1. Pfupiso
The HBS86H chemasanganiswa and servo nemotokari hurongwa integrates ari servo kudzora michina munzvimbo digitaalinen and kutyaira zvakakwana. Uye chigadzirwa ichi adopts ane Manyiminya encoder pamwe kumhanya nzvimbo zvakabudiswa inofambiswa 50 μ s, kamwe nzvimbo kutsauka rinowanika zvicharangarirwa wakaiswa pakarepo. chigadzirwa ichi inowirirana zvakanakira ari and nemotokari uye servo nemotokari, akadai yakaderera kupisa, zvishoma vibration, nokutsanya kumhanyisa, uye zvichingodaro. mhando iyi servo nemotokari anewo shasha mutengo unongotaura.
- Zvimiro
Akatarira Vasina kurasa danho, High zvakarurama Positioning
U 100% yavose sezvavakatarirwa goho torque
Akatarira shanduka ano kudzora michina, High ano kunyatsoshanda
Akatarira Small vibration Smooth uye yakavimbika kufambisa yakaderera nokukurumidza,
Akatarira mhanyisa uye decelerate kuzvidzora mukati, kuvandudzika Zvikuru kumeso pokutangira kana zvokurega injini
U User-runotsanangurwa micro matanho
Akatarira Inoenderana ne 1000 uye 2500 mitsetse encoder
Akatarira No kuchinja zvavo mafomu
Akatarira Over ano, pamusoro voltage uye pamusoro nechinzvimbo kukanganisa kudzivirira
Akatarira chiedza Green zvinoreva kumhanya apo chiedza dzvuku zvinoreva kudzivirira kana kure mutsetse
3. Zvengarava Introduction
3.1 ALM uye PEND chiratidzo goho ports
poti |
chiratidzo |
zita |
taura pfungwa |
1 |
PEND + |
Panzvimbo chiratidzo goho + |
+
- |
2 |
PENDA |
Panzvimbo chiratidzo goho - |
|
3 |
ALM + |
Alarm goho + |
|
4 |
ALM- |
Alarm goho - |
3.2 Control Signal Inzwa Zvinotaurwa Ports
poti |
chiratidzo |
zita |
taura pfungwa |
1 |
PLS + |
Kufamba kweropa chiratidzo + |
kunoenderana 5V kana 24V |
2 |
PLS- |
Kufamba kweropa chiratidzo - |
|
3 |
DIR + |
Direction chiratidzo + |
Kunoenderana 5V kana 24V |
4 |
DIR- |
Direction chiratidzo- |
|
5 |
ENA + |
Vakwanise chiratidzo + |
kunoenderana 5V kana 24V |
6 |
ENA- |
Vakwanise chiratidzo - |
3.3 Encoder Feedback Signal Inzwa Zvinotaurwa Ports
poti |
chiratidzo |
zita |
wiring ruvara |
1 |
PB + |
Encoder danho B + |
GIRINHI |
2 |
PB- |
Encoder danho B - |
YELLLOW |
3 |
PA + |
Encoder danho A + |
BHURUU |
4 |
PA- |
Encoder danho A - |
NHEMA |
5 |
VCC |
chiyamuro simba |
TSVUKU |
6 |
GND |
Chiyamuro simba pasi |
CHENA |
3.4 Power inowanikwa Ports
poti |
kuongorora |
chiratidzo |
zita |
taura pfungwa |
1 |
Motor Pasika Wire Inzwa Zvinotaurwa Zvengarava |
A + |
Chikamu A + (KABHUKU) | Motor Pasika A |
2 |
A- |
Chikamu A- (RED) | ||
3 |
B + |
Chikamu B + (YELLOW) |
Motor Pasika B | |
4 |
B- |
Chikamu B- (BHUU) |
||
5 |
Power Inzwa Zvinotaurwa Zvengarava |
VCC |
Chiyamuro Power + | AC24V-70V DC30V-100V |
6 |
GND |
chiyamuro Simba Rokuparadza- |
4. muruzivo rwokugadzira Index
chiyamuro Voltage |
24 ~ 70VAC kana 30 ~ 100VDC |
|
Kubuda Ikozvino | 6a 20KHz PWM | |
Kufamba kweropa Frequency Max |
200K |
|
Communication zvazvingava | 57.6Kbps | |
Kudzivirirwa |
l Pamusoro penzvimbo yepamusoro yepamusoro 12A ± 10% l Pamusoro pemagetsi kukosha 130Vl Iyo yepamusoro chinzvimbo kukanganisa renji inogona kumisikidzwa kuburikidza neHISU | |
Uchitikurudzira Dimensions (mm) |
150 × 97,5 × 53 |
|
uremu |
Inotorwa 580g | |
Environment Magadzirirwo |
mhepo mvura nenzvimbo |
Dzivisa guruva, mafuta bvungapfunga uye kungatikanganisa magasi |
Kushanda tembiricha |
70 ℃ Max |
|
chengetedzo tembiricha |
-20 ℃ ~ + 65 ℃ |
|
unyoro |
40 ~ 90% RH |
|
Kutonhoramethod | Natural kutonhora kana kumanikidzwa mhepo kutonhora |
taura pfungwa:
VCC inowirirana 5V kana 24V;
R (3 ~ 5K) inofanira kwakabatana kudzora chiratidzo inouraya.
taura pfungwa:
VCC inowirirana 5V kana 24V;
R (3 ~ 5K) inofanira kwakabatana kudzora chiratidzo inouraya.
5.2 Connections Zvinowanzopiwa Cathode
taura pfungwa:
VCC inowirirana 5V kana 24V;
R (3 ~ 5K) inofanira kwakabatana kudzora chiratidzo inouraya.
5.3 Connections kuna Differential Signal
taura pfungwa:
VCC inowirirana 5V kana 24V;
R (3 ~ 5K) inofanira kwakabatana kudzora chiratidzo inouraya.
5.4 Connections kusvika 232 Serial Communication Interface
PIN1 PIN6 PIN1 PIN 6
Crystal Musoro rutsoka |
tsananguro |
taura pfungwa |
1 |
TXD |
nekufambisa Data |
2 |
RXD |
gamuchirai Data |
4 |
+ 5V |
Power Wedzerai HISU |
6 |
GND |
Simba Ground |
5.5 kutevedzana Chati Control Signals
Kuitira kudzivisa kumwe kudarika mashandiro uye zvarakasiya, nePuri, DIR uye ENA chigare nevamwe mitemo, kuratidzwa sezvo inotevera dhayagiramu:
taura pfungwa:
Puri / DIR
- T1: ENA anofanira kuva pamberi DIR nokuda dzinenge 5μ s. Kazhinji, ENA + uye ENA- vari NC (kwete kwakabatana).
- t2: DIR anofanira kuva pamberi waPuri vanoshingaira pamupendero kubudikidza 6μ S kuitira kwakarurama mirayiridzo;
- T3: Pulse upamhi kwete asingasviki 2.5μ S;
- t4: Low chechetere upamhi kwete asingasviki 2.5μ s.
6. Dip ufambe Setting
6.1 Activate Edge Setting
SW1 rinoshandiswa pakururamisa ari Activate kumucheto mazano chiratidzo, "kure" zvinoreva Activate pamucheto ndiko kuzvimba unopinza, apo "riri" ndiye anowira mucheto.
6.2 Running Direction Setting
SW2 rinoshandiswa pakururamisa inoyerera mirayiridzo, "kure" zvinoreva CCW, apo "riri" rinoreva CW.
6.3 Micro matanho Setting
The micro Matanho marongero ari zvinotevera tafura, apo SW3,
SW4 , SW5 , SW6 vari vose, dzomunyika default micro matanho mukati ndiko Activate, reshiyo ichi inogona kuisa kuburikidza HISU
8000 |
pamusoro |
pamusoro |
kure |
kure |
10000 |
kure |
pamusoro |
kure |
kure |
20000 |
pamusoro |
kure |
kure |
kure |
40000 |
kure |
kure |
kure |
kure |
7. zvikanganiso aramu uye akatungamirira kudzima frequency
kudzima maitikiro |
Description kuti zvikanganiso |
1 |
Kanganiso inoitika apo mota coil yazvino inodarika muganho wezvino wekutyaira. |
2 |
Voltage duramazwi kukanganisa ari nemotokari |
3 |
Parameters Upload kukanganisa ari nemotokari |
4 |
Kukanganisa kunoitika kana iyo yekuisa voltage inopfuura iyo dhiraivha's voltage muganho. |
5 |
Kanganiso inoitika kana iyo chaiyo chinzvimbo followingerror inopfuura iyo muganho iyo inoiswa chinzvimbo chikanganiso muganhu. |
- Pakuonekwa uye Installation Dimensi
- Chaicho Kubatana
ngarurege Izvi zvinogona kupa encoder ane simba nerubatsiro 5v, + kunonyanyisa ano 80mA. It adopts munhu quadruplicated-kakawanda kuverengwa nzira, uye chisarudzo reshiyo pamusoro encoder zvirege 4 ndiwo pulses por tenderera ari servo injini. Heino hwokufananidzira kubatana kwakaita
10. Parameter Setting
The parameter marongero nzira 2HSS86H-KH nemotokari ndiko kushandisa HISU adjuster kuburikidza 232 Serial kukurukurirana zvengarava, chete nenzira iyi tinogona Ndokunyengetererai parameters tinoda. Kune boka yakanakisisa default parameters kuti runoenzanirana injini zviri kutarisirwa
akagadzirisa ne mainjiniya edu, vanoshandisa chete vanoda kureva zvinotevera tafura, yakananga ezvinhu uye akaisa yakarurama parameters.
Actual ukoshi = Isa ukoshi × ari runoenzanirana divi
Pane zvachose 20 parameter configurations, shandisa HISU kuti nokudhanilodha configured parameters kusvika nemotokari, pfungwa rondedzero zvose parameter configuration ndeinotevera:
chinhu |
tsananguro |
Current loop KP |
Zvinowedzera KP kuti ano vosimba kutsanya. Proportional Kuwana anosarudza kwaiita nemotokari pokumisa murayiro. Low mapato Kuwana inopa yakatsiga system (asingaiti oscillate), ane pasi kuomarara, uye kukanganisa ano, kukonzera murombo zvesimba mu club kuitika marongero murayiro padanho rimwe nerimwe. Wakakurisa Proportional pfuma tsika achaita oscillations uye kusagadzikana hurongwa. |
Ikozvino chiuno Ki |
Chinja Ki kuderedza varambe kukanganisa. Chinokosha Kuwana anobatsira nemotokari kukurira kunofambira mberi iyezvino zvikanganiso. A yakaderera kana razero ukoshi kuti chinokosha Wana angave iyezvino zvikanganiso pa zororo. Kuwedzera chinokosha pfuma kunogona kuderedza kukanganisa. Kana chinokosha Wana iri huru, hurongwa anogona "kuvhima" (oscillate) kumativi achida chinzvimbo. |
Damping inokwana | Iyi paramende inoshandiswa kuchinja iyo damping coefficient kana iri inodiwa yekushandira nyika isunder resonance frequency. |
Position loop KP |
The PI parameters yacho nzvimbo loop. The default tsika dziri akakodzera akawanda chikumbiro, haufaniri kuchinja navo. Contact isu kana uine chero mubvunzo. |
Chinzvimbo chiuno Ki |
Speed loop KP |
The PI parameters yacho nokukurumidza loop. The default tsika dziri akakodzera akawanda chikumbiro, haufaniri kuchinja navo. Contact isu kana uine chero mubvunzo. |
Speed loop Ki |
|
Vhura chiuno mafambiro |
parameter ichi kunokanganisa kunofambira mberi torque yacho injini. |
Close loop razvino | Iyi paramende inokanganisa simba rine simba remota. (Iyo chaiyo yazvino = yakavhurika chiuno chazvino + padhuze loop yazvino) |
Alarm Kudzora |
parameter uyu wakaisirwa kudzora Alarm optocoupler goho transistor. 0 zvinoreva transistor rwagurwa kana kwava chaiye kushanda, asi kana pava mhosva pamusoro nemotokari, iyo transistor anova conductive. 1 nzira pakatarisana 0. |
Stop kiya vakwanise |
Iyi paramende yakagadzirirwa kuti igone iyo yekumisa wachi yekutyaira. 1 zvinoreva kugonesa iri basa nepo 0 ichireva kuremadza iyo. |
vakwanise Control |
Iyi paramende yakagadzirirwa kudzora iyo Enable inputsignal level, 0 inoreva yakaderera, nepo 1 ichireva kumusoro. |
kusvika Control |
Iyi paramende yakagadzirirwa kudzora iyo Arrivaloptocoupler kuburitsa transistor. 0 zvinoreva kuti transistor inogurwa kana dhiraivha inogutsa kusvika |
Encoder chisarudzo
Position kukanganisa muganhu
Motor mhando selection
Speed kumeso |
murayiro, asi kana pava kwete, transistor kunova conductive. 1 nzira pakatarisana 0. | |||||||
Iri dhiraivha rinopa sarudzo mbiri dzenhamba yemitsetse yeiyo encoder. 0 zvinoreva mitsara 1000, nepo 1 ichireva mitsara mazana maviri nemazana mashanu. | ||||||||
Pamuganhu nzvimbo inotevera kukanganisa. Kana chaiko nzvimbo kukanganisa kwazvo kukosha ichi, kuti nemotokari vachaenda kukanganisa muoti uye mhosva goho achava kusashanda. (The chaiwo ukoshi = yakatarwa ukoshi × 10) |
||||||||
Parameter |
1 |
2 |
3 |
4 |
5 |
|||
mhando |
86J1865EC | 86J1880EC | 86J1895EC | 86J18118EC | 86J18156EC | |||
parameter uyu wakaisirwa kudzora kumeso kumhanya injini apo kumhanyisa kana deceleration, kuti yakakura mutengo, kuti unotedza nokukurumidza muna kumhanyisa kana deceleration.
0 1 2 ... 10 |
User-rinotsanangurwa p / R | This parameter is set of user-defined pulse per revolution, the internal default micro steps inside isactivate while SW3、SW4、SW5、SW6 are all on,users can also set the micro steps by the outer DIP switches. (The actual micro steps = the set value× 50) |
11. Processing Nzira Zvinowanzopiwa Matambudziko uye pazvitadzo
11.1 Simba iri simba chiedza kure
N No simba chiyamuro, ndapota tarisa simba zvitengeswa redunhu. The voltage chakanyanya kuderera.
11.2 Power Red aramu chiedza pamusoro
N Tapota bvunza injini inofambiswa chiratidzo uye kana injini chokuita nemotokari.
N The and servo nemotokari iri pamusoro voltage kana pasi voltage. Ndapota kudzikisa kana kuwedzera mazano voltage.
11.3 Red aramu chiedza pashure injini muchimhanya small
angled
N Tapota bvunza injini danho waya kana vari zvakabatanidzwa zvakanaka , kana kwete , ndapota anoreva 3.4 Simba Zvengarava
N Tapota tarisa parameter iri nemotokari kana matanda injini uye encoder Rwonzi rakatarisana chaiyo parameters, kana kwete, akazviisa nomazvo.
N Tapota bvunza kana kakawanda kubva kupomba mureza iri kutsanya, saka injini angava mariri yavose sezvavakatarirwa nokukurumidza, uye kutungamirira pabasa kukanganisa.
11.4 Shure chiyamuro kupomba chiratidzo asi injini haana running
N Tapota bvunza mazano kupomba chiratidzo waya chokuita mune yakavimbika nzira.
N Please nechokwadi mazano kupomba muoti iri rakatarisana chaiye chiyamuro muoti.