H23102模块备件

H23102

可以被命令移动电机。然后执行BZ命令
如上所述发布。例如在通电或断电时初始化X轴电机
复位时，可发出以下命令：
SHX；启用X轴电机
PRX=-1*（_BZX）；将X电机移到接近零换向相位
BGX；在X轴上开始运动
AMX；等待X轴上的运动完成
BZX=-1；驱动电机至换向相位零并离开
;发动
方法3.使用命令BC。该命令使用霍尔转换来确定：
换向阶段。理想情况下，霍尔传感器的过渡将被确地分隔开
60°以及与60°的任何偏差将影响该方法的度。如果大厅
传感器准确，建议使用此方法。指挥中心监视大厅
移动过程中的传感器，并监控霍尔传感器的过渡点。当
发生时，控制器计算换向相位并进行设置。例如
在通电或复位时初始化X轴电机，可发出以下命令：
SHX；启用X轴电机
BCX；启用无刷校准命令
PRX=50000；命令X轴上的相对位置移动
BGX；在X轴上开始运动。当霍尔传感器
; 如果检测到相变，则换向相位为：
;重新设置。
步骤8C。连接步进电机
在步进电机运行中，脉冲输出信号具有50%的占空比。步进电机在开路状态下运行
循环，不需要编码器反馈。当使用步进器时
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DMC-18x2第2章入门•21
对应的轴不可用于外部连接。如果编码器用于定位
反馈，将编码器连接到对应于该轴的主编码器输入。指挥
步进器的位置可以用RP或DE查询。编码器位置可以查询
使用TP。
步进电机脉冲的频率可以用滤波器参数KS平滑。KS
参数的范围在0.5到16之间，其中16表示大的平滑量。看见
关于KS的命令参考。
DMC-18x2轮廓仪命令步进电机放大器。所有DMC-18x2运动命令均适用
如PR、PA、VP、CR和JG。加速度、减速度、回转速度和平滑度也会受到影响
习惯于由于步进电机开环运行，PID滤波器不起作用，位置误差也不存在
生成。
要将步进电机与DMC-18x2连接，必须遵循以下步骤：
步骤A.安装SM跳线
将操作步进电机的DMC-18x2的每个轴必须具有
安装了相应的步进电机跳线。有关SM跳线的讨论，请参阅
第2节：在DMC-18x2上安装跳线。
步骤B.将步进和方向信号从控制器连接到电机放大器
从控制器到步进电机放大器上的相应信号。（这些信号是
在ICM-2900上标记为x轴的PWMX和SIGNX）。查阅文档
用于步进电机放大器。
步骤C.使用MT命令为电机类型配置DMC-18x2。您可以配置
DMC-18x2用于有源高或有源低脉冲。将命令MT 2用于激活低电平
步进电机脉冲和MT-2用于有源高阶步进电机的脉冲。请参见MT的说明
命令引用中的命令。
步骤9.调整伺服系统
使用伺服电机（标准或正弦）时，需要调整调谐参数
换向）。系统补偿可提供快速准确的响应，并实现以下功能：
演示提出了一种简单易行的补偿方法。更先进的设计方法是：
可使用Galil的软件设计工具，如伺服设计工具包（SDK软件）
该滤波器有三个参数：阻尼，KD；比例增益KP；和积分器KI。
应按此顺序选择参数。
首先，使用指令将积分器设置为零
KI 0（CR）积分器增益
并将比例增益设置为低值
KP 1（CR）比例增益
KD 100（CR）导数增益
为了获得更大的阻尼，您可以增加KD（大值为4095）。逐渐增加，然后停止
马达振动。振动可以通过声音或询问来察觉。如果您发送命令
TE X（CR）告诉错误
几次，得到不同的响应，特别是极性反转时，表示系统振动。
发生这种情况时，只需减少KD。
接下来，需要逐渐增加KP的值（允许的大值为1023）。您可以监视
使用Tell Error指令改善响应
KP 10（CR）比例增益
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H23102

H23102

can be commanded to move the motor. The BZ command is then issued as described above. For example, to initialize the X axis motor upon power or reset, the following commands may be given: SHX ;Enable X axis motor PRX=-1*(_BZX) ;Move X motor close to zero commutation phase BGX ;Begin motion on X axis AMX ;Wait for motion to complete on X axis BZX=-1 ;Drive motor to commutation phase zero and leave ;motor on Method 3. Use the command, BC. This command uses the hall transitions to determine the commutation phase. Ideally, the hall sensor transitions will be separated by exactly 60° and any deviation from 60° will affect the accuracy of this method. If the hall sensors are accurate, this method is recommended. The BC command monitors the hall sensors during a move and monitors the Hall sensors for a transition point. When that occurs, the controller computes the commutation phase and sets it. For example, to initialize the X axis motor upon power or reset, the following commands may be given: SHX ;Enable X axis motor BCX ;Enable the brushless calibration command PRX=50000 ;Command a relative position movement on X axis BGX ;Begin motion on X axis. When the hall sensors ; detect a phase transition, the commutation phase is ;re-set. Step 8C. Connect Step Motors In Stepper Motor operation, the pulse output signal has a 50% duty cycle. Step motors operate open loop and do not require encoder feedback. When a stepper is used, the auxiliary encoder for the Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com DMC-18x2 Chapter 2 Getting Started • 21 corresponding axis is unavailable for an external connection. If an encoder is used for position feedback, connect the encoder to the main encoder input corresponding to that axis. The commanded position of the stepper can be interrogated with RP or DE. The encoder position can be interrogated with TP. The frequency of the step motor pulses can be smoothed with the filter parameter, KS. The KS parameter has a range between 0.5 and 16, where 16 implies the largest amount of smoothing. See Command Reference regarding KS. The DMC-18x2 profiler commands the step motor amplifier. All DMC-18x2 motion commands apply such as PR, PA, VP, CR and JG. The acceleration, deceleration, slew speed and smoothing are also used. Since step motors run open-loop, the PID filter does not function and the position error is not generated. To connect step motors with the DMC-18x2 you must follow this procedure: Step A. Install SM jumpers Each axis of the DMC-18x2 that will operate a stepper motor must have the corresponding stepper motor jumper installed. For a discussion of SM jumpers, see section Step 2. Install Jumpers on the DMC-18x2. Step B. Connect step and direction signals from controller to motor amplifier from the controller to respective signals on your step motor amplifier. (These signals are labeled PWMX and SIGNX for the x-axis on the ICM-2900). Consult the documentation for your step motor amplifier. Step C. Configure DMC-18x2 for motor type using MT command. You can configure the DMC-18x2 for active high or active low pulses. Use the command MT 2 for active low step motor pulses and MT -2 for active high step motor pulses. See description of the MT command in the Command Reference. Step 9. Tune the Servo System Adjusting the tuning parameters is required when using servo motors (standard or sinusoidal commutation). The system compensation provides fast and accurate response and the following presentation suggests a simple and easy way for compensation. More advanced design methods are available with software design tools from Galil, such as the Servo Design Kit (SDK software) The filter has three parameters: the damping, KD; the proportional gain, KP; and the integrator, KI. The parameters should be selected in this order. To start, set the integrator to zero with the instruction KI 0 (CR) Integrator gain and set the proportional gain to a low value, such as KP 1 (CR) Proportional gain KD 100 (CR) Derivative gain For more damping, you can increase KD (maximum is 4095). Increase gradually and stop after the motor vibrates. A vibration is noticed by audible sound or by interrogation. If you send the command TE X (CR) Tell error a few times, and get varying responses, especially with reversing polarity, it indicates system vibration. When this happens, simply reduce KD. Next you need to increase the value of KP gradually (maximum allowed is 1023). You can monitor the improvement in the response with the Tell Error instruction KP 10 (CR) Proportion gain Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888)