I-TMCM-612
6-Axis Controller / High-Resolution Driver Board
1.1A /34 V + Ukutholwa Kwedatha
Imanuwali
Inguqulo: 1.13
Mashi 29, 2012
Isingeniso
I-TMCM-612 iyisilawuli se-axis 2-phase stepper motor kanye nemojuli yomshayeli enengxenye ephezulu yokutholwa kwedatha. Isiguquli se-ADC esihlanganisiwe esingu-8 se-16 bit singahlelwa ukuthi senze ivolthi yokufaka ehambisana nesinyathelo-synchronous.tagskena futhi ugcine amanani ngenani eliphezulu ledatha. Imojula ihlinzeka ngokulungiswa okuphezulu kwe-microstep ukuze wenze imisebenzi yokuma neyokulinganisa enembe. Imiphumela yokulinganisa ingadluliselwa ku-PC kusetshenziswa isixhumi esibonakalayo se-USB esinesivinini esikhulu. Inani lamashaneli okukhiphayo e-analog kanye nama-I/O edijithali angasetshenziswa ukulawula ezinye izinsimbi.
Lesi sethi sesici senza imojuli imiselwe ngaphambili kumathuluzi okuhlaziya.
I-TMCM-612 iza nemvelo yokuthuthukiswa kwesofthiwe esekwe ku-PC i-TMCL-IDE yolimi lwe-Trinamic Motion Control Language (TMCL). Izandiso zokutholwa kwedatha ethile yomsebenzisi ziyatholakala uma ucelwa. I-TMCM-612 ingalawulwa ngesixhumi esibonakalayo se-USB enesivinini esikhulu noma ngesixhumi esibonakalayo se-RS-232.
Izinhlelo zokusebenza
- Isilawuli / ibhodi lomshayeli lokulawula kufika ku-6 Axis ngokunemba okuphezulu kakhulu
- Amathuba ahlukahlukene wezinhlelo zokusebenza kumodi yokuma yodwa noma elawulwa yikhompyutha
Uhlobo lwezimoto
- Ikhoyili yamanje isuka ku-300mA iye ku-1.1A RMS (isilinganiso esiphezulu esingu-1.5A)
- 12V kuya ku-34V umthamo wokunikezwa kwegamatage
Isixhumi esibonakalayo
- RS232 noma isixhumi esibonakalayo se-USB
- Okokufaka kwereferensi nokumisa amaswishi
- Inhloso evamile ye-analog kanye nama-I/O edijithali
- Okokufaka okungu-16 bit ADC (0 – 10V)
- Imiphumela eyisishiyagalombili ye-10 bit DAC (0 – 10V)
Amaphuzu avelele
- Kufika izikhathi ezingama-64 nge-microstepping
- 500kHz, 16 bit AD converter
- 128kbyte RAM ukuze uthole idatha
- Okuzenzakalelayo ramp ukukhiqizwa kwehadiwe
- Inketho ye-StallGuard TM yokutholwa kwesitendi sezimoto ezingenazinzwa
- Amafrikhwensi ezinyathelo ezigcwele afika ku-20kHz
- Ukuguqulwa kwempukane kwamapharamitha okunyakaza (isb. indawo, isivinini, ukusheshisa)
- Ukunyakaza kwereferensi yendawo kusetshenziswa isici se-StallGuard TM engenazinzwa noma iswishi yereferensi
- Ukulawula kwamanje okunamandla
- Ubuchwepheshe bomshayeli we-TRINAMIC: Ayikho i-heatsink edingekayo
- Amathuba amaningi okulungisa enza le moduli ibe yisixazululo senkambu enkulu yezidingo
Isofthiwe
- Umsebenzi ozimele usebenzisa i-TMCL noma umsebenzi olawulwa kude
- Isitoreji sohlelo lwe-TMCL: 16 KByte EEPROM (imiyalo ka-2048 TMCL)
- Isofthiwe yokuthuthukisa uhlelo lokusebenza esekwe ku-PC i-TMCL-IDE ifakiwe
Okunye
- Izixhumi ezixhumekayo zamaswishi enjini nereferensi
- Kwakamuva kuthobela i-RoHS kusukela ngomhlaka-1 Julayi 2006
- Usayizi: 160x160mm²
| Ikhodi ye-oda | Incazelo |
| I-TMCM-612/SG | I-6.axis isilawuli/umshayeli kanye nemojula yokutholwa kwedatha, i-StallGuard |
Ithebula 1.1: Amakhodi e-oda
Inqubomgomo yokusekela impilo
I-TRINAMIC Motion Control GmbH & Co. KG ayigunyazi noma iqinisekisa noma yimiphi imikhiqizo yayo ukuthi isetshenziswe ezinhlelweni zokusekela ukuphila, ngaphandle kwemvume ebhaliwe eqondile ye-TRINAMIC Motion Control GmbH & Co. KG.
Amasistimu okusekela ukuphila amathuluzi okuhloswe ngawo ukusekela noma ukusekela ukuphila, futhi ukwehluleka kwawo ukusebenza, lapho kusetshenziswa kahle ngokuvumelana nemiyalelo enikeziwe, okungalindeleka ngokunengqondo kubangele ukulimala komuntu siqu noma ukufa.
© TRINAMIC Motion Control GmbH & Co. KG 2008
Ulwazi olunikezwe kuleli phepha ledatha kukholakala ukuthi lunembile futhi luthembekile. Nokho asikho isibopho esithathwayo ngemiphumela yokusetshenziswa kwayo nanoma yikuphi ukwephulwa kwamalungelo obunikazi noma amanye amalungelo abantu besithathu, okungaba umphumela wokusetshenziswa kwayo. Imininingwane ingashintsha ngaphandle kwesaziso.
I-Electrical and Mechanical Interfacing
3.1 Ubukhulu
3.2 Ukuxhuma imojuli ye-TMCM-612
Umfanekiso 3.2 unikeza i-overview kuzo zonke izixhumi. Izigaba ezilandelayo zichaza zonke izixhumi ngokuningiliziwe.
3.2.1 Izixhumi ezisetshenziswe kumojula ye-TMCM-612
Zonke izixhumi ezisetshenziswe kumojula ye-TMCM-612 ziyizixhumi ezijwayelekile zomkhakha ngaphandle kwamaswishi enjini nokuma. Ngakho izixhumi zokukhwelana zingatholakala kubakhiqizi abaningi abahlukene.
Ukushintsha kwezimoto nokumisa: 1 × 4 pin, 2.54mm pitch, AMP 640456-4 Isixhumi se-ADC nezixhumi ze-DAC: unhlokweni ojwayelekile womkhakha, izikhonkwane ezi-2 × 8, iphimbo elingu-2.54mm.
I/O: unhlokweni ojwayelekile womkhakha, 2x7pins, 2.54mm pitch.
Ukwandiswa (Amandla/SPI): unhlokweni ojwayelekile womkhakha, izikhonkwane ezi-2×5, iphimbo elingu-2.54mm.
3.2.2 Ukuphakelwa kukagesi
Xhuma ukunikezwa kwamandla okuphezulu. 34V DC lapha (umthamo omncane wokusebenzatage 12V). Idivayisi ivikelwe ku-polarity engalungile nge-diode efinyeza ukunikezwa kwamandla lapho i-polarity ingalungile.
3.2.3 Izinkomba ze-LED
Kunama-LED amabili ebhodini. I-LED engakwesokudla (“Amandla”, ephawulwe ngokuthi +5V) iyakhanyisa lapho iyunithi inikwa amandla. Enye i-LED (“Umsebenzi”) iyakhanya lapho iyunithi isebenza ngokujwayelekile.
3.2.4 Izixhumi zezimoto
Ama-motor stepper angaxhunywa nezixhumi ze-4 pin 2.54mm pitch. Amaphuzu okunamathisela ngemuva kwezixhumi ayafana ngogesi. Imisebenzi yephinikhodi yezixhumi iphrintwa ebhodini. Xhuma ikhoyili eyodwa yenjini kumatheminali abhalwe ukuthi “A0” kanye “A1” kanye nenye ikhoyili kuzixhumi ezibhalwe “B0” kanye “B1”. Bheka Umfanekiso 3.2. Isexwayiso: Ungalokothi uxhume noma unqamule injini ngenkathi iyunithi inikwe amandla! Lokhu kungalimaza abashayeli bezimoto futhi mhlawumbe nezinye izingxenye zeyunithi! Umfanekiso 3.3: Uxhumo lwezinjini nereferensi
3.2.5 Misa amaswishi / amaswishi ereferensi
Ama-stop switches angaxhunywa kumatheminali abhalwe ukuthi “L” kanye “R” kanye nasetheminali ye-GND. Amaswishi "avalwe ngokujwayelekile". Izixhumi zokushintshwa kwereferensi nazo zinetheminali ethi “+5V”. Lokhu okukhiphayo okungu-5V okungase kusetshenziselwe ukuhlinzeka ngababhangqwana bezithombe noma izinzwa zehholo ledijithali.
Iswishi yokumisa kwesokunxele nayo isetshenziswa njengeswishi yereferensi.
3.2.6 RS232 isixhumi esibonakalayo
I-interface ye-RS232 (okuzenzakalelayo 9600 bps, max. 115200 bps) ingenye yezindlela zokuxhuma iyunithi ku-PC noma isilawuli esincane esinokuxhumana kwe-RS232. Yonke imiyalo ye-TMCL ingathunyelwa kuyunithi ngokusebenzisa lesi sixhumanisi. Ikhebula lemodemu elingenalutho kufanele lisetshenziswe ukuxhuma i-TMCM-612 ku-PC, ngakho-ke ukuxhumana okulandelayo kufanele kwenziwe:
| Iphinikhodi ye-TMCM-612 | Iphinikhodi ye-PC |
| 2 | 3 |
| 3 | 2 |
| 5 | 5 |
Imisebenzi yephinikhodi yesokhethi ye-RS232 ye-TMCM-612 imi kanje:
| Phina inombolo | Igama lesiginali |
| 2 | I-RxD |
| 3 | I-TxD |
| 5 | GND |
Wonke amanye amaphini alesi sixhumi awaxhunyiwe.
3.2.7 isixhumi esibonakalayo se-USB
I-interface ye-USB futhi iyindlela yokuxhuma iyunithi ku-PC, lapho isivinini sokuxhumana esiphezulu sidingeka. I-interface isekela i-USB 2.0 ejwayelekile. Sicela ubheke isahluko 5.4 mayelana nendlela yokufaka umshayeli wedivayisi odingekayo ukuze uxhumane ne-TMCM-612 nge-USB.
Isixhumi esibonakalayo se-USB nesixhumi esibonakalayo se-RS232 akufanele kusetshenziswe kanyekanye.
3.2.8 Inhloso ejwayelekile I/O
Inhloso ejwayelekile yesixhumi se-I/O sihlinzeka ngemigqa eyisishiyagalombili yedijithali yokufaka/yokukhiphayo. Ngamunye wale migqa ungahlelwa ukuthi usetshenziswe njengokuphuma kwedijithali noma okokufaka kwedijithali noma okokufaka kwe-analogue okunemba ngamabhithi ayi-10 kanye nevolumu enkulu yokufaka.tage kwe +5V. Konke okokufaka kwedijithali kanye nokuphumayo kusebenza ezingeni le-TTL, ngakho-ke ivolumu ephezulutagngi 5v. Isilinganiso esiphezulu samanje uma sisetshenziswa njengokukhiphayo kwedijithali ngu-20mA. Imisebenzi yephinikhodi yesixhumi imi kanje:
| Phina | Isiginali | Phina |
Isiginali |
| 1 | Okokufaka kwe-alamu | 2 | GND |
| 3 | I/O 0 | 4 | I/O 1 |
| 5 | I/O 2 | 6 | I/O 3 |
| 7 | I/O 4 | 8 | I/O 5 |
| 9 | I/O 6 | 10 | I/O 7 |
| 11 | +5V | 12 | GND |
| 13 | +5V | 14 | GND |
Ithebula 3.1: Inhloso ejwayelekile I/Os
Okokufaka kwe-alamu nakho kuwukufaka kwedijithali okuneleveli ye-TTL kanye nokumelana nokudonsa kwangaphakathi. Ukusebenza kwalokhu kufakwa kungalungiselelwa ukumisa zonke izinjini uma ziphakeme noma ukumisa zonke izinjini uma ziphansi noma zingasebenzi nhlobo (sicela ubheke isigaba sesofthiwe ukuze uthole imininingwane). Iphinikhodi engu-1 yesixhumi iboniswa kuMfanekiso 3.2 futhi imakwe ngomcibisholo ebhodini. Izikhonkwane ezinezinombolo ezingavamile yizo eziseduze nomkhawulo webhodi.
3.2.9 Inkinobho yokusetha kabusha
Ukucindezela inkinobho yokusetha kabusha kusetha kabusha isilawuli esincane. Wonke ama-motor abese emiswa ngokushesha futhi yonke into iqaliswa kabusha.
3.2.10 Isixhumi se-ISP – buyisela kokumisiwe kwasembonini
Lesi sixhumi sisetshenziselwa izinhloso ezimbili:
Ukuhlela i-CPU ngomhleli we-in-circuit: Lokhu kufanele kwenziwe yi-Trinamic kuphela hhayi ngomsebenzisi!
(Umsebenzisi angathuthukisa i-firmware ngesixhumi esibonakalayo se-RS232 noma se-USB esebenzisa umsebenzi othi “Faka i-OS” ku-TMCL IDE.)
Ukubuyisela wonke amapharamitha kumanani awo azenzakalelayo embonini: Cishe wonke amapharamitha angagcinwa ku-EEPROM ye-CPU. Uma amanye amapharamitha asethwe ngokungalungile lokhu kungaholela esimweni sokuphuthelwa ukulungiselelwa lapho imojula ingasakwazi ukufinyelelwa yi-PC. Ezimweni ezinjalo, wonke amapharamitha angakwazi ukusethwa kabusha abe ngamavelu azenzakalelayo wefekthri ngokwenza okulandelayo:
- Vala amandla.
- Xhumanisa izikhonkwane 1 no-3 zesixhumi se-ISP nejumper (njengoba kuboniswe kuMfanekiso 3.4).
- Vula amandla bese ulinda kuze kube yilapho i-LED "Yomsebenzi" ikhanya ngokushesha (ngokushesha kakhulu kunokujwayelekile).
- Vala amandla.
- Susa isixhumanisi phakathi kwamaphini 1 no-3 wesixhumi se-ISP.
- Vula amandla bese ulinda kuze kube yilapho i-LED ikhanya ngokujwayelekile (lokhu kungathatha imizuzwana ethile).
Manje, wonke amapharamitha abuyiselwe kumanani awo azenzakalelayo efekthri, futhi iyunithi kufanele isebenze ngokujwayelekile futhi.
3.2.11 Isixhumi se-ADC
Isixhumi se-ADC simakwe ngokuthi “ADC” ebhodini futhi sinikeza okokufaka kwe-analogue eyisishiyagalombili ngokunemba kwebhithi elingu-16 kanye nevolumu yokufaka.tage ububanzi 0..+10V. Imisebenzi yephinikhodi yalesi sixhumi imi kanje:
| Phina | Isiginali | Phina |
Isiginali |
| 1 | Okokufaka kwe-ADC 0 | 2 | GND |
| 3 | Okokufaka kwe-ADC 1 | 4 | GND |
| 5 | Okokufaka kwe-ADC 2 | 6 | GND |
| 7 | Okokufaka kwe-ADC 3 | 8 | GND |
| 9 | Okokufaka kwe-ADC 4 | 10 | GND |
| 11 | Okokufaka kwe-ADC 5 | 12 | GND |
| 13 | Okokufaka kwe-ADC 6 | 14 | GND |
| 15 | Okokufaka kwe-ADC 7 | 16 | GND |
Ithebula 3.2: Isixhumi se-ADC
Iphinikhodi 1 imakwe ngomcibisholo ebhodini futhi ikhonjiswe kuMfanekiso 3.2. Wonke amaphini anezinombolo ezingavamile yilawo aseduze nomphetho webhodi.
3.2.12 Isixhumi se-DAC
Isixhumi se-DAC simakwe ngokuthi “DAC” ebhodini futhi sinikeza imiphumela ye-analogue eyisishiyagalombili ngokunemba kwamabhithi ayi-10 kanye nevolumu yokuphumayo.tage ububanzi 0..+10V. Imisebenzi yephinikhodi yesixhumi se-DAC imi kanje:
| Phina | Isiginali | Phina |
Isiginali |
| 1 | Ukukhishwa kwe-DAC 0 | 2 | GND |
| 3 | Ukukhishwa kwe-DAC 1 | 4 | GND |
| 5 | Ukukhishwa kwe-DAC 2 | 6 | GND |
| 7 | Ukukhishwa kwe-DAC 3 | 8 | GND |
| 9 | Ukukhishwa kwe-DAC 4 | 10 | GND |
| 11 | Ukukhishwa kwe-DAC 5 | 12 | GND |
| 13 | Ukukhishwa kwe-DAC 6 | 14 | GND |
| 15 | Ukukhishwa kwe-DAC 7 | 16 | GND |
Ithebula 3.3: Isixhumi se-DAC
Iphinikhodi 1 imakwe ngomcibisholo ebhodini futhi ikhonjiswe kuMfanekiso 3.2. Wonke amaphini anezinombolo ezingavamile yilawo aseduze nomphetho webhodi.
3.2.13 Isixhumi Sokunweba
Isixhumi sokunweba simakwe ngokuthi “Amandla/SPI” ebhodini. Lapha, idivayisi eyengeziwe yocingo ingaxhunywa ku-CPU nge-SPI noma i-UART interface. Futhi, i-analogue voltagama-es (+5V kanye +15V) anikezwa lapha. Imisebenzi yephinikhodi yalesi sixhumi imi kanje:
| Phina | Isiginali | Phina |
Isiginali |
| 1 | +15V (i-analogue) | 2 | I-DAC ref. 3.1V |
| 3 | +5V (i-analogue) | 4 | +5V (yedijithali) |
| 5 | I-UART RxD (izinga le-TTL) | 6 | I-UART TxD (izinga le-TTL) |
| 7 | SPI_CS | 8 | SPI_MISO |
| 9 | SPI_SCK | 10 | SPI_MOSI |
Ithebula 3.4: Isixhumi sokunweba
Iphinikhodi 1 imakwe ngomcibisholo ebhodini futhi ikhonjiswe kuMfanekiso 3.2. Wonke amaphini anezinombolo ezingavamile yilawo aseduze nomphetho webhodi.
Izilinganiso Zokusebenza
| Uphawu | Ipharamitha | Okuncane | Thayipha | Ubukhulu |
Iyunithi |
| VS | I-DC Power supply voltage ukusebenza | 12 | 15… 28 | 34 | V |
| I-ICOIL | Ikhoyili yemoto ye-sine wave isiqongo (i-chopper ilawulwa, ilungiswa nge-software) | 0 | 0.3… 1.5 | 1.5 | A |
| I-fCHOP | Imvamisa ye-Motor chopper | 36.8 | kHz | ||
| IS | Ukunikezwa kwamandla okwamanje (imoto ngayinye) | << ICOIL | 1.4* ngiikhoyili | A | |
| I-VINPROT | Okokufaka ivoltagi-e ye-StopL, StopR, GPI0 (ama-diode okuvikela angaphakathi) | -0.5 | 0… 5 | V+5V+0.5 | V |
| I-VANA | INx ububanzi besilinganiso se-analog ye-I/Os | 0… 5 | V | ||
| I-VADC | Ibanga lokulinganisa le-analogi | 0… 10 | V | ||
| I-VDAC | Ibanga lokuphumayo le-analogi | 0… 10 | V | ||
| I-VINLO | INx, StopL, StopR okokufaka kwezinga eliphansi | 0 | 0.9 | V | |
| I-VINHI | I-INx, StopL, StopR okokufaka kwezinga eliphezulu (okuhlanganisiwe okungu-10k ukudonsa ukuya ku-+5V ukuze kumiswe) | 2 | 5 | V | |
| IOUTI | I-OUTx max +/- okukhiphayo okwamanje (okukhiphayo kwe-CMOS) (isamba sakho konke okuphumayo ubuningi 50mA) | +/-20 | mA | ||
| I-TENV | Izinga lokushisa lendawo endaweni yamanje elinganiselwe (akukho ukupholisa) | -40 | +70 | °C |
4.1 Idatha enkulu yezobuchwepheshe
- Ukunikezwa kwevoltage: DC, 12..34V
- Uhlobo lwezimoto: i-bipolar, i-stepper motor enezigaba ezimbili
- Ikhoyili ephezulu kakhulu yamanje: 1.5A (ishintshwa ngesofthiwe ngezinyathelo ezingu-255)
- Izixhumi ezibonakalayo:
RS232 (okuzenzakalelayo 9600 bps, max. 115200 bps)
I-USB 2.0 - okokufaka/okuphumayo okuyizinjongo eziyisishiyagalombili (njengokukhiphayo: 5V, ubuningi 20mA, noma okokufaka: Ileveli yedijithali ye-TTL noma i-analog max. 5V, 10 bit)
- okokufaka kwe-analogu okuyisishiyagalombili okunemba kwebhithi elingu-16 kanye nevolumu yokufakatage ububanzi 0..+10V
- imiphumela ye-analogue eyisishiyagalombili ene-10 bit nokunemba kanye nevolumu yokuphumayotage ububanzi 0..+10V
- okokufaka kwe-alamu eyodwa (izinga le-TTL)
- okokufaka okushintshiwe okubili kokuma kwayo yonke injini (izinga le-TTL), i-polarity ekhethekayo kuyo yonke injini
- CPU: ATmega128
- Imvamisa yewashi: 16MHz
- Isilawuli se-Stepper motor: ezimbili ze-TMC428
- Umshayeli we-Stepper motor: i-TMC246 eyisithupha (ne-StallGuard) noma i-TMC236 eyisithupha (ngaphandle kwe-StallGuard), yelulelwe izinyathelo ezincane ezingama-64
- I-EEPROM yesitoreji sohlelo lwe-TMCL: 16kBytes (ifanele imiyalo efika ku-2048 TMCL)
- I-RAM engu-128kB eyengeziwe yokutholwa kwedatha
- Ukuthuthukiswa kwe-Firmware kungenzeka nge-RS232 noma isixhumi esibonakalayo se-USB
- Ibanga lokushisa elisebenzayo: -40..70°C
Incazelo Esebenzayo
Emfanekisweni 5.1 izingxenye eziyinhloko zivame ukuboniswa imojuli ye-TMCM-612. Imojula ikakhulukazi iqukethe izilawuli ezimbili ezinyakazayo ze-TMC428, umshayeli wemoto onyathelayo we-TMC246, inkumbulo yohlelo lwe-TMCL (EEPROM) kanye nezindawo zokuhlangana komsingathi (RS-232 ne-USB). Okukhethekile iziguquli ze-ADC ne-DAC kanye ne-RAM yedatha eyengeziwe engu-128kbyte.
5.1 I-System Architecture
I-TMCM-612 ihlanganisa isilawuli esincane nesistimu yokusebenza ye-TMCL (Trinamic Motion Control Language).
Imisebenzi yokulawula ukunyakaza kwesikhathi sangempela yenziwa yi-TMC428.
I-Microcontroller engu-5.1.1
Kule mojula, i-Atmel Atmega128 isetshenziselwa ukusebenzisa uhlelo lokusebenza lwe-TMCL nokulawula i-TMC428. I-CPU ine-flash memory engu-128Kbyte kanye ne-2Kbyte EEPROM. I-microcontroller isebenzisa isistimu yokusebenza ye-TMCL (Trinamic Motion Control Language) eyenza kube nokwenzeka ukusebenzisa imiyalo ye-TMCL ethunyelwa kumojula isuka kumsingathi kusetshenziswa i-RS232 ne-USB interface. I-microcontroller ihumusha imiyalo ye-TMCL futhi ilawula i-TMC428 eyenza imiyalo yokunyakaza. I-Flash ROM ye-microcontroller iphethe isistimu yokusebenza ye-TMCL futhi inkumbulo ye-EEPROM ye-microcontroller isetshenziselwa ukugcina unaphakade idatha yokumisa.
Uhlelo lokusebenza lwe-TMCL lungabuyekezwa ngesixhumi esibonakalayo se-RS232. Sebenzisa i-TMCL IDE ukwenza lokhu.
5.1.2 I-TMCL EEPROM
Ukugcina izinhlelo ze-TMCL ukuze zisebenze yedwa imojula ye-TMCM-612 ifakwe i-16kByte EEPROM exhunywe kusilawuli esincane. I-EEPROM ingagcina izinhlelo ze-TMCL ezihlanganisa imiyalo efika ku-2048 TMCL.
5.1.3 I-TMC428 Isilawuli Sokunyakaza
I-TMC428 iyi-IC elawula ukusebenza kahle kwe-stepper motor futhi ingakwazi ukulawula kufika kumamotho amathathu we-2-phase-stepper-motor. Amapharamitha okunyakaza afana nesivinini noma ukusheshisa athunyelwa ku-TMC428 nge-SPI yi-microcontroller. Ukubalwa kwe-ramps kanye nesivinini profiles zenziwa ngaphakathi ngehadiwe ngokusekelwe kumingcele yokunyakaza okuqondiwe. I-TMCM-612 ine-TMC428 emibili yama-axis angu-6.
5.1.4 Abashayeli Bezimoto Ezinyathela
Kumamojula e-TMCM-612 kusetshenziswa ama-driver chips e-TMCM246. Lawa ma-chips ahambisana ngokugcwele nama-chips e-TMC236, kodwa anesici esengeziwe se-StallGuard. Lezi abashayeli kulula kakhulu ukusebenzisa. Bangakwazi ukulawula imisinga yezigaba ezimbili zama-motor stepper. I-16x microstepping kanye nomphumela omkhulu wamanje ongu-1500mA kusekelwa yilawa ma-IC abashayeli. Njengoba ukuchithwa kwamandla kwe-TMC236 kanye ne-TMC246 chips kuphansi kakhulu akukho sinki yokushisa noma ifeni yokupholisa edingekayo. Izinga lokushisa lama-chips alibi phezulu. Amakhoyili azocishwa ngokuzenzakalelayo lapho izinga lokushisa noma i-current idlula umkhawulo futhi iphinde ivuleke futhi lapho amanani engaphakathi kwemikhawulo futhi.
5.1.5 Isiguquli se-ADC/DAC
Isiguquli se-ADC singahlelwa ukwenza isinyathelo sokufaka esivumelanayo esingu-voltagskena futhi ugcine amanani ngenani eliphezulu ledatha. Le datha ingagcinwa ku-RAM yedatha engu-128 kbytes eyengeziwe.
5.2 I-StallGuard™ - Ukutholwa Kwendawo Yezimoto Engenawo umuzwa
Amamojula we-TMCM-612/SG afakwe inketho ye-StallGuard. Inketho ye-StallGuard yenza kube nokwenzeka ukuthola ukuthi umthwalo wemishini ku-stepper motor uphakeme kakhulu noma uma isihambi sivimbekile. Inani lomthwalo lingafundwa kusetshenziswa umyalo we-TMCL noma imojuli ingahlelwa ngendlela yokuthi injini izozimisa ngokuzenzakalelayo lapho ivimbekile noma umthwalo usuphezulu.
I-StallGuard ingase futhi isetshenziselwe ukuthola indawo yereferensi ngaphandle kwesidingo seswishi yereferensi: Vele uvule i-StallGuard bese uvumela isihambi sigijime ngokumelene nesithiyo somshini esibekwe ekugcineni kwendlela. Lapho i-motor imile nakanjani isekupheleni kwendlela yayo, futhi leli phuzu lingasetshenziswa njengendawo yokubhekisela. Ukuze usebenzise i-StallGuard ohlelweni lwangempela, okunye ukuhlola okwenziwa ngesandla kufanele kwenziwe kuqala, ngoba izinga le-StallGuard lincike esivinini sezimoto nasekuveleni kwama-resonances. Lapho uvula i-StallGuard, imodi yokusebenza kwemoto iyashintshwa futhi ukulungiswa kwe-microstep kungase kube kubi kakhulu. Ngakho, i-StallGuard kufanele icishwe lapho ingasetshenziswa.
Ukubola okuxubile kufanele kucishwe lapho i-StallGuard isebenza ukuze kutholwe imiphumela esebenzisekayo.
| Inani | Incazelo |
| -7..-1 | I-Motor iyama lapho inani le-StallGuard lifinyelelwa futhi indawo isethwe nguziro (iwusizo ekusebenzeni kwereferensi). |
| 0 | Umsebenzi we-StallGuard uvaliwe (okuzenzakalelayo) |
| 1..7 | Imoto iyama lapho inani le-StallGuard lifinyelelwa futhi indawo ingasethiwe uziro. |
Ithebula 5.1: Ipharamitha ye-StallGuard SAP 205
Ukuze uvule isici se-StallGuard sebenzisa i-TMCL-command SAP 205 futhi usethe inani le-StallGuard threshold ngokweThebula 5.1. Inani langempela lomthwalo linikezwa i-GAP 206. I-TMCL IDE inamathuluzi athile akuvumela ukuthi uzame futhi ulungise umsebenzi we-StallGuard ngendlela elula. Angatholakala kokuthi “StallGuard” kumenyu ethi “Setup” futhi achazwe ezahlukweni ezilandelayo.
5.2.1 Ithuluzi lokulungisa le-StallGuard
Ithuluzi lokulungisa le-StallGuard lisiza ukuthola amapharamitha emoto adingekayo lapho kuzosetshenziswa i-StallGuard. Lo msebenzi ungasetshenziswa kuphela uma kuxhunywe imojuli ene-StallGuard. Lokhu kuhlolwa lapho ithuluzi lokulungisa le-StallGuard likhethwa kumenyu "Yokusetha". Ngemuva kokuthi lokhu kuhlolwe ngempumelelo ithuluzi lokulungisa le-StallGuard liyaboniswa.
Okokuqala, khetha i-eksisi ezosetshenziswa endaweni ethi “Motor”.
Manje usungakwazi ukufaka isivinini kanye nenani lokusheshisa endaweni ethi “Drive” bese uchofoza okuthi “Jikelezisa Kwesokunxele” noma “Jikelezisa Kwesokudla”. Ukuchofoza enye yalezi nkinobho kuzothumela imiyalo edingekayo kumojula ukuze injini iqale ukusebenza. Ibha ebomvu endaweni ethi “StallGuard” ngakwesokudla samawindi ibonisa inani langempela lomthwalo. Sebenzisa isilayidi ukuze usethe inani le-StallGuard. Uma inani lomthwalo lifinyelela leli nani injini iyama. Ukuchofoza inkinobho ethi "Misa" kuphinde kumise injini. Yonke imiyalo edingekayo ukusetha amanani afakwe kule ngxoxo iboniswa endaweni ethi "Imiyalo" ngezansi kwefasitela. Lapho, zingakhethwa, zikopishwe futhi zinamathiselwe kumhleli we-TMCL.
5.2.2 I-StallGuard profiler
I-StallGuard profiler iyinsiza ekusiza ukuthi uthole amapharamitha angcono kakhulu okusebenzisa ukutholwa kwe-stall. Ihlola ngesivinini esinikeziwe futhi ibonise ukuthi yimaphi ama-velocities angcono kakhulu. Ngokufanayo nethuluzi lokulungisa le-StallGuard lingasetshenziswa kuphela kanye nemojula esekela i-StallGuard. Lokhu kuhlolwa ngemva kwe-StallGuard profiler ikhethiwe kumenyu "Yokusetha". Ngemuva kokuthi lokhu kuhlolwe ngempumelelo i-StallGuard profiler iwindi lizoboniswa.
Okokuqala, khetha i-eksisi okufanele isetshenziswe. Bese, faka "Qala isivinini" kanye "End velocity". Isivinini sokuqala sisetshenziswa ekuqaleni kweprofile ukuqopha. Ukurekhoda kuphela lapho isivinini sokuphela sesifinyelelwe. Isivinini sokuqala kanye nesivinini sokuphela akufanele silingane. Ngemva kokufaka lezi zinhlaka, chofoza inkinobho ethi "Qala" ukuze uqale i-StallGuard profile ukuqopha. Kuye ngebanga phakathi kwejubane lokuqala nelokuphetha lokhu kungathatha amaminithi ambalwa, njengoba inani lokulayisha ivelu ngayinye yesivinini likalwa izikhathi eziyishumi. Inani "Isivinini Sangempela" libonisa isivinini esihlolwayo njengamanje futhi likutshela ukuqhubeka kochwepheshe.file ukuqopha. Ungakwazi futhi ukuhoxisa uchwepheshefile ukurekhoda ngokuchofoza inkinobho ethi "Abort". Umphumela ungaphinda uthunyelwe ku-Excel noma kumbhalo file ngokusebenzisa inkinobho ethi "Khipha".
5.2.2.1 Umphumela we-StallGuard profiler
Umphumela uboniswa njengesithombe ku-StallGuard profiler iwindi. Ngemuva kochwepheshefile ukuqopha kuqedile ungakwazi ukupheqa uchwepheshefile graphic usebenzisa ibha yokuskrola engezansi kwayo. Isikali ku-eksisi eqondile sibonisa inani lomthwalo: inani eliphakeme lisho umthwalo ophakeme. Isikali esiku-eksisi evundlile isikali sesivinini. Umbala womugqa ngamunye ubonisa ukuchezuka okujwayelekile kwamanani okulayisha ayishumi akalwe ngesivinini kulelo phuzu. Lesi yinkomba yokudlidliza kwenjini ngesivinini esinikeziwe. Kukhona imibala emithathu esetshenzisiwe:
- Okuluhlaza: Ukuchezuka okujwayelekile kuphansi kakhulu noma uziro. Lokhu kusho ukuthi akukho ukudlidliza ngempumelelo kulesi sivinini.
- Ophuzi: Lo mbala usho ukuthi kungase kube nokudlidliza okuphansi kulesi sivinini.
- Okubomvu: Umbala obomvu usho ukuthi kunokudlidliza okuphezulu kulelo jubane.
5.2.2.2 Ukutolika umphumela
Ukuze usebenzise ngempumelelo isici se-StallGuard kufanele ukhethe isivinini lapho inani lomthwalo liphansi ngangokunokwenzeka nalapho umbala uluhlaza khona. Amanani esivinini angcono kakhulu yilawo lapho inani lomthwalo liyiziro (izindawo ezingabonisi noma yimuphi umugqa oluhlaza, ophuzi noma obomvu). Isivinini esikhonjiswa ngombala ophuzi singasetshenziswa futhi, kodwa ngokucophelela njengoba singadala izinkinga (mhlawumbe injini iyama ngisho noma ingamile).
Isivinini esiboniswe ngokubomvu akufanele sikhethwe. Ngenxa yokudlidliza inani lomthwalo ngokuvamile alibikezeleki futhi ngakho alisebenziseki ukukhiqiza imiphumela emihle lapho kusetshenziswa ukutholwa kwe-stall.
Njengoba akuvamile ukuthi kukhiqizwe umphumela ofana ncamashi lapho uqopha uchwepheshefile ngamapharamitha afanayo okwesibili, njalo ama-pro amabili noma ngaphezulufilekufanele kurekhodwe futhi kuqhathaniswe ngokumelene nomunye.
5.3 Amaswishi ereferensi
Ngokushintshwa kwereferensi, isikhawu sokuhamba kwenjini noma iphuzu elinguziro lingachazwa. Futhi ukulahleka kwesinyathelo sohlelo kungatholwa, isb ngenxa yokugcwala ngokweqile noma ukusebenzisana ngezandla, ngokusebenzisa i-travel-switch. I-TMCM-612 inokufaka okukodwa kwesethenjwa kwesobunxele nesokudla kunjini ngayinye.
| I-Motor X | Isiqondiso | Igama | Imikhawulo |
Incazelo |
| 0, 1, 2, 3, 4, 5 | In | R | I-TTL | Okokufaka kweswishi yereferensi yesokudla ye-Motor #X |
| 0, 1, 2, 3, 4, 5 | In | L | I-TTL | Okokufaka kwesethenjwa kwesobunxele seMotor #X |
Ithebula 5.2: Amaswishi ereferensi e-Pinout
Qaphela: I-10k pullup resistors yokushintshwa kwereferensi ifakiwe kumojula.
5.3.1 Amaswishi omkhawulo wesokunxele nakwesokudla
I-TMCM-612 ingalungiswa ukuze injini ibe nokushintshwa komkhawulo kwesokunxele kanye kwesokudla (Umfanekiso 5.4). Injini ibe isima lapho isihambi sesifinyelele amaswishi alinganiselwe.
5.3.2 Ukucushwa Kokushintsha Okuthathu
Kungenzeka ukuhlela uhla lokubekezelelana eduze nendawo yokushintsha ireferensi. Lokhu kuwusizo ekucushweni kokushintsha kathathu, njengoba kuchazwe kuMfanekiso 5.5. Kulokho kumisa amaswishi amabili asetshenziswa njengokushintsha kokumisa okuzenzakalelayo, futhi iswishi eyodwa eyengeziwe isetshenziswa njengeswishi yereferensi phakathi kweswishi yokumisa kwesokunxele kanye neswishi yokumisa kwesokudla. Iswishi yokumisa kwesokunxele kanye neswishi yesithenjwa kuhlanganiswe ndawonye. Iswishi emaphakathi (iswishi yokuhamba) ivumela ukuqapha kwe-eksisi ukuze kutholwe ukulahleka kwesinyathelo.
5.3.3 I-One Limit Switch yezinhlelo eziyindilinga
Uma kusetshenziswa uhlelo oluyisiyingi (Umfanekiso 5.6), ukushintshwa kwereferensi eyodwa kuphela kuyadingeka, ngoba awekho amaphuzu okuphela ohlelweni olunjalo.
5.4 USB
Ukuze usebenzise isixhumi esibonakalayo se-USB, umshayeli wedivayisi kufanele afakwe kuqala. Kukhona umshayeli wedivayisi othunyelwe nge-CD ongasetshenziswa ne-Windows 98, Windows ME, Windows 2000 ne-Windows XP. Umshayeli wedivayisi akakwazi ukusetshenziswa ne-Windows NT4 kanye ne-Windows 95 njengoba lezi zinhlelo zokusebenza zingayisekeli nhlobo i-USB. Ezingxenyeni eziningi ze-Linux umshayeli we-chip ye-USB esetshenziswa kudivayisi ye-TMCM-612 (FT245BM) usevele ufakiwe ku-kernel. Uma imojuli ye-TMCM-612 ixhunywe kusixhumi esibonakalayo se-USB ye-PC okokuqala ngqa, uzotshelwa ngomshayeli isistimu yokusebenza. Manje, faka i-CD bese ukhetha i-“tmcm-612.inf” file Lapho. Umshayeli uzobe esefakwa futhi manje usulungele ukusetshenziswa.
Sicela uqaphele ukuthi i-TMCM-612 ihlale idinga ukunikezwa kwamandla ayo futhi ayixhaswe yibhasi le-USB. Ngakho-ke imojuli ngeke yaziwe uma ingasebenzi.
Ukusebenzisa uxhumano lwe-USB ne-TMCL IDE, okungenani inguqulo 1.31 ye-IDE iyadingeka. Esikrinini esithi “Connection” sebhokisi elithi “Izinketho”, khetha i-“USB (TMCM-612)” bese ukhetha imojuli ebhokisini lohlu elithi “Idivayisi”. Manje konke ukuxhumana phakathi kwe-TMCL IDE nemojuli kusebenzisa isixhumi esibonakalayo se-USB. Ukuze ulawule imojuli ye-TMCM-612 yakha izinhlelo zakho zokusebenza ze-PC inguqulo ye-USB ye-“TMCL Wrapper DLL” iyadingeka.
Ukufaka i-TMCM-612 Ekusebenzeni
Ngesisekelo se-ex encaneampfuthi ikhonjiswa isinyathelo ngesinyathelo ukuthi i-TMCM-612 isethwe kanjani ukuthi isebenze. Abasebenzisi abanolwazi bangeqa lesi sahluko baqhubekele esahlukweni 7:
Example: Lolu hlelo lokusebenza luzosetshenziswa ngendawo yokuthuthukiswa kweSoftware ye-TMCL-IDE kumojula ye-TMCM-612. Ukudlulisa idatha phakathi kwe-PC yokusingatha kanye nemojuli kusetshenziswa isixhumi esibonakalayo se-RS-232.
Ifomula ukuthi "isivinini" siguqulwa kanjani sibe iyunithi ebonakalayo njengokuzungezisa isekhondi ngalinye lingatholakala kokuthi 7.1 Ukubala:
I-Velocity and Acceleration vs. Microstep- kanye ne-Fullstep-Frequency Turn Motor 0 kwesokunxele ngesivinini 500
Jikela i-Motor 1 kwesokudla ngesivinini esingu-500
Vula i-Motor 2 ngesivinini esingu-500, i-acceleration 5 futhi uhambe phakathi kwe-position +10000 kanye -10000.
Isinyathelo 1: Xhuma i-RS-232 Interface njengoba kushiwo ku-3.2.6.
Isinyathelo sesi-2: Xhuma izinjini njengoba kushiwo ku-3.2.4.
Isinyathelo sesi-3: Xhuma indawo kagesi.
Isinyathelo sesi-4: Vula ukunikezwa kwamandla. I-LED esebhodini kufanele iqale ukukhanya. Lokhu kubonisa ukucushwa okulungile kwe-microcontroller.
Isinyathelo sesi-5: Qala imvelo yokuthuthukiswa Kwesofthiwe ye-TMCL-IDE. Thayipha lolu hlelo lwe-TMCL olulandelayo:
Incazelo yemiyalo ye-TMCL ingatholakala ku-Appendix A.
Isinyathelo 6: Chofoza Isithonjana "Hlanganisa" ukuze uguqule i-TMCL ibe ikhodi yomshini.
Bese udawuniloda uhlelo kumojula ye-TMCM-612 usebenzisa Isithonjana esithi “Landa”.
Isinyathelo sesi-7: Cindezela Isithonjana "Run". Uhlelo olufunekayo luzokwenziwa.
Uhlelo lugcinwa ku-EEPROM ye-microcontroller. Uma inketho yokuqalisa ngokuzenzakalelayo kwe-TMCL kuthebhu ethi “Lungisa Imojula” ethi “Okunye” yenziwe yasebenza uhlelo luzosetshenziswa emandleni ngamunye avuliwe.
Imibhalo emayelana nokusebenza kwe-TMCL ingatholakala kubhukwana lereferensi le-TMCL. Isahluko esilandelayo sidingida imisebenzi eyengeziwe yokuguqula i-TMCM-612 ibe uhlelo oluphezulu lokulawula ukunyakaza.
Incazelo yokusebenza ye-TMCM-612
7.1 Ukubala: Isivinini kanye nokusheshisa ngokumelene ne-Microstep- kanye ne-Fullstep-Frequency
Amanani amapharamitha, athunyelwe ku-TMC428 awanawo amanani emoto ajwayelekile, njengokuzungezisa ngomzuzwana njengesivinini. Kodwa lawa manani angabalwa kusukela kumingcele ye-TMC428, njengoba kuboniswe kulo mbhalo. Imingcele ye-TMC428 yilezi:
| Isiginali | Incazelo |
Ibanga |
| I-fCLK | iwashi-imvamisa | 0..16 MHz |
| isivinini | - | 0..2047 |
| a_ubuningi | ukusheshisa okuphezulu | 0..2047 |
| i-pulse_div | isihlukanisi sejubane. Uma inani liphakeme, lincane inani elizenzakalelayo lesivinini = 0 | 0..13 |
| ramp_div | isihlukanisi sokusheshisa. Uma inani liphezulu, lincane inani elizenzakalelayo lokusheshisa = 0 | 0..13 |
| Usrs | microstep-resolution (microsteps per fullstep = 2usrs) | 0..7 (inani elingu-7 lifakwe kumephu yangaphakathi yaba ngu-6 yi-TMC428) |
Ithebula 7.1: Imingcele ye-TMC428 Velocity
I-microstep-frequency ye-stepper motor ibalwa nge
Ukuze ubale i-fullstep-frequency ukusuka ku-microstep-frequency, i-microstep-frequency kufanele ihlukaniswe ngenombolo yezinyathelo ezincane ngesinyathelo ngasinye esigcwele.
Ushintsho kuzinga lokushaya kwenhliziyo ngeyunithi yesikhathi (ukushintsha imvamisa yokushaya ngomzuzwana - ukusheshisa a) kunikezwa b
Lokhu kubangela ukusheshisa ngezinyathelo ezigcwele ze:
Example:
f_CLK = 16 MHz
isivinini = 1000
a_ubuningi = 1000
i-pulse_div = 1
ramp_div = 1
abasebenzisi = 6
Uma i-stepper motor inezinyathelo ezigcwele ezingama-72 ngokuzungezisa ngakunye, inani lokujikeleza kwenjini lithi:
I-TMCL
Njengamanye amamojula amaningi okulawula ukunyakaza kwe-Trinamic, i-TMCM-612 iphinde ifakwe i-TMCL, i-Trinamic Motion Control Language. Ulimi lwe-TMCL kulolu phiko lunwetshiwe ukuze amamotho ayisithupha akwazi ukulawulwa ngemiyalo evamile ye-TMCL. Ngaphandle kwezimbalwa ezimbalwa, yonke imiyalo isebenza njengoba kuchazwe “ku-TMCL Reference and Programming Manual”. Umehluko omkhulu wukuthi ububanzi bepharamitha "I-Motor" lunwetshiwe kuma-motor ayisithupha: ububanzi bawo manje se-0..5 ukuze yonke imiyalo edinga inombolo yemoto ikwazi ukubhekana nazo zonke izinjini eziyisithupha. Wonke amapharamitha e-axis angasethwa ngokuzimela motor ngayinye. I-TMCL, i-TRINAMIC Motion Control Language, ichazwa kumadokhumenti ahlukene, i-TMCL Reference and Programming Manual. Le manuwali inikezwe kwi-CD ye-TMC TechLib naku- web Indawo ye-TRINAMIC: www.trinamic.com. Sicela ubheke le mithombo ukuze uthole amashidi edatha abuyekeziwe namanothi ohlelo lokusebenza. I-TMC TechLib CD-ROM ehlanganisa amashidi edatha, amanothi ohlelo lokusebenza, izinhlelo zamabhodi okuhlola, isofthiwe yamabhodi okuhlola, ikhodi yomthombo ex.ampLes, amaspredishithi okubala kwepharamitha, amathuluzi, nokunye kuyatholakala ku-TRINAMIC ngesicelo futhi kuza nemojula ngayinye.
8.1 Umehluko emiyalweni ye-TMCL
Kunemiyalo emibili kuphela ehluke kancane kumojula ye-TMCM-612. Zimi kanje:
8.1.1 I-MVP COORD
I-MVP ABS kanye nemiyalo ye-MVP REL iyafana neyamanye amamojula, kodwa umyalo we-MVP COORD unezinketho ezengeziwe. Ngalesi sizathu ipharamitha “yenjini” enomyalo we-MVP COORD ihunyushwa kanje kumojula ye-TMCM-610:
Ukuhambisa injini eyodwa kuphela: setha ipharamitha ethi "Motor" enombolweni yemoto (0..5).
Ukuhambisa amamotho amaningi ngaphandle kokuhumusha: Setha u-bit 7 wepharamitha ye-“Motor”. Manje amabhithi angu-0..5 wepharamitha ye-“Motor” ichaza ukuthi yiziphi izinjini okufanele ziqaliswe. Ngayinye yalezi zingcezu imele injini eyodwa. Ukuhambisa amamotho amaningi usebenzisa i-interpolation: Setha u-bit 6 wepharamitha ye-“Motor”.
Manje amabhithi angu-0..5 wepharamitha ye-“Motor” ichaza ukuthi yiziphi izinjini okufanele zihanjiswe kusetshenziswa ukuhumusha. Ngayinye yalezi zingcezu imele injini eyodwa. Akunakwenzeka ukuqala iqembu lama-motor angaphezu kwamathathu usebenzisa i-interpolation. Kodwa-ke, kungenzeka ukuqala iqembu elilodwa lama-motor amathathu ngemuva nje kokuqala iqembu lamanye ama-motor amathathu.
Exampkancane:
- I-MVP COORD, $47, 2 ihambisa izinjini 0, 1 kanye no-2 ukuze ixhumanise oku-2 kusetshenziswa ukuhumusha.
- I-MVP COORD, $87, 5 ihambisa izinjini 0, 1 kanye no-2 ukuze ixhumanise 5 ngaphandle kokusebenzisa ukuhumusha.
Isexwayiso: isici sokuhumusha asitholakali kuzinguqulo ze-firmware ngaphambi kuka-6.31. Uma kunesidingo, thola ifomu lakamuva le-firmware elithi Trinamic webisayithi futhi uthuthukise imojuli yakho.
8.1.2 LINDELA RFS
Ukulinda ukusesha okuyisithenjwa kwamamotho amaningi ngomyalo we-WAIT RFS akusekelwa. Ububanzi bepharamitha "yemoto" ngu-0..5 (kumamotho ayisithupha). Ukulinda usesho lwereferensi kaningi, vele usebenzise umyalo owodwa othi WAIT RFS motor ngayinye.
8.2 Imiyalo eyengeziwe
Eminye yemiyalo echazwe umsebenzisi isetshenziselwa ukufinyelela izici ezengeziwe ze-TMCM-612 njenge-ADC, i-DAC, i-polarity yokushintshwa kwereferensi kanye ne-RAM yokutholwa kwedatha eyengeziwe.
8.2.1 Funda i-ADC: UF0
Umyalo we-UF0 usetshenziselwa ukufunda i-16-bit ADC eyengeziwe. Umyalo ukhetha isiteshi, uqala ukuguqulwa bese ubuyisela umphumela. Ipharamitha "yenjini/ibhange" isetshenziselwa ukukhetha isiteshi (0..7). Kumodi eqondile ye-TMCL sebenzisa okokufaka okwenziwa ngesandla. Umphumela usebangeni le-0..65535, lapho i-65535 isho ukuthi +10V. Amanye amapharamitha alo myalo awasetshenziswa futhi kufanele asethelwe kuqanda. Example: Ukuze ufunde isiteshi sesi-3 se-ADC, sebenzisa i-UF0 0, 3, 0.
8.2.2 Bhalela i-DAC: UF1
Umyalo we-UF1 usetshenziselwa ukusetha inani lama-DAC angu-10 engeziwe. Ngakho, inani lingasethwa phakathi kuka-0 no-1023. Inani lika-1023 lilingana nevolumu yokuphumayotagi-e ye +10V. Ipharamitha "yenjini/ibhange" isetshenziselwa ukucacisa isiteshi (0..7), futhi ipharamitha "inani" isetshenziselwa ukucacisa inani eliphumayo.
Ipharamitha “yohlobo” icacisa ukuthi inani elingaguquki noma i-accumulator noma irejista ka-x izokhishwa ku-DAC (uhlobo=0 lukhipha inani elingaguquki, uhlobo=1 lukhipha i-accumulator, uhlobo=2 lukhipha irejista ka-x).
Example:
- Ukuze usethe i-DAC channel 5 kuya ku-517, sebenzisa i-UF1 0, 5, 517.
- Ukuze usethe i-DAC channel 5 enanini le-accumulator, sebenzisa i-UF1 1, 5, 0.
- Ukuze usethe i-DAC channel 5 enanini lerejista ka-x, sebenzisa i-UF1 2, 5, 0.
8.2.3 Setha i-polarity yamaswishi amisayo: UF2
Umyalo we-UF2 usetshenziselwa ukusetha i-polarity ye-stop switch kuyo yonke injini. Ipharamitha "inani" yomyalo isetshenziswa njengemaski kancane, lapho ibhithi elingu-0 limelela injini engu-0, ibhithi 1 yemoto engu-1 nokunye. Uma ibhithi ehambisanayo isethiwe i-polarity yokushintsha kokumisa yaleyo moto izoguqulwa.
“Uhlobo” kanye nepharamitha ethi “motho/ibhange” yalo myalo akusetshenzisiwe futhi kufanele kusethelwe kuziro.
8.2.4 Funda kudatha eyengeziwe ye-RAM: UF3
Ngokubuyekezwa kwe-firmware engu-6.35 noma ngaphezulu, imiyalo ethi UF3 ne-UF4 ingasetshenziswa ukufinyelela i-RAM eyengeziwe. Umyalo we-UF3 usetshenziselwa ukufunda idatha evela ku-RAM yokutholwa kwedatha eyengeziwe. Kuya ngepharamitha "yohlobo" umyalo we-UF3 unemisebenzi eyisithupha ehlukene:
- UF3 0, 0, : Setha isikhombi sokufunda se-RAM kunani .
- UF3 1, 0, 0: Setha isikhombi sokufunda se-RAM sibe yinani eligcinwe ku-accumulator.
- UF3 2, 0, 0: Thola i-RAM yokufunda pointer (kopisha inani layo kusiqoqelilwazi).
- UF3 3, 0, 0: Inani lokufunda ku-RAM ekhelini elinikezwe i-RAM yokufunda pointer.
- UF3 4, 0, 0: Funda inani elisuka ku-RAM ekhelini elinikezwe i-RAM yokufunda pointer, bese ukhuphula i-RAM yokufunda isikhombi ngasinye ukuze ikhombe endaweni elandelayo yenkumbulo.
- UF3 5, 0, : Funda inani ku-RAM ekhelini elingashintshi elinikezwe inani .
Ngale miyalo kuyenzeka ufunde idatha egcinwe ku-RAM eyengeziwe kurejista ye-accumulator ukuze iqhubeke nokusebenza. Yebo le miyalo ingasetshenziswa futhi kumodi eqondile ukuze isb umsingathi akwazi ukufunda idatha ebigcinwe ku-RAM ngokwedlule, isb ngohlelo lwe-TMCL.
Isikhombi se-RAM sokufunda senza kube nokwenzeka ukufinyelela i-RAM ekhelini elalisethiwe ngaphambilini. Kungabuye kukhuliswe ngokuzenzakalelayo. Ngakho irejista ye-accumulator akudingeki ukuthi isetshenziselwe lezi zinhloso.
Imiyalo ye-UF3 kanye ne-UF4 ikhuluma ne-RAM njengohlu lwamagama angamabhithi angu-32 ukuze amanani afika ku-32767 agcinwe ku-RAM kusetshenziswa le miyalo (isikhombi se-RAM sokufunda akufanele simiswe sibe ngamavelu angaphezu kuka-32767).
8.2.5 Bhala kudatha eyengeziwe ye-RAM: UF4
Umyalo we-UF4 usetshenziselwa ukubhala idatha ku-RAM yokutholwa kwedatha eyengeziwe. Kuya ngepharamitha "yohlobo" umyalo we-UF4 unemisebenzi eyisithupha ehlukene:
- UF4, 0, 0, : Setha isikhombi sokubhala se-RAM kunani .
- UF4 1, 0, 0: Setha isikhombi sokubhala se-RAM sibe yinani eligcinwe ku-accumulator.
- UF4 2, 0, 0: Thola isikhombi sokubhala se-RAM (kopisha inani laso kusiqoqelilwazi).
- UF4 3, 0, 0: Bhala okuqukethwe kwe-accumulator ku-RAM ekhelini elinikezwe isikhombi sokubhala se-RAM.
- UF4 4, 0, 0: Bhala okuqukethwe kwe-accumulator ku-RAM ekhelini elinikezwe isikhombi sokubhala se-RAM bese ukhuphula isikhombi sokubhala se-RAM ukuze sikhombise indawo yenkumbulo elandelayo.
- UF4 5, 0, : Bhala okuqukethwe kwe-accumulator ku-RAM ekhelini elingashintshi elinikezwe inani .
- UF4 6, 0, : Bhala inani elingashintshi ku-RAM ekhelini elinikezwe isikhombi sokubhala se-RAM.
- UF4 7, 0, : Bhala inani elingashintshi ku-RAM ekhelini elinikezwe isikhombi sokubhala se-RAM bese ukhuphula isikhombi sokubhala se-RAM ukuze sikhomba indawo yenkumbulo elandelayo.
Ngale miyalo kuyenzeka ukuthi ubhale imininingwane kwi-RAM eyengeziwe ukuze igcinwe ukuze iqhubeke nokucutshungulwa (isb.ampokuncane okuvela ku-ADC ukuze kucutshungulwe kamuva). Yebo le miyalo ingasetshenziswa futhi kumodi eqondile ukuze umsingathi akwazi ukubhala amanani ku-RAM ukuze acutshungulwe yi-TMCM-612 ngaleso sikhathi. Isikhombi sokubhala se-RAM senza kube nokwenzeka ukufinyelela i-RAM ekhelini elalisethiwe ngaphambilini. Isikhombi sokubhala se-RAM singase sinyuswe ngokuzenzakalelayo ngemva kokufinyelela ngakunye kokubhala ukuze kungadingeki ukuthi isiqoqi se-accumulator sisetshenziselwe le njongo. Lo myalo uyatholakala ekubuyekezweni kwe-firmware 6.35 noma ngaphezulu. Esihlokweni esilandelayoample, amanani e-ADC ayalinganiswa futhi agcinwe ku-RAM njalo ngomzuzwana. I-exampi-les isebenzisa isici sokunyuka okuzenzakalelayo.
UF4 0, 0, 0 //Setha isikhombi sokubhala se-RAM sibe yi-0 Loop:
I-GIO 0, 1 //Funda i-ADC 0
UF4 4, 0, 0 //Gcina inani ku-RAM ngokunyuka okuzenzakalelayo WAIT TICKS, 0, 10
UF4 2, 0, 0 //Hlola ukuthi i-RAM isivele igcwele
Ama-32767
JC LE, Loop
Umlando Wokubuyekeza
9.1 Ukubuyekezwa Kwemibhalo
| Inguqulo | Usuku | Umbhali |
Incazelo |
| 1.00 | 11-Nov-04 | OK | Inguqulo yokuqala |
| 1.01 | 07-Nov-05 | OK | AD kanye ne-DAC voltagilungisiwe |
| 1.10 | 15-Sep-06 | HC | Ukubuyekeza Okukhulu |
| 1.11 | 16-May-08 | OK | Isici se-interpolation sengeziwe |
| 1.12 | 1-Ephreli-09 | OK | Imiyalo ethi UF3 ne-UF4 yengeziwe |
| 1.13 | 29-Mar-12 | OK | Umyalo we-UF1 unwetshiwe (i-firmware V6.37) |
Ithebula 9.1: Ukubuyekezwa Kwemibhalo
9.2 Ukubuyekezwa kweFirmware
| Inguqulo | Phawula |
Incazelo |
| 6.00 | Ukukhishwa Kwasekuqaleni | Sicela ubheke imibhalo ye-TMCL |
| 6.31 | Futhi inikeza isici sokuhumusha | |
| 6.35 | I-RAM eyengeziwe ingabhekwana nayo kusetshenziswa imiyalo ethi UF3 ne-UF4 | |
| 6.37 | Umyalo we-UF1 unwetshiwe ukuze futhi i-accumulator noma irejista ye-x ikwazi ukuphuma ku-DAC. |
Ithebula 9.2: Ukubuyekezwa Kwe-Firmware
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