Stepping drive equipment _ manipulator with stepper motor
2. Pulse counting
we calculate the number of pulses to, need to understand drive subdivision steps first. Each driver can set its subdivision steps, we choose the required steps subdivision and then calculate the pulse number. If choose subdivision steps for 3600, stepping Angle = 360/3600 = 0. ° 。 On behalf of each of us to provide a high and low pulse ( Pay attention to a high voltage + a) is a low voltage pulse rotation 0. ° , if we want to rotate 00 & deg; , then you just need to provide 000 pulses.
stepper planetary gear motor
3. Implementation method of the lead Angle
the following detailed said the implementation of specific methods, we can be issued to us in receiving the software after the rotation of the certain Angle command, calculating the number of pulses need to rotate, and then can control the duration of the high and low level (by timer By controlling the last time we can control our motor rotation speed) And at every time of high and low DianZhuan ( At this point into the timer interrupt) We can set a variable's value + ( Pay attention to the variable should start from 0) In determining if a set of variables we calculate the pulse number 2 times ( High and low level needs to flip 2 is a pulse) , if it is proved that the motor rotated to the point of view we need, then control the motor stopped, if not you need to continue to count, will meet our needs until the count value in the electrode to stop. Waiting for the arrival of the next command, we in the rotation of the next time. After the operation of the above we can realize the control of the planetary gear motor rotation Angle.
see here feels stepper motor control is simple, have the need of the step motor whether the friend can't wait to test it?
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