tag:blogger.com,1999:blog-73390480668310058452024-03-13T09:46:03.810+08:00Montrol敏石系統技術問答 | 智動化系統 | 馬達運動控制 | 螺桿整合系統 | 管棒型線性馬達 | EtherCAT控制系統 |MontrolBloggerhttp://www.blogger.com/profile/07838608074830842660noreply@blogger.comBlogger140125tag:blogger.com,1999:blog-7339048066831005845.post-31607820034957600392022-03-04T11:34:00.007+08:002022-03-10T09:15:46.469+08:00SmartMotor碰到韌體極限時自動反彈功能<p> </p><h1 style="text-align: center;"><span lang="EN-US">SmartMotor</span><span face=""新細明體",serif" style="mso-ascii-font-family: "Calibri Light"; mso-ascii-theme-font: major-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: major-fareast; mso-hansi-font-family: "Calibri Light"; mso-hansi-theme-font: major-latin;">碰到韌體極限時自動反彈功能</span></h1><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></p><p class="MsoNormal" style="text-align: center;"></p><div class="separator" style="clear: both; text-align: left;"><div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dyyZPm_DX3euRRZhkYZQ7GakEUGRkOgYPR3mV4pkw37Qquu4-2S-tWa5fIp6YClRAY8Q83S_SpJykLxWF4nww' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div></div><p></p><p class="MsoNormal" style="text-align: center;"></p><div class="separator" style="clear: both; text-align: left;"><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dwMaeakL4-twzsP-cdRP0Xz90Q26eBPawbWoFalHoC3EYVANZs5HS15t0wO1vI8W9uCO7jcbqBubxek9h8TFQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div></div><p></p><p class="MsoNormal" style="text-align: center;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></p><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></p><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">問題描述</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以直線運動滑台為例</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">:</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><span style="mso-spacerun: yes;"> </span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當滑塊每次觸碰到韌體正負極限時,馬達會跳錯誤並停止運動,此時需要將馬達斷電,並手動將滑塊移開極限位置,再將馬達重新上電,過程繁複且耗時間。</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">解決辦法:</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent: 24pt;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">碰到正負極限時,馬達</span><span lang="EN-US">FAULT</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">停止動作,進入中斷指令副程式,清除錯誤且關閉韌體極限功能,</span><span face="新細明體, serif">滑塊</span><span face="新細明體, serif" style="text-indent: 24pt;">自動移動離開極限位置後,啟動韌體極限功能,並回到主程式。</span></p>
<p class="MsoNormal"><br /></p>
<div style="text-align: left;"><span lang="EN-US"><o:p>範例程式:<br /></o:p></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><br /></span></div><div style="text-align: left;"><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'Bms: </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">觸發負</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">(</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">左</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">)</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">極限即時訊號<br /></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'Bps: </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">觸發正</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">(</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">右</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">)</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">極限即時訊號<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">EIGN</span><span lang="EN-US">(<span style="color: #00b0f0;">2</span>)
<span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">EIGN</span>(<span style="color: #00b0f0;">3</span>) <span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">ZS<br /></span><o:p></o:p></span><span lang="EN-US">t=<span style="color: #00b0f0;">1000<br /></span></span><span lang="EN-US" style="color: #f040d3;">GOSUB0 </span><span lang="EN-US"> <span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">原點復歸<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">ITR</span><span lang="EN-US">(<span style="color: #00b0f0;">0</span>,<span style="color: #00b0f0;">1</span>,<span style="color: #00b0f0;">15</span>,<span style="color: #00b0f0;">1</span>,<span style="color: #00b0f0;">10</span>) <span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定第</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">0</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">組中斷</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">,</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">在</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">Bms</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">狀態為</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">時</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">,</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">跳至中斷副程式</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">C10<br /><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">ITR</span><span lang="EN-US">(<span style="color: #00b0f0;">1</span>,<span style="color: #00b0f0;">1</span>,<span style="color: #00b0f0;">14</span>,<span style="color: #00b0f0;">1</span>,<span style="color: #00b0f0;">10</span>) <span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"> '</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定第</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">組中斷</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">,</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">在</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">Bps</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">狀態為</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">時</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">,</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">跳至</span><span style="color: #538135;">中斷</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">副程式</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">C10</span></div><div style="text-align: left;"><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">EITR</span><span lang="EN-US">(<span style="color: #00b0f0;">0</span>)<span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定第</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">0</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">組中斷可用<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">EITR</span><span lang="EN-US">(<span style="color: #00b0f0;">1</span>)
<span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定第</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">組中斷可用<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">ITRE</span><span lang="EN-US"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">啟動中斷功能<br /></span><span lang="EN-US" style="color: #f040d3;">C1</span><span lang="EN-US"><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">製造不結束主程式的迴圈副程式</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">C1<br /></span><span lang="EN-US" style="color: #f040d3;">GOTO1<br /></span><span lang="EN-US" style="color: #f040d3;">END<br /></span><span lang="EN-US"><o:p> <br /></o:p></span><span lang="EN-US" style="color: #f040d3;">C0</span><span lang="EN-US"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">滑台做原點復歸<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">SLD</span><span lang="EN-US"><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">關閉韌體極限功能<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">MT T</span><span lang="EN-US">=-<span style="color: #00b0f0;">1800</span>
<span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">G<br /></span><o:p></o:p></span><span lang="EN-US">c=<span style="color: #00b0f0;">100<br /></span></span><span lang="EN-US" style="color: #f040d3;">WHILE</span><span lang="EN-US"> c><span style="color: #00b0f0;">5<br /></span><o:p></o:p></span><span lang="EN-US">a=<span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">PA<br /></span></span><span lang="EN-US">WAIT=t/<span style="color: #00b0f0;">10<br /></span></span><span lang="EN-US">b=<span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">PA<br /></span></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">WAIT</span><span lang="EN-US">=t/<span style="color: #00b0f0;">10<br /></span><o:p></o:p></span><span lang="EN-US">c=a-b<br /></span><span lang="EN-US" style="color: #f040d3;">LOOP<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">WAIT</span><span lang="EN-US">=t/<span style="color: #00b0f0;">2<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">MP<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">ADT</span><span lang="EN-US">=<span style="color: #00b0f0;">1000<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">VT</span><span lang="EN-US">=<span style="color: #00b0f0;">327680<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">PRT</span><span lang="EN-US">=<span style="color: #00b0f0;">4000<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">G<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">TWAIT<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">WAIT</span><span lang="EN-US">=t<br /><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">O</span><span lang="EN-US">=<span style="color: #00b0f0;">0</span><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定位</span><span face="新細明體, serif"><span style="color: #538135;">置為原</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">點<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">SLN</span><span lang="EN-US">=-<span style="color: #00b0f0;">2500</span><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定韌體極限負極限位置<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">SLP</span><span lang="EN-US">=<span style="color: #00b0f0;">130000</span><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">設定韌體極限正極限位置<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">SLE</span><span lang="EN-US"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">啟動韌體極限功能<br /></span><span lang="EN-US" style="color: #f040d3;">RETURN<br /></span><span lang="EN-US" style="color: #f040d3;"><o:p> <br /></o:p></span><span lang="EN-US" style="color: #f040d3;">C10 <span> </span><span> </span></span><span style="mso-spacerun: yes;"><span> </span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span style="color: #538135;">中斷</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">副程式</span></div><div style="text-align: left;"><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">WAIT</span><span lang="EN-US">=t/<span style="color: #00b0f0;">2<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">ZS</span><span lang="EN-US"><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">清除錯誤訊號<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">SLD</span><span lang="EN-US"><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">關閉韌體極限功能<br /></span><span lang="EN-US" style="color: #f040d3;">IF</span><span lang="EN-US"> <span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">PA</span>><span style="color: #00b0f0;">0<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">MP PRT</span><span lang="EN-US">=-<span style="color: #00b0f0;">4000</span><span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;"> G TWAIT WAIT</span>=t/<span style="color: #00b0f0;">2 </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"> '</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">馬達往負方向轉一圈<br /></span><span lang="EN-US" style="color: #f040d3;">ELSE<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">MP PRT</span><span lang="EN-US">=<span style="color: #00b0f0;">4000</span>
<span style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">G TWAIT
WAIT</span>=t/<span style="color: #00b0f0;">2</span><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">馬達往正方向轉一圈<br /></span><span lang="EN-US" style="color: #f040d3;">ENDIF<br /></span><span lang="EN-US" style="color: #2e74b5; mso-themecolor: accent5; mso-themeshade: 191;">SLE</span><span lang="EN-US"><span style="mso-spacerun: yes;"> </span><span style="color: #38761d;">'</span></span><span face="新細明體, serif"><span style="color: #38761d;">啟動韌體極限功能</span><br /></span><span lang="EN-US" style="color: #f040d3;">RETURNI</span></div>
<p class="MsoNormal"><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><o:p> </o:p></span></p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-80881728725561163152022-02-15T11:26:00.003+08:002022-07-27T10:59:50.320+08:00Trio - Cam Mode 凸輪運動範例說明<p> </p><h1 style="background-color: white; color: #0c343d; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; margin: 0px; position: relative; text-align: center;"><span style="font-size: x-large;"><span face="Calibri, sans-serif" lang="EN-US">Trio - Cam Mode </span><span face="新細明體, serif">凸輪運動範例說明</span></span></h1><div><p class="fixed"><span style="background-color: white;"><span>主要指令:CAM</span>(start point, end point, table multiplier, distance) </span></p></div><div><span style="font-size: x-large;"><span face="新細明體, serif"><br /></span></span></div><div><span style="font-size: x-large;"><span face="新細明體, serif"><div class="separator" style="clear: both; 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- Cam Mode </span><span face="新細明體, serif">凸輪運動範例</span> </span></h1><p><br /></p><h4 style="text-align: left;"><div style="text-align: left;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><b><span> </span><span> </span>影片動作說明</b></span><span lang="EN-US"><b>:</b></span></div><span lang="EN-US"><div style="text-align: left;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span> </span><span> </span><span> </span><span> </span>當凸輪主軸從啟動開始每次轉</span><span lang="EN-US">10</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">轉時,從動軸完成一次動作週期</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">程式範例每一周期跑</span><span lang="EN-US">7</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">個設定點位置</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,後面重複動作。</span></div><div style="text-align: left;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></div><o:p></o:p></span></h4>
<div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dx9L5QaeprzecNFt6AHin5ITt5VMw761Hvf9nR05ulg_2IXg55c1JO1PEsB50s-stT7Hj1moq00hcpqzraFOA' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /><div class="separator" style="clear: both; text-align: center;"><br /></div><br /><p align="center" class="MsoNormal" style="text-align: center;"><br /></p>
<p class="MsoNormal"><b style="mso-bidi-font-weight: normal;"><span lang="EN-US"><o:p> </o:p></span></b></p>
<div style="text-align: left;"><div style="text-align: left;"><b style="mso-bidi-font-weight: normal;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">凸輪主軸</span> <span lang="EN-US">:<br /><o:p></o:p></span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US"><o:p> <br /></o:p></span></b><span lang="EN-US" style="color: #260cea;">EIGN</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">2</span>) <span style="color: #260cea;">EIGN</span>(<span style="color: #5b9bd5; mso-themecolor: accent5;">3</span>)<span style="color: #260cea;"> ZS<br /></span><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">O</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">0<span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span><span face=""Calibri",sans-serif" lang="EN-US" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span face=""新細明體",serif" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">將目前位置設定為原點</span><span style="color: #5b9bd5; mso-themecolor: accent5;"><br /></span><span style="color: #0070c0;"><o:p></o:p></span></span><span lang="EN-US" style="color: #260cea;">WAIT</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">500<span> </span><span> </span><span> </span><span> </span><span> </span></span><span face=""Calibri",sans-serif" lang="EN-US" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span face=""新細明體",serif" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">等待</span><span style="color: #538135; font-size: 12pt;"><span face="Calibri, sans-serif">500毫秒</span></span><span style="color: #5b9bd5; mso-themecolor: accent5;"><br /></span><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">VT</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">32768<span> </span><span> </span><span> </span><span> </span><span> </span></span><span face=""Calibri",sans-serif" lang="EN-US" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span face=""新細明體",serif" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">速度值</span><span style="color: #5b9bd5; mso-themecolor: accent5;"><br /></span><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">ADT</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">100<span> </span><span> </span><span> </span><span> </span><span> </span></span><span face=""Calibri",sans-serif" lang="EN-US" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span face=""新細明體",serif" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加減速值</span><span style="color: #5b9bd5; mso-themecolor: accent5;"><br /></span><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">MV<span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span face=""Calibri",sans-serif" lang="EN-US" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span face=""新細明體",serif" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">速度模式<br /></span></span><span lang="EN-US" style="color: #260cea;">G<span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span face=""Calibri",sans-serif" lang="EN-US" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">'</span><span face=""新細明體",serif" style="color: #538135; font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">開始運動<br /></span></span><span lang="EN-US" style="color: magenta;">END</span></div><span lang="EN-US"><o:p> <br /></o:p></span><span lang="EN-US">==============================================================<br /></span><b style="mso-bidi-font-weight: normal;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">從動軸</span><span lang="EN-US"> :<br /><o:p></o:p></span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US"><o:p> <br /></o:p></span></b><span lang="EN-US" style="color: #260cea;">EIGN</span><span lang="EN-US">(<span style="color: #260cea;">W</span>,<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>) <span style="color: #260cea;">ZS<br /><o:p></o:p></span></span><span lang="EN-US" style="color: #260cea;">O</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">0<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">將目前位置設定為原點<br /></span><span lang="EN-US" style="color: #260cea;">CTE</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">1</span>) <span style="mso-tab-count: 3;"> <span> </span><span> </span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">清除所有</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">CAM</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">表單紀錄<br /></span><span lang="EN-US" style="color: #260cea;">CTA</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">7</span>,<span style="color: #5b9bd5; mso-themecolor: accent5;">40000</span>)<span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"> <span style="mso-tab-count: 2;"> <span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">創建</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">7</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">個點的</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">CAM</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">表</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">,</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">並指定每個點之間的主編碼器距離為</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">40000<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>)<span style="mso-tab-count: 2;"> </span><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span> </span><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第一個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">開始點為點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">0<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">1000</span>)<span style="mso-tab-count: 1;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> <span> </span><span> <span> </span></span></span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第二個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">從開始到點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1000<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">3000</span>)<span style="mso-tab-count: 1;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span></span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第三個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">從開始到點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">3000<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">8000</span>)<span style="mso-tab-count: 1;"> </span><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第四個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">從開始到點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">8000<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">6000</span>)<span style="mso-tab-count: 1;"> </span><span style="mso-spacerun: yes;"> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span></span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第五個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">從開始到點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">6000<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">1000</span>) <span style="mso-tab-count: 1;"> </span><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span></span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第六個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">從開始到點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1000<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">CTW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>) <span style="mso-tab-count: 3;"> <span> </span><span> </span></span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">加入第六個點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">; </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">回到開始點<br /></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-tab-count: 3;"> <span> </span><span> </span><span> </span><span> </span></span>'</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">表單已寫入</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"> EEPROM.<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">SRC</span><span lang="EN-US">(-<span style="color: #5b9bd5; mso-themecolor: accent5;">1</span>)<span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">使用</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">-1(</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">反向</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">)*</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">外部編碼器<br /></span><span lang="EN-US" style="color: #260cea;">MCE</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">1</span>) <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">使用樣條模式</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">(Spline mode)<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">MCW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">1</span>,<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>) <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">使用</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">CAM</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">表</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">1, </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">從點</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">0</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">開始<br /></span><span lang="EN-US" style="color: #260cea;">MFMUL</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">24</span> <span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">來自外部編碼器的</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">24:1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">比率<br /></span><span lang="EN-US" style="color: #260cea;">MFDIV</span><span lang="EN-US">=<span style="color: #5b9bd5; mso-themecolor: accent5;">1</span> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">來自外部編碼器的</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">24:1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">比率<br /></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><o:p> <br /></o:p></span><span lang="EN-US" style="color: #260cea;">MFA</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>) <span style="color: #260cea;">MFD</span>(<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>) <span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">無上升</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">/</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">下降斜坡</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">, </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">即下指令</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">G</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">時</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">CAM </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">模式立即跳轉到同步比率<br /></span><span lang="EN-US" style="color: #260cea;">MFSLEW</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">240000</span>,<span style="color: #5b9bd5; mso-themecolor: accent5;">1</span>) <span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">以固定距離的比率設置跟隨模式擺動,<br /></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">固定距離設為</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">240000(</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">CAM</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">表有</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">6</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">段距離</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">*</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">每段</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">40000</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">個編碼器計數</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">);<br /> <o:p></o:p></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">第二個參數值定義: </span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">0 </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">用於指定輸入單元(主單位)</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">;<br /> <o:p></o:p></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'1 </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">用於指定行駛距離(從屬單元)<br /></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><o:p> <br /></o:p></span><span lang="EN-US" style="color: #260cea;">MFSDC</span><span lang="EN-US">(<span style="color: #5b9bd5; mso-themecolor: accent5;">100</span>,<span style="color: #5b9bd5; mso-themecolor: accent5;">0</span>) <span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">第一個參數若不為</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">-1</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">則重複凸輪表動作</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">,</span></div><div style="text-align: left;"><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span><span style="color: #538135;">'</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">並指定從站以零比率駐留的主站計數值</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">(0~2147483647);</span></div><div style="text-align: left;"><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"></span><span face="新細明體, serif" style="color: #538135;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'</span><span face="新細明體, serif" style="color: #538135;">若設為</span><span lang="EN-US" style="color: #538135;">-1</span><span face="新細明體, serif" style="color: #538135;">則跟隨模式不會自動重啟(只做一次動作)。</span></div><div style="text-align: left;"><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span> <span> </span><span> </span><span> </span><span> </span><span> </span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">第二個參數值為</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">: 0</span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">以相同方向重複齒輪輪廓;</span></div><div style="text-align: left;"><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'1 </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">重複齒輪輪廓反方向;<br /></span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;"><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span>'2 </span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">用於使用絕對位置目標的改進的移動模式。<br /></span><span lang="EN-US" style="color: #260cea;">MC</span><span lang="EN-US"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">進入凸輪模式</span><span lang="EN-US" style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">(Cam
mode)<br /><o:p></o:p></span><span lang="EN-US" style="color: #260cea;">G</span><span lang="EN-US"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #538135; mso-themecolor: accent6; mso-themeshade: 191;">'</span></span><span face=""新細明體",serif" style="color: #538135; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent6; mso-themeshade: 191;">開始運動<br /></span><span lang="EN-US" style="color: magenta;">END</span></div><div style="text-align: left;"><span lang="EN-US" style="color: magenta;"><br /></span></div><div style="text-align: left;">==============================================================</div><div style="text-align: left;"><br /></div><div style="text-align: left;"><b>15PIN接線說明 :</b></div><div style="text-align: left;"><br /></div><div style="text-align: left;">凸輪主軸請見Master Motor</div><div style="text-align: left;">從動軸請見Slave Motor</div><div style="text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEjwib9wvGhWHnEKqoR9BOv5XFQeNIW6SCnBa6WjOJVyDq61VUa_imcqYVX8cr89FGgXFY6MBH9lAnkO-eT8d6QSpnIbEmvH47DS1XYpF8I-V0uisEd5pjla2GzavjLcOiDMaqH-cPXb1Fwst1-8oN8HvDvroqTTBMUytwKsAx7hep5DwEtSczLSx9y_jA=s609" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="517" data-original-width="609" src="https://blogger.googleusercontent.com/img/a/AVvXsEjwib9wvGhWHnEKqoR9BOv5XFQeNIW6SCnBa6WjOJVyDq61VUa_imcqYVX8cr89FGgXFY6MBH9lAnkO-eT8d6QSpnIbEmvH47DS1XYpF8I-V0uisEd5pjla2GzavjLcOiDMaqH-cPXb1Fwst1-8oN8HvDvroqTTBMUytwKsAx7hep5DwEtSczLSx9y_jA=s16000" /></a></div><br /><div style="text-align: left;"><br /></div>
AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-81466907647967252342022-01-20T17:01:00.004+08:002022-01-20T17:09:51.616+08:00SmartMotor使用RS485通訊送字串給外部馬達(以TSM為例)<p><span style="font-family: arial;"> </span></p><h1 style="text-align: center;"><span style="font-family: arial;"><span lang="EN-US" style="font-size: 14pt; mso-bidi-font-size: 16.0pt;">SmartMotor</span><span style="font-size: 14pt;">使用</span><span lang="EN-US" style="font-size: 14pt; mso-bidi-font-size: 16.0pt;">RS485</span><span style="font-size: 14pt;">通訊送字串給外部馬達</span><span lang="EN-US" style="font-size: 14pt; mso-bidi-font-size: 16.0pt;">(</span><span style="font-size: 14pt;">以</span><span lang="EN-US" style="font-size: 14pt; mso-bidi-font-size: 16.0pt;">TSM</span><span style="font-size: 14pt;">為例</span><span lang="EN-US" style="font-size: 14pt; mso-bidi-font-size: 16.0pt;">)<o:p></o:p></span></span></h1>
<p class="MsoNormal" style="text-align: center;"><span lang="EN-US"><span style="font-family: arial;"></span></span></p><div class="separator" style="clear: both; text-align: center;"><span style="font-family: arial;"><br /></span></div><span style="font-family: arial;"><br /><div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dyPoqypuyXmlOOIVlL02Ghh13iOTwwdmnV-uxo2Rb0vX6vZ4qXLLVp-g0twNvTNwSh2sFodptMHtMxSNTekVQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /></span><p class="MsoNormal" style="text-align: center;"><span style="font-family: arial;"><br /></span></p><p class="MsoNormal">
</p><p class="MsoNormal"><span lang="EN-US"><o:p><span style="font-family: arial;"> </span></o:p></span></p>
<div style="text-align: left;"><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">EIGN</span><span lang="EN-US">(<span style="color: #009ed6;">2</span>) <span style="color: #1909e7;">EIGN</span>(<span style="color: #009ed6;">3</span>) <span style="color: #1909e7;">ZS<br /></span><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">ADDR</span><span lang="EN-US">=<span style="color: #009ed6;">1</span><span style="mso-spacerun: yes;"> </span><span style="color: #00b050;">'</span></span><span style="color: #00b050;">設定</span><span lang="EN-US" style="color: #00b050;">RS485 </span><span style="color: #00b050;">位址</span><span lang="EN-US" style="color: #00b050;">(</span><span style="color: #00b050;">第一軸</span><span lang="EN-US" style="color: #00b050;">SM)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">OCHN</span><span lang="EN-US">(RS4,<span style="color: #009ed6;">1</span>,N,<span style="color: #009ed6;">9600</span>,<span style="color: #009ed6;">1</span>,<span style="color: #009ed6;">8</span>,<span style="color: #f83ad8;">C</span>) <span style="color: #00b050;">'</span></span><span style="color: #00b050;">開啟</span><span lang="EN-US" style="color: #00b050;">RS485</span><span style="color: #00b050;">通訊<br /></span></span><span style="font-family: arial;"><span lang="EN-US">aa=<span style="color: #009ed6;">30 </span><span style="mso-spacerun: yes;"> </span><span style="color: #00b050;"><span style="mso-spacerun: yes;"> </span>'2AC </span></span><span style="color: #00b050;">第二軸加速度<br /></span></span><span style="font-family: arial;"><span lang="EN-US">bb=<span style="color: #009ed6;">30</span><span style="mso-spacerun: yes;"> </span><span style="color: #00b050;"><span style="mso-spacerun: yes;"> </span>'2DE </span></span><span style="color: #00b050;">第二軸減速度<br /></span></span><span style="font-family: arial;"><span lang="EN-US">cc=<span style="color: #009ed6;">3</span><span style="mso-spacerun: yes;"> </span><span style="color: #00b050;"><span style="mso-spacerun: yes;"> </span>'2VE </span></span><span style="color: #00b050;">第二軸速度<br /></span></span><span style="font-family: arial;"><span lang="EN-US">dd=-<span style="color: #009ed6;">200000</span><span style="mso-spacerun: yes;"> </span><span style="color: #00b050;">'2FL</span></span><span style="color: #00b050;">移動距離<br /></span></span><span style="font-family: arial;"><span lang="EN-US">tt=<span style="color: #009ed6;">30 </span><span style="mso-spacerun: yes;"> </span><span style="color: #00b050;">'PRINT1</span></span><span style="color: #00b050;">送字串延遲時間</span><span lang="EN-US" style="color: #00b050;">(ms)<br /></span></span><span lang="EN-US" style="color: #f83ad8;"><span style="font-family: arial;">END<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #f83ad8;">C10</span><span lang="EN-US"> <span style="mso-spacerun: yes;"> </span><span style="color: #00b050;">'</span></span><span style="color: #00b050;">第一軸</span><span lang="EN-US" style="color: #00b050;">SM</span><span style="color: #00b050;">正轉一圈<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">ADT</span><span lang="EN-US">=<span style="color: #009ed6;">1000<br /></span><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">VT</span><span lang="EN-US">=<span style="color: #009ed6;">32768<br /></span><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRT</span><span lang="EN-US">=<span style="color: #009ed6;">4000<br /></span><o:p></o:p></span></span><span lang="EN-US" style="color: #1909e7;"><span style="font-family: arial;">G<br /></span></span><span lang="EN-US" style="color: #f83ad8;"><span style="font-family: arial;">RETURN<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #f83ad8;">C20</span><span lang="EN-US"> <span style="mso-spacerun: yes;"> </span><span style="color: #00b050;">'</span></span><span style="color: #00b050;">第二軸</span><span lang="EN-US" style="color: #00b050;">TSM</span><span style="color: #00b050;">反轉一圈<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2AC10"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2DE10"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2VE1"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2FL-20000"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span lang="EN-US" style="color: #f83ad8;"><span style="font-family: arial;">RETURN<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #f83ad8;">C21</span><span lang="EN-US"> <span style="mso-tab-count: 1;"> </span><span style="color: #00b050;">'</span></span><span style="color: #00b050;">第二軸</span><span lang="EN-US" style="color: #00b050;">TSM</span><span style="color: #00b050;">用參數控制作動<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2AC"</span>,aa,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2DE"</span>,bb,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2VE"</span>,cc,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"2FL"</span>,dd,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span lang="EN-US" style="color: #f83ad8;"><span style="font-family: arial;">RETURN<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #f83ad8;">C30</span><span lang="EN-US"> <span style="mso-spacerun: yes;"> </span><span style="mso-tab-count: 1;"> </span><span style="color: #00b050;">'</span></span><span style="color: #00b050;">第三軸</span><span lang="EN-US" style="color: #00b050;">TSM</span><span style="color: #00b050;">正轉一圈<br /></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"3AC10"</span>,#<span style="color: #009ed6;">13</span>)<br /><span style="color: #009ed6;"><o:p></o:p></span></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><span style="color: #f83ad8;"><o:p></o:p></span></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"3DE10"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"3VE1"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">WAIT</span><span lang="EN-US">=tt<br /><o:p></o:p></span></span><span style="font-family: arial;"><span lang="EN-US" style="color: #1909e7;">PRINT1</span><span lang="EN-US">(<span style="color: #9e0ac6;">"3FL20000"</span>,#<span style="color: #009ed6;">13</span>)<br /><o:p></o:p></span></span><span lang="EN-US" style="color: #f83ad8;"><span style="font-family: arial;">RETURN</span></span></div>
<p class="MsoNormal"><span lang="EN-US"><span style="font-family: arial;"><span style="color: #444444;">--------------------------------------------------------------------------------------------------------------------------</span><span style="color: #f83ad8;"></span></span></span></p><p class="MsoNormal"><span style="color: #444444; font-family: arial;">執行後如圖:</span></p><p class="MsoNormal"></p><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEiwriXCwSTvRissqrYob5RcqgWDqXhthUB1q0Ejzso5Ckxyk-vAj6nPktF9vgFF1OaOVaDB2_GopIFUaUiWwwjpn_e4bCW0Cv6SNnT35gY7trexMJ0vVSlVViZ02nNERfAgJ6GiNlByfos8eGIb0_Gj3rN5iZXLoUpwfIP48lCUuDYZ3CQYx8EnSQwAMQ=s1021" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="630" data-original-width="1021" height="395" src="https://blogger.googleusercontent.com/img/a/AVvXsEiwriXCwSTvRissqrYob5RcqgWDqXhthUB1q0Ejzso5Ckxyk-vAj6nPktF9vgFF1OaOVaDB2_GopIFUaUiWwwjpn_e4bCW0Cv6SNnT35gY7trexMJ0vVSlVViZ02nNERfAgJ6GiNlByfos8eGIb0_Gj3rN5iZXLoUpwfIP48lCUuDYZ3CQYx8EnSQwAMQ=w640-h395" width="640" /></a></div><br /><span style="color: #444444; font-family: arial;"><br /></span><p></p><p class="MsoNormal"><span style="color: #444444; font-family: arial;"><br /></span></p><br /><p></p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-38811580246328928812021-10-29T16:44:00.011+08:002022-01-20T17:23:02.143+08:00SmartMotor 雙軸同步模式<p> </p><h1 style="text-align: center;"><span lang="EN-US">SmartMotor </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">雙軸同步模式</span></h1><div><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></div><div style="text-align: center;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">目標: 雙軸同時動作、同時停止,移動過程中即使某一軸受到阻力,</span></div><div style="text-align: center;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">兩軸的編碼器位置仍保持相同。</span></div><div style="text-align: center;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></div>
<div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dyDudQE7uU5i3HYEI3_nbuNjdD1DFAuRZYBwqLbVnZyvjjhPQAB6IFyN6ed7FceSWFIQC40c-_t95opP94-UA' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /><p class="MsoNormal" style="text-align: center;">影片開始時,當馬達A有阻力時,馬達B跟隨馬達A作動; </p><p class="MsoNormal" style="text-align: center;">反之,當馬達B有阻力時,馬達A跟隨馬達B作動。</p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<h3 style="text-align: center;"><span lang="EN-US">~~~~~</span>~~~~~~~~~~~~~~~~<span lang="EN-US">~~~~ </span><span face="新細明體, serif">程式範例 </span><span lang="EN-US">~~~~</span>~~~~~~~<span lang="EN-US">~</span>~~~~~~~~~~~~~~</h3>
<div style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><span style="font-size: medium;"><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="mso-bidi-font-family: Calibri; mso-bidi-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin;"><span style="mso-list: Ignore;">(1)<span style="font-family: "Times New Roman"; font-stretch: normal; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;"> </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">交叉跟隨範例<br /></span></b></span></div><div style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><p style="text-align: left;"><span style="font-size: medium;"><b style="mso-bidi-font-weight: normal;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">使用時請下指令GOSUB(40):1</span></b></span></p></div><div style="text-align: left;"><span face="新細明體, serif" style="color: #ed7d31;"><br /></span></div><div style="text-align: left;"><span face="新細明體, serif" style="color: #ed7d31;"><b>馬達</b></span><span lang="EN-US" style="color: #ed7d31;"><b>A</b></span></div><div style="text-align: left;"><span lang="EN-US" style="color: #ed7d31;"><b><br /></b></span><span lang="EN-US">EIGN(2) EIGN(3) ZS<br /></span><span lang="EN-US">CADDR=1 <span> </span> <span style="color: #6aa84f;"> '</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">CAN address<br /></span><o:p></o:p></span><span lang="EN-US">CBAUD=125000 <span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">CAN baud rate<br /> </span><o:p></o:p></span><span lang="EN-US">O=0 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定位置為零<br /></span></span><span lang="EN-US">ADT=100 VT=32768 PRT=0<br /></span><span lang="EN-US">MP G <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">啟動位置模式<br /></span></span><span lang="EN-US">xx=32768*2 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定馬達速度值<br /></span></span><span lang="EN-US">END</span></div><div style="text-align: left;"><span lang="EN-US"><br /></span></div><div style="text-align: left;"><span lang="EN-US">C4 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動跟隨模式<br /></span></span><span lang="EN-US">EIGN(W,0) ZS<br /></span><span lang="EN-US">MFR<span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定為跟隨模式<br /></span></span><span lang="EN-US">MFMUL=1 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定跟隨比例</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">分子</span></span><span lang="EN-US"><span style="mso-spacerun: yes;"> <br /> </span><o:p></o:p></span><span lang="EN-US">MFDIV=1 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定跟隨比例</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">分母<br /></span></span><span lang="EN-US">G TWAIT <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">執行運動<br /></span></span><span lang="EN-US">RETURN</span></div><div style="text-align: left;"><span lang="EN-US"><br /></span></div>
<div style="text-align: left;"><span lang="EN-US">C40<br /></span><span lang="EN-US">a=EA:2 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差值記錄在變數</span></span><span lang="EN-US"><span style="color: #6aa84f;">a<br /></span><o:p></o:p></span><span lang="EN-US">b=ABS(a) <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將變數</span><span lang="EN-US">a</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值的絕對值放入變數</span></span><span lang="EN-US"><span style="color: #6aa84f;">b<br /></span><o:p></o:p></span><span lang="EN-US">STACK <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span><span> </span></span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">清除所有</span><span lang="EN-US">RETURN</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">地址,避免連續呼叫副程式中斷<br /></span></span><span lang="EN-US">GOSUB(5):2 <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">使馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動跟隨模式<br /></span></span><span lang="EN-US">TWAIT<br /></span><span lang="EN-US">WAIT=2000<br /></span><span lang="EN-US">MP <span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動位置模式<br /></span></span><span lang="EN-US">ADT=100 VT=xx PT=4000*500 <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">前往絕對位置</span></span><span lang="EN-US"><span style="color: #6aa84f;">4000*500<span style="mso-spacerun: yes;"> <br /> </span></span><o:p></o:p></span><span lang="EN-US">G <span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">開始運動<br /></span></span><span lang="EN-US">WHILE b<50 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差超過</span><span lang="EN-US">50</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定值則跳出迴圈<br /></span></span><span lang="EN-US">a=EA:2<br /></span><span lang="EN-US">b=ABS(a)<br /></span><span lang="EN-US">LOOP<br /></span><span lang="EN-US">OFF<span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> <span> </span></span> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">關閉伺服控制<br /></span></span><span lang="EN-US">TWAIT WAIT=1000<br /></span><span lang="EN-US">MP:0 PRT:0=0 G:0 TWAIT<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動位置模式<br /></span></span><span lang="EN-US">GOTO(50):2 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">切換成馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">主</span><span lang="EN-US">;</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">跟隨<br /></span></span><span lang="EN-US">RETURN</span></div>
<p class="MsoListParagraph"><span lang="EN-US"><o:p> </o:p></span></p>
<h4 style="text-align: left;"><span face=""新細明體",serif" style="color: #ed7d31; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent2;">馬達</span><span lang="EN-US" style="color: #ed7d31; mso-themecolor: accent2;">B<o:p></o:p></span></h4>
<div style="text-align: left;"><span lang="EN-US">EIGN(2) EIGN(3) ZS<br /></span><span lang="EN-US">CADDR=2 <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">CAN address<br /></span><o:p></o:p></span><span lang="EN-US">CBAUD=125000<span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">CAN baud rate<br /></span><o:p></o:p></span><span lang="EN-US">O=0 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定位置為零<br /></span></span><span lang="EN-US">ADT=100 VT=32768 PRT=0<br /></span><span lang="EN-US">MP G <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">啟動位置模式<br /></span></span><span lang="EN-US">xx=32768*2 <span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定馬達速度值<br /></span></span><span lang="EN-US">END</span></div>
<div style="text-align: left;"><span lang="EN-US"><o:p> <br /></o:p></span><span lang="EN-US">C5 <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動跟隨模式<br /></span></span><span lang="EN-US">EIGN(W,0) ZS<br /></span><span lang="EN-US">MFR <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定為跟隨模式<br /></span></span><span lang="EN-US">MFMUL=1 <span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定跟隨比例</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">分子<br /></span></span><span lang="EN-US">MFDIV=1 <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定跟隨比例</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">分母<br /></span></span><span lang="EN-US">G TWAIT<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">執行運動<br /></span></span><span lang="EN-US">RETURN</span></div>
<div style="text-align: left;"><span lang="EN-US"><o:p> <br /></o:p></span><span lang="EN-US">C50<br /></span><span lang="EN-US">a=EA:1 <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span> </span></span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差值記錄在變數</span></span><span lang="EN-US"><span style="color: #6aa84f;">a<br /></span><o:p></o:p></span><span lang="EN-US">b=ABS(a) <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將變數</span><span lang="EN-US">a</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值的絕對值放入變數</span></span><span lang="EN-US"><span style="color: #6aa84f;">b<br /></span><o:p></o:p></span><span lang="EN-US">STACK<span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">清除所有</span><span lang="EN-US">RETURN</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">地址,避免連續呼叫副程式中斷<br /></span></span><span lang="EN-US">GOSUB(4):1 <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">使馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動跟隨模式<br /></span></span><span lang="EN-US">TWAIT<br /></span><span lang="EN-US">WAIT=2000<br /></span><span lang="EN-US">MP <span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動位置模式<br /></span></span><span lang="EN-US">ADT=100 VT=xx PT=4000*500<span style="mso-spacerun: yes;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">前往絕對位置</span></span><span lang="EN-US"><span style="color: #6aa84f;">4000*500<br /></span><o:p></o:p></span><span lang="EN-US">G <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">開始運動<br /></span></span><span lang="EN-US">WHILE b<50 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差超過</span><span lang="EN-US">50</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定值則跳出迴圈<br /></span></span><span lang="EN-US">a=EA:1<br /></span><span lang="EN-US">b=ABS(a)<br /></span><span lang="EN-US">LOOP<br /></span><span lang="EN-US">OFF<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span><span> </span></span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">關閉伺服控制<br /></span></span><span lang="EN-US">TWAIT WAIT=1000<br /></span><span lang="EN-US">MP:0 PRT:0=0 G:0 TWAIT<span style="mso-spacerun: yes;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動位置模式<br /></span></span><span lang="EN-US">GOTO(40):1 <span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">切換成馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">主</span><span lang="EN-US">;</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">跟隨<br /></span></span><span lang="EN-US">RETURN</span></div>
<p class="MsoListParagraph"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-para-margin-left: 0gd;"><span lang="EN-US"><o:p>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~</o:p></span>~~~~~~~~~~~~~~~~~~~~~~~</p>
<h3 style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="mso-bidi-font-family: Calibri; mso-bidi-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin;"><span style="mso-list: Ignore;">(2)<span style="font: 7pt "Times New Roman";"> </span></span></span></b><!--[endif]--><b style="mso-bidi-font-weight: normal;"><span lang="EN-US">Combitronic </span></b><b style="mso-bidi-font-weight: normal;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">同步範例</span> <span lang="EN-US">(<a href="https://drive.google.com/file/d/1Jugv3q6jU6UoNO5uohoBeDKDBwEZ-G_Q/view?usp=sharing"><span face=""新細明體",serif" lang="EN-US" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span lang="EN-US">影片<span lang="EN-US">連<span lang="EN-US">結</span></span></span></span></a>)</span></b></h3><h3 style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><b style="font-size: large; mso-bidi-font-weight: normal;">使用時請下指令GOSUB(30):1</b></h3>
<div style="margin-left: 18pt; text-align: left;"><span face=""新細明體",serif" style="color: #ed7d31; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent2;"><span style="font-size: medium;"><b><br /></b></span></span><span face=""新細明體",serif" style="color: #ed7d31; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent2;"><span style="font-size: medium;"><b>馬達</b></span></span><span lang="EN-US" style="color: #ed7d31; mso-themecolor: accent2;"><span style="font-size: medium;"><b>A</b><br /></span><o:p></o:p></span><span lang="EN-US"><br /></span><span lang="EN-US">EIGN(2) EIGN(3)
ZS<br /></span><span lang="EN-US">CADDR=1 <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">CAN address<br /></span><o:p></o:p></span><span lang="EN-US">CBAUD=125000 <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">baud rate<br /></span><o:p></o:p></span><span lang="EN-US">ADT=100 VT=32768
PRT=0<br /></span><span lang="EN-US">xx=32768*2 <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定馬達速度值<br /></span></span><span lang="EN-US">O=0 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定位置為零<br /></span></span><span lang="EN-US">END<br /></span><span lang="EN-US"><o:p> <br /></o:p></span><span lang="EN-US">C30<br /></span><span lang="EN-US">GOSUB(4):2 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">使馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動跟隨模式<br /></span></span><span lang="EN-US">WAIT=100<br /></span><span lang="EN-US">MP <span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動位置模式<br /></span></span><span lang="EN-US">ADT=100 VT=xx
PT=4000*500<span style="mso-spacerun: yes;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">前往絕對位置</span></span><span lang="EN-US"><span style="color: #6aa84f;">4000*500<br /></span><o:p></o:p></span><span lang="EN-US">G <span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">開始運動<br /></span></span><span lang="EN-US">WHILE 1<br /></span><span lang="EN-US">GOSUB31 <span> </span><span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">前往副程式</span></span><span lang="EN-US"><span style="color: #6aa84f;">C31<br /></span><o:p></o:p></span><span lang="EN-US">LOOP<br /></span><span lang="EN-US">RETURN<br /></span><span lang="EN-US"><o:p> <br /></o:p></span><span lang="EN-US">C31<br /></span><span lang="EN-US">a=EA:2 <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差值記錄在變數</span></span><span lang="EN-US"><span style="color: #6aa84f;">a<br /></span><o:p></o:p></span><span lang="EN-US">b=ABS(a)<span style="mso-spacerun: yes;"> <span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將變數</span><span lang="EN-US">a</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值的絕對值放入變數</span></span><span lang="EN-US"><span style="color: #6aa84f;">b<br /></span><o:p></o:p></span><span lang="EN-US">IF b>20 <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span><span> </span></span><span style="color: #6aa84f;"><span style="mso-spacerun: yes;"> </span>'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差大於設定值</span><span lang="EN-US">20</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">時<br /></span></span><span lang="EN-US">VT=VT*0.5 <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">減速為原速度的</span></span><span lang="EN-US"><span style="color: #6aa84f;">1/2<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> <br /></span></span><o:p></o:p></span><span lang="EN-US">G <span> </span><span> </span><span> </span><span> </span><span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">開始運動<br /></span></span><span lang="EN-US">ELSE <span> </span><span> </span><span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置誤差小於或等於設定值</span><span lang="EN-US">20</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">時<br /></span></span><span lang="EN-US">VT=xx <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">恢復馬達</span><span lang="EN-US">A</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">速度為原設定值<br /></span></span><span lang="EN-US">G <span> </span><span> </span><span> </span><span> <span> </span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">開始運動<br /></span></span><span lang="EN-US">ENDIF<br /></span><span lang="EN-US">RETURN<br /></span><span lang="EN-US"><o:p> </o:p></span></div><div style="margin-left: 18pt; text-align: left;"><span lang="EN-US"><o:p><b><span face=""新細明體",serif" style="color: #ed7d31; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: accent2;"><span style="font-size: medium;">馬達</span></span><span lang="EN-US" style="color: #ed7d31; mso-themecolor: accent2;"><span style="font-size: medium;">B</span></span></b></o:p></span></div><div style="margin-left: 18pt; text-align: left;"><span lang="EN-US"><o:p><span style="color: #ed7d31; font-size: medium;"><b><br /></b></span></o:p></span><span lang="EN-US">EIGN(2) EIGN(3)
ZS<br /></span><span lang="EN-US">CADDR=2<span style="mso-spacerun: yes;"> <span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">CAN address<br /></span><o:p></o:p></span><span lang="EN-US">CBAUD=125000 <span style="color: #6aa84f;"> <span> </span> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之</span></span><span lang="EN-US"><span style="color: #6aa84f;">baud rate<br /></span><o:p></o:p></span><span lang="EN-US">O=0 <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span> </span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定位置為零<br /></span></span><span lang="EN-US">ADT=1000
VT=327680 PRT=0<br /></span><span lang="EN-US">END<br /></span><span lang="EN-US">C4 <span> </span><span> </span><span> </span> <span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達</span><span lang="EN-US">B</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">啟動跟隨模式<br /></span></span><span lang="EN-US">EIGN(W,0) ZS<br /></span><span lang="EN-US">MFR <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span></span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">設定為跟隨模式<br /></span></span><span lang="EN-US">MFMUL=1 <span> </span><span> </span><span style="color: #6aa84f;"> </span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定跟隨比例</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">分子<br /></span></span><span lang="EN-US">MFDIV=1 <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span></span><span style="color: #6aa84f;">'</span></span><span style="color: #6aa84f;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定跟隨比例</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">分母<br /></span></span><span lang="EN-US">G <span style="color: #6aa84f;"> <span> </span><span> </span><span> </span><span> </span><span> </span></span><span style="color: #6aa84f;">'</span></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><span style="color: #6aa84f;">執行運動<br /></span></span><span lang="EN-US">RETURN<br /></span><br /></div><div style="margin-left: 18pt; text-align: left;"><span lang="EN-US" style="color: #ed7d31; mso-themecolor: accent2;"><o:p></o:p></span></div>
AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-28903911195231127982021-08-25T15:26:00.003+08:002021-08-25T15:33:01.275+08:00Communication Lockup Wizard 使用方式<p> </p><h2 style="text-align: center;"><span lang="EN-US">Communication Lockup Wizard </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">使用方式</span></h2>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US" style="mso-bidi-font-family: Calibri; mso-bidi-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin;"><span style="mso-list: Ignore;">1.<span style="font: 7pt "Times New Roman";">
</span></span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">確認硬體接線,馬達與電腦做</span><span lang="EN-US">RS232</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">通訊連接</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">接著打開</span><span lang="EN-US">SMI</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">軟體</span> <span lang="EN-US">></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">選項</span><span lang="EN-US">Communication > </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">點擊</span><span lang="EN-US">Communication
Lockup Wizard<o:p></o:p></span></p><p class="MsoNormal"></p><div class="separator" style="clear: both; text-align: center;"><a href="https://1.bp.blogspot.com/-oW4oT4KfOho/YSXv6FPnC-I/AAAAAAAABo0/baZSPLjLkwEHiTAUVsZYOTt1bWipo6OfwCLcBGAsYHQ/s929/Lockup%2BWizard.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="585" data-original-width="929" height="405" src="https://1.bp.blogspot.com/-oW4oT4KfOho/YSXv6FPnC-I/AAAAAAAABo0/baZSPLjLkwEHiTAUVsZYOTt1bWipo6OfwCLcBGAsYHQ/w640-h405/Lockup%2BWizard.png" width="640" /></a></div><br /><span lang="EN-US"><br /></span><p></p><p class="MsoNormal"><span lang="EN-US"></span></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><span lang="EN-US">2.<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">依照視窗指示操作</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">此時只能有一顆馬達與電腦連接</span><span lang="EN-US">)<o:p></o:p></span></p><p class="MsoListParagraph" style="margin-left: 18pt;"><span lang="EN-US">(1)</span><span face="新細明體, serif">選擇馬達與電腦連接的</span><span lang="EN-US">Com Port<o:p></o:p></span></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><span lang="EN-US"></span></p><p class="MsoListParagraph" style="margin-left: 18pt;"><span lang="EN-US">(2)Please power down the "SmartMotor(TM)", maintaining the communication connection. Only after making sure that the motor is off, click the "Continue" button to proceed. </span><span face="新細明體, serif">將馬達電源移除,此時</span><span lang="EN-US">Com Port </span><span face="新細明體, serif">不要拔除。確定馬達電源燈沒有亮後,點擊</span><span lang="EN-US">”Continue” </span><span face="新細明體, serif">按鈕繼續下一步</span></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"></p><div class="separator" style="clear: both; text-align: center;"><a href="https://1.bp.blogspot.com/-jhNtsx9M_IY/YSXwDQrgTsI/AAAAAAAABo4/rmzKciyhVkERZrI39ODPudRo8jrz_h1bgCLcBGAsYHQ/s1598/Lockup%2BWizard_2.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="901" data-original-width="1598" height="360" src="https://1.bp.blogspot.com/-jhNtsx9M_IY/YSXwDQrgTsI/AAAAAAAABo4/rmzKciyhVkERZrI39ODPudRo8jrz_h1bgCLcBGAsYHQ/w640-h360/Lockup%2BWizard_2.png" width="640" /></a></div><br /><p></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><br /></p><p class="MsoNormal"><span lang="EN-US">
<span face=""Calibri",sans-serif" lang="EN-US" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">(3)
Now apply power to the SmartMotor. Only after making sure that the motor is on,
click the “Continue” button. </span><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">現在將電源接上,確定馬達電源燈亮起後再點擊</span><span face=""Calibri",sans-serif" lang="EN-US" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">”Continue”</span><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">按鈕繼續下一步</span></span></p><p class="MsoNormal"><span lang="EN-US"></span></p><div class="separator" style="clear: both; text-align: center;"><a href="https://1.bp.blogspot.com/-p56jm6G9gUk/YSXwSqNDRdI/AAAAAAAABpA/srGvvjm0rDYHNPhjJj3PLQkLvkmIE5-WgCLcBGAsYHQ/s1389/Lockup%2BWizard_3.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="789" data-original-width="1389" height="365" src="https://1.bp.blogspot.com/-p56jm6G9gUk/YSXwSqNDRdI/AAAAAAAABpA/srGvvjm0rDYHNPhjJj3PLQkLvkmIE5-WgCLcBGAsYHQ/w640-h365/Lockup%2BWizard_3.png" width="640" /></a></div><br /><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span><p></p><p class="MsoNormal"><span lang="EN-US"></span></p><p class="MsoNormal"><span lang="EN-US">(4)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">正在通訊連接馬達中</span><span lang="EN-US">…<o:p></o:p></span></p><p class="MsoNormal"><span lang="EN-US"></span></p><div class="separator" style="clear: both; text-align: center;"><a href="https://1.bp.blogspot.com/-5L_tHwEtRrk/YSXwXsNFZBI/AAAAAAAABpI/TdHWb5ClLZYavFyt-dob2dCfoiACTmdpACLcBGAsYHQ/s1071/Lockup%2BWizard_4.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="629" data-original-width="1071" height="376" src="https://1.bp.blogspot.com/-5L_tHwEtRrk/YSXwXsNFZBI/AAAAAAAABpI/TdHWb5ClLZYavFyt-dob2dCfoiACTmdpACLcBGAsYHQ/w640-h376/Lockup%2BWizard_4.png" width="640" /></a></div><br /><p></p><p class="MsoNormal"><span lang="EN-US"><br /></span></p><p class="MsoNormal"><span lang="EN-US"></span></p><p class="MsoNormal"><span lang="EN-US">(5)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達已成功建立通訊</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">如圖,左側</span><span lang="EN-US">Configuration</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">視窗出現馬達圖示</span><span lang="EN-US">Motor1-Com9)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,此時可以選擇點擊</span><span lang="EN-US">”Upload Program”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">按鈕,將馬達內部程式上傳至電腦</span>,<span face="新細明體, serif">或者點擊</span><span lang="EN-US">”Clear EEPROM”</span><span face="新細明體, serif">按鈕,清除馬達所有程式與記憶體內容,或點擊</span><span lang="EN-US">”Close”</span><span face="新細明體, serif">關閉視窗。</span></p><p class="MsoNormal"></p><div class="separator" style="clear: both; text-align: center;"><a href="https://1.bp.blogspot.com/-DnFYNjQt8WA/YSXwhfykMtI/AAAAAAAABpM/x7gzmuHM0pooJsCqWUSwLeCCT9esgfM8QCLcBGAsYHQ/s1210/Lockup%2BWizard_5.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="669" data-original-width="1210" height="354" src="https://1.bp.blogspot.com/-DnFYNjQt8WA/YSXwhfykMtI/AAAAAAAABpM/x7gzmuHM0pooJsCqWUSwLeCCT9esgfM8QCLcBGAsYHQ/w640-h354/Lockup%2BWizard_5.png" width="640" /></a></div><br /><span face="新細明體, serif"><br /></span><p></p><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></p><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></p><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"></span><p></p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-55752912112319381552021-06-10T17:02:00.010+08:002021-11-02T12:05:00.393+08:00<p><a href="https://drive.google.com/file/d/13IwmbpURFhEmuULwontpxYAfGW2T_lIY/view?usp=sharing" target="_blank"> LinMot脈波控制設定</a></p><div style="text-align: center;"><br /></div><div class="separator" style="clear: both; text-align: left;"><b><span style="font-size: large;">檔案下載</span></b></div><div class="separator" style="clear: both; text-align: left;"><span style="font-size: large;"><b><a href="https://drive.google.com/file/d/1vT52r3ez09arNFzL5bxZdZtdMiA8DNLQ/view?usp=sharing" target="_blank">LinMot脈波控制設定(B1100)</a></b></span></div><div class="separator" style="clear: both; text-align: left;"><span style="font-size: large;"><b><a href="https://drive.google.com/file/d/1jdbyI0SoLT6Ufn5hQcdYFicxj8IKRUGL/view?usp=sharing" target="_blank">LinMot脈波控制設定(C1100)</a></b></span></div><div class="separator" style="clear: both; text-align: center;"><br /></div><br /><p><br /></p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-46031463774254360012021-05-31T10:09:00.001+08:002021-05-31T10:09:57.897+08:00<p><a href="https://drive.google.com/file/d/1RqU55xOSmnmoJTxpyfXxphu1UvbGcsOD/view?usp=sharing" target="_blank">SmartMotor -CDS7 型號說明</a> </p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-71871693554813287662021-05-04T15:12:00.001+08:002022-02-11T11:52:43.404+08:00預防Combitronic應用出現CAN error<p> </p><p><span style="font-size: medium;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="background-color: white; color: #0c343d;"> </span><a href="http://montrol.blogspot.com/2015/01/combitronic.html" style="font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif;" target="_blank">Combitronic 基本子程式寫法</a> <span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="background-color: white; color: #0c343d;"><- 請見連結</span></span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="background-color: white; color: #0c343d;"><span style="font-size: medium;">當程式修改完CAN address (指令CADDR)後, 各別下載程式到馬達</span></span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="background-color: white; color: #0c343d;"><span style="font-size: medium;">此時需將馬達斷電後重新上電, 更改過的CAN address才開始有作用</span></span></p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-52727876038609955192021-03-11T13:43:00.004+08:002021-10-18T10:07:40.035+08:00TSM一體型步進伺服馬達PID調整<div class="separator" style="clear: both; text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: center;"><p class="MsoNormal" style="text-align: center;"><span lang="EN-US" style="font-size: 20pt;">TSM PID Tuning<o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"><br /></span></p><p class="MsoNormal" style="text-align: left;"><span lang="EN-US">一般情況下,PID參數可使用馬達預設值即可。</span></p><p class="MsoNormal" style="text-align: left;">當馬達與負載機構結合之後,可先讓馬達做簡單正反轉動作,並且監控軟體上的編碼器位置(Encoder Position)與下命令位置(Command Position)兩者間位置誤差(Position Error)是否為 "0" (如下圖),若位置誤差為 "0" 則不必進行PID參數調整。</p><p class="MsoNormal" style="text-align: left;"></p><div class="separator" style="clear: both; text-align: center;"><a href="https://1.bp.blogspot.com/-kOf0QWkUWPo/YFRi_o91SVI/AAAAAAAABhI/1rBXhwTeM6MPvnGB_kPiYNOnhhZPeYmTwCLcBGAsYHQ/s690/%25E5%259C%2596%25E7%2589%25871.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="690" data-original-width="508" height="320" src="https://1.bp.blogspot.com/-kOf0QWkUWPo/YFRi_o91SVI/AAAAAAAABhI/1rBXhwTeM6MPvnGB_kPiYNOnhhZPeYmTwCLcBGAsYHQ/s320/%25E5%259C%2596%25E7%2589%25871.png" /></a></div><div class="separator" style="clear: both; text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: left;">除了特殊應用(ex:雙軸圓弧運動)外,大部分應用可直接從步驟四:調整位置環部分開始做PID調整,速度環部分可維持預設值。</div><br /><p></p>
<p class="MsoNormal" style="text-align: left;"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">何時需要調整</span></b><b><span lang="EN-US">PID</span></b><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">參數</span></b><b><span lang="EN-US">?<o:p></o:p></span></b></p>
<p class="MsoNormal" style="text-align: left;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當馬達與負載結合後,通電時產生振動與噪音時,表示系統不穩定,需要調整參數。如需快速解決此問題,將所有增益參數數值調低,並點擊軟體下載鍵將設定下載至馬達。</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"> </span></p>
<p class="MsoNormal" style="text-align: left;"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">調整參數</span></b><b><span lang="EN-US"><o:p></o:p></span></b></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"> </span></p>
<p class="MsoNormal" style="text-align: left;"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">速度環</span></b><b><span lang="EN-US">(Velocity Loop):<o:p></o:p></span></b></p>
<p class="Default" style="text-align: left;"><b><span lang="EN-US">Gain (VP): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">比例增益</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">速度模式</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">用於增加馬達響應之剛度,與速度誤差成正比</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="Default" style="text-align: left;"><b><span lang="EN-US">IntegGain (VI): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">積分增益</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">速度模式</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">用於增加剛度以及減少穩態速度誤差</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="Default" style="text-align: left;"><b><span lang="EN-US">FF Gain (KK): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">慣性前饋增益利用補償負載慣量來改善加速度控制</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><b><span lang="EN-US">Filter
(KC): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">整體伺服濾波器</span><span lang="EN-US">; </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">單極低通濾波器,用於衰減高頻振盪</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"> </span></p>
<p class="MsoNormal" style="text-align: left;"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置環</span></b><b><span lang="EN-US">(Position Loop):<o:p></o:p></span></b></p>
<p class="Default" style="text-align: left;"><b><span lang="EN-US">Gain (KP): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">比例增益</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">位置模式</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">用於增加馬達響應之剛度,與位置誤差成正比</span> <span lang="EN-US"><o:p></o:p></span></p>
<p class="Default" style="text-align: left;"><b><span lang="EN-US">Deri Gain (KD): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">微分增益用於位置誤差之變化率</span> <span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri;">,以提供系統阻尼與增加穩定性</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><b><span lang="EN-US">Deri
Filter (KE): </span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">微分濾波器用於限制經常因微分增益增加而引起之高頻噪音,使系統更安靜且更穩定</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"> </span></p>
<p class="MsoNormal" style="text-align: left;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">調整時請格外小心,當馬達出現問題時(如</span><span lang="EN-US">:</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">馬達不穩定、失速</span><span lang="EN-US">…</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">等),請隨時做好禁用馬達伺服控制(disable)之準備。</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"> </span></p>
<p class="MsoNormal" style="text-align: left;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">請注意</span><span lang="EN-US">!</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">速度環需要在位置環之前進行調整。</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-align: left;"><span lang="EN-US"> </span></p>
<p class="MsoNormal" style="text-align: left;"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">調整步驟</span></b><b><span lang="EN-US"><o:p></o:p></span></b></p>
<p class="MsoNormal" style="text-align: left;"><b><span lang="EN-US"> </span></b></p>
<p class="MsoNormal" style="text-align: left;"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟一</span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">:將速度環增益起始設置為低值</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(1)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將</span><span lang="EN-US">KC</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設為預設值</span><span lang="EN-US">15000<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(2)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將</span><span lang="EN-US">VI</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值與</span><span lang="EN-US">KK</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設為</span><span lang="EN-US">0<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; text-align: left; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(3)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">對於低慣性負載與低加速度</span><span lang="EN-US">/</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">減速度,將</span><span lang="EN-US">VP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設為</span><span lang="EN-US">1000~1500</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">範圍內</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">請參見下面提示</span><span lang="EN-US">1</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">和</span><span lang="EN-US">2)<o:p></o:p></span></p></div><div class="separator" style="clear: both; text-align: left;"><p class="MsoNormal"><span lang="EN-US"> </span></p>
<p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">提示</span><span lang="EN-US">1: </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">在調整參數字段中輸入數字後,按</span><span lang="EN-US"><Enter></span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">鍵;</span> <span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">輸入值後按</span><span lang="EN-US">Tab</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">鍵將使該字段恢復為先前的值。</span> <span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">滑塊和上</span><span lang="EN-US">/</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">下按鈕也可用於調整值。</span><span lang="EN-US"><o:p></o:p></span></p></div><div class="separator" style="clear: both; text-align: left;"><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">提示</span><span lang="EN-US">2: </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟一的第</span><span lang="EN-US">(3)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">點所示,以建議的</span><span lang="EN-US">VP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設定範圍,且符合低加速度</span><span lang="EN-US">/</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">減速度</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">不大於200rev/sec2</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以及慣性負載需低於</span><span lang="EN-US">5</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">倍之轉子慣量,可使範例動作移動完成,且不會出現任何故障訊息。若加速度</span><span lang="EN-US">/</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">減速度值超過建議值或負載慣量超過</span><span lang="EN-US">5</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">倍,則執行範例動作時可能會出現位置錯誤。這些位置錯誤訊息可在調整參數期間藉由</span><span lang="EN-US">Step:1 Configuration</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">介面下,勾選</span><span lang="EN-US">”Not Used”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">選項來消除,如下圖</span><span lang="EN-US">(1)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">所示,並點擊</span><span lang="EN-US">”Download All to Drive”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以完成修改。完成調整參數後,建議修改回初始設定</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">選項勾選回</span><span lang="EN-US">”Position Fault Limit”)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,以免當馬達從指定位置失磁時出現錯誤訊息。</span><span lang="EN-US"><o:p></o:p></span></p></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-oHVoWcDxbwk/YEmS-GoFXdI/AAAAAAAABgA/s2QjdllS6qck84w1rGCRFuyUKS1AxkOYwCLcBGAsYHQ/s1079/1.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="538" data-original-width="1079" height="320" src="https://1.bp.blogspot.com/-oHVoWcDxbwk/YEmS-GoFXdI/AAAAAAAABgA/s2QjdllS6qck84w1rGCRFuyUKS1AxkOYwCLcBGAsYHQ/w640-h320/1.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(1) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">在調整參數過程中關閉位置故障極限可以消除位置錯誤訊息</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: left;"><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">提示</span><span lang="EN-US">3: </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當步進伺服馬達與</span><span lang="EN-US">Step-Servo Quick Tuner</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">軟體連接並完成通訊時,將自動進入</span><span lang="EN-US">”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">連接模式</span><span lang="EN-US">”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,且下列初始值設定一併生效</span><span lang="EN-US">:<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent: 24pt;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">波特率</span><span lang="EN-US">(Baud Rate)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設置為</span><span lang="EN-US">115,200bps(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">指令</span><span lang="EN-US">:BR5)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent: 24pt;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">立即格式設置為十六進制</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">指令</span><span lang="EN-US">:IFH)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent: 24pt;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">傳輸延遲設置為</span><span lang="EN-US">2ms(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">指令</span><span lang="EN-US">:TD2)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent: 24pt;"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">特定型號之協議設置</span><span lang="EN-US">: PR13(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">對應</span><span lang="EN-US">RS232</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">型號</span><span lang="EN-US">)/ PR15(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">對應</span><span lang="EN-US">RS485</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">型號</span><span lang="EN-US">)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span></p>
<p class="MsoNormal"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟二:</span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">執行範例動作並調整</span><span lang="EN-US">VP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(1)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">繪製實際速度</span><span lang="EN-US">(Plot 1)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與目標速度</span><span lang="EN-US">(Plot 2)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">曲線圖</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(2)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將方向</span><span lang="EN-US">(Direction)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設置為</span><span lang="EN-US">CW</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,然後選擇單次運行</span><span lang="EN-US">(Sample Once)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(3)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">觀察實際速度曲線,如圖</span><span lang="EN-US">(2a)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(4)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">重複執行範例動作並調整</span><span lang="EN-US">VP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值,直到實際速度介於目標速度的</span><span lang="EN-US">80-90%</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">之間。此最終</span><span lang="EN-US">VP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設置會根據馬達負載與速度限制值之設置而有所不同。</span><span lang="EN-US"><o:p></o:p></span></p></div><div class="separator" style="clear: both; text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: left;"><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-eH0DK2qzYh8/YEmWvW7OdOI/AAAAAAAABgI/UVbagH2SQW8Pe26UcfYVuDVZpJodAZXbQCLcBGAsYHQ/s1417/2a.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="658" data-original-width="1417" height="298" src="https://1.bp.blogspot.com/-eH0DK2qzYh8/YEmWvW7OdOI/AAAAAAAABgI/UVbagH2SQW8Pe26UcfYVuDVZpJodAZXbQCLcBGAsYHQ/w640-h298/2a.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(2a) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">範例動作下實際速度</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">綠</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與目標速度</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">紅</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">曲線圖</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><br /></div><div class="separator" style="clear: both; text-align: left;"><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">調整</span><span lang="EN-US">VP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值重點在於,實際速度曲線的頂部應平滑,無任何振盪,如圖</span><span lang="EN-US">(2b)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">、</span><span lang="EN-US">(2c)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,並且移動完成後,馬達不應該發出任何噪音或震動。</span></p></div><table cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: left;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-RwsFnzRowss/YEmSkS6NWaI/AAAAAAAABf4/FeyNXZW7G4kV08SLaSn6h1jZucePZYVQQCLcBGAsYHQ/s1186/2b_2c.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="528" data-original-width="1186" height="285" src="https://1.bp.blogspot.com/-RwsFnzRowss/YEmSkS6NWaI/AAAAAAAABf4/FeyNXZW7G4kV08SLaSn6h1jZucePZYVQQCLcBGAsYHQ/w640-h285/2b_2c.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(2b) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(2c)<o:p></o:p></span></p></td></tr></tbody></table><div class="separator" style="clear: both; text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: left;"><p class="MsoNormal"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟三:</span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">繪製速度誤差曲線以調整</span><span lang="EN-US">KK</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值與</span><span lang="EN-US">VI</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">(1) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將</span><span lang="EN-US">Plot 2</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設置為速度誤差,並勾選</span><span lang="EN-US">”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">自動縮放</span><span lang="EN-US">”(Auto Scale)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">選項</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">(2) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">執行範例動作,同時先增加</span><span lang="EN-US">KK</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值,如圖</span><span lang="EN-US">(3a)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">(3) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當實際速度曲線開始變尖時,然後開始逐漸增加V</span><span lang="EN-US">I</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值和</span><span lang="EN-US">KK</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值,以最大程度地減小和穩定速度誤差,如圖</span><span lang="EN-US">(3b)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">和</span><span lang="EN-US">(3c)<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left: 24pt;"><span lang="EN-US">(i) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">取消勾選</span><span lang="EN-US">”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">自動縮放</span><span lang="EN-US">”(Auto Scale)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">選項,將單位鎖定在垂直軸上;這有助於從視覺上看到速度誤差的減少</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent: 24pt;"><span lang="EN-US">(ii)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">如果馬達開始發出噪音,降低</span><span lang="EN-US">KC</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值</span></p></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-nnhDDZU25hY/YEmW9VaXNNI/AAAAAAAABgU/v_B8EvwyOMURxJKiKn8F2VJ8TBPBIy5hACLcBGAsYHQ/s1245/3a.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="692" data-original-width="1245" height="356" src="https://1.bp.blogspot.com/-nnhDDZU25hY/YEmW9VaXNNI/AAAAAAAABgU/v_B8EvwyOMURxJKiKn8F2VJ8TBPBIy5hACLcBGAsYHQ/w640-h356/3a.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(3a) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">實際速度</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">綠</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與速度誤差</span><span lang="EN-US">(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">紅</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">曲線圖;同時調整</span><span lang="EN-US">KK</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-jHzfkTZqrU4/YEmW9UkT7xI/AAAAAAAABgM/pUbyPuuTbDg6VGNdlo3OfJqgjmh9G3VRQCLcBGAsYHQ/s1320/3b.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="697" data-original-width="1320" height="338" src="https://1.bp.blogspot.com/-jHzfkTZqrU4/YEmW9UkT7xI/AAAAAAAABgM/pUbyPuuTbDg6VGNdlo3OfJqgjmh9G3VRQCLcBGAsYHQ/w640-h338/3b.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(3b) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">隨著</span><span lang="EN-US">KK</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值增加,實際速度曲線輪廓愈來愈趨近於梯形</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-LUtB09IsmNc/YEmW9R6G8tI/AAAAAAAABgQ/6a4LfAwgk00s7a9xBh-TxCHlPsb6khADgCLcBGAsYHQ/s1378/3c.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="723" data-original-width="1378" height="336" src="https://1.bp.blogspot.com/-LUtB09IsmNc/YEmW9R6G8tI/AAAAAAAABgQ/6a4LfAwgk00s7a9xBh-TxCHlPsb6khADgCLcBGAsYHQ/w640-h336/3c.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span face=""Calibri",sans-serif" lang="EN-US" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">(3c) </span><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">隨著</span><span face=""Calibri",sans-serif" lang="EN-US" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">VI</span><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值與</span><span face=""Calibri",sans-serif" lang="EN-US" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">KK</span><span face=""新細明體",serif" style="font-size: 12pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值的調整,使速度誤差趨於最小化</span></td></tr></tbody></table><div style="text-align: left;"><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></p><p class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以下步驟為調整位置環。</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span></p>
<p class="MsoNormal"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟四:</span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">切換至</span><span lang="EN-US">P Loop(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置環</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">介面,並將</span><span lang="EN-US">Plot 2</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">改為位置誤差</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(1)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設置與</span><span lang="EN-US">V Loop(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">速度環</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">相似的範例動作</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(2)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">將</span><span lang="EN-US">KE</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設為預設值</span><span lang="EN-US">15000</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,將</span><span lang="EN-US">KP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值與</span><span lang="EN-US">KD</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值設為</span><span lang="EN-US">1<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(3)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當執行範例動作時增加</span><span lang="EN-US">KP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值,以最大程度地降低位置誤差,如圖</span><span lang="EN-US">(4a)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">。如過多增加</span><span lang="EN-US">KP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值,可能導致不穩定,如圖</span><span lang="EN-US">(4b)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">。</span><span lang="EN-US"><o:p></o:p></span></p></div><div style="text-align: left;"><br /></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-j9cj38yXK30/YEmW-MqXhWI/AAAAAAAABgY/hRm2R24wTWghUJau7FarUjchuLTSwk-5wCLcBGAsYHQ/s1346/4a.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="725" data-original-width="1346" height="344" src="https://1.bp.blogspot.com/-j9cj38yXK30/YEmW-MqXhWI/AAAAAAAABgY/hRm2R24wTWghUJau7FarUjchuLTSwk-5wCLcBGAsYHQ/w640-h344/4a.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(4a) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置環調整;實際速度與位置誤差曲線圖</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><div style="text-align: left;"><br /></div><div style="text-align: left;"><br /></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-gKrhs_O1Vm8/YEmW-QmP7xI/AAAAAAAABgc/EIjsOfX9WD0eQ9cYg5EhiV_3yAKkLQ4cQCLcBGAsYHQ/s1311/4b.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="721" data-original-width="1311" height="352" src="https://1.bp.blogspot.com/-gKrhs_O1Vm8/YEmW-QmP7xI/AAAAAAAABgc/EIjsOfX9WD0eQ9cYg5EhiV_3yAKkLQ4cQCLcBGAsYHQ/w640-h352/4b.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(4b) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">調整</span><span lang="EN-US">P Loop(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置環</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">時,過大的</span><span lang="EN-US">KP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值所引起的不穩定</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><div style="text-align: left;"><p class="MsoNormal"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟五:</span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">增加</span><span lang="EN-US">KD</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值並調整</span><span lang="EN-US">KP</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與</span><span lang="EN-US">KE</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值,如圖</span><span lang="EN-US">(5a)<o:p></o:p></span></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(1)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">增加</span><span lang="EN-US">KD</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值的同時,繼續執行範例動作</span><span lang="EN-US"><o:p></o:p></span></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(2)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">如果聽見馬達發出尖銳噪音,則降低</span><span lang="EN-US">KE</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">值</span><span lang="EN-US"><o:p></o:p></span></p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(3)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">當位置誤差和建立時間滿足要求時,調整完成</span><span lang="EN-US"><o:p></o:p></span></p><p class="MsoNormal">
</p><p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(4)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">用滑鼠游標放大檢視位置誤差,如圖</span><span lang="EN-US">(5b)</span></p></div><table cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: left;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-CoXMR6X3ZlY/YEmXmRPkFHI/AAAAAAAABgw/jAADEYpKBIwsGwbvq2aGy6VNXPtc9lpSACLcBGAsYHQ/s1238/5a.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="743" data-original-width="1238" height="384" src="https://1.bp.blogspot.com/-CoXMR6X3ZlY/YEmXmRPkFHI/AAAAAAAABgw/jAADEYpKBIwsGwbvq2aGy6VNXPtc9lpSACLcBGAsYHQ/w640-h384/5a.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(5a) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">調整</span><span lang="EN-US">P Loop(</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">位置環</span><span lang="EN-US">)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">後,位置誤差被最小化</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto;"><tbody><tr><td style="text-align: center;"><a href="https://1.bp.blogspot.com/-P9G02xTsgrQ/YEmXmlRU-GI/AAAAAAAABg0/NbzOe0pv7ygFMMobFpiqS4Uoq_-fZFe2gCLcBGAsYHQ/s1219/5b.png" style="margin-left: auto; margin-right: auto;"><img border="0" data-original-height="725" data-original-width="1219" height="380" src="https://1.bp.blogspot.com/-P9G02xTsgrQ/YEmXmlRU-GI/AAAAAAAABg0/NbzOe0pv7ygFMMobFpiqS4Uoq_-fZFe2gCLcBGAsYHQ/w640-h380/5b.png" width="640" /></a></td></tr><tr><td class="tr-caption" style="text-align: center;"><p align="center" class="MsoNormal"><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">圖</span><span lang="EN-US">(5b) </span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">放大檢視位置誤差曲線,顯示其範圍落在+/-10</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">編碼器計數內</span><span lang="EN-US"><o:p></o:p></span></p></td></tr></tbody></table><div style="text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: left;"><p class="MsoNormal"><b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">步驟六:</span></b><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">完成設置,下載和保存</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(1)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">如果在步驟一中將位置故障限制功能</span><span lang="EN-US">(Position Fault Limit)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設置為“未使用</span><span lang="EN-US">(Not Used)</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">”,請確保將其恢復為之前的設置</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(2)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">確保點擊</span><span lang="EN-US">”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">全部下載到驅動器</span><span lang="EN-US">(Download All to Drive)”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,以便最終的調整值將保留在非易失性記憶體中</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left: 18pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -18pt;"><!--[if !supportLists]--><span lang="EN-US">(3)<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;">
</span></span><!--[endif]--><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">由</span><span lang="EN-US">Project</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">選單下拉,點擊</span><span lang="EN-US">”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">保存項目</span><span lang="EN-US">(Save Project)”</span><span face=""新細明體",serif" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-size: 12.0pt; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">來保存項目文件</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> </span></p></div><div class="separator" style="clear: both; text-align: left;"><br /></div><div style="text-align: left;"><br /></div><p style="text-align: left;"><br /></p><p style="text-align: left;"><br /></p><p style="text-align: left;"><br /></p>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-68544777415931010952020-07-20T13:11:00.000+08:002020-07-21T09:53:22.499+08:00MagSpring 磁力配重棒簡介<br />
<div style="margin-left: 24pt; text-align: center; text-indent: -24pt;">
<span lang="EN-US" style="mso-bidi-font-family: 新細明體; mso-bidi-theme-font: minor-fareast;"><span style="mso-list: Ignore;"><span style="font-size: x-large;">MagSpring 磁力配重棒簡介</span></span></span></div>
<div style="margin-left: 24pt; text-align: center; text-indent: -24pt;">
<span lang="EN-US" style="mso-bidi-font-family: 新細明體; mso-bidi-theme-font: minor-fareast;"><span style="mso-list: Ignore;"><span style="font-size: x-large;"><br /></span></span></span></div>
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<!--[if !supportLists]--><span lang="EN-US" style="mso-bidi-font-family: 新細明體; mso-bidi-theme-font: minor-fareast;"><span style="mso-list: Ignore;">一、</span></span><span style="font-family: , serif; text-indent: -24pt;">原廠文件-磁力配重棒安裝方式如圖:</span></div>
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<span lang="EN-US">二、</span><span lang="EN-US"><span style="font-family: "新細明體" , "serif";">磁力配重棒</span><span lang="EN-US" style="font-family: "calibri" , "sans-serif";">Stator</span><span style="font-family: "新細明體" , "serif";">與</span><span lang="EN-US" style="font-family: "calibri" , "sans-serif";">Slider</span><span style="font-family: "新細明體" , "serif";">相對關係</span>(</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以</span><span lang="EN-US">M01-20x60/50-11</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">為例</span><span lang="EN-US">)<o:p></o:p></span></div>
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<span lang="EN-US">三、</span><!--[endif]--><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">拉力計測試</span><span lang="EN-US">(</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以</span><span lang="EN-US">M01-20x140/130-22</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">為例</span><span lang="EN-US">)</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">:當磁棒拉出</span><span lang="EN-US">SP=35mm</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">的位置,磁力配重棒就會保持恆定的力</span><span style="font-family: "新細明體" , "serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">。</span><span lang="EN-US"><o:p></o:p></span></div>
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<span lang="EN-US" style="text-indent: -24pt;">四、</span><span style="font-family: "新細明體" , "serif"; text-indent: -24pt;">重物測試</span><span lang="EN-US" style="text-indent: -24pt;">(</span><span style="font-family: "新細明體" , "serif"; text-indent: -24pt;">以</span><span lang="EN-US" style="text-indent: -24pt;">M01-20x220/210-22</span><span style="font-family: "新細明體" , "serif"; text-indent: -24pt;">為例</span><span lang="EN-US" style="text-indent: -24pt;">)</span><span style="font-family: "新細明體" , "serif"; text-indent: -24pt;">:在行程範圍內,當重力與磁力平衡時,磁力配重棒會走到哪停到哪。</span><br />
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AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-40451363308649211122020-07-15T09:53:00.001+08:002020-07-15T09:53:58.713+08:00TSM一體型步進伺服馬達使用IO範例程式<div style="text-align: center;">
<span style="font-size: x-large;">TSM一體型步進伺服馬達使用IO範例程式</span></div>
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動作說明: </div>
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第一次按下INPUT X1瞬間,馬達移動至P1點,到定位時OUTPUT Y1亮滅一次。第二次按下INPUT X1瞬間,馬達移動至P2點,到定位時OUTPUT Y1亮滅一次。第三次按下INPUT X1瞬間,馬達移動至P1點,到定位時OUTPUT Y1亮滅一次。第四次...以此類推...</div>
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範例程式:</div>
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<a href="https://1.bp.blogspot.com/-4QlGUQyaY5c/Xw5hi3imKZI/AAAAAAAAA8M/cU-HvFlNgsUiXrfdQzBnoKRvrojycU3fQCLcBGAsYHQ/s1600/TSM_IO_demo.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="463" data-original-width="794" height="372" src="https://1.bp.blogspot.com/-4QlGUQyaY5c/Xw5hi3imKZI/AAAAAAAAA8M/cU-HvFlNgsUiXrfdQzBnoKRvrojycU3fQCLcBGAsYHQ/s640/TSM_IO_demo.PNG" width="640" /></a></div>
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AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-75326738592701619632020-06-16T11:22:00.000+08:002020-06-16T11:23:49.443+08:00TSM一體型步進伺服馬達硬體回Home與極限設置<div style="text-align: center;">
<span style="font-size: large;">TSM一體型步進伺服馬達硬體回Home與極限設置</span></div>
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(以TSM11Q-3RM+RGS06為例)</div>
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範例code</div>
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<a href="https://1.bp.blogspot.com/-twUtjAGdMbU/Xug5M_yuzAI/AAAAAAAAA7A/PL2e8XL0bNEwzaDvsfXAevx9j_fK4wtpACLcBGAsYHQ/s1600/001.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="354" data-original-width="457" height="492" src="https://1.bp.blogspot.com/-twUtjAGdMbU/Xug5M_yuzAI/AAAAAAAAA7A/PL2e8XL0bNEwzaDvsfXAevx9j_fK4wtpACLcBGAsYHQ/s640/001.jpg" width="640" /></a></div>
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<a href="https://1.bp.blogspot.com/-QN_B0hok4zw/Xug5MzmdZ4I/AAAAAAAAA68/T1U71EZdErQnHjYccb3gfFXe-p2ejY3bQCLcBGAsYHQ/s1600/002.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="238" data-original-width="479" height="316" src="https://1.bp.blogspot.com/-QN_B0hok4zw/Xug5MzmdZ4I/AAAAAAAAA68/T1U71EZdErQnHjYccb3gfFXe-p2ejY3bQCLcBGAsYHQ/s640/002.jpg" width="640" /></a></div>
AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-84114630064411719782020-04-27T10:34:00.004+08:002020-04-27T10:34:50.114+08:00LinMot 如何計算馬達出力大小(N)<span style="font-size: large;"><br /></span>
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<span style="font-size: large;"><b>LinMot 如何計算馬達出力大小(N)</b></span><br />
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">關於如何監控馬達之推力問題,以下回覆</span><span lang="EN-US">:<o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">可以利用馬達產生電流值來推算力量</span><span lang="EN-US"><o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">利用</span><span lang="EN-US">Force Constant (N/A)</span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">參數值作計算</span><span lang="EN-US"><o:p></o:p></span></div>
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<a href="https://1.bp.blogspot.com/-TBOXZM38UUA/XqZEeXcRUFI/AAAAAAAAA2Y/kwVeIOOwpwsnvQ-NJqEWlJTzxgxg9YRdwCLcBGAsYHQ/s1600/LM1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="308" data-original-width="1054" height="186" src="https://1.bp.blogspot.com/-TBOXZM38UUA/XqZEeXcRUFI/AAAAAAAAA2Y/kwVeIOOwpwsnvQ-NJqEWlJTzxgxg9YRdwCLcBGAsYHQ/s640/LM1.jpg" width="640" /></a></div>
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<span lang="EN-US">EX: <o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">以馬達</span><span lang="EN-US">P01-37x120F-HP</span><span style="font-family: "新細明體" , serif; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">為例</span><span lang="EN-US"> </span><span style="font-family: "新細明體" , serif; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,</span><span lang="EN-US">Force Constant (N/A) = 17 (N/A)<o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">馬達產生</span><span lang="EN-US">1A </span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">生成</span><span lang="EN-US"> 1*17=17N </span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">力量</span><span lang="EN-US"><o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">馬達產生</span><span lang="EN-US">2A </span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">生成</span><span lang="EN-US"> 2*17=34N </span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">力量</span><span lang="EN-US"><o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">以此類推</span><span lang="EN-US">…<o:p></o:p></span></div>
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<span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">馬達電流可利用</span><span lang="EN-US">LinMot Talk</span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">軟體</span><span style="font-family: "新細明體" , serif; mso-fareast-theme-font: minor-fareast;">上的示波器作監控</span><span lang="EN-US"><o:p></o:p></span></div>
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<a href="https://1.bp.blogspot.com/-5qfyQpyl7jk/XqZEQ4G54XI/AAAAAAAAA2U/KhCt7rl326gtz_mlNHqJ9YEMkQgxz3vagCLcBGAsYHQ/s1600/oscilloscope.PNG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="24" data-original-width="207" height="23" src="https://1.bp.blogspot.com/-5qfyQpyl7jk/XqZEQ4G54XI/AAAAAAAAA2U/KhCt7rl326gtz_mlNHqJ9YEMkQgxz3vagCLcBGAsYHQ/s200/oscilloscope.PNG" width="200" /></a></div>
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<br />AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-10780139398552796202020-03-27T16:52:00.000+08:002020-03-27T16:52:11.843+08:00TRIOPCMotion 使用手冊<span style="font-size: large;"><br /></span>
<span style="font-size: large;">TRIOPCMotion 使用手冊</span><br />
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<a href="https://drive.google.com/open?id=1EooZUJZOL9h0Z7qLXH0syn5e_MFnKYZM">https://drive.google.com/open?id=1EooZUJZOL9h0Z7qLXH0syn5e_MFnKYZM</a>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-77055339010710713542020-03-11T16:06:00.000+08:002020-03-11T16:06:13.349+08:00LinMot訊號輸出設定<span lang="EN-US" style="font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-bidi-language: AR-SA; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-font-kerning: 1.0pt;">LinMot
</span><span style="font-family: "新細明體","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-font-family: "Times New Roman"; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-fareast-language: ZH-TW; mso-font-kerning: 1.0pt; mso-hansi-font-family: "Times New Roman";">訊號輸出設定</span><br />
<span style="font-family: "新細明體","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-font-family: "Times New Roman"; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-fareast-language: ZH-TW; mso-font-kerning: 1.0pt; mso-hansi-font-family: "Times New Roman";"><br /></span>
<span lang="EN-US" style="font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-bidi-language: AR-SA; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-font-kerning: 1.0pt;">LinMot</span><span style="font-family: "新細明體","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-font-family: "Times New Roman"; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-fareast-language: ZH-TW; mso-font-kerning: 1.0pt; mso-hansi-font-family: "Times New Roman";">輸出訊號為二進位模式</span><br />
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<a href="https://1.bp.blogspot.com/-L99pj9ZlbIg/XmiZaH6uW_I/AAAAAAAAAxk/mIqcGVoTns4yJZSTA-8tErMa1tJ_dzxPACLcBGAsYHQ/s1600/1-1.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="304" data-original-width="470" height="257" src="https://1.bp.blogspot.com/-L99pj9ZlbIg/XmiZaH6uW_I/AAAAAAAAAxk/mIqcGVoTns4yJZSTA-8tErMa1tJ_dzxPACLcBGAsYHQ/s400/1-1.png" width="400" /></a></div>
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<span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";"><br /></span></div>
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<span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">依據不同型號</span><span lang="EN-US">Output</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">腳位不同,此範例為</span><span lang="EN-US">C1100</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">驅控器</span><span lang="EN-US"><o:p></o:p></span></div>
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<span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">若</span><span lang="EN-US">Output X4.3 </span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">需輸出訊號,軟體設定及程式編寫如下</span><span lang="EN-US">:<o:p></o:p></span></div>
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<b><u><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">軟體設定</span></u></b></div>
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<span style="font-family: "Times New Roman", serif; font-size: 12pt; text-align: center;">Project>Parameters>Motion
Control SW>Dig Out X4.3 Function>Interface Output</span></div>
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<b><u><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">程式編寫</span></u></b><br />
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<b><u><span lang="EN-US"><o:p></o:p></span></u></b></div>
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<span lang="EN-US">Output X4.3 </span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">輸出訊號</span><span lang="EN-US"><o:p></o:p></span></div>
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<span lang="EN-US">Mask : 3<o:p></o:p></span></div>
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<span lang="EN-US">Value : 1<o:p></o:p></span></div>
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<span lang="EN-US">Output X4.3 </span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">關閉訊號</span><span lang="EN-US"><o:p></o:p></span></div>
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<span lang="EN-US">Mask : 3<o:p></o:p></span></div>
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<span lang="EN-US">Value : 0<o:p></o:p></span></div>
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<span style="font-family: "新細明體","serif";">※</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">技巧</span><span lang="EN-US">: Mask</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">為</span><span lang="EN-US">Output</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">所含蓋二進位數值的<b style="mso-bidi-font-weight: normal;">範圍加總</b>,</span><span lang="EN-US">Value</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">為</span><span lang="EN-US">Output</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">輸出的訊</span><span style="font-family: 新細明體, serif;">號二進位數值的</span><b style="font-family: 新細明體, serif;">範圍加總</b></div>
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<span lang="EN-US">Output X4.3 X4.4 </span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: "Times New Roman"; mso-hansi-font-family: "Times New Roman";">同時輸出訊號</span><span lang="EN-US"><o:p></o:p></span></div>
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<span lang="EN-US">Mask : 3<o:p></o:p></span></div>
<div class="MsoNormal">
<span lang="EN-US">Value : 3<o:p></o:p></span></div>
<span style="font-family: "新細明體","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-font-family: "Times New Roman"; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-fareast-language: ZH-TW; mso-font-kerning: 1.0pt; mso-hansi-font-family: "Times New Roman";"></span>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-10222290378308059882020-01-22T17:28:00.002+08:002022-07-26T09:58:45.632+08:00LinMot C11XX 無法手動Switch On問題<br />
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<b><span lang="EN-US" style="font-size: 14.0pt; mso-bidi-font-size: 12.0pt;">LinMot C11XX </span></b><b><span style="font-family: "新細明體" , serif; font-size: 14.0pt;">無法手動</span></b><b><span lang="EN-US" style="font-size: 14.0pt; mso-bidi-font-size: 12.0pt;">Switch On</span></b><b><span style="font-family: "新細明體" , serif; font-size: 14.0pt;">問題</span></b><b><span lang="EN-US" style="font-size: 14.0pt; mso-bidi-font-size: 12.0pt;"><o:p></o:p></span></b></div>
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<span style="font-family: "新細明體" , serif; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">修改設定前</span><span lang="EN-US">(</span><span style="font-family: "新細明體" , serif; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">出廠值</span><span lang="EN-US">)</span><span style="font-family: "新細明體" , serif; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">,無法手動</span><span lang="EN-US">Switch On<o:p></o:p></span></div>
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<a href="https://1.bp.blogspot.com/-1O0sQ1QhV4U/XigUtJTPbWI/AAAAAAAAApU/JISBMhzDLzAgTgIJKEVmAuKqbe0OKtYrQCLcBGAsYHQ/s1600/1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="695" data-original-width="1493" height="297" src="https://1.bp.blogspot.com/-1O0sQ1QhV4U/XigUtJTPbWI/AAAAAAAAApU/JISBMhzDLzAgTgIJKEVmAuKqbe0OKtYrQCLcBGAsYHQ/s640/1.PNG" width="640" /></a></div>
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<span style="font-family: , serif;">後來設定</span></div>
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<br />AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-10689082868434834782019-09-24T16:10:00.000+08:002019-09-24T16:14:11.885+08:00MSD4822驅動器切換pulse/dir(單脈波)和cw/ccw(雙脈波)通訊方式MSD4822驅動器支援pulse/dir(單脈波)和cw/ccw(雙脈波)兩種通訊方式<br />
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但需要調整內部jumper,如下圖所示:<br />
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<a href="https://1.bp.blogspot.com/-94X1RieRG9E/XYm7Op7Z64I/AAAAAAAAAl4/5l1y5CPyousbAgOWf-Vjvb-hfcj0C7sbQCLcBGAsYHQ/s1600/1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="800" height="640" src="https://1.bp.blogspot.com/-94X1RieRG9E/XYm7Op7Z64I/AAAAAAAAAl4/5l1y5CPyousbAgOWf-Vjvb-hfcj0C7sbQCLcBGAsYHQ/s640/1.jpg" width="320" /></a></div>
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<a href="https://1.bp.blogspot.com/-mxTZ-vL8g5A/XYm_AAd1SFI/AAAAAAAAAmE/DMKltcRQDjUP8d9e2jUOerz3GIgi8MofACLcBGAsYHQ/s1600/2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="556" data-original-width="889" height="125" src="https://1.bp.blogspot.com/-mxTZ-vL8g5A/XYm_AAd1SFI/AAAAAAAAAmE/DMKltcRQDjUP8d9e2jUOerz3GIgi8MofACLcBGAsYHQ/s200/2.jpg" width="200" /></a> <a href="https://1.bp.blogspot.com/-Lfbb51PwYvU/XYm_vvFq0vI/AAAAAAAAAmU/1SvHvCoGX3gSrX36FZ6ukmPEm0QdijG1wCLcBGAsYHQ/s1600/3.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="649" data-original-width="1054" height="121" src="https://1.bp.blogspot.com/-Lfbb51PwYvU/XYm_vvFq0vI/AAAAAAAAAmU/1SvHvCoGX3gSrX36FZ6ukmPEm0QdijG1wCLcBGAsYHQ/s200/3.jpg" width="200" /></a></div>
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A. Pulse/Dir(出廠設定),連接2與1 B. CW/CCW,連接1與3 </div>
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CW/CCW接線如下</div>
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<a href="https://1.bp.blogspot.com/-CzCDY5ccspM/XYnOtKzLRCI/AAAAAAAAAm4/C46Nf98c7CkghCYSBkJ54p6XogoFP8L-ACLcBGAsYHQ/s1600/4-2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1564" height="320" src="https://1.bp.blogspot.com/-CzCDY5ccspM/XYnOtKzLRCI/AAAAAAAAAm4/C46Nf98c7CkghCYSBkJ54p6XogoFP8L-ACLcBGAsYHQ/s320/4-2.jpg" width="312" /></a><a href="https://1.bp.blogspot.com/-Ez5jSj5bpBk/XYnOo7LG07I/AAAAAAAAAm0/IRAXtAjpiGEpnUiw6nGvlrHYfvtHL2QxwCLcBGAsYHQ/s1600/4-1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1334" height="320" src="https://1.bp.blogspot.com/-Ez5jSj5bpBk/XYnOo7LG07I/AAAAAAAAAm0/IRAXtAjpiGEpnUiw6nGvlrHYfvtHL2QxwCLcBGAsYHQ/s320/4-1.jpg" width="265" /></a></div>
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A. 反轉 B. 正轉</div>
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<br />AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-72005801530453805032019-07-23T17:23:00.001+08:002019-07-23T17:23:32.597+08:00步進馬達動作到一半卡住、失步或停下來,可能原因?<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-top: 0pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 18pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">問:</span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 18pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">步進馬達動作到一半卡住、失步或停下來,可能原因</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 18pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">?</span></div>
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<span style="background-color: transparent; color: black; font-family: Arial; font-size: 12pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">(以MSD4822 + 43F4C-XX-XXX為例)</span></div>
<b id="docs-internal-guid-d6e7f927-7fff-8497-dc05-821cf3794256" style="font-weight: normal;"><br /></b>
<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-top: 0pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 11pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;"><img height="221" src="https://docs.google.com/drawings/d/sAPH-e4K1KZjThkjrx8ZTdQ/image?w=602&h=221&rev=327&ac=1&parent=1Go3n_LeLrB9W6oPHNPUzofVVrybz2MryzWHpiSk7SlM" style="border: none;" width="602" /></span></div>
<b style="font-weight: normal;"><br /></b>
<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-top: 0pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">答: 檢查下列幾項情況</span></div>
<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-left: 18pt; margin-top: 0pt; padding: 0pt 0pt 0pt 18pt; text-indent: -18pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">A. </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">機構裝置設計/組裝是否正常?</span></div>
<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-left: 18pt; margin-top: 0pt; padding: 0pt 0pt 0pt 18pt; text-indent: -18pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">B. Driver</span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">的指撥設定有誤? </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">## </span></div>
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<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">C. </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">電源供應器提供的電壓或電流不足?</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;"> </span></div>
<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-left: 18pt; margin-top: 0pt; padding: 0pt 0pt 0pt 18pt; text-indent: -18pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">D. </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">控制器的指令有誤? </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">ex:</span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">設太高的加速度值</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">&</span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">速度值</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;"> </span></div>
<div dir="ltr" style="line-height: 1.38; margin-bottom: 0pt; margin-left: 18pt; margin-top: 0pt; padding: 0pt 0pt 0pt 18pt; text-indent: -18pt;">
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">E. </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">使用不符合需求的馬達? </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">ex:</span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">馬達太小,扭力不足以負荷負載重</span></div>
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<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">## Driver</span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">指撥如何設定</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">?</span></div>
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<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">答: </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">依據馬達規格的不同調整</span></div>
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<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">1. </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">解析度</span></div>
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<span style="background-color: transparent; color: black; font-family: Arial; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">2. </span><span style="background-color: transparent; color: black; font-family: 'Times New Roman'; font-size: 13.999999999999998pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline; white-space: pre-wrap; white-space: pre;">電流</span></div>
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AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-78800176342240476642019-07-04T10:49:00.001+08:002022-07-25T15:24:23.373+08:00TSM一體型步進伺服馬達位置教導模式<h2 style="background: white; color: #2a2a4c; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 13px; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal; margin: 0cm 0cm 0.0001pt; position: relative; text-align: center; text-transform: uppercase;">
<span style="font-size: medium;"><span lang="EN-US" style="color: #0c343d; font-family: Arial, sans-serif;">TSM</span><span style="color: #0c343d;">一體型步進伺服馬達 位置教導模式</span></span></h2>
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<span style="font-family: "新細明體","serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">範例程式碼一</span><span lang="EN-US">:
</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">一個</span><span lang="EN-US">INPUT</span><span style="font-family: "新細明體","serif"; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">教導一個位置</span></div>
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範例程式碼二</span><span lang="EN-US" style="font-family: "Calibri","sans-serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">: </span><span style="font-family: "新細明體","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">一個</span><span lang="EN-US" style="font-family: "Calibri","sans-serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: 新細明體; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin;">INPUT</span><span style="font-family: "新細明體","serif"; font-size: 12.0pt; mso-ansi-language: EN-US; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-font-size: 11.0pt; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-language: ZH-TW; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">連續教導多個位置</span></div>
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AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-7398561512924695292019-06-06T13:46:00.005+08:002022-07-25T15:25:47.416+08:00TSM一體型步進伺服馬達位置模式、速度模式、扭力模式<br />
<h2 style="background: white; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-size: large;"><span lang="EN-US" style="color: #0c343d; font-family: Arial, sans-serif;"><br /></span></span></h2>
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<span style="font-size: large;"><span lang="EN-US" style="color: #0c343d; font-family: Arial, sans-serif;">TSM</span><span style="color: #0c343d;">一體型步進伺服馬達位置模式、速度模式、扭力模式</span><span lang="EN-US" style="color: #0c343d; font-family: Arial, sans-serif;"><o:p> </o:p></span></span></h2>
<h3 style="background: white; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span lang="EN-US" style="color: #0c343d; font-family: "Arial","sans-serif"; font-size: 12.0pt;"><o:p> </o:p></span></h3>
<div style="background: white; margin-bottom: .0001pt; margin: 0cm;">
<span style="font-weight: normal;">範例<span lang="EN-US">code<span style="font-size: 12pt;"><o:p></o:p></span></span></span></div>
<h3 style="background: white; margin-bottom: .0001pt; margin: 0cm;">
<span lang="EN-US" style="color: #0c343d; font-family: "Arial","sans-serif"; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;"><!--[if gte vml 1]><v:shapetype id="_x0000_t75" coordsize="21600,21600"
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<v:f eqn="if lineDrawn pixelLineWidth 0"/>
<v:f eqn="sum @0 1 0"/>
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<v:f eqn="prod @2 1 2"/>
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<v:f eqn="prod @3 21600 pixelHeight"/>
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<span lang="EN-US" style="color: #0c343d; font-family: "Arial","sans-serif"; mso-bidi-font-size: 12.0pt; mso-no-proof: yes;"><!--[if gte vml 1]><v:shape id="圖片_x0020_13" o:spid="_x0000_i1025"
type="#_x0000_t75" style='width:415.1pt;height:142.1pt;visibility:visible;
mso-wrap-style:square'>
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o:title=""/>
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<br />AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-35990426001460618132019-05-23T13:40:00.000+08:002019-05-23T13:50:35.126+08:00SMAC 簡易手冊---SMAC 簡易手冊---<br />
<br />
<a href="https://drive.google.com/open?id=13ms-7zTX1_2ZWjEcxsg9cxmK7snAmjMd">https://drive.google.com/open?id=13ms-7zTX1_2ZWjEcxsg9cxmK7snAmjMd</a>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-90163501051712041232019-03-18T11:01:00.002+08:002020-12-01T11:28:30.904+08:00---STM關於偵測失步與預防失步之設定(Stall detection)---<div style="text-align: center;"><span style="font-size: medium;"><b>STM關於偵測失步與預防失步之設定</b></span></div><div><br /></div><div>如STM裝了encoder,有兩個目的 (只能2選1)</div>
<br />
1. 偵測失步 : 會檢測失步,並出現alarm,但不會自動防止失步!!<br />
<br />
2. 預防失步 : stm會自動調整扭力,以保持正確位置,類似servo<br />
<br />
但是主控權要於stm,故不能使用於plc 的pulse command下<br />
<br />
試過降低馬達電流,並手動強制旋轉軸心,於+/- 7.2度(圓周運動360)時,步進會自己<br />
調整至正確位置,但超過7.2度,即超出可調範圍,這就類似於servo的position error!!系統不會判斷成失步,但可以利用讀取ENCODER位置,來判斷!!<br />
<br />
<div class="MsoNormal">
<span style="background: white; font-family: , serif;">以下為基本設定</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;"><o:p></o:p></span></div>
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<div class="MsoListParagraph" style="margin-left: 24pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -24pt;">
<!--[if !supportLists]--><span face=""arial" , sans-serif" lang="EN-US">1.<span style="font-family: "times new roman"; font-stretch: normal; line-height: normal;"> </span></span><span style="background: white; font-family: , serif;">將馬達電流調小至手可以轉動測試,此範例為</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">1A(</span><b><span style="background: white; font-family: , serif;">請參照馬達規格電流設定範圍</span></b><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">)<span style="color: #0c343d; font-size: 10.5pt;"><o:p></o:p></span></span></div>
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<span lang="EN-US"><br /></span></div>
<div class="MsoListParagraph" style="margin-left: 24pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -24pt;">
<span lang="EN-US">2.<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;"> </span></span><span face=""新細明體" , "serif"" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">設定錯誤訊號輸出,</span><span lang="EN-US">Motion&I/O</span><span face=""新細明體" , "serif"">→</span><span lang="EN-US">Pulse&Direction
Mode</span><span face=""新細明體" , "serif"">→</span><span lang="EN-US">Closed
on fault<o:p></o:p></span></div>
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<a href="https://3.bp.blogspot.com/-UJRZP0peaaM/XI8GODF8yEI/AAAAAAAAAYw/FUaNTjjdvI0T5Q_fdoXsrNVZx3keyhT0wCLcBGAs/s1600/%25E8%25A8%258A%25E8%2599%259F%25E8%25BC%25B8%25E5%2587%25BA%25E8%25A8%25AD%25E5%25AE%259A.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="482" data-original-width="800" src="https://3.bp.blogspot.com/-UJRZP0peaaM/XI8GODF8yEI/AAAAAAAAAYw/FUaNTjjdvI0T5Q_fdoXsrNVZx3keyhT0wCLcBGAs/s1600/%25E8%25A8%258A%25E8%2599%259F%25E8%25BC%25B8%25E5%2587%25BA%25E8%25A8%25AD%25E5%25AE%259A.png" /></a></div>
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<span lang="EN-US">3.<span style="font-size: 7pt; font-stretch: normal; font-variant-east-asian: normal; font-variant-numeric: normal; line-height: normal;"> </span></span><span face=""新細明體" , "serif"" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">此功能需在位置模式下,</span></div>
<div class="MsoListParagraph" style="margin-left: 24pt; mso-list: l0 level1 lfo1; mso-para-margin-left: 0gd; text-indent: -24pt;">
<span lang="EN-US"> Motion&I/O</span><span style="font-family: , serif;">→</span><span lang="EN-US">Serial Command
Language(SCL)</span><span style="font-family: , serif;">→</span><span lang="EN-US">21. Point to Point Positioning</span></div>
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<a href="https://3.bp.blogspot.com/-yODcY8elo3Q/XI8IBWc74xI/AAAAAAAAAZE/Mbl3eNyUrls0ASb0ygUhu7k2rd-1aBIqQCLcBGAs/s1600/%25E4%25BD%258D%25E7%25BD%25AE%25E6%25A8%25A1%25E5%25BC%258F%25E8%25A8%25AD%25E5%25AE%259A.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="482" data-original-width="804" src="https://3.bp.blogspot.com/-yODcY8elo3Q/XI8IBWc74xI/AAAAAAAAAZE/Mbl3eNyUrls0ASb0ygUhu7k2rd-1aBIqQCLcBGAs/s1600/%25E4%25BD%258D%25E7%25BD%25AE%25E6%25A8%25A1%25E5%25BC%258F%25E8%25A8%25AD%25E5%25AE%259A.png" /></a></div>
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4.ENCODER設定<br />
<span style="font-family: , serif;"> ※</span><span style="background: white; font-family: , serif;">偵測失步</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;"> : </span><span style="background: white; font-family: , serif;">會檢測失步</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">,</span><span style="background: white; font-family: , serif;">並出現</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">alarm,</span><span style="background: white; font-family: , serif;">但不會自動防止失步</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">!!</span><br />
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<a href="https://3.bp.blogspot.com/-hNRmiUphL-c/XI8InHTulvI/AAAAAAAAAZU/3yuVEvFj7O4YY0WClm3P4bevDlnacj4UgCLcBGAs/s1600/stall%2Bdetection%25E8%25A8%25AD%25E5%25AE%259A.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="483" data-original-width="809" src="https://3.bp.blogspot.com/-hNRmiUphL-c/XI8InHTulvI/AAAAAAAAAZU/3yuVEvFj7O4YY0WClm3P4bevDlnacj4UgCLcBGAs/s1600/stall%2Bdetection%25E8%25A8%25AD%25E5%25AE%259A.png" /></a></div>
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<div class="MsoNormal">
<span face=""新細明體" , "serif"" style="mso-ascii-theme-font: minor-fareast; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-fareast;">※</span><span style="background: white; font-family: , serif;">預防失步</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;"> : stm</span><span style="background: white; font-family: , serif;">會自動調整扭力</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">,</span><span style="background: white; font-family: , serif;">以保持正確位置</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">,</span><span style="background: white; font-family: , serif;">類似</span><span face=""arial" , sans-serif" lang="EN-US" style="background: white;">servo</span><span lang="EN-US"><o:p></o:p></span></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://1.bp.blogspot.com/-anuPsLPIKpI/XI8JAcS_t9I/AAAAAAAAAZc/zZkvwbVqJOY-RdS1IzErjdK7uMzYDkVoQCLcBGAs/s1600/stall%2Bprevention%25E8%25A8%25AD%25E5%25AE%259A.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="483" data-original-width="810" src="https://1.bp.blogspot.com/-anuPsLPIKpI/XI8JAcS_t9I/AAAAAAAAAZc/zZkvwbVqJOY-RdS1IzErjdK7uMzYDkVoQCLcBGAs/s1600/stall%2Bprevention%25E8%25A8%25AD%25E5%25AE%259A.png" /></a></div>
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<span face=""arial" , sans-serif" lang="EN-US" style="background: white;"></span></div>
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<u><span face=""新細明體" , "serif"" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;"><br /></span></u></div>
<div class="MsoNormal">
<span style="font-family: , serif;">註</span><span lang="EN-US">: </span><span face=""新細明體" , "serif"" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">若</span><span lang="EN-US">ENCODER</span><span face=""新細明體" , "serif"" style="mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">解析度未達到</span><span lang="EN-US">2000 counts/rev</span><span style="font-family: , serif;">,無法使用此功能</span><span lang="EN-US" style="text-decoration-line: underline;"><o:p></o:p></span></div>
Unknownnoreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-9872386936754519282019-02-27T10:37:00.003+08:002019-02-27T10:37:27.713+08:00Trio EtherCAT 快速上手 FLEX-6 NANO<div style="text-align: center;">
<span style="font-size: x-large;"><br /></span></div>
<div style="text-align: left;">
<span style="font-size: large;">Trio EtherCAT 快速上手 FLEX-6 NANO</span></div>
<br />
<br />
<a href="https://drive.google.com/open?id=17K37g8M8DWZhbqHIaaH-7uO0VKojKN3M">https://drive.google.com/open?id=17K37g8M8DWZhbqHIaaH-7uO0VKojKN3M</a>AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.comtag:blogger.com,1999:blog-7339048066831005845.post-14509410665812929522019-02-25T10:48:00.000+08:002019-02-25T10:48:27.977+08:00SmartMotor外加剎車<br />
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<b style="mso-bidi-font-weight: normal;"><u><span lang="EN-US" style="font-size: 16.0pt;">Smartmotor </span></u></b><b style="mso-bidi-font-weight: normal;"><u><span style="font-family: "新細明體","serif"; font-size: 16.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">外加剎車</span></u></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 16.0pt;"><span style="mso-tab-count: 1;"> </span></span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><span style="mso-tab-count: 3;"> </span><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">1.</span></b><b style="mso-bidi-font-weight: normal;"><span style="font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">接線圖</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<a href="https://3.bp.blogspot.com/-p_QiFC85NIw/XHNWw5K7eSI/AAAAAAAAAX4/Zm7VkS_nnXEANeqigk0xZRF9NfSMknvxQCLcBGAs/s1600/SM%25E5%2589%258E%25E8%25BB%258A.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="380" data-original-width="542" height="280" src="https://3.bp.blogspot.com/-p_QiFC85NIw/XHNWw5K7eSI/AAAAAAAAAX4/Zm7VkS_nnXEANeqigk0xZRF9NfSMknvxQCLcBGAs/s400/SM%25E5%2589%258E%25E8%25BB%258A.png" width="400" /></a></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: red; font-size: 14.0pt;">****.</span></b><b style="mso-bidi-font-weight: normal;"><span style="color: red; font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">請注意剎車電壓為</span></b><b style="mso-bidi-font-weight: normal;"><span style="color: red; font-size: 14.0pt;"> </span></b><b style="mso-bidi-font-weight: normal;"><span style="color: red; font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">直流</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: red; font-size: 14.0pt;"> DC24V</span></b><b style="mso-bidi-font-weight: normal;"><span style="color: red; font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">作動</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: red; font-size: 14.0pt;">, </span></b><b style="mso-bidi-font-weight: normal;"><span style="color: red; font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">與馬達電壓不同</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: red; font-size: 14.0pt;">!!<a href="https://www.blogger.com/null" name="_GoBack"></a><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">2.</span></b><b style="mso-bidi-font-weight: normal;"><span style="font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">程式範例</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<a href="https://4.bp.blogspot.com/-2ZPetJHeed0/XHNXMTqCJMI/AAAAAAAAAYA/zgvjQ6WrQx4J7huYN7ndl-l8xk5E6jvmACLcBGAs/s1600/SM%25E5%2589%258E%25E8%25BB%258Acode.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="184" data-original-width="700" height="168" src="https://4.bp.blogspot.com/-2ZPetJHeed0/XHNXMTqCJMI/AAAAAAAAAYA/zgvjQ6WrQx4J7huYN7ndl-l8xk5E6jvmACLcBGAs/s640/SM%25E5%2589%258E%25E8%25BB%258Acode.png" width="640" /></a></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">3.</span></b><b style="mso-bidi-font-weight: normal;"><span style="font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">備註</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span style="color: red; font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin;">指令</span></b><b style="mso-bidi-font-weight: normal;"><span style="font-size: 14.0pt;"> </span></b><b style="mso-bidi-font-weight: normal;"><span style="color: #17365d; font-family: "新細明體","serif"; font-size: 14.0pt; mso-ascii-font-family: Calibri; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 新細明體; mso-fareast-theme-font: minor-fareast; mso-hansi-font-family: Calibri; mso-hansi-theme-font: minor-latin; mso-themecolor: text2; mso-themeshade: 191;">狀態</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: #1f497d; font-size: 14.0pt; mso-themecolor: text2;">Servo ON<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: #1f497d; font-size: 14.0pt; mso-themecolor: text2;">Spinning</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: #1f497d; font-size: 14.0pt; mso-themecolor: text2;">Servo ON<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: #1f497d; font-size: 14.0pt; mso-themecolor: text2;">Stop</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: #1f497d; font-size: 14.0pt; mso-themecolor: text2;">Servo OFF</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: red; font-size: 14.0pt;">BRKSRV</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">Release<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">Release<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">Engage<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="color: red; font-size: 14.0pt;">BRKTRJ</span></b><b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;"><o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">Release<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">Engage<o:p></o:p></span></b></div>
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<b style="mso-bidi-font-weight: normal;"><span lang="EN-US" style="font-size: 14.0pt;">Engage<o:p></o:p></span></b></div>
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<br />AEhttp://www.blogger.com/profile/14672596399586889924noreply@blogger.com