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Fa'amatalaga Fa'amatalaga
| Aitema | Fa'amatalaga |
|---|---|
| Numera Vaega | MSMD012G1B |
| Fa'amatalaga | Low inertia, ituaiga uaea ta'ita'i, IP65 |
| Suafa Aiga | MINAS A5 |
| Fa'asologa | MSMD Fa'asologa |
| Ituaiga | maualalo le 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 | 38 mm sikuea. |
| Fusi sikuea sikuea (Iunite:mm) | 38 |
| Fa'atonuga ta'avale afi | Uaea ta'ita'i |
| So'oga encoder afi | Uaea ta'ita'i |
| Malosiaga sapalai (kVA) | 0.5 |
| Voltage fa'amatalaga | 200 V |
| Fuafuaga fa'atatau | 100 W |
| Fa'atatau i le taimi nei (A (rms)) | 1.1 |
| Taofi taofi | ma |
| Massa (kg) | 0.68 |
| Faamaufaailoga suauu | leai |
| A'au | Taamilomilo |
| Tu'u fa'atatau (N ⋅ m) | 0.32 |
| Ole taimi ole Max. pito maualuga (N ⋅ m) | 0.95 |
| Max. i le taimi nei (A (op)) | 4.7 |
| Toe fa'afouina taofi taofi (taimi/min) | A aunoa ma se filifiliga : Leai se tapulaa Faatasi ai ma le filifiliga: Leai se tapulaa Filifiliga (Fa'afofoga fa'afouga i fafo) Vaega Numera : DV0P4281 |
| 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) | 5000 |
| Taimi ole inertia ole rotor (x10-4kilokalama ⋅ m²) | 0.054 |
| Fautuaina taimi ole inertia fua faatatau o le uta ma le rotor | 30 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 |
Fa'amatalaga taofi
| Aitema | Fa'amatalaga |
|---|---|
| Fa'asa'o fe'ese'esea'i (N ⋅ m) | 0.29 pe sili atu |
| Taimi fa'aoga (ms) | 35 pe itiiti ifo |
| Taimi fa'amatu'u (ms) | 20 pe itiiti |
| Fa'aola fiafia (DC) (A) | 0.3 |
| Tu'u atu le voli (DC) (V) | 1 pe sili atu |
| Volosa fa'afiafia (DC) (V) | 24 ± 1.2 |
| E uiga i fa'amatalaga taofi | O le taofi lea o le a fa'amalolo pe a malosi. Aua le fa'aogaina lenei mea mo le taofi o le afi i le gaioiga. Fa'amolemole va'ai i fa'amatalaga o le [Motor Specification Description], "Fa'amatalaga o Fa'amauina Fa'amau" ma le "Fa'amatalaga i luga o le [Motor Specification] itulau, Fa'aaliga: 4. |
uta fa'atagaina
| Aitema | Fa'amatalaga |
|---|---|
| I le taimi o le fa'apotopotoga: Uta i luga ole ala P-ituaiga (N) | 147 |
| A'o fa'apotopotoina: Tu'i uta A-ituaiga (N) | 88 |
| A'o fa'apotopotoina: Tu'i uta B-ituaiga (N) | 117.6 |
| A'o fa'agaioiga: Uta i luga ole ala P-ituaiga (N) | 68.6 |
| A'o fa'agaioiga: Uta fa'atau A, B-itula (N) | 58.8 |
| E uiga i uta faatagaina | Mo faʻamatalaga, vaʻai i le [Motor Specification Description] "Tagata Faʻatagaina i le Output Shaft". |
O afi e puipuia e se faʻamaufaʻailoga sili ona pefu, faʻamaufaʻailoga suauu (ma laugutu puipui) ua faʻaopoopoina i le laina o oloa afi faʻapipiʻiina ma faʻamaufaʻailoga suauu o faʻamatalaga masani. O faʻamaufaʻailoga suauu o lenei ituaiga afi e faia i se mea e maualuga atu le vevela.
E mafai ona e filifilia ituaiga afi talafeagai e tusa ai ma lau siosiomaga faʻaoga e pei ole pefu, paʻu poʻo mea e manaʻomia fesoʻotaʻiga.
●O fa'amaufa'ailoga suau'u (fa'atasi ai ma laugutu puipui) e le o avanoa mo masini MSMF e 80 mm pe la'ititi.
●O afi MQMF ma le MHMF e 80 mm pe la'ititi le lapopo'a o lo'o tu'uina atu i fa'amaufa'ailoga suau'u (ma laugutu puipui) e le fa'atutu-fa'atasi ma fa'ata'ita'iga A5 Family.
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.
