6ES7972-0BB50-0XA0

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6ES7972-0BB50-0XA0

WSN特別適合部署在惡劣環(huán)境或人類不宜到達(dá)的區(qū)域，節(jié)點(diǎn)可能工作在露天環(huán)境中，遭受日曬、風(fēng)吹、雨淋，甚至遭到人或動(dòng)物的破壞。傳感器節(jié)點(diǎn)往往采用隨機(jī)部署，如通過飛機(jī)撒播或發(fā)射炮彈到指定區(qū)域進(jìn)行部署。這些都要求傳感器節(jié)點(diǎn)非常堅(jiān)固，不易損壞，適應(yīng)各種惡劣環(huán)境條件。無線傳感器網(wǎng)絡(luò)由于監(jiān)測區(qū)域環(huán)境的限制以及傳感器節(jié)點(diǎn)數(shù)目巨大，不可能人工“照顧”每個(gè)傳感器節(jié)點(diǎn)，網(wǎng)絡(luò)的維護(hù)十分困難甚至不可維護(hù)。傳感器網(wǎng)絡(luò)的通信保密性和安全性也十分重要，要防止監(jiān)測數(shù)據(jù)被盜取和獲取偽造的監(jiān)測信息。因此，傳感器網(wǎng)絡(luò)的軟硬件必須具有魯棒性和容錯(cuò)性。?步進(jìn)電機(jī)驅(qū)動(dòng)器在斷電后重新啟動(dòng)步進(jìn)電機(jī)，步進(jìn)電機(jī)會(huì)出現(xiàn)抖動(dòng)的現(xiàn)象。要解釋這個(gè)現(xiàn)象出現(xiàn)的原因并解決，就要了解步進(jìn)電機(jī)驅(qū)動(dòng)器相位記憶的功能。本文詳細(xì)介紹下相位記憶功能。相位記憶，我們可以想象一下，步進(jìn)電機(jī)被細(xì)分以后，一步才走多少度，停止的時(shí)候必須剛好停止那個(gè)角度上。他是一個(gè)特殊的功能！當(dāng)步進(jìn)驅(qū)動(dòng)器在某一個(gè)相位斷電時(shí)，在下次通電時(shí)如果和此相位不同，步進(jìn)電機(jī)就會(huì)出現(xiàn)“抖動(dòng)”，為了消除這個(gè)抖動(dòng)現(xiàn)象就必須把斷電時(shí)的相位記憶住。例如：步進(jìn)電機(jī)運(yùn)行的時(shí)序?yàn)?個(gè)，假設(shè)停在第4步并斷電，重新上電后，如果在4號(hào)位置上直接開始驅(qū)動(dòng)第1步就會(huì)出現(xiàn)一個(gè)跳步。如果系統(tǒng)還能記得目前還處于第4步，那么就能夠正確發(fā)出命令走第5步或第3步。
目前有一大部分步進(jìn)電機(jī)驅(qū)動(dòng)器還沒有斷電相位記憶功能，尤其是采用常見專用IC的步進(jìn)驅(qū)動(dòng)器，例如現(xiàn)在不屬于芯片式的驅(qū)動(dòng)，屬于DSP分立式驅(qū)動(dòng)，都不帶相位記憶,也就是停止的時(shí)候剛好停止在他脈沖發(fā)完的相位上，因?yàn)殡姍C(jī)停止的時(shí)候稍微一點(diǎn)慣性，就錯(cuò)開了記憶的那個(gè)點(diǎn)。用IC上電后復(fù)位腳的復(fù)位信號(hào)會(huì)將電機(jī)相位復(fù)位到初始值，上電的抖動(dòng)應(yīng)該是無法避免的。就算是用絕對(duì)值的伺服電機(jī)它也得判斷和修正一下，也可以看成是抖動(dòng)?；蛘邍?yán)格來講，不存在上電不抖動(dòng)的電機(jī)。關(guān)鍵是這種抖動(dòng)對(duì)你的應(yīng)用影響有多大？最好是記錄絕對(duì)停機(jī)坐標(biāo)，上電后系統(tǒng)復(fù)位核對(duì)原點(diǎn)，再運(yùn)行到斷電前的絕對(duì)坐標(biāo)恢復(fù)運(yùn)行。
如果抖動(dòng)對(duì)整體運(yùn)行有較大的影響，建議可以考慮選用伺服電機(jī)。伺服電機(jī)帶有Z相，可以停留絕對(duì)值或者尋找0點(diǎn)，避免上電抖動(dòng)的情況。

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主營DCS系統(tǒng)配件
機(jī)器人系統(tǒng)配件
大型伺服系統(tǒng)配件
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PLC模塊，可編程控制器，CPU模塊，IO模塊，AI模塊，通訊模塊。AB/施耐德/ABB/GE/本特利/西屋/英維斯/霍尼韋爾/黑馬/FU克斯波羅

15天包退換 一年質(zhì)保 大量現(xiàn)貨? 國內(nèi)實(shí)力庫存商家


選擇深圳長欣，選擇放心，售后無憂大量現(xiàn)貨，當(dāng)天順豐發(fā)貨！
主營：本特利，英維思，伍德沃德，?？怂共_、西屋、瑞恩、施耐德莫迪康、ABB、AB、西門子、摩托羅拉、GE發(fā)那科、安川、博世力士樂，ACSO，力士樂等各大品牌的DCS系統(tǒng)配件，機(jī)器人系統(tǒng)配件，大型伺服系統(tǒng)備件。

先介紹幾點(diǎn)經(jīng)驗(yàn)。
1、先通讀一遍“系統(tǒng)手冊”（不管能不能看懂，先了解個(gè)大概，以便學(xué)習(xí)編程時(shí)查找）；
2、由位控邏輯入手，逐漸增加定時(shí)、計(jì)數(shù)等條件，把或、與、非關(guān)系理順；
3、進(jìn)而練習(xí)整數(shù)運(yùn)算、實(shí)數(shù)運(yùn)算、類型轉(zhuǎn)換；
4、量程轉(zhuǎn)換、PID調(diào)節(jié)回路的建立及P、I、D參數(shù)的理解（最好是有個(gè)物理回路驗(yàn)證，比如變頻器+電機(jī)+測速傳感器）；
5、循環(huán)、順序、跳轉(zhuǎn)等程序控制（盡量避免跳轉(zhuǎn)，非跳不可時(shí)也是跳的越近越好）；
6、中斷、通訊、位置控制....

本人以ABB工業(yè)機(jī)器人配件DSQC系列和Motorola MVME系列，GE 卡件 模塊 驅(qū)動(dòng)器系列為主攻。各位電工朋友可根據(jù)自己的條件選擇適合自己的PLC品牌，由于PLC的基本框架大同小異，學(xué)會(huì)一種至于其它的學(xué)習(xí)起來也就簡單了。

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