PK268-E2.0A步进电机应用

合集下载

TB6600升级版驱动器说明书最最新

TB6600升级版驱动器！安全注意事项一、简介TB6600升级版是一款适用于57/42型相电流4.0A以下两相混合式步进电机的驱动器，通过6位拨码开关设定7种细分（1/2A/2B/4/8/16/32）和8档输出电流（0.5A/1.0A/1.5A/2.0A/2.5A/2.8A/3.0A/3.5A）。

广泛用于各种中小型自动化设备和硬件，如：雕刻机、打标机、切割机、激光照排、绘图仪、数控机床、水晶打磨机、自动装配设备等。

最佳应用对象力矩1.8N.m及以下57步进电机，42步进电机。

产品特点※直流9-42V电源供电,12-30V供电最佳※控制信号输入电压3.3-24V通用（无需串电阻）※细分精度1-32细分可选※输出峰值电流4.0A※ H桥双极恒流驱动※输入信号高速光耦隔离※内置温度保护和过流保护※自动半流减少发热※电机噪声优化功能※体积小巧,节省空间电气参数输入电压 DC9-42V输入电流推荐使用开关电源功率5A输出电流0.5-4.0A最大功耗160W细分1,2/A,2/B,4,8,16,32温度工作温度-10～45℃；存放温度-40℃～70℃湿度不能结露，不能有水珠气体禁止有可燃气体和导电灰尘重量0.2千克输入输出端说明信号输入端PUL+：脉冲信号输入正。

PUL-：脉冲信号输入负。

DIR+：电机正、反转控制正。

DIR-：电机正、反转控制负。

ENA+：电机脱机控制正。

ENA-：电机脱机控制负。

◆电机绕组连接A+：连接电机绕组A+相。

A-：连接电机绕组A-相。

B+：连接电机绕组B+相。

B-：连接电机绕组B-相。

◆电源电压连接VCC：电源正端“+”GND：电源负端“-”注意：DC9-42V。

不可以超过此范围,否则会无法正常工作甚至损坏驱动器。

◆输入端接线说明输入信号共有三路，它们是：①步进脉冲信号PUL+,PUL-；②方向电平信号DIR,DIR-；③脱机信号ENA+,ENA-。

输入信号接口有两种接法，用户可根据需要采用共阳极接法或共阴极接法。

雷赛科技 HA860步进电机驱动器使用说明

1. 电气指标........................................................................................................................................ 2
2. 使用环境及参数............................................................................................................................ 3
1. 电机选配........................................................................................................................................ 9
2. 电机接线........................................................................................................................................ 9
3. 应用领域........................................................................................................................................ 2
二、电气、机械和环境指标............................................................................................................. 2

PK步进电机参数

步进电动
机 ■品名的阅读方法
●标准 P型 · 大惯性型
PK 2 2 3 P B
2相步进电动机 PK系列
2相电动机安装尺寸电动机外壳 P∶标准P型
2∶28mm
长度
J ∶大惯性型
3∶35mm
4∶42mm
6∶60mm
A∶单转轴 B ∶双转轴
●标准型 · 高分辨率型
PK 2 6 6 M - 0 1 B
2相步进电动机 2相电动机安装尺寸电动机外壳电动机分类 A∶单转轴
PK系列
2∶28mm
长度
B ∶双转轴
SG∶SH减速机型减速比
◇安装尺寸 42mm、60mm、90mm
PK 2 6 4 A 1 - SG 10
2相步进电动机 2相电动机安装尺寸电动机外壳
PK系列
4∶42mm
长度
6∶60mm
9∶90mm
可轻易固定标准型与减速机型电动机。
（➜ C-203页）
弹性联轴器（另售）
高精度定位用的无齿隙联轴器。
（➜ C-192页）
制振器（另售）
可有效抑制步进电动机的振动及改善高速性。
（➜ C-201页）
＋
（另售）
电动机安装底座 PAL2P-2
弹性联轴器 MCS2006F04
制振器 D6CL-6.3F
●上述系统构成仅为一例，也可依需要设计其它各种组合。。
●大惯性型
品名（单转轴） PK264JA PK266JA PK267JA PK269JA
品名（双转轴） PK223PB PK224PB PK225PB PK233PB PK235PB PK244PB PK246PB
品名（双转轴） PK243-01B PK243-02B PK243-03B PK244-01B PK244-02B PK244-03B PK244-04B PK245-01B PK245-02B PK245-03B PK256-02B PK258-02B PK264-01B PK264-02B PK264-03B PK266-01B PK266-02B PK266-03B PK268-01B PK268-02B PK268-03B PK296-01B PK296-02B PK296-03B PK299-01B PK299-02B PK299-03B PK2913-01B PK2913-02B

STK672-080应用

•””•5国外电子元器件6’••“年第™期’••“年™月p新特器件应用四相步进电机正弦波驱动器³´«–—’••˜•及其应用谭建成ˆ广州电器科学研究院Œ广东广州•‘•“•’‰A St e pp in g M otor Sine Wav e Dr i v e r ST K672-080and I t s A pp l i ca t i on´¡®ªÉÁÎ•ÃÈÅÎÇ摘要š³´«–—’••˜•是³¡®¹¯公司生产的一种”相步进电动机驱动器厚膜混合集成电路Œ它的输出电流很大Œ且有五种激励方式Œ利用³´«–—’••˜•内部的微步距正弦波控制器可使电动机运行在低振动和低噪音的工作状态"关键词š步进电动机›厚膜混合集成电路›³´«–—’••˜•›微步距分类号š´-“˜“Ž–文献标识码š¢文章编号š‘••–•–™——ˆ’••“‰•™•••””••“••向µ³¢主机写数据ÁÌ×ÁÙÓ ˆÐÏÓÅÄÇÅÃÌËÏÒÎÅÇÅÄÇÅÒÅÓÅÔ‰ÂÅÇÉÎÉÆˆÒÅÓÅÔ••‘cÂ•‰ÔØÄÁÔÁœ•˜cÈ••›ÅÌÓÅÉÆˆÃÎÔ»•½••‘cÂ‘‰ÔØÄÁÔÁœ•ÄÁÔÁ”’™›ÅÎÄ•••••••••••••••••••••••••¦´’”•¡-与¥°-—‘’˜³的数据三态接口ÁÓÓÉÇÎÕÓÂÄÁÔÁ•ˆÃÎÔ»‘½••‘cÂ‘‰ŸÔØÄÁÔÁš˜cÈÚÚ›•••••••••••••••••••••••“结束语本文介绍了µ³¢接口芯片¦´’”•¡-的原理和在航空¡²©®£”’™总线测试仪中的具体应用实例方法"笔者将¥°-—‘’˜与¦´’”•¡-的接口逻辑在-¡¸ÐÌÕÓÒ环境下进行了仿真Œ结果表明š使用该设计完全可满足实际要求Œ因此Œ使用µ³¢通信接口的航空¡²©®£”’™总线测试仪Œ大大便利了”’™总线设备与计算机的通信Œ有效提高了”’™总线设备的检测效率"参考文献»‘½徐志军Œ徐光辉Ž£°¬¤•¦°§¡的开发与应用»-½Ž北京š电子工业出版社Œ’••’Ž»’½µÎÉÖÅÒÓÁÌ³ÅÒÉÁÌ¢ÕÓ³ÐÅÃÉÆÉÃÁÔÉÏÎŽ£ÏÍÐÁÑ©ÎÔÅÌ-ÉÃÒÏÓÏÆÔ®¥£Œ‘™™˜Ž»“½¦´’”•¡-¤ÁÔÁ³ÈÅÅÔŽ¦¤´©Œ‘™™™Ž»”½-¡¸—•••°ÒÏÇÒÁÍÍÁÂÌÅ¬ÏÇÉÃ¤ÅÖÉÃÅ¦ÁÍÉÌÙ¤ÁÔÁ³ÈÅÅÔŽ¡ÌÔÅÒÁŒ’••‘Ž收稿日期š’••“••”•‘•咨询编号š•“•™‘•‘³´«–—’••˜•的主要特点³´«–—’••˜•是³¡®¹¯公司生产的一种步进电动机驱动器厚膜混合集成电路Œ它的输出级使用功率-¯³¦¥´组成Œ同时包含一个内部的微步距控制器和一个单极性的恒流°·-系统"³´«–—’••˜•内部提供的”相步进电动机分配控制器可获得准正弦波驱动电流Œ从而使用户应用更简单方便"它有五种激励ˆ通电‰方式Œ可提供微步距控制以使步进电动机的基本步距角的最大细分为‘•‘–"³´«–—’••˜•步进电机控制器的速度由时钟信号控制"通过它可使用户方便地实现高转!低振动水平!低噪音!快速响应和高效驱动的电动机控制系统"³´«–—’••˜•的典型应用包括传真机发送与接收步进电动机驱动!复印机送纸和光学系统步进电动机驱动!激光打印机鼓驱动!打印机台架步进电动机驱动!¸•¹绘图仪笔驱动!工业机械手以及其它步进电动的应用方面Œ其主要特点如下šp只需外加一个直流电源和一个时钟脉冲发生器即可完成一个四相步进电机正弦波电流驱动"p可通过三个输入ˆ-‘Œ-’和-“‰选择五种激励ˆ通电‰方式Œ包括š’相通电方式!‘•’通电方式!·‘•’相退方式!’·‘•’相通电方式!”·‘•’相通电方式等›•”••p在相通电方式切换时可保持原相电流不变›p可用-¯©脚作原点监视›p利用-“端的逻辑电平可选择时钟信号上升沿起作用或时钟信号上升沿和下降沿都起作用›p£¬«输入端内含对外部脉冲噪音的故障防止线路›p用参考电压¶ÒÅÆ能设置•*¶££’•’之间的任何数值Œ即使低电流下也支持微步距操作›p电源电压范围宽ˆ¶££‘•‘•*”•¶‰›p内部带有电流传感电阻ˆ•Ž‘•8‰›p内含最小驱动损耗的-¯³¦¥´Œ耐压为‘••¶›p电动机输出最大驱动电流I OH为’Ž˜¡ˆ结温T C•‘••e‰›p采用特殊的³©°‘•单列直插式形式"’结构原理与引脚功能³´«–—’••˜•内部由控制和功率部分组成"功率级有”个-¯³¦¥´Œ并按低侧驱动方式工作Œ其中¡相和¢相内部有电流传感内阻和比较器Œ可用来实现相电流的°·-控制"控制部分的关键是有电流分配比开关和准正弦波发生电路"³´«–—’••˜•可由三个输入逻辑来选择通电方式Œ并由外接参考电压V r ef来设定最大电流值Œ以便在相电流°·-控制下得到相应的输出电流波形"图‘所示是³´«–—’••˜•内部结构"现将其各主要引脚的功能说明如下š£¬«š时钟输入"输入频率范围可从直流到••Ë¨ÚŒ最小脉冲宽度为‘•LÓŒ占空比范围为”•*–•…"此外Œ该端内部具有上拉电阻ˆ典型值为’•Ë8‰!£-¯³施密特触发器电路和多级噪声抑制电路"当-“为高或开路时Œ电路会在每个£¬«上升沿使相激励前进一步›而当-“为低时Œ£¬«信号的上升和下降沿都可使相激励前进一步Œ因此每一个£¬«周期可使相激励前进两步"£·¢š转向设定端"当£·¢为高时Œ电动机旋转方向为顺时针›当£·¢为低时Œ电动机旋转方向为逆时针"¥®¡¢¬¥š¯®•¯¦¦状态控制输出端"当¥®¡¢¬¥端的电压为高或开路时Œ为正常状态"当¥®¡¢¬¥为低时Œ电路处于维持状态Œ此时相激励输出ˆ电动机电流‰强制关闭"在这个模态中Œ系统时钟和其它输入均无效"-‘Œ-’和-“š用于选择激励方式和£¬«输入边缘作用Œ内有上拉电阻ˆ典型值’•Ë8‰和£-¯³施密特触发器电路"表‘是-‘!-’和-“的操作真值表"图’为其操作时序"²¥³¥´š复位端Œ低电平有效"²¥³¥´脚为低电平时Œ所有电路复位到它们的起始状态"此时Œ不管通电方式如何Œ输出¡和¢相都置于它们的原点Œ即输出电流约在—‘…处"¶ÒÅÆš°·-恒流环控制参考电压Œ用于根据需要控制负载电流的大小Œ通常¶ÒÅÆ应限制在’Ž•¶以下"此参考电压对应于‘••…的电机激励电流I OHŒ其关系如下š四相步进电机正弦波驱动器³´«–—’••˜•及其应用•”–•5国外电子元器件6’••“年第™期’••“年™月。

步进电机介绍及相关参数与操作说明书

IntroductionASASC5-Phase Microstep RK 2-Phase Full/Half UMK 5-PhaseMicrostep CRK 2-Phase Microstep RBK 2-Phase Microstep CMK 2-Phase PK/PV 2-Phase PK EMP400SG8030J AccessoriesInstallationAC InputDC InputAC InputDC Input Without Encoder With EncoderControllersConnection and Operation■Names and Functions of Driver Parts●(Top)□2 Function Switches □1 Signal Monitor Displays◇Alarm◇(Front)□3 Motor Run Current Switch □4 Step Angle Setting Switch □1 Signal Monitor Displays □5 Input/Output Signals Motor TerminalsPower Input TerminalsProtective Earth TerminalsThe step angle set with the step angle setting switch will become effective when the "Step●Angle Select" (CS) signal input is OFF.Do not change the "Step Angle Select" (CS) signal input or step angle setting switch while ●the motor is operating. It may cause the motor to misstep and stop. Change the step angle setting switch, when the "Step Angle Select" (CS) signal input is OFF and the "Excitation Timing" (TIM) signal output is ON.The cable for connecting the terminal box type motor and driver, and the D-Sub (15-pin) connector for connecting to the driver's CN1 connector are not included. They must be supplied separately. ✽Description of input/output signals ➜ Page C-177Connection Diagrams●5 VDC Connection or Line Driver Input◇DriverController24 VDC Connection◇DriverInput Signal Connection◇Pulse (PLS) Signal, Rotation Direction (DIR) Signal●You can select either 5 VDC or 24 VDC as the signal voltage. Line driver input is also available. The pin No. to connect differs according to the signal voltage.All Windings Off Signal, Step Angle Select Signal●You can select either 5 VDC or 24 VDC as the signal voltage. The pin No. to connect is the same for 5 VDC and 24 VDC.Output Signal Connection◇Keep the output signal voltage and current below 30 VDC and 10 mA respectively.Power Supply◇Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: Motor does not operate properly at high-speed. ●Slow motor startup and stopping.●Notes on Wiring◇Use twisted-pair wires of AWG26 and keep wiring as short as possible [within 2 m (6.6 ft.)]. ●Note that as the length of the pulse signal line increases, the maximum transmission ●frequency decreases. Technical reference ➜ Page F-54Use wires of AWG18 or thicker for motor lines (when extended), power supply lines and ●protective earth line.To ground the driver, lead the ground conductor from the protective earth terminal (M4) and ●connect the ground conductor to provide a common ground point.Signal lines should be kept at least 2 cm (0.79 in.) away from power lines (power supply lines ●and motor lines). Do not bind the signal lines and power lines together.If noise generated by the motor cable or power cable becomes a problem due to the wiring ●and layout, shield the cables or use ferrite cores.Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity ●is correct before turning power on.The cable for connecting the terminal box type motor and driver, and the D-Sub (15-pin) ●connector for connecting to the driver's CN1 connector are not included. They must be supplied separately.●Driver Motor Terminals and Motor Leads/Motor Terminal BlocksTerminal Box Type Motor Connections ◇RBK264T , RBK266T ,RBK268T∼16)[Diameter: (ϕ0.28∼ϕ0.51 in.)]✽ (M4)InternalTerminal ✽ (M4)(AWG18 or thicker)(AWG18 or thicker)Connect motor lead wires to the terminals 2 to 5.12345Terminal BlockConnect either the internal protective earth terminal or external protective earth terminal to the ground.✽RBK296T , RBK299T , RBK2913T✽ (M4)∼16)InternalTerminal ✽ (M4)[Diameter: ϕ7(ϕ0.28∼ϕ0.51 in.)](AWG18 or thicker)54123678Connect either the internal protective earth terminal or external protective earth terminal to the ground.✽Terminals 1, 4, 5, and 8 are used. Terminals 2, 3, 6, and 7 are not used. Do not connect anything to them.IntroductionASASC5-Phase Microstep RK 2-Phase Full/Half UMK 5-Phase Microstep CRK2-Phase Microstep RBK 2-Phase Microstep CMK 2-Phase PK/PV 2-Phase PK EMP400SG8030J Accessories InstallationAC InputDC InputAC InputDC InputWithout Encoder With EncoderControllersPulse (PLS), Rotation Direction (DIR) Input SignalYou can select either 5 VDC or 24 VDC as the signal voltage for"Pulse" input and "Rotation Direction" input. Line driver input is also available.Input Circuit and Sample Connection ◇5 VDC Connection●24 VDC Connection●Line Driver Input●Pulse Waveform Characteristics ◇5 VDC or 24 VDC Connection●ONON Pulse Input SignalRotation Direction Input Signal 1 Pulse duty: 50% and belowLine Driver Input●ONON Pulse Input SignalRotation Direction Input Signal 1 Pulse duty: 50% and below1 ✽ The shaded area indicates when the photocoupler diode is ON. The motor moves when thephotocoupler state changes from ON to OFF.2 ✽ The minimum interval time when changing rotation direction is 10 μs. This value variesgreatly depending on the motor type, pulse frequency and load inertia.Pulse Signal Characteristics◇Keep the pulse signal at the "photocoupler OFF" state when no ●pulses are being input.Leave the pulse signal at rest ("photocoupler OFF") when ●changing rotation directions.All Windings Off (AWO), Step Angle Select (CS) Input Signal Input Circuit and Sample Connection◇All Windings Off (AWO) Input Signal◇Inputting this signal puts the motor in a non-excitation (free) state. ●This signal is used when turning the motor by external force or ●manual home position is desired. The photocoupler must be "OFF" when operating the motor.ON OFFAll Windings Off Input Signal Motor CurrentMotor Holding TorqueThe shaded area indicates that the motor provides holding torque in proportion to standstill current set by motor stop current switch.Switching the "All Windings Off" signal from "photocoupler ON" to ●"photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "All Windings Off" signal input, the shaft will shift up to ±3.6° from the position set after the "All Windings Off" signal is released.Step Angle Select (CS) Input Signal◇When this signal input is "ON," the motor will operate at the basic ●step angle regardless of the settings of the step angle settingswitches. When the signal input is "OFF ," the motor will operate at the step angle set with the step angle setting switch.To change the step angle, do so when the "Excitation Timing" ●signal output is "ON" and the motor is at standstill.Current Cutback (CD), Alarm (ALM), Excitation Timing (TIM) Output SignalOutput Circuit and Sample Connection◇Current Cutback (CD) Output Signal◇When the automatic current cutback function is activated, the ●"Current Cutback" output turns on.Alarm (ALM) Output Signal◇When the motor is running, if the driver overheat, overvoltage, or ●overcurrent protective function is detected, the "Alarm" output turns off, and the ALARM LED of the driver flashes. The current to the motor is also cut off to stop the motor.You can count the number of times the ALARM LED flashes to ●confirm which protective function is activated.This signal normally stays on, but turns off when a protective ●function is activated.Excitation Timing (TIM) Output Signal◇The "Excitation Timing" signal is output to indicate when the motor ●excitation is in the initial stage (step "0" at power up).The "Excitation Timing" signal is output simultaneously with a ●pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2˚ rotation of the motor output shaft.Microsteps/step 1: S ignal is output once every 4 pulses.Microsteps/step 4: S ignal is output once every 16 pulses.Timing chart at 1.8/step (Microsteps/step 1)When connected as shown in the sample connection, the signal will be ✽"photocoupler ON " at step "0."Pulse Input Rotation Direction Input Excitation Timing Output ✽12345678910(Step)01230123012321011121314Notes:When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation ●Timing" signal is output.When operating the motor using the ●"Excitation Timing " signal output, make sure the motor output shaft stops at an integral multiple of 7.2˚.Timing Chart●Rotation Direction Input Signal Pulse Input Signal All Windings Off Input Signal Step Angle Select Input Signal Current Cutback Output Signal MotorPower Input The section indicates that the photocoupler diode is emitting light.1 ✽ The minimum switching time to change direction 10 μs isshown as the response time of the circuit. The motor may need more time than that.2 ✽ Depends on load inertia, load torque, and starting frequency.3 ✽ Never input a pulse signal immediately after switching the"All Windings Off " signal to the "photocoupler OFF" state. The motor may not start.4 ✽ To cycle the power, turn off the power and then wait for atleast five seconds after the POWER LED has turned off.。

东方电机公司2相步进电机和驱动器包装CSK系列说明书

ORIENTAL MOTORGENERAL CATALOG2-PHASE STEPPING MOTOR AND DRIVER PACKAGECSK SeriesFeatures·····························································B-234Standard Type····················································B-238High-Resolution Type·········································B-243SH Geared Type·················································B-248List of Motor and Driver Combinations···············B-253Wiring Diagram···················································B-254Switching and Setting Functions························B-255Adjusting the Output Current······························B-2552-PHASE STEPPING MOTOR AND DRIVER PACKAGECSK SeriesGEAR PLCDIRECTRE -GENER -ATION PACK - AGE DC INPUT1.High TorqueThe CSK high-torque 2-phase stepping motor series combines the PK series of 2-phase high-torque motors. The maximum holding torque values are as follows:CSK24Ⅺ: 22.2 oz-in (0.16N •m) ϳ44.4 oz-in (0.32N •m)CSK26Ⅺ:54.1 oz-in (0.39N •m) ϳ187 oz-in (1.35N •m)2.Powerful SH Geared TypeThe product line for the CSK series also includes the SH geared type that provides high torques. There are six gear ratios: 3.6:1, 7.2:1, 9:1, 10:1, 18:1, and 36:1.3.High-Resolution TypeThe product line for the CSK series also includes high-resolution types for which the basic step angle (1.8Њ/step) for the two-phase stepping motors is cut in half to 0.9Њ/step (for full steps).The resolution is doubled from 200 steps per revolution for standard types to 400 steps per revolution. The high-resolution type can be run in half-step mode to provide 800 steps per revolution.pact DriverThe drivers produce a high output of 2A/phase for 24V/36V DC. None the less, they are compact in size W 2.64 in.(67mm) ϫ D 2.83 in. (72mm) ϫ H 1.22 in. (31mm), due to a custom IC, surface mount technology and FET output stage.5.Expanded control functionsThese motors are equipped with an “Automatic Current Cutback ” function and “Excitation Timing ” output, which is handy for detecting the mechanical home position of the device.Furthermore, internal switches can set the step angle and pulse type.6.Simple and reliable connectionsIndependent connectors are used for the driver input/output signals and the motor output lines.7.Highly reliable photocoupler inputⅢCSK SERIES SYSTEM CONFIGURATION A compact stepping motor and driver are combined to make possible high-precision positioning with open loop control.2-Phase Stepping MotorCSK Series Standard Type(Full Step Angle 1.8˚)Page B-238Two sizes are available: the CSK24Ⅺ with a 1.65 inch (42mm)square mounting and the CSK26Ⅺwith a 2.22 inch (56.4mm)square mounting.CSK Series High-Resolution Type(Full Step Angle 0.9˚) PageB-243CSK high-resolution type has a full step angle of 0.9˚ (400 perrevolution).Two sizes are available: the CSK24ⅪM with a 1.65 inch(42mm) square mounting and the CSK26ⅪM with a 2.22 inch(56.4mm) square mounting.CSK Series SH Geared TypePage B-248Six gear ratios are available: 3.6:1, 7.2:1, 9:1, 10:1, 18:1 and 36:1.The low ratios allow the gear shaft speed to be reduced without reducing the speed of the motor too much, thus enabling more precise resolution and smoother rotation at low speed.ⅢSPECIFICATIONSSTANDARD TYPE (Full Step Angle 1.8°)motor torque performance. When using the motor with the dedicated driver, the driver's “Automatic Current Cutback ” function at motor standstill reduces maximum holding torque by approximately 40%.●The power source input current value represents the maximum current. (The input current varies according to the pulse frequency.)✽Responds up to approximately 10 kHz with a pulse duty of 50%. When using it at higher speeds, narrow the pulse width (shorten the photocoupler ’s ON time.)CSK 2 4 5 -A T AⅢPRODUCT NUMBER CODEShaft Type A : Single ShaftB : Double Shaft Motor Case Length2-phaseCSK seriesMotor Frame Size 4: 1.65 in. (42mm) sq.6:2.22 in. (56.4mm) sq.USA VersionTerminal Block TypeCSK243-BTANote:CSK244-BTACSK245-BTA●DC24V CSK243-BTACSK244-BTACSK245-BTA●DC36VT o r q u e [o z -i n ]T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](15)(150)(1500)(Half Step )0.300.250.200.150.100.050T o r q u e [o z -i n ]T o r q u e [N ·m ]3.02.52.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]L 2(–72)Speed [r/min ](15)(150)(1500)(Half Step )0.300.250.200.150.100.050T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]L 2(–72)Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](15)(150)(1500)(Half Step )CSK264-BTCSK266-BTCSK268-BT●DC24V CSK264-BTCSK266-BTCSK268-BT●DC36VT o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]L 2(–72)Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](15)(150)(1500)(Half Step )T o r q u e [N ·m ]3.02.52.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]L 2(–72)Speed [r/min ](15)(150)(1500)(Half Step )Note:●MotorⅢDIMENSIONS scale 1/4, unitסinch (mm)CSK243-ATA(Single shaft)Motor Model: PK243-01AA Weight 0.47lb. (Mass 0.21kg) CSK243-BTA(Double shaft)Motor Model: PK243-01BA Weight 0.47lb. (Mass 0.21kg) CSK244-ATA(Single shaft)Motor Model: PK244-01AA Weight 0.6lb. (Mass 0.27kg) CSK244-BTA(Double shaft)Motor Model: PK244-01BA Weight 0.6lb. (Mass 0.27kg) CSK245-ATA(Single shaft)Motor Model: PK245-01AA Weight 0.78lb. (Mass 0.35kg) CSK245-BTA(Double shaft)Motor Model: PK245-01BA Weight 0.78lb. (Mass 0.35kg)CSK264-AT(Single shaft)Motor Model: PK264-02A Weight 1lb. (Mass 0.45kg) CSK264-BT(Double shaft)Motor Model: PK264-02B Weight 1lb. (Mass 0.45kg) CSK266-AT(Single shaft)Motor Model: PK266-02A Weight 1.55lb. (Mass 0.7kg) CSK266-BT(Double shaft)Motor Model: PK266-02B Weight 1.55lb. (Mass 0.7kg) CSK268-AT(Single shaft)Motor Model: PK268-02A Weight 2.21lb. (Mass 1kg) CSK268-BT(Double shaft)Motor Model: PK268-02B Weight 2.21lb. (Mass 1kg)✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.● These external appearance drawings are for double shaft models. For a single. 2 5 0 0 D I A .1).25DIA.)).25DIA.✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.ⅢDIMENSIONS scale 1/4, unitסinch (mm)●DriverDriver: CSD2109-T(For CSK243model)CSD2112-T(For CSK244and CSK245 models)CSD2120-T(For CSK264, CSK266 and CSK268 models) Weight: 0.29lb. (Mass 0.13kg).13DIA. (␾ 3.2)See page B-38 for information on driver installation.HIGH-RESOLUTION TYPE (Full Step Angle 0.9°)CSK 2 4 5 M A T AⅢPRODUCT NUMBER CODEShaft Type A : Single ShaftB : Double Shaft Motor Case Length2-phaseCSK seriesMotor Frame Size 4: 1.65 in. (42mm) sq.6:2.22 in. (56.4mm) sq.USA VersionTerminal Block TypeHigh-Resolution Type●Maximum holding torque refers to the holding torque at motor standstill when the rated current is supplied to the motor (2 phase excitation). Use this value to compare motor torque performance. When using the motor with the dedicated driver, the driver's "Automatic Current Cutback" function at motor standstill reduces maximum holdingⅢSPEED vs. TORQUE CHARACTERISTICS fs : Maximum Starting Pulse RateCSK243MBTACSK244MBTACSK245MBTA●DC24V CSK243MBTACSK244MBTACSK245MBTA●DC36VT o r q u e [o z -i n ]T o r q u e [N ·m ]3.02.52.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](7.5)(75)(750)(Half Step )0.300.250.200.150.100.05T o r q u e [o z -i n ]T o r q u e [N ·m ]3.02.52.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](7.5)(75)(750)(Half Step )0.300.250.200.150.100.050T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](7.5)(75)(750)(Half Step )0.300.250.200.150.100.050T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]L 2(–72)Speed [r/min ](7.5)(75)(750)(Half Step )0.300.250.200.150.100.05T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](7.5)(75)(750)(Half Step )0.300.250.200.150.100.050T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](7.5)(75)(750)(Half Step )0.300.250.200.150.100.05Note:CSK264MBTCSK266MBTCSK268MBT●DC24V CSK264MBTCSK266MBTCSK268MBT●DC36VT o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](7.5)(75)(750)(Half Step )0.60.50.40.30.20.10T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](7.5)(75)(750)(Half Step )0.60.50.40.30.20.1T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5 0D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](7.5)(75)(750)(Half Step )1.21.00.80.60.40.20T o r q u e [o z -i n ]T o r q u e [N ·m ]2.01.51.00.5D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](7.5)(75)(750)(Half Step )1.21.00.80.60.40.2D r i v e r I n p u t C u r r e n t [A ]L 2(–72)Speed [r/min ](7.5)(75)(750)(Half Step )D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](7.5)(75)(750)(Half Step )Note:ⅢDIMENSIONS scale 1/4, unitסinch (mm)●MotorCSK243MATA(Single shaft)Motor Model: PK243MAA Weight 0.47lb. (Mass 0.21kg) CSK243MBTA(Double shaft)Motor Model: PK243MBA Weight 0.47lb. (Mass 0.21kg) CSK244MATA(Single shaft)Motor Model: PK244MAA Weight 0.6lb. (Mass 0.27kg) CSK244MBTA(Double shaft)Motor Model: PK244MBA Weight 0.6lb. (Mass 0.27kg) CSK245MATA(Single shaft)Motor Model: PK245MAA Weight 0.78lb. (Mass 0.35kg) CSK245MBTA(Double shaft)Motor Model: PK245MBA Weight 0.78lb. (Mass 0.35kg)CSK264MAT(Single shaft)Motor Model: PK264MA Weight 1lb. (Mass 0.45kg) CSK264MBT(Double shaft)Motor Model: PK264MB Weight 1lb. (Mass 0.45kg) CSK266MAT(Single shaft)Motor Model: PK266MA Weight 1.55lb. (Mass 0.7kg) CSK266MBT(Double shaft)Motor Model: PK266MB Weight 1.55lb. (Mass 0.7kg) CSK268MAT(Single shaft)Motor Model: PK268MA Weight 2.21lb. (Mass 1kg) CSK268MBT(Double shaft)Motor Model: PK268MB Weight 2.21lb. (Mass 1kg)✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.. 2 5 0 0 D I A .1).25DIA.)1).25DIA.✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.●DriverDriver: CSD2109-T(For CSK243M model)CSD2112-T(For CSK244M and CSK245M models)CSD2120-T(For CSK264M, CSK266M and CSK268M models) Weight: 0.29lb. (Mass 0.13kg).13DIA. (␾ 3.2)See page B-38 for information on driver installation.●Maximum holding torque refers to the holding torque at motor standstill when the rated current is supplied to the motor (2 phase excitation). Use this value to compare motor torque performance. When using the motor with the dedicated driver, the driver's “Automatic Current Cutback ” function at motor standstill reduces maximum holding torque by approximately 40%.●The power source input current value represents the maximum current. (The input current varies according to the pulse frequency.)●Permissible torque is the maximum value of the mechanical strength of the gear unit. Use the product with a total torque (load and acceleration) less than the permissible torque.ⅢSPECIFICATIONSSH GEARED TYPECSK 2 6 4 A T A -SG 10ⅢPRODUCT NUMBER CODEShaft Type A : Single ShaftB : Double ShaftMotor Case Length2-phaseCSK seriesMotor Frame Size 4: 1.65 in. (42mm) sq.6:2.22 in. (56.4mm) sq.USA VersionTerminal Block TypeSG : SH Geared TypeGear Ratio●Maximum holding torque refers to the holding torque at motor standstill when the rated current is supplied to the motor (2 phase excitation). Use this value to compare motor torque performance. When using the motor with the dedicated driver, the driver's "Automatic Current Cutback" function at motor standstill reduces maximum holding torque by approximately 40%.●The power source input current value represents the maximum current. (The input current varies according to the pulse frequency.)●Permissible torque is the maximum value of the mechanical strength of the gear unit. Use the product with a total torque (load and acceleration) less than the permissible torque.ⅢSPEED vs. TORQUE CHARACTERISTICSCSK243BTA-SG3.6CSK243BTA-SG7.2CSK243BTA-SG9CSK243BTA-SG10CSK243BTA-SG18CSK243BTA-SG36ⅢPRECAUTIONSWhen using the CSK SH geared type, please note the following:1.Do not exceed the maximumpermissible torque:Permissible torque represents the maximum value of themechanical strength of the gear unit. Be sure to keep the total 2.Do not exceed the permissible speedrange:Do not exceed the maximum output speed of the gearhead indicated in the specifications on page B-248, 249. The speedT o r q u e [N ·m ]1.41.21.00.80.60.40.20D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](4.16)(41.6)(416)(Half Step )T o r q u e [N ·m ]1.41.21.00.80.60.40.20D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](2.08)(20.8)(208)(Half Step )T o r q u e [N ·m ]1.41.21.00.80.60.40.20D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](1.66)(16.6)(166)(Half Step )T o r q u e [N ·m ]1.41.21.00.80.60.40.2D r i v e r I n p u t C u r r e n t [A ]2(–72) Speed [r/min ](0.83)(8.33)(83.3)(Half Step )T o r q u e [N ·m ]1.41.21.00.80.60.40.20D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](0.41)(4.16)(41.6)(Half Step )T o r q u e [N ·m ]1.41.21.00.80.60.40.2D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](1.5)(15)(150)(Half Step )fs : Maximum Starting Pulse RateNote:●Pay attention to heat dissipation from motor and driver. The motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212˚F (100˚C).● When using the motor with the dedicated driver, the driver's "Automatic Current Cutback" function at motor standstil reduces maximum holding torque by approximately 40%.CSK264BTA-SG3.6CSK264BTA-SG7.2CSK264BTA-SG9CSK264BTA-SG10CSK264BTA-SG18CSK264BTA-SG36D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](4.16)(41.6)(416)(Half Step )D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](2.08)(20.8)(208)(Half Step )D r i v e r I n p u t C u r r e n t [A ]2–72 Speed [r/min ](1.66)(16.6)(166)(Half Step )D r i v e r I n p u t C u r r e n t [A ]2(–72) Speed [r/min ](0.83)(8.33)(83.3)(Half Step )D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](0.41)(4.16)(41.6)(Half Step )D r i v e r I n p u t C u r r e n t [A ]2(–72)Speed [r/min ](1.5)(15)(150)(Half Step )4.The direction of gear shaft rotationsdiffers according to reduction ratios:The direction of motor shaft rotation and gear shaft rotation according to the gear ratio applied:3.Consider backlash in bi-directionalpositioning:Backlash is the free rotation angle (i.e., play) of the output shaft when the input section of the reduction gear is fixed. If there is a Note:●Pay attention to heat dissipation from motor and driver. The motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212˚F (100˚C).● When using the motor with the dedicated driver, the driver's "Automatic Current Cutback" function at motor standstil reduces maximum holding torque by approximately 40%.CSK243ATA-SG Ⅺ(Single shaft)Motor Model: PK243A1A-SG ⅪWeight 0.78lb. (Mass 0.35kg)CSK243BTA-SG Ⅺ(Double shaft)Motor Model: PK243B1A-SG ⅪWeight 0.78lb. (Mass 0.35kg)CSK264ATA-SG Ⅺ(Single shaft)Motor Model: PK264A2A-SG ⅪWeight 1.66lb. (Mass 0.75kg)CSK264BTA-SG Ⅺ(Double shaft)Motor Model: PK264B2A-SG ⅪWeight 1.66lb. (Mass 0.75kg)✽.59Ϯ.01 (15Ϯ0.25) indicates the length of milling on motor shaft.See page B-36 for information on motor installation.ⅷScrews (included)4-No.4-40 UNC. length .39 (10)ⅷScrews (included)4-No.8-32 UNC. length .59 (15).1968 D I A .0.2500 D I A .[1/4"]●DriverDriver : CSD2109-T (For CSK243-SG model)CSD2120-T (For CSK264-SG model)Weight: 0.29lb. (Mass 0.13kg).13 DIA. (␾ 3.2)●MotorⅢDIMENSIONS scale 1/4, unit סinch (mm)● shaft, ignore the colored areas.Enter A(single shaft) or B(double shaft) in the Ⅺwithin the model numbers.ⅢWIRING DIAGRAMⅢINPUT/OUTPUT SIGNALSⅢPower Supply2-Phase Stepping Motor●Pulse Input1-Pulse Input Mode Pulse Signal"Pulse" signal is input to the PULSE/CW Ϫterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step. The direction of rotation is determined by the following rotation direction signal.Rotation Direction SignalThe "Rotation Direction" signal is input to theDIR./CCW Ϫterminal. A "photocoupler ON" signal input commands a clockwise direction rotation. A "photocoupler OFF" signal input commands a counterclockwise direction rotation.2-Pulse Input Mode CW Pulse Signal"Pulse" signal is input to the PULSE/CW Ϫterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in a clockwise W Pulse Signal"Pulse" signal is input to the DIR./CCW Ϫterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in a counterclockwise direction.●All Windings Off (C.OFF) InputWhen the "All windings Off" (C.OFF) signal is in the"photocoupler ON" state, the current to the motor is cut off and motor torque is reduced to zero. The motor output shaft can then be rotated freely by hand.This signal is used when moving the motor by external force or manual home position is desired.●Excitation-Timing (TIMING) OutputThe signal is output once each time the excitation sequence returns to step "0" in synchronization with input pulses. The excitation sequence is designed to complete electrical one cycle as the motor shaft rotates 7.2˚. A signal is output every 4 pulses in full step mode (1.8˚/step) and every 8pulses in half step mode (0.9˚/step).Use a power supply that can supply sufficient input current.When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions:●Motor does not rotate properly at high-speed (insufficient torque)●Motor startup and stopping is slow.Use connector TB1 and TB2 when connecting.Note:●Keep the voltage Vo 1and Vo 2between DC 5V and DC 24V. When they are equal to DC 5V, the external resistances R 1and R 2are not neccessory. When they are above DC 5V, connect R 1to keep the current below 20mA, and connect R 2to keep the current below 10mA.●Use twisted-pair wire of 3.1ϫ10-4 in 2(0.2mm 2) or thicker and 6.6 feet (2m) or iess in length for the signal line.●Use wire 7.8ϫ10-4 in 2(0.5mm 2) or thicker for motor lines (when extended) and power supply lines, and use 1.2ϫ10-3 in 2(0.75mm 2) or thicker for the wire for the grounding line.●Use spot grounding for the grounding of the driver and external controller. ●Signal lines should be kept away at least 3.94 in. (10cm) from power lines(power supply lines and motor lines). Do not bind the signal line and power line together.ⅢTIMING CHARTCW Motor CCWPulseAll Windings Off Input ON OFFON OFFON OFFDirection✽1 It is recommended to wait a period of time to allow the motor oscillations toend before inputting the "All windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate, Signal input must be stopped before the motor stops.✽2 Never input a step pulse signal immediately after switching the "All windingsOff" signal to the “photocoupler ON ” state or the motor may losesynchronism. In general, an interval of 100ms (minimum) is required.Response up to about 10 kHz with a pulse duty of 50%. When using it at higher speeds, narrow the pulse width.2. Adjusting the Motor Operating CurrentTo set the "Automatic Current Cutback" function to inactive (SW1:OFF):(1) Adjust the motor operating current with the RUNpotentiometer. It can be adjusted from 0.3A/phase to the rated value of the driver.(2) The motor operating current is set for the rated current at the time of shipping. The RUN potentiometer can be used lower the operating current to reduce temperature rise in the motor/driver, adjust torque margin and reduce vibration.ⅢSWITCHING AND SETTING FUNCTIONS 3. Adjusting The Current At Motor StandstillT o set the "Automatic Current Cutback" function to active (SW1:ON):(1) Adjust the current at motor standstill with the STOPpotentiometer. It can be adjusted from 25% to 40% of the run operating current (0.3A minimum).(2) At the time of shipping, the current at motor standstill is set for 40%. The STOP potentiometer readjusts the current to the value required to produce enough holding torque.(1) Automatic Current Cutback at motor standstill When switch 1 (ACD) is set to ON, the "Automatic CurrentCutback" function at motor standstill is active. Approximately 0.1seconds after input pulses stop, the motor output current is automatically lowered to suppress heat generation in the motor and driver. Generally, the switch should be in the ON position. (If the switch is set to OFF , the "Automatic Current Cutback"function at motor standstill is disabled.)(2) Step Angle Standard Type:When switch 2 (F/H) is set to ON, the driver is set for 1.8˚/step (200 steps per revolution. When the switch is set to OFF , the driver is set for 0.9˚/step (400 steps per revolution). High-Resolution Type:When switch 2 (F/H) is set to ON, the driver is set for 0.9˚/step (400 steps per revolution). When the switch is set to OFF , the driver is set for 0.45˚/step (800 steps per revolution).(3) Pulse Input ModeThe driver is designed to function under either of the following two pulse output modes on the user ’s controller:●When switch 3 (1P/2P) is set to OFF , the driver is set for the 2-pulse input mode, in which two types of pulse signal (one each for CW and CCW) are used to control the motor.●When switch 3 (1P/2P) is set to ON, the driver is set for the 1-pulse input mode, in which a pulse signal and a direction of rotation signal are used to control the motor.(4) Power Supply VoltageWhen using a 24V DC power supply, switch 4 (24/36V) should be ON. When using a 36V DC power supply, the switch should be OFF .ⅢADJUSTING THE OUTPUT CURRENT1.Adjustment MethodConnecting voltmeterInsert voltmeter test probes [approximately 0.18 in. diameter (␾2.1mm)] as shown below.The current value for one phase is equivalent to the voltage shown by the voltmeter. (ex : voltmeter voltage 1V=1A/Phase)Note :The motor Run current should be less than the motor rated current.Holding Torque ϭRated Holding Torque ϫCurrent at MotorStandstill [A]Motor Rated Current [A]RED (ϩ)BLACK (Ϫ)C.C.ϩ C.C.ϪRUN VR STOR VR。

XC602步进电机控制器说明书

1
XCMCU
XC602 型步进电机控制器
一、系统特点
●控制轴数：单轴； ●指令特点：任何可编程（可实现各种复杂运行：定位控制和非定位控制）； ●●最输高出输频出率频分率辨率：4：0K1HHzz；（特别适合控制细分驱动器）； ●编程条数：最大 99 条； ●输入点：6 个（光电隔离）； ●●一输次出连点续：位3 个移（范光围电：隔-7离99）9；999～+7999999； ●工作状态：自动运行状态、手动运行状态、程序编辑状态、参数设定状态； ●升降速曲线：2 条（最优化）； ●显示功能位数：8 位数码管显示，手动/自动状态显示、运行/停止状态显示、步数/计数
A操作 STOP RUN
这种方式很容易解决，只需要把速度量和位移量编程即可。但还有相当多的控制是不能
事先定位的，例如控制步进电机从起始点开始朝一个方向运行，直到碰到一行程开关后
停止，再反方向回到起始点。再例如要求步进电机在二个行程开关之间往复运行 n 次，
等等。在这些操作中，我们事先并不知道步进电机位移量的具体值，又应当如何编程呢？
例一：..................................................................................................................................... 11 例二：..................................................................................................................................... 11 例三：..................................................................................................................................... 11 例四：..................................................................................................................................... 12 例五：..................................................................................................................................... 12 例六：一台 XC602 控制器分时控制二台步进电机驱动器.................................................13 例七：XC602--更先进的自动制袋机控制器 ....................................................................... 14 例八：XC602--更先进的自动切分机控制器 ....................................................................... 15 例九：XC602—更先进的粉剂包装控制器 ........................................................................... 16 十三、参数速查表......................................................................................................................... 17 十四、按键速查表......................................................................................................................... 18

UMK系列步进电机和驱动器包的技术参考手册说明书

C-150Specifications/Characteristics C-1522-Phase Stepping Motor and Driver PackageUMK SeriesⅥFeaturesⅷHigh TorqueCombines a high torque PK motor with a dedicated driver.Maximum holding torque is as follows:UMK24Ⅺ: 22 oz-in (0.16 N·m)ϳ45 oz-in (0.32 N·m)UMK24ⅪM : 22 oz-in (0.16 N·m)ϳ45 oz-in (0.32 N·m)UMK26Ⅺ:55 oz-in (0.39 N·m)ϳ191 oz-in (1.35 N·m)UMK26ⅪM :55 oz-in (0.39 N·m)ϳ191 oz-in (1.35 N·m)ⅷLow Vibration and Low NoiseRaising the torque can increase vibration and audible noise.The UMK Series was designed to ensure low vibration and low noise. For a 2-phase stepping motor running at full step,rotation is achieved by continuous 1.8˚ steps. This is a type of motion that leads naturally to vibration. T o lower vibration and noise, it is important to make rotation as smooth aspossible.The UMK Series provides high torque and low vibration.ⅷHigh-Resolution TypeThe UMK Series also includes high resolution models forwhich the basic step angle (1.8˚/step) is cut in half to 0.9˚/step (for full steps).The resolution is doubled from the 200 steps per rotation for the standard models to 400 steps per rotation. Consequently,the high-resolution model can be half-stepped to obtain 800steps per rotation.C-151Dimensions C-155Common Specifications C-154Connection and Operation C-156Motor and Driver Combinations C-160AA M 662UMK Programmable Controller MotorDriverFlexible CouplingsEMP400 Controller (Sold separately)(➝Page C-254)Mounting Brackets (Accessories)(➝Page C-291)I/O Cable with Terminal Block (Accessories)(➝Page C-264)Clean Dampers (Accessories)(Not supplied)ⅥProduct Number CodeBlank: Standard Type M :High-Resolution TypeMotor Case Length2-phaseUMK SeriesMotor Frame Size 4: 1.65 in. sq. (42 mm sq.)6:2.22 in. sq. (56.4 mm sq.)U.S.A. VersionShaft Type A : Single ShaftB : Double ShaftC-152System Configuration C-151Features C-150Specifications/Characteristics C-152How to Read Specifications Table ➝Page C-9ⅥSpeed — Torque Characteristics How to Read Speed-Torque Characteristics ➝Page C-10UMK243BAUMK264BAUMK244BAUMK266BAUMK245BAUMK268BAPulse Speed [kHz]0(0)15(30)10(20)5(10)Speed [r/min]024860.40.60.81.01.21.41.60.2T o r q u e [N ·m ]C u r r e n t [A ]T o r q u e [o z -i n ]Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON)2מ72)Full Step (Half Step)Pulse Speed [kHz]0(0)15(30)10(20)5(10)Speed [r/min]0012430.20.30.40.1T o r q u e [N ·m ]C u r r e n t [A ]T o r q u e [o z -i n ]Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON) 2מ72)Full Step (Half Step)Pulse Speed [kHz]0(0)15(30)10(20)5(10)Speed [r/min]02460.40.60.81.01.20.2T o r q u e [N ·m ]C u r r e n t [A ]T o r q u e [o z -i n ]Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON)2מ72)Full Step (Half Step)Pulse Speed [kHz]0(0)15(30)10(20)5(10)Speed [r/min]Full Step (Half Step)1230.100.150.200.250.300.350.05T o r q u e [N ·m ]C u r r e n t [A ]T o r q u e [o z -i n ]Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON) 2מ72)Pulse Speed [kHz]0(0)15(30)10(20)5(10)Speed [r/min]Full Step (Half Step)2460.20.30.40.50.1T o r q u e [N ·m ]C u r r e n t [A ]T o r q u e [o z -i n ]Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON)2מ72)Pulse Speed [kHz]0(0)15(30)10(20)5(10)Full Step (Half Step)Speed [r/min]01230.100.150.200.250.05T o r q u e [N ·m ]C u r r e n t [A ]T o r q u e [o z -i n ]Power Input: 115 VAC Current: 0.95 A/Phase (2 Phases ON) 2מ72)Standard Type Motor Frame Size: Ⅺ 1.65 in. (Ⅺ 42 mm), Ⅺ 2.22 in. (Ⅺ 56.4 mm)Note:The pulse input circuit responds up to approximately 20 kHz with a pluse duty of 50 %Note:The pulse input circuit responds up to approximately 20 kHz with a pluse duty of 50 %How to Read Specifications Table➝Page C-9ⅥSpeed — Torque Characteristics How to Read Speed-Torque Characteristics➝Page C-10UMK243MBA UMK264MBAUMK244MBA UMK266MBAUMK245MBA UMK268MBAPulse Speed [kHz](0)30(60)20(40)10(20)Speed [r/min]12430.40.60.81.01.21.41.60.2Torque[N·m]Current[A]Torque[oz-in]Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON)2מ72)Full Step(Half Step)Pulse Speed [kHz](0)30(60)20(40)10(20)Speed [r/min]120.20.30.40.1Torque[N·m]Current[A]Torque[oz-in]Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON)2מ72)Full Step(Half Step)Pulse Speed [kHz](0)30(60)20(40)10(20)Speed [r/min]1230.40.60.81.01.20.2Torque[N·m]Current[A]Torque[oz-in]Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON)2מ72)Full Step(Half Step)Pulse Speed [kHz](0)30(60)20(40)10(20)Speed [r/min]Full Step(Half Step)0.511.50.100.150.200.250.300.350.05Torque[N·m]Current[A]Torque[oz-in]Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON)2מ72)Pulse Speed [kHz](0)30(60)20(40)10(20)Speed [r/min]Full Step(Half Step)1230.20.30.40.50.1Torque[N·m]Current[A]Torque[oz-in]Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON)2מ72)Pulse Speed [kHz](0)30(60)20(40)10(20)Full Step(Half Step)Speed [r/min]0.511.50.100.150.200.250.05Torque[N·m]Current[A]Torque[oz-in]Power Input: 115 VAC Current: 0.95 A/Phase (2 Phases ON)2מ72)High-Resolution Type Motor Frame Size: Ⅺ 1.65 in. (Ⅺ 42 mm), Ⅺ 2.22 in. (Ⅺ 56.4 mm)C-153 Dimensions C-155Common Specifications C-154Connection and Operation C-156Motor and Driver Combinations C-160C-154System Configuration C-151Features C-150Specifications/Characteristics C-152ⅥCommon SpecificationsⅥGeneral SpecificationsC-155Dimensions C-155Common Specifications C-154Connection and Operation C-156Motor and Driver Combinations C-160Unit = Upper values: lb./Lower values: NⅥDimensions Scale 1/4, Unit = inch (mm)ⅷStandard and High-Resolution Type Motors z Motor Frame Size: Ⅺ1.65 in. (Ⅺ42 mm)✽The length of machining on double shaft model is 0.591Ϯ0.010(15Ϯ0.25).x Motor Frame Size: Ⅺ2.22 in. (Ⅺ56.4 mm)●These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.C-156System Configuration C-151Features C-150Specifications/Characteristics C-152ⅷDriverc UDK2109A, UDK2112A, UDK2120AWeight: 1 lb. (0.47 kg) d B087ⅷMounting Bracket A (2 pieces, included)ⅥConnection and OperationzxcPower Input TerminalszSignal Monitor Displayx Current Adjustment Switchesc Function Select SwitchesC-157Dimensions C-155Connection and Operation C-156Motor and Driver Combinations C-160ⅥConnection DiagramsControllerDriverࡗPower SupplyCan be used with a single-phase 115 VAC, 60 Hz or 100 VAC, 50/60 Hz power supply. Use a power supply that can supply sufficient input current. If power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions:• Motor does not rotate properly at high-speed (insufficient torque).• Slow motor startup and stopping.Notes :• Keep the voltage Vo between 5 VDC and 24 VDC. When it is equal to 5VDC, the external resistance R 1is not necessary. When it is above 5 VDC,connect R 1to keep the current between 10 mA and 20 mA, and connect R 2to keep the current below 10 mA.• Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line.• Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease.(➝Technical Reference Page F-36)• Use AWG 20 or thicker for motor lines (when extended) and power supply lines, and use AWG 18 or thicker for the wire for the grouding line.• Use spot grounding for the grounding of the driver and external controller.• Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together.• Use open collector transistors (sink type) for the signal output sections of the controller.ࡗTerminalsCrimp terminals are not provided with the package.C-158System Configuration C-151Features C-150Specifications/Characteristics C-152ⅥDescription of Input/Output SignalsPulse (CW) Input and Rotation Direction (CCW)Input SignalThe characters indicate signals under the 1-pulse input mode, while the characters in parentheses indicate signals under the 2-pulse input mode.Note:• When Vo is equal to 5 VDC, the external resistance (R) is not necessary. When Vo is above 5 VDC, connect the external resistance (R) and keep the input current between 10 mA and 20 mA.1-Pulse Input Mode Pulse Signal"Pulse" signal is input to the pulse signal terminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step. The direction of rotation is determined by the following rotation direction signal.Rotation Direction SignalThe "Rotation Direction" signal is input to the rotationdirection signal input terminal. A "photocoupler ON" signal input commands a clockwise direction rotation. A "photocoupler OFF" signal input commands a counterclockwise direction rotation.2-Pulse Input ModeCW and CCW refer to clockwise and counterclockwise direction respectively, from a reference point of facing the motor output shaft.CW Pulse SignalWhen the photocoupler state changes from "ON" to "OFF",the motor rotates one step in the clockwise direction.CCW Pulse SignalWhen the photocoupler is state changes from "ON" to "OFF", the motor rotates one step in the counterclockwise direction.ࡗPulse Waveform Characteristics(Photocoupler state corresponding to the input pulse)✽The shaded area indicates when the photocoupler is ON. The motor moves when the photocoupler state changes from ON to OFF as indicated by theࡗPulse Signal Characteristics• The pulse voltage is 4.5 to 5V in the "photocoupler ON"state, and 0 to 1V in the "photocoupler OFF" state.• Input pulse signals should have a pulse width over 2µs,pulse rise/fall time below 1µs and a pulse duty below 50%.• Keep the pulse signal at "photocoupler OFF" when no pulse is being input.• The minimum interval time when changing rotation direction is 50 ␮s.This value varies greatly depending on the motor type,pulse frequency and load inertia. It may be necessary to increase this time interval.•In 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions.All Windings Off (A.W.OFF) Input Signal Note:• When Vo is equal to 5 VDC, the external resistance (R) is not necessary. When Vo is above 5 VDC, connect the external resistance (R) and keep the input current between 10 mA and 20 mA.When the "All Windings Off " signal is in the "photocoupler ON" state, the current to the motor is cut off and motor torque is reduced to zero. The motor output shaft can then be rotated freely by hand.When the "All Windings Off " signal is in the "photocoupler OFF" state, the motor holding torque is proportional to the current set by the current adjustment rotary switches. During motor operation be sure to keep the signal in the "photocoupler OFF" state.This signal is used when moving the motor by external force or manual home position is desired. If this function is not needed, it is not necessary to connect this terminal.Switching the "All Windings Off " signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence.When the motor shaft is manually adjusted with the "All Windings Off " signal input, the shaft will shift up to Ϯ3.6˚from the position set after the "All Windings Off " signal is released.C-159Dimensions C-155Common Specifications C-154Connection and Operation C-156Motor and Driver Combinations C-160Excitation Timing Signal (TIM.) Output SignalNote:• Keep the voltage between 5 VDC and 24 VDC.Keep the current below 10 mA.If the current exceeds 10 mA, connect external resistance (R).The "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "0" at power up).The "Excitation Timing" signal can be used to increase the accuracy of home position detection by setting themechanical home position of your equipment (for example, a photo-sensor) to coincide with the excitation sequence initial stage (step "0").The motor excitation stage changes simultaneously with pulse input, and returns to the initial stage for each 7.2˚rotation of the motor output shaft.When the power is turned ON, the excitation sequence is reset to step "0".The TIM. LED lights when the "Excitation Timing" signal is output. While the motor is rotating, the LED will turn ON and OFF at a high speed and will appear to be continuously lit.The "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0".The excitation sequence will complete one cycle for every 7.2˚ rotation of the motor output shaft.Full Step (the switch is set to F position): Signal is output once every 4 pulses.Half Step (the switch is set to H position): Signal is output once every 8 pulses.Timing chart at full stepNotes:●When the power is turned ON, the excitation sequence is reset to STEP 0and the LED lights up.●The LED flashes quickly while the motor runs, appearing continuously lit.✽When connected as shown in the example connection, the signal will be “photocoupler ON” at step “0” .Overheat (O.HEAT) Output SignalNote:• Keep the voltage between 5 VDC and 24 VDC.Keep the current below 10 mA.If the current exceeds 10 mA, connect external resistance (R).The "Overheat" signal is output to protect the driver against burnout when its internal temperature rises abnormally high due to high ambient temperature. The O.HEA T lamp on the front panel lights up when output.When used as shown in the sample connection with the overheat output logic switch set to NO, the signal becomes "photocoupler ON". (Switch to NC to set to the "photocoupler OFF".)If the A.C.O. (Automatic Current OFF) function is set, the output current to the motor drops to zero and the motor stops automatically.When the "Overheat" signal is output, check the operating conditions (ambient temperature, driver settings) and cool the driver.The "Overheat" signal automatically releases as the internal temperature of the driver drops. The overheat signal turns "photocoupler OFF" and the O.HEA T indicator turns off.C-160Enter A (single shaft) or B (double shaft) in the box (Ⅺ) within the model numbers.ⅥTiming Chart✽1Switching time to change CW, CCW pulse (2-pulse input mode)Switching time to change direction (1-pulse input mode) 50 ␮s is shown as a response time of circuit. Motor needs a time more than that.✽2Depends on load inertia, load torque, start frequency.✽3Never input a step pulse signal immediately after switching the "All Winding Off" signal to the photocoupler off state. The motor may not start.✽4Wait 5 seconds before cycling the power on.MotorPower InputCW Pulse Input Signal CCW Pulse Input Signal Pulse Input Signal All Windings OFF Input Signal Rotation Direction Input Signal 1-Pulse Input Mode2-Pulse Input ModeCWON ON ONON ONON。

控制步进电机实验报告(3篇)

第1篇一、实验目的1. 理解步进电机的工作原理及控制方法。

2. 掌握单片机与步进电机驱动模块的接口连接方法。

3. 学习使用C语言编写程序，实现对步进电机的正反转、转速和定位控制。

4. 通过实验，加深对单片机控制系统的理解。

二、实验原理步进电机是一种将电脉冲信号转换为角位移或线位移的电机，其特点是控制精度高、响应速度快、定位准确。

步进电机控制实验主要涉及以下几个方面：1. 步进电机驱动模块：常用的驱动模块有ULN2003、A4988等，它们可以将单片机的数字信号转换为步进电机的控制信号。

2. 单片机：单片机是整个控制系统的核心，负责接收按键输入、处理数据、控制步进电机驱动模块等。

3. 步进电机：步进电机分为单相、双相和三相等类型，本实验使用的是双相四线步进电机。

三、实验设备1. 单片机开发板：例如STC89C52、STM32等。

2. 步进电机驱动模块：例如ULN2003、A4988等。

3. 双相四线步进电机。

4. 按键。

5. 数码管。

6. 电阻、电容等元件。

7. 电源。

四、实验步骤1. 硬件连接（1）将步进电机驱动模块的输入端（IN1、IN2、IN3、IN4）分别连接到单片机的P1.0、P1.1、P1.2、P1.3口。

（2）将按键的输入端连接到单片机的P3.0口。

（3）将数码管的段选端连接到单片机的P2口。

（4）将步进电机驱动模块的电源端连接到电源。

（5）将步进电机连接到驱动模块的输出端。

2. 编写程序（1）初始化单片机I/O端口，设置P1口为输出端口，P3.0口为输入端口，P2口为输出端口。

（2）编写按键扫描函数，用于读取按键状态。

（3）编写步进电机控制函数，实现正反转、转速和定位控制。

（4）编写主函数，实现以下功能：a. 初始化数码管显示；b. 读取按键状态；c. 根据按键状态调用步进电机控制函数；d. 更新数码管显示。

3. 调试程序（1）将程序烧写到单片机中；（2）打开电源，观察数码管显示和步进电机运行状态；（3）根据需要调整程序，实现不同的控制效果。

VD2 两相步进电机驱动器用户手册说明书

目录1 简介 (3)1.1 概述 (3)1.2 特性 (3)2 产品功能框图 (4)3 性能指标 (4)3.1 电气指标 (4)3.2 环境指标 (4)4 端口与接线 (5)4.1 电源连接 (5)4.2 电机连接 (6)4.3 控制信号连接 (7)4.3.1 脉冲&方向信号 (7)4.3.2 使能信号 (7)4.3.3 控制信号输入示例 (7)4.3.4 驱动器状态指示灯 (8)5 驱动器运行参数设定 (9)5.1 电流设定 (9)5.2 自动减流设定 (9)5.3 细分设定 (10)5.4 自检 (10)5.5 细分插补 (10)5.6 负载惯量选定 (11)5.7 数字信号滤波选定 (11)6 安装 (12)7.1 机械尺寸 (12)7.2 驱动器安装 (12)1 简介感谢您选择我司的驱动器。

希望我们产品优越的性能、优异的质量和优秀的性价比可以帮助您成功的完成运动控制项目。

如果您对我们的产品有什么建议或者需要我们的帮助，请致电************，你也可以给我们发送邮件*******************。

1.1 概述VD2系列两相步进电机驱动器是基于PID电流控制算法设计的高性价比细分型驱动器，具有优越的性能表现，高速大力矩输出，低噪音，低振动，低发热，特别适合OEM客户的大批量应用场合。

VD2驱动器可通过拨码开关选择运行电流和细分，有16种细分，8种电流供选择，具有过压，欠压，相电流过流保护，其输入输出控制信号均采用光电隔离。

1.2 特性■供电电源 VD2：12 - 48 VDC■输出电流拨码开关设定，8种选择，最大2.2安培（峰值）■电流控制 PID电流控制算法，高速大力矩输出，低振动，低噪音，低发热■细分设置拨码开关设定，16种选择: 200, 400, 800, 1600, 3200, 6400, 12800, 25600,1000, 2000, 4000, 5000, 8000, 10000, 20000, 25000 step/rev■速度范围选配合适的步进电机，最高可达3000rpm■共振抑制自动计算共振点，抑制中频振动■系统自测驱动器上电初始化自动检测电机参数并由此优化电机电流算法和抗共振电子阻尼系数■控制方式脉冲&方向模式，双脉冲模式■输入滤波拨码开关选择，2MHZ/150KHz数字信号滤波器■空闲电流拨码开关选择在电机停止运行后1.0秒电流会自动减为运行电流的50%或90%■产品自检拨码开关启停，电机以1rev/s速度做正反转两圈往复运动■负载惯量拨码开关选择高低不同的负载惯量，使系统运行在最佳状态■细分插补拨码开关选定，可降低电机运转的振动，提高运行的平滑性2 产品功能框图3 性能指标3.1 电气指标驱动器参数最小值典型值最大值单位供电电压12-48VDC 输出电流(峰值)0.3- 2.2Amps控制信号导通电流61015mA步进脉冲频率2-2M Hz步进脉冲宽度250--ns方向信号宽度50--us欠压保护点-10-VDC过压保护点-52-VDC输入信号电压 4.0-28VDC驱动器初始化时间-- 2.5S 3.2 环境指标冷却方式自然冷却或强制冷却使用环境使用场合避免粉尘，油雾及腐蚀性气体工作环境温度0-40°C [32 - 104°F]最高环境湿度90% RH（无结露）存储温度-10-70°C [14 - 158°F]振动 5.9m/s2 maxBlock DiagramVD24 端口与接线请参照接口关系图，使用VD2驱动器，需要做以下准备：12-48VDC 合适功率的直流电源控制信号源相匹配的步进电机(为取得最佳性能，请与英国AML 的真空步进电机相匹配)4.1 电源连接如果您的电源输出端没有保险丝或一些别的限制短路电流的装置，可在电源和驱动器之间放置一个适当规格的快速熔断保险丝(规格不得超过3Amps)以保护驱动器和电源，请将该保险丝串联于电源的正极和驱动器的V+之间。

步进电机驱动器DM542使用方法及电机接线使用说明

DM542型细分型两相混合式步进电机驱动器，采用直流18-50V供电，适合驱动电压为18V-50V，电流小于4.0A外径42-86mm的两相混合式步进电机。

此驱动器采用交流伺服驱动器的电流环进行细分控制，电机的转矩波动很小，低速运行很平稳，几乎没有振动和噪音。

高速时力矩也大大高于其它二相驱动器，定位精度高，广泛用于雕刻机，数控机床，包装机械等分辨率要求较高的设备上！主要特点1 平均电流控制，两相正弦电流驱动输出2 直流18～50V供电3 光电隔离信号输入/输出4 有过压、欠压、过流、相间短路保护功能5 十五档细分和自动半流功能6 八档输出相电流设置7 具有脱机命令输人端子8 电机的扭矩与它的转速有关，而与电机每转的步数无关9 高启动转速10.高速力矩大一、电气参数输入电压直流18～50V输入输入电流小于4安培输出电流 1.0A～4.2A功耗功耗：80W；内部保险：6A温度工作温度-10～45℃；存放温度-40℃～70℃湿度不能结露，不能有水珠气体禁止有可燃气体和导电灰尘重量200克图1是驱动器的接线原理图1、控制信号定义PLS/CW+：步进脉冲信号输入正端或正向步进脉冲信号输入正端PLS/CW-：步进脉冲信号输入负端或正向步进脉冲信号输入负端DIR/CCW+：步进方向信号输入正端或反向步进脉冲信号输入正端DIR/CCW-：步进方向信号输入负端或反向步进脉冲信号输入负端ENA+：脱机使能复位信号输入正端ENA-：脱机使能复位信号输入负端脱机使能信号有效时复位驱动器故障，禁止任何有效的脉冲，驱动器的输出功率元件被关闭，电机无保持扭矩。

ME-268A离子风机测试仪使用说明书

ME-268A离子风机测试仪使用说明书目录第一部分技术参数第一页第二部分概述第二页第三部分操作第四页第四部分维修第六页附录1 可调计时器综合静电测试仪第七页充电板/探头组合件：按照EOS/ESD协会标准设计标准三脚架安装尺寸：6“*6”容量：整个充电测试电路带一个20皮法的充电板（±2皮法）充电板自动放电：在25℃，50%RH条件下，能在5分钟内将设定的静电压降至原来的10%以上电源：静电测试仪：范围：0-±7500伏；0-±2000伏开关可调精度：高于2%偏移值：10分钟到90%满刻度变化仅需不到100ms时间输出：将输入值分成1000份，电容阻抗为100W计时器：满刻度的999.9%（＞16分钟）,0.1秒,清晰度电源:117或220伏±10%(工厂预设),50/60Hz,5磅第二部分概述268A型综合静电测试仪分成两个部分,每个部分均采用十脚线缆连接,附加在充电板上的顶部结构就是测试仪的部分，使用时需放在测试现场，带控制及显示器的下面部分需放在便于操作的位置，不过，操作位置需远离监测器。

要分开这两个部分只需松开中间的两个插销，两个插销在测试仪背面附近位置，只需从顶部后侧位置提起插销即可分开。

1/4-20号螺纹接口方便测试仪内顶部位置安装三角支架。

两个支角用在控制部件低部下方，方便提升前面的小格子，这样操作人员更方便地阅读测试读数。

面板正前方的开关有一可选按钮，带有三个不得同时使用的“充电板控制件”。

它们相互为机械互锁，以便一次只能选择一项功能。

控制件必需接地良好。

三个按钮可在“充电板电压”读数下面直接接通，直接显示出测试仪的量程和功能等。

标有“充电板控制”的充电板中央下方设置了三个开关，它将直接决定其充电/放电状态。

高压控制旋钮，“高压通”显示器和与两极有关的“极性”按钮开关，及其初次充静电量“计时器极限”开关可以设置出计时器的初始/终末静电压极限值。

PK步进电机参数

机转矩，为机器小型化带来贡献。采用操作性能卓越的连接器连接
方式。
◇大惯性型
400pulses/rev.
39
加大转子尺寸，提高转矩。
转子
转轴
新
39
即使驱动惯性负载较大的装置，也比
产
标准机型更能发挥高响应性。
品
大型化
□42 □56.4
标准P型
PK244PA 0.39 N·m
机型品名保持转矩
标准型
PK264-02A 0.39 N·m
2相步进电动机 2相电动机安装尺寸电动机外壳电动机分类 A∶单转轴
PK系列
2∶28mm
长度
B ∶双转轴
SG∶SH减速机型减速比
◇安装尺寸 42mm、60mm、90mm
PK 2 6 4 A 1 - SG 10
2相步进电动机 2相电动机安装尺寸电动机外壳
PK系列
4∶42mm
长度
6∶60mm
9∶90mm
●高分辨率型
品名（单转轴） PK243M-01A PK243M-02A PK243M-03A PK244M-01A PK244M-02A PK244M-03A PK245M-01A PK245M-02A PK245M-03A PK264M-01A PK264M-02A PK264M-03A PK266M-01A PK266M-02A PK266M-03A PK268M-01A PK268M-02A PK268M-03A
0.2 0.02
0.1 0.01
品名（双转轴）
PK223PB-SG7.2 PK223PB-SG9 PK223PB-SG10 PK223PB-SG18 PK223PB-SG36 PK243B1-SG3.6 PK243B2-SG3.6 PK243B1-SG7.2 PK243B2-SG7.2 PK243B1-SG9 PK243B2-SG9 PK243B1-SG10 PK243B2-SG10 PK243B1-SG18 PK243B2-SG18 PK243B1-SG36 PK243B2-SG36 PK243B1-SG50 PK243B1-SG100 PK264B1-SG3.6 PK264B2-SG3.6 PK264B1-SG7.2 PK264B2-SG7.2 PK264B1-SG9 PK264B2-SG9 PK264B1-SG10 PK264B2-SG10 PK264B1-SG18 PK264B2-SG18 PK264B1-SG36 PK264B2-SG36 PK264B2-SG50 PK264B2-SG100 PK296B1-SG3.6 PK296B2-SG3.6 PK296B1-SG7.2 PK296B2-SG7.2 PK296B1-SG9 PK296B2-SG9 PK296B1-SG10 PK296B2-SG10 PK296B1-SG18 PK296B2-SG18 PK296B1-SG36 PK296B2-SG36

基于单片机的步进电机多轴运动控制系统设计

摘要步进电机是将电脉冲信号转变成角位移的执行机构，其转速、停止位置只与脉冲信号的频率和脉冲数有关，具有误差小，易控制等特点，广泛应用于机械、电子、纺织、化工、石油等行业。

尤其是在医疗行业中，比如在X 光扫描方面，都会用到电机，步进电机的优点使其成为医疗行业里最为适用的电机。

本设计中的多轴控制系统可以运用在X 光扫描仪等多种仪器上。

本设计选用STC89C55RD+型单片机作为核心控制单元，实现M35SP-7 型步进电机的多轴运动控制，并通过RS232 串口实现与上位PC 机通讯功能。

设计中运用单片机软件编程方式实现步进电机环形分配器功能，用P1.0 口、P1.1 口、P1.2 口和P1.3 口分别控制四相步进电机的A 相、B 相、C 相和D 相绕组的通电顺序，软件上采用查表方法实现单双八拍工作方式环形脉冲分配。

步进电机驱动部分采用ULN2003A 驱动芯片，实现功率放大，驱动步进电机。

最后使用Proteus 软件绘制了单片机控制步进电机多轴运动的原理图。

上述设计经实验验证是有效可行的。

关键词单片机，步进电机，多轴运动，串口通讯AbstractStepper motor is an implementing mechanism that convert the electronic pulse intoangle displacement.Its speed and the stop position only about the frequency and pulse several of the pulse signal,its characteristics are minor error,easy to control and so on,itis widely applied to mechanical, electronic, textile, chemical, oil, etc. Especially in themedical industry,such as an x-ray scanning,need motors.Stepper motor's advantagesmake it become the most suitable medical industry machine.The multi-axis control system in the design can be used on a variety of instruments such as an x-ray scanning.This design choose STC89C55RD + SCM as the core of the control unit,to realizeM35SP-7 type stepper motor's multi-axis control,and use RS232 serial to realize PC communication function.This design use SCM software programming realize steppermotor circular distribution function,P1.0, P1.1, P1.2 and P1.3 respectively controllingA, B, C and D phases' electricity order on the four phase step motor's.Software is usedon look-up table method teak eight single working way circular pulse distribution.Thisdesign use ULN2003A realize power amplifier to drive stepper motor.Finally using Proteus to draw the principle diagram of the SCM control stepper motor multi-axis motion.The above design experiments showed is effective and feasible.Keywords：SCM, Stepper Motor, Multi-axis motion, serial communication目录第一章引言 (1)1.1 选题背景 (1)1.2 研究意义 (1)1.3 发展状况 (2)1.4 课题主要研究的内容 (3)第二章控制系统硬件设计 (4)2.1 单片机控制系统原理 (4)2.1.1 单片机的种类 (4)2.1.2 单片机的发展历程 (4)2.1.3 51 单片机的引脚安排 (5)2.1.4 单片机的结构 (7)2.2 步进电机 (11)2.2.1 M35SP-7 步进马达的性能参数 (12)2.2.2 步进电机原理 (13)2.2.3 驱动控制系统组成 (18)2.2.4 步进电机的应用 (21)2.2.5 步进电机的单片机控制 (22)2.2.6 步进电机的多轴联动 (23)2.3 ULN2003A驱动芯片 (24)第三章上位机通讯设计 (26)3.1 RS232 通信 (26)3.1.1 RS232 的电气特性 (27)3.1.2 连接器的机械特性 (28)3.1.3 RS232 的接口信号 (30)第四章系统的软件设计 (34)4.1 单片机程序设计 (34)4.2 程序实现与调试 (34)第五章结论与展望 (37)5.1 结论 (37)5.2 展望 (37)参考文献 (38)致谢 (40)附录 (41)声明 (48)第一章引言1.1 选题背景不仅在大型工业中，在医疗过程中也需要机械的帮助，利用步进电机的多轴控制可以让医疗设备精确的扫描人体的各个部位，为治疗带来更精确的数据来正确、快速的治疗病人。

L297+L298步进电机控制

摘要摘要本文介绍了计算机通过单片机控制步进电机的系统。

在电气时代的今天，电动机一直在现代化的生产和生活中起着十分重要的作用。

步进电机是机电控制中一种常用的执行机构，其原理是通过对它每相线圈中的电流和顺序切换来使电机作步进式旋转。

步进电动机的突出优点是它可以在宽广的频率范围内，可以利用改变脉冲频率来实现调速，快速起停、正反转控制及制动等，并且由其组成的开环系统简单、廉价、可靠，因此在众多领域有着极其广泛的应用。

本设计重点研究了高性能步进电机驱动器及其控制系统。

该系统以微机作为上位机，AT89C 51单片机作为下位机。

下位机设定电机速度和方向，上位机对下位机的数据信号进行控制和备份。

通过单片机与微机的串口通讯，实现对步进电机的远距离实时监控。

使用软件代替环形分配器，完成了高效、节能的步进电机控制系统设计。

软件使用易于维护的模块化设计方法，并采取软、硬件抗干扰技术，提高了系统稳定性。

大量实验表明系统性能达到设计要求，最后对本次设计做出分析和总结。

经系统调试，能够很好的控制步进电机的正反转、加减速，从而达到预期目的。

整个系统具有结构简单、可靠性高、成本低和实用性强等特点，具有较高的通用性和应用推广价值。

关键词：计算机串行口MSComm 51单片机步进电机IAbstractAbstractThis paper, we introduces a stepper motor system which controlled by SCM. In the Electrical era today, Motor has been playing a very important role in the modernization of production and life. Stepper motor is a common used implementing agency in motor control. The principle is by switching the coil current and the order in its each phase to make a step-by-step rotary motor.The outstanding advantages of step motor are that it can realize speed regulation, quick startup and stop, positive-reverse control, brake and so on by changing the frequency of pulse. In addition, the open-loop system that consisted of the step motor is simple, cheap and reliability. Therefore its application is very extensive in many fields.Though system testing, it can be very convenient to control the stepper motor, such as acceleration , deceleration，exigency stop so as to achieve the desired objectives. The whole system is simple in structure with characteristics of high reliability, low cost and practicality which has a higher universal characteristic and the promotional and applied value.Keywords: computer MSComm Single-chip microprocessor Stepper motoII目录目录摘要 ····································································································错误！未定义书签。

奥rient电机PK系列2相步进电机操作手册说明书

HM-7423-22-Phase Stepping MotorPK Series PL Geared Type Thank you for purchasing an Oriental Motor product.This Operating Manual describes product handling procedures and safety precautions.• Please read it thoroughly to ensure safe operation.• Always keep the manual where it is readily available.Before using the motorOnly qualified personnel should work with the product.Use the product correctly after thoroughly reading the section “Safety precautions”.The product described in this manual has been designed and manufactured for use in general industrial machinery, and must not be used for any other purpose. For the power supply use a DC power supply with reinforced insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning. Hazardous substancesRoHS (Directive 2002/95/EC 27Jan.2003) compliantThe precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions.WarningHandling the product without observing the instructions that accompany a “Warning” symbol may result in serious injury or death.• Do not use the product in explosive or corrosive environments, in the presence of flammable gases, locations subjected to splashing water, or near combustibles. Doing so may result in fire or injury.• Assign qualified personnel the task of installing, wiring,operating/controlling, inspecting and troubleshooting the product. Failure to do so may result in fire or injury.• Provide a means to hold moving parts in place for applications involving vertical travel. The motor loses holding torque when the power is shut off, allowing the moving parts to fall and possibly causing injury or damage to equipment.• Install the motor in an enclosure in order to prevent injury.• Keep the input-power voltage within the specified range to avoid fire. • Connect the cables securely according to the wiring diagram in order to prevent fire.• Do not forcibly bend or push the connector. Doing so may fire.• Do not forcibly bend, pull or pinch the cable. Doing so may fire.• For the power supply use a DC power supply with reinforced insulation on its primary and secondary sides. Failure to do so may result in electric shock.• Turn off the power in the event of a power failure, or the motor will suddenly start when the power is restored and may cause injury or damage to equipment.• Do not disassemble or modify the motor. This may cause injury. Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product.CautionHandling the product without observing the instructions that accompany a “Caution” symbol may result in injury or property damage.• Do not use the motor beyond its specifications, or injury or damage to equipment may result.• Do not touch the motor during operation or immediately after stopping. The surface is hot and may cause a burn.• Do not hold the motor output shaft or motor cable. This may cause injury. • To prevent bodily injury, do not touch the rotating parts (output shaft) of the motor during operation. • Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may result in fire or injury.• Provide an emergency-stop device or emergency-stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction. Failure to do so may result in injury. • To dispose of the motor, disassemble it into parts and components as much as possible and dispose of individual parts/components as industrial waste. • Conduct the insulation resistance measurement or withstand voltage test separately on the motor and the driverConducting the insulation resistance measurement or withstand voltage test with the motor and driver connected may result in injury or damage to equipment.• About grease of geared motorOn rare occasions, a small amount of grease may ooze out from the gearhead. If there is concern over possible environmental damage resulting from the leakage of grease, check for grease stains during regular inspections. Alternatively, install an oil pan or other device to prevent leakage from causing further damage. Oil leakage may lead to problems in the customer’s equipment or products.• Allowable torqueOperate the motor by making sure the sum of the acceleration/deceleration torque at the starting/stopping of the motor and the load (friction) torque doesn’t exceed the allowable torque. Operating the motor in excess of the allowable torque may result in a damaged gear.• Allowable speed rangeOperate the motor at speeds within the allowable range. Operating the motor at a speed outside the allowable range may result in a shorter gear life. • BacklashThe gear output shaft is subject to backlash of 20 to 35´. To reduce the effect of backlash, perform positioning operations from one direction only-either from the CW direction or the CCW direction.• Rotating direction of the gear output shaftRotating direction of the gear output shaft and the motor shaft are same direction.Verify that the items listed below are included. Report any missing or damaged items to the branch or sales office from which you purchased the product. Check the motor model number against the number shown on the nameplate.• Motor...............................................................1 unit• Motor cable [0.6 m (2 ft.)]..............................1 pc. (PK2 -L only)∗ represents an alpha numeric indicating the motor type.• OPERATING MANUAL (this document).....1 copyLocation for installationThe motor is designed and manufactured for installation in equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions:• Inside an enclosure that is installed indoors (provide vent holes)• Ambient temperature: −10 to +50 °C (+14 to +122 °F) (non-freezing) • Ambient humidity: 85% or less (non-condensing)• Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid• Area not exposed to direct sun• Area free of excessive amount of dust, iron particles or the like• Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids• Area free of excessive salt• Area not subject to continuous vibration or excessive shocks• Area free of excessive electromagnetic noise (from welders, power machinery, etc.)• Area free of radioactive materials, magnetic fields or vacuumInstallation methodInstall the motor onto an appropriate flat metal plate having excellentvibration resistance and heat conductivity. When installing the motor, secure it with four bolts (not supplied) through the four mounting holes provided.holderMotor type Bolt size Tightening torque [N·m (oz-in)] Effective depth [mm (in.)] PK244P M4 2 (280) 8 (0.315) PK26 PM52.5 (350)10 (0.394)∗ Enter the motor length in the box ( ) within the model number.Permissible overhung load and permissible thrust loadThe overhung load and thrust load on the motor’s output shaft or gear output shaft must be kept within the permissible values listed below.Permissible overhung load [N (lb.)]Distance from the tip of motor’s outputshaft [mm (in.)]Motor type0 (0) 5 (0.20) 10 (0.39) 15 (0.59) 20(0.79) Permissible thrust load [N (lb.)] PK244PD -P5 PK244PD-P10 73 (16.4) 84 (18.9) 100 (22) 123(27) − 50 (11.2)PK244PD -P36 109 (24) 127 (28) 150 (33) 184(41) − 50 (11.2)PK266PD -P5 200 (45) 220 (49) 250 (56) 280 (63) 320(72) 100 (22)PK266PD -P10 250 (56) 270 (60) 300 (67) 340 (76) 390(87) 100 (22)PK264PD -P36330 (74) 360 (81) 400 (90) 450 (101) 520(117)100 (22)∗ Enter A (single shaft) or B (double shaft) in the box ( ) within the modelname.Installing a loadWhen connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Be careful not to damage the output shaft or the bearings when installing a coupling or pulley to the motor’s output shaft.Connecting with a keyWith a geared motor, to connect a load to the gear output shaft having a key groove, first provide a key groove on the load and fix the load with the gear output shaft using the supplied key.B ARed (3)Blue (1)(4) Black (6) GreenPin assignmentsWiring diagram ( ) Pin numberPin No.2 and 5 are not used.The colors of lead wires shown apply to the supplied cable or optional motor cable. If you are using the connector set or when you are providing your own connector or cable, connect based on the pin numbers shown.The applicable connector and the cable are as follows.Applicable connector and cableMotortypeHousing Contact (Molex) CableCrimping tool (Molex)PK244P 51103-060050351-8XXXAWG28 to 22 (0.08 to 0.3 mm 2) Cable outer diameterØ1.15 to 1.8 mm (0.045 to 0.071 in.) Stripping the cable2.3 to 2.8 mm (0.091 to 0.11 in.) 57295-5000PK26 P51067-060050217-9XXX AWG24 to 18 (0.2 to 0.75 mm 2) Cable outer diameterØ1.4 to 3 mm (0.055 to 0.118) Stripping the cable3 to 3.5 mm (0.118 to 0.138 in.)57189-500057190-5000∗ Optional motor cables and connector set (sold separately) are available from Oriental Motor.Note• Secure the motor connector cable in place so that the connection won’t be subjected to stress induced by a bent cable or the cable’s own mass. The cable’s radius of curvature should be as large as possible.• When removing the motor cable, pull it out horizontally toward the output shaft. The motor may be damaged if force is applied in any other direction. The motor cable for the PK244P and PK26 P (both supplied and sold separately) employs a connector with a lock. When removing this type of cable, release the connector lock first. Forcibly pulling out the cable without releasing the connector lock may damage the motor.InspectionIt is recommended that periodic inspections be conducted for the items listed below after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest office.• Check for any unusual noises in the motor’s bearings (ball bearings) or other moving parts.• Are there any loose connector connections, or any scratches or signs of stress in the motor cable?• Are the motor’s output shaft and load shaft out of alignment?• Unauthorized reproduction or copying of all or part of this manual is prohibited.• Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.• Characteristics, specifications and dimensions are subject to change without notice.• While we make every effort to offer accurate information in themanual, we welcome your input. Should you find unclear descriptions, errors or omissions, please contact the nearest office. • is a registered trademark or trademark of Oriental Motor Co., Ltd., in Japan and other countries.© Copyright ORIENTAL MOTOR CO., LTD. 2009Printed on Recycled Paper• Please contact your nearest Oriental Motor office for further information.Headquarters Tokyo, JapanTel:(03)3835-0684 Fax:(03)3835-1890Tel:01 47 86 97 50Fax:01 47 82 45 16Tel:(02)8228-0707 Fax:(02)8228-0708Technical Support Tel:(800)468-39828:30 A.M. to 5:00 P .M., P .S.T. (M-F)7:30 A.M. to 5:00 P .M., C.S.T. (M-F)E-mail:*****************************Headquarters and Düsseldorf Office Tel:0211-52067-00 Fax:0211-52067-099Munich Office Tel:089-3181225-00 Fax:089-3181225-25Hamburg Office Tel:040-76910443Fax:040-76910445Tel:01256-347090 Fax:01256-347099Tel:02-93906346 Fax:02-93906348Tel:(6745)7344 Fax:(6745)9405KOREATel:(032)822-2042~3 Fax:(032)819-8745Tel:(03)22875778 Fax:(03)22875528Tel:66-2-254-6113 Fax:66-2-254-6114。

基于单片机控制的红外遥控小车(最终修订版)3

ANYANG INSTITUTE OF TECHNOLOGY专科毕业论文基于AT89C52的红外遥控小车设计An Infrared Telecontrol Car Based on The AT89C52 Chip系（院）名称：电子信息与电气工程系专业班级：学生姓名：指导教师姓名：指导教师职称：讲师2009年5月目录摘要 (I)Abstract (II)第一章绪论 (1)1.1 课题背景 (1)1.2 设计要求 (1)1.3 设计方案 (1)第二章硬件设计 (2)2.1 AT89C52单片机 (2)2.1.1 单片机选型 (2)2.1.2 AT89C52单片机的硬件结构简介 (2)2.1.3 单片机的中断 (7)2.1.4 单片机输出控制隔离电路 (7)2.2 电源电路 (8)2.2.1集成稳压块选型 (8)2.2.2 集成稳压块7805介绍 (8)2.2.3单片机5V电源的获得 (9)2.3 红外遥控与接收 (9)2.3.1 PWM（Pulse Width Modulation）脉宽调制技术 (9)2.3.2红外接收电路 (11)2.3.3用单片机解码红外信号 (13)2.4 直流电机 (14)2.4.1直流电机工作原理 (14)2.4.2 电机驱动芯片L298 (15)2.4.3电机驱动电路和保护电路 (18)2.5 硬件原理总图 (19)第三章软件设计 (20)3.1 产品主程序的设计 (20)3.2 程序流程图 (24)第四章安装与调试 (25)4.1 安装制作 (25)4.2 调试 (25)结论 (27)致谢 (28)参考文献 (29)基于AT89C52的红外遥控小车设计专业班级：06通信技术学生姓名：王利强指导教师：杨丽飞职称：讲师摘要：本设计是以单片机（AT89C52）为核心，利用小功率芯片L298驱动直流电机，通过脉宽调制技术控制电机的正反转和转速；利用单片机提供的中断功能和指令系统接收由红外传感器发出的中断信号，并查找相应的中断服务子程序，执行相应的指令，控制并改变直流电机的运行状态，从而实现小车的前进、后退、左转、右转及慢速前进、慢速后退等。

TB6560步进电机驱动器使用手册

TB6560步进电机驱动器使用手册V1.1目录一、产品简介 (3)1. 概述 (3)2. 应用领域 (3)3. 整机介绍 (3)二、驱动器接口和接线介绍 (4)1. 输入接口描述 (4)2. 电源与电机接口描述 (5)3. 接线要求 (6)三、电流、细分拨码开关设定和参数设置 (6)1. 运行电流设置 (6)2. 停止电流设置 (6)3. 细分数设置 (7)4. 衰减方式设置 (7)四、输入电压和输出电流选用 (7)1. 供电电压的选用 (7)2. 输出电流的设定值 (7)五、常见问题 (8)1. 应用中常见问题和处理方法 (8)2. 驱动器常见问题答用户问 (8)六、模块外形尺寸 (9)七、产品保修条款 (9)1. 三年保修期 (9)2. 不属保修之列 (9)一、产品简介1. 概述TB6560步进电机驱动器是由我公司自主研发的一款具有高稳定性、可靠性和抗干扰性的经济型步进电机驱动器，适用于各种工业控制环境。

该驱动器主要用于驱动35、39、42、57 型4、6、8线两相混合式步进电机。

其细分数有4 种，最大16细分；其驱动电流范围为0.3A－3A，输出电流共有14 档，电流的分辨率约为0.2A；具有自动半流，低压关断、过流保护和过热停车功能。

2. 应用领域适合各种中大型自动化设备，例如：雕刻机、切割机、包装机械、电子加工设备、自动装配设备等。

3. 整机介绍二、驱动器接口和接线介绍1. 输入接口描述TB6560驱动器采用差分式接口电路可适用于差分信号，单端共阴及共阳等接口，通过高速光耦进行隔离，允许接收长线驱动器，集电极开路和PNP输出电路的信号。

在环境恶劣的场合，我们推荐用长线驱动器电路，抗干扰能力强。

现在以集电极开路和PNP输出为例，接口电路示意图如下：2. 电源与电机接口描述TB6560驱动器采用直流电源供电，供电电压范围为8V DC－35V DC,建议使用24V DC 供电。

推荐使用24V/5A开关电源进行供电。

THB6128高细分两相混合式步进电机驱动芯片说明书

THB6128高细分两相混合式步进电机驱动芯片一、特性：● 双全桥MOSFET驱动，低导通电阻Ron＝0.55Ω● 最高耐压36VDC，大电流2.2A（峰值）● 多种细分可选（1、1/2、1/4、1/8、1/16、1/32、1/64、1/128） ● 自动半流锁定功能● 快衰、慢衰、混合式衰减三种衰减方式可选● 内置温度保护及过流保护二、管脚图：三、管脚说明：端子No 端子符号端子说明17 DOWN 通电锁定时输出端14，23 SGND 信号地20 OSC1 斩波频率设定电容连接端18 FDT 衰减模式选择电压输入端15 VREF 电流设定端11 VMB B相电机电源连接端28 M1 细分设置端27 M2 细分设置端26 M3 细分设置端13 OUT2B B相 OUTB输出端10 NFB B相电流检测电阻连接端9 OUT1B B相 OUTB输出端12 PGNDB B相功率地7 OUT2A A相 OUTA输出端6 NFA A相电流检测电阻连接端3 OUT1A A相 OUTA输出端4 PGNDA A相功率地25 ENABLE 脱机信号控制端24 RESET 复位信号输入端5 VMA A相电机电源连接端21 CLK 脉冲信号输入端22 CW/CCW 正／反转信号输入端19 OSC2 通电锁定检出时间设定电容连接端16 MO 位置检出Monitor端30 VREG1 内部稳压器用电容连接端1 VREG2 内部稳压器用电容连接端2 VM 电机电源连接端29 ST/VCC 待机控制端四、电器参数：1、最高额定值Absolute Maximum Ratings (Ta = 25°C)项目符号额定值符号最高电源电压 VMmax 36Ｖ最大输出电流 Iomax 2.2Ａ最高逻辑输入电压 VINmax 6ＶVREF最高输入电压 VREFmax 3Ｖ工作环境温度 Topg －20～＋85℃保存环境温度 Tstg －55～＋150℃2、正常运行参数范围Operating Range (Ta =30 to 85°C)参数符号最小典型.最大单位逻辑输入电压 VIN 4.5 5.0 6 V电源电压 VM9 −36 V输出电流 Io−− 2 A电流设定端 VREF0 −3V3、电器特性Electrical Characteristics (Ta = 25°C, VREF =1.5 V, VM = 24 V)项目符号条件最小标准最大符号待机时消耗电流 IMstn ST=”L” 200 μA 消耗电流 IM ST＝”H”、OE=”H”、无负载 4 mA TSD温度 TSD 180 ℃ Thermal Hysteresis值 ΔTSD 40 ℃ 逻辑端子输入电流IinL1 VIN=0.8V 8 μAIinH1 VIN=5V 50 μA 逻辑输入“H”Level电压 Vinh 2.0 Ｖ逻辑输入“L”Level电压 Vinl 0.8 Ｖ FDT端子“H”Level电压 Vfdth 3.5 V FDT端子“M”Level电压 Vfdtm 1.1 3.1 V FDT端子“L”Level电压 Vfdtl 0.8 V 斩波频率 Fch Cosc1=100pF 100 KHz OSC1端子充放电电流 Iosc1 10 μA 斩波振荡电路Vtup1 1 V 电压阈值 Vtdown10.5 V VREF端子输入电流 Iref VREF=1.5V -0.5 μA DOWN输出残电压 VolDO Idown=1mA 400 mV MO端子残电压 VolMO Imo=1mA 400 mV 通电锁定切换频率 Falert Cosc2=1500pF 1.6 Hz OSC2端子充放电电流 Iosc2 TBD μA 通电锁定切换振荡电路Vtup2 TBD V 电压阈值 Vtdown2TBD V REG1输出电压 Vreg1 5 V REG2输出电压 Vreg2 19 V Blanking时间 Tbl 1 uS 输出Ronu Io=2.0A、上側ON阻抗 0.3 Ω 输出ON阻抗Rond Io=2.0A、下側ON阻抗 0.25 Ω 输出漏电流 Ioleak VM=36V 50 μA 二极管正向压降 VD ID＝－2.0A 1 V 电流设定基准电压 VRF VREF=1.5V、電流比100% 300 mV 输出短路保护Timer Latch时间 Tscp 256 μs五、使用说明1、细分设定（M1、M2、M3）M1 M2 M3 细分数L L L 1H L L 1/2L H L 1/4H H L 1/8L L H 1/16H L H 1/32L H H 1/64H H H 1/1282、衰减模式设定PDT为衰减方式控制端，调节此端电压可以选择不同的衰减方式，从而获得更好的驱动效果。

1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。

步进电机二相八线接线方法一、并联接法：以SL86S278A为例，相电流是4.2A。

假如：步进驱动器SL2680 驱动器的电流调到（4.2A*1.4=）5.8A 以下就可以。

步进驱动器适宜调到4.5~5.5A 之间。

这种接法适用步进电机高速运行。

二、串联接法：：1、以SL86S278A为例，相电流是4.2A。

接这款步进驱动器SL2680 驱动器的电流调到（4.2A/1.4=）3.0A 以下就可以。

步进驱动器适宜调到2.6A 就可。

将步进电机的A-和C二个线头并接在一起有绝缘胶纸包好（也即是AC端）。

将步进电机的B-和D二个线头并接在一起有绝缘胶纸包好（也即是BC端）。

2、假如SL86S278A步进驱动器SL2680C 驱动器的电流调到（4.2A/1.4=）3.0A 以下就可以。

步进驱动器适宜调到2.8A 就可。

将将步进电机的A-和C二个线头并接（也即是AC端）接驱动器的AC端上，将步进电机的B-和D二个线头并接（也即是BC端）接驱动器的BC端上。

这种接法适用步进电机低速运行。

能分清绕组的起始端和末端就可以了，没有线的颜色说明，打开看一下里面的绕组，应该是可以看出来的。

两相步进电机里面的绕组都是一样的，4线、5线、6线、8线，只是连接方式不同。

八线是里面没有联接，线头全部拉出来...买了个步进电机，是八根线的，来接线的时候才傻了眼，怎么确定相序，接错了电机是不会转的，当然也可能烧驱动板的，刚才在网上搜了一下，详细的确定线序的方法没有搜到，只有自己根据步进原理，整理出一个方法，让大家碰到这样的电机也方便一下，（本人是用单片机驱动的）首先说一下要用到的东西：被测的步进电机、万用表、已经连接到电脑的步进电机驱动板、已经安装正常的mach3（本人是用单片机驱动的）。

提醒大家，四相步进串联使用是把对面的两个组绕首尾相连（也就是图中的白接棕，黄接红，这样就只有绿兰，黑桔四根线了），如果是并联使用，那就是把对面的两个组绕的首首和尾尾都相连，（就是绿接红、黄接兰、白接黑、桔接棕，也接成四根线了）步进电机是将电脉冲信号转变为角位移或线位移的开环控制元件。

在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。

这一线性关系的存在，加上步进电机只有周期性的误差而无累积误差等特点。

使得在速度、位置等控制领域用步进电机来控制变的非常的简单。

虽然步进电机已被广泛地应用，但步进电机并不能象普通的直流电机，交流电机在常规下使用。

它必须由双环形脉冲信号、功率驱动电路等组成控制系统方可使用。

因此用好步进电机却非易事，它涉及到机械、电机、电子及计算机等许多专业知识。

目前,生产步进电机的厂家的确不少，但具有专业技术人员，能够自行开发，研制的厂家却非常少，大部分的厂家只一、二十人，连最基本的设备都没有。

仅仅处于一种盲目的仿制阶段。

这就给用户在产品选型、使用中造成许多麻烦。

签于上述情况，我们决定以广泛的感应子式步进电机为例。

叙述其基本工作原理。

望能对广大用户在选型、使用、及整机改进时有所帮助。

二、感应子式步进电机工作原理（一）反应式步进电机原理由于反应式步进电机工作原理比较简单。

下面先叙述三相反应式步进电机原理。

1、结构：电机转子均匀分布着很多小齿，定子齿有三个励磁绕阻，其几何轴线依次分别与转子齿轴线错开。

0、1/3て、2/3て,（相邻两转子齿轴线间的距离为齿距以て表示），即A与齿1相对齐，B与齿2向右错开1/3て，C与齿3向右错开2/3て，A'与齿5相对齐，（A'就是A，齿5就是齿1）2、旋转：如A相通电，B，C相不通电时，由于磁场作用，齿1与A对齐，（转子不受任何力以下均同）。

如B相通电，A，C相不通电时，齿2应与B对齐，此时转子向右移过1/3て，此时齿3与C偏移为1/3て，齿4与A偏移（て-1/3て）=2/3て。

如C相通电，A，B相不通电，齿3应与C对齐，此时转子又向右移过1/3て，此时齿4与A偏移为1/3て对齐。

如A相通电，B，C相不通电，齿4与A对齐，转子又向右移过1/3て这样经过A、B、C、A 分别通电状态，齿4（即齿1前一齿）移到A相，电机转子向右转过一个齿距，如果不断地按A，B，C，A……通电，电机就每步（每脉冲）1/3て,向右旋转。

如按A，C，B，A……通电，电机就反转。

由此可见：电机的位置和速度由导电次数（脉冲数）和频率成一一对应关系。

而方向由导电顺序决定。

不过，出于对力矩、平稳、噪音及减少角度等方面考虑。

往往采用A-AB-B-BC－C-CA-A这种导电状态，这样将原来每步1/3て改变为1/6て。

甚至于通过二相电流不同的组合，使其1/3て变为1/12て，1/24て，这就是电机细分驱动的基本理论依据。

不难推出：电机定子上有m相励磁绕阻，其轴线分别与转子齿轴线偏移1/m,2/m……(m-1)/m,1。

并且导电按一定的相序电机就能正反转被控制——这是步进电机旋转的物理条件。

只要符合这一条件我们理论上可以制造任何相的步进电机，出于成本等多方面考虑，市场上一般以二、三、四、五相为多。

3、力矩：电机一旦通电，在定转子间将产生磁场（磁通量Ф）当转子与定子错开一定角度产生力F与（dФ/dθ）成正比S 其磁通量Ф=Br*S Br为磁密，S为导磁面积F与L*D*Br成正比L为铁芯有效长度，D为转子直径Br=N·I/R N·I 为励磁绕阻安匝数（电流乘匝数）R为磁阻。

力矩=力*半径力矩与电机有效体积*安匝数*磁密成正比（只考虑线性状态）因此，电机有效体积越大，励磁安匝数越大，定转子间气隙越小，电机力矩越大，反之亦然。

（二）感应子式步进电机1、特点：感应子式步进电机与传统的反应式步进电机相比，结构上转子加有永磁体，以提供软磁材料的工作点，而定子激磁只需提供变化的磁场而不必提供磁材料工作点的耗能，因此该电机效率高，电流小，发热低。

因永磁体的存在，该电机具有较强的反电势，其自身阻尼作用比较好，使其在运转过程中比较平稳、噪音低、低频振动小。

感应子式步进电机某种程度上可以看作是低速同步电机。

一个四相电机可以作四相运行，也可以作二相运行。

（必须采用双极电压驱动），而反应式电机则不能如此。

例如：四相，八相运行（A-AB-B-BC-C-CD-D-DA-A）完全可以采用二相八拍运行方式.不难发现其条件为C=,D=.一个二相电机的内部绕组与四相电机完全一致，小功率电机一般直接接为二相，而功率大一点的电机，为了方便使用，灵活改变电机的动态特点，往往将其外部接线为八根引线（四相），这样使用时，既可以作四相电机使用，可以作二相电机绕组串联或并联使用。

2、分类感应子式步进电机以相数可分为：二相电机、三相电机、四相电机、五相电机等。

以机座号（电机外径）可分为：42BYG(BYG为感应子式步进电机代号）、57BYG、86BYG、110BYG、（国际标准），而像70BYG、90BYG、130BYG等均为国内标准。

3、步进电机的静态指标术语相数：产生不同对极N、S磁场的激磁线圈对数。

常用m表示。

拍数：完成一个磁场周期性变化所需脉冲数或导电状态用n表示，或指电机转过一个齿距角所需脉冲数，以四相电机为例，有四相四拍运行方式即AB-BC-CD-DA-AB，四相八拍运行方式即A-AB-B-BC-C-CD-D-DA-A.步距角：对应一个脉冲信号，电机转子转过的角位移用θ表示。

θ=360度（转子齿数J*运行拍数），以常规二、四相，转子齿为50齿电机为例。

四拍运行时步距角为θ=360度/（50*4）=1.8度（俗称整步），八拍运行时步距角为θ=360度/（50*8）=0.9度（俗称半步）。

定位转矩：电机在不通电状态下，电机转子自身的锁定力矩（由磁场齿形的谐波以及机械误差造成的）静转矩：电机在额定静态电作用下，电机不作旋转运动时，电机转轴的锁定力矩。

此力矩是衡量电机体积（几何尺寸）的标准，与驱动电压及驱动电源等无关。

虽然静转矩与电磁激磁安匝数成正比，与定齿转子间的气隙有关，但过份采用减小气隙，增加激磁安匝来提高静力矩是不可取的，这样会造成电机的发热及机械噪音。

4、步进电机动态指标及术语：1、步距角精度：步进电机每转过一个步距角的实际值与理论值的误差。

用百分比表示：误差/步距角*100%。

不同运行拍数其值不同，四拍运行时应在5%之内，八拍运行时应在15%以内。

2、失步：电机运转时运转的步数，不等于理论上的步数。

称之为失步。

3、失调角：转子齿轴线偏移定子齿轴线的角度，电机运转必存在失调角，由失调角产生的误差，采用细分驱动是不能解决的。

4、最大空载起动频率：电机在某种驱动形式、电压及额定电流下，在不加负载的情况下，能够直接起动的最大频率。

5、最大空载的运行频率：电机在某种驱动形式，电压及额定电流下，电机不带负载的最高转速频率。

6、运行矩频特性：电机在某种测试条件下测得运行中输出力矩与频率关系的曲线称为运行矩频特性，这是电机诸多动态曲线中最重要的，也是电机选择的根本依据。

如下图所示：其它特性还有惯频特性、起动频率特性等。

电机一旦选定，电机的静力矩确定，而动态力矩却不然，电机的动态力矩取决于电机运行时的平均电流（而非静态电流），平均电流越大，电机输出力矩越大，即电机的频率特性越硬。

其中，曲线3电流最大、或电压最高;曲线1电流最小、或电压最低，曲线与负载的交点为负载的最大速度点。

要使平均电流大，尽可能提高驱动电压，使采用小电感大电流的电机。

7、电机的共振点：步进电机均有固定的共振区域，二、四相感应子式步进电机的共振区一般在180-250pps之间（步距角1.8度）或在400pps左右（步距角为0.9度），电机驱动电压越高，电机电流越大，负载越轻，电机体积越小，则共振区向上偏移，反之亦然，为使电机输出电矩大，不失步和整个系统的噪音降低，一般工作点均应偏移共振区较多。

8、电机正反转控制：当电机绕组通电时序为AB-BC-CD-DA或()时为正转，通电时序为DA-CA-BC-AB或()时为反转。

三、驱动控制系统组成使用、控制步进电机必须由环形脉冲，功率放大等组成的控制系统，其方框图如下：1、脉冲信号的产生。

脉冲信号一般由单片机或CPU产生，一般脉冲信号的占空比为0.3-0.4左右，电机转速越高，占空比则越大。

2、信号分配我厂生产的感应子式步进电机以二、四相电机为主，二相电机工作方式有二相四拍和二相八拍二种，具体分配如下：二相四拍为,步距角为1.8度；二相八拍为,步距角为0.9度。

四相电机工作方式也有二种，四相四拍为AB-BC-CD-DA-AB,步距角为1.8度；四相八拍为AB-B-BC-C-CD-D-AB,(步距角为0.9度）。

3、功率放大功率放大是驱动系统最为重要的部分。

PK268-E2.0A步进电机应用

TB6600升级版驱动器说明书最最新

雷赛科技 HA860步进电机驱动器 使用说明

PK步进电机参数

STK672-080应用

步进电机介绍及相关参数与操作说明书

东方电机公司2相步进电机和驱动器包装CSK系列说明书

XC602步进电机控制器说明书

UMK系列步进电机和驱动器包的技术参考手册说明书

控制步进电机实验报告(3篇)

VD2 两相步进电机驱动器 用户手册说明书

步进电机驱动器DM542使用方法及电机接线使用说明

ME-268A离子风机测试仪使用说明书

PK步进电机参数

基于单片机的步进电机多轴运动控制系统设计

L297+L298步进电机控制

奥rient电机PK系列2相步进电机操作手册说明书

基于单片机控制的红外遥控小车(最终修订版)3

TB6560步进电机驱动器使用手册

THB6128高细分两相混合式步进电机驱动芯片说明书

雷赛科技 HA860步进电机驱动器使用说明

VD2 两相步进电机驱动器用户手册说明书