Arduino: Precision Lib rau Stepper Motor: 19 Cov Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Hnub no, kuv yuav qhia koj lub tsev qiv ntawv rau tus neeg tsav tsheb kauj ruam puv nrog txwv kev hloov, thiab lub cav txav nrog kev nrawm thiab qib micro. Qhov Lib no, uas ua haujlwm ntawm ob qho Arduino Uno thiab Arduino Mega, tso cai rau koj txav lub cav raws li tsis yog nyob ntawm tus lej ntawm cov kauj ruam, tab sis kuj ntawm millimeters. Thiab nws tseem zoo nkauj heev thiab.

Ib qho tseem ceeb ntawm lub tsev qiv ntawv no yog qhov nws tso cai rau koj los tsim koj tus kheej lub tshuab CNC, uas tsis tas yuav yog X, Y, tab sis kuj yog ntu ntu hloov pauv, piv txwv li, vim tias nws tsis tau npaj GRBL, tab sis theej cov phiaj xwm uas tso cai rau koj los ua lub tshuab zoo tshaj plaws rau koj.

Txawm li cas los xij, nqe lus hauv qab no yog cov ncauj lus tseem ceeb! Cov vis dis aus no tsuas yog rau cov uas twb tau siv rau lub cajmeem lawm. Yog tias koj tsis paub nrog Arduino cov phiaj xwm, koj yuav tsum xub saib lwm cov vis dis aus qhia ntxiv ntawm kuv cov channel. Qhov no yog vim kuv tab tom tham txog cov ncauj lus tseem ceeb hauv cov yeeb yaj kiab tshwj xeeb no, thiab piav qhia ntxaws ntxiv txog Lib siv hauv cov vis dis aus: Kauj Ruam Tsav Tsheb nrog Kev Ua Haujlwm nrawm thiab Xaus ntawm Stroke.

Kauj ruam 1: StepDriver Library

Lub tsev qiv ntawv no suav txog peb hom neeg tsav tsheb tshaj plaws hauv khw: A4988, DRV8825, thiab TB6600. Nws teeb tsa tus pin ntawm cov tsav tsheb, tso cai rau lawv ua qhov rov pib dua thiab tso rau hauv Hom Pw tsaug zog, ntxiv rau qhib thiab ua kom lub tshuab ua haujlwm tsis zoo ua rau Pab tus pin. Nws tseem teeb tsa cov tswv yim ntawm cov kauj ruam me me ntawm tus tsav tsheb, thiab txwv cov hloov pauv thiab lawv qib kev ua kom siab (siab lossis qis). Nws kuj tseem muaj lub cev muaj zog txav nrawm nrog nrawm nrawm hauv mm / s², nrawm tshaj plaws hauv mm / s, thiab qhov nrawm nrawm hauv mm / s.

Rau cov uas tau saib ntu 1 thiab 2 ntawm daim vis dis aus Kauj Ruam Tsav nrog Kev Ua Kom Zoo thiab Xaus Ntawm Stroke, rub tawm lub tsev qiv ntawv tshiab no muaj nyob rau niaj hnub no, vim tias kuv tau hloov qee qhov hauv thawj cov ntaub ntawv los pab nws siv.

Kauj Ruam 2: Kev Hloov Ntiaj Teb

Kuv qhia qhov tseeb tias txhua qhov kev hloov pauv hauv ntiaj teb yog rau dab tsi.

Kauj Ruam 3: Kev Ua Haujlwm - Teeb Tus Tsav Tsheb Pins

Ntawm no, kuv piav qhia qee txoj hauv kev.

Kuv teeb tsa Pinout teeb tsa thiab Arduino pins raws li tso tawm.

Kauj Ruam 4: Kev Ua Haujlwm - Lub luag haujlwm tseem ceeb ntawm tus tsav tsheb

Hauv ntu no, peb ua haujlwm nrog kev teeb tsa tus tsav tsheb thiab nws cov haujlwm yooj yim.

Kauj Ruam 5: Kev Ua Haujlwm - Lub Cev Tsav Tsheb

Hauv cov kauj ruam no ntawm cov cai, peb teeb tsa tus nqi ntawm cov kauj ruam ib millimeter uas lub tshuab yuav tsum ua.

Kauj Ruam 6: Kev Ua Haujlwm - Teeb Lub Hwj Huam Kauj Ruam Hom

Cov lus no qhia pom cov teeb tsa rau lub cav theem kauj ruam. Nov yog qee qhov piv txwv.

Kauj Ruam 7: Kev Ua Haujlwm - Teeb Limit Switches

Ntawm no, Kuv yuav tsum nyeem tag nrho thiab qhov tseem ceeb boolean. Nws yog qhov tsim nyog los teeb tsa seb tus yuam sij nquag tau nce lossis nqis, thaum teeb tsa qhov siab kawg thiab yam tsawg kawg nkaus txwv kawg.

Kauj Ruam 8: Kev Ua Haujlwm - Nyeem Cov Txwv Hloov

Ib feem no txawv ntawm qhov nyob hauv Lib uas kuv tau muaj rau lub lim tiam dhau los. Vim li cas kuv thiaj hloov nws? Zoo, Kuv tsim eRead los hloov qee qhov lwm tus. Ntawm no, eRead yuav nyeem LVL, digitalRead (tus pin), thiab yuav rov qab TSHUAJ. Txhua yam no yuav tsum tau ua ntawm qhov siab. Cov haujlwm hauv qab no nrog tus yuam sij nquag yuav nyob rau qib qis. Kuv yuav siv nws ntawm no los qhia koj lub rooj "Tseeb".

Hauv daim duab ntawm tus lej, kuv tso daim duab uas yuav pab kom nkag siab tias, hauv ib feem ntawm qhov chaws, kuv tab tom txav mus rau Ascending thiab tseem tsis tau tsoo qhov kawg ntawm qhov tseem ceeb.

Tam sim no, hauv daim duab no os code bool DRV8825, Kuv qhia lub cav tseem tab tom txav mus rau qhov kev loj hlob. Txawm li cas los xij, qhov kev txwv siab tshaj plaws tau qhib ua haujlwm. Yog li ntawd, lub tshuab yuav tsum nres qhov kev txav mus los.

Txog zaum kawg, kuv qhia qhov txav mus ib yam, tab sis nyob hauv qhov kev coj rov qab.

Ntawm no, koj twb muaj qhov kawg ntawm chav kawm hloov pauv.

Kauj Ruam 9: Kev Ua Haujlwm - Teeb Meem

Lub peev txheej tseem ceeb ntawm txoj kev txav mus los yog hloov millimeter ib pliag (ntsuas ntsuas siv hauv CNC tshuab) mus rau cov kauj ruam, txhawm rau ua kom tau raws li tus tswj hwm ntawm lub tshuab tsav stepper. Nws yog nyob hauv ntu no, yog li ntawd, uas kuv tau hloov kho qhov hloov pauv kom nkag siab cov kauj ruam thiab tsis yog millimeters.

Kauj Ruam 10: Kev Ua Haujlwm - Kev Ua Haujlwm

Hauv qib no, peb kho cov lus txib uas txav ib kauj ruam hauv qhov kev xav tau hauv lub sijhawm hauv microseconds. Peb kuj teeb tus tsav tsheb tus taw qhia tus pin, ncua sijhawm, thiab cov kev txwv ntawm qhov hloov pauv.

Kauj Ruam 11: Kev Ua Haujlwm - Kev Ua Haujlwm Txav Mus - Txawv

Hauv ntu no, peb teeb tsa txhua qhov kev hloov pauv uas cuam tshuam nrog lub sijhawm siab tshaj plaws thiab yam tsawg kawg nkaus ceev, nrug deb ntawm txoj kev taug, thiab cov kauj ruam tsim nyog los cuam tshuam txoj kev taug, ntawm lwm tus.

Kauj Ruam 12: Kev Ua Haujlwm - Kev Tawm Tsam Muaj Zog - Ua kom nrawm dua

Ntawm no, kuv nthuav qhia qee cov ntsiab lus hais txog yuav ua li cas peb tuaj txog ntawm cov ntaub ntawv nrawm, uas tau suav los ntawm Torricelli cov kab zauv, txij li qhov no siv rau hauv tus as khauj kom ua haujlwm nrawm dua thiab tsis yog lub sijhawm. Tab sis, nws yog qhov tseem ceeb ntawm no kom nkag siab tias tag nrho cov kab zauv no tsuas yog hais txog ib kab nkaus xwb.

Peb tau txheeb xyuas tus kabmob hauv daim duab saum toj no, vim tias thawj RPMs tsis zoo rau feem ntau cov neeg tsav tsheb. Tib yam tshwm sim nrog kev txo qis. Vim li no, peb pom kev trapezoid nyob rau lub sijhawm nruab nrab ntawm kev nrawm thiab qeeb.

Kauj Ruam 13: Kev Ua Haujlwm - Motion Function - Kev nrawm nrawm

Ntawm no peb khaws tus naj npawb ntawm cov kauj ruam siv hauv kev nrawm, peb txuas ntxiv nrawm, thiab khaws nrog qhov nrawm tshaj plaws, uas tuaj yeem pom hauv daim duab hauv qab no.

Kauj Ruam 14: Kev Ua Haujlwm - Kev Ua Haujlwm Txav Mus - Kev tshem tawm

Ntawm no peb muaj lwm qhov sib npaug, lub sijhawm no nrog tus nqi nrawm nrawm. Nws kuj tseem tso tawm hauv kab kab ntawv, uas sawv cev, hauv cov duab hauv qab no, lub duab plaub sau tias Deceleration.

Kauj Ruam 15: Kev Ua Haujlwm - Motion Function - Kev nrawm nrawm

Peb rov qab mus nrawm nrawm los ua haujlwm ib nrab ntawm txoj kev taug, raws li pom hauv qab no.

Kauj Ruam 16: Kev Ua Haujlwm - Tsiv Muaj Zog - Tsiv Mus

Hauv ntu no, peb txav lub cav hauv qee qhov kev hloov pauv hauv qhov kev xav tau, hloov tus lej ntawm tig hauv millimeters. Thaum kawg, peb txav lub cav raws qhov kev thov.

Kauj Ruam 17: Tsab Ntawv Tshaj Tawm - Txoj Haujlwm Tshaj Tawm

Hauv kab ntawv no, Kuv muaj cov ntaub ntawv uas tau muab rho tawm los ntawm qhov sib npaug uas peb siv hauv ib feem ntawm Kev Ua Kom nrawm. Kuv coj qhov tseem ceeb thiab ua si ntawm Arduino cov ntawv, thiab kuv tau mus ntawm qhov no mus rau Excel, uas ua rau cov lus no. Cov lus no qhia txog kev nce qib ntawm cov kauj ruam.

Kauj Ruam 18: Tsab Ntawv Motion - Txoj Haujlwm Vs. Txoj hauj lwm

Ntawm no, peb coj txoj haujlwm, hauv cov kauj ruam, thiab nrawm thiab hloov nws mus rau lub sijhawm, hauv microsecond. Peb nco tseg hauv cov kauj ruam no tias lub sijhawm yog sib npaug sib npaug rau qhov nrawm.

Kauj Ruam 19: Tsab ntawv tsa suab - Tshaj tawm Vs. Sijhawm

Thaum kawg, peb muaj qhov nrawm raws li lub luag haujlwm tam sim, thiab vim li no, peb muaj kab ncaj, vim nws yog qhov nrawm raws li lub sijhawm ua haujlwm.