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Fa'amatalaga Fa'amatalaga
| Aitema | Fa'amatalaga |
|---|---|
| Numera Vaega | MHMD082G1U |
| Fa'amatalaga | maualuga inertia, ituaiga uaea ta'ita'i, IP65 |
| Suafa Aiga | MINAS A5 |
| Fa'asologa | MHMD Fa'asologa |
| Ituaiga | maualuga inertia |
| Vasega puipuiga | IP65 |
| E uiga i le Enclosure | Se'i vagana le vaega feliuliua'i o le 'au fa'aulu ma le pito uaea. |
| Tulaga Siosiomaga | Mo nisi fa'amatalaga, fa'amolemole va'ai ile tusi fa'atonuga. |
| Fusi sikuea sikuea | 80 mm sq. |
| Fusi sikuea sikuea (Iunite:mm) | 80 |
| Fa'atonuga ta'avale afi | Uaea ta'ita'i |
| So'oga encoder afi | Uaea ta'ita'i |
| Malosiaga sapalai (kVA) | 1.3 |
| Fa'amatalaga tau eletise (V) | 200 |
| Galuega fa'atatau (W) | 750 |
| Fa'atatau i le taimi nei (A (rms)) | 4.0 |
| Taofi taofi | leai |
| Massa (kg) | 2.5 |
| Faamaufaailoga suauu | ma |
| A'au | Ala ki, tap ogatotonu |
| Tu'u fa'atatau (N ⋅ m) | 2.4 |
| Ole taimi ole Max. pito maualuga (N ⋅ m) | 7.1 |
| Max. i le taimi nei (A (op)) | 17.0 |
| Toe fa'afouina taofi taofi (taimi/min) | A aunoa ma se filifiliga : Leai se tapulaa Faatasi ai ma le filifiliga: Leai se tapulaa Filifiliga (Faasao fa'afouga fa'afofoga) Vaega Nu. : DV0P4283 |
| E uiga i le toe fa'afouina o taofi taofi | Fa'amolemole va'ai fa'amatalaga o [Motor Specification Description], Fa'amatalaga: 1, ma le 2. |
| Fuafuaina le saoasaoa fa'asolo (r/min) | 3000 |
| Fa'avasegaina fa'asolo Max. saoasaoa (r/min) | 4500 |
| Taimi ole inertia ole rotor (x10-4kilokalama ⋅ m²) | 1.51 |
| Fautuaina taimi ole inertia fua faatatau o le uta ma le rotor | 20 taimi pe itiiti |
| E uiga i le taimi fautuaina o le fua faatatau inertia o le uta ma le rotor | Fa'amolemole va'ai fa'amatalaga o [Motor Specification Description], Fa'aaliga: 3. |
| Rotary encoder: faʻamatalaga | 20-bit Fa'aopoopo faiga |
| Rotary encoder: I'uga | 1048576 |
uta fa'atagaina
| Aitema | Fa'amatalaga |
|---|---|
| I le taimi o le fa'apotopotoga: Uta i luga ole ala P-ituaiga (N) | 686 |
| A'o fa'apotopotoina: Tu'i uta A-ituaiga (N) | 294 |
| A'o fa'apotopotoina: Tu'i uta B-ituaiga (N) | 392 |
| A'o fa'agaioiga: Uta i luga ole ala P-ituaiga (N) | 392 |
| A'o fa'agaioiga: Uta fa'atau A, B-itula (N) | 147 |
| E uiga i uta faatagaina | Mo faʻamatalaga, vaʻai i le [Motor Specification Description] "Tagata Faʻatagaina i le Output Shaft". |
A5 fa'asologa fa'asologa
E iloa le vave ma le sa'o o gaioiga. Tali vave & Tulaga sa'o maualuga
Fa'aaogaina le Algoritm Fou“Pulea lua-tikeri-o-saolotoga”(2DOF) e faʻaleleia ai le gaosiga ma le saʻo o masini.
I le faʻataʻitaʻiga masani, talu ai e le mafai ona matou faʻaogaina le faʻaogaina o le faʻatonuga ma le faʻatonuga o manatu, i se isi faaupuga e tusa lava pe naʻo matou fetuunai.“Auala”o feedforward, sa i ai le sootaga ma“Fa'amautu”o le puleaina o manatu faaalia, sa mana'omia le fetuutuuna'iga.
I le 2DOF na faʻaaogaina A5Ⅱfa'asologa, fa'amatalaga fa'afoma'i ma fa'atonuga fa'amatalaga e fetu'una'i eseese, uiga
"Approach" tali i le poloaiga ua tuuina atu, ma le "Settling" e mafai ona fetuunai eseese.
Na iloa le maualalo o le vibration ma le faʻaitiitia o le taimi faʻamau.
E iloa ai le saoasaoa o le fa'aogaina o masini fa'apipi'i vaega fa'aeletoroni, fa'aleleia le sa'o lelei o togafitiga o luga
masini gaosi uamea, e mafai ai mo le faagaoioiga lamolemole ma High saoasaoa alamanuia robots.
Faigofie ma vave fetuutuunai taimi. 5 taimi e sili atu le vave* nai lo le masani
Fa'aleleia tele“fa'agaioiina”, polokalama fa'aoga faigofie“PANATERM”.
Ua matou faʻaleleia le setup support software PANATERM, o le meafaigaluega talafeagai mo le faʻatulagaina o parakalafa ma le mataʻituina e masani ona manaʻomia i le amataga o le masini mo fetuunaiga afi ma avetaʻavale. Fa'aleleia atili ile mata e faigofie ona malamalama.
Fa'aauupegaina i“Fit Gain”galuega e iloa ai seti vave.
Fa'ata'ita'iga fou "Fit Gain" fa'ateleina uiga o le A5Ⅱfa'asologa. Ma adaptive notch faamama galuega e mafai ona faaitiitia le vibration e tupu pe a maualalo le rigidity o le masini, e mafai ona e setiina ma fetuutuunai otometi le ituaiga sili ona maua.
