¿Æ¶ûĦ¸ùËÅ·þÇý¶¯Æ÷¹ÊÕÏ´úÂëÏê½â ËÅ·þÆ÷±¨¾¯Ã÷ϸ ¿Æ¶ûĦ¸ùËÅ·þ¿ØÖÆÆ÷¹ÊÕÏ´úÂë½âÎö£¬¿ìËÙάÐÞservostar 200ϵÁС¢servostar 300ϵÁС¢ servostar 600ϵÁС¢SERVOSTAR400-A¡¢¿Æ¶ûĦ¸ùAKD2GËÅ·þÇý¶¯Æ÷¡¢¿Æ¶ûĦ¸ù ¿Æ¶ûĦ¸ùS200ϵÁÐÎÞË¢ËÅ·þÇý¶¯Æ÷¡¢¿Æ¶ûĦ¸ùKollmorgen¹Ù·½ÍøÕ¾¡¢Ô˶¯¿ØÖƼ°ËÅ·þϵͳר¼Ò¡¢¿Æ¶ûĦ¸ùS700(SERVOSTAR700)ËÅ·þ·þÇý¶¯Æ÷µÈ ÉϺ£Ñö¹âµç×ӿƼ¼ÓÐÏÞ¹«Ë¾£¬ÄúÉí±ßµÄ¹¤¿ØάÐÞר¼Ò£¡ÒÔÏÂÊÇÉϺ£Ñö¹âµç×Ó¹¤³Ì²¿Õë¶Ô¿Æ¶ûĦ¸ùËÅ·þÇý¶¯Æ÷ÕûºÏµÄ¹ÊÕÏ´úÂëºÍ½âÎöÃ÷ϸ¹©´ó¼Ò²Î¿¼£¬Î´¾ÔÊÐíÇëÎðתÔØ£¡
¾¯¸æ°ïÖú
ÏÔʾ Òâ˼ ¿ÉÄÜÔÒò ´ëÊ©/½âÊÍ
n01 ÎÒ2tÃż÷ÖµI2TLIM³¬¹ýÉ趨ÏÞÖÆ¡£ »úеϵͳÊǽôÃÜ »úе¼ì²éϵͳ
·Å´óÆ÷ά¶ÈÌ«µÍ ʹÓÃÒ»¸ö¾ßÓиü¸ßµçÁ÷µÄ·Å´óÆ÷
µç»ú³ß´ç¹ýµÍ ʹÓÃÒ»¸ö¸ü¸ßµÄµçÁ÷µç»ú
Driving profile is too aggressive ¶¨Òå»Ö¸´Ê±¼ä
n02 Öƶ¯¹¦Âʳ¬¹ýÉ趨PBALMAX¼«ÏÞÖµ. ²»ÕýÈ·µÄɲ³µ¶¯Á¦×°Öà ¼ì²éÉèÖÃ
ÄÚ²¿Öƶ¯µç×èÌ«µÍÁË Ê¹ÓÃÍⲿÖƶ¯µç×è,ÑÓ³¤Öƶ¯ÆµÀ(DEC / DECSTOP )
n03 ÏÂÃæµÄ´íÎóPEMAX³¬¹ýÉ趨¼«ÏÞÖµ¡£ »úеϵͳÊǽôÃÜ »úе¼ì²éϵͳ
·Å´óÆ÷ά¶ÈÌ«µÍ ʹÓÃÒ»¸ö¾ßÓиü¸ßµÄµçÁ÷·Å´óÆ÷
¼ÝÊ»¸ÅÒªÎļþÊǹýÓÚ¼¤½ø ¶¨ÒåµÄ»Ö¸´Ê±¼ä,ÑÓ³¤ÆµÀ
ÏÂÃæµÄ´íÎóÉèÖõùýµÍ ¼ì²éÉèÖÃ
n04 ÏÖ³¡×ÜÏßͨÐżà¿ØÓлØÓ¦(EXTWD)¡£ ÔÚÏîÄ¿µ÷ÊԽ׶Î:ûÓÐÏÖ³¡×ÜÏßÁ¬½Ó ½ûÓüලÔÝʱ(EXTWD = 0)
ÔÚ²Ù×÷:¹µÍ¨ÎÊÌâ ¼ì²é×ÜÏß°²×°
n05 Ò»¸öÈý½×¶ÎµÄµçԴʧ×Ù ¼ì²éµçÔ´Á¬½Ó¡¢ÈںϺÍË®¹ÜµÄ½Ó´¥Æ÷
n06 λÖÃÉèÖÃΪÈí¼þÏÞÖÆ¿ª¹Ø1(SWE1)Ò»Ö±²»¼° ÖáÒѾ³¬Ô½ÁËλÖÃÒѾ±»ÅäÖÃΪ½áÊøλÖà ¼ì²éÖáµÄλÖúÍÉèÖÃÏÞλ¿ª¹ØµÄÈí¼þ
n07 λÖÃÉèÖÃΪÈí¼þÏÞÖÆ¿ª¹Ø2(SWE2)ÒѾ±»³¬¹ý ÖáÒѾ³¬Ô½ÁËλÖÃÒѾ±»ÅäÖÃΪ½áÊøλÖà ¼ì²éÖáµÄλÖúÍÉèÖÃÏÞλ¿ª¹ØµÄÈí¼þ
n08 ÓÐȱÏݵÄÔ˶¯ÈÎÎñ ¿ªÊ¼Ô˶¯µÄÈÎÎñ²»´æÔÚ(µÄУÑéºÍÊÇÓÐȱÏݵÄ) ´´½¨Ò»¸öеÄÔ˶¯µÄÈÎÎñ
Ä¿±êÔÚÓÚÔÊÐí·¶Î§Ö®ÍâµÄλÖà ¼ì²éÈí¼þÏÞÖÆ¿ª¹ØºÍÄ¿±êλÖÃ
ÓÐȱÏݵļÓËÙ¶ÈÖµ ¼ì²éµ¥Î»ºÍÊýÖµ
OPMODE²»Ö§³ÖµÄ¹¦ÄÜ ÉèÖÃÕýÈ·µÄOPMODE
n09 ûÓвο¼µã ûÓвο¼µãÔ˶¯Ê±ÉèÖÃÒ»¸öÆô¶¯ÈÎÎñ. Ö´Ðй麽»òÉèÖõIJο¼µã
n10 Ó²¼þÏÞÖÆ¿ª¹ØPSTOP »ý¼«µÄÏÞλ¿ª¹ØÒѾ×ö³öÁË»ØÓ¦ Òƶ¯ÖáµÄ·½ÏòÊÇ·´µÄ,´ÓÏÞÖÆ¿ª¹Ø
ÏÞλ¿ª¹ØδÁ¬½Ó ¸Ä±ä²ÎÊýµÄÈ·¶¨Êý×ÖI / o»òÁ¬½ÓÏÞÖÆ¿ª¹Ø
ÏÞÖÆ¿ª¹Ø´«¸ÐÆ÷¾ßÓв»ÕýÈ·µÄÂß¼ ²åÈë¶Ï½Óµã×÷ΪÏÞÖÆ¿ª¹Ø(¶ø²»ÊÇÁªÏµ).
n11 Ó²¼þÏÞÖÆ¿ª¹ØNSTOP Ïû¼«µÄÏÞλ¿ª¹ØÒѾ×ö³öÁË»ØÓ¦ Òƶ¯ÖáÏò×Å»ý¼«µÄ·½Ïò´ÓÏÞÖÆ¿ª¹Ø
ÏÞλ¿ª¹ØδÁ¬½Ó ¸Ä±ä²ÎÊýµÄÈ·¶¨Êý×ÖI / o»òÁ¬½ÓÏÞÖÆ¿ª¹Ø
ÏÞÖÆ¿ª¹Ø´«¸ÐÆ÷¾ßÓв»ÕýÈ·µÄÂß¼¡£ ²åÈë¶Ï½Óµã×÷ΪÏÞÖÆ¿ª¹Ø(¶ø²»ÊÇÁªÏµ).
n12 µç»úĬÈÏÖµ¼ÓÔØ µç»úÊý×Ö´æ´¢ÔÚ±àÂëÆ÷ºÍ·Å´óÆ÷µÄ²»Æ¥ÅäµÄ²ÎÊýÉèÖà ±£´æµç»úºÅÂëºÍHSAVE eepmµÄ±àÂë.
n13 À©Õ¹¿¨ 24 VµçÔ´µÄI / OÀ©Õ¹¿¨´í¹ýÁË ¼ì²éÅäÏߺÍ24 VµçÔ´¹©µç
n14 SinCos·´À¡ SinCos»»ÏòÆ÷(wake&shake)ûÓÐÍê³É ʹ·Å´óÆ÷
n16 ×ܽᾯ¸æ ×ܽán17 n31¾¯¸æµ½ ¿´¼û¾¯¸æ#
n17 Feldbusͬ²½ ¿ÉÒÔͬ²½ÊǼ¤»îµÄ,µ«²»ÊÇ´Ó¿ØÖÆÆ÷ͬ²½·¢ËÍ,Èç¹ûÔÚËùÓС£ ¼ì²éÏÖ³¡×ÜÏßÉèÖÃ
n18 Multiturn overflow ³¬¹ý+ / -2048תÊý×Åmultiturn±àÂëÆ÷Á¬½Ó ºöÂÔ»ò½ûÓüà¿ØÓëDRVCNFG Bit7 = 1
motorÒÆÀ´±àÂë0λÖð²×°Ö®Ç°
n19 Ô˶¯ÈÎÎñÒѾÊܵ½ÏÞÖÆ¡£ÆµÀ ÔÊÐíµÄÖµµÄ·¶Î§³¬³öÁ˹ý³Ì¿éÊý¾Ý ¼ì²é¹ý³Ì¿éÊý¾Ý
n20 ÎÞЧÔ˶¯ÈÎÎñ ¼ì²éÊý¾Ý¿é¿ªÊ¼×îºóÒ»¸ö½ø³Ì¡£»¹È·¶¨¹ý³ÌÇø¿éºÅÂëÓ붯¡£
n21 ¾¯¸æÓÉPLC³ÌÐò Ö»ÓÐÔÚºê³ÌÐòÔÚËÅ·þ·Å´óÆ÷ ÌØÊâÓ¦ÓÃ
n22 Max. µç»úζȴﵽ ±¨¾¯ãÐÖµÉèÖó¬¹ý,µç»ú¹ýÔØ ¼ì²éµç»úζÈ.
»úеϵͳÊǽô/×èÈû »úе¼ì²éϵͳ
n23 ÕýÏÒ¡ªÓàÏÒ±àÂëÆ÷ Ðźŷùֵ̫µÍÁË ¼ì²éÐźÅÕñ·ù,¿ÉÄÜÓÉÓÚÓÃʾ²¨Æ÷
n24 Êý×ÖÊäÈë ²»ºÏÂß¼µÄÅäÖà ³·Ïú×îºóÅäÖøü¸Ä
n32 ¹Ì¼þ°æ±¾ ÓÃÓÚ²âÊÔµÄÔÒòÖ»ÓРûÓб£Ö¤ÓÉÖÆÔìÉÌΪ´íÎóµÄÃâ·ÑµÄ¹¦ÄÜ
ÆäËûÎÊÌâ°ïÖú
ÎÊÌâ ¿ÉÄܵÄÔÒò ´ëÊ©
µç»ú²»×ª¶¯ ËÅ·þ·Å´óÆ÷²»Ê¹ÄÜ ÔËÓÃʹÐźÅ
Èí¼þ²»¶Ô£¿ ¼¯Èí¼þʹ
ʹÓõĵçÀ¶ÏÁÑ ¼ì²éʹÓõĵçÀÂ
µç»úÏàÐò ÕýÈ·µÄµç»úÏàÐòÁÐ
ɲ³µ²»»áÊÍ·Å ¼ì²éɲ³µ¿ØÖÆ
Çý¶¯»úе¶ÂÈû ¼ì²éÖƶ¯×°ÖÃ
µç»ú¸ËûÓС£ µç»ú¸ËûÓС£
·´À¡½¨Á¢ÕýÈ· ½¨Á¢·´À¡ÕýÈ·
µç»úÕñµ´ »ñµÃÌ«¸ß(ËٶȿØÖÆÆ÷) ¼õÉÙKp ~ GV(ËٶȿØÖÆÆ÷)
·´À¡µçÀÂÆÁ±Î¶Ï¿ª ¸ü»»·´À¡µçÀÂ
Ä£ÄâµØûÓнÓͨµçÔ´ Join AGND to CNC-GND
µç»úËÙ¶ÈµÍ Kp ~ GV(ËٶȿØÖÆÆ÷)Ì«µÍÁË Ôö¼ÓKp ~ GV(ËٶȿØÖÆÆ÷)
GVTN p ~(ËٶȿØÖÆÆ÷)Ì«¸ßÁË µç»úµÄĬÈÏֵΪp ~ GVTN(ËٶȿØÖÆÆ÷)
ARLPF / ARHPFÌ«¸ß ¼õÉÙARLPF / ARHPF
ARLP2Ì«¸ß ¼õÉÙARLP2
µç»úÔËÐÐ״̬ Kp~GV (ËٶȿØÖÆÆ÷)Ì«¸ßÁË ¼õÉÙKp ~ GV(ËٶȿØÖÆÆ÷)
GVTN p ~(ËٶȿØÖÆÆ÷)Ì«µÍÁË É趨µç»úµÄĬÈÏֵΪp ~ GVTN(ËٶȿØÖÆÆ÷)
ARLPF / ARHPFÌ«µÍÁË Ôö¼ÓARLPF / ARHPF
ARLP2Ì«µÍ Ôö¼ÓARLP2
ÖáƯÒÆ,ÔÚ
É趨= 0 V
Æ«ÖÃûÓÐÕýÈ·µ÷ÕûΪģÄâÉ趨µÄ¹æ¶¨ µ÷ÕûÆ«ÒÆÁ¿(Ä£ÄâI / O)
AGNDûÓмÓÈë¶Ôcontroller-GND¿ØÖÆ Join AGND and controller-GND
¿Æ¶ûĦ¸ùËÅ·þÇý¶¯Æ÷¹ÊÕÏ´úÂëÏê½â ËÅ·þÆ÷±¨¾¯Ã÷ϸ ¿Æ¶ûĦ¸ùËÅ·þ¿ØÖÆÆ÷¹ÊÕÏ´úÂë½âÎö£¬¿ìËÙάÐÞservostar 200ϵÁС¢servostar 300ϵÁС¢ servostar 600ϵÁС¢SERVOSTAR400-A¡¢¿Æ¶ûĦ¸ùAKD2GËÅ·þÇý¶¯Æ÷¡¢¿Æ¶ûĦ¸ù ¿Æ¶ûĦ¸ùS200ϵÁÐÎÞË¢ËÅ·þÇý¶¯Æ÷¡¢¿Æ¶ûĦ¸ùKollmorgen¹Ù·½ÍøÕ¾¡¢Ô˶¯¿ØÖƼ°ËÅ·þϵͳר¼Ò¡¢¿Æ¶ûĦ¸ùS700(SERVOSTAR700)ËÅ·þ·þÇý¶¯Æ÷µÈ ÉϺ£Ñö¹âµç×ӿƼ¼ÓÐÏÞ¹«Ë¾£¬ÄúÉí±ßµÄ¹¤¿ØάÐÞר¼Ò£¡ÒÔÏÂÊÇÉϺ£Ñö¹âµç×Ó¹¤³Ì²¿Õë¶Ô¿Æ¶ûĦ¸ùËÅ·þÇý¶¯Æ÷ÕûºÏµÄ¹ÊÕÏ´úÂëºÍ½âÎöÃ÷ϸ¹©´ó¼Ò²Î¿¼£¬Î´¾ÔÊÐíÇëÎðתÔØ£¡
תÔØÇë×¢Ã÷³ö´¦£ºÉϺ£Ñö¹âµç×ӿƼ¼×¨ÒµËÅ·þÇý¶¯Æ÷άÐÞ,ËÅ·þµç»úάÐÞ
±¾ÎÄÁ´½Ó£ºhttp://m.tlwyjt.net/fuwu/Services_Show2220.htm
ËÅ·þÇý¶¯Æ÷άÐÞ ËÅ·þµç»úάÐÞ ´¥ÃþÆÁάÐÞ ±äƵÆ÷άÐÞ
µç»°£º021-50157782
ÊÖ»ú£º13817011982 ΢ÐÅͬºÅ
ÓÊÏ䣺shygdzi@163.com
ÁªÏµÈË£ºÕŹ¤
꿅᣼http://m.tlwyjt.net
¡¾ ÎÒÃÇÈ·±£Ð޺òâÊԺøø¿Í»§£¡£¡£¡£¡¡¿
ÏÂһƪ£ºÄ¸ñËÅ·þµç»ú³£¼û½ÓµØ¹ÊÕÏάÐÞ·½·¨