi “1” futhi ukushintshela kwangaphandle ku-GND kungaxhunywa.

1. Okokufaka Kwedijithali STOP_L, STOP_R, kanye ne-HOME
   Isixhumi samaphini ayisishiyagalombili se-PD-1160 sinikeza okokufaka okudijithali kokushintsha kwesithenjwa okuthathu STOP_L, STOP_R kanye ne-HOME.
   Kokuthathu okokufaka kwamukela amasiginali okokufaka angafika ku-+24 V. Zivikelwe kulawa mavolumu aphezulutagusebenzisa i-voltagama-resistor dividers kanye nama-diode anomkhawulo ngokumelene ne-voltages ngaphansi kuka-0 V (GND) nangaphezulu +3.3 V DC.
   Konke okokufaka kwedijithali okuthathu kuxhunywe kuphrosesa esebhodini futhi kungasetshenziswa njengenjongo evamile okokufaka kwedijithali!
2. Okufakiwe Kwenhloso Ejwayelekile IN_0 kanye ne-IN_1
   Isixhumi samaphini ayisishiyagalombili se-PD-1160 sinikeza okokufaka okuyizinjongo okubili okujwayelekile okungasetshenziswa njengokufakwayo kwedijithali noma kwe-analog.
   OKUFAKAYO INHLOSO EJWAYELEKILE NJENGOKUFAKA KWE-ANALOG
   Njengokufakwayo kwe-analog banikeza ububanzi bokufakwa kwesikali esigcwele esingu-0… +10 V ngokulungiswa kwesiguquli sangaphakathi se-analog-to-digital se-microcontroller ye-12bit (0… 4095). Okokufaka kuvikelwe kuvolumu ephezulutagkuze kufike ku +24 V usebenzisa ivolumutagama-resistor dividers kanye nama-diode anomkhawulo ngokumelene ne-voltages ngaphansi kuka-0 V (GND) nangaphezulu +3.3 V DC.
3. Okuphumayo OUT_0, OUT_1
   Isixhumi sezikhonkwane eziyisishiyagalombili se-PD-1160 sinikezela ngezinjongo ezimbili ezijwayelekile eziphumayo OUT_0 kanye ne-OUT_1. Le miphumela emibili iwumphumela we-open-drain futhi ingacwila kufikela ku-1 A ngayinye. Imiphumela ye-N-channel MOSFET transistors ixhunywe kuma-freewheeling diode ngayinye ukuze kuvikelwe ivolumu.tagama-spikes ikakhulukazi asuka emithwalweni eguquguqukayo (ama-relay njll.) ngaphezu komthamo wokunikezwayotage.
   • Esimeni lapho ama-free-wheeling diode exhunywe ku-VDD supply voltage:
     Akukho okuphumayo kokubili okufanele kuxhunywe kunoma iyiphi ivolumutage ngaphezu kwevoltage yemojuli.
   • Kuyatuswa ukuxhuma i-+Vlogic yesixhumi samandla kokuphumayo kokunikezwa kwamandla uma kwenzeka okuphumayo OUT_0/1 kusetshenziswa ukushintsha imithwalo ye-inductive (isb. amalayidi njll.).

Isinyathelo/Isixhumi Sendlela
Isixhumi esingu-2mm pitch 4-pin JST B4B-PH-K sisetshenziselwa isinyathelo namasiginali wokufaka wesiqondiso. Lokhu kuyinketho uma isilawuli esisebhodini sisetshenziselwa ukucushwa komshayelitage, kuphela. I-Step/Direction input ihlukaniswe ngokusobala futhi izovumela ukulawula okuqondile komshayelitage.
Sicela unganamathiseli noma iyiphi isignali kulokhu kufakwayo uma kusetshenziswa isilawuli sokunyakaza esisebhodini! Uma kungenjalo isinyathelo noma isignali yokuqondisa exhunywe lapha ingase iphazamise amasignali akhiqizwa ebhodini.

Ithebula 3.4 Isixhumi sezimpawu zesinyathelo/zezikhombisi-ndlela

	Phina	Ilebula	Incazelo
	1	COM	Ukunikezwa okuvamile kokokufaka kwe-opto-coupler (+5V... +24V)
	2	VUMELA	Nika amandla okokufaka kwesignali (umsebenzi uncike ku-firmware)
	3	ISINYATHELO	Isinyathelo sokufaka isignali (kuxhunywe ekufakweni kwesinyathelo somshayeli we-TMC262 IC)
	4	I-DIRECTION	Isignali yokuqondisa (ixhunywe ekufakweni kokuqondisa kwe-TMC262 IC driver)

Isinyathelo / Isiqondiso / Nika amandla Okokufaka
Okokufaka Isinyathelo, Ukuqondisa kanye Nokunika amandla kuhlukanisiwe ngogesi (ngokubonakalayo) kumthombo wamandla kanye nawo wonke amanye amasiginali wemojuli. Lokhu okokufaka kunokufakwayo okuyisithenjwa okukodwa okujwayelekile COMMON.
Okokufaka kwe-COMMON kufanele kuxhunywe ku-positive voltage phakathi kuka-+5 V kanye no-+24 V. Isinyathelo / Isiqondiso / Vumela amasignali angase ashayelwe ukuphuma komqoqi ovulekile / ukuphuma kwe-open-drain noma ngokuphuma kokuphusha.
Esimeni sokuphuma kwe-push-pull i-COMMON supply voltagu-e kufanele alingane / afane nevolumu yesignali ephezulutage izinga labashayeli be-push-pull.

Isixhumi sekhodi
Imojuli isekela isifaki khodi sangaphandle esithi a/b/n ngalesi sixhumi. Isishumeki sangaphandle singasetshenziswa ngaphezu kwalokho noma njengenye indlela yesishumeki se-sensOstep sangaphakathi / esisebhodini.
Isixhumi esingu-2mm pitch 5-pin JST B5B-PH-K sisetshenziselwa ukuxhuma isifaki khodi sangaphandle nge-TTL (+5 V push-pull) noma amasignali avulayo okuqoqa ngokuqondile:

Ithebula 3.5 Isixhumi sesishumeki esikhuphukayo sangaphandle

	Phina	Ilebula	Incazelo
	1	GND	I-module ground (isistimu nendawo yesiginali)
	2	+5V	+5V okukhiphayo kokunikezwayo kwesekethe yesifaki khodi sangaphandle (100 mA max.)
	3	ENC_A	Faka ikhodi okokufaka kwesiteshi (ukudonsa kwangaphakathi)
	4	ENC_B	Okokufaka kwesiteshi se-Encoder b (ukudonsa kwangaphakathi)
	5	ENC_N	Isifaki khodi sokuzithandela n / okokufaka kwesiteshi senkomba (ukudonsa kwangaphakathi)

Okokufaka Kwesifaki khodi
I-PD-1160 inikezela ngokufakwa kwesifaki khodi esizinikezele kwezishumeki ezikhulayo ze-a/b ezinokuzikhethela kwesiteshi esingu-n / index.
Izifaki khodi ezinesiginali ye-+5 V push-pull (TTL) noma amasiginali wokuqoqa avulekile (ama-on-board pull-ups) angase axhunywe ngokuqondile.
Lesi sixhumi sinikeza okukhiphayo kokunikezwayo okungu-+5 V ukuze kunikezwe isekethe yesifaki khodi. Kungase kudonswe kufikela ku-100mA kulokhu okukhiphayo.
Ukuxhuma isifaki khodi sangaphandle kuyinketho. Isifaki khodi sangaphandle singase sisetshenziswe ngaphezu kwalokho noma njengenye indlela yesishumeki se-sensOstep sangaphakathi.

Isixhumi Sezimoto
Womabili ama-motor coil windings (i-bipolar stepper motor) axhunywe kusixhumi semoto.

Umfanekiso 3.4 Isixhumi sezimoto

	Phina	Ilebula	Incazelo
	1	I-OA1	Ikhoyili yemoto A
	2	I-OA2	Ikhoyili yemoto A
	3	OB1	Ikhoyili yemoto B
	4	OB2	Ikhoyili yemoto B

ISEXWAYISO!

Gcina izinto zikagesi zingenazo izinhlayiya (zensimbi)!
Isishumeki esihlanganisiwe se-sensOstep™ sisebenzisa uzibuthe ekugcineni kwe-axis yemoto ukuze kuqashwe indawo. Umazibuthe ukhanga ngokwemvelo izinhlayiya zensimbi ezincane kakhulu. Lezi zinhlayiya zingase zibanjwe ohlangothini olungaphezulu lwe-PCB futhi okubi nakakhulu - qala ukuhamba ngokuhambisana nenkundla kazibuthe ejikelezayo ngokushesha nje lapho injini iqala ukuhamba. Lokhu kungase kuholele ekuthini kuxhunywe izintambo ze-elekthronikhi ebhodini kanye nokuziphatha okuguquguqukayo ngokuphelele kwemojuli! Sebenzisa umoya ocindezelwe ukuhlanza imojuli uma kunesidingo.

I-Mini-USB Isixhumi
Isixhumi esijwayelekile samaphini angu-5 se-USB siyatholakala ebhodini. Le mojula isekela uxhumano lwe-USB 2.0 olugcwele isivinini (12Mbit/s).

Ngicela uqaphele:

• I-digital core logic esebhodini (ikakhulukazi iphrosesa ne-EEPROM) izonikwa amandla nge-USB uma kwenzeka kungekho okunye ukunikezwa okuxhunyiwe. Uxhumano lwe-USB lungase lusetshenziselwe ukusetha imingcele / ukulanda izinhlelo ze-TMCL noma ukwenza izibuyekezo ze-firmware ngenkathi ukunikezwa kwamandla kwemojuli (kanye nawo wonke umshini) kuvaliwe noma ungaxhunyiwe.
• I-interface ye-CAN izovalwa ukusebenza ngokushesha nje lapho i-USB isixhunywe ngenxa yokwabelana kwangaphakathi kwezisetshenziswa zehadiwe.

Ithebula 3.6 Isixhumi se-USB esincane

	Phina	Ilebula	Incazelo
	1	I-VBUS	+5V ukunikezwa okuvela kumsingathi
	2	D-	Idatha -
	3	D+	Idatha +
	4	ID	Ayixhunyiwe
	5	GND	I-module ground (isistimu nendawo yesiginali)

Ngokulawula okukude nokuxhumana ngohlelo lomsingathi i-PD-1160 inikeza isixhumi esibonakalayo se-USB 2.0 esigcwele isivinini (12Mbit/s) (isixhumi se-USB encane). Ngokushesha nje lapho i-USB-Host ixhunyiwe imojuli izokwamukela imiyalo nge-USB.

INDLELA YOKUSEBENZA IBHASI LE-USB
I-PD-1160 isekela kokubili, ukusebenza okuzisekelayo kwe-USB (uma amandla angaphandle enikezwa ngesixhumi sokuphakela amandla) kanye nokusebenza okunikwe amandla kwebhasi le-USB, (akukho ukunikezwa kwamandla kwangaphandle ngesixhumi esinikezela ngogesi).
I-Digital core logic esebhodini izonikwa amandla nge-USB uma kungekho okunye ukunikezwa okuxhunyiwe (ukusebenza okunikwe amandla ngebhasi le-USB). I-digital core logic iqonda i-microcontroller ngokwayo kanye ne-EEPROM. Imodi yokusebenza esebenza ngamandla ebhasi le-USB isetshenziswe ukuze kunikwe amandla ukumisa, izilungiselelo zepharamitha, ukufunda, izibuyekezo ze-firmware, njll. ngokuxhuma nje ikhebula le-USB phakathi kwemojuli ne-PC yokusingatha. Awekho amakhebula engeziwe noma izisetshenziswa zangaphandle (isb. ukunikezwa kwamandla) ezidingekayo.
Sicela uqaphele ukuthi imojula ingase idonse okwamanje ebhasini le-USB +5 V ngisho nasekusebenzeni okuzihambelayo nge-USB kuye ngevolthitage ileveli yalokhu kunikezwa.

Ukunyakaza kwezimoto akunakwenzeka kule modi yokusebenza. Ngakho-ke, xhuma isixhumi samandla bese ushintshela kumodi yokusebenza esebenza nge-USB.

Abagxumayo

Izilungiselelo eziningi zebhodi zenziwa ngesoftware. Noma kunjalo, ama-jumpers amabili ayatholakala ukuze acushwe.

1. I-RS485 Ukunqanyulwa Kwebhasi
   Ibhodi lifaka isixhasi esingu-120 Ohm sokunqanyulwa kwebhasi okufanele kwesixhumi esibonakalayo se-RS485. Uma le jumper ivaliwe, i-resistor izobekwa phakathi kwemigqa emibili yamabhasi ehlukene i-RS485+ ne-RS485-.
2. I-CAN Bus Termination
   Ibhodi lifaka isixhasi esingu-120 Ohm sokunqanyulwa kwebhasi okufanele kwesixhumi esibonakalayo se-CAN. Uma lesi sigameko sivaliwe, isivimbeli sizobekwa phakathi kwemigqa emibili ehlukene yamabhasi i-CAN_H ne-CAN_L.

Setha kabusha kokuthi Okuzenzakalelayo Kwakhiwe

Kuyenzeka ukusetha kabusha i-PD-1160 ibe izilungiselelo ezizenzakalelayo zasembonini ngaphandle kokusungula isixhumanisi sokuxhumana. Lokhu kungase kube usizo uma imingcele yokuxhumana yesixhumi esibonakalayo esithandwayo isethwe kumanani angaziwa noma ilahleke ngephutha.

Kule nqubo amaphedi amabili ohlangothini olungezansi lwebhodi kufanele abe mfushane (bheka uMdwebo 5.1).

YENZA IZINYATHELO EZLANDELAYO:

1. Ukunikezwa kwamandla kuvaliwe nekhebula le-USB linqanyuliwe
2. Amaphedi amabili amafushane njengoba ephawulwe kuMfanekiso 5.1
3. Ibhodi lokukhuphula amandla (amandla nge-USB anele kule njongo)
4. Linda kuze kube yilapho ama-LED asebhodini abomvu naluhlaza eqala ukukhanya ngokushesha (lokhu kungase kuthathe isikhashana)
5. Ibhodi lokucisha amandla (nqamula ikhebula le-USB)
6. Susa okufushane phakathi kwamaphedi
7. Ngemva kokuvula ikhebula le-USB lokunikeza amandla/ukuxhuma zonke izilungiselelo ezingunaphakade zibuyiselwe kokumisiwe kwasembonini

Ama-LED angaphakathi

Ibhodi linikeza ama-LED amabili ukuze kuboniswe isimo sebhodi. Umsebenzi wawo womabili ama-LED uncike enguqulweni ye-firmware. Nge-firmware evamile ye-TMCL i-LED eluhlaza kufanele ibaneke ngesikhathi sokusebenza futhi i-LED ebomvu kufanele icishwe.
Uma ingekho i-firmware evumelekile efakwe ebhodini noma phakathi nokubuyekezwa kwe-firmware ama-LED abomvu naluhlaza avuliwe unomphela.

UKUZIPHATHA KWAMALED ANE-STANDARD TMCL FIRMWARE

Isimo	Ilebula	Incazelo
Ukushaya kwenhliziyo	Gijima	I-LED eluhlaza iyakhanya ngesikhathi sokusebenza.
Iphutha	Iphutha	I-LED ebomvu iyakhanyisa uma kwenzeka iphutha.

Izilinganiso Zokusebenza

Izilinganiso zokusebenza zibonisa ububanzi obuhlosiwe noma besici futhi kufanele busetshenziswe njengamavelu edizayini.
Akufanele kudlulwe amanani aphezulu!

IZILINGANISO EZIJWAYELEKILE ZOKUSEBENZA KWEMODULI

Ithebula 7.1 Izilinganiso zokusebenza ezijwayelekile zemojuli

Uphawu	Ipharamitha	Okuncane	Thayipha	Ubukhulu	Iyunithi
+VDriver / +VLogic	Amandla kagesi voltage ukusebenza	9	12, 24, 48	51	V DC *)
I-IUSB	Ukunikezwa kwe-USB okwamanje uma ibhasi le-USB lisebenza (+5V Ukunikezwa kwe-USB)		70		mA
ICOIL_peak	Ikhoyili yemoto ye-sine wave peak (chopper kulawulwa, kulungiswa ngesoftware)	0		4	A
ICOIL_RMS	I-continuous motor current (RMS)	0		2.8	A
ISUPPLY	Ukunikezwa kwamandla okwamanje		<< ICOIL	1.4* ngiikhoyili	A
I-TENV	Izinga lokushisa lemvelo ekunikezeni okungu-+48V kanye nesilinganiso samanje (100% duty-cycle, akukho ukupholisa okuphoqelelwe okudingekayo)			40	°C
I-TENV	Izinga lokushisa lemvelo ekunikezeni okungu-+24V kanye nesilinganiso samanje (100% duty-cycle, akukho ukupholisa okuphoqelelwe okudingekayo)			50	°C

Qaphela: ngenxa ye-diode yangaphakathi phakathi kwe-VDriver ne-VLogic VLogic kufanele ihlale ilingana noma iphakeme kune-VDriver.

IZILINGANISO EZIJWAYELEKILE ZOKUSEBENZA KOKUFAKA ISINYATHELO/ISIQONDISO 

Ithebula 7.2 Izilinganiso zokusebenza ze-Step/Dir input

Uphawu	Ipharamitha	Okuncane	Uhlobo	Ubukhulu	Iyunithi
I-VCOMMON	Ukunikezwa kwevoltage yokufaka okujwayelekile kokunikezwa kwesinyathelo, isiqondiso futhi unike amandla (okufakwayo kunomqondo ongemuhle)		5… 24	27	V
VSTEP/DIR/ENABLE_O N	Isiginali voltage isinyathelo, isiqondiso futhi unike amandla okokufaka (iyasebenza, i-opto-coupler ivuliwe)	3.5	4.5… 24	30	V
VSTEP/DIR/ENABLE_OF F	Isiginali voltage isinyathelo, isiqondiso futhi unike amandla okokufaka (engasebenzi, i-opto-coupler icishiwe)	-5.5	0	2	V
VSTEP/DIR/ENABLE_O N	I-Opto-coupler yamanje uma ivuliwe (kulawulwa ngaphakathi)		6… 8		mA
fSTEP	Imvamisa yesinyathelo			1 *)	MHz

Imvamisa enkulu yezinyathelo zesinyathelo +5 V TTL isiginali inomjikelezo womsebenzi ongu-50%.

IZILINGANISO ZOKUSEBENZA KWEMIPHUMELA YENHLOSO EJWAYELEKILE

Ithebula 7.3 Izilinganiso zokusebenza zenjongo evamile okokufaka/okuphumayo

Uphawu	Ipharamitha	Okuncane	Uhlobo	Ubukhulu	Iyunithi
VSTOP_L/R/EKHAYA	Okokufaka ivoltagi-e yokuthi STOP_L/R/HOME	0		24	V
VSTOP_L/R/HOME_L	Ivolumu yezinga eliphansitagi-e yokuthi STOP_L/R/HOME	0		1.3	V
I-VSTOPL/R/HOME_H	Izinga eliphezulu voltagi-e yokuthi STOP_L/R/HOME (kuyahleleka kwangaphakathi 1k ukudonsela phezulu ku +5V)	3		24	V
VIN_0/1_digital	Okokufaka ivoltagi-e ye-IN_0 kanye ne-IN_1 uma isetshenziswa njenge okokufaka kwedijithali	0		24	V
VIN_0/1_analogi	Ububanzi obugcwele bokufaka ivolumutage-IN_0 kanye ne-IN_1 nini isetshenziswa njengokufakwa kwe-analog	0		10	V
VIN_0/1_L	Ivolumu yezinga eliphansitagi-e ye-IN_0 kanye ne-IN_1 uma isetshenziswa njengokufakwayo kwedijithali (ukudonsela phansi okungu-10k kwangaphakathi)	0		1.3 *)	V
VIN_0/1_H	Izinga eliphezulu voltagi-e ye-IN_0 kanye ne-IN_1 uma isetshenziswa njengokufakwayo kwedijithali	3 *)		24	V
VOUT_0/1	Voltage ekukhiqizweni komqoqi ovulekile	0		I-VLOGIC + 0.5 **)	V
IOUT_0/1	Okukhiphayo kusinki samanje kokuphumayo komqoqi ovulekile			1	A

• lesi voltagi-e iyahleleka (yangaphakathi 12bit ADC)
• kukhawulelwe kumthamo wokunikezwa kwemojulatage + 0.5V ngenxa ye-freewheeling diode ehlanganisiwe phakathi kokukhiphayo kwenjongo evamile kanye nevolumu yokunikezwa kwemojulatage

I-Torque Curves

I-TRINAMIC inikezela nge-TMCM-1160 ngokuhlanganiswa nochungechunge lwezitezi ezimbili ezihlukene: QSH5718 kanye ne-QSH6018. Izigaba ezilandelayo zizokukhombisa amajika e-PANdrive ngayinye.

Amajika we-PD57-1160

I-PD57-1-1160 Torque Curves

I-PD57-2-1160 Torque Curves

Amajika we-PD60-1160

I-PD60-3-1160 Torque Curves

I-PD60-4-1160 Torque Curves

Incazelo Esebenzayo

I-PD-1160 iyisisetshenziswa se-mechatronic esididiyelwe kakhulu esingalawulwa ngezixhumi ezibonakalayo ezimbalwa ze-serial. Ithrafikhi yokuxhumana igcinwa iphansi kusukela ngaso sonke isikhathi imisebenzi ebalulekile, isbamp izibalo zenziwa ebhodini. Common supply voltages kukhona +12VDC / +24VDC / +48VDC. I-PANdrive yakhelwe kokubili: imodi eqondile nokusebenza okuzimele. Isilawuli kude esigcwele sedivayisi enempendulo kungenzeka. I-firmware yemojuli ingabuyekezwa nganoma yiziphi izixhumi ezibonakalayo ze-serial.

Emfanekisweni 9.1 izingxenye eziyinhloko ze-PD-1160 zibonisiwe:

• i-microprocessor, esebenzisa isistimu yokusebenza ye-TMCL (exhunywe kwimemori ye-TMCL),
• isilawuli sokunyakaza, esibala u-ramps kanye nesivinini profilengaphakathi nge-hardware,
• umshayeli wamandla one-stallGuard2 kanye nesici sayo esisebenza kahle se-coolStep,
• umshayeli we-MOSFET stage,
• i-QSH stepper motor, futhi
• i-sensOstep encoder enezinqumo ze-10bit (izinyathelo ezingu-1024) inguquko ngayinye.

I-PD-1160 iza ne-PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Ukusebenzisa imiyalo yezinga eliphezulu ye-TMCL echazwe ngaphambilini njengokuhambisa ukuze ubeke ukuthuthukiswa okusheshayo nokusheshayo kwezinhlelo zokusebenza zokulawula ukunyakaza kuqinisekisiwe.
Sicela ubheke i-PD-1160 Firmware Manual ukuze uthole ulwazi olwengeziwe mayelana nemiyalo ye-TMCL.

Incazelo yokusebenza ye-PD-1160

Ukubala: Isivinini kanye nokusheshisa ngokumelene ne-Microstep kanye ne-Fullstep Frequency

Amanani amapharamitha athunyelwe ku-TMC429 awanawo amanani emoto ajwayelekile njengokuzungezisa ngomzuzwana njengesivinini. Kodwa lawa manani angabalwa kusukela kumapharamitha we-TMC429 njengoba kukhonjisiwe kulesi sigaba.

IMIPHAKATHI YE-TMC429

Ithebula 10.1 Imingcele ye-TMC429 yesivinini

Isiginali	Incazelo	Ibanga
I-fCLK	iwashi-imvamisa	16 MHz
isivinini	–	0… 2047
a_ubuningi	ukusheshisa okuphezulu	0… 2047
i-pulse_div	isihlukanisi sejubane. Uma inani liphakeme, lincane isivinini esikhulu inani elizenzakalelayo = 0	0… 13
ramp_div	isihlukanisi sokusheshisa. Uma inani liphezulu, lincane ukusheshisa okuphezulu inani elizenzakalelayo = 0	0… 13
Usrs	microstep-resolution (microsteps per fullstep = 2usrs)	0… 8

I-MICROSTEP FREQUENCY
Imvamisa ye-microstep ye-stepper motor ibalwa nge

FULLSTEP FREQUENCY
Ukuze ubale imvamisa yesinyathelo esigcwele ukusuka kufrikhwensi ye-microstep, imvamisa ye-microstep kufanele ihlukaniswe ngenombolo yezinyathelo ezincane ngesinyathelo esigcwele ngasinye.

Ushintsho kuzinga lokushaya kwenhliziyo ngeyunithi yesikhathi (ukushintsha imvamisa yokushaya ngomzuzwana - ukusheshisa a) kunikezwa

Lokhu kubangela ukusheshisa ngezinyathelo ezigcwele ze:

EXAMPWENA:

Isiginali	inani
f_CLK	16 MHz
isivinini	1000
a_ubuningi	1000
i-pulse_div	1
ramp_div	1
usrs	6

IBALWA YENOMBOLO LOKUSHINTSHISWA

I-stepper motor inesib. 72 fullsteps per rotation

Inqubomgomo Yokusekela Impilo
I-TRINAMIC Motion Control GmbH & Co. KG ayigunyazi noma ayigunyazi noma yimiphi imikhiqizo yayo ukuthi isetshenziswe ezinhlelweni zokusekela ukuphila, ngaphandle kwemvume ebhaliwe eqondile ye-TRINAMIC Motion Control GmbH & Co. KG.
Amasistimu okusekela ukuphila amathuluzi okuhloswe ngawo ukusekela noma ukusekela ukuphila, futhi ukwehluleka kwawo ukusebenza, lapho kusetshenziswa kahle ngokuvumelana nemiyalelo enikeziwe, okungalindeleka ngokunengqondo kubangele ukulimala komuntu siqu noma ukufa.

© TRINAMIC Motion Control GmbH & Co. KG 2013
Ulwazi olunikezwe kuleli phepha ledatha kukholakala ukuthi lunembile futhi luthembekile. Nokho asikho isibopho esithathwayo ngemiphumela yokusetshenziswa kwayo nanoma yikuphi ukwephulwa kwamalungelo obunikazi noma amanye amalungelo abantu besithathu, okungase kube umphumela wokusetshenziswa kwayo.
Imininingwane ingashintsha ngaphandle kwesaziso.
Zonke izimpawu zokuthengisa ezisetshenzisiwe ziyimpahla yabanikazi bazo.

Umlando Wokubuyekeza

Ukubuyekezwa Kwedokhumenti

Ithebula 12.1 Ukubuyekezwa kwedokhumenti

Inguqulo	Usuku	Umbhali GE – Göran Eggers SD – Sonja Dwersteg	Incazelo
0.91	2012-MAY-03	GE	Inguqulo yokuqala
1.00	2012-JUN-12	SD	Inguqulo yokuqala ephelele kuhlanganise izahluko ezilandelayo: - Setha kabusha kokuzenzakalelayo kwasefekthri, - Ama-LED
1.01	2012-JUL-30	SD	Okokufaka kwenhloso evamile kulungisiwe.
1.02	2013-JUL-08	SD	Isahluko 3.2.1 sibuyekeziwe.

I-Hardware Ukubuyekezwa

Ithebula 12.2 Ukubuyekezwa kwezingxenyekazi zekhompuyutha

Inguqulo	Usuku	Incazelo
I-TMCM-1160_V10	2011-JUL-20	Inguqulo yokuqala
I-TMCM-1160_V11	2012-JAN-24	- Okokufaka IN_0 kanye ne-IN_1 kungasetshenziswa njengokufakwayo kwe-analog, futhi

Izithenjwa

[PD-1160 TMCL] PD-1160 TMCL Firmware Manual
[TMCL-IDE] Imanuwali yomsebenzisi ye-TMCL-IDE
[QSH5718] QSH5718 Manual
[QSH5718] QSH5718 Manual

Sicela ubhekisele ku www.trinamic.com.

Kulandwe kusuka Umcibisholo.com.

Amadokhumenti / Izinsiza

I-TRINAMIC PD-1160 EZIPHUMA EZIYI-Stepper Motor enomshayeli wesilawuli [pdf] Imaniwali yosebenzisayo I-PD-1160 EZIPHUMA EZIYIMPELA I-Stepper Motor eno-Controller Driver, PD-1160, IZICI EZIYIMPELA I-Stepper Motor eno-Controller Driver, Motor with Controller Driver, Controller Driver, Driver

Izithenjwa

• Imaniwali yosebenzisayo