西门子6ES7323-1BH01-0AA0

6ES7323-1BH01-0AA0

无刷直流电机结构简单、出力大和效率高，在机器人、家用电器等场景中使用非常广泛。例如，现在很多人形机器人、四足机器人、机械臂、无人机及云台都会用到无刷电机。

　　常见到无刷直流电机（BLCD）和永磁同步电机 （PMSM），它们的结构大体相同，存在细微的结构差异，所以直流无刷电机常采用梯形波或方波驱动，永磁同步电机更多使用正弦波驱动。

　　近年来,无刷直流电动机愈来愈多地在很多领域得到应用,它除了保持有刷直流电动机起动性能和调速性能以外,其特点,就是没有换向器和电刷组成的机械接触结构,因而具有寿命长、噪声低、运行可靠、维护简便等一系列优点,且由于其转速不受机械换向的限制,可在宽广的范围内平滑地调速。在电动自行车上应用无刷直流电动机来取代原来的有刷直流电动机,由于采用了电子无接触式换向,不仅延长了电机的使用寿命,而且调速方便,易于控制,运行平稳。本文以直流无刷电机为研究对象,以无刷直流电机控制系统为控制目标,以PWM为控制设计技术,采用PIC系列单片机为主控芯片,文章主要研究其电压换向、过流保护、欠压保护、起动和调速和纯堵转保护等功能。文章研究包含硬件和软件两个方面,硬件方面实现的功能有:电源设计、转把输入设计、驱动电路设计、过流保护电路设计、欠压保护电路设计和换相电路设计等部分。

ABB YB560103-CH DSQC239 REMOTE I/O BOARD

ABB OLOFSTROM TEACH PENDANT CCS 48-116

HEIDENHAIN VRS 401 COUNTER DISPLAY 239 930 01

ALLEN BRADLEY PANELVIEW 600 2711-B6C20 SERIES C

INDRAMAT KDF SERVO DRIVE MODULE KDF1.1-150-300-W1-115

INDRAMAT NAM POWER ADAPTING MODULE NAM1.3-15

ALLEN BRADLEY 1336F-BRF100-AE-EN-HAS2-L5 7.5HP AC DRIVE

SIEMENS MSATER CPU MODULE 6FX1110-7AA01

SIEMENS TEST BOARD MODULE 6FX1118-6AB01

FUJI ELECTRIC FVR G7S 460V 5HP AC DIRVE FVR037G7S-4UX

ABB YB560103-BN S3 DSQC230 COMPUTER CONTROL BOARD

INDRAMAT TRANS 01.7/1/OP 01 CONTROLLER  NEVER USED

MODICON AGE BRUSHLESS SERVO DRIVE CONTROLLER 110-092

FANUC AC SERVO MOTOR ALPHA 12/3000 A06B-0143-B176

SIEMENS SINUMERIK SIROTEC MODULE 6FX1190-1AA00

SIEMENS SINUMERIK SIROTEC MODULE 6FX1110-7AA01

PACIFIC SCIENTIFIC SC720 SERVO DRIVE SC722A-001

AMC PROGRAMMABLE LIMIT CONTROLLER iPLC-1-13/42 

MODICON GOULD 884 CONTROLLER AS-884A-211 

MODICON GOULD 884 CONTROLLER AS-884A-301 

MIYACHI AC WELDING CONTROL WELTOUCH CY-210B

SANYO DENKI TOYODA POSITIONING CONTROLLER MC1K-U030

SANYO DENKI TOYODA MOTION CONTROLLER MC1K-U030V

PARKER COMPUMOTOR 2-AXIS MOTION CONTROLLER 6270

ABB 3HAA3560-HXA S3 TEACH PENDANT TESTED

TELEMECANIQUE TERMINAL KEYPAD XBT-B711023 

FANUC 1 MB CMOS DAUGHTER BOARD MODULE A20B-2900-0500

FANUC ALPHA SERVO AMPLIFIER MODULE A06B-6079-H103

SIEMENS COUPLING MODULE 6FX1122-1AA01

SIEMENS COUPLING MODULE 6FX1122-1AA02

SIEMENS SINUMERIK 3 CU/EU COUPLER 6FX1120-3BB01

FANUC AC SERVO MOTOR ALPHA 22/3000 A06B-0148-B176

FANUC AC SERVO MOTOR ALPHA 12/3000 A06B-0143-B076

MOOG DC POWER SUPPLY T150-901B-723-2A

FANUC AC SERVO MOTOR ALPHA 22/3000 A06B-0148-B076

INDRAMAT TBM AUXILIARY BLEEDER MODULE TBM1.2-40-W1-220

ALLEN BRADLEY 1336S-BRF100 7.5 KW 10 HP AC DRIVE

FANUC 1 MB SRAM DAUGHTER BOARD MODULE A20B-2902-0210

SIEMENS POWER SUPPLY 24VDC IN 5VDC-25A 6EV3054-0DC

MODICON AS-J892-001 REMOTE I/O PROCESSOR ASCII

EATON DYNAMATIC SERIES E PWM AC DRIVE 7.5 HP 480VAC

INDRAMAT KDV POWER SUPPLY MODULE KDV1.2-100-200-300-115

WESTINGHOUSE CPU PROGRAMMABLE CONTROLLER PC1100-1023

FANUC DRAM DAUGHTER BOARD MODULE A20B-2902-0020

PACIFIC SCIENTIFIC DRIVE FLEXDRIVE SC902 SD902NN-001-01

AMC INTELLIGENT PROGRAMMABLE LIMIT CONTROLLER iPLC-1-1R

INDRAMAT TCM AUXILIARY CAPACITANCE MODULE TCM1.1-08-W0

STERLCO TEMPERATURE CONTROL SYSTEM M2B 

ALLEN BRADLEY 1394-AM03 AC SERVO CONTROLLER AXIS MODULE

FANUC 2 MB ROM DAUGHTER BOARD MODULE A20B-2900-0480

PERCEPTRON CAMERA TRICAM SURFACE SENSOR 912-0014

PERCEPTRON CAMERA TRICAM CONTOUR SENSOR 911-0007

PERCEPTRON CAMERA TRICAM SURFACE SENSOR 912-0007

PERCEPTRON CAMERA TRICAM SURFACE SENSOR 912-0015

PERCEPTRON CAMERA TRICAM SURFACE SENSOR 912-0017

SQUARE D PROCESSOR 8020 SCP-323