I-GIMSON ROBOTICS GR-SYNC Motor Controller

Imiyalo yomsebenzisi

I-GR-SYNC iyinhloso evamile elungiseka kakhulu imojula ye-DC motor kanye ne-actuator, eklanyelwe ukusebenzisa injini eyodwa noma ezimbili ezixhunyiwe ezine-encoder, ilandelela izindawo zazo kanye nokusebenzisa ukusheshisa okuzenzakalelayo, ukukhawulela kwamanje kanye nokuvumelanisa (uma ikumodi yeziteshi ezimbili). Kule miyalo, sizochaza izici zesilawuli nokuthi ungazilungiselela kanjani uhlelo lwakho lokusebenza.

Ukuze uthole imibuzo evame ukubuzwa vakashela gimsonrobotics.co.uk/gr-sync-faq noma skena ikhodi ye-QR

Imininingwane Yedivayisi

Ukucatshangelwa Komklamo Nokuphepha

I-GR-SYNC iyimojula yokulawula injini eyinkimbinkimbi futhi elungiseka kakhulu izici zayo ezingashintshwa ngokuphawulekayo ngokushintsha izilungiselelo zayo zokulawula nangokuxhuma izinto ezisetshenziswayo ezihlukene, izilawuli zokufaka, nemithwalo. Idizayinelwe izici ezithuthukisa ukuphepha, okuhlanganisa ukutholwa kwezinga lokushisa elingaphezu kwamandla (kanye nokucisha okuzenzakalelayo), ukutholwa kwe-overcurrent (kanye nempendulo elungisekayo ku-overcurrent), ukuyeka nokukhawulela ukulawula kokulawula ukushintsha, kanye nefuse ekunikezeni okokufaka.
Kubaluleke kakhulu ukuthi ihadiwe exhunyiwe nezilungiselelo zesilawuli zimiswe, futhi zihlolwe kahle, ukuze zivumelane nohlelo ngalunye ngalunye. Lapho lolu cingo luyingxenye yomkhiqizo womthengi, ngumkhiqizi womkhiqizo noma isifaki okufanele siqinisekise ukuthi uhlelo lulonke luhlangabezana nezidingo zokulawula ezifanele zomkhiqizo walo.

• Kubalulekile ukuthi zonke izixwayiso ezikulo mbhalo zilandelwe, i-Gimson Robotics Ltd yenqaba isikweletu ngomonakalo odalwe ngu-Lil ongalandeli le miyalo.
• Njengoba lokhu kuyinjongo evamile (hhayi umkhiqizo onohlelo oluchaziwe) ii kuwumthwalo womsebenzisi.
• U-Lil ukuze aqinisekise ukuthi ukusetshenziswa kwawo, nanoma yimiphi imithombo yamandla axhunyiwe nemithwalo, kuhlangabezana nazo zonke izimfuneko zokulawula ezisebenzayo.
• Lolu cingo aluklanyelwe noma alufanele ukusetshenziswa ezinhlelweni ezibaluleke kakhulu zokuphepha. Akufanele isetshenziswe kunoma iyiphi isistimu ethinta ngqo
  Lil ukulawula noma ukusebenza kwezimoto zabagibeli (izwe, amanzi noma umoya).
• Uma usebenzisa idivayisi enesesekeli semojuli ye-RF (GR-RX-868A, ireferensi ehlanganisiwe GR-MOT1-RX), kufanele ufunde futhi ulandele imiyalelo ehlukene enikelwe leyo divayisi, kanye nanoma yiziphi izilawuli kude ezixhunyiwe. Njengoba kuchazwe emiyalweni yayo, izinyathelo zokuphepha ezengeziwe kufanele zithathwe uma imojuli yesilawuli kude ifakiwe.
• Izingxenye ezifana nosinki wokushisa zingashisa ngesikhathi sokusebenza okulayishiwe, qaphela ukuthi ukuvikela kwangaphandle komzimba kungase kulungele i-Lil kuhlelo lwakho lokusebenza.

Imniningwano Yokuxhumana

Ikhasi Yokuxhumana: gimsonrobotics.co.uk/pages/contact
Ikheli le-imeyili: support@gimsonrobotics.com

Ikheli

• Gimson Robotic Ltd, Unit 31 Filwood Green Business Park
• Bristol, B84 1 ET
• i-United Kingdom

I-Advanced Overview

Amamodi okulawula
Ngokuzenzakalelayo, okokufaka ku-GR-SYNC 'Okwesikhashana (MO)', okusho ukuthi kudinga ukunakekelwa ukuze okuphumayo kuqhubeke kuhamba (okufakwayo kwenkinobho kudinga ukuhlala kucindezelwe). Kungenzeka ukuthi esikhundleni salokho uguqule impendulo yokulawula ibe yi-'Latching (LA)', okusho ukuthi okokufaka okukodwa kuqala isenzo kanye ne-trigger yesibili yokokufaka okufanayo (ngokwesibonelo.ample inkinobho icindezelwa okwesibili) iphetha isenzo.

Lokhu kukhetha kwemodi, phakathi
I-MO noma i-LA, isetshenziswa ngokuhlukene kokokufaka okunezintambo kokuthi 01 kanye no-02 (WIR
I-MODE= setting) kanye nakokufakwayo okurimothi (REM MODE= setting) uma umamukeli ozikhethela yena exhunyiwe (bona isigaba C, eceleni).
Kuzinhlelo zokusebenza ezinesethi yokusebenza exhunyiwe, ukunakekelwa okwengeziwe kufanele kuthathwe ukuze kuqinisekiswe ukuthi isistimu ihlala iphephile lapho okukhiphayo kuxhunywe, ngakolunye uhlangothi noma kwenye.

I-GR-RX-868A
Isilawuli sinomugqa wetheminali yokokufaka yokuxhumeka kokuzithandela kwemojuli yesitholi se-GR-RX-868A 868MHz, ukuze isilawuli siyalwe ngesilawuli kude. Uma umamukeli uxhumeke lapha, okokufaka kwesilawuli kude kuzimele kokokufaka okunezintambo, futhi okokufaka okunezintambo kusethelwe ukubhala ngaphezulu imiyalo yesilawuli kude.

Umjikelezo Wokusebenza Ungekho futhi Ubuyiselwe

Iziqondiso Zasekhaya

Ukushintsha Umkhawulo

Amatheminali we-multipurpose 101 kanye no-102 angasetshenziswa njengokufakwa kokushintshaniswa komkhawulo, ukumisa uhambo endaweni eyodwa noma kwenye ngaphambi kokuthi END LIM= noma OFFSET emisiwe: izikhundla zifinyelelwe, njengoba kuboniswe ngezansi. Okokufaka okungu-101 kungasethwa njengomkhawulo wokuba kude, okusho ukuthi uma lokhu kufakwayo kucushwa ngenkathi kuhanjwa ku-End Limit, okukhiphayo kuzomiswa kungazelelwe (hhayi ukulinda isikhathi se-DECEL, kufakwa i-motor braking), kodwa okokufaka kokulawula okulandelayo indlela ephambene (eya Ekhaya) isazosebenza. Ngaleso sikhathi, u-102 angasethwa njengomkhawulo Wokubuyela, umise uhambo olubuyela ekhaya. Isiqondiso se-polarity le mikhawulo esebenza kuso sizoncika ku-HOME DIR: ukulungiselelwa. Okokufaka kwe-STOP kufana nokokufaka kwe-Limit Switch ngoba kusebenzisa ukuma okungazelelwe, ngaphandle kwesikhathi sokuhlehlisa, nokho kuyahluka ngokuthi kuvimbela ukuhamba okulandelayo kuzo zombili izinkomba (ngenkathi kusebenza).

I-Homing -
I-Homing inqubo lapho isilawuli sirekhoda khona 'ziro' noma indawo yasekhaya, ku-actuator eyodwa noma ezimbili ezixhunyiwe. Uma usebenzisa ama-activator amabili ndawonye, ​​lo mkhuba uqinisekisa ukuthi aqala endaweni yeleveli ahlobene nenye, ngaphambi kokuba isilawuli sizame ukuwavumelanisa ukusuka kuleli phuzu. Ngemva kokuhlanganisa kuqala isistimu yakho, nge-actuator efakiwe futhi yalayishwa, kufanele uqalise umjikelezo wasekhaya ukuze uqinisekise ukuthi indawo yereferensi isilawuli esiyisebenzisayo ukukala uhambo olude, lusesikhathini samanje. Kunezimo ezingaba khona zamaphutha, okuhlanganisa amaphutha okuthola isifaki khodi, lapho umjikelezo omusha we-homing ukuphela kokuphuma ubuyele ekusebenzeni okuvamile, lokhu kuzoboniswa kusibonisi uma kunjalo.
Ukuze uqale ekhaya, ungakwazi noma

• Bamba phansi izinkinobho zemenyu ethi PHEZULU NAPHANSI ( ~ V) kanyekanye okungenani imizuzwana emi-2, noma
• Qalisa okokufaka kwenkinobho yokuqondisa (i-D1 ne-D2) kanyekanye okungenani imizuzwana eyi-10, noma
• Qalisa okunye okokufaka kwasekhaya kwangaphandle, isiboneloampi-le ngokuzenzakalelayo i-IN1 isethelwe ukucupha i-homing, futhi u-101 no-102 ingasethwa ngokuzikhethela ukuze iqalise ikhaya

Lapho ukwakhiwa kwekhaya kuqhubeka, isimo (i-LED ebomvu kusilawuli, nokuphumela kuphini lokuphuma le-STATUS) sizoqala ukunyakazisa ngefrikhwensi eyisekhondi elingu-1, futhi isibonisi sizothi 'HOMING TO D1' noma 'HOMING TO D2' kuye ngokuthi ikuphi. indlela eya ekhaya ikhiyiwe. Uma udinga ukushintsha ukukhiya kwesiqondisindlela sasekhaya, bamba inkinobho ethi Khetha ( Q ) ukuze ubalekele kumamenyu, bese uye kokuthi CTRL SETTINGS> HOME DIR (into yemenyu 17), ukuze ushintshe lesi silungiselelo.

Faka okokufaka okushiwo, okungaba i-D1 noma i-D2, futhi ama-actuator azohamba aye kuleyo ndawo inqobo nje uma okokufaka kusacushiwe KUZE kube yilapho isilawuli sithola noma yini; a) Isibalo sesifaki khodi se-actuator siyekile ukushintsha i-orb) I-actuator yeqe umkhawulo wamanje (okwamanje idlulele ngenhla kwesethingi ye-CUR RTN okungenani i-CUR SEN, isikhathi sokuzwela); lapho isibonisi sizoqinisekisa ukuqedwa (kumodi yokuphuma kwesiteshi esisodwa) noma sibonise iMotor esesivele sinaso nesithonjana sesiyingi futhi esisasekhaya (ngemodi yokuphuma engu-2CH). Kumodi ezenzakalelayo yokuphuma kwe-2CH, isibonisi esiyindilinga esigcwalisiwe sisho ukuthi injini ifakwe ekhaya ngesishumeki, indingilizi egcwele indandatho yangaphandle isho ukuthi ibuyiselwe ekhaya ngomkhawulo wamanje, futhi umbuthano ongagcwalisiwe usho ukuthi ukuya ekhaya akukakafiki. ephelele. Ngenjini ngayinye eqeda ukwenza ikhaya, STATUS izokhanyisa kanye. Uma ukwenza ekhaya sekuqediwe, bamba okuthi UP ( ~ ), noma qalisa i-D1 kanye ne-D2 kanyekanye ukuze > ama-2, uphume uye ekusebenzeni okuvamile, noma ubambe okuthi Khetha ( Q ) ukuze uqale Ukuqedwa Kokulinganiswa Komkhawulo.

 

Qeda Umkhawulo

• Ekupheleni kwe-Homing, njengoba kukhonjisiwe ngenhla, ungaphumela ekusebenzeni okujwayelekile (isibonisi sizobonisa kafushane inani END LIM eligcinwe ngaphambi kokubuyela kusibonisi esibukhoma) NOMA ungadlula (ngokubamba inkinobho ethi Khetha) ukuze uqede umkhawulo. Ukulinganisa.
• Le modi ikuvumela ukuthi usebenzise ama-actuator axhunyiwe mathupha, uhambe Usuka Ekhaya noma indawo ethi 'ziro', uye endaweni oyithandayo yokuma (kufanele uqale ucuphe okokufaka okuphambene, okungaba i-D1 noma i-D2, kukhiye wakho we-HOM DIR, ukuqala uhambo). I-END VAL eboniswa esibonisini izobuyekezwa ngesikhathi sangempela njengoba i-actuator ihamba , ukuze ibonise ukuthi, njengesibalo sesishumeki sekhodi, i(ama) actuator isuke kude kangakanani endaweni yasekhaya. Uma unama-actuator amabili axhunyiwe, isilawuli sizowavumelanisa ngokusebenzayo phakathi nale nqubo. Ngemva kokuthi usuhambe wadlula i-HOM SL (Ibanga le-Home Slow offset), ungasebenzisa kokubili i-D1 ne-D2 ukuze ulawule ukunyakaza kokubili ukusuka futhi ubuyela emuva ubheke endaweni yasekhaya.

Kukhona izindlela ezi-2 zokuphuma kule modi. Noma:

• Cindezela inkinobho yemenyu ethi Khetha (Q), uma indawo oyithandayo yomkhawulo isifinyelelwe, noma
• Isikhathi sokuvala isifaki khodi (i-actuator ayikasuki, ngaphandle kokuthi okukhiphayo kusebenza, kwe> ENC T/0 millisecond).
• El Lapho uphuma, isibonisi sizobonisa inani eligciniwe le-END LIM, ongalihlela futhi kumenyu ye-CTRL SETTINGS.

Ulwazi Lokubonisa Okubukhoma

Izinketho Zokubonisa Okubukhoma

Lezi zincazelo zinikeza imininingwane eyengeziwe kumasethingi aboniswe ekhasini Lokuzulazula kweMenu (2).

1. Isivinini esikhulu
   Umsebenzi omkhulu we-PWM (amaphesentitage) kuhlinzekwe ezinjinini ezixhunyiwe ngesikhathi sokusebenza okuvamile.
2. Isivinini Sasekhaya
   Umsebenzi ophansi we-PWM (amaphesentitage) kuhlinzekwe kuma-actuator axhunyiwe ngesikhathi se-Homing and End Limit
   Izinqubo zokulinganisa, zokunyakaza kancane. Inani eliphakeme kakhulu lama-90%, ubuncane obungu-10%.
3. Umkhawulo wamanje, Away
   Umkhawulo wamanje (in Amps) sisetshenziswa uma uhamba KUDE usuka lapho uya ngasekhaya.
4. Umkhawulo wamanje, Buyela
   Umkhawulo wamanje (in Amps) sisetshenziswa lapho sisendleleni RETURN, emuva ngaseKhaya.
5. Isikhathi Sokusheshisa
   Rampisikhathi (ngama-millisecond), somugqa ramp kusuka ku-0% kuya ku-MAX SPD% ekusebenzeni okuvamile.
6. Isikhathi sokunciphisa
   Ukunciphisa ramp isikhathi (ngama-millisecond), sisetshenziswa ngaphandle kokuthi 'I-Hard stop' icushiwe.
7. Qeda Umkhawulo
   Isibalo sesifaki khodi lapho isilawuli sizocupha khona ngokuzenzakalelayo 'Ukuma Kanzima', phakathi nomnyakazo othi AWAY (bona amagrafu oshintsho, ikhasi 1, isigaba B).
8. I-Homing Offset
   Ibanga le-offset, ukusuka Ekhaya (0) lapho isilawuli sizocupha khona 'Ukuma Kanzima' phakathi nokunyakaza kwe-RETURN, ngemva kokudlula leli phuzu okokuqala ngemva kwe-Homing (okusetha indawo ethi '0').
   
9. Qeda Ngehlisa Phansi
   Ibanga ukusuka ku-END LIM, lapho isilawuli sehlisela ku-SLO SPD phakathi no-AWAY.
   
10. Ikhaya Kahle
    Ibanga ukusuka endaweni ye-OFFSET, lapho isilawuli sehlisela ku-SLO SPD phakathi ne-RETURN.
11. Isivinini Esinensayo
    Umsebenzi ophansi we-PWM (amaphesentitage) kuhlinzekwe kokuphumayo phakathi nezigaba ze-END SLO ne-HOM SLO.
12.  Ukuzwela kwamanje (Ukwehliswa kwe-Overcurrent)
13. Isikhathi esincane, ngama-millisecond, sokuba i-current etholiwe ekuphumeni kwenjini eyodwa ukuze idlulele
14. I-CUR AWY noma i-CUR RTN thresholds (ngokuya ngesiqondisindlela sokuhamba), ukuze uqalise umcimbi oweqile.
    • VOL r,Me Ho Adeaoced meoo, de SOOms)
    • Ubuningi Voltage Umkhawulo
    • Umthamo omkhulu wokuhlinzekatagivunyelwe ngaphambi kokumisa ngokuzenzakalelayo okukhiphayo nokucupha iphutha (akukho ukubambezeleka).
      
15. Isikhathi Sokuvala Isifaki khodi (Ukuzwela Kwephutha Lekhodi)
    Uma okukhiphayo kusebenza (okungamiswanga), isikhathi kuma-millisecond ukuze kungabi khona ushintsho esibalweni sesifaki khodi, ngaphambi kokuthi kuqaliswe iphutha lesifaki khodi.
16. Ivumelanisa Isilungisi
    Iyaguquguquka ukuze ulungise amandla omjikelezo wokuvumelanisa. 5 = okuzenzakalelayo, okusebenza kahle kumasistimu amaningi we-actuator. Ukwandisa leli nani kukhulisa amandla okuvumelanisa (kodwa kungase kubangele ukudikiza, ngakho-ke kufanele kusetshenziselwe amaza aphansi okufaka ikhodi), ukwehlisa leli nani kunciphisa amandla (sebenzisa kuphela amafrikhwensi aphezulu wesifaki khodi).
17. Ukhiye Wendlela Yasekhaya
    Isetha isiqondiso sokuphumayo lapho i-Homing isethwe khona, kungaba ku-D1 noma i-D2 (i-D2 iyona ezenzakalelayo). Bheka ikhasi 4 isigaba D, ukuze uthole imininingwane.
18. Buyela ku-Main Menu

1/0 Izindlela

1. Imodi ye-WIR: Imodi yokulawula okokufaka ye-D1 ne-D2 okokufaka okunezintambo. MO= Okwesikhashana (hlala ucindezelwe), LA= Latching (ukucindezela okukodwa). Uma ikumodi yokuLatching, i-trigger eyodwa ekhombayo iqala ukunyakaza kanye ne-trigger yesibili yendawo efanayo, noma yendlela ephambene, ibangela ukwehla (ngaphezu kwesikhathi sika-DECEL) ukuze ime.
2. INDLELA YE-REM: Imodi yokulawula okokufaka yemojuli yesilawuli kude ongayikhetha, uma ixhunyiwe (GR-RX-868A). MO= Okwesikhashana (hlala ucindezelwe),
   LA= I-Latching (umshini owodwa), kanye nokuxhunywa kusebenza ngendlela efanayo njengoba kuchazwe ngenhla.
3. INDLELA YOKUMISA: 1 = Ngokujwayelekile-Vula (oxhumana naye ovalayo), 2 = Ngokujwayelekile-Kuvaliwe (oxhumana naye ovulayo). Lapho kungenzeka khona, ikakhulukazi uma kuhlanganiswa okokufaka kwenzwa lapha, okuvamise ukuvala imodi yokusebenza ekhethwayo njengoba kufanele bese kucupha umyalo othi STOP uma kukhona iphutha lezintambo elibangela ukunqanyulwa (umqondo 'okuvalwe ngokujwayelekile' ulindele ukuthi igagasi liqhubeke ligeleza, ukunqamula kucupha okokufaka).
4. I-CURR REV: I-Overcurrent Reverse. Imodi yokuzithandela yokuqalisa ukunyakaza okubuyela emuva kude nomcimbi wesikhathi esidlule. 0 = VALIWE
   (okuzenzakalelayo), 1-5 = isikhathi ngemizuzwana ukuze okokukhiphayo kugijimele kwelinye icala ukuya lapho kwenzeke khona isigameko esidlule (uma
   okwamanje kokuphumayo okukodwa kweqe i-CUR AWY noma i-CUR RTN, kuye ngesiqondisindlela sohambo, kwe >CUR SEN).
5. 7. Bheka ikhasi lesi-2.
6. I-2CH/1CH: Khetha ukuthi yimiphi imiphumela esebenzayo, ivumela ukushintsha phakathi kwamamodi esiteshi esisodwa i-M1 noma i-M2, noma imodi evunyelanisiwe yeziteshi ezimbili engu-2CH.

1/0 Umqondo
Zonke izinto zemenyu 1 – 5 ku-1/0 logic menu zilungiselela ukuthi okokufaka (kutheminali yokufaka ethintwa ukulungiselelwa ngakunye) kuzobhekwa njengokusebenza uma kuxhunywe ku-HIGH (3-12V) NOMA uma kuxhunywe ku- PHANSI (0-1V, GND) isignali. Okuzenzakalelayo kwazo zonke lezi zinto kuthi I-Active HIGH (HI) futhi kukhona isethi yokudonsela phansi (ukudonsela phansi kwangaphakathi), uma kuguqulelwe ku-Active LOW (LO) i-apull-up resistor isethiwe (ukudonsa kwangaphakathi kwephrosesa- kuze kufike ku-3.3V). I-DIR ACTIV ithinta okokufaka kwentambo kwe-D1 ne-D2, i-STP ACTIV okokufaka kwe-STOP, 101 ACTIV okokufaka kwe-101, 102 ACTIV okokufaka kwe-102, kanye ne-IN1 ACTIV isetha imodi yokufaka engu-IN1.

Izilungiselelo zokubonisa

1. I-HOM DISP: Imodi yokubonisa yasekhaya. 1 = Ibha Yokuhamba, 2 = I-Live Current, 3 = I-Max Yamanje (umjikelezo ngamunye), 4 = Izibalo zesifaki khodi. Bheka ekhasini 5, C kanye no-D, isiboneloampokuncane kwalokhu.
2. Khiya: Guqula ukuthi ikhodi idinga ukufakwa ukuze ufinyelele kumamenyu wezilungiselelo. VULIWE = Kunikwe amandla, VALIWE = Kukhutshaziwe (okuzenzakalelayo).
3. I-LOCK VAL: Inani lekhodi yokukhiya okudingeka lifakwe ukuze kufinyelelwe amamenyu, uma UKAYIKHA IVULIWE.

Okuthuthukile

1. DUTY 3min: Isilinganiso esiphezulu samanje esivunyelwe ngaphambi kokuma okuzenzakalelayo, kuyo yonke i-M1 ne-M2 kuhlangene, ngaphezu kwamaminithi angu-3.
2. DUTY 10min: Isilinganiso esiphezulu samanje esivunyelwe ngaphambi kokuma okuzenzakalelayo, kuyo yonke i-M1 ne-M2 kuhlangene, ngaphezu kwamaminithi angu-10.
3. DUTY 30min: Isilinganiso esiphezulu samanje esivunyelwe ngaphambi kokuma okuzenzakalelayo, kuyo yonke i-M1 ne-M2 kuhlangene, ngaphezu kwamaminithi angu-30.
4. I-REGEN: I-Regenerative motor braking, ON= Inikwe amandla (okuzenzakalelayo) noma IVALIWE= Ikhutshaziwe. Qaphela uma uvala lokhu, njengoba lokhu kushiya okokukhiphayo kokuthi 'freewheel' kuma.

ISIKHATHI SESIKHATHI: Isikhathi esivunyelwe, ngama-millisecond, sevolthi yokufaka yokufakatage ukwehla ngaphansi kwe-MIN VLT ngaphambi kokuthi kuqalwe iphutha.

Amakhodi Ephutha

Uma kwenzeka iphutha, isibonisi sizoshintsha ukuze sikhombise (phezulu kwesokunxele) ukuthi iyini inombolo yephutha, kanye neminye imininingwane ehlobene nephutha. Bona imininingwane yephutha ngezansi.

1. Iphutha 1: Umkhawulo wamanje weqiwe. Lo mlayezo uzobandakanya isikhombisi-ndlela sokuhamba (Uhambile noma Uyabuya) nokuthi iyiphi injini (M1 noma i-M2) ebangele iphutha.
2. Iphutha 2: Iphutha lesifaki khodi. Leli phutha lenzeka uma, phakathi nomjikelezo wokunyakaza, isignali eyodwa yesifaki khodi ingashintshile (akukho mnyakazo otholiwe). Injini ecupha iphutha (M 1 noma M2) kanye nesigaba sohambo sizochazwa. Okukhiphayo kufanele kubuyiselwe ekhaya (bona
   ikhasi 5, A) ngemva kwephutha lesifaki khodi.
3. Iphutha 3: Izimpawu zesifaki khodi esiphambene. Ngokwesishumeki sezimpawu izinjini zihamba ngendlela ehlukile. Shintsha isifaki khodi kuholela kwenye yezinjini bese ubuyela ekhaya.
4. Iphutha 4: Ivolumu ephansitage. Ukunikezwa okokufaka okutholiwe kwehle ngaphansi kuka-MIN VLT isikhathi eside kune-VOL TIME. Hlola ukunikezwa.
5. Iphutha 5: Ivolumu ephezulutage. Ukunikezwa okokufaka okutholiwe kudlule i-MAX VLT. Hlola ukunikezwa.
6. Iphutha 6: Isibalo sesifaki khodi esingalungile. I(izi)njini zihambe kakhulu 'ziya emuva' zadlula Ekhaya, ngakho-ke kufanele zibuyiselwe ekhaya.
7. Iphutha 7: Izinga lokushisa elingaphezulu. Izinga lokushisa (le-processor, noma inzwa ye-H-Bridge) lidlule umkhawulo, vumela ukupholisa.
8. Iphutha 8: Ukusebenza ngokweqile. Umkhawulo womjikelezo wokusebenza (ufinyelelwe ngemenyu OKUTHUTHUKILE) weqiwe. Leli phutha lizokhombisa ukulungiselelwa kwesikhathi somsebenzi (imizuzu emi-3, engu-10 noma engu-30) eseqiwe.
9. Iphutha 9: Ukuhluleka kwamandla. Iphutha lenzeka uma amandla ehla ngenkathi izinjini zihamba. Ngakho-ke isilawuli kufanele sibuyiselwe ekhaya ukuze kuqinisekiswe ukuthi ukulandelela indawo kuhlala kunembile.

Amadokhumenti / Izinsiza

I-GIMSON ROBOTICS GR-SYNC Motor Controller [pdf] Incwadi Yeziqondiso I-GR-SYNC Motor Controller, GR-SYNC, Motor Controller, Controller

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