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这个文档主要介绍plc的整套对agv的开发过程对现实还是有一定的积极意义的长沙理工大学学位论文原创性声明本人郑重声明:所呈交的论文是本人在导师的指导下独立进行研究所取得的研究成果。除了文中特别加以标注引用的内容外,本论文不包含任何其他个人或集体已经发表或撰写的成果作品。对本文的研究做出重要贡献的个人和集体,均已在文中以明确方式标明。本人完全意识到本声明的法律后果由本人承担。作者签名:6日期:20/b月&日学位论文版权使用授权书本学位论文作者完全了解学校有关保留、使用学位论文的规定,同意学校保留并向国家有关部门或机构送交论文的复印件和电子版,允许论文被查阅和借阅。本人授权长沙理工大学可以将本学位论文的全部或部分内容编入有关数据库进行检索,可以采用影印、维印或扫描等复制手段保存和汇编本学位论文。同时授权中国科学技术信息研究所将本论文收录到《中国学位论文全文数据库》,并通过网络向社会公众提供信息服务。本学位论文属于1、保密口,在年解密后适用本授权书。2、不保密駟。(请在以上相应方框内打“√”)作者签名:日期:0/年6月孑日导师签名:日期:年/月。日摘要AGV自动导航车是现代物流领域的一个重要的研究课题。在工业领域柔性化生产中越来越重要,高性能、高有效性的AGV控制器受到国内外学者的高度重视。本文采用模糊控制方式,针对AGⅴ小车的响应速度、稳定性要求,设计实现了一种基于运动学模型的AGV控制系统。该控制系统按功能模块化设计硬件电路,由电杌驱动模块、路径识别模块、避障模块、通信模块组成。电机驱动模块由直流无刷电机驱动模块和电机速度检测模块组成,实现对直流无刷电机的控制;路径识别模块由位置检测模块和站点识別模块组成,实现小车对路径的识别,达到对路径跟踪控制的目的;避障模块实现小车的安全性;通信模块由CAN通信模块和无线ⅵi模块组成,实现控制系统的通信。小车的测试实验表明,先后给以80mm和-100mm的位置偏差,AGV小车能够在3s内对位置偏差进行修复,小车速度振幅控制在±10mm/s,小车位置偏差修复后,3s时间内,速度可回调到位置偏差前的速度,即小车回“零位”的速度比较快,表明AGⅴ控制系统的平稳性好,能够很好实现对路径的跟踪,同时也能及时的应对运行过程中的误差突变。关键字:AG;运动学模型;磁导航;模糊控制ABSTRACTThe Automatic Guided Vehicle (AGv) is an important research topic in the fieldof modern logistics. Flexibility in the field of industrial production more and moreimportant, the AGV controller which has the high performance and the highefficiency has been received the extensive attention by scholars both at home andabroad. This paper adopts the fuzzy control method, in view of the aGv car responsespeed and stability requirements, the design has realized one kind of AGv controlsystem based on kinematics modelThe control system hardware circuit is designed according to the functionmodular, the motor drive module, path recognition module, obstacle avoidancemodule, communication module. Motor driver module is composed of brushless dcmotor driver module and motor speed detection module, realize the control for thebrushless dc motor. Path recognition module is composed of position detectionmodule and site identification module, realize the aGv for the path recognition,achieve the goal of the path tracking control; Obstacle avoidance module to realizethe safety of the car; Communication module of Can communication module andwireless wifi module composition, realization of the control system ofcommunicationThe test results show that, successively give 80mm and 100mm positionaldeviation. the location of the AGv can within 3s to fix position deviation, vehiclespeed amplitude control in the plus or minus 10mm/s after repair the car positiondeviation, within 3s the speed can be back to the front of the position deviation ofspeed, the car back to " zero"speed is faster, the results show that the AGv controlsystem have good stability, a good path tracking, and can provide timely responsesduring the operation of the error mutationKeywords: AGV; Kinematics Model; Magnetic Navigation; Fuzzy Control目录摘要ABSTRACT…命命命中苹命命品哪命命命哪请自品中“非哪非命命命哪第一章绪论1AGV概述…12AGV国内外发展现状…121国外发展历史及现状122国内发展历史及现状13AGV的引导方式14本文的主要工作和主要问题.b自.身自命看非世看带看音萨世看中·宁非命●学●122455141本论文的主要工作…142本论文解决的主要问题第二章AGV车体结构及运动学模型建立21AGV结构分类。B西自鲁自·切是息甲带导211三轮结构2.12四轮结构213五轮或六轮结构.22AGV的性能指标23AGⅤ的组成幽·命命66778924AGⅤ运动状态分析申·自意25AGⅤ小车对电机的基本要求1026AGV的运动学模型27本章小结12第三章AGNV控制系统硬件设计3IAGⅴ控制系统整体结构.1332AGV控制系统研究方案32ICAN总线通信模块即14322无线wif模块15323电机实时速度检测看·。专中●·音专中324磁导航传感器组3.2.5障碍检测18326AGV小车对线路与站点的识别鲁·。感垂品自世品身岳一益自备自e非你ee非物9327AGV小车位置判断33硬件系统组成21331控制器芯片应用说明.1332电机驱动模块24333电源模块…633.4通讯模块命命命命··命命自命命●2734本章小结28第四章AGV路径跟踪控制方法研究41AGⅴ控制策略选择42模糊控制简介…294.3模糊PD控制器.3043.1模糊PD控制器的数学模型查看着看看看昏春●●●43,2模糊PID控制器的控制思想3143.3AGⅴ控制系统模糊控制必要性…3144模糊PID控制器设计…3344.1模糊PID控制器的输入输出量的确定…344.2模糊控制规则的设计.节。申春。鲁合。节是看看。节.自DD春3345模糊PID控制器的仿真…昨非···命e命自···总最46本章小结38第五章AGV控制系统软件设计51引言3952编译环境的介绍.....12053控制软件设计鲁暴非画非最命自曲曲自自非非命春告音春鲁D看41531产生PWM的程序流程.53,2电机实际速度检测模块程序流程425.3.3避障控制模块程序流程….534驱动控制模块程序流程中学鲁鲁鲁。鲁。●44535CAN总线通信模块程序流程.54本章小结45第六章系统测试与结果分析6.1路径跟踪测试.4662避障能力测试63本章小结总结和展望看中·49参考文献看●。。意非。。市中自看非如鲁致谢附录A(攻读学位期间发表论文及专利目录)55第一章绪论第一章绪论1.1AGV概述现代制造工艺的飞速发展,带动了柔性制造系统FMS和柔性装配系统FAS的迅速发展。中国早在“十一五”规划中就制定了侧重于科学和技术的发展,以先进的制造技术来提高企业的竞争力。自21世纪开始,物流的发展成为一个新热点。现代物流行业,尤其是西方的设备和实现技术已经达到很成熟的水平。目前,现代化物流格局已经形成以信息技术为核心,以信息、运送、卸载、自主化仓储、库存统计、自主化配货、包装等专业技术为支撑的现代化物流技术4。而自主导航车AGV是实现AGVS、FMS、CIMs的关键基础设备,是实现现代物流自动化和智能化的核心技术之—pAGV( Automated Guided Vehicle)是自动导航小车的英文缩写,是一种自主驾驶、无人操纵、以电池为动力的自动化运输设备,装有电磁或者光学等非接触自动导向装置和独立寻址系统。它的主要特点表现为具有可编程功能、安全保护装置、启停装置以及搬载功能并能在上位机的监控下,根据给定的起点和终点自主地沿预设的导引路径行驶,安全到达目的地,完成搬运卸载任务。其已经成为仓储物流自动化系统、柔性生产线、柔性装配线的重要设备。资料显示,在整个产品生产的过程中,用于加工和制造仅仅只占有5%的时间,剩余95%的时间主要用于包装、储存、装卸和运输;而在美国、日本和欧洲发达国家,直接劳动成本所占生产成本的比例不足15%而且这一比例还在不断下降,而储存、运输所占的成本却占总成本的40%7。因此各工业强国把降低物流成本作为提高企业竞争力的重要措施,在这样的背景下,AGⅤ小车广泛地应用于各行各业,并受到了极大的欢迎。12AG国内外发展现状AGⅤ是伴随着叉车技术和机器人技术产生并发展而来的,但都是为了实现货物的自动搬运为目的的3。随着技术的不断发展,AGV的功能不断完善,应用领域越来越大。硕学位论文121国外发展历史及现状AGV在国外起步早、发展快。首次出现在公众视野的AGV原型车于1913在美国福特汽车公司下线,该原型车首次将有轨引导的小车代替原来使用在汽车底盘装配线上的输送机,根据福特公司对外公开的资料,该小车将装配时间缩短了15小时,极大地提高了生产效率,从此AGv就步入了高速发展的时代例1953年,世界上第一台AGV由美国 Barrett Electric公司研制成功,采用真空管技术自动跟踪钢丝索行走。1954年,由英国人首先去掉了地面上的导引轨道,研制出了采用埋线电磁感应方式跟踪路径的AG。50年代末,AGV开始在欧洲推广使用。1959年,AGV系统在美国开始应用山。由文献-5,12,3]可知:直到70年代,AGv仍然主要采用电磁感应方式引导。AGv的优越性促使其不断发展,应用非常广泛,特别是在工业强国。随着物流系统的完善,AGV系统逐渐与计算机技术相融合,六十年代,计算机技术开始参与AGV系统的控制和管理;1969年,AGV首次在瑞典投入使用,主要集中在制造业12截止到六十年代和七十年代初, Barrett, Webb、 Clark公司占有市场大部分的AGV销售份额;同时在这个时期,AGV导引方式开始发展五花八门,各种环境的适应加速了AGⅤS的迅速发展。八十年代欧洲的AGV技术开始转移到美国,而且随着计算机控制系统的加入,美国使AGv的性能更加先进,AGⅤ控制器可靠性进一步加强,运输量进一步增加;此时,美国的AGV生产商由23家(1983年)增加到74家(1985年),全美国使用AGV的数量增加到3900多台101。1990年,AGⅴ制造强国瑞典NDC开发出新型的基于激光引导的AGV控制系统。同时,AGⅤ在日本的应用也比较成熟。到1988年,日本的AGV制造企业达到20多家,如比较知名的企业大福、 Fanuc公司、村田公司等。日本也成为使用AGV最广泛的国家之一。随着AGV技术的不断提高,美国、日本、欧洲等发达国家的使用已经非常广泛。现在的AGV控制系统装有车载计算机、通讯装置、安全装置和货物装卸设施,自动化程度很高,应用领域相当广泛,汽车制造、造纸、印刷、医药行业是使用量最大的行业,约占全球AGV总销量的80%15。目前,AGV的发展趋势是研究无固定引导路线、高度自由的AGV。122国内发展历史及现状我国第一台AGⅣ在1975年由北京起重运输机械研究所完成,该AGⅤ采用电磁

2018年整理的GPOPS工具、例子、官方手册、安装方法，里面有很多例子。高斯伪谱法的直白详细介绍 入门请看，高斯伪谱法的直白详细介绍大不懂的可以留言问我

定时采集数据进SD卡和定时读取SD卡的数据示例程序（基于FATFS和STM32F407ADC）

多摩川编码器说明书 串行信号接收芯片AU5561可 以解码Ts5647、 Ts5648、Ts5667、 Ts5668、 Ts5669等 型号的编码器 ,可以提供40到iiO位串并信号的转换 ,并且可以和1s/32位 CPU或DsP总线接 口。AU5661N1,提 供中断信号与CPU同步 ,它也能在没有CPU的两种方式 (手动模式 )下读取编码器数据 :lD3(单回转数据 ,多回转数据与报警7S508TS5170O/S128serieso/S85 series产品类型增量式产品类型增量式incrementalIncremental电源电压电源电压Supply voltageDC+24V±20%Supply voltageDC+5V±5%外径128Imrn85mm分解能25~5000C/T分解能9600~50,000CResolutionResolution输出方式电压输出 otago Cutput输出方式长线驱动Output for推拉互补输出 Push pul OutputOutput formLine Drive保护构造P=57保护构造P-52Protective constructionProtective construction质量7 kg Max据置型,8 kg max/加载型质量1 kg MaxMassvass用途: Application用途: Application制造钢铁生产线 Iron steel line■交流伺服马达 AC servo motors工程机械 Machine tools造纸生产线 Paper Producing LineT55410S5647755648O/S90 SeriesSA56 Series产品类型增量式产品类型智能绝对式IncrementalSmart Abs电源电压DC+5V±5%电源比压Supply VoltageSupply Voltage外径56mmSizeSize分解能00c0C/T,100,000G丌,12000T,分解能20or16oit多回转计数量16bt器Resolution36000CcT,400,000c7,480,0007Resolution(65,536转)合计6or32bt输出方式长线驱动20 or 16bit/tum and 16bit/65, 536Output formturns(total 36 or 32bit)保护构造输出方式Protective constructionOutput formLine driver质量3kg Max保护构造开放构造Protective constructionNot Enclosed用途: Application0. 6kg Max测量设备 Measuring Equipment工程机械 Machine tools用途: Application■工程机械 Machine tools机器人 Robots机器人 Robots计测机器 Measuring Instruments高精度角度割出装置Hgh- accuracy Angular Indexing Equipment半导体生产设备 Semiconductor manufacturing Equipment7S5667N2537S5667N650SA100 SeriesSA135 Seeres产品类型智能绝对式产品类型智能绝对式Smart AbsSmart Abs电源电压电源电压DC+5V±5%DC45V±5%Supply voltageSupp y voltage外径135mm100mm分解能17b转,16bt转总计3bt分解能17b转,16多转总计33btResolution17cit/um and 1 6bit multitums Total 33 bitResolution7btturm and 16bit multiturn Total 33 bit长线驱动输出方式长线驱动输出方式Output formLinc drivcrLine Driver保护构造保护构造P-40Protective constructionProtective construction质量12 ka Max(不含引线)质量15 kg max(不含引线) Without cable)Mass(Without cable)用途: Application用途: Application大功率马达 Large wattage motors大功率马达 Large wattage motors机器人 Robots机器人 Robots工程机械 Machine Tools工程机械 Machine tools树脂成形机 njection Machines树脂成形机 njection MachinesQAnD艾而特22电梯专用编码器ELEVATOR ENCODER尺寸 mm Dimer sion mmTS5200N500PCD4Do/H48Serieshounding plate details蝙码器安装面Encocer mounting surtace用途特点252M3闪六角丝APPLICATIONFEATURESpicket se: screw在轴上痄荐尺寸(Attachedsions or shaft●有齿、无齿电引机●易安装Gear and gearless tractive motor Easy to attach除非特别说明,否则公券一律为=05 mnUnless otherwise specified tolerance is s+n5m尺寸 mm Dimension mnTS5200N400p35O/H60Series空」用途特点APPLICATIONFEATURES器有齿、无齿曳引机易安装雄明细图内六角手拧紧Gear and gearless tractive motorEasy to attach轴推荐尺寸出除非特别说明,否则公差一律为±0.5 Ium Urless otherwise spccificd tolerance is+0:m755208N1e OlH100 series式样SPECIFICATIONS135●输出方式:长线驱动、推拉互补、集电极开路、正余弦=52留投线表CTION TABLEOutput form: Line Driver, push Pull, open collector, Sincos我色功能「引线频色。●电源电压 Supply voltage:5-15V●分解能 resolution:1024、40965000、6000、8190、10000CT当U儿在轴上批荐只寸抽璃址图、的普属2警出PU安装方式:各种各样Attaching way: VariousOH分解能C丌光电式 Optical外径SizeN。 TSLLLUNLI增量型中48mmResolution中6o512中空轴 Hollow Shalt4100mm1024TS5208编码器 EncoderTs5213翰出相4096TS5216ABZs52176 A, B, Z u, M,wTs52337: A, B, ZFOF1F2, F360008192TS524610000TS5236输出方式C:开放电极 Open Co lecto拉写补 Push pull长线驱动 Line driver⑧对于特殊情况,请联系我们O For special cases, pleasc consult us.23【AnD艾而特连接方面的注意事项NOTICE IN TRANSMITTING1.怎样连接到电源1. HOW TO CONNECT TOA POWER SUPPLY应该通过单独的带屏蔽线的电源线进行连接,任何Connection should be made using a plus and ground不正确的连接方法或不合适的连接线都可能导致传power line which is shielded within a single insulatedcable. Incorrect connection or improper cables will cause输噪音。unwanted noise in transmission编码器应该单独连接到电源,并且独立于编码器一The encoder should be connected to the power supply起作的电子设备,每样设备都应该使用独立的电separate from the electric device that the encoder is缆连接到电源。operating. Each should be connected to the power supplyusing separate cables而不要通过中间电子设备连接到电源。编码器和中Do not connect the encoder thru the electric device to间电子设备的地线之间仔在的阻抗会导致编码器和the power supply. The potential difference between the电源之间产生潜在的差异,这种差异将导致异常ground levels of the encoder and the power supply willbe produced by impedance of zero level bus within theelectric device. This will cause malfunction.编码器输出Encoder Output编码器输出coder Output电源电了装置电源④电子装置PowerElectricSupply编码PowerSupplyElectric device掮码器′Bu图-1好例子图-2不可取例子Fig 1 Favorable SampleFig2. No Recommendable Sampl2.地线应该尽可能的粗2. GROUND LINE SHOULD BEAS THICK AS POSSIBLEIi是电源旳输岀电流,Io是编码器流过地线的输li for power supply current and lo for output signals of an州燃出信号,Re是接地线直流阻抗,Ⅵ为输出信号可encoder will flow thru a ground line. In case of Re for DCresistance of the ground line, VL for the level of the output表达如下signals will be as followsVL=(o+li)·Re(V)=(o+i)·Re(V)ⅥL值不会超出接收器阈值电平Vt,Re要尽可能小The value of vi should not exceed t of threshold level因为当Ⅵ接近Ⅵ时,编码器对于外部噪音米说是脆for a receiver. Re should be as small as possible sincethe encoder will be vulnerable to external noise when Vl弱的。is closer toⅥt.对丁长距离信号传送,除了电源插头上的一条地线In case of long-distance transmission, another ground外,再加·条地线也是必要的。line besides the ground line paired with the plus line maybe necessary.〖()AnD艾而特243.外壳和电路之间短接3. SHORT BETWEEN CASE GROUNDAND CIRCUIT GROUND在喚音比较重的环境中,在编码器外壳地和电路地In case of having noise more than 50V between case之间的噪音信号可能会超过50V,编码器电路可能会ground and circuit ground under noisy circumstances, anelectric circuit for an encoder may not function normally.出现功能异常,在这种情况下,我们建议将外壳和In this case, the short-circuiting of case ground and cir电路地短接。cuit ground is recommendable然而,有时侯由于传送距离过长,短接可能会产生一However, in case that other adverse effects appear些相反的效果,或者说根本不可能将其短接时,我们 because of a long transmitting distance when case andcircuit ground for an encoder are short-circuited and in建议将外壳和电路之间加接个几个微法的有较好的case shorting them is impossible for some reason, it is频率特性的电容,用米做过滤噪音的滤波器。recommendable to provide, between case and circuitground, a few micro farad condensers with better fre-uency characteristics used for a noise filter.4.电源线有噪声的情况4. IN CASE OF HAVING NOISE ONPOWER LINE电源应该通过一根完全被屏蔽好了的传输线提供给Power should be supplied to an encoder thru a transmit-编码器,这样就不会有喚音信号出现在电源线上。ting line completely shielded so that no noise occurrs onpower line将屏蔽线接地以稳定信号Stable potential should be maintained by grounding thehield有必要加长屏蔽线,这样在编码器附近的传输线就It is necessary to distribute lines so that a transmitting不会被暴露在屏蔽线外面。line should not be exposed from the shield near anencoder删5编码带输出信号有尖峰的情况5. IN CASE OF SPIKE WAVESBETWEEN OUTPUT SIGNALSFOR AN ENCODER在尖峰脉冲出现的情况下,将由双绞线传送信号消In case of spike waves as shown in fig 3, Spike waves除尖峰脉冲。shall be deleted by transmitting by twist pair shield line尖峰信号尖峰信号图-3峰形波图-3峰形波Fig 3 spike wavesFig 3 spike waves6.编码器盒的潜在安全措施6. POTENTIAL STABILIZATION FORAN ENCODER CASE编码器盒必须被保持在稳定的电位状态。An encoder case must be maintained in stable potential5[AnD艾而特传送距离TRANSMITTING DISTANCE在开放集电极的情况下!IN CASE OF OPEN COLLECTOR传输距离在大约50m以内(12VDC上拉),20mA集电极Transmission within a distance of about 50m(12V DC pull电流将是允许的!up) and 20mA as collector current shall be allowable在长距离传输的情况下,带光耦的接受电路在图4In case of a long range transmission, receiving circuit with适合消灭在传输线中的噪音!photo couplers in fig. 4 is suitable for eliminating noisein transmission编码器屏酸线编码器屏蔽线EncoderShield CableShield Cable≤RR2Dc输出输出Output图-4Fig.4图-4Fig.4在长线驱动的情况下IN CASE OF LINE DRIVER26Ls3126LS32(编码器 Encoder/※传送距离1km以下编码器 Encoder/※传送距离1m以下Transfer distance 1km MaxTransfer distance 1km max双絞线屏蔽双绞线屏蔽Twisted Pair Shield cableTwisted Pair Shield Cable图-5Fg.5图-5Fig.5在推拉互补的情况下!IN CASE OF COMPLIMENTARY双绞线屏蔽双绞线屏辙Twisted Pair Shield CableTwisted Pair Shield CableA:2Sc3733B: 2SA1电源 Power SupplyA2sC3733电源 Power SupplyB2SA1460A这XGNDXXXX GND厂输出信号线输出信号线itput signal编码器 EncoderL:负载L编码器EL:负载ncodeL: Load怎样使用编码器控制信号H0WT0 USE ENCODER G0 NTROL SIGNALS反向输入REVERSE INPUT通过端了“”或‘L”输入可以改变编4.7kgEncoder direction can be changed by码器方向,CCW和CW之间切换成为可能。输入inputting Hor L to this terminal.如果不需要改变方向,电路输入4.7K欢In case of no necessity of changing相对的电压为正5伏电压,或接地direction wire this terminal to +5v thru4.7K Q2 or ground to the terminal.门集输入GATE INPUT在该端子输入"凵"低电平可以保持编码器的Angle data for an encoder shall be held角度数据(直到输入高电平将数据锁存)by inputting L to this terminal(Data shall be latched until H is输入putted)数据输入门电路后,大约需10μs的时间rptAfter inputting data to gate, about 10us米锁存数据,因此这段时间过去后才能is required to latch data. So data can be刷新数据。renewed after passing this elapsed time.〖)AnD艾而特26用语定义DEFINITIONS在本书中主要术语的定义如下Definitions of principal terminology used in this catalog areas follows①旋转式编码器:一种将轴旋转角度转化为数字信息的检测① Rotary encoder: a detector that converts the rotary dis.placement of the shaft into digital signal.②增量型:根据轴旋转位移输出脉冲序列的类型2)Incremental type The type that outputs a pulse train inaccordance with the rotary displacement of the shaft.③光电型:通过检测旋转轴上改变的光量来接收信号的类型, Optical type. The type that rece, due to is by detecting在轴上附带了光电检测机构和光栅the shaft, coming with an optical detecting mechanismand an optical lattice fixed to the shaft.④磁性型:通过检测轴上旋转而改变的磁场来接收信号4 Magnetic type The type that receives signals by detect-ing the change in the magnetic field due to the rotation ofthe shaft, coming with an magnetic detecting mechanismand a magnetic lattice fixed to the shaft⑤2相输出:一种由A、B相输出信号组成的模式,其相位差为⑤2 phase output: A mode with two outputs called A phase/4周期。⑥6相输出:一种由A、B、Z相和U、V、W相组成的模式。(66-phase output: A mode consisting of A, B Phase andZero reference pulse commutation output of UWw signal⑦参考0位:也叫做Z相,作为转一圈的位置参考(7) Zero reference: Output(also called Z phase)which servesas reference for the position during one rotation.⑧开集输出:输出采川共发射极电路,并且集电极开路。(8)Open collector output An output circuit having the emitter of the transistor of the output circuit as common ancthe collector of open typeNPNNPNK⑨长线驱动输出:输出电路兼容EA(电子工业协会)(9) Line driver output Output circuit in compliance with EIARS-122A(Electric Industries Association)RS-422A(Some products are excepted from the standard.c outo out⑩最大旋转速度:轴的旋转对机械允许的速度最大值(10 Maximum rotation speed: The value indicating the maximum revolving speed mechanically permissible witrespect to the rotation of the shaft.假①最大响应频率:轴的旋转对电气响应的最大频率(有时受① Maximum response frequency: Frequency showing th最大转速限制)。limit of electrical response with respect to the rotationtne shaft(Sometimes limited by the maximum permissiblrotation speed)①2径向负载:轴的径向负载(12 Radial load: A vertical load onto the shaft①3推力负载:轴的轴向负载。(13)Thrust load A longitudinal load onto the shaft⑩轴类型:从旋转式编码器本身连接轴的轴结构。(14) Shaft type A structure with a shaft projecting from throtary encoder body.⑩中空轴类型:轴中空,被测量部分的轴直接被插入来迮接。① Hollow shaft type: A shaft with a hole inside, into whica shaft of the measured side is directly inserted for co⑩UW信号:元刷马达的120度相位差3信号(电气角16 UVW signal: Three signals of 120 phase difference forbrushless motor.240W①绝对编码器的备用电池:多回转绝对值编码器上用来提供 Battery backup absolute encoder: A multiturn absolu给计数ICencoder with counter IC provided within it.⑩3串行传输:传达许多数据信号系统以时差给电路的Serial transmission A system of transmitting many da输出线signals with time differences to an output line of a circuit27【AnD艾而特1.保护构造的种类和各类命名Types and Designations of protective structure表1防止固体物进入的保护结构种类Table 1 Types of Protective Structure against Entry of Solids第1记号保护等级First CodingProtection Degree3(半封闭型)固体的末端直径2.5mm或不能进入甲面。3( Semi totally-enclosed typeEnds of solids 2.5mm or over in diameter do not enter inside4(全封閉型)固体的末端直径1.0mm或不进入里面。4(Totally-enclosed typeEnds of solids 1. 0mm or over in diameter do not enter inside5(防尘型编码器所定的动作及安全性阻止粉尘进入。5(Dustproof typeDust that impairs the designed operation or safety of the rotary encoder do not enter inside6(耐尘型)粉尘不进入里面。6(Dusttight typeDust particles do not enter inside.表2对水侵入的保护结构的种类Table 2 Types of Protective Stucture against Entry of Water第2记号保护等级Second CodingProtection Degree0(开放型)不能防止水不进入。o(Open typeNot protected against entry of water.2(防滴2型)沿垂直15度以内下落水滴没有损害。2(Drip-proof 2 typeSubject to no harmful effects by waterdrops falling at angles 15 or less from vertical.3(防雨型)沿垂直60度以内下落水滴没有损害。3(Rain-proof typeSubject to no harmful effects by waterdrops falling at angles 60%or less from vertical4(防喷雾型)由任意方向喷雾都没有损害。4(Spray-proof type,Subject to no harmful effects by water spray from any direction.5(防喷射型)由任意方向喷射都没有损害。5( Jet-proof typeSubject to no harmful effects by water jets from any direction6(防水型)由任何方向直接喷流的水都没有损害。6(Water-proof type)Impervious to water in strong jets from any direction. ( Note 1)7(防浸型)规定的压力和时间浸没在水之下没有水进入7(Immersion-proof typeNo water entering when immersed under water at specified pressure for specified time注:耐水型意思是产品结构上不会让强水柱由任意方向进入,但Note(1)"Water-proof"means a structure that does not allow the entry of假不代表结构允许在水下使用water against strong water jets from any directions, but it doesnot mean a structure that allows use under water.2.保护构造的命名2. Designations of Protective Structure编码器的防护结构的命名包括防护结构文字IP,第1The designation of protective structure of a rotary记号和第2记号次序。encoder is comprised with IP meaning the protectivestructure. first characteristic numeral and second characteristic numeral in this order如果或第一代码或第二个代码不被指定,它必须由XIn case either the first code or the second code is not代表specified, it must be represented by X.例1|P40|P40Characteristic letters例2|P65第2记号(开放型)Example 1 IP 40 P 40Example 2 IP 652nd characteristic numeral例3|P4X第1记号(全闭型)例4|PX5Example 3 IP 4X1st characteristic numeralExample 4 IPX5(AnD艾而特28换算表CONVERSION TABLE二进制总数°(度)(分(秒Binary Bit Countsdegree(min)(sec)128281251687510125001.406258437550625095120.70312542.1875253125100351562521.093751265632,0480.1757812510.546875632811240960.087890642552734375316.411381920.0439453132.636718751582014163840.0219726561.31835937579101532,7680.0109863280.65917968839551665,5360.0054931640.3295898441978131,0720.0027465820.1647949229.18262,1440.0013732910.0823974614.94192880.0006866460.0411982.201.0485760.003433230.0205993651.242,097,1520.0001716610.0102996830.624,194,3040.0000858310.0051498410.31228388,6080.0000429150.0025749210.152416,777,2160.0000214580.00128746033.5544320.00010290.0006437300.0467,1088640.00000536400003218650.019134,217,7280.0000026820.0001609330010268435,456000001410.000804660.00229536,870,9120.0000006710.000040233301,073,741,8240.0000003350.0000201170.001角度换算表ANGLE CONVERSION TABLE1弧度( radian)=57295780=34377468=206,264801°=0174533弧度( radian)=17.4533mrad1=00290888弧度( radian)=290888mrad1”=.00000484814弧度( radian)=00484814mrad.角度概念角度(视角)(视角d相当于人的标准身高17T10.000秒(28度)35m秒(0.28度350m秒(0.028度3.5km10秒35km(东京←→八王子)(饭田←→伊那2秒180km(东京←·饭田)1秒350km(东京←→京都)0.6秒东京←→八户)0.5秒650km(饭田←→八户0.1秒冲绳←→北海道稚内5.00km(到达静止卫星的距离角度x距离29【△DD艾而特

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