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DFRobot Veyron, Руководство пользователя

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1.Overview

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1.1 Electrical specification

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1.2 Power terminal definition

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1.3 Encoder terminal definition

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1.4 Communication terminal definition

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1.5 Cooling fan terminal definition

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1.6 Indicator definition

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1.7 KEY sets the button description

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1.8 Interface type

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2 Practice guide

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2.1 UART interface

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2.2 PPM interface

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2.3 Analog interface

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3 Instruction set V1.0

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3.1 Query drive type (ID,PING\r\n)

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3.2 Read the drive configuration parameters (ID,RCONFIG\r\n)

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3.3 Restore factory settings (ID,FCONFIG\r\n)

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3.4 Query Help (ID,HELP\r\n)

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3.5 Save all the configuration parameters (ID,EEPSAV\r\n)

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3.6 Set the baud rate (ID,SBR,******\r\n)

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3.7 Set the drive addresses (ID,SNA,***\r\n)

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3.8 Get the number of cumulative pulse encoder (ID,GEP,*\r\n)

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3.9 Reset encoder cumulative number of pulses (ID,CEP,*\r\n)

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3.10 Set encoder line (ID,SER,****,####\r\n)

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3.11 Set reduction ratio (ID,SGR,****,####\r\n)

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3.12 Set direction mode (ID,SDIR,*\r\n)

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3.13 Set the PWM signal generating method (ID,SPWM,*\r\n)

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3.14 Set zero signal detection or not when start (ID,SSD,*\r\n)

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3.15 Gets the current rotation speed (ID,GVC,*\r\n)

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3.16 Get the maximum rotation speed (ID,GVM,*\r\n)

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3.17 Set synchronous speed (ID,SVS,*,*****\r\n)

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3.18 Set asynchronous speed (ID,SVR,*,*****\r\n)

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3.19 Perform asynchronous speed (ID,AVR,*,#\r\n)

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3.20 Get Acceleration (ID,GACC,*\r\n)

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3.21 Get reduced speed (ID,GDEC,*\r\n)

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3.22 Set increase or decrease speed (ID,SAD,*,*****,#####\r\n)

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3.23 Get the PPM Max (ID,GPA\r\n)

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3.24 Get the minimum PPM (ID,GPI\r\n)

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3.25 Set PPM extreme (ID,SPPM,****,####\r\n)

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Содержание Veyron

Страница 1: ...Set the drive addresses ID SNA r n 16 3 8 Get the number of cumulative pulse encoder ID GEP r n 16 3 9 Reset encoder cumulative number of pulses ID CEP r n 17 3 10 Set encoder line ID SER r n 17 3 11...

Страница 2: ...um permissible peak current ID GMPC r n 22 3 35 To get the current current ID GCC r n 22 3 36 To set the maximum permissible continuous current and maximum permissible peak current ID SMLC r n 23 3 37...

Страница 3: ...lf tuning PID parameter etc simplifies the user operation 1 1 Electrical Specification Input voltage range DC 6 36V limit voltage is 40V Single maximum permissible continuous current 25A Veyron 2x25A...

Страница 4: ...ess of the indicator led indicates the speed of M1 In UART mode when the drive receives data it will be ON vice versa Status2 yellow In PPM and Analog mode the brightness of the indicator led indicate...

Страница 5: ...Analog mode only it could eliminate the fault information by resetting the drive Set Analog PPM UART Error Error Sources Lower Voltage Over Voltage Over Temperature M1 Over Current M2 Over Current Con...

Страница 6: ...At the beginning of this section first I will show you a brief description of several associated control parameters Direction Mode This parameter is only valid in Analog mode and PPM mode It decides...

Страница 7: ...eleration 100 PID_Kp 0 000 PID_Ti 0 PID_Td 0 2 1 UART interface You will see the following phenomenon in the first use the three indicators Set UART Error light up for 2s then indicator Error and Set...

Страница 8: ...ssociated with the actual control are as follows baud rate drive address Encoder line number gear ratio PWM signal generating method the maximum speed synchronous speed asynchronously speed perform as...

Страница 9: ...will not be respond Please refer to instructions set set the configuration which you need when the configuration is completed you can send directives to control the motor 2 2 PPM interface PPM extrem...

Страница 10: ...signal and motor speed are described as the figure below Note when the signal is below the minimum limit value or over the maximum limit value the drive will not respond Open loop control mode Connect...

Страница 11: ...ratio and other parameters with UART interface 2 Press KEY button on the side to enter the SET mode SET indicator led lights up the led Status1 blinks then it s the led Status2 about how to set PPM li...

Страница 12: ...tating range potentiometer could reach a half for positive running another half opposite direction running then at the output terminal of potentiometer recommends using voltage followed device output...

Страница 13: ...me limit the maximum permissible continuous current the maximum permissible peak current limit the maximum allowable temperature and voltage Please refer to instruction set set those depending on the...

Страница 14: ...he start part of the PPM interface 3 M1 began rotating Note we regard this motor rotating direction as the Positive direction if Direction mode is bi directional mode when the voltage signal is betwee...

Страница 15: ...ad drive configuration parameter all configuration parameters will be singular form 3 1 Query drive type ID PING r n The type of Veyron motor drive series can be accessed through this command such as...

Страница 16: ...ns none 3 7 Set the drive addresses ID SNA r n The drive addresses covers 1 126 the factory default value is 1 When multiple drives running in parallel two of the same bus address are not allowed Diff...

Страница 17: ...atio accurate to 2 decimal digits The factory default value is 1 For example to set the reduction ratio of the M1 to 12 34 and set reduction ratio of M2 to 23 45 Send 1 SGR 12 34 23 45 Returns none 3...

Страница 18: ...uses violent impact to load when the motor holds dangerous loads it will be a threat to personal safety In this case you can start the zero signal detection to enhance security When system suddenly re...

Страница 19: ...ly and then send by radio to perform asynchronous speed command For example to set the asynchronous rotational speed M1 to 100r min Send 1 SVR 1 100 r n Returns none 3 19 Perform asynchronous speed ID...

Страница 20: ...change of velocity are deceleration values For example to get the deceleration value of M1 Send 1 GDEC 1 r n Returns the road motor deceleration values 3 22 Set increase or decrease speed ID SAD r n T...

Страница 21: ...control signal is not received within a stipulated time and indicates a failure of losing signal a specific time please refer to set a break mode time limit directive In addition the control signal m...

Страница 22: ...ed servo combined with real time output motor speed instruction and related software For example to set PID parameters of M1 Kp Ti Td is respectively to 0 2 4 1 Send 1 SPID 1 0 2 4 1 r n Returns none...

Страница 23: ...e temperature unit 3 38 To get the current temperature ID GCT r n If the current temperature is greater than 40 c fan drive interface will output 5V 500mA power user can add in a 5V fan or relay contr...

Страница 24: ...voltage threshold to 10V and 24V Send 1 SLV 100 240 r n Returns none 3 42 To get the fault information ID GER r n Fault messages should be converted to a hexadecimal number querying about origin faul...

Страница 25: ...3 44 Output real time speed ID OUT r n Real time speed of motor output is mainly to regulate PID parameters if needed to stop exporting simply enter an empty instruction r n Worth noting is that in o...

Страница 26: ...oper use or over the use of limit range DFRobot does not assume any legal liability Warranty Card Dear Customers Please read the following content carefully in order to protect your rights Return Guid...

Страница 27: ...ontact you with the E mail And all costs should be assumed by the customer We are not able to process returns for items purchased from a DFRobot distributor Please contact the store you originally pur...

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