I-XERYON XD-M Controller
- Imikhiqizo ehambisanayo: Amandla okushayela ahlukahlukene
- Inombolo yezimbazo: Kufika ku-6
- Ukucushwa: OEM kanye nezicelo zesayensi
- Ukunikezwa kwamandla kagesi: I-adaptha yamandla ifakiwe
- Ibanga lokushisa: Ibanga lokusebenza elijwayelekile
- Ubukhulu: Njengokucaciswa komkhiqizo
- Isixhumi ku-stage: Kuhlinzekiwe
- Izinhlobo zokulawula: Ukulawulwa kwe-multi-eksisi kuyasekelwa
- Izinketho zokuxhumana ezibalulekile: I-USB, RS232
- Usekelo lwesoftware: IWindows GUI
- I-Motion profile: Yenza ngokwezifiso
- Ukuhambisana nesifaki khodi: Isekelwe
- Izinqumo ezisekelwe: Ukunemba okuphezulu
- Ukutholwa kwephutha: Kufakwe ukusebenza okunembile
Imiyalo yokusetshenziswa komkhiqizo
Ukuqalisa
Zonke izilawuli ziza ne-adaptha yamandla, ikhebula le-USB, nesofthiwe kunduku ye-USB ukuze kusethwe kalula. Landela lezi zinyathelo ukuze uqale ukusebenzisa i-XD-M:
- Xhuma i-stage isixhumi ku-XD-M.
- Xhuma i-XD-M kukhompuyutha usebenzisa ikhebula le-USB elihlinzekiwe.
- Vula isofthiwe ye-Windows GUI.
- Cindezela SCAN noma HAMVA ku-GUI ukuze uqale ukuhambisa u-stage.
Ukulawulwa kwe-Stage
Izilawuli zingalawulwa kusetshenziswa izindlela ezahlukahlukene njengoba zivezwe kumanuwali:
- Bheka isigaba 5 ukuze uthole indlela eyodwa.
- Bheka isigaba 6 ukuze uthole enye indlela.
- Bheka isigaba 7 ukuze uthole izinketho ezengeziwe zokulawula.
Ukuxhumana kusetshenziswa i-USB / RS232
I-XD-M ingakwazi ukuxhumana nekhompyutha yomsingathi noma isilawuli nge-USB emiswe njengembobo ye-COM ebonakalayo. Landela ifomethi eshiwo ukuze uthole imiyalelo lapho uxhumana nocingo.
Ifomethi Yeziyalezo
Umugqa womyalo uqukethe izinhlamvu ezingeqi kweziyi-16 futhi ulandela ifomethi ethile njengoba kuchazwe encwadini.
I-XD-M Controller manual - 3.0
I-XD-M iyisilawuli se-piezo se-ultrasonic esithuthukile, esisebenziseka kalula, esisekela amadivayisi afinyelela kwangu-6 ngesikhathi esisodwa. Idizayinelwe i-OEM nezinhlelo zokusebenza zesayensi, ukusetshenziswa okulula kwe-multi-eksisi kuyasekelwa. I-Windows GUI ifakiwe ukuhlolwa kwe-plug-and-play.
Izincazelo eziyinhloko
| Imikhiqizo ehambisanayo | Uchungechunge lwe-XLS, uchungechunge lwe-XVS, uchungechunge lwe-XRT-U, uchungechunge lwe-XVP |
| Amandla okushayela ahambisanayo | I-1N, 3N (ye-5N: I-XD-OEM kuyanconywa) |
| Inombolo yezimbazo | 1 ku6 |
| Ukucushwa | I-XD-M-1 (1 ieksisi), XD-M-2 (2 ama-eksisi), … , XD-M-6 (6 ama-eksisi) |
| Ukunikezwa kwamandla kagesi | 48 VDC (5W nge-eksisi ngayinye) |
| Ibanga lokushisa | -30°C kuya ku-70°C |
| Ubukhulu | 195 x 165 x 70 mm (inguqulo yethebhulethi) |
| Isixhumi ku-stage | 15-pin D-Sub HD owesifazane |
| Lawula izinhlobo | Iluphu evaliwe, iluphu evulekile, i-hybrid |
| Izinketho zokuxhumana ezibalulekile | I-USB, UART, RS232, GPIO, I2C, SPI, ... |
| Usekelo lwesoftware | Windows GUI, C++, Python, LabVIEW,… |
| I-Motion profile | I-point-to-point trapezoidal |
| Ukuhambisana kwesifaki khodi | I-Optical, iyakhuphuka |
| Izinqumo ezisekelwe | Kufika ku-5 nm (umugqa), kufika ku-3 µrad (rotary) |
| Ukutholwa kwephutha | I-Overcurrent, i-thermal, i-short-circuit, ... |
Ukuqalisa
Zonke izilawuli zilethwa nge-adaptha yamandla, ikhebula le-USB kanye nenduku ye-USB enesofthiwe yokulawula stages ukusetshenziswa okulula kwe-plug-and-play. Ukuze uqalise, xhuma i-stage isixhumi ku-XD-M. Xhuma i-XD-M kukhompyutha ngekhebula le-USB elihlinzekiwe bese uvula i-Windows GUI, cindezela SCAN noma MOVE kanyetage izoqala ukuhamba.
Ukudlula ngokusheshaview ye-Windows GUI:
Ukulawula njengetage:
- Xhuma imbobo ye-COM efanele.
- Layisha izilungiselelo_default.txt kusuka ku-USB stick.
- Cindezela okuthi “Thola Inkomba”.
I-stagu-e uzoqala ukunyakaza futhi abheke inkomba yesifaki khodi. - Ungaqala ukulawula i-stage:
- SKENA: hamba ngesivinini esiqhubekayo.
- ISINYATHELO: hambisa ngosayizi wesinyathelo esicacisiwe.
- 0: hamba uye endaweni yasekhaya.
Kusetshenziswa isilawuli se-XD-M, i-Xeryon stagi-e ingasetshenziswa ukwakha amaphethini okunyakaza ahlukahlukene:
- Ukunyakaza kwebanga elifushane noma elide, ukunyakaza kwejubane eliphezulu noma eliphansi
- Ukunyakaza okuphindaphindayo noma okuguquguqukayo, ukunyakaza okuqhubekayo okubushelelezi
- Ukusetha bese ukhohlwa izinhlelo zokusebenza, ezilawulwayo dampukunyakaza (ukufikela okuthambile).
- Inhlanganisela yalokhu okungenhla, nokuningi
Ukushuna
Xeryon stagisebenza ngokusekelwe kubuchwepheshe be-piezo ye-ultrasonic. Lobu buchwepheshe busekelwe kumafrikhwensi, futhi buhluka kukho kokubili a) amamotho kagesi kanye b) nezinye izinhlelo ze-piezo. Ngenxa yalokho, izici zokunyakaza zingase zehluke kumasistimu okunyakaza avamile. Amapharamitha amaningana angasetshenziselwa ukulungisa ukuziphatha kokunyakaza. I-Motion trajectory ihlukaniswe yaba izingxenye ezimbili: ukunyakaza kwenqwaba (noma 'ukuskena') kanye nokuma kokugcina. Uma uhlangabezana nokuziphatha okungalindelekile, izinqubo zokushuna ezilandelayo zingalandelwa (Izilungiselelo -> Hlela). Ulwazi olujulile lokushuna lungatholakala esahlukweni 9.
| Ukuziphatha | Ukuma kokugcina (izoni 1) | Ukuhamba ngenqwaba / ukuskena (izoni 2) |
| Ukudlidliza | Isici esilinganiselwe esiphansi
Khulisa imvamisa |
Isici esilinganiselwe esiphansi
Khulisa imvamisa |
| Umsindo | Khulisa imvamisa | Khulisa imvamisa |
| I-Overshoot | Ukunciphisa ukusheshisa
Ijubane eliphansi |
Ukunciphisa ukusheshisa
Ijubane eliphansi |
| Phoqa phansi kakhulu | - | Imvamisa ephansi |
| Ukuhlala okungalungile | Ukubekezelelana kokuma okuphansi | - |
| Ukufika kancane | Lungisa i-proportional factor
Khulisa imvamisa |
- |
Qaphela: ngokusetshenziswa okuqondile noma okuthambekele okunomthwalo okhokhelwa kakhulu, ukushuna okuthuthukisiwe kungase kudingeke. Ukuze uthole usizo, sicela uthinte support@xeryon.com. Ulwazi olwengeziwe mayelana ne-Windows GUI: ch. 10.
Ukulawula njengetage
Izilawuli zingalawulwa kusetshenziswa izindlela ezahlukene:
- Usebenzisa i-USB/RS232 bona isigaba 5
- Usebenzisa i-GPIO bona isigaba 6
- Usebenzisa i-I2C/SPI bona isigaba 7
Ukuxhumana kusetshenziswa i-USB / RS232
Ikhompuyutha engusokhaya noma isilawuli singaxhumana ne-XD-M nge-USB emiswe njengembobo ye-COM ebonakalayo. Izinga le-baud litholwa ngokuzenzakalelayo isilawuli futhi lingafika ku-115200. Iphrothokholi isebenzisa amabhithi edatha angu-8, i-stop bit engu-1, ayikho i-parity bit, akukho kuxhawulana. Lesi sigaba siqukethe izingxenye ezintathu: Fout! Verwijzingsbron niet gevonden.
- Fometha imiyalelo
- Uhlu lwemiyalo
- Impendulo evela kusilawuli
Fometha imiyalelo
Umugqa womyalo uqukethe ubuningi bezinhlamvu eziyi-16 kulandelwa uhlamvu 'lomugqa omusha' (ikhodi ye-ASCII 10). Umyalo unefomethi emisiwe elandelayo: X:DPOS=-12345678
- Uhlamvu olu-1 oluchaza i-eksisi, lulandelwa yikholoni (:) (isb. X:, Y:, Z:, A:, B:, C:)
- Izinhlamvu ezi-4 zomyalo.
- '=' uphawu oluhlukanisa umyalo enanini elihambisanayo.
- Uphawu lokuzikhethela.
- Inani ledesimali lifika ezindaweni zedesimali ezingu-8 (9 uma uphawu lususiwe).
- Isamba esiphezulu sezinhlamvu ezingu-16.
Izinhlamvu kufanele zithunyelwe ukusuka kwesobunxele kuye kwesokudla, ku-example ngenhla iqala ngo-'X' futhi igcine ngo-'8'. Umyalo tags zingosonhlamvukazi. Umyalelo kufanele unqanyulwe ngohlamvu 'lomugqa omusha' (ikhodi ye-ASCII 10). Umshayeli ucubungula imiyalelo ngokushesha ngemva kokuthola lolu hlamvu 'lwelayini omusha'. Eminye imiyalelo efana ne-'ZERO' ne-'RSET' ayidingi inani. Uma kunjalo, kwanele ukuthumela umyalo ngokwawo kuphela, isb. 'ZERO' elandelwa uhlamvu 'lomugqa omusha'.
Ibanga lenani
Kunezinhlamvu ezingu-9 ezigcinelwe inani elihlanganisa nophawu lwayo. Kumanani asayiniwe, kutholakala izindawo ezingu-8 zedesimali, okunikeza ububanzi obusukela ku--99 999 999 kuya ku-+99 999 999. Kuzinombolo ezinhle, uphawu '+' lungashiywa, lukhuphukeasing ububanzi obuhle bufike ku-999 999 999. Azikho izikhala, amakhoma noma ongqimba okufanele zengezwe ezinombolweni. Kuvunyelwe izinombolo eziphelele kuphela.
- X:DPOS=-99999999
- X:DPOS=+99999999
- X:DPOS=999999999
Cela inani
Ukuze ucele inani lesilungiselelo esithile, faka '=?' ngemva kwepharamitha ofuna ukwazi inani layo, isb. X:EPOS=? inikeza isilawuli isicelo sendawo yesifaki khodi. X:FREQ=? ibuza isilawuli imvamisa yamanje yenjabulo. Lokhu kusebenza kangcono nge-INFO=0, ngaphandle kwalokho impendulo iyanyamalala kudatha yempendulo eningi.
Amayunithi ami kanje:
| Uhlobo | XLS / XVP uchungechunge | XRT uchungechunge | Isixazululo |
| Isikhathi, ukubambezeleka | ms | 1 ms | |
| Indawo eqondiwe, usayizi wesinyathelo | amayunithi wesifaki khodi | 1 ukunyuswa kwesifaki khodi | |
| Isivinini | µm/s | deg/s (*) | 1 µm/s noma 0.01 deg/s |
| Imvamisa | Hz | 1 Hz | |
(*) Isici sokuguqulwa esingu-100 esidingekayo: isb faka u-X:SSPD=10000 ngo-100 deg/s.
Uhlu lwemiyalo
Lolu uhlu lwayo yonke imiyalo engenzeka engathunyelwa kanye nokusetshenziswa kwayo. Le ngxenye ihlukaniswe yaba:
- Ukunyakaza
- Ukuphatha izilungiselelo
- Ukuxhumana
- Ukushuna
- Isiginali (ethuthukisiwe)
- Izilungiselelo zezikhombisi-ndlela (ezithuthukisiwe)
- Qalisa okuphumayo (okuthuthukisiwe)
Imiyalo yokunyakaza
| Umyalo | Ibanga | Incazelo |
| X:INDX | 0, 1 | Thola inkomba. Inani elingu-0 noma elingu-1 libonisa isiqondiso sokuqala sosesho. Isilawuli siqala siqonde lapho siseshwa khona. Uma umkhawulo wemishini ufinyelelwa (utholwe ngephutha lendawo > ILIM) uhlehlisa isiqondiso sokusesha. Ngemva kokuthola inkomba, isibtagu-e ubekwe endaweni yenkomba. |
| X:INDA | 1 bit | Ukutholwa okuzenzakalelayo kwenkomba yesifaki khodi. |
| X:EKHAYA | - | Hamba endaweni yasekhaya. Lokhu kulingana ne-DPOS=0. |
| X:DPOS | 26 amabhithi | Setha indawo eqondiwe. Ukulawulwa kwe-loop evaliwe kusetshenziselwa ukufinyelela nokugcina indawo entsha. Isimo sivezwa ngamayunithi wesifaki khodi. Amanani amahle kanye namabi avunyelwe phakathi kobubanzi be-stage. |
| X:ISINYATHELO | 26 amabhithi | Hambisa ngokuhlobene nendawo yamanje, ngebanga elithile. Uma isivele ikuluphu evaliwe, indawo oyifunayo manje isetshenziswa njengereferensi. Uma ngaphambili ku-loop evulekile, indawo yangempela (inani le-encoder) isetshenziswa njengereferensi. Inani lomyalo licacisa usayizi wesinyathelo ekunyusweni kwesifaki khodi. Amanani amahle athumela u-stage ukuya kumanani aphezulu wesifaki khodi, amanani anegethivu athumela u-stage ukuya kumanani aphansi wesifaki khodi. Ukulawulwa kwe-loop evaliwe kusetshenziselwa ukufinyelela nokugcina indawo entsha. |
| X:SKENZA | -1,0,1 | Hamba ngokuqhubekayo ngesivinini esinqunyiwe. Isivinini sigcinwa yi-closed-loop control. Inombolo ephozithivu ithumela u-stage maqondana nokukhulaasinamanani e-encoder ka-g, inombolo engemihle ithumela u-stagu-e ubheke esinqumweniasinamanani ekhodi ye-g. Inani elingu-zero limisa i-stage. |
| X:SSPD | 24 amabhithi | Setha isivinini. Isetshenziswa njengesivinini sokuskena (umyalo we-SCAN) nanjengejubane eliqondiwe libheke endaweni elandelayo eqondiwe (i-DPOS ne-STEP). Iyunithi ingu-1 µm/s noma 0.01 deg/s. Okuzenzakalelayo: 10000 (10 mm/s noma 100 deg/s). |
| X:ISPD | 24 amabhithi | Setha isivinini esisetshenziswa ngenkathi usesha inkomba. Iyunithi ingu-1 µm/s noma 0.01 deg/s. |
| X:ACCE | 16 amabhithi | Setha ukusheshisa kwe-speed profile. Kuvezwe ku-m/s2. Inani elizenzakalelayo: 255. |
| X:DECE | 16 amabhithi | Setha ukuncishiswa kwesivinini se-speed profile, lapho usondela endaweni okuqondiswe kuyo. Okuzenzakalelayo / inani eliphezulu: 255. |
| X:LIM | 26 amabhithi | Setha isitobhi esithambile esisohlangothini oluphansi. Kuvezwe ngamayunithi wesifaki khodi. |
| X:HLIM | 26 amabhithi | Setha isitobhi esithambile sohlangothi oluphezulu. Kuvezwe ngamayunithi wesifaki khodi. |
| X:HAMBA | -1,0,1 | Qhubeka uhambe ku-loop evulekile. Isigaba kanye ampI-litude ithonya isivinini, kodwa isivinini asilawulwa. Inombolo ephozithivu ithumela u-stage maqondana nokukhulaasinamanani e-encoder ka-g, inombolo engemihle ithumela u-stagu-e ubheke esinqumweniasinamanani ekhodi ye-g. Inani elingu-zero limisa i-stage. |
| X:PHAS | 16 amabhithi | Setha i-offset yesigaba phakathi kwamasignali enjabulo. Ingasetshenziswa ukulawula isivinini ku-loop evulekile. Amanani okokufaka 0-65535 ahambisana nokushintshwa kwesigaba okungu-0-360°. Cishe ngo-16384 isigaba sihambisana ne-MOVE=1 inkomba, cishe ku-49152 (=-16384) ihambisana ne-MOVE=-1 inkomba. |
| X:AMPL | 16 amabhithi | Setha ampi-litude yezimpawu zokuvusa i-loop piezo evulekile. |
| X:YIMA | - | Misa u-stage. |
| X:QHUBEKA | - | Qhubeka nokunyakaza ngemva kokumisa umyalo. |
| ENBL | 1 bit | Nika amandla ukushayela. Noma: Uma i-actuator ikumodi yephutha, ungalulama kulokho
ngokuthumela “ENBL=1”. Lokhu kunika amandla i-actuator futhi. |
| ENBR | 1 bit | Nika amandla idrayivu ekufakeni amandla ngokuzenzakalelayo. |
| X:FILE | Ihlunga ukuhluka okusheshayo kusuka kumanani wesifaki khodi (umsindo). Inani elizenzakalelayo: 0, isetha okokuhlunga kokuncane. | |
| X:FILG | Imonyula ama-spikes kokufakwayo kwesifaki khodi esingahluziwe. Ichaza ububanzi be-pulse obuncane okungaphendulwa kubo. Inani elizenzakalelayo: 0 | |
| X:INTF | Isici sokuhlanganisa isilawuli. Inani elizenzakalelayo: 1. Ubuncane = 1 | |
| X:DTIM | Inquma ukuthi injini kufanele ivalwe isikhathi esingakanani ngaphambi kokuthi iphinde ivulwe. Iqinisekisa ukuthi i- tagu-e akajabulile ngokweqile lapho uhlala ngokuyivula futhi ayivale ngokushesha kakhulu. Inani elizenzakalelayo: 0 |
Phatha izilungiselelo
| Umyalo | Ibanga | Incazelo |
| I-RSET | - | Setha kabusha umshayeli. Wonke amasiginali we-piezo aya kuziro futhi izilungiselelo zisethwa kabusha kunani lazo elilondoloziwe. Kudingeka ngemva komjikelezo wamandla ngamunye ukuze uqalise isilawuli. |
| layisha | - | Layisha izilungiselelo kusuka kumemori. |
| GCINA | - | Londoloza izilungiselelo kumemori. |
| BLCK | 0-1 | Imodi evinjiwe. Uma imodi yokuvimbela ivuliwe (1), umyalo we-ENBL kufanele uthunyelwe kusilawuli uma kwenzeka iphutha. Uma imodi yokuvimbela ivaliwe (0), abalawuli bakhipha umyalo olandelayo noma kwenzeka iphutha. |
| TEST | 0-1 | Hlola izinkomba ze-LED. TEST=1 ivula zonke izinkomba. TEST=0 iwabuyisela emsebenzini wawo. |
Ukuxhumana
| Umyalo | Ibanga | Incazelo | |||
| ULWAZI | 4 amabhithi | Khetha uhlobo lolwazi oluzodluliswa lusuka kusilawuli luye kumaster (PC).
0: Misa ulwazi lokusakaza ngokuzenzakalelayo. 1: SRNO, SOFT, MODEL, STAT, SYNC 2: SRNO, SOFT, MODEL, STAT, FREQ, SYNC, EPOS, DPOS, CECED PARAMETER*, ISIKHATHI 3: EPOS, DPOS, STAT 4: EPOS, STAT, DPOS, TIME 5: STAT, I-FREQ, EPOS, DPOS, I-PARAMETER Eceliwe*, ISIKHATHI 6: I-PARAMETER Eceliwe* 7: EPOS, STAT Okuzenzakalelayo: 2 isb. INFO=7 izothumela ngokushintshana amanani e-EPOS & STAT. * INANI ELICELIWE, uma inani lepharamitha licelwa (isb ngokuthumela FREQ=?) inani lepharamitha lizobuyiselwa lapha. |
|||
| UART | 0-
76800 |
Setha izinga le-UART baud. Ukucisha i-UART: UART=0.Ukusetha izinga le-baud libe ngu-9600: UART=9600. Izinga eliphezulu le-baud ngu-76800. Uma i-UART icishiwe, i-UART ingaqalwa kabusha kuphela ngokuthumela umyalo we-UART nge-USB. | |||
| I-GPIO | 0-13 | Khetha imodi yokufaka oyikhethayo usebenzisa umyalo we-GPIO. Olunye ulwazi: ch. 5. | |||
| I-GPIO=0 | Ukulawula ngamaphini we-IO kuvaliwe. Isilawuli sizosabela kuphela emiyalweni yombhalo ethunyelwe nge-USB noma nge-UART. | ||||
| I-GPIO=2 | Imodi ye-Pulse ne-directional, enesiqondiso futhi inike amandla izikhonkwane. | ||||
| I-GPIO=3 | Imodi ye-Pulse ne-directional, enamaphini angaphambili nangemuva. | ||||
| I-GPIO=4 | Imodi yokufaka ye-quad B. | ||||
| I-GPIO=8 | Ukulawula kwe-PWM, ngesiqondiso & nokunika amandla izikhonkwane. | ||||
| I-GPIO=9 | Ukulawula kwe-PWM, okunamaphini angaphambili nangemuva. | ||||
| I-GPIO=12 | Isilawuli se-analog, esinesiqondiso & nokunika amandla izikhonkwane. | ||||
| I-GPIO=13 | Isilawuli se-analog, esinamaphini aphambili nangemuva. | ||||
| X:STPS | 16 amabhithi | Khetha usayizi wesinyathelo we-STEP pulse ngayinye. Usayizi wesinyathelo uvezwa ngamayunithi wesifaki khodi. Okuzenzakalelayo: 1 iyunithi yesifaki khodi. |
| (X:)IPOLI | 1-
65535 |
Setha isikhawu sokuvota. Icacisa isikhathi phakathi kwezibuyekezo zedatha. Futhi ichaza isikhawu sokuvota se-analog IO. Isikhawu sivezwa ngama-millisecond. Inani elizenzakalelayo lingu-97 (97 ms). Kokubili isilawuli kanye nomyalo we-eksisi. |
| X:DLAY | 16 bit | Isetha ukubambezeleka phakathi kwesikhathi u-stage ifinyelela indawo yayo eqondiwe futhi ngesikhathi lapho ifulegi 'elifinyelelwe' liyaphakanyiswa. Kuvezwe ngama-millisecond. Okuzenzakalelayo: 1 (ms). |
Ukushuna
| Umyalo | Ibanga | Incazelo |
| X:FREQ | 24 amabhithi | Setha imvamisa yezimpawu zokuvusa zezoni 1. Iyunithi ingu-Hz. |
| X:FRQ2 | 24 amabhithi | Setha imvamisa yezimpawu zokuvusa zezoni 2. Iyunithi yi-Hz. Futhi isetshenziselwa ukuskena. |
| X: PROP | 16 amabhithi | Isici sokulawula ngokwesilinganiso sezoni 1. |
| X:PRO2 | 16 amabhithi | Isici sokulawula ngokwesilinganiso sezoni 2. |
| X:ZON1 | 26 amabhithi | Ububanzi bezoni 1: Kuvezwe ngo-mm. |
| X:ZON2 | 26 amabhithi | Ububanzi bezoni 2: Kuvezwe ngo-mm. |
| X:DUCO | 1 bit | Ampi-litude isetshenziswa ku-loop evaliwe uma isethwe ku-1. Uma isethwe ku-0, i-fixed ampKusetshenziswa amandla angama-50%. Okuzenzakalelayo: 1. |
| X: ELIM | 20 amabhithi | I-ELIM (umkhawulo wephutha) ibeka umkhawulo wephutha elilandelayo. Uma iphutha elilandelayo lidlula inani elibekiwe bij ELIM, isilawuli siya kumodi ephephile futhi amasignali emoto ayacishwa. Ukubuyisela: I-RSET noma i-ENBL=1.
Leli phutha lingase liqaliswe uma uzama ukweqa imikhawulo ebonakalayo ye-stages, noma ngokusetha isivinini esikhulu kakhulu. Ungakhohlwa ukuthola kuqala indawo yenkomba (umyalo we-INDX) ukuze ugweme ukuthi u-stagi-es ihamba ngaphezu kwezitobhi futhi icuphe leli phutha. Okuzenzakalelayo: 10000. |
| X:ILIM | 26 amabhithi | Isetha iphutha elilandelayo lapho i-algorithm yosesho lwenkomba ihlehlisa isiqondiso. Lokhu kunomthelela isikhathi tagizitebele endaweni yokugcina ngesikhathi sosesho lwenkomba. |
| X:SLIM | 26 amabhithi | Iphutha lomkhawulo wokugcwalisa |
| X:PTOL | 16 amabhithi | Ukubekezelelana kwesikhundla. Lapho i-stagU-e ungaphakathi kokuthi +/- ukubekezelela isikhundla sendawo oyifunayo, isilawuli siyacishwa futhi nefulegi 'lendawo efinyelelwe' liyaphakanyiswa.
Amanani avezwa ngamayunithi wesishumeki sekhodi futhi kufanele abe kububanzi obungu-0 – 65535. Ububanzi busetshenziswa ngokulinganayo ngokuphathelene namaphutha wokuma okuhle nokubi. isb i-PTOL=2 ivumela amaphutha e-s phakathi kuka -2 kanye no-+2 amayunithi wesifaki khodi. Okuzenzakalelayo: 2. Bheka futhi i-TOUT ne-PTO2. |
| X:PTO2 | 16 amabhithi | Ukubekezelelana kwesikhundla sesibili, okufana ne-PTOL. Ingena esenzweni uma ukubekezelela indawo yokuqala i-PTOL yehluleka phakathi nesikhathi sokuvala i-TOUT. Inani elizenzakalelayo ngu-10. |
| X: TOUT | 16 amabhithi | Setha isikhathi sokuvala. Ukuze ugweme ukuthi i-stagI-e ilokhu idlidliza ngokungapheli endaweni oyifunayo ngaphandle 'kokuhlala', isikhathi sokuvala singasethwa. Isibali sikhathi siqala lapho u-stagu-e useduze nendawo oyifunayo, phakathi kwebanga elingu-+/- PTO2. Ngemva kokudlula isikhathi sokuvala, i-PTO2 iba ukubekezelela isikhundla esisha.
Isikhathi sivezwa ngama-millisecond. Inani elizenzakalelayo lingu-1000 (ms). |
| X:TOU2 | 16 amabhithi | Lokhu kuchaza ukuphela kwesikhathi sokuphepha. Uma injini ivuliwe isikhathi eside inani elibekwe yi-TOU2, isilawuli siya kumodi ephephile futhi amasignali emoto ayacishwa. Ukubuyisela: RSET noma ENBL=1 kuye ngokuthi BLCK.
I-status bit #18 iyakhuphuka uma lesi sikhathi sokuvala siqalisiwe. I-TOU2=0 ikhubaza lesi sikhathi sokuvala. Noma yiliphi elinye inani lisetha isikhathi sokuvala ngamasekhondi. Inani elincane: isekhondi elingu-1. Inani eliphakeme kakhulu: 65535 amasekhondi. |
| X:TOU3 | 16 amabhithi | Lokhu kuchaza esinye isikhathi sokuphepha. Lapho i-stagU-e uzama “ukuhlala” endaweni ethile isikhathi eside kunevelu ebekwe yi-TOU3, bese isilawuli singena kumodi ephephile. Amasignali enjini acishiwe. Inani ngama-millisecond. |
| X:ENCR | 1 bit | Setha kabusha isifaki khodi ngokuthumela okuthi “ENCR=1”. |
Ukuma kwesignali (ukusetshenziswa okuthuthukisiwe)
| Umyalo | Ibanga | Incazelo |
| X: ZERO | - | Phoqa amasiginali we-piezo ku-zero volt. |
| X:MAMP | 16 amabhithi | Setha ubukhulu ampukufunda. Izimpawu zokuvusa i-piezo zikhawulelwe ku-voltage ehambisanayotages. MAMP=65535 iwabeka kumthamo omkhulutage 45 V.MAMP=36400 ibeka inani eliphakeme ku-25 V. Ukuhlobana kunomugqa. |
| X:MIMP | 16 amabhithi | Setha ubuncane ampi-litude yezimpawu zokuvusa i-piezo. Bona uMAMP ezamagugu. |
| X:PHAC | 16 bit | Ukulungiswa kwesigaba. Ilungisa ukungalingani kumotho. Ukungalingani okunjalo kungabangela ukugedlezela noma umsindo oklwebhayo lapho i-stage ihamba ngesivinini esiphansi. Amanani angokoqobo akububanzi obungu-1000 abambalwa, omuhle noma onegethivu.
Okuzenzakalelayo: 0 (akukho ukulungiswa) |
| X:OFSA | 12 amabhithi | I-offset kumasignali e-piezo esigabeni soku-1 se-piezo. OFSA=4095 ihambisana nesilinganiso esigcwele (45 V), i-OFSA=0 ayikhiqizi i-offset. Ubudlelwano buqondile. |
| X:OFSB | 12 amabhithi | Ifana ne-OFB, kodwa ngesigaba sesi-2 se-piezo. |
| X:FILP | 8 amabhithi | Isivinini sokuhlunga sesigaba samasignali avusa amadlingozi we-piezo. Inani elizenzakalelayo: 1. Ubukhulu. inani: 255. |
| X:FILA | 8 amabhithi | Isivinini sesihlungi se ampumthamo wezimpawu zokuvusa i-piezo. Inani elizenzakalelayo: 1. Ubukhulu. inani: 255. |
Izilungiselelo zezikhombisi-ndlela (ukusetshenziswa okuthuthukisiwe)
| Umyalo | Ibanga | Incazelo |
| X: ENCD | 1 bit | Setha inkomba yesifaki khodi. Setha isiqondiso sokubala ngokuphathelene namasiginali ye-A/B noma amasignali we-sin/cos wesifaki khodi. Phenya le bit ukuze ushintshe kwesokunxele nakwesokudla, noma njengewashi nangokuphikisana newashi. Inani elizenzakalelayo ngu-0. |
| X:ENCO | 32 amabhithi | Isetha i-offset yesifaki khodi: ibanga phakathi kwendawo yenkomba nendawo eyiziro oyifunayo. Kumayunithi wesifaki khodi. Inani elizenzakalelayo ngu-0. |
| X:ACTD | 1 bit | Setha isiqondiso sokusebenza. Uma ingasethiwe kahle, i-stagu-e uzosuka endaweni oyifunayo. Inani elizenzakalelayo ngu-0. |
| X:INDLELA | 1 bit | Okokuzungezisa stages kuphela. Ikhetha ukuthi i-stagu-e uzolandela indlela emfushane kakhulu (INDLELA=1) eya endaweni okuqondiswe kuyo noma alandele indlela yomugqa, ehlonipha phezulu ukuya phansi noma phansi ukuya phezulu (INDLELA=0). Okuzenzakalelayo: 1 ukuzungezisa stages, 0 for linear stages. |
Qalisa ukuphuma (ukusetshenziswa okuthuthukisiwe)
| Umyalo | Ibanga | Incazelo |
| X:TRGS | 26 amabhithi | Ukuqala kwama-trigger pulses, kuvezwa ngamayunithi wesifaki khodi. |
| X:TRGW | 26 amabhithi | Ububanzi be-trigger pulses, buvezwa ngamayunithi wesifaki khodi. Lelivelu (elihle) kufanele libe ngaphansi kunokuphakama (TRGP). |
| X:TRGP | 26 amabhithi | I-pitch of the trigger pulses, evezwa ngamayunithi wesifaki khodi. Iphimbo ngeke libe libi. Ukuze ucuphe ama-pulses ohlangothini olunegethivu: setha i-TRGS endaweni enegethivu kakhulu futhi usebenzise iphimbo eliphozithivu. |
| X:TRGN | 26 amabhithi | Inombolo yama-trigger pulses. |
Impendulo evela kusilawuli
| Ama-LED wesimo | |
| Iphutha | Ikhombisa uma isikhundla noma ampkwenzeke iphutha le-lifier. |
| Umkhawulo + | Kubonisa ukuthi umkhawulo omuhle ufinyelelwe. Bona i-HLIM. |
| Umkhawulo - | Kubonisa ukuthi umkhawulo ongemuhle ufinyelelwe. Bona i-LIM. |
| Inkomba itholakele | Ibonisa ukuthi i-eksisi inkomba. |
| Isikhundla sifinyelelwe | Ibonisa ukuthi i-eksisi isifinyelele endaweni eqondiwe. |
| Imoto ivuliwe | Kubonisa ukuthi i-eksisi iyahamba njengamanje. |
| Amandla | Ibonisa ukuthi i-eksisi inikwe amandla. |
Ulwazi lubuyiselwa emuva lusuka kusilawuli se-Xeryon luye kumphathi ngefomethi ye-ASCII. Ifomethi imi kanje:
- Uhlamvu olungu-1 oluchaza i-eksisi, lulandelwa yikholoni.
- Tag: Izinhlamvu ezine ezichaza uhlobo lolwazi
- '=' uphawu oluhlukanisa umyalo enanini elihambisanayo
- Inani elisayiniwe elihlotshaniswa nalolo lwazi (sayina + 8 izindawo zamadesimali). Umlayezo unqanyulwe ngohlamvu 'lomugqa omusha' (ikhodi ye-ASCII 10).
isib. X:EPOS=12345678
Izinhlobo ezahlukene zolwazi:
Umyalo INFO unquma ukuthi yiluphi ulwazi olubuyiselwa emuva. Bona i-example ngezansi (INFO=2).
| Tag | Incazelo |
| I-SRNO | Inombolo ye-serial yomshayeli (i-hardware) |
| I-SOFT | Inguqulo yesofthiwe efakwe kumshayeli. isb 20103 → 2.1.3 |
| [TYPE] | Uhlobo lwedivayisi enyakazayo (XLS, XRT, XVP) nokulungiswa kwayo isb. XLS1=312 |
| STAT | Isimo (bona ngezansi) |
| I-FREQ | Imvamisa yenjabulo esetshenziswayo njengamanje |
| SYNC | Inani elingaguquki “12345678”. Ingasetshenziselwa ukulungisa izinkinga zokuxhumana. |
| I-EPOS | Indawo yesifaki khodi |
| I-DPOS | Isikhundla esifiselekayo |
| ISIKHATHI | Isikhathi stamp: ukulungiswa 0,1 ms |
Incazelo ye-STAT(US): Isimo siqukethe amabhithi angama-24:
| Ibhithi yesimo | Igama | Incazelo |
| 0 | [Kugciniwe] | [Akufaneleki] |
| 1 | Qeda isitobhi | Stage wayeka ekupheleni stop |
| 2 | Ukuvikelwa kwe-thermal 1 | Ampi-lifier yesigaba 1 noma sesi-3 ekuvikelweni okushisayo. |
| 3 | Ukuvikelwa kwe-thermal 2 | Ampi-lifier yesigaba 2 noma sesi-4 ekuvikelweni okushisayo. |
| 4 | Phoqa uziro | Izimpawu zezimoto okwamanje ziphoqeleka ukuba zibe zero. |
| 5 | Imoto ivuliwe | Injini ye-piezo ivuliwe. |
| 6 | Iluphu evaliwe | I-stagI-e okwamanje ikulawulo oluvaliwe. |
| 7 | Isifaki khodi kunkomba | Ibonisa ukuthi u-stagu-e ubekwe ngqo kunkomba yesifaki khodi. |
| 8 | Isifaki khodi sivumelekile | Ibonisa ukuthi ingabe inkomba yesifaki khodi idlulisiwe futhi ngakho-ke inani lesishumeki libonisa indawo ephelele, hhayi indawo ehlobene ngokuphathelene nendawo yokuqalisa. |
| 9 | Inkomba yokusesha | Ibonisa ukuthi u-stagu-e okwamanje usesha indawo yenkomba. |
| 10 | Isikhundla sifinyelelwe | Ibonisa ukuthi indawo okuhlosiwe ifinyelelwe (ngaphakathi kwemikhawulo yokubekezelelana). |
| 11 | Isinxephezelo sephutha | Isinxephezelo sephutha sivuliwe. |
| 12 | Iphutha lesifaki khodi | Ibonisa iphutha elikhiqizwe isifaki khodi. |
| 13 | Iskena | Ibonisa ukuthi u-stagi-e ikwimodi yokuskena. |
| 14 | Isitobhi esisekupheleni kwesokunxele | Ibonisa ukuthi isitobhi esingakwesokunxele sidlulisiwe. |
| 15 | Isitobhi esisekupheleni kwesokudla | Kubonisa ukuthi isitobhi sesiphetho esingakwesokudla sidlulisiwe. |
| 16 | Umkhawulo wephutha | Ibonisa ukuthi iphutha lendawo lifinyelele umkhawulo obekwe yi-ELIM. Lokhu kungabonisa ukungqubuzana noma umkhawulo wemishini (ukuphela kwe-stroke). |
| 17 | Isesha imvamisa efanele | Umshayeli usesha imvamisa ye-excitation efanelekile yenjini ye-piezo. |
| 18 | Isikhathi sokuvala sokuphepha sicushiwe | Uma lokhu kusethelwe kokuthi "1", kusho ukuthi ukuphela kwesikhathi sokuphepha kuqalisiwe. Bona incazelo yomyalo "TOU2" amakhasi ambalwa emuva. |
| 19 | I-EtherCAT iyavuma | Isetshenziswa kuphela uma ulawula nge-EtherCAT. |
| 20 | Isitobhi esiphuthumayo | Ayisetshenziswa. |
| 21 | Isikhundla asiphumelelanga | Uma lokhu kusethelwe kokuthi “1”, kuzosho ukuthi ukuphela kwesikhathi sokuphepha kwe-TOU3 kuqalisiwe. |
Ukuxhumana usebenzisa i-GPIO
Kukhona ukucushwa oku-4 okuhlukene kokusetshenziswa kwezikhonkwane zedijithali ne-analog IO.
- Lawula isikhundla se-stage usebenzisa ama-pulses. I-pulse ngayinye yenza isinyathelo (usayizi) ohlangothini oluthile.
- Lawula isikhundla se-stage usebenzisa isignali efana nesifaki khodi.
- Lawula isivinini se-stage usebenzisa isignali yokufaka ye-PWM.
- Lawula isivinini se-stage usebenzisa okokufaka kwe-analog.
Zonke lezi zindlela zichazwe kabanzi ngezansi. Ukukhetha indlela, kusetshenziswa umyalo othi “GPIO”. Lokhu kungatholakala esigabeni. Lo myalo ungathunyelwa nge-USB noma nge-UART. Izikhonkwane ezihambisanayo zingatholakala esigabeni 6.
Izilungiselelo ze-GPIO zingagcinwa enkumbulweni kusetshenziswa umyalo othi “GCINA”. Ngaleyo ndlela, imodi ye-GPIO izosebenza ekukhuphuleni amandla ngaphandle kokuthi uqale ngokuthumela umyalo we-GPIO nge-USB, i-UART nanoma iyiphi enye indlela.
Okokufaka kwe-GPIO nemiyalo kungasetshenziswa ndawonye: isilawuli sizosabela kukho kokubili okokufaka kwe-GPIO nemiyalo yombhalo. Akudingekile ukuthi ubuyele ku-GPIO=0 ukuze uthumele imiyalo yombhalo. Ungathumela imiyalo yombhalo futhi kumamodi we-GPIO=2, 3, 4, …. Kodwa uma usuka ku-GPIO uya emiyalweni yombhalo, qala ngokuthumela umyalo othi STOP. Imvamisa yokushaya ephezulu enconyiwe: 20 kHz.
I-Pulse kanye nemodi yokuqondisa
Le modi yenziwa yasebenza ngomyalo GPIO=2 noma 3.
X:GPIO=2 inika amandla amasiginali wokufaka: I/O ibhange 1 – umhlabathi (pin 4), ishayela (1), isiqondiso (2), vumela (3). X:GPIO=3 inika amandla amasiginali wokufaka: I/O ibhange 1 – phansi (pin 4), ishayela (1), phambili (2), emuva (3).
Enqenqemeni ngayinye eyiphozithivu yesiginali ye-PULSE, indawo okuqondiwe kuyo iyanyuswa noma yehliswe ngosayizi wesinyathelo esithile. Usayizi wesinyathelo ozenzakalelayo ngu-1 (iyunithi yesishumeki esi-1). Lesi sinyathelo sikasayizi singashintshwa ngomyalo othi STPS, isb. STPS=10.
Isignali ye-DIRECTION inquma isiqondiso: ukukhulisa noma ukwehlisa indawo eqondiwe. Isignali ye-ENABLE inika amandla okokufaka, kufanele ibe phezulu ukuze iqale ukuhamba.
Enye indlela ye-DIRECTION kanye nesignali ye-ENZA AMANDLA isignali PHAMBILI NESEMUVA. Ngokubeka omunye wabo phezulu, kungenzeka ukukhetha isiqondiso sokuhamba.
Isiginali ye-INDEX okokufaka kwe-analog esetshenziswa njengokufakwayo kwedijithali. Uma uya phezulu (i-positive edge) isilawuli siphenya inkomba (3.3 V yanele, ubuningi obungu-10 V).
Ukulawula kwe-PWM
Le modi yenziwa yasebenza ngomyalo GPIO=8 noma 9.
I-GPIO=8 inika amandla amasignali okokufaka: I/O bank 1 – ground (pin 4, PWM (1), direction (2), vula (3) GPIO=9 inika amandla amasignali okokufaka: umhlabathi (pin 4), PWM (1), phambili (2), emuva (3).
Imvamisa yesiginali ye-PWM ingasethwa ngomyalo XPWMF. X:PWMF=1000 isetha imvamisa ye-PWM ibe ngu-1000 Hz. Okuzenzakalelayo = 1000.
Isivinini silingana nobubanzi be-pulse. Uma ububanzi be-pulse bungu-50 %, isivinini sisethelwa ku-50 % wejubane elibekwe umyalo we-X:SSPD. Uma isignali iphezulu ngaso sonke isikhathi, bese kukhethwa u-100 % we-X:SSPD. Isivinini singalawulwa ukusuka ku-0 kuye ku-100%.
Ukusetshenziswa kokuqondisa, ukunika amandla, amasignali aya phambili nangemuva kuyefana nakuma-pulse kanye nemodi yokuqondisa.
Izilawuli ze-Analog
Le modi yenziwa yasebenza ngomyalo GPIO=12 noma 13
I-GPIO=12 inika amandla amasiginali wokufaka:
- Ibhange le-Analog I/O 1 – phansi (pin 7), isivinini (1)
- Ibhange le-Digital I/O 1 – isiqondiso (2), vumela (3)
- I-GPIO=13 inika amandla amasiginali wokufaka:
- Ibhange le-Analog I/O 1 – phansi (pin 7), isivinini (1)
- Ibhange le-Digital I/O 1 – phambili (2), emuva (3)
Okokufaka kwesivinini kuhambisana nevolumutagkusetshenziswe iphinikhodi yokufaka isivinini. I-10 V ihambisana no-100 % wejubane elibekwe umyalo we-X:SSPD.
Ukusetshenziswa kokuqondisa, ukunika amandla, amasignali aya phambili nangemuva kuyefana nakuma-pulse kanye nemodi yokuqondisa.
Ukuxhumana kusetshenziswa i-I2C/SPI
Lesi silawuli sisekela kokubili amaphrothokholi okuxhumana e-I²C (Inter-Integrated Circuit) kanye ne-SPI (Serial Peripheral Interface) ukuze kuhlanganiswe okuvumelana nezimo namadivayisi angaphandle.
I²C: Iphrothokholi yokuxhumana enezintambo ezimbili (i-SCL ne-SDA) elungele ukuxhuma amadivayisi amaningi kusetshenziswa ibhasi eyabelwe. Qinisekisa ukuthi ama-resistors adonsela phezulu afakiwe ukuze asebenze okuthembekile.
I-SPI: Iphrothokholi enesivinini esikhulu, enezintambo ezine (i-SCK, i-MOSI, i-MISO, i-CS) edizayinelwe ukucushwa kwe-point-to-point noma isigqila esiyinhloko. Imishini yezigqila eminingi ingaphathwa kusetshenziswa imigqa ezimele ye-Chip Select (CS).
Bheka umdwebo we-pinout kanye nokucaciswa kwemininingwane yezintambo kanye nevolumu ehambisanayotage amazinga.
Izixhumanisi/izakhiwo zephini
Ukuxhumana no-stage
Stagisixhumi se-e: 15-pin D-Sub HD Owesifazane
Iphinikhodi 1 iqoshiwe.
| Phina | Isiginali | Umsebenzi | Ngaphakathi/Ngaphandle | Phina | Isiginali | Umsebenzi | Ngaphakathi/Ngaphandle |
| 1 | NC | Ayixhunyiwe | - | 9 | I-CLK+/E+ | Iwashi / Isifaki khodi + | PHUMA |
| 2 | I-ENC PWR | Amandla Wesifaki khodi | PHUMA | 10 | GND P1 / GND P2 / P3 | Isigaba / Umhlabathi | PHUMA |
| 3 | Amandla we-ENC GND | I-Encoder Ground | PHUMA | 11 | I-ENC- | Inkomba yesifaki khodi - | IN |
| 4 | P2 | I-Piezo Phase 2 | PHUMA | 12 | I-ENC A- | Isifaki khodi A- | IN |
| 5 | P1 | I-Piezo Phase 1 | PHUMA | 13 | I-ENC B- | Isifaki khodi B- | IN |
| 6 | I-ENC+ | Inkomba yesifaki khodi + | IN | 14 | NC | Ayixhunyiwe | - |
| 7 | I-ENC A+ | Isifaki khodi A+ | IN | 15 | P4 | I-Piezo Phase 4 | PHUMA |
| 8 | I-ENC B+ | Isifaki khodi B+ | IN |
Ukuxhumana namabhange e-GPIO (i-analog + 2x digital)
- I-Analog I/O: D-Sub 15
- I-I/O Yedijithali – Izembe 1-3: D-Sub 25
- I-I/O Yedijithali – Izembe 4-6: D-Sub 25
Ibhange le-Analog I/O
| Phina | Uphawu | Umsebenzi | V | Phina | Uphawu | Umsebenzi | V |
| 1 | I-AI1 | Okokufaka kwesivinini se-analogi stage1 | 0-10V | 9 | I-FI1 | Thola inkomba stage1 | 3,3V |
| 2 | I-AI2 | Okokufaka kwesivinini se-analogi stage2 | 0-10V | 10 | I-FI2 | Thola inkomba stage2 | 3,3V |
| 3 | I-AI3 | Okokufaka kwesivinini se-analogi stage3 | 0-10V | 11 | I-FI3 | Thola inkomba stage3 | 3,3V |
| 4 | I-AI4 | Okokufaka kwesivinini se-analogi stage4 | 0-10V | 12 | I-FI4 | Thola inkomba stage4 | 3,3V |
| 5 | I-AI5 | Okokufaka kwesivinini se-analogi stage5 | 0-10V | 13 | I-FI5 | Thola inkomba stage5 | 3,3V |
| 6 | I-AI6 | Okokufaka kwesivinini se-analogi stage6 | 0-10V | 14 | I-FI6 | Thola inkomba stage6 | 3,3V |
| 7 | GND | Ground | - | 15 | 5V | 5V ukuphuma | 5V |
| 8 | 3,3V | 3,3V ukuphuma | 3,3V |
Ibhange le-Digital I/O 1
| Phina | Uphawu | Umsebenzi – IN | V | Phina | Uphawu | Umsebenzi – OUT | V |
| 1 | I-DI1-1 | I-Pulse / A / PWM stage1 | 5V | 14 | I-DI4-1 | Qalisa ukushaya kwenhliziyo* stage1 | 5V |
| 2 | I-DI2-1 | Isiqondiso / phambili
/ B stage1 |
5V | 15 | I-DI5-1 | Isifaki khodi esivumelekile sesiginali stage1 | 5V |
| 3 | I-DI3-1 | Vumela / emuva stage1 | 5V | 16 | I-DI6-1 | Isikhundla esifinyelelwe isignali stage1 | 5V |
| 4 | GND | Ground | - | 17 | GND | Ground | - |
| 5 | I-DI1-2 | I-Pulse / A / PWM stage2 | 5V | 18 | I-DI4-2 | Qalisa ukushaya kwenhliziyo* stage2 | 5V |
| 6 | I-DI2-2 | Isiqondiso / phambili
/ B stage2 |
5V | 19 | I-DI5-2 | Isifaki khodi esivumelekile sesiginali stage2 | 5V |
| 7 | I-DI3-2 | Vumela / emuva stage2 | 5V | 20 | I-DI6-2 | Isikhundla sifinyelelwe ku-signal stage2 | 5V |
| 8 | GND | Ground | - | 21 | GND | Ground | - |
| 9 | I-DI1-3 | I-Pulse / A / PWM stage3 | 5V | 22 | I-DI4-3 | Qalisa ukushaya kwenhliziyo* stage3 | 5V |
| 10 | I-DI2-3 | Isiqondiso / phambili
/ B stage3 |
5V | 23 | I-DI5-3 | Isifaki khodi esivumelekile sesiginali stage3 | 5V |
| 11 | I-DI3-3 | Vumela / emuva stage3 | 5V | 24 | I-DI6-3 | Isikhundla esifinyelelwe isignali stage3 | 5V |
| 12 | GND | Ground | - | 25 | 5V | 5V ukuphuma | 5V |
| 13 | 3,3V | 3,3V ukuphuma | 3.3V |
Ibhange le-Digital I/O 2
| Phina | Uphawu | Umsebenzi – IN | V | Phina | Uphawu | Umsebenzi – OUT | V |
| 1 | I-DI1-4 | I-Pulse / A / PWM stage4 | 5V | 14 | I-DI4-4 | Qalisa ukushaya kwenhliziyo* stage4 | 5V |
| 2 | I-DI2-4 | Isiqondiso / phambili
/ B stage4 |
5V | 15 | I-DI5-4 | Isifaki khodi esivumelekile sesiginali stage4 | 5V |
| 3 | I-DI3-4 | Vumela / emuva stage4 | 5V | 16 | I-DI6-4 | Isikhundla esifinyelelwe isignali stage4 | 5V |
| 4 | GND | Ground | - | 17 | GND | Ground | - |
| 5 | I-DI1-5 | I-Pulse / A / PWM stage5 | 5V | 18 | I-DI4-5 | Qalisa ukushaya kwenhliziyo* stage5 | 5V |
| 6 | I-DI2-5 | Isiqondiso / phambili
/ B stage5 |
5V | 19 | I-DI5-5 | Isifaki khodi esivumelekile sesiginali stage5 | 5V |
| 7 | I-DI3-5 | Vumela / emuva stage5 | 5V | 20 | I-DI6-5 | Isikhundla sifinyelelwe ku-signal stage5 | 5V |
| 8 | GND | Ground | - | 21 | GND | Ground | - |
| 9 | I-DI1-6 | I-Pulse / A / PWM stage6 | 5V | 22 | I-DI4-6 | Qalisa ukushaya kwenhliziyo* stage6 | 5V |
| 10 | I-DI2-6 | Isiqondiso / phambili
/ B stage6 |
5V | 23 | I-DI5-6 | Isifaki khodi esivumelekile sesiginali stage6 | 5V |
| 11 | I-DI3-6 | Vumela / emuva stage6 | 5V | 24 | I-DI6-6 | Isikhundla esifinyelelwe isignali stage6 | 5V |
| 12 | GND | Ground | - | 25 | 5V | 5V ukuphuma | 5V |
| 13 | 3,3V | 3,3V ukuphuma | 3.3V |
Ukushuna
Isithombe sika-Xeryontagama-es ahloselwe ngokuyinhloko ukulawula iluphu evaliwe futhi ngenxa yalesi sizathu isivele inenzwa yendawo ehlanganisiwe. I-algorithm yokulawula isetshenziswa kusilawuli sethu futhi le-algorithm isebenzisa amapharamitha okulawula amaningi. Lawa mapharamitha okulawula kufanele asethwe ngokohlobo lwe-stage, umthwalo kanye nemfuneko yokunyakaza eqondene nekhasimende. Lawa mapharamitha asethwe ngaphambilini yi-Xeryon lapho kulethwa i-stage kanye nesilawuli. Ezimweni eziningi, awudingi ukulungisa izilungiselelo uphume ebhokisini. Noma kunjalo, kungase kudingeke ukuthi umsebenzisi alungise le mingcele ukuze asebenze kahle.
Ngezansi ungathola imiyalo ehambisanayo yezilungiselelo ezivame kakhulu:
- Hlehlisa isifaki khodi/kuhlehlisa stage: stage ethize, ungashintshi.
- Indlela emfushane kakhulu: X:PATH
- Usayizi wendawo, indawo 1: X:ZON1 Usayizi wendawo, izoni 2: X:ZON2
- Imvamisa, izoni 1: X:FREQ Imvamisa, izoni 2: X:FRQ2
- I-Proportional factor, izoni 1: X:PROP Isici esilinganiselwe, izoni 2: X:PRO2
- Ukubekezelela isikhundla: X:PTOL Isivinini: X:SSPD
- Ukubekezelela isikhundla 2: X:PTO2 Ukusheshisa/ukwehlisa izinga lokushisa: X:ACCE/X:DECE
- Isikhathi sokuvala: X:TOUT IMisa: X:MASS
- Ampisilawuli se-litude: X:DUCO Umkhawulo othambile wesokunxele: X:LLIM
- Ubuncane/ubuningi ampindawo: X:MIMP/X:MAMP Umkhawulo othambile wesokudla: X:HLIM
- Ukulungiswa kwesigaba: X:PHAS Umkhawulo wephutha: X:ELIM
Amafrikhwensi/amanani alinganayo:
Ngokuvamile, ku-zone 1 (eduze nendawo okuqondiwe kuyo), imvamisa ne-proportional factor zombili zikhethwa phezulu. Lokhu kunikeza 'ukwehla' okungcono endaweni okuqondiwe. Ku-zone 2 (kude kakhulu nendawo okuqondiwe kuyo) imvamisa ikhethwa ngaphansi ukuze kwenyuswe isivinini. Ngesikhathi esifanayo isici sokulinganisa se-zone 2 ngokuvamile kufanele sikhethwe ngaphansi ukuze kugwenywe ukungazinzi. Qaphela ukuthi ngaphandle kwebanga elithile lefrikhwensi, injini izoba namandla alinganiselwe kakhulu (imvamisa iphezulu kakhulu) noma ifake ukuziphatha okungazinzile (imvamisa iphansi kakhulu). Umehluko ojwayelekile wefrikhwensi phakathi kwe-FREQ ne-FRQ2 uphakathi kuka-1 no-3 kHz wenjini engu-1N naphakathi kuka-0.5 kanye ne-kHz kunjini engu-3N, 5N noma engu-10N. Izinto ezilinganisiwe zone 1 (PROP) ngokuvamile ziyizikhathi ezingu-2-3 zevelu lezinto ezilinganiselwe zone 2.
Lapho i-stagI-e ayifuni ukuhlala endaweni eqondiwe, naphezu kokuthuthukisa imvamisa kanye nesici sokulinganisa sendawo 1, zama ukukhulisa ukubekezelela ukuma kwe-PTOL ne-PTO2. Bona isethi yomyalelo ukuze uthole ulwazi olwengeziwe.
Ukuthola amandla amaningi aphuma ku-stage, i-frequency ku-zone 2 (FRQ2) kufanele isethwe ibe phansi ngangokunokwenzeka ngaphandle kokudweba umthamo wamanje kakhulu, okuholela ekutheni ampIphutha le-lifier (i-status bit 2 & 3)
Ukwengeza ubuningi ku-stage
Lapho nje ungeza isisindo esingu-100g noma ngaphezulu, ipharamitha ye-MASS ingashintshwa. Kuwo wonke ama-100g wesisindo owengezayo, khulisa ipharamitha ye-MASS nge-100. Ukuthola amapharamitha e-MASS alungile ngokuvamile kutholwa ngokuzama nangephutha. Le parameter isetshenziswa kakhulu emithwalweni enzima kuma-s ovundliletages.
Ukushintsha ama-dynamics
Ungathanda eyakhotage ukuze usabele ngokushesha noma kancane, imingcele elandelayo ingashintshwa ukuze kuzuzwe lokhu.
- I-SSPD isetshenziselwa ukusetha isivinini esiphezulu se-stage. Sicela uqaphele, uma i-frequency ku-zone 2 isethwe iphansi kakhulu, isivinini asikwazi ukufinyelelwa ngaso sonke isikhathi.
- I-ACCE ichaza ukusheshisa kwe-stage kusivinini esisethiwe ku-SSPD. Inani elimisiwe lika-65500 lisho ukuthi akukho mkhawulo wokusheshisa ocatshangelwayo (okungukuthi ukusheshisa okugcwele).
- I-DECE ichaza ukwehliswa kwe-stage ekufinyeleleni okuhlosiwe. Inani elizenzakalelayo le-65500 lisho ukuthi akukho mkhawulo wokunciphisa ocatshangelwayo (okungukuthi ukwehla okugcwele).
- I-PROP & PRO2 yizici ezilinganayo ezisetshenziselwa iluphu yempendulo evaliwe. Womabili amapharamitha asetshenziselwa izindawo ezimbili ezihlukene (ZON1 kanye ne-ZON2). Ngokuvamile i-PROP iphezulu kune-PRO2. Zikhulise ukuze uthole izikhathi zokuma ngokushesha.
Lapho i-stagi-e idinga ukunyakaza ngokudlulela okuncane, yehlise amapharamitha ashiwo ngenhla. Izici eziphakeme zokulinganisa zivumela isilawuli sisabele ngamandla futhi sinciphise amaphutha okubeka, kodwa futhi zingaholela ekungazinzini noma ekusebenzeni okunomsindo uma sikhethwe siphezulu kakhulu.
IWindows GUI
Ukuze unikeze umsebenzisi indlela esheshayo yokuxhumana nabalawulwayo nabaxhunyiwe stage, i-Windows GUI inikezwa isilawuli ngasinye. Ukusetshenziswa kulula futhi kuyazichaza. Ingasetshenziselwa ukufaka ngesandla nokusebenzisa imibhalo elula.
Kudingeka files
I-Windows GUI isebenzisa okulandelayo files:
- Okusebenzisekayo kwe-Windows GUI: Xeryon_Dialog.exe
- Ukucushwa file ebizwa ngokuthi “config.txt”. Lokhu file akufanele ihlelwe ngumsebenzisi.
- Izilungiselelo ezizenzakalelayo file ebizwa ngokuthi “settings_default.txt”. I-GUI ifunda lokhu file ngezilungiselelo zokuqala ekuqaleni. Faka esikhundleni noma ulungise lokhu file ukushintsha izilungiselelo ezizenzakalelayo. Ngemva kokulondoloza, lawa magugu agcinwa kumshayeli.
- Izilungiselelo file ebizwa ngokuthi “settings_user.txt”. Lokhu file izodalwa wuhlelo ngemuva kokucindezela okuthi “gcina ku file” inkinobho.
- Uhlelo lwedemo. I file iwindi lengxoxo lethula okuthi “demo.txt” njengokuzenzakalelayo fileigama.
Phawula: config.txt kufanele ibe kufolda efanayo ne-Xeryon_Dialog.exe.
Imiyalo yohlelo lwedemo ye-Windows GUI
| Umyalo | Incazelo |
| I-BAUD | Setha izinga le-baud lokuxhumana. |
| I-DPOL | Ukubambezeleka kusetshenziswa uma kuvotelwa isignali 'ekufinyelelwe kuyo' ngemva kokuba indawo entsha eqondiwe isethiwe. Uma i-DPOL iyincane kakhulu, i-Windows GUI ingase iqalise kufulegi lesimo 'lesikhundla esifinyelelwe' sendawo eqondiwe yangaphambilini ngenxa yokubambezeleka kokuxhumana. Uma kunjalo, umyalo olandelayo we-WAIT uzoqala isibali sikhathi ekuqaleni komnyakazo esikhundleni sangemuva kokuthi okuqondiwe sekufinyelelwe. |
| USIZO | Vula noma vala usizo. USIZO=1 uvula amathiphu olwazi. USIZO=0 ucisha amathiphu olwazi. |
| MISA | Misa uhlelo. (Akufanele kudidaniswe umyalo othi STOP womshayeli.) |
| I-LABL | Ilebula ohlelweni olusetshenziswa yi-REPT. |
| LOG | Qala noma misa ukuloga kwedatha. I-LOG=1 ishintsha ukungena ngemvume. LOG=0 uvale ukungena. Idatha igcinwa ku-datalog.csv. Uma i-datalog.csv isivele ikhona, idatha entsha yengezwa. |
| IMISA | Icacisa isisindo/inertia yomthwalo ku-stage. I-Windows GUI ibala amapharamitha wokulawula alungile ukuze ithole ukusebenza okuzinzile. |
| MMAS | Ubuningi obukhulu obungakhethwa ku-Windows GUI. |
| I-MPRO | Isici esiphezulu se-proportional factor esingakhethwa ku-Windows GUI. |
| I-MSPD | Isivinini esiphezulu esingakhethwa ku-Windows GUI. |
| ITHEKU | Inombolo yembobo ezenzakalelayo izovela ku-Windows GUI. |
| REPT | Phinda uhlelo olungenhla izikhathi eziningana. I-agumenti yokuqala icacisa inani lamaluphu. Impikiswano yesibili icacisa ilebula okufanele ugxumele kuyo (ilebula ibanga 0 – 99). Uma ilebula ingekho, uhlelo lugxumela emuva emugqeni wokuqala. Umyalo we-REPT kufanele ubekwe ekugcineni kwebhulokhi ukuze uphindwe. Ukufakwa kwesidleke kwamabhulokhi e-REPT kuvunyelwe. Example: REPT=10 2 yenza izihibe eziyi-10 kusukela kulebula 2. |
| LINDA | Linda isikhathi esithile ngaphambi kokudlulela emyalweni olandelayo. Isikhathi sivezwe ngama-millisecond. Uma i-WAIT ilandela umyalo we-STEP noma we-DPOS, isibali sikhathi siyaqalwa lapho sifinyelela indawo okuqondiwe kuyo. |
Exampuhlelo lwe file (demo.txt)
- X:SSPD=100 % Setha isivinini sibe ngu-100 mm/s noma ku-100 degrees/s
- X:DPOS=0 % Iya endaweni engu-0
- X:WAIT=100 % Linda 100 ms ngemva kokufika endaweni
- X:LABL=2 % Setha ilebula 2
- X:DPOS=60 % Iya endaweni engu-60 mm noma 60 degrees
- X:WAIT=100 % Linda 100 ms ngemva kokufika endaweni
- X:SSPD=10 % Setha isivinini sibe ngu-10 mm/s noma ku-10 degrees/s
- X:SCAN=1 % Hamba ngesivinini esingaguquki uye ohlangothini oluhle
- X:WAIT=2000 % Linda 2s (ngenkathi kuqhubeka ukuskena)
- X:REPT=3 2 % Phinda izikhathi ezi-3 kunekhodi engenhla, kusukela kulebula 2
- X:YIMA % Misa i-stage
- X:DPOS=0 % Qedela phakathi nendawo
Umsebenzi wezinkinobho nezibonisi zesimo:
Inkinobho yezilungiselelo:
- Layisha kusuka file: khetha a file ukulayisha ezakho izilungiselelo zomsebenzisi.
- Hlela: vula iwindi lezilungiselelo (bona ngezansi).
- Gcina ku file: gcina izilungiselelo zamanje kwentsha file.
- Londoloza kumshayeli: gcina okwamanje kusilawuli.
- Gcina ku file: gcina izilungiselelo ku-a file ukhetha
- Xhuma embobeni: lapho imbobo ikhethiwe, xhuma embobeni bese ukhetha izilungiselelo file
- Imbobo: Khetha imbobo ye-COM yesilawuli se-XD-M.
- Ixhumeke kumshayeli: ixhumeke ngempumelelo kusilawuli.
- Iphutha lokuxhumana: iphutha lokuxhumana phakathi kwekhompyutha nesilawuli.
- Buyisa: buyisela isilawuli ngemuva kwephutha/iphutha.
- Setha kabusha isifaki khodi: setha kabusha isibalo sesifaki khodi. Inkomba izodinga ukutholwa futhi.
- Thola inkomba: qala inqubo yokukhomba.
- AmpIphutha le-lifier: i-overcurrent, i-undervoltage noma iphutha le-short-circuit.
- Iphutha lesikhundla: indawo ayikwazanga ukufinyelelwa phakathi nesikhathi esimisiwe.
- Iphutha lesifaki khodi: isifaki khodi asisebenzi noma sonakele. (imvamisa kubangelwe i-short-circuit)
- Isikhundla sifinyelelwe: indawo oyifunayo ifinyelelwe.
- Inkomba itholakele: inkomba noma indawo yasekhaya itholakele.
- Yima: yeka imoto.
- Setha kabusha: setha kabusha izilungiselelo emuva kokuthi settings_default.txt bese umisa injini
- Qala uhlelo: qala uhlelo olukhethwe ngezansi
- I-Demo.txt: khetha uhlelo lwedemo
- Isilayidi esiluhlaza okwesibhakabhaka: sebenzisa isilayidi ukushintsha indawo oyifunayo.
- Skena + X: i-stagi-e izoqhubeka ihamba iye ku-+ X.
- Isinyathelo + X: i-stagu-e uzothatha isinyathelo ku-+ X isiqondiso.
- 0 inkinobho: hambisa endaweni emaphakathi/yenkomba.
- Indawo okuyiyonayona: indawo yamanje ye-stage. (ayikwazi ukushintshwa lapha)
- Isikhundla osifunayo: shintsha indawo ye-stage lapha.
- Usayizi wesinyathelo: khetha usayizi wezinyathelo.
- Isivinini sangempela: isivinini esibaliwe sika-stage. (izohlala iphansi kunejubane langempela ngenxa yokubambezeleka kokuvota)
I-Python, i-MATLAB, i-C++ ne-LabVIEW
Ukusebenzisana nesilawuli se-XD-M kanye nezixhumi ezixhunyiwetagfuthi kungenzeka ngePython, MATLAB, LabVIEW, C++ nanoma yiluphi olunye ulimi lokuhlela olusekela ukuthumela imiyalo ye-ASCII ngembobo (ebonakalayo) ye-COM. Izinhlelo zedemo ezitholakalayo zezilimi zokuhlela ezishiwo ngenhla. Amademo ahlanganisa imisebenzi yemiyalo yokunyakaza ethuthukisiwe, izimo zamaphutha, ukulawula izilungiselelo nokunye.
Yonke imitapo yolwazi iyatholakala kwethi webisayithi ngaphansi Okulandiwe.
Ukusekela
- Othintana naye: support@xeryon.com
- Ikheli: Diestsesteenweg 692, 3010 Leuven, Belgium
- Ucingo: +32 (0)16 903 904
- Webindawo: xryon.com
imibuzo ejwayelekile ukubuzwa
Q: Ingabe ngidinga ukushuna okuthuthukisiwe ukuze ngisetshenziswe okuqondile noma okuthambekele okunomthwalo okhokhelwayo ophezulu?
A: Yebo, ezimweni ezinjalo, ukushuna okuthuthukisiwe kungase kudingeke.
Oxhumana naye support@xeryon.com ukuze uthole usizo.
Q: Ngilawula kanjani njengetagusebenzisa i-Windows GUI?
A: Xhuma imbobo ye-COM efanele, layisha izilungiselelo_default.txt kunduku ye-USB, cindezela okuthi Thola Inkomba, bese ungakwazi ukulawulatage usebenzisa SCAN, ISINYATHELO, noma ukuya endaweni yasekhaya.
Q: Yiliphi izinga le-baud elisekelwa ukuxhumana?
A: Izinga le-baud lingafika ku-115200 ekuxhumaneni ne-XD-M.
Q: Yiziphi izicaciso ezibalulekile zesilawuli se-XD-M?
A: I-XD-M isekela amadivayisi afika kwangu-6 ngesikhathi esisodwa, inokulawula kwama-eksisi amaningi, futhi ifaka i-Windows GUI yokuhlola kalula.
Amadokhumenti / Izinsiza
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I-XERYON XD-M Controller [pdf] Incwadi Yeziqondiso XD-M Controller, XD-M, Controller |