1. FOC
Munda-wakatarisana control, inozivikanwawo sevector control, inzira yekudzora kubuda kwemota nekugadzirisa inobuda frequency ye inverter, ukuru uye kona yeinobuda voltage.
2. Encoder zero alignment
Gadzirisa iyo servo mota encoder chikamu neiyo rotor pole chikamu zero.Nzvimbo yakaonekwa neiyo magineti encoder ndeye mechanical angle, maererano nezvakadai
Iyo inotevera fomula inoshandura kuita madhigirii emagetsi.
Magetsi angle = mechanical angle × nhamba yemapole pairs
RG/EPG zvakatevedzana zvigadzirwa zvinosiya fekitori kune encoder zero calibration, uye chengetedza ruzivo muEEPROM.
Zero oparesheni matanho:
1) Nyora iyo encoder zeroing rairo (0 × 01) kune encoder rejista (0x03FB)
2) Gonesa iyo yemagetsi gripper uye ita encoder zeroing.
3. Gonesa/Shandisa
Mushure mekunge gripper yemagetsi inofamba ichienda kune yekumisikidza muganhu chinzvimbo munzira yekuvhura, inoenda kune yekumisikidza muganhu chinzvimbo munzira yekuvhara.
Kuburikidza nekugonesa kushanda, iyo yemagetsi gripper inopedzisa sitiroko yekutsvaga basa.Munguva yekugonesa maitiro, zvinodikanwa kuve nechokwadi kuti hapana zvipingamupinyi zvinovharira kufamba kwemunwe.
Zvikasadaro, zvinozotungamira mukutsauka mukutsvaga sitiroko uye kukanganisa kushandiswa kwakajairwa kwemagetsi grippers.
Cherechedza:
1) Kugonesa kushanda kunongoda kuitwa kamwe chete.Mushure mekugonesa kwapera, inoda "kuvharwa" isati yagona kugoneswa zvakare.
2) Kana iyo yemagetsi gripper isina kugoneswa uye iyo control command inotumirwa zvakananga, yemagetsi gripper ichaita basa rekugonesa pachinzvimbo chekutumira control command.
3) Kana paine workpiece mumunwe panguva yekugonesa maitiro, iyo clamping simba ichave isina kukwana pakuita iyo clamping oparesheni, uye pachave nekukanganisa mu clamping mhinduro.
4. Serial port/parallel port:
Seri port, serial yekukurukurirana interface, kureva, COM port.Data bit serial transmission, yakajairika RS485, RS232, USB, nezvimwe.
Parallel port, parallel communication interface, akawanda data bits anofambiswa nenzira yakafanana, iyo data yekumhanyisa kumhanya inokurumidza, asi iyo yekufambisa mutsara kureba ishoma, kureba.
Kuwedzera kukanganisa kwekupindira.Zvakajairwa DB9, DB25 zvibatanidza.
5. RS485:
zvezviyero zvemagetsi
Iyo yakaenzana nzira yekufambisa inogamuchirwa, uye terminal resistor inoda kubatanidzwa kune yekufambisa tambo.
Maviri-waya musiyano chiratidzo
Logic "1" yakavakirwa pamusiyano wemagetsi pakati pemitsara miviri + (2~6)V
Logic "0" inomiririrwa nemusiyano wemagetsi pakati pemitsara miviri - (2~6) V
Iyo yakanyanya kureba yekutaurirana inosvika 1200m, iyo yakanyanya kutapurirana mwero ndeye 10Mb / s, uye mwero wekutapurirana unopesana nedanho rekutapurirana.
Bhazi reRS-485 rinowanzo tsigira huwandu hunosvika makumi matatu nemaviri.
Matambo akamonyoroka-maviri anoshandiswa kuderedza zvakajairika-modhi kupindira kwemasaini.
6. Modbus:
Modbus ndeye serial yekutaurirana protocol uye tenzi / muranda architecture protocol.Mune network yekukurukurirana, pane a
Iyo master node ine basa rekushingaira kuronga maitiro ekutaurirana;uye inobvumira akawanda (anenge 240) node dzevaranda, muranda wega wega
Midziyo ine kero yakasiyana.
RG/EPG akatevedzana emagetsi gripper
Kero yevaranda: 1 ~ 247 (mubvunzo mumwe nemhinduro imwe)
Tsigira nhepfenyuro yekukurukurirana: 0 × 00 (chete ita basa, hapana mhinduro)
Modbus-RTU/ASCII:
Ose ari maviri anotsigira RS-485 bhazi, pakati payo Modbus-RTU inotora mabhinari uye compact data chimiro, uye kugona kutaurirana kwakakwira.
High;nepo Modbus-ASCII inoshandisa ASCII kodhi kufambisa, uye inoshandisa akakosha mavara seyayo byte yekutanga uye yekupedzisira mamaki,
Kubudirira kwekutapurirana kwakaderera.
Modbus-TCP:
Iyo Modbus TCP protocol inowedzera MBAP packet musoro kune RTU protocol uye inobvisa CRC cheki kodhi.
Iyo Modbus protocol yatinoshandisa ndeye Modbus-RTU.
Nguva yekutumira: Zvita-21-2022