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Plotter Router Fresadora CNC
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Plotter Router Fresadora CNC
1. MOTOR STEP BY STEP (STEP MOTOR)
1.1. Permanent magnet motors
1.2. Stepper motors, variable reluctance
1.3. Hybrid Stepper Motors
1.3.1. Hybrids of two and four phases
1.3.2. Hybrids of three and five stages
1.4. Comparison of different types of stepper motors
2. CHARACTERISTICS OF STEPPER MOTORS
2.1. Static characteristics
2.1.1. Holding torque (Holding torque)
2.1.2. Static position error
2.1.3. Excitation sequences
2.1.3.1. Variable reluctance motors
2.1.3.2. Hybrid engines
2.1.3.3. Microstep sequence
2.2. Dynamic Characteristics
2.2.1. Curves / torque / frequency
2.2.2. Relationship between the dynamic torque and static torque
2.2.3. Mechanical Resonance
2.2.4. Compensating mechanical inertia (dampers)
2.2.5. High speed operation
2.2.5.1. Model of a hybrid stepper motor
2.2.5.2. Calculation of dynamic torque (pull out)
4. ENGINE POWER STEP BY STEP
4.1. Excitation sequences
4.1.1. Sequence of two active phases (full step)
4.1.2. Sequence of an active phase (wave-wave excitation)
4.1.3. Half-step sequence (half step)
4.1.4. Excitation sequence for a variable reluctance motor
4.1.5. Excitation sequence in microstep stepper motors
4.2. Stepper motor bipolar and unipolar
4.2.1. Relationship between torque and bipolar and unipolar excitation
4.2.2. Stepper Motors 8-wire
4.3. Power amplifiers (Drivers)
4.3.1. Problems with Drivers
4.3.1.1. Suppression circuits
4.3.2. Constant voltage feeding
4.3.2.1. Improvement additional resistance voltage feeding
4.3.3. Stepper motor control for power
4.3.4. Bipolar chopper control in H-bridge
4.3.4.1. H-bridge for a two-phase motor.
4.3.4.2. Chopper phase and inhibition
4.3.5. Choosing the type of chopper
4.3.5.1. Ripple Current
4.3.5.2. Losses in the motor
4.3.5.3. Dissipation in the bridge
4.3.5.4. Minimum current
4.3.6. Types of current control
4.3.6.1. Pulse width modulation (Pulse Width Modulation)
4.3.6.2. Fixed stop time (Frequency Modulation switching control)
5. TORQUE CHARACTERISTICS AND PULSE INTERVALS
5.1. Dynamic equations and acceleration
5.1.1. Dynamic equations
5.1.2. Friction torque
5.1.3. Acceleration of stepper motors
5.1.3.1. Slowdown in stepper motors
5.1.3.2. Limitations of the analysis of acceleration
5.1.3.3. Need to optimize acceleration
5.1.4. Optimal velocity profile
5.1.4.1. Velocity profile equations
5.1.4.2. Example of calculating the velocity profile
5.1.4.3. Considerations of the velocity profile
5.1.5. Loads connected to the engine through transmission elements
5.1.5.1. Transmitted by belts and gears
5.1.5.2. Lifting
5.1.5.3. Moving objects using tape
5.1.5.4. Linear motion by worm and gear
5.1.6. Performance of a screw
5.1.7. Friction, torque and inertia
5.1.8. Example of calculating the torque in linear system
5.1.9. Example of calculating torque motor pull-in start
5.2. Determination of time and pulse interval
5.2.1. Considerations on the characteristics of pull-in
5.2.2. Theory of linear acceleration pulse intervals
6. STAGE OF POWER AND CONTROL CIRCUIT
6.1. Amplifier
6.1.1. Driver
7. ALGORITHMS AND CONTROL PROGRAM
7.1. Instructions and communication
7.1.1. Control Commands
7.1.1.1. Command parameters control
7.1.1.2. Shares of control commands
Technical Datasheets
Technical Datasheets
Specifications of integrated circuits used in the project:
80C32 CMOS single chip 8 bit microcontroller
27V256 256 Kbit UV EPROM memory
74AHCT573 Octal D-type transparent latch 3-state
74HC00 Quad 2-input NAND gate
74HC259 8-bit addressable latch
74HCT04 hex inverter
74HCT4538 Dual precision monostable multivibrator retriggerable
AD-7228 digital analog converter DAC
L298N dual full-bridge driver
Positive voltage regulator L7800
LM293 Dual Differential Comparator general purpose
MAX220-MAX249 drivers receivers Intended for EIATIA-232E
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