Imanuwali Yesoftware Yokulungisa Iphutha V3.0

Isingeniso Sekhasi Eliyinhloko

1.1. Vula i-Debugging Software V3.0Ngemuva kokuthi injini ivuliwe, chofoza kabili i-EXE file ebizwa ngokuthi Assistant3.0, isofthiwe izosesha ngokuzenzakalelayo izimbobo ze-serial ezitholakalayo bese izama ukuxhuma. Isimo sembobo se-serial ekhoneni elingezansi kwesokunxele soMfanekiso 1 sizobonisa isimo sokuxhuma kwembobo yochungechunge. Uma ukuxhumeka kuphumelele, kuzobonisa ukuthi imbobo ye-serial ixhunyiwe. Uma ihluleka, izogxumela kusixhumi esibonakalayo esilandelayo,Ungaqhubeka ngokuchofoza esithombeni ukuze uzame ukuxhuma kabusha. Amathuba okuhluleka kokuxhumeka yilawa:

1. I-motor ayikhanyisi ngempumelelo, futhi ukunikezwa kwamandla nezixhumi zidinga ukuhlolwa;
2. Isixhumi sokuxhumana sinezintambo ezingalungile;
3. Imbobo ye-serial yekhompuyutha isivele igcwele;
4. I-debugger ayifaki umshayeli ofanelekayo;

1.2. I-Interface Area Isingeniso
Indawo ye-interface ihlukaniswe yaba izingxenye ezilandelayo ngokuya ngomfanekiso 1:
A: Ibha yemenyu enkulu
B: Iphaneli yokulawula imodi ye-Servo
C: iphaneli yokulawula imodi yokunyakaza
D: Iphaneli yesimo se-waveform yesikhathi sangempela
E: Iphaneli yokubonisa ye-Waveform
F: Ibha yesimo
Ibha yemenyu enkulu kanye nebha yesimo kuhlala kungashintshiwe lapho isixhumi esibonakalayo sishintshwa, futhi ezinye izindawo zizoshintsha ngokuya ngamabha emenyu ahlukene.

Motor Running Interface Isingeniso

Uma uvula isofthiwe yokulungisa iphutha i-v3.0, isixhumi esibonakalayo esisebenzayo sifakwa ngokuzenzakalelayo, futhi ukubuyekezwa kwedatha yesikhathi sangempela kunikwe amandla.
2.1. Iphaneli yokulawula yemodi ye-Servo
Kunezinkinobho zokulawula ezingu-6 namabhokisi okufaka idatha angu-4 kuphaneli yokulawula yemodi ye-servo.
Ibhokisi lokufaka idatha lingakwesokudla sezinkinobho zokulawula.Ngemva kokufaka idatha evumelekile, chofoza inkinobho engakwesokunxele ukuze usebenzise okuhambisanayo.

1. Ukulawula i-engeli ekhulayo:Ngemva kokufaka i-engeli ekhuphukayo yethagethi ebhokisini lokufakwayo kwedatha, chofoza inkinobho ye-engeli ekhuphukayo, futhi injini izosebenzisa i-engeli ekhulayo emisiwe nendawo yamanje njengendawo yokuqala.
2. I-Angle Control EpheleleNgemva kokufaka i-engeli yethagethi ephelele ebhokisini lokufakwayo kwedatha, chofoza inkinobho ye-engeli ephelele, futhi injini izosebenza ngokumiswa okuphelele njengethagethi.
3. I-Speed ​​​​Commandebhokisini lokufaka idatha, chofoza inkinobho yomyalo wesivinini, futhi injini izosebenza ngesivinini esimisiwe. Isivinini esimisiwe sisekelwe ejubaneni lokuphela kwemoto, okungukuthi, ukuphela kokufaka kwesilinganiso sokunciphisa.
4. Umyalo wamanjeNgemva kokufaka i-target yamanje ebhokisini lokufaka idatha, chofoza inkinobho yomyalo wamanje, futhi injini izosebenza ngesikhathi samanje esimisiwe.
5. Misa UmyaloNgemuva komyalo wokumisa imoto, injini izongena esimweni sokulinda futhi ngeke kube khona okukhiphayo.
6. Setha kabusha Umyalo
   Ngemuva komyalo wokusetha kabusha imoto, uhlelo lwemoto luzoqalwa kabusha.

2.2. Iphaneli yokulawula yemodi yokunyakaza
Kunamabhokisi okokufaka amapharamitha angu-5 kanye nenkinobho yokulawula engu-1 kuphaneli yemodi yokulawula ukunyakaza.

1. I-engeli oyifunayo::p_desFaka i-engeli oyifunayo ebhokisini lokufaka, futhi injini izosebenza kule engeli njengenani eliphelele eliqondiwe. Imodi yokuma kuphela esetshenziswa uma KD=0. Qaphela ukuthi iyunithi iyi-rad, futhi ukufaka u-6.28 kulingana nokusetha i-engeli eqondiwe ku-360 degrees.
2. Isivinini osifunayo:v_desFaka isivinini osifunayo ebhokisini lokufaka, futhi injini izogijima ngalesi sivinini esiqondiwe. Indawo yesivinini kuphela esetshenziswayo uma i-KP=0. Iyunithi ingu-rad/s, bhekisela kufomula yeyunithi yokuguqulwa: 1rad/s = 9.554RPM. Ijubane ijubane lokuphela kwemoto, okungukuthi, isivinini sokuphela kokufaka kwesinciphisi.
3. I-torque oyifunayo:t_ffFaka i-torque oyifunayo ebhokisini lokufaka, futhi injini izosebenza nale torque eqondiwe.
4. I-KP:Ibonisa i-coefficient yokuchezuka phakathi kwe-engeli eqondiwe kanye ne-engeli yempendulo.
5. KD:Ibonisa i-coefficient yokuchezuka phakathi kwejubane eliqondiwe kanye nesivinini sempendulo.
6. Umyalo wokulawula ukunyakazaNgemva kokufaka amapharamitha angu-5, chofoza umyalo wokulawula ukusebenza, futhi injini izobalwa futhi ikhishwe ngokuvumelana nenani elilindelekile. Kubalwe kanje:
   I-TorqueRef = (p_des – p_fb)*KP + (v_des – v_fb)*KD + t_ff;
   I-TorqueRef: Ibonisa umphumela wokugcina we-torque eqondiwe enjini;
   p_fb: impendulo ye-engeli yangempela;
   v_fb: impendulo yesivinini sangempela

2.3. Iphaneli yesimo se-Waveform yesikhathi sangempela

1. I-Angle ye-Shaft:
   Ibonisa i-engeli yangempela ekuphumeni kwesinciphisi semoto.
2. Isivinini
   Ibonisa isivinini sangempela sokuphela kwemoto, okungukuthi, ukuphela kokufaka kwesinciphisi.
3. Okwamanje:
   Ibonisa i-torque yangempela (Iq) yamanje yenjini.
4. Izinga lokushisa lemoto:
   Ibonisa izinga lokushisa langempela lenjini.
5. Ibhasi Voltage:
   Ikhombisa ivolumu yangempelatage yetheminali yokuphakela amandla.

2.4. Iphaneli yokubonisa ye-Waveform I-interface yokubonisa i-waveform ingabonisa amagagasi edatha angu-3 ngawodwana noma ngasikhathi sinye, okungukuthi i-IQ yamanje, isivinini, kanye nesimo. Le datha emithathu ihambisana ne-engeli, isivinini, nedatha yempendulo yamanje kubha yesimo yesikhathi sangempela. Inani langempela ledatha liboniswa ohlangothini lwesobunxele nakwesokudla, futhi ububanzi bayo bulungiswa ngokuzenzakalelayo ngokuya ngosayizi wangempela.
2.5. Ibha Yesimo 
Isimo sembobo ye-serial sibonisa isimo sokuxhuma kwembobo ye-serial. Isimo semoto sizodala amaphutha ahlobene.

Isingeniso Sesixhumi Esibonakalayo Sezilungiselelo

3.1. Faka Isixhumi esibonakalayo Ukulungiselelwa okuyisisekelo kwemenyu eyinhloko yemoto kungafaka isixhumi esibonakalayo sokusetha esiyisisekelo. Ikhompuyutha engusokhaya ibuyekeze amapharamitha kanye ngemva kokuxhumeka, ngakho amapharamitha aboniswa kusixhumi esibonakalayo amapharamitha afundwa kumotho. Idatha ingaphinda ifundwe futhi ngenkinobho ye-Read Data.
3.2. Isingeniso Sokusebenza

1. Chofoza ukuze ufunde idatha ukuze ubuyekeze yonke imingcele kusixhumi esibonakalayo;
2. Lungisa amapharamitha edatha afanelekile, bese uchofoza okuthi Bhala Idatha ukuze ulondoloze;
3. Uma ukufunda idatha noma ukubhala kwehluleka, ungachofoza futhi ukuze ufunde idatha futhi ubhale idatha ukuze usebenze futhi.

3.3. Incazelo yepharamitha
3.3.1. Amapharamitha wokuxhumana

igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
CAN/RS485ID	1-32	idesimali	ngempumelelo ngokushesha	kusho ukuthumela i-ID, i-Ox140+ID,
INGABE Baudrate	ngokuzikhethela	bps	ngempumelelo ngokushesha	I-Baud ratesettingforCAN ukuxhumana, ukuhlinzeka ngesilinganiso se-baud ozikhethela.
Vumela Isihlungi seCAN	I-Ool		Isebenza ngemva kokuqala kabusha	Ngisho ukuthi isihlungi se-CAN sivuliwe, esingathuthukisa ukusebenza kahle kokudluliswa kwemoto nokwamukela ekuxhumaneni kwe-CAN. 0 kusho ukuthi isihlungi se-CAN sivaliwe, futhi sidinga ukumiswa lapho kudingeka umyalo wokulawula izimoto eziningi ongu-0x280.
Nika amandla inguqulo yeCAN	I-Ool		Isebenza ngemva kokuqala kabusha	Ngisho ukuthi umsebenzi we-CAN unikwe amandla. 0 kusho ukuthi umsebenzi we-CAN uvaliwe. (Ibhodi le-485 alikwazi ukunika amandla umsebenzi)
RS485 Baudrate	ngokuzikhethela	bps	ngempumelelo ngokushesha	Ukusetha izinga le-baud lokuxhumana kwe-RS485 kunikeza izinga lokuzikhethela.
Isikhathi sokuvikela i-COIBI brake	0-232-1	i-millisecond	ngempumelelo ngokushesha	Phakathi nenqubo yokuxhumana, uma injini ingawutholi umyalo phakathi nesikhathi esimisiwe, izoyeka ukukhipha. Uma kukhona ibhuleki lokubamba, ibhuleki lokubamba lizovalwa. 0 kusho ukuthi lo msebenzi awuvumelekile
Nika amandla Ukuthumela Kwesimo Sephutha	I-Ool		ngempumelelo ngokushesha	1 isho ukuthi isimo sephutha sinikwe amandla, futhi umyalo ozenzakalelayo ubuyela esimweni sephutha lapho iphutha libikwa. 0 kusho ukuvala amandla isimo sephutha

3.3.2. Amapharamitha we-PI

igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
Cor rent	0-255		ngempumelelo ngokushesha	Inani elimisiwe lihambisana nobubanzi obukhulu be-KP ngaphakathi kwenjini. Uma inani eliphakeme le-KP lingu-1, khona-ke i-255 ihambisana no-1. Inani eliphakeme lihlobene nemodeli yemoto futhi alikwazi ukuguqulwa ngumsebenzisi.
I-Loop KI yamanje	0-255		ngempumelelo ngokushesha	Okunjalo
I-Speed ​​Loop NI'	0-255		ngempumelelo ngokushesha	Okunjalo
Ijubane Loop KI	0-255		ngempumelelo ngokushesha	Okunjalo
isikhundla Loop KP	0-255		ngempumelelo ngokushesha	Okunjalo
isikhundla Loop KI	0-255		ngempumelelo ngokushesha	Okunjalo

Ukwethulwa kwesixhumi esibonakalayo sezilungiselelo ezithuthukisiwe

4.1. Faka Isixhumi esibonakalayo4.1.1. Isingeniso Sokusebenza

1. Chofoza ukuze ufunde idatha ukuze ubuyekeze yonke imingcele kusixhumi esibonakalayo;
2. Lungisa amapharamitha edatha afanelekile, bese uchofoza okuthi Bhala Idatha ukuze ulondoloze;
3. Uma ukufunda idatha noma ukubhala kwehluleka, ungachofoza futhi ukuze ufunde idatha futhi ubhale idatha ukuze usebenze futhi.

4.2. Incazelo yepharamitha
4.2.1. Amapharamitha okuvikela

igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
Iluphu yamanje 0 Max	Lutho	Lutho	ngempumelelo ngokushesha	Funda kuphela
Iluphu yamanje ye-KI Max	Lutho	Lutho	ngempumelelo ngokushesha	Funda kuphela
Iluphu yesivinini i-KP Max	Lutho	Lutho	ngempumelelo ngokushesha	Funda kuphela
Iluphu yesivinini i-KI Max	Lutho	Lutho	ngempumelelo ngokushesha	Funda kuphela
I-loop yesikhundla i-KP Max	Lutho	Lutho	ngempumelelo ngokushesha	Funda kuphela
Beka iluphu ye-KI Max	Lutho	Lutho	ngempumelelo ngokushesha	Funda kuphela
Over Voltage	0-100	I-Volt	ngempumelelo ngokushesha	Funda kuphela
I-Vol ephansitage	0-100	I-Volt	ngempumelelo ngokushesha	Funda kuphela
Umkhawulo wesikhathi sokumisa	0-2'2-1	i-millisecond	ngempumelelo ngokushesha	Setha ukuthi uzomisa isikhathi esingakanani ukuphuma ngemva kokungena kusimo serotha ekhiyiwe, bese uvala ibhuleki uma kukhona ibhuleki.
Imodi ye-Brake	ngokuzikhethela	Lutho	ngempumelelo ngokushesha	Okukodwa kuphela kwemisebenzi emibili ye-Relay ne-Resistor engakhethwa, khetha lo msebenzi bese uvula
I-Relay Start Duty	0-100%	Lutho	ngempumelelo ngokushesha	Umjikelezo womsebenzi wale nketho uyagcinwa kusukela ngesikhathi sokuqalisa ukuya kumasekhondi angu-2
Yamanje Sample Res	Lutho	mR	Lutho	Funda kuphela
I-Relay Hold Duty	0-100%	Lutho	ngempumelelo ngokushesha	Umjikelezo womsebenzi wale nketho ugcinwa ngemva kwamasekhondi angu-2 ngesikhathi sokuqalisa

4.2.2. Imingcele yokuhlela

Igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
Isikhundla Esiphezulu Esiphezulu	Lutho	deg	ngempumelelo ngokushesha	indawo ephezulu okungahanjwa kuyo ku-loop yendawo
Isikhundla Esibi Esiphezulu	Lutho	deg	ngempumelelo ngokushesha	Isikhundla esincane esingafinyelelwa ku-loop yendawo, uhlelo luzoyiphatha njengevelu engalungile
Isikhundla P1ar. I-Max Acc	100- 60000	dps/s	ngempumelelo ngokushesha	Ngesikhathi sokusebenza kwe-loop yendawo, isikhathi sokusheshisa ukusuka kwisivinini samanje ukuya kwisivinini esimisiwe
Isikhundla Mar. Max Dec	100- 60000	dps/s	ngempumelelo ngokushesha	Ngesikhathi sokusebenza kwe-loop yesikhundla, isikhathi sokuncishiswa ukusuka kwisivinini samanje ukuya kwisivinini esimisiwe
I-Position Plan Max Speed	Isivinini esikalwe ngemoto eyi-10	eRio.'	ngempumelelo ngokushesha	Ukulungiselelwa kwesivinini esiphezulu ngesikhathi sokusebenza kwe-loop yendawo
I-Speed ​​​​Plan Max Acc	100- 60000	s	ngempumelelo ngokushesha	Ngesikhathi sokusebenza kwe-Speed ​​loop, isikhathi sokusheshisa ukusuka esivinini samanje ukuya kwisivinini esimisiwe
I-Speed ​​​​Plan Max Dec	100-60000	dps/s	ngempumelelo ngokushesha	Ngesikhathi sokusebenza kwe-Speed ​​loop, isikhathi sokuncishiswa ukusuka kwisivinini samanje kuye kwisivinini esimisiwe
I-Motor Position Zero	-462	I-Pulse	i-powercycle	khayitha ishayela elicacisiwe njengephoyinti elinguziro lendawo yemoto. Ungafunda nevelu ye-zero pulse yendawo yamanje yemoto
setha indawo yamanje ukuze zero injini	Lutho	Lutho	i-powercycle	Uma ngokuchofoza inkinobho yokusetha, indawo yamanje yemoto uzoyigcina njengephoyinti elinguziro isikhundla.

Ukwethulwa kwe-Motor Adjust Interface

5.1. Faka Isixhumi esibonakalayo

5.2. Isingeniso Sokusebenza

1. Chofoza funda idatha ukuze ubuyekeze amapharamitha;
2. Lungisa inani lamanje elimesha iluphu evulekile, ngokuvamile lingabi ngaphezu kwengxenye yamanje elilinganiselwe lapho lingalayishi;
3. Chofoza inkinobho ethi “Lungisa Isifaki khodi” bese ulinda ukulinganiswa kwemoto;;
4. Uma ukulinganisa kwehluleka, ungachofoza okuthi “Lungisa Isifaki khodi” futhi;
5. Ingakhuphula i-open-loop ehambisanayo yamanje ukwenza ukulinganisa kwemoto kuphumelele;
6. Ngemva kokuba ukulinganisa kuphumelele, izobonisa ukuthi ishintshiwe futhi yalondolozwa, futhi asikho isidingo sokuphinda ulinganise ngemva kokuvula amandla futhi;
7. Ukulinganisa kwezimoto kungcono kakhulu ukugcina injini isesimweni sokungalayishi;

5.3. Incazelo yepharamitha
5.3.1. Isifaki khodi esiyinhloko

Igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
Inikwe amandla I-Powerdown Londoloza i-MultTun	awu! a. 1	Lutho	ngempumelelo ngokushesha	Ngiqonde ukunika amandla ukonga inani lokuphenduka okuningi lapho ucisha, okungukuthi, injini ingakwazi ukukhumbula indawo yokujika okuningi ngaphambi kokucisha amandla ngisho nalapho amandla ecishiwe. 0 isho ukucisha ukonga ukonga inani eliningi lokuvula amandla.
I-Pole-Paris	Lutho		Lutho	Ukufunda kuphela, amapharamitha emoto awakwazi ukuguqulwa ngumsebenzisi
I-Single-Resolution Value	Lutho	Lutho	Lutho	Ukufunda kuphela, amapharamitha emoto awakwazi ukuguqulwa ngumsebenzisi
Lungisa Okwamanje	0.1- injini elinganiselwe okwamanje	1	ngempumelelo ngokushesha	Ukugijima kwamandla enjini ngesikhathi sokulinganisa. Uma i-current incane kakhulu, i-torque ngeke yanele, futhi ukulinganiswa kwemoto kuzohluleka. Ukweqisa kwamandla nakho kungase kubangele ukuvikeleka kwamanje. Ngokuvamile ngaphakathi kwebanga lamanje elilinganiselwe.
Shintsha i-Motor Direction	Lutho	Lutho	Lutho	Ukufunda kuphela, amapharamitha emoto awakwazi ukuguqulwa ngumsebenzisi
Inani Elilungisiwe Lesifaki khodi	Lutho	Lutho	Lutho	Ukufunda kuphela, umphumela wokulinganisa awukwazi ukuguqulwa ngumsebenzisi
Ukunemba Kwesifaki khodi	Lutho	Lutho	Lutho	Ukufunda kuphela, umphumela wokulinganisa awukwazi ukuguqulwa ngumsebenzisi

5.3.2. I-Slaver Encoder

Igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
Isikhombisi-ndlela Sesifaki khodi	Lutho	Lutho	Lutho	Ukufunda kuphela, amapharamitha emoto awakwazi ukuguqulwa ngumsebenzisi
Isifaki khodi se-BCT	Lutho	Lutho	Lutho	Ukufunda kuphela, amapharamitha emoto awakwazi ukuguqulwa ngumsebenzisi
Lungisa Isifaki khodi	0 noma 2	Lutho	Lutho	Bhala oku-2 uma ulinganisa isifaki khodi se-slavr, futhi ushintshe ngokuzenzakalelayo kube ngu-0 ngemva kokuqedwa kokulinganisa.
Isifaki khodi esinguziro	Lutho	Lutho	Lutho	Ukufunda kuphela, amapharamitha emoto awakwazi ukuguqulwa ngumsebenzisi

Isethulo se-Motor Update Interface

6.1. Faka Isixhumi esibonakalayo6.2. Isingeniso Sokusebenza
6.2.1. Funda Amapharamitha
Chofoza inkinobho yokufunda ukuze ufunde amapharamitha ahlobene nemoto; 6.2.2. Buyisela Ifektri
Chofoza inkinobho ethi “Buyisela Ifektri”, khetha i-HEX file ehambisana nenjini, bese ubuyisela yonke imingcele yokulinganisa ku-Reset;

6.2.3. Buyekeza
I-MYACTUATOR izothuthukisa imisebenzi yomshayeli futhi amakhasimende angakwazi ukuyibuyekeza ekude.
Chofoza Umthwalo File inkinobho, khetha i-firmware, bese ulayisha idatha ye-firmware.Chofoza okuthi “Buyekeza File” ukuze ubuyekeze uhlelo, inqubo yokubuyekeza izobonisa inqubekelaphambili yokubuyekeza ngesikhathi sangempela, itshele noma yimuphi umlayezo wephutha obomvu, udinga ukuthola imbangela yenkinga bese uchofoza okuthi 'Buyekeza File' futhi ukuze ubuyekeze kabusha uhleloNgemuva kokuthi inqubo yokuvuselela isiqediwe, imodi ye-BOOT yethulwa ukubonisa ulwazi olulandelayo.6.2.4. Buyekeza Izizathu Nezixazululo Zephutha Lohlelo

1. Phakathi nenqubo ekhanyayo, ukuxhumana kuyaphazamiseka futhi ukukhanya kwehluleka. Zama ukugwema ukuphazamiseka futhi uqale kabusha ukukhanya.
2. Ngenqubo yokukhanyisa, uma amandla elahlekile ngokuzumayo noma ikhompyutha ihluleka, udinga ukuqala kabusha ukukhanya ngaphansi kwezimo ezinzile.
3. Uma ukukhanya kabusha kungasebenzi izikhathi eziningi, xhumana nomkhiqizi ukuze ucutshungulwe noma ubuyele efekthri

6.3. Incazelo yepharamitha

Igama lepharamitha	Amabanga	iyunithi	Indlela ephumelelayo	Incazelo
I-ID yemoto	Lutho	Lutho	Lutho	Funda kuphela, amapharamitha asembonini
Igama leMoto	Lutho	Lutho	Lutho	Funda kuphela, amapharamitha asembonini
I-Firmware Ver	Lutho	Lutho	Lutho	Funda kuphela, amapharamitha asembonini
Okwamanje Okuzisholo	Lutho	A	Lutho	Funda kuphela, okwamanje injini ingasebenza ngokuqhubekayo
Umkhawulo wamanje wesigaba esiphezulu	Lutho	A	Lutho	Iphoyinti lokufunda kuphela, iphoyinti lokuvikela lamanje lesigaba semoto, elizocupha ukuvikeleka esimweni esifushane, ukulahleka kwesigaba, noma ukweqa
I-Stall yamanje	\nth,	A	Lutho	Funda kuphela, umthamo wamanje ongasebenza isikhathi esifushane
Vala i-Temp	0-150	C	Lutho	Ukufunda kuphela, uma izinga lokushisa lemoto lifinyelela endaweni yokuvikela, izoyeka ukukhipha futhi ibike iphutha
Qalisa kabusha i-Temp	0-150	°C	Lutho	Funda kuphela, ukusebenza okuvamile kuzoqala kabusha lapho izinga lokushisa lemoto lifinyelela endaweni yokutakula.
Isivinini esikhulu	Lutho	RPM	Lutho	Ukufunda kuphela, injini izoyeka ukukhipha iphutha uma ifinyelela isivinini esikhulu
Isivinini Sokuzisholo	Lutho	RPM	Lutho	Funda kuphela, isivinini esiphezulu esingafinyelelwa yinjini ngevolumu elinganiselwetage.
Nika amandla Isifaki khodi Sesibili	Lutho	Lutho	Lutho	Ukufunda kuphela, okubonisa ukuthi ingabe injini inomsebenzi wokufaka ikhodi okukabili
I-Multi-turn Value	0-65535	Phenduka	Lutho	Funda kuphela, inani lemotor egciniwe yokushintshashintsha okuningi ngaphambi kwamandla okugcina
Gear Radio	Lutho	Lutho	Lutho	Funda kuphela, usayizi we-motor reduction ratio

Incazelo yomlayezo wephutha

Umlayezo wephutha	Incazelo	Isixazululo
i-hardware overcurrent	Uma i-motor current idlula inani elilinganiselwe, kungase kube nesifunda esifushane, ukulahlekelwa kwesigaba, ukulahlekelwa kokulawula, ukulimala kwemoto	Hlola ukunikezwa kwamandla kanye ne-motor wiring ye-short circuit, ukulahlekelwa kwesigaba, noma iphutha lepharamitha.
Iphutha lokumisa	Ngemuva kokuthi i-current ifike ku-current-rotor current evaliwe, ijubane liphansi kakhulu futhi liqhubeka isikhathi esithile. Kubonisa ukuthi umthwalo wemoto mkhulu kakhulu	Umthwalo ungase udlule ububanzi bokusebenza kwenjini.
undervoltage iphutha	Okokufaka kwamandla kuphansi kunesethi ye-undervoltage value	Hlola ukuthi ivolumu yokufakatagI-e yokunikezwa kwamandla iphansi kakhulu futhi inganyuswa ibe yinani elifanele
I-Overvoltage iphutha	Okokufaka kwamandla kuphakeme kunevelu yesethi eqiletage value	Hlola ukuthi ivolumu yokufakatagI-e yokunikezwa kwamandla iphezulu kakhulu futhi ingancishiswa ibe yinani elifanele
Isigaba samanje esidlulele	Isofthiwe ithola ukuthi i-motor current idlula inani elilinganiselwe, futhi kungase kube nokujikeleza okufushane, ukulahleka kwesigaba, ukulahlekelwa ukulawula, ukulimala kwemoto, njll.	Hlola ukunikezwa kwamandla kanye ne-motor wiring ye-short circuit, ukulahlekelwa kwesigaba, noma iphutha lepharamitha
Iphutha lokweqa kwamandla	Uma okokufaka kwamandla kudlula inani elilinganiselwe, kungase kube nesimo lapho umthwalo mkhulu kakhulu noma isivinini siphezulu kakhulu.	Yehlisa umthwalo noma unciphise isivinini sokugijima kwemoto
Iphutha lokufunda ipharamitha yokulinganisa	Yehlulekile ukubhala amapharamitha okubangela ukulahleka kwemingcele	Buyekeza amapharamitha ngokubuyisela izilungiselelo zasembonini
iphutha lesivinini esikhulu	Ijubane lemoto eligijima lidlula inani elilinganiselwe, kungase kube nokucindezela ngokweqile nokudonsa ukusetshenziswa.	Hlola ukuthi amandla okufaka angaphezulu kwe-voltagetage, nokuthi kungenzeka yini ukudonsa injini ngenkani
Iphutha lokushisa ngaphezulu kwemoto	Uma izinga lokushisa lemoto lidlula inani elibekiwe, kungase kube mfushane isekethe, iphutha lepharamitha, kanye nokusetshenziswa kokugcwala ngokweqile kwesikhathi eside	Hlola ukuthi amapharamitha emoto alungile yini, ingabe kukhona isifunda esifushane, nokuthi umthwalo mkhulu yini
Iphutha lokulinganisa isifaki khodi	Umphumela wokulinganisa isifaki khodi uchezuka kakhulu kunani elijwayelekile	Hlola ukuthi umthwalo motor mkhulu kakhulu, ungakwazi ukususa noma lula umthwalo, ukwandisa i-open-loop ehambelana yamanje ngokufanelekile, bese ulinganisa injini futhi.

Amadokhumenti / Izinsiza

RobotShop V3.0 Debugging Software [pdf] Imaniwali yosebenzisayo V3.0, V3.0 Debugging Software, Debugging Software, Software

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