Closed loop injini mutyairi-HBS86H - ​​China Changzhou anoshuva Motor

Closed loop injini mutyairi-HBS86H

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  • Port: Shenzhen
  • Mitemo yekubhadhara: L / C, D / A, D / P, T / T
  • Chigadzirwa Chigadzirwa

    Chigadzirwa Mateki

    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.

    1. 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

     

    01

     

    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

     

    01

     

    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

     01

     

    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

     01

    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

    04


    taura pfungwa:

     

    VCC inowirirana 5V kana 24V;

    R (3 ~ 5K) inofanira kwakabatana kudzora chiratidzo inouraya.

     

     

    5.3  Connections kuna Differential  Signal

    04
     

     

    taura pfungwa:

    VCC inowirirana 5V kana 24V;

    R (3 ~ 5K) inofanira kwakabatana kudzora chiratidzo inouraya.

    5.4  Connections kusvika 232 Serial Communication  Interface

     

     05      

    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

     

    1. T1: ENA anofanira kuva pamberi DIR nokuda dzinenge 5μ s. Kazhinji, ENA + uye ENA- vari NC (kwete kwakabatana).
    2. t2: DIR anofanira kuva pamberi waPuri vanoshingaira pamupendero kubudikidza 6μ S kuitira kwakarurama mirayiridzo;
    3. T3: Pulse upamhi kwete asingasviki 2.5μ S;
      1. 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.
    1. Pakuonekwa uye Installation  Dimensi
    1. 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.

     


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