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Plotter Router Fresadora CNC

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Impresora alciro-3D printer

microHomeLan.net

microPLC para arduino

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

6. STAGE OF POWER AND CONTROL CIRCUIT

The application is designed for use in a jig with three axes Cartesian robot or an X, Y and Z. This will have a control board, whose block diagram shown in Figure 6.1.

From a personal computer PC, and through RS232 line, transmit the control codes, codes developed specifically for this application, such as speed, acceleration and motor current, or other as the positions of the X, Y or Z, etc.. These are collected by the microprocessor (main element of control) and transformed into signals activating the power drivers, and analog signals processed by the A / D to generate the microstep. There are three stages of power flow control, for each to power the motor for axis X, Y and Z. Finally, the essential element, the power supply that provides power to run the circuit, it delivers two voltages, one for signal and control, 5 V, and the other power (engine power) , 48 V.

Figure 6.1. General block diagram of a board of control of three stepping motors

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