Motion controller using stepper motor

Toothed belt axes ELGC-TB-KFThis drive is also available as a product unit as part of the Simplified Motion Series:Toothed belt axis ELGS-TB-KFAllied Automation800-214-03222d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guideKey featuresAt a glance• Optimal installation space to working space ratio• Protected against external influences by internal guide • Compact, integrated coupling, easy to service • Unique assembly system• Compact double bearing integrated in the axis to save space • Stainless steel cover strip kept in place with magnetic strips •Easy to clean and less susceptible to contaminationCompactFlexibleIntegratedProtectedOptimum dimensions thanks to the in-tegrated compact coupling and a very short slideAdapterless combination of ELGC and EGSC using the innovative "one size down" assembly systemSimple position sensing with proximity switch SMT-8M and integrated positioning magnetThe cover strip and optional vacuum connection protect against particle emissions and atmospheric pollutionModular and flexible with motor, motor mounting kit and servo drive Motor Servo drive Motor mounting kit Servo motorServo driveAxial kitStepper motor Motor controller for stepper motorParallel kitSimplicity in one unitThis product is also available as a product unit as part of the Simplified Motion Series:• The Simplified Motion Series combines the simplicity of pneumatics with the benefits of electric automation. The perfect solution for all users who are looking for an electric alternative for very simple movement and positioning tasks, but don't want the commissioning process for traditional electric drive systems that can often be quite complex.• Simplified functionality for simple movements between two end positions • A variety of movements with different mechanical systems • Integrated products eliminate the need for a control cabinet• Quick and easy commissioning without software or special expertise • Digital I/O and IO-Link integrated as standard32020/05 – Subject to changed Internet: /catalogue/...Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guideKey featuresFrom individual axis to complete handling system• The toothed belt and spindle axes ELGC and mini slide EGSC form a scalable modular system for compact automation• The shared platform architecture creates a consistent range with matching in-terfaces. A large number of systems can be realised entirely without adapter plates• Powerful drive and guide components ensure a long service life, as well as excellent load capacity and reliability• The uniform and universal range of accessories reduces warehousing and design costs• Two position sensing functions can be selected:– With magneto-resistive proximity switches (detection via integrated magnets)– With inductive proximity switches (detection via switch lug)The products for the handling system Spindle axis ELGC-BSToothed belt axis ELGC-TB Guide axis ELFC Mini slideEGSCTypical handling systemsFor applications where compact dimensions are essential, the axes ELGC can be combined into veryspace-saving handling systems that are suitable for assembly systems, test and inspection systems, small parts handling, the electronics industry and desktop applications. The very compact linear axes ELGC, mini slide EGSC and electric cylinder EPCC offer an optimal ratio between installation space and working space. They feature a common system approach and platform architecture and the connections are largely adapterless.Cantilever systemPlanar surface gantry3-dimensional gantryToothed belt axes ELGC-TB-KF, with recirculating ball bearing guideKey featuresMatrix showing combinations between axis ELGC/ELGS-TB, ELGC/ELGS-BS, mini slide EGSC/EGSS-BS, electric cylinder EPCC/EPCS-BS and guide axis ELFCMounting options with profile mounting and via angle kitWith profile mounting EAHF-L2-…-P-D…With angle kit EHAA-D-L2-…-APMatrix showing combinations between axis ELGC/ELGS-TB, ELGC/ELGS-BS, mini slide EGSC/EGSS-BS, electric cylinder EPCC/EPCS-BS and guide axis ELFC Assembly options with adapter kitWith adapter kit EHAA-D-L24d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guide Type codes5 2020/05 – Subject to change d Internet: /catalogue/...6d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guidePeripherals overview21345678910111272020/05 – Subject to changed Internet: /catalogue/...Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guidePeripherals overviewSealing air connectionAir is exchanged between the interior of the cylinder and the environment via a sealing air connection. This prevents negative pressure or excess pressure arising in the interior of the cylinder.Additional functions of the connection:• Application of slight negative pressure prevents emission of particles • Application of slight excess pressure prevents atmospheric pollution Suitable push-in fittings d page 268d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guideData sheet-N- Size 45 … 80-T- Stroke length200 … 2000 mm -É-801)At 0.2 m/s1)Note operating range of proximity switches1)Including slide1) At max. feed force92020/05 – Subject to changed Internet: /catalogue/...Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guideData sheetThe mass moment of inertia J A of the entire axis is calculated as follows:J A = J O + J H x working stroke [m] + J L x m payload [kg]HomingHoming can be carried out in two ways:• Against a fixed stop • Using a reference switchThe following values must be observed:MaterialsSectional view123456710d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guideData sheetCharacteristic load valuesThe indicated forces and torques refer to the centre of the guide. The point of application of force is the point where the centre of the guide and the longi-tudinal centre of the slide intersect.These values must not be exceeded during dynamic operation. Special attention must be paid to thedeceleration phase.Distance from the slide surfaceto the centre of the guideH- -NoteIf the axis is subjected to two or more of the indicated forces and torques simulta-neously, the following equation must be satisfied in addition to the indicated maximum loads:Calculating the load comparison factor:For a guide system to have a service life of 5000 km, the load comparison factor must have a value of fv š 1, based on the maximum permissible forces and torques for a service life of 5000 km.This formula can be used to calculate a guide value.The engineering software "PositioningDrives" is available for more precise calculations a F 1/M 1 = dynamic value F 2/M 2 = maximum valueffff vvvv =�FFFF yyyy 1�FFFF yyyy 2+|FFFF zzzz 1|FFFF zzzz 2+|MMMM xxxx 1|MMMM xxxx 2+�MMMM yyyy 1�MMMM yyyy 2+|MMMM zzzz 1|MMMM zzzz 2≤1Calculating the service lifeThe service life of the guide depends on the load. To be able to make a statement as to the service life of the guide, the graph below plots the load comparison factor fv against the service life.These values are only theoretical. You must consult your local Festo contact for a load comparison factor fv greater than 1.Load comparison factor f v as a function of service life lExample:A user wants to move an x kg load. Using the formula (apage 10) gives a value of 1.5 for the load comparison factor f v . According to the graph, the guidewould have a service life of approx. 1500 km. Reducing the acceleration reduces the Mz and My values. A load comparison factor f v of 1 now gives a service life of5000 km.Comparison of the characteristic load values for 5000 km with dynamic forces and torques of recirculating ball bearing guides The characteristic load values of the bearing guides are standardised to ISO and JIS using dynamic and static forces and torques. These forces and torques are based on an expected service life of the guide system of 100 km according to ISO or 50 km according to JIS.As the characteristic load values are dependent on the service life, the maximum permissible forces and torques for a 5000 km service life cannot be compared with the dynamic forces and torques of bearing guides to ISO/JIS.To make it easier to compare the guide capacity of linear axes ELGC with bearing guides, the table below lists the theoretically permissible forces and torques for a calculated service life of 100 km. This corresponds to the dynamic forces and torques to ISO.These 100 km values have been calculated mathematically and are only to be used for comparing with dynamic forces and torques to ISO. The drives must notbe loaded with these characteristic values as this could damage the axes.Feed force F as a function of input torque MELGC-TB-45ELGC-TB-60ELGC-TB-80 Second moment of areaMaximum permissible support spacing L (without profile mounting) as a function of force F In order to limit deflection in the case of large strokes, the axis may need to besupported.The following graphs can be used to determine the maximum permissible supportspacing l as a function of force F acting on the axis.The deflection is f = 0.5 mm.Force F ySize 45Size 60/80Force F zSize 45Size 60/80ELGC-TB-45ELGC-TB-60ELGC-TB-80Recommended deflection limitsAdherence to the following deflection limits is recommended so as not to impairthe functionality of the axes. Greater deformation can result in increased friction,greater wear and reduced service life.1) Includes a stroke reserve of approx. 3 mm1) Recommended screw-in depth1) Recommended screw-in depth-NoteH-Depending on the combination of motor and drive, it may not be possible to reach the maximum feed force of the drive.1) The input torque must not exceed the max. permissible transferable torque of the axial kit.Profile mounting EAHF-L2-…-P-SFor mounting the axis on the side of the profile•Material:Anodised wrought aluminium alloyRoHS-compliantToothed belt axes ELGC-TB-KF, with recirculating ball bearing guide AccessoriesProfile mounting EAHF-L2-…-P Material:Anodised wrought aluminium alloy RoHS-compliant • For mounting the axis on the side of the profile.The profile mounting can be attached to the mounting surface using the drillhole in the centre.21 2020/05 – Subject to change d Internet: /catalogue/...Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guide AccessoriesProfile mounting EAHF-L2-…-P-D… Material:Anodised wrought aluminium alloy RoHS-compliant • For axis/axis mounting without adapter plate• Mounting option: base axis with one-size-down assembly axis (apage 4)22d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guide AccessoriesAdapter kit EHAA-D-L2 Material:Anodised wrought aluminium alloy RoHS-compliant • For axis/axis mounting with adapter plate• Mounting option: base axis with same size or one-size-down assembly axis (a page 4)• When motors are mounted using parallel kits, this may lead to interfering contours. In this case, the adapter plate is required for height compensation (download CAD data a)23 2020/05 – Subject to change d Internet: /catalogue/...Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guide AccessoriesAngle kit EHAA-D-L2-…-AP Material:Anodised wrought aluminium alloy RoHS-compliant • For mounting one-size-down vertical axes (assembly axes) on base axes with mounting position "slide at top"(apage 4)24d Internet: /catalogue/...Subject to change – 2020/05Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guide AccessoriesSwitch lug EAPM-L2-SLSFor sensing using inductive proximity switches SIES-8M Material: Galvanised steelRoHS-compliantSensor bracket EAPM-L2-SH Material:Anodised wrought aluminium alloyRoHS-compliant25 2020/05 – Subject to change d Internet: /catalogue/...Toothed belt axes ELGC-TB-KF, with recirculating ball bearing guideAccessories1) Packaging unit26d Internet: /catalogue/...Subject to change – 2020/05Festo - Your Partner in AutomationConnect with us/socialmedia1Festo Inc.2Festo Pneumatic 3Festo Corporation 4Regional Service Center 5300 Explorer DriveMississauga, ON L4W 5G4CanadaAv. Ceylán 3,Col. Tequesquináhuac 54020 Tlalnepantla, Estado de México1377 Motor Parkway Suite 310Islandia, NY 117497777 Columbia Road Mason, OH 45040Festo Customer Interaction CenterTel:187****3786Fax:187****3786Email:*****************************Multinational Contact Center 01 800 337 8669***********************Festo Customer Interaction Center180****3786180****3786*****************************S u b j e c t t o c h a n g eAllied Automation800-214-0322。

TRINAMIC Motion Control GmbH & Co. KGHamburg, GermanyHardware Version V 1.10HARDWARE MANUAL+ +TMCM-12101-Axis steppercontroller/drivermax. 0.6A RMS / 24V DC STOP / HOME switch input hall sensorRS485++Table of contents1Life support policy (3)2Features (4)3Order codes (5)4Mechanical and Electrical Interfacing (6)4.1Dimensions and Mounting Holes (6)4.2Board mounting considerations (6)4.3Connectors (7)4.3.1Power, RS485 + HOME connector (8)4.3.2Motor connector (9)4.4Power supply (9)4.5RS485 (10)5Motor driver current (12)6On-Board LEDs (13)7Reset to Factory Default Values (13)8EMC considerations (14)9Operational Ratings (15)10Functional Description (16)11Revision History (17)11.1Document revision (17)11.2Hardware revision (17)12References (17)1Life support policyTRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.© TRINAMIC Motion Control GmbH & Co. KG 2015 - 2019Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.Specifications are subject to change without notice.2FeaturesThe TMCM-1210 is a highly compact 20mm x 20mm single axis stepper motor controller and driver board with RS485 interface. It has been designed in order to be mounted on the rear side of a NEMA8 (20mm flange size) stepper motor and offers an integrated hall-sensor based encoder IC in addition to a reference switch input for easy homing / search of reference position. The module supports motor currents up to 0.6A RMS and supply voltages up to 24V DC nominal. It is available with standard TMCL firmware and supports stand-alone operation (TMCL programs with auto-start stored on-board) and remote control via RS485 interface.MAIN CHARACTERISTICSMotion controller∙Motion profile calculation in hardware in real-time∙Motion controller supports linear and sixPoint™ ramps∙On the fly alteration of motor parameters (e.g. position, velocity, acceleration)∙High performance microcontroller (Cortex-M0+) for overall system control and serial communication protocol handlingBipolar stepper motor driver∙Up to 256 microsteps per full step∙Highly integrated and highly-efficient operation∙Dynamic current control∙stallGuard2™ feature for stall detectionInterfaces∙RS485 2-wire communication interface∙Digital input IN0 (+24V compatible), can be used as reference switch or left and/or right stop switch input, alsoOn board hall sensor∙Absolute sensor within one motor rotation∙12bit / 4096 steps / revolution max.∙Low-cost sensor - suitable for low velocity applications (few hundred rpm) –e.g. initial reference search (together with HOME sensor input) after power-upSoftware∙TMCL™ remote (direct mode) and standalone oper ation with memory for up to 876 TMCL commands∙Fully supported by TMCL-IDE (PC based integrated development environment)Electrical data∙Supply voltage: +7V… +30V DC∙Motor current: up to 0.6A RMS (programmable)Mechanical data∙Board size: 20mm x 20mm, overall height 9mm max. (without mating connectors and cables)∙Mounting holes compatible with NEMA 8 stepper motors (for mounting the board to the rear side of a NEMA8 stepper motor using two of the four existing screw)Please see separate TMCM-1210 Firmware Manual for additional information regarding firmware functionality and TMCL programming.3Order codesThe TMCM-1210 is available as:A cable loom set is available for this module, also:Table 3.2: Cable loom order code4 Mechanical and Electrical Interfacing4.1 Dimensions and Mounting HolesThe dimensions of the board are approx. 20mm x 20mm x 9 mm in order to fit on the back side of a 20mm (NEMA8) stepper motor. Maximum component height (height above PCB level) without mating connectors is around 6mm above PCB level and 2 mm below PCB level. There are two mounting holes for M2 screws for mounting to a NEMA8 stepper motor.2xFigure 4.1 Dimensions of TMCM-1210 and position of mounting holes (with comparison of size)4.2 Board mounting considerationsThe TMCM-1210 offers two metal plated mounting holes. Both mounting holes are connected to power supply ground. Please keep this in mind when mounting the board to the rear side of a motor.Figure 4.2: Example of TMCM-1210 mounted to NEMA 8 stepper motor4.3 ConnectorsThe TMCM-1210 offers two connectors including the motor connector which is used for attaching the motor coils to the electronics. The Power, RS485 and HOME connector is used for power supply, RS485 serial wire communication and offers one digital input.4115Power, RS485 + HOME connector HOME 5RS485+RS485-34VDD GND 12IN0STOP_L / STOP_R Motor connectorOA1OA234OB1OB212Figure 4.2 Overview connectorsOverview of connectors and mating connectors types:Table 4.1: Connectors and mating connectors, contacts and applicable wire4.3.1Power, RS485 + HOME connectorThe module offers one combined power, RS485 2-wire serial communication and digital input (HOME) connector (JST PH series).51Table 4.2: Power, RS485 + IN0 connector4.3.2 Motor connectorAs motor connector a 4pin JST PH-series 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics. 14Table 4.4: Motor connector 4.4 Power supplyFor proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1210 includes just about 20µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time.4.5RS485For remote control and communication with a host system the TMCM-1210 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network:1.BUS STRUCTURE:The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.termination resistor (120 Ohm)termination resistor (120 Ohm)Figure 4.6: Bus structure2.BUS TERMINATION:Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1210 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.3.NUMBER OF NODES:The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus.The bus transceiver used on the TMCM-1210 unit (SN65HVD3085E) has a significantly reduced bus load and allow a maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please note: usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication speed at the same time. Instead, a compromise has to be found between bus cable length, communication speed and number of nodes. MUNICATION SPEED:The maximum RS485 communication speed supported by the TMCM-1210 hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate TMCM-1210 TMCL firmware manual for information regarding other possible communication speeds below the upper limit in hardware.5.NO FLOATING BUS LINES:Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels.There are actually two options which can be recommended:Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both ends):termination resistor(120R)RS485- / RS485Btermination resistor (120R)RS485+ / RS485AFigure 4.7: Bus lines with resistor (Bias) network on one side, onlyOr add resistor (Bias) network at both ends of the bus (like Profibus™ termination):termination resistor (220R)RS485- / RS485BRS485+ / RS485A termination resistor (220R)Figure 4.8: Bus lines with resistor (Bias) network at both endsCertain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485 with bias network at one end of the bus).5Motor driver currentThe on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective scaling steps in hardware.Explanation of different columns in table below:Motor current setting in software (TMCL)These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current). They are used to set the run / standby current using the following TMCL commands:SAP 6, 0, <value> // set run currentSAP 7, 0, <value> // set standby current(read-out value with GAP instead of SAP. Please see separate TMCM-1210 firmware manual for further information)Motor currentI RMS [A]Resulting motor current based on motor current setting6On-Board LEDsThe board offers one LED in order to indicate board status. The function of the LED is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation.GREEN LEDFigure 6.1 On-board LED7Reset to Factory Default ValuesIn order to reset all settings (e.g. incl. address and RS485 baud rate) to factory default values please follow instruction sequence below:1.Switch OFF power supply.2.Short programming pads on bottom of PCB as shown in figure 7.1.3.Switch ON power supply (on-board LED should start flashing fast).4.Switch OFF power supply.5.Remove short circuit.Figure 7.1 Reset to factory default values (bottom view of pcb)8EMC considerationsThe TMCM-1210 contains ferrite beads on-board in line with the positive supply input and all 4 motor windings connections in addition to filter capacitors.Tests have shown that it is possible to meet Class B emission standards using the bare TMCM-1210 (motor and power connected) with the motor running slowly at maximum current (0.7A RMS) and +24V supply voltage without additional / external filters.Figure8.1:SetupwithTMCM-1210andattachedmotor(***************************/24Vsupply,stand-alone mode using on-board TMCL-autostart-program)Figure 8.2: measurement results (example)Please note that these measurement results using a bare TMCM-1210 unit with only motor and power supply connected do not imply any guarantee for a complete system with one or more integrated TMCM-1210 with meeting any emission limits.9Operational RatingsThe operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded!Table 9.1 General operational ratings of modulePERATIONAL RATINGS OF SWITCHTable 9.2 Operational ratings of HOME + STOP switches / IN0 inputsPERATIONAL RATINGS OF INTERFACETable 9.3: Operational ratings of RS485 interface10Functional DescriptionThe TMCM-1210 is a highly integrated controller/driver module which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 12V or 24V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible. The firmware of the module can be updated via the RS485 serial interfaces.In Figure 10.1 the main parts of the TMCM-1210 are shown:∙microprocessor, which runs the TMCL operating system (connected to TMCL memory),∙motion controller (part of TMC2130), which calculates ramps and speed profiles internally by hardware, ∙driver (part of TMC2130) with stallGuard2™ and its energy efficient coolStep™ feature and stealthCh o p™ for extremely quiet operation∙hall sensor based encoder which delivers position feedback at low speed (few 100rpm max.) – can be used for reference search e.g. after power-up7…Figure 10.1 Main parts of the TMCM-121011Revision History11.1D ocument revisionTable 11.1: Document revision11.2H ardware revisionTable 11.2: Hardware revision12References[JST] JST connector[TMC2130] TMC2130 datasheetManual available on [TMCL-IDE] TMCL-IDE User ManualManual available on .。

Rotary lifting modules EHMB, electric2d Internet: /catalogue/...Subject to change – 2022/09Rotary lifting modules EHMB, electricCharacteristicsAt a glanceThe rotary lifting module EHMB combines rotary and linear motion in one compact unit. The rotation motion is always transferred via a toothed belt to a hollow shaft by an electric motor while the linear motion is generated either by a pneumatic cylinder DSBC or an electric cylinder ESBF . Both movements act on the output flange.Cables and tubing can be easily routed to the front unit of the rotary lifting module through the large hollow shaft.The movement range can also be sensed using proximity switches at the rotary unit and the cylinder.Advantages:• Large hollow axis • Stable bearing• Various motors and cylinders ena-ble the performance to be adapted easily to the applicationThe technology in detail[1] Stop nut[2] Grooved shaft guide[3] Through-hole for mounting[4] Mounting threads/mounting holes[5] Output flange with centring and threaded holes for payload [6] Drive shaft for rotation [7] Cylinder holder[8]Rod eye and connecting bolt for linear motionFlexible connectionO topU underneath R = right V = front L = left H rear• The rotary lifting module EHMB can be mounted on 4 sides:– On the right or left of the housing (L, R)– On the front cover (V)– Underneath the housing (U)• The cylinder holder can be mounted on 3 sides:– On the right or left of the housing (L, R)– On the front, after removing the front cover (V)• The side where the cylinder holder is mounted cannot be used for mounting the rotary lifting module• A pneumatic standards-based cylinder DSBC or an electric cylinder ESBF can beattached to the cylinder holder. (These cylinders must be ordered separately)Rotary lifting modules EHMB, electric CharacteristicsComplete system consisting of rotary lifting module, motor and axial kitRotary lifting module aPage 6[1] Electric cylinder ESBF, alternatively standards-based cylinder DSBC1)[2] Protective conduit fitting1)[3] Shock absorber1)[4] Shock absorber retainer1)[5] Sensor bracket[6] Proximity switch SIEN1)[8] Motor for rotation1)1) These parts must be ordered separately as accessories.Motors aPage 17Servo motor EMME-AS, EMMT-ASStepper motor EMMS-STIntegrated drive EMCAH--NoteA range of specially matchedcomplete solutions is available forthe rotary lifting module EHMB andmotors.Motor controllers Data sheets aInternet: motor controllerServo motor controller CMMP-ASStepper motor controller CMMT-STMotor mounting kit a Page 17 Axial kitParallel kitComplete kits are available for bothparallel and axial motor mounting.3 2022/09 – Subject to change d Internet: /catalogue/...Rotary lifting modules EHMB, electricPeripherals overviewPeripherals overview4d Internet: /catalogue/...Subject to change – 2022/09Rotary lifting modules EHMB, electric Peripherals overview and type codes-NoteH-When routing electrical cables or compressed air tubing through the hollowshaft of the grooved shaft guide, the rotation angle of the EHMB must be limitedto a rotation angle appropriate to the cables or compressed air tubing.Infinite rotation damages cables and tubingType codes5 2022/09 – Subject to change d Internet: /catalogue/...Rotary lifting modules EHMB, electric Data sheet-N- Size20, 25, 32H--NoteAll values are based on a roomtemperature of 23°C.1) When the travel profile remains the same. The specifications apply only when the motor is directly mounted. If a gear unit is also installed, the repetition accuracy will be different2) Dependent on the encoder resolutionH--NoteThe connection between the drive forthe linear motion and the EHMB isnot backlash-free.1) Output torque minus friction is dependent on rotational speed2) At maximum rotational speed3) With symmetrical and non-eccentric configuration6d Internet: /catalogue/...Subject to change – 2022/0972022/09 – Subject to changed Internet: /catalogue/...Rotary lifting modules EHMB, electricData sheet1) These values specify the upper limit independently of what is determined using the inertia factor.2) The inertia factor represents the maximum controllable ratio between the inertia of the load and the intrinsic inertia of the motor with brake.Example:Rotary lifting module EHMB-20 a transmission ratio i = 4.5Motor EMME-AS-40-S with brake a intrinsic inertia 0.055 kgcm 2Gear unit EMGA-40-P-G3-40 a transmission ratio i = 3Limit for inertia of the load (+ intrinsic inertia) on output side:0.055 kgcm 2 x 45 x 32 x 4.52 = 451 kgcm2MaterialsSectional view123458d Internet: /catalogue/...Subject to change – 2022/09Rotary lifting modules EHMB, electricData sheetMaximum radial and axial force Fy/Fz at the output shaft as a function of distance x/z If the rotary module is simultaneously subjected to several forces, the follow-ing equation must be satisfied in addi -tion to the maximum loads indicatedbelow.F 1 = dynamic value F 2 = maximum valueMax. radial force Fy, dynamicMax. axial force Fx, dynamic, pushing and pullingEHMB-20EHMB-25EHMB-32|FF xx1|FF xx2+|FF yy 1|FF yy2+|FF zz1|FF zz2≤192022/09 – Subject to changed Internet: /catalogue/...Rotary lifting modules EHMB, electricData sheetDeflection f as a function of transverse load F and stroke l The following graphs show the deflec -tion f of the rotary lifting module underradial forces and with two strokes.FEHMB-20EHMB-25f [mm]F [N ]0.20.40.60.81 1.2 1.4 1.6 1.820100200300400500600f [mm]F [N ]0.20.40.60.811.21.41.62004006008000EHMB-32f [mm]F [N ]0.20.40.60.811.21.4200400600800100012000l = 10 mm l = 200 mm10d Internet: /catalogue/...Subject to change – 2022/09Rotary lifting modules EHMB, electricData sheetMax. velocity v as a function of payload m, in combination with the pneumatic standards-based cylinder DSBCMounting position:EHMB-20EHMB-25EHMB-32, with one shock absorber EHMB-32, with two shock absorbersPositioning time t as a function of the rotation angleáSize 20Example with servo motor EMMS-ASα[°]t [s ]45901351802252703153600.10.20.30.4Permissible rangeTypical operating range, depending on motor size and inertia of the load Non-viable rangeExample with stepper motor EMMS-STα[°]t [s ]45901351802252703153600.10.20.30.40.50Permissible rangeTypical operating range, depending on motor size and inertia of the load Non-viable rangePositioning time t as a function of the rotation angle áSize 25Example with servo motor EMMS-ASα[°]t [s ]45901351802252703153600.10.20.30.40.5Permissible rangeTypical operating range, depending on motor size and inertia of the load Non-viable rangeExample with stepper motor EMMS-STα[°]t [s ]45901351802252703153600.10.20.30.40.50Permissible rangeTypical operating range, depending on motor size and inertia of the load Non-viable rangePositioning time t as a function of the rotation angleáSize 32Example with servo motor EMMS-ASα[°]t [s ]45901351802252703153600.10.20.30.40.50.6Permissible rangeTypical operating range, depending on motor size and inertia of the load Non-viable rangeExample with stepper motor EMMS-STα[°]t [s ]45901351802252703153600.10.20.30.40.50.60.70.80.9Permissible rangeTypical operating range, depending on motor size and inertia of the load Non-viable range1) Tolerance for centring hole ±0.02 mmTolerance for thread ±0.1 mm-NoteH-2) The diameter can be reduced using a centring ring (included in the scope of delivery of the EHMB).Cylinder connection for linear motion Ordering data1) Ordering data a Internet: esbfMotor connection for rotary motionPermissible axis/motor combinations with axial kit – Without gear unit Data sheets a Internet: eamm-a1) The input torque must not exceed the maximum permissible transferable torque of the axial kit.-NoteH-Note the maximum permissibledriving torque of the EHMB.The motor current may need to belimited.Motor connection for rotary motionPermissible axis/motor combinations with axial kit – Without gear unit Data sheets a Internet: eamm-a1) The input torque must not exceed the maximum permissible transferable torque of the axial kit.-NoteH-Note the maximum permissibledriving torque of the EHMB.The motor current may need to belimited.Motor connection for rotary motionPermissible axis/motor combinations with axial kit – With gear unit Data sheets a Internet: eamm-a1) The input torque must not exceed the maximum permissible transferable torque of the axial kit.-NoteH-Note the maximum permissibledriving torque of the EHMB.The motor current may need to belimited.Permissible axis/motor combinations with axial kit – With gear unit Data sheets a Internet: eamm-a1) The input torque must not exceed the maximum permissible transferable torque of the axial kit.2) The axial kit can be retrofitted from IP40 to IP65 with the help of a seal set EADS-F. Additional information a eamm-a-NoteH-Note the maximum permissibledriving torque of the EHMB.The motor current may need to belimited.Rotary lifting modules EHMB, electric AccessoriesPermissible axis/motor combinations with axial kit – With gear unit Data sheets a Internet: eamm-a1) The input torque must not exceed the maximum permissible transferable torque of the axial kit.2) The axial kit can be retrofitted from IP40 to IP65 with the help of a seal set EADS-F. Additional information a eamm-a-NoteH-Note the maximum permissibledriving torque of the EHMB.The motor current may need to belimited.21 2022/09 – Subject to change d Internet: /catalogue/...Rotary lifting modules EHMB, electric AccessoriesRod eye SGSScope of delivery:1 rod eye, 1 hex nut to DIN 439 Material:Galvanised steel1) Packaging unit22d Internet: /catalogue/...Subject to change – 2022/09232022/09 – Subject to changed Internet: /catalogue/...Rotary lifting modules EHMB, electricAccessories1) Packaging unit2) a Dimensional drawing on page 14H- -NoteThe retaining bracket for the proximi-ty switch SIEN is included in the scope of delivery of the rotary lifting module.Rotary lifting modules EHMB, electric AccessoriesAdapter kit EHAM Material:Wrought aluminium alloyFree of copper and PTFERoHS-compliantH--NoteThe kit includes the individualmounting interface as well as thenecessary mounting material.1) Corrosion resistance class CRC 2 to Festo standard FN 940070Moderate corrosion stress. Indoor applications in which condensation can occur. External visible parts with primarily decorative surface requirements which are in direct contact with a normal industrial environment.24d Internet: /catalogue/...Subject to change – 2022/09Festo - Your Partner in AutomationConnect with us/socialmedia 1Festo Inc.2Festo Pneumatic 3Festo Corporation 4Regional Service Center 5300 Explorer DriveMississauga, ON L4W 5G4CanadaAv. Ceylán 3,Col. Tequesquináhuac 54020 Tlalnepantla, Estado de México1377 Motor Parkway Suite 310Islandia, NY 117497777 Columbia Road Mason, OH 45040Festo Customer Interaction CenterTel:187****3786Fax:187****3786Email:*****************************Multinational Contact Center 01 800 337 8669***********************Festo Customer Interaction Center180****3786180****3786*****************************S u b j e c t t o c h a n g e。

摘要采用数控车床控制系统进行机械加工具有加工精度高、生产效率高、改善劳动力条件、利于生产管理现代化的特点，极大满足对产品多样化的需求。

论文以数控车床为研究对象，对其基于PLC的控制系统进行了设计。

主要有一下几点内容：（1）提出了基于PLC数控车床的控制系统设计的总体方案：伺服驱动控制系统设计方案、联动控制设计方案等。

简单的地进行了对数控车床的主要机械结构、控制系统结构以及数控车床工作原理和流程介绍；（2）较为详细地进行了数控车床控制的设计，其中包括元器件选则，硬件电路设计，和相关模块的接线，如运动控制器的接线，PLC配线等以及PLC对步进电机、主轴电机、电路报警的程序设计；（3）采用Matlab进行对本次设计中的进给系统进行仿真，进行了模型的建立，仿真数据的分析。

关键词：PLC；数控车床；控制系统；仿真AbstractThe machining operation employs CNC lathe control system, and with the features of high precision, high production efficiency, improved labor conditions, conducive to production and modern management, which can greatly meet the diverse needs of the product.The study object of this paper is CNC lathe, and the main contents of its PLC-based control system designs are as following:the overall design program of PLC-based CNC lathe control system: design programme of servo drive control system, design programme of linkage control. A brief introduction about CNC lathe mechanical structure, control system structure as well as CNC lathe working principle and process are given;Give a detailed introduction on CNC lathe control design, including the components selection, hardware circuit design, wiring with related modules, such as motion controller wiring, PLC wiring as well as PLC program design on stepper motor, spindle motor and circuit alarm;To simulate the feed system by using Matlab, establish model, and carry out the analysis ofthe simulation data.Keywords: PLC; CNC lathes; control system; simulation目录摘要 (I)ABSTRACT (II)目录 (V)1 绪论 (1)1.1数控系统的发展 (1)1.1.1 国外数控系统发展 (1)1.1.2 国内数控发展 (1)1.2数控加工的意义 (2)1.3PLC在数控车床上功用、优点 (3)1.4课题研究背景及意义 (4)1.4.1 研究意义 (4)1.4.2 研究内容 (4)2 基于PLC数控车床控制系统的设计方案 (5)2.1数控车床简介 (5)2.1.1数控车床机械结构 (5)2.1.2 控制系统的组成 (5)2.1.3数控车床工作原理和流程 (6)2.2控制系统设计流程 (6)2.2控制系统设计方案 (6)2.2.1伺服驱动控制系统设计方案 (6)2.2.2联动控制设计方案 (7)2.2.3主轴控制系统设计方案 (8)2.3数控车床控制系统关键技术 (9)2.4本章小节 (10)3 基于PLC数控车床控制系统的设计 (11)3.1.器件选择 (11)3.2硬件电路设计 (12)3.2.1 主电路设计 (12)3.2.2 供电电源电路 (13)3.2.3供电电源接线 (14)3.2.4交流控制电路 (15)3.2.5直流控制电路 (16)3.2.6步进电机驱动电路设计 (18)3.2.7 运动控制器设计 (18)3.2.8 PLC配线设计 (20)3.3软件设计 (21)3.3.1 P LC对步进电机控制程序设计 (21)V3.3.2 PLC对主轴电机控制程序设计 (23)3.3.3PLC故障报警设计 (25)3.4本章小结 (26)4 基于MATLAB的仿真设计 (27)4.1M ATLAB介绍 (27)4.2建立系统仿真模型 (27)4.3仿真结果及分析 (27)4.4本章小结 (28)5 结论与展望 (29)5.1结论 (29)5.2不足之处及未来展望 (29)致谢 (30)参考文献 (31)基于PLC的数控车床控制系统的设计1 绪论1.1 数控系统的发展数控系统（numerical control system）是数字控制系统的简称，它是机械运动及加工过程进行数字化信息控制的所具备相应的硬件和软件的总和。

⏹EZ17⏹EZHR23⏹EZHR17⏹EHR17ENYou will need:Your EZStepper® Controller/Driver and stepper motor. RS485 Converter: USB-to-RS485 or RS232-to-RS485, withcable supplied.PC with port to match RS485 Converter being used (USB or serial D). .Power supply, 12 to 40V. For first-time EZStepper users we recommend a current-limited power supply to protect against miswiring.Crimp tool (recommended): T-handle crimp tool, Digikey part A9982. Otherwise, soldering equipment.Small Philips screwdriver for operating address switch If troubleshooting is required: ohmeter, oscilloscopePrecautionsObserve all electrostatic discharge precautions to avoiddamaging circuit boards.Allow at least 0.1" air gap when bolting EZStepper to motor, for cooling.Use 4-40 round standoffs to bolt EZStepper to motor, NOT hex (Hex standoffs will touch components).DO NOT disconnect motor wires while power is on, to avoid damage to circuit board.DO NOT place EZStepper board or RS485 Converter on metal surface when powered (to prevent shorts). Avoid bundling encoder or IO wires with motor power wires, as this may cause noise pickup from motor wires. If bundling is necessary, put motor wires in a separate shielded twisted-pair cable.-For 10' or longer, shield each IO line individually. -If using ribbon cable, add grounds between signal wires and motor wires.Start with power supply OFF.1. Download and install the EZCommander™ application from/support.2. If using USB-to-RS485 Converter, download and install appropriate USBdriver from /support.3. Connect power supply to RS485 Converter. Ensure power is OFF.4.Connect EZ Stepper to RS485 converter.If using EZ Start kit, use cable provided. If not using kit, wire mating4-pin connectors pin-to-pin per the markings on the connector, for example pin A to pin A. (See Wiring Note below.)Turn power ON. Confirm that green Life LED slowly blinks. If not, look for bad power connection.5. Set address switch firmly to number 1 with Philips screwdriver.6. Cycle power OFF/ON if address switch was moved in preceding step.7. With USB cable from Converter to PC unplugged : Start the EZCommanderapplication (see other side of sheet for instructions if needed). Click Settings, then Re-scan Ports. Note available ports, then click OK.8. Connect RS485 Converter to a PC USB port with the cable supplied.9.In EZCommander, click Settings, then Re-Scan Ports. Select the new port that becomes available, and click OK. (For RS232 converter, the new port will be com1.) If no new port appears, a problem with the USB driver is indicated. Re-install the driver for your system.10. In EZCommander, click Send String 0 to issue the command /1&. Confirmreturn message showing product name and firmware version. If return message says “No EZStepper Found”, troubleshoot communications (page 2) before connecting motor.11. With power OFF , connect stepper motor to middlefour pins of the motor connector as shown indiagram. (See Wiring Note below.) If using unipolarmotor, leave center taps unconnected.STEPPERMB MBMA MA"MA" and "MB" are marked on bottom CAUTION!Always turn off power before connecting or disconnecting motor NOTE: If using RS232 Converter, disregard instructions for USB.Computer PortFor these products Starting upMake sure address switch is detented exactly on position number 1.(After resetting, power must be cycled to establish new address.) Re-check that correct com port is selected.Confirm good ground between PC and negative terminal of powersupply. First, measure resistance with power off; then check for voltage drop with power on. Repair poor ground connections.Issue command /1& and verify that a response identifying the product and firmware version is received. If ok, motor connection may be miswired or loose. If not ok, re-install USB driver. Continue to next item if not resolved. Check continuity of communication data to EZStepper board at point 1 in diagram below. If not present, check at other points indicated. Suspect failed component or faulty wiring/connector between point If motor does notrespond to commands:If motor misses steps at high speed:Increase either the Move current or the supply voltage.To increase Move current, issue an "m" for Fast Move Current and/or "l" command (lower case L) for Slow Move Current. Example: /1m75 = set current to 75% max.Step misses typically happen in the middle of a move, where the motor "catches" in the beginning and end, but stalls in the middle.If motor direction is not consistent:Check that coils of motor are securely connected at both ends.This is typically caused when one of the coils has a loose connection.NOTE: If using RS232 Converter, disregard instructions for USB.2 Click the Settings button to open the Communications window.• Click Re-Scan Ports; note available ports; then click OK to close.1 Open EZCommander.3 Plug USB cable into the PC.• Click Settings button, then Re-scan Ports. A new comm port will become available (will be com1 if using RS232 Converter).• Select the newly available comm port and click OK to close the Communications Window.Command strings ↑Return messages ↑4 Issue commands :• Enter string in a left-hand field.• Press adjacent Send String button to issue command.• See return message in field to right.NOTE: USB cable is disconnected for this step.Troubleshooting。

TRINAMICTRINAMIC – SMART SOLUTIONS FORMOTION CONTROLTRINAMIC is a fabless semiconductor company and serves the market withself developed integrated circuits for the control of small electrical motors ina wide variety of applications. TRINAMIC’s integrated circuits are manufacturedto the highest standards in the world’s most advanced manufacturing plants.2TRINAMIC PRODUCT GUIDE3TRINAMIC PRODUCT GUIDEWhile the competition often comes from semicon-ductor technology and focuses on it, TRINAMIC is at home in both worlds – the world of motors and the world of IC design.The products – whether they are IC s, modules or the mechatronic systems (PAN drive TM ) – are in use all over the world and are selected because of their superior price/performance ratio.Applications are everywhere, where small motors are deployed and the growth of such small drives is increasing rapidly. In growing markets like biotech, medical, lab automation, semiconductor handling, TRINAMIC IC s control complex devices with dozens of axis.Traditional industries that are undergoing a para- digm change and are replacing complex mechanics by decentralized solutions that are synchronized via bus systems, count on TRINAMIC : Examples are the textile machines and furniture manufac-turing equipment.Close to the market, TRINAMIC continuously develops new products with innovative features, driven by the customers need for a higher degree of miniaturization, higher efficiency, diagnostics, and protection to enable the reliability of the complete system.TRINAMIC customers benefit from our encompass-ing knowledge about motor physics and from the extensive library of application knowledge which the company has built over the years. For custom-ers, TRINAMIC s application driven approach means that they do not need an indepth knowledgeabout motors, DSPs, or control circuitry in general. Consequently, the design phase saves the labor and costs.TRINAMIC also offers complete modules, includinghardware and software for specific motor control requirements. The modules combine TRINAMIC ’s dedicated stepper control and driver IC s with extensive experience in designing custom and off-the-shelf motion control solutions.TRINAMIC makes the difference!TRINAMICsensOstep TM sensOstep TM is based on a magnetic angularposition encoder system with low to mediumresolution for PAN drive TM mechatronic solutions. Itconsists of a small magnet positioned at the backend of a stepper motor axis and a Hall-sensor ICwith integrated digital signal processing (e.g. forautomatic gain control, temperature compensationetc.) placed above the magnet on the back side of a motor mounted printed circuit board. Startingat resolutions of 8 bit (256 steps) per revolution – which is completely sufficient for detecting step losses with standard 1.8° stepper motors – it is currently available with up-to 12bit (4096 steps). This increased resolution is sufficient for regaining position after step-loss for many applications with-out requiring any additional reference procedure.stallGuard TM TRINAMIC’s patented sensorless stall detectionstallGuard TM enables customers to detect mechani-cal overload conditions and stall conditions with-out external sensors, by measuring the load at apredefined point where a step loss has not yetoccurred. Thus, eliminates the need for reference or end switches. This reduces cost and complex-ity of applications, where a reference point is required. When compared to pure mechanical referencing, stress on the mechanic and noise is reduced.chopSync TM The patented chopSync TM feature allows veryhigh velocity operation of stepper motors usingthe standard TRINAMIC [stepper motor] driversTMC236, TMC239, TMC246 and TMC249. This isachieved by reducing resonances occurring when operating the motor at velocities where the EMF voltage exceeds the level of the supply voltage. With chopSync TM, motor velocities of several 1000 RPM can be reached.TMCL TM TMCL TM – the TRINAMIC Motion Control Language – is a programming language dedicated to motioncontrol applications. The software includes com-mands for moving one or more motor axes atcertain velocities or to certain positions and forsetting all relevant parameters of the motion con-troller. It is possible to access additional general purpose digital and analog inputs and outputs. TMCL TM is available on most TRINAM IC modules with integrated motion controller. Program de-velopment is supported by the TMCL-IDE – a PC based integrated development environment which is available free of charge.stallGuard2TM Improved version of the successfull stallGuard™feature. stallGuard2™ is the world’s first sensor-less high resolution load detection implementedin a standard stepper motor driver. This gives theuser easy and cost effective real time feedback of his application. It enables to scan the motion system without additional sensors. This can help to find the right motor and mechanics during development phase or to detect abrasion or mechanical stiffnesscoolStep TM Sensorless load dependent current control usingthe stallGuard2™ feature. First time coolStep™enables to drive a stepper motor in a energy ef-ficient way. Up to now stepper motors are drivenwith constant current. The new TMC260, TMC261and TMC262 stepper motor driver series detects the actual load of the motor and adjusts the current accordingly. This eliminates the security current margin and allow also to boost the motor avoiding stall and step loss to improve the reli-ability of the entire system.spreadCycle New patent pending constant Toff chopperscheme. Using the spreadCycle chopper the µStepcurrent sine wave is always well formed witha smooth zero crossing. Due to this effect the stepper motor can be driven very fast without resonance effects. All the coolStep™ drivers are using this new technology.hallFX TM hall FX TM generates back EMF based hallsensor like signals for the sensorless commutation of BLDC(also two phase motor when using 2 TMC603 asgate driver) motors. hall FX TM can be easily integrat-ed into your drive, since it directly emulates hall sensors and does not require complex software components to be added to your controller.5TRINAMIC PRODUCT GUIDE6TRINAMIC PRODUCT GUIDELONG LIFE AVAILABILIT YTRINAMIC offers lifecycles of up to 10years for almost all of our products, which reduces costs of re-designing, re-qualification and re-certifying for our customers. This does not only save valuable resources but reduces time-to-market.QUALIT YToday TRINAMIC has strategic allianceswith partners to ensure access to the latest technologies and processes.TRINAMIC is ISO 9001:2000 certified by Ger-manischer Lloyd and EN ISO 13485 certified for “Medical Components” by Medcert.The EtherCAT Technology Group is a global organization in which OEM, End Users and Technology Providers join in order to support and promote the tech-nology development. EtherCAT sets new standards for real-time performance and topology flexibility, whilst meeting or undercutting field bus cost levels.Our engineering team and customer service offers: f High-level specification, -jointly with customer f Technical specification and system architecture f IC s and PCB in-house design f Software development f Fast prototypingf Testing and qualification f Logistic warehousef After sales & technical supportf Online support forum: /ttdg f RMA repairTRINAMIC MEMBERSHIPSTRINAMICs ambitions are to commence different innovation platforms, where various industries and leading suppliers join forces to support, promote and advance the technology.TRINAMIC is member of the following organizations:RESPONSIBILITY –PROVIDED BY TRINAMIC7TRINAMIC PRODUCT GUIDECiA is the international users’ andmanufacturers’ group that develops and supports CANopen and other CAN-based higher-layer protocols. The nonprofit group was founded in 1992 to provide CAN-based technical, product and market-ing information.www.can-cia.de INNOMAG is an innovate platform for Magnetic Microsystems that combines the interests and potentials of manufacturers, service providers and users in a network. The target is to develop applications of magnetic Microsystems and nanotech-nologies in Germany. TRINAMIC GREENWe refer to the Directive 2002/95/EC of the European Parliament and the Council on the Restriction of the use of certain Hazardous Substances in electrical and electronic equipment. That means, all electrical and electronic equipment put on the market by TRINAMIC does not contain lead, mercury,cadmium, hexavalent chromium, polybromiated biphenyls (PBB ) or polybromiated diphenyl ethers (PBDE ) in terms of the RoHS Directive.COOPERATION8TRINAMIC PRODUCT GUIDE* also two phase motor when using 2 TMC60x as gate driverMOTION & INTERFACE CONTROLLERBLDC DRIVER WITH BACK-EMF SUPPORT, PROTECTION AND CURRENT MEASUREMENTINTEGRATED MOTION CONTROLLER AND DRIVER FOR STEPPER MOTORS9TRINAMIC PRODUCT GUIDEPOWER DRIVER FOR STEPPER MOTORSS/D Step/Direction10TRINAMIC PRODUCT GUIDEBL DC MOTOR CONTROLLER/DRIVERPIEZO MOTOR DRIVER11TRINAMIC PRODUCT GUIDESTEPPER MOTOR DRIVERS/D Step/Direction12TRINAMIC PRODUCT GUIDETMCM-1060TMCM-1180STEPPER MOTOR DRIVER + CONTROLLER WITH COOLSTEP™13TRINAMIC PRODUCT GUIDE14TRINAMICPRODUCT GUIDE STEPPER MOTOR CONTROLLER/DRIVERS/D Step/Direction15TRINAMICPRODUCT GUIDE*1) optional with additional TMCM-323*2) General Purpose16TRINAMIC PRODUCT GUIDEPANdrives TM WITH STEPPER MOTORS/D Step/Direction17TRINAMICPRODUCT GUIDEPANdrives TM WITH BLDC MOTORBIPOLAR HYBRID STEPPER MOTORSDisclaimerTRINAMIC reserves the right to make changes in the device or specifications described herein without notice. Information in this document is subject to change without notice.Please refer to the corresponding data sheets available on or on CD for detailed information. Any copying, disclosing or otherwise making use of the information is strictly prohibited.Life Support PolicyTRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.Copyright 2011Printed in Germany18TRINAMIC PRODUCT GUIDE19TRINAMIC PRODUCT GUIDEBRUSHLESS DC MOTOR WITH INTEGRATED HALL SENSORSVERSION 2.0 2011TRINAMIC Motion Control GmbH & Co. KGWaterloohain 5 • 22769 Hamburg • Germany。

伺服驱动英语专业术语《伺服驱动英语专业术语》引言：伺服驱动是现代工业中应用广泛的关键技术之一，具有精确控制、高效运动和稳定性等优势。

为了更好地理解和使用伺服驱动技术，掌握相关专业术语是必不可少的。

本文将介绍一些常用的伺服驱动英语专业术语，以帮助读者更好地学习和研究该领域。

一、伺服驱动系统常用术语：1. Servo Drive：伺服驱动2. Servo Motor：伺服电机3. Feedback Device：反馈装置4. Encoder：编码器5. Resolver：转角传感器6. Stepper Motor：步进电机7. Closed-loop Control：闭环控制8. Open-loop Control：开环控制9. Torque：扭矩10. Speed Control：速度控制11. Position Control：位置控制12. Motion Control：运动控制二、伺服驱动技术常用术语：1. Pulse Width Modulation (PWM)：脉宽调制2. Gain：增益3. Proportional-Integral-Derivative (PID) Control：比例积分微分控制4. Feedforward：前馈控制5. Inertia：惯性6. Damping：阻尼7. Backlash：间隙8. Gear Ratio：传动比9. Closed-loop Gain：闭环增益10. Phase Compensation：相位补偿11. Velocity Profile：速度曲线12. Lead-lag Compensation：前导-滞后补偿三、伺服驱动通信协议常用术语：1. CAN Bus (Controller Area Network)：控制器局域网2. Modbus：现场总线通信协议3. EtherCAT (Ethernet for Control Automation Technology)：以太网实时控制技术4. Profibus：连续处理传送技术5. DeviceNet：设备网络6. RS-485：串行通信接口标准结论：掌握伺服驱动英语专业术语对于学习和理解伺服驱动技术至关重要。

自动化专业英语词汇表自动化专业是应用一系列科学技术和方法，通过使用自动控制系统和自动装置，使生产过程自动进行的一门学科。

在这个专业中经常会遇到一些与自动化相关的英语词汇，下面是一个自动化专业英语词汇表，供大家参考。

一、控制系统相关词汇1.1 控制系统 - Control System1.2 自动控制 - Automatic Control1.3 反馈控制 - Feedback Control1.4 前馈控制 - Feedforward Control1.5 PID控制 - PID Control1.6 闭环控制 - Closed-loop Control1.7 开环控制 - Open-loop Control1.8 控制器 - Controller1.9 传感器 - Sensor1.10 执行器 - Actuator1.11 控制信号 - Control Signal1.12 输出信号 - Output Signal1.13 输入信号 - Input Signal1.14 控制策略 - Control Strategy1.15 控制精度 - Control Accuracy二、自动化设备相关词汇2.1 自动装置 - Automatic Device 2.2 自动机械 - Automated Machinery 2.3 机器人 - Robot2.4 运动控制 - Motion Control2.5 伺服系统 - Servo System2.6 步进电机 - Stepper Motor2.7 传动装置 - Transmission Device 2.8 传动比 - Gear Ratio2.9 电气驱动 - Electrical Drive2.10 液压驱动 - Hydraulic Drive2.11 气动驱动 - Pneumatic Drive 2.12 PLC程序 - PLC Program2.13 HMI界面 - HMI Interface2.14 人机交互 - Human-Machine Interaction2.15 自动化线 - Automation Line三、控制算法相关词汇3.1 模糊控制 - Fuzzy Control3.2 神经网络控制 - Neural Network Control 3.3 遗传算法 - Genetic Algorithm3.4 自适应控制 - Adaptive Control3.5 模型预测控制 - Model Predictive Control 3.6 最优控制 - Optimal Control3.7 鲁棒控制 - Robust Control3.8 软件开发 - Software Development3.9 编程语言 - Programming Language3.10 程序调试 - Program Debugging3.11 系统优化 - System Optimization3.12 数据采集 - Data Acquisition3.13 实时控制 - Real-time Control3.14 开发工具 - Development Tool3.15 算法设计 - Algorithm Design四、自动化监控相关词汇4.1 监控系统 - Monitoring System 4.2 故障诊断 - Fault Diagnosis4.3 警报系统 - Alarm System4.4 远程监控 - Remote Monitoring 4.5 数据分析 - Data Analysis4.6 数据可视化 - Data Visualization 4.7 运行状态 - Operating Status4.8 故障报警 - Fault Alarm4.9 监控设备 - Monitoring Equipment 4.10 实时监测 - Real-time Monitoring 4.11 数据记录 - Data Logging4.12 故障排除 - Trouble Shooting 4.13 监测指标 - Monitoring Index 4.14 运行参数 - Operating Parameters 4.15 监测报告 - Monitoring Report总结：以上是自动化专业英语词汇表，涵盖了控制系统、自动化设备、算法和监控等多个方面的词汇。

中英文对照外文翻译文献(文档含英文原文和中文翻译)原文：Intelligent vehicle is a use of computer, sensor, information, communication, navigation, artificial intelligence and automatic control technology to realize the environment awareness, planning decision and automatic drive of high and new technology. It in aspects such as military, civil and scientific research has received application, to solve the traffic safety provides a new way.With the rapid development of automobile industry, the research about the car is becoming more and more attention by people. Contest of national competition and the province of electronic intelligent car almostevery time this aspect of the topic, the national various universities are also attaches great importance to research on the topic, many countries have put the electronic design competition as a strategic means of innovative education. Electronic design involving multiple disciplines, machinery and electronics, sensor technology, automatic control technology, artificial intelligent control, computer and communication technology, etc., is a high-tech in the field of many. Electronic design technology, it is a national high-tech instance is one of the most important standard, its research significance is greatThe design though just a demo model, but is full of scientific and practical. First we according to the complex situation of road traffic, in accordance with the appropriate author to make a road model, including bend, straight and pavement set obstacles, etc. On curved and straight, the car along the orbit free exercise, when the small car meet obstacles, pulse modulation infrared sensors to detect the signal sent to the microcontroller, a corresponding control signal according to the program MCU control cars automatically avoid obstacles, to carry on the back, forward, turn left, turn rightSubject partsIntelligent vehicle is a concentration of environment awareness, planning decision, multi-scale auxiliary driving, and other functions in an integrated system, is an important part of intelligent transportation system.In military, civilian, space exploration and other fields has a broad application prospect. The design of smart car control system are studied, based on path planning is a process of the intelligent car control system2.1 theory is put forwardThe progress of science and technology of intelligent led products, but also accelerated the pace of development, MCU application scope of its application is increasingly wide, has gone far beyond the field of computer science. Small to toys, credit CARDS, big to the space shuttle, robots, from data acquisition, remote control and fuzzy control, intelligent systems with the human daily life, everywhere is dependent on the single chip microcomputer, this design is a typical application of single chip microcomputer. This design by implementing the driverless car, on the tests, by the reaction of the single chip microcomputer to control the car, make its become intelligent, automatic forward, turn and stop function, after continuing the perfection of this system also can be applied to road testing, security patrol, can meet the needs of society.In design, the use of the sensors to detect road surface condition, sensor central sea are faint and adopts a comparing amplifier amplification, and the signal input to the controller, the controlled end using stepper motor, because of the step motor is controlled electrical pulse, as long as the output from the controller to satisfy stepper motor merits of fixed control word. In operation of stepping motor and a drivingcircuit, it also to join a drive circuit in the circuit, each function module is different to the requirement of power supply current, the power supply part set up conversion circuit, so as to meet the needs of the various parts. After comparison choice element, design the circuit principle diagram and the circuit board, and do the debugging of hardware, system software and hardware is often the combination of organic whole. Software, on the use of the 51 single-chip timer interrupt to control pavement test interval and the car movement and speed. Due to take that road is simple, it is using more traditional assembly language for programming. For the correctness of the program design, using a commonly used keil c51 simulation software simulation validation, the last is integrated debugging of software and hardware, and prove the correctness and feasibility of the design scheme.2.2 electronic intelligent car design requirements(1) electric vehicles can be able to according to the course to run all the way; (2) electric vehicles can store and display the number of detected metal and sheet metal to the starting line in the distance; (3) are accurately electric cars after exercising all the way to the display of the electric vehicle the entire exercise time; (4) electric cars can't collisions with obstacles in the process of exercise.2.3 the general conception of computer network teaching websiteUsing 89 c51 as the car's control unit, sensor eight-way from outside,in the front of the car, as a black belt in the process of the car into the garage detecting element, at the rear end of the car when connected to eight-channel infrared sensors as the car pulled out of the garage of a black belt in detecting element, the LJ18A3-8 - Z/BX inductive proximity switch as garage iron detecting element, the microcontroller after receiving sensor detects the signal through the corresponding procedures to control the car forward, backward, turn, so that the car's performance indicators meet the requirements of the design.Intelligent car is a branch of intelligent vehicle research. It with the wheel as mobile mechanism, to realize the autonomous driving, so we call it the smart car. Smart car with the basic characteristics of the robot, easy to programming. It with remote control car the difference is that the latter requires the operator to control the steering, start-stop and in a more advanced remote control car can also control the speed (common model car belong to this type of remote control car); The smart car Is to be implemented by computer programming for the car stop, driving direction and speed control, without human intervention. Operator the smart car can be changed by a computer program or some data to change its drive type. This change can be controlled through programming, the characteristics of the car driving way is the biggest characteristic of smart car. The control system of smart car research purpose is to make the car driving with higher autonomy. If any given car a path, through the system,the car can get system for path after image processing of data moving and Angle (a), and can be scheduled path, according to the displacement and Angle information.The control system structure analysisAccording to the above design idea, the structure of the intelligent car control system can be divided into two layers1, the planning layerPC control system, the planning layer provides the information of the whole car driving, including path processing module and communication module. It has to solve the basic problem(1) using what tools to deal with the car path graph;(2) the car movement model is established, the data to calculate the car driving;(3) set up the car's motion model, the data to calculate the car driving;Layer 2, behaviorLower machine control system, the behavior is the underlying structure of a smart car control system, realize the real-time control of the car driving, it includes communication module, motor control module and data acquisition module. It to solve the basic problems are:(1) receiving, processing, PC sends data information;(2) the design of stepping motor control system;(3) information collection and the displacement and Angle of the car, car positioning posture, analysis system control error;The total design schemeSmart car control system are obtained by system structure, order process:(1) start AutoCAD, create or select a closed curve as the cart path, pick up the car starting $path graph(2) to choose the path of the graphics processing, make the car turning exist outside the minimum turning radius of edges and corners with circular arc transition(3) to generate a new path to simulate the motion process of car;(4) to calculate the displacement of the car driving need and wheel Angle, and then sends the data to the machine(5) under the machine after receiving data, through software programming control the rotation speed and Angle of the car wheels and make it according to the predetermined path A complete control system requirements closely linked to each function module in the system, according to the order process and the relationship between them, the total design scheme of the system is available.Design of basically has the following several modulesPart 1, the information acquisition module, data collection is composed of photoelectric detection and operation amplifier module,photoelectric detection were tracing test and speed test of two parts. To detect the signal after budget amplifier module lm324 amplifier plastic to single chip, its core part is several photoelectric sensor.2, control processing module: control processing module is a stc89c52 MCU as the core, the microcontroller will be collected from the information after the judgement, in accordance with a predetermined algorithm processing, and the handling results to the motor drive and a liquid crystal display module, makes the corresponding action.3, perform module: executable module consists of liquid crystal display (LCD), motor drive and motor, buzzer of three parts. LCD is mainly based on the results of single chip real-time display, convenient and timely users understand the current state of the system, motor driver based on single chip microcomputer instruction for two motor movements, can according to need to make the corresponding acceleration, deceleration, turning, parking and other movements, in order to achieve the desired purpose. Buzzer is mainly according to the requirements in a particular position to make a response to the report.译文一、引言智能车辆是一个运用计算机、传感、信息、通信、导航、人工智能及自动控制等技术来实现环境感知、规划决策和自动行驶为一体的高新技术综合体。