3HAC025338-006机器人驱动器
计算参考电压
参考电压计算现在确定了定时，可以使用eq3计算参考电压：VREF=VIN（最大）TINT/TDCINT=1V 200mS/490mS≈ .408V参考电压不需要非常精确地计算，因为在校准期间必须对其进行修整。±25%的调整范围足以弥补任何微小的计算误差。微处理器编程选择了PIC16C62A 8位微控制器，但任何合理的处理器/控制器就足够了。PIC16C62A是一个28针部件，具有EPROM可编程性。结论该量表效果非常好。8X过采样使其非常平滑且无噪声。响应时间在一次转换内(≈1/2秒），用于2克或更多的变化。小于2克的变化累积在积分寄存器中，直到达到+1克或-1克。当这种情况发生时，允许电流转换“通过”，并在累加器中建立新的基数。编程中还有一个允许显示原始数据的功能。这些显示显示完整的17位转换结果。基本转换器噪声如预测的那样，通常为1至2个闪烁计数（16位精度），间歇跳变约为3或4个计数（1/f噪声）。一次计数相当于1/8克。TC500A的实际60Hz电源线抑制比没有测量，但从TC520预加载2FH之前的6到8个“滚动噪声”计数来看，这是足够的。通过将电源电压从+4V变为+6V来测试微分比率参考的效果。尽管由于参考和应变仪之间的时间常数不匹配，导致延迟1-2秒，但最终读数完全相同。这表明电源抑制优于100dB。读取格式OUT LOAD DIN MSB DCLK Read DCLK LOAD Format LSB DOUT OVR POL MSB LSB图5：串行接口协议。©2002 Microchip Technology，股份有限公司.DS00780A第7页AN780从TC520开始读取转换结果是设置转换完成？是否将结果保存为偏移值15次？转换完成？减去偏移值Delta=此读数-保存的读数Delta>2克？恢复寄存器保存此读数除以8磅？将二进制转换为BCD显示否否否否是否将增量添加到寄存器寄存器溢出？从TC520中检索保存的读数乘以22046是
程序流程图
是否是否读取转换结果图6:TC520程序流程图。图7:PIC16C62A程序流程图。功率输出A=0B=0零积分比较器？输出A=0 B=1低自动归零高停止计数器锁存计数超限极性清除计数超限启动定时器定时器超限？是输出A=1 B=0启动定时器定时器溢出？否否输出A=1 B=1去积分起始计数器是比较器？计数器溢出？设置超限位低否是高积分复位极性位比较器？设置极性位高-低AN780 DS00780A第8页 2002 Microchip Technology股份有限公司指出： 2002 Microchip Technology股份有限公司DS00780A-第9页本出版物中有关设备应用等的信息仅供参考，可能会被更新取代。您有责任确保您的应用程序符合您的规范。Microchip Technology Incorporated未就此类信息的准确性或使用，或因此类使用或其他原因导致的专利或其他知识产权的侵权，作出任何陈述或保证，也不承担任何责任。未经Microchip明确书面批准，不得将Microchip的产品用作生命支持系统的关键部件。在任何知识产权下，均未隐含或以其他方式传达任何许可。Microchip name and logo、Microchip logo、FilterLab、KEELOQ、microID、MPLAB、PIC、PICmicro、PICMASTER、PICSTART、PRO MATE、SEEVAL和Embedded Control Solutions Company是Microchip Technology Incorporated在美国和其他国家/地区的注册商标。dsPIC、ECONOMONITOR、FanSense、FlexROM、fuzzyLAB、在线串行编程、ICSP、ICEPIC、microPort、可移植存储器、MPASM、MPLIB、MPLINK、MPSIM、MXDEV、PICC、PICDEM、PICDM。net、rfPIC、Select Mode和Total Endurance是美国Microchip Technology Incorporated in the美国的商标。Serialized Quick Turn Programming（SQTP）是美国Microchip科技公司的服务标志。本文提及的所有其他商标均为其各自公司的财产。©2002，Microchip Technology Incorporated，美国印刷，版权所有。印刷在再生纸上。
Calculate reference voltage
The timing of reference voltage calculation is now determined. You can use eq3 to calculate the reference voltage: VREF=VIN (maximum) TINT/TDCINT=1V 200mS/490mS ≈. 408V The reference voltage does not need to be calculated very accurately because it must be trimmed during calibration. An adjustment range of ± 25% is sufficient to compensate for any minor calculation error. PIC16C62A 8-bit microcontroller is selected for microprocessor programming, but any reasonable processor/controller is sufficient. PIC16C62A is a 28 pin component with EPROM programmability. Conclusion The scale is very effective. 8X oversampling makes it very smooth and noise free. The response time is within one conversion (≈ 1/2 second), which is used for changes of 2 grams or more. Changes of less than 2 grams are accumulated in the integral register until+1 gram or - 1 gram is reached. When this happens, the current conversion is allowed to "pass" and a new base is established in the accumulator. There is also a function in programming that allows the display of raw data. These displays show the complete 17 bit conversion results. The basic converter noise, as predicted, is typically 1 to 2 scintillation counts (16 bit accuracy) with intermittent jumps of approximately 3 or 4 counts (1/f noise). One count is equivalent to one eighth of a gram. The actual 60Hz power line rejection ratio of the TC500A is not measured, but from the 6 to 8 "rolling noise" counts before the TC520 preloads 2FH, it is sufficient. Test the effect of differential ratio reference by changing the power supply voltage from+4V to+6V. Although the time constant mismatch between the reference and the strain gauge resulted in a delay of 1-2 seconds, the final readings were identical. This shows that the power supply rejection is better than 100dB. Read format OUT LOAD DIN MSB DCLK Read DCLK LOAD Format LSB DOUT OVR POL MSB LSB Figure 5: Serial interface protocol. © 2002 Microchip Technology, Inc On page 7 of DS00780A, AN780 reads the conversion result from TC520. Is the conversion set to complete? Do you want to save the results as offset values 15 times? Conversion complete? Subtract the offset Delta=this reading - the saved reading Delta>2g? Restore register to save this reading divided by 8 pounds? Convert binary to BCD display No No No Add delta to register register overflow? Retrieving the saved reading from TC520 multiplied by 22046 is
Process Flow Chart
Figure 6: TC520 Program Flow Chart: Read Conversion Results or Not. Figure 7: PIC16C62A program flow chart. Power output A=0B=0 Zero integral comparator? Output A=0 B=1 Low auto zero high stop counter latch count overrun Polarity clear count overrun Start timer timer overrun? Is output A=1 B=0 start timer timer overflow? No No Output A=1 B=1 De integration start counter is comparator? Counter overflow? Is it a high integration reset polar bit comparator to set the overrun low? Set the polarity bit high low AN780 DS00780A Page 8 2002 Microchip Technology Co., Ltd. pointed out that: 2002 Microchip Technology Co., Ltd. DS00780A Page 9 The information about equipment application in this publication is for reference only and may be updated and replaced. It is your responsibility to ensure that your application meets your specifications. Microchip Technology Incorporated does not make any representation or warranty about the accuracy or use of such information, or the infringement of patents or other intellectual property rights caused by such use or other reasons, nor does it assume any responsibility. Microchip products shall not be used as key components of the life support system without the express written approval of Microchip. No license is implied or otherwise communicated under any intellectual property. Microchip name and logo, Microchip logo, FilterLab, KEELOQ, microID, MPLAB, PIC, PICmicro, PICMASTER, PICSTART, PRO MATE, SEEVAL and Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the United States and other countries. dsPIC, ECONOMONITOR, FanSense, FlexROM, fuzzyLAB, online serial programming, ICSP, ICEPIC, microPort, portable memory, MPASM, MPLIB, MPLINK, MPSIM, MXDEV, PICC, PICDEM, PICDM. Net, rfPIC, Select Mode and Total Endurance are trademarks of Microchip Technology Incorporated in the United States. Serialized Quick Turn Programming (SQTP) is the service mark of Microchip Technologies. All other trademarks mentioned herein are the property of their respective companies. © 2002, Microchip Technology Incorporated, printed in the United States, all rights reserved. Printed on recycled paper.
