Bachmann BS207

 
Bachmann BS207

前面提到算法在内核层实现，陀螺闭环控制中，需要产生正弦余弦信号。为了解决内核浮点兼容性和减少指令计算时间，本平台采用查表的方式，自制了一个正余弦表，将浮点运算转换为**运算。因为PC机CPU主频高，所以查表的方式也能加速代码的运行。

1．2、稳定的实时数据传输设计

低延迟优化能使数据在较短时间里从硬件传输到PC端。但是由于PC安装的是多任务的操作系统，无法保证每次都能在一个周期的同一个时间点响应中断，这一特性决定了这个较短时间不是一个固定值，而是一个范围。在实际中，取值不定的这个较短时间会引发数据传输的不稳定，从而导致对陀螺的控制不连续。

针对陀螺控制的不连续问题，以中断延时为例，分析了由该现象产生的负面影响，并设计了一套可靠的控制时序，如图3所示。假设它们都发生在ISR中，在一个周期中，进中断函数后，先读取下位机中AD的数据，进行数据处理，将解析完的数据再经过总线返回DA的值。图3a表示在中断和传输延时都固定时，正常的数据传输过程。而实际应用中，中断和传输延时都会波动。以中断延时为例，图3b中*二个中断信号到达时，假设已延时△t1，后续的读写操作相应的也会延迟△t1.当FPGA（下位机）往DA2寄存器写数据的时刻，写入的是上一周期中的DA1里的值，因为PC端并没有及时返回DA2的值（延时△t1），导致数据没有实时更新;另外，还有丢失中断的可能性，如图3b中的中断3.这两个问题都将加大陀螺控制的不稳定性。

由此可知，为了达到陀螺数据传输的稳定性和可靠性要求，除了要优化MSI中断控制方式和PIO方式传输方式，还需要上位机即PC和下位机即FPGA之间制定一套高效的握手协议。

———————————————————————————————————————

厦门莫格电气自动化有限公司     



杨小姐（区域经理）

电话：

传真：0592-3514751（请备注杨工收）

Q

邮箱：3443643092@ 

诚信经营,质量为首,诚信至上,公司坚持"莫格在用户身边,用户在莫格心中"

的服务宗旨.以一级产品竭诚为广大用户提供优质服务. 

———————————————————————————————————————

【官网/

【价格】如此低价,**一家 

【货期】大量现货,下单后即可发货

【质量】全新原装,进口现货

【**】产品经过专业检测，质保一年,15天包退换

【服务标准】降低客户的停机时间以及维护成本,减少所有的工业机械和生产设备运行故障,延长控制系统的寿命!




Ingram CTS-Cooling Thermostat 120/250VAC 15/10A

 Caliente M610M305S200 Heating Heating Panel 120V/240V 200W

 THK HSR12RM Linear Rail 12mm(W) x 15-3/8"(L) with Carriage 27mm x 30mm

 W.C. Branham 1203-SA Rodless Cable Cylinder 32" Stroke 2" Bore *Needs New Seal*

 Festo DSNU-25-16-PPV-A Cylinder, 16mm Stroke, 10mm Shaft Diameter

 Festo 162961 Flow Contol 2.9-145 PSI

 Lot of 100 New Jaco 45-4-4-N-O Elbow Compression Fitting 1/4" Tube 1/4" Thread

 Lot of 100 New Jaco 10-8-4-N-PG Male Connector 1/2" Tube to 1/4" NPT Nylon

 Lot of 90 New Link Tech 40ACV-SB2-06 1/4" Quick Connect Socket 3/8" ID Hose Barb

 Lot of 200 New Jaco 45-4-4-N-O Elbow Compression Fitting 1/4" Tube 1/4" Thread

 Lot of 100 New Link Tech 40ACV-SB1-06 Male Thread Socket Valved 3/8" MNPT

 New SMC AW20-N02-CZ Air Filter Regulator 1/4" Port w/VHS20-N02-Z Shut off


 Lot of 2 New Rittal 6058.000 Mounting Kit for Optipanel M4 Thread

 New Rittal 6058.000 Mounting Kit for Optipanel M4 Thread

 Schneider Automation 140-DAI-353-00 24 VAC IN

 Schneider Automation 140-CRA-211-10 MB+ DROP AC PS 1CH

 GE Fanuc IC610PRG105B  Programmable Controller

 UTICOR PMD475 76736-16 Programmable Message Display, 4 lines, 20 char./line

 Square D 52011-430-50 Status Monitor Board 

 NEW Bayside Right Angle 9:1 Gearhead RD90-009

 Omron R88M-K20030H-S2 AC Servo Motor, 94V 3PH 1.5A 3000RPM IP67 11mm-Shaft

 Parker Bayside PV23FE-005 Gearhead 5:1 Ratio NEMA 23 11mm Bore 16mm Shaft

 * Eurodrive RF40DT63M6 Gearmotor 220/380VAC 3-Phase 111.16:1 Ratio 8RPM

 New Beckhoff AX5101-0000 Servo Drive

 Boston Fincor ACE-KST-230V-3P-05HP Inverter 200-230VAC 3PH 2.9A 0.5HP 0.2-400Hz

 Omron R88D-KN08H-ML2 AC Servo Drive 200-240VAC 1PH or 3PH 6.6/3.6A 750W 0-500Hz

 Parker GV6K-L3E-DEMO Gemini Servo Drive/Controller 120VAC RS232/485 Ethernet

 New Minarik RG400U DC Motor Drive 0-180VDC 10A Armature 100/200VDC 1A Field 2HP

 New Yaskawa CIMR-V7AU41P5 Inverter Drive 380/460VAC 50/60Hz 7A 3PH 0-400Hz

 Yaskawa JUSP-NS300 DeviceNet Interface Unit for Sigma II Series Servo Drives

 LinMot E4000-AT 4-Axis Servo Controller, Sig: 24-48VDC, Pwr: 48-72VDC, RS232

 New Yaskawa Electric PDE-U-IE2SA MotionWorks IEC Ver. 2.2 CD-Rom w/ Serial

 New Power Ohm CR200-50-L24-UL High Wattage Braking Resistor 50Ω 200W

 New Zero-Max 6A26C CD Coupling 1" to 16mm Bore Zero Backlash Clamp Style

 Zero-Max 6A18C CD Coupling Assembly 16mm to 12mm Keyway on 16mm Side

 Lot of 2 Charles Supper X-Ray Diffraction Fixture / Tech Circle *AS-IS*

 36' Roll of Cloth Inserted Silicon Rubber 36" Wide 3/32" Thick Orange Color

 50' Roll of Cloth Inserted Silicon Rubber 36" Wide 3/32" Thick Orange Color

 Optical Laser Polarizer

 Lot of 2 ACE AGS15-100-CC-V-400 Gas Spring 15mm Body 100mm Stroke 400N Force

 Roll of New Velcro 184987 25 Yard Black Loop w/ Adhesive Back

 Albion 16LD0580 Floor Lock, Zinc Plated, 4" x 4.5"

 Lot of 5 New Stoll Metalcraft Angle Brackets 6" x 4" x 5/16" Wide Right Angle

 Aluminum Bosch Extrusion Work Table, Gantry CNC Laser Robot Machine Base

 TEW TISH-300 Impulse Sealer 120VAC 430W 12" Length 1/16" *Needs Heating Element*

 Christie Electric MPD160A12-42 24VDC Battery Charger 12 Cell Lead 660-830AHr 3PH

 Phoenix Contact 5600461 Double Outlet, Rail Mount, 125VAC, 15A Max, #30-10AWG

New Lumbergautomati?on 0985 656 500/12M Ethernet Patch Cable RJ45 12m (39')

 Square D 8010 SFI-510 Sy/Max Network Interface Card D-Sub 9-Pin *FOR PARTS*

 Panasonic RHC8SD-3.0-P Camera Cable 16-Pin 3 Meters Length

 Cognex 821-0016-1R E I/O Module 24VDC 1A PoE LAN RS-232 8 Channel I/O

 Hoffman / McLean T29-0416-G150 Air Conditioner for Enclosures *Damaged Cover*

 New ABB KC631-Y 4 Pole Control Relay


 Length of 25' New Belden 28330A Cable 16-Conductor 16AWG Direct Burial

 New Omron Proximity Switch 90-250VAC 2-wire TL-XY10

 Turck DSF 26-25-0.5 Bulk Cable, 26-Pin Connector to 25x22AWG Wires, 18" Long

 New Hoffman DRD Remote Display 10ft 80-280VAC

 New Sunx GX-18M Proximity Sensor

 New Sunx GX-18MB Proximity Sensor

 Turck CSF 622-6-1 Bulk Cable, 600V 30A Rating, M23 Connection to 6x12AWG Wires

 Phoenix Contact FLKMS D50 SUB/B Break-Out Module Varioface

 Banner SM312F Fiber Optic Sensor 10 to 30VDC 150mA Source/Sink 1'3" Cable

 New Sick IME08-1B5POZT0S Proximity Sensor 10-30VDC

 New Phoenix Contact CM 90-PS-120AC/24DC/2 Power Supply 120VAC to 24VDC 2A

 Turck BIO 8-H04-AN6X-V1331 Proximity Sensor w/Festo 15239 18' Cable

 New in Package Whitman Controls P605-1-C52L Pressure Transducer 3000 Max PSI

 New In Box ABB RB121-24VAC/DC Interface Relay/Optocoupler, 24VAC/DC Supply

 Banner Q19SP6DQ Photoelectric Sensor, 2-50mm Range, 10-30VDC, PNP

 New Turck Bi1-G08K-RN6X Inductive Sensor, 1mm Range, 10-30VDC, 150mA

 New Turck Bi1.5-EG08-AP6X Proximity Sensor, 1.5mm Range, 10-30VDC, 150mA

 New Banner Plastic Fiber Optic Cable PIT1X46U

 New Sick IQ40-35NPS-KC0 Proximity Switch 10-36VDC 

 New Banner D12E2N6FP D12 Series Fiber Optic Sensor 

 New Banner SMI91ESRQD VALU-BEAM Sensor Emitter 

 New Banner SM51EA6 Photoelectric LED Scanner 

 New Turck Bi5-GT18-ADZ30X2-B3331 Inductive Sensor

 New Square D 8539 SDG1 Motor Control Cabinet 120/240VAC 60A NEMA 2 Starter

 New Square D 8539 SCG1 Motor Control Cabinet 30A 3 Pole Breaker NEMA 1 Starter

 New Square D 8539 SBG1 Motor Control Cabinet 15A 3 Pole Breaker NEMA 0 Starter

 New Square D 8539 SBG3 Motor Control Cabinet 20A 3 Pole Breaker NEMA 0 Starter

 Omron Sti MC47-30-905-R, MC47-30-905-X Light Curtain Set 0.3m-18m Range

 New Dynapar H22204B104143PS Encoder, 5-26V, 7-Pin, 3/8" Shaft

 Banner B3-1500 BRB Photoelectric Amplifier Logic Module w/ Relay Control 115VAC

 Hoffman 4" x 4" Wireway Elbow Outside Open 2 Hinge w/ 1 Gasket *2 Holes*

 Hoffman Wireway Tee 4" x 4" x 4" Top Opening w/ 1 Gasket

 Lot of 2 SMC NCMB106-0150 Pneumatic Cylinders, 1.5" Stroke, 1/8" NPT, 250PSI Max

 SKF YAT 204-012 Two Bolt Flange Ball Bearing, 0.75" Bore, Set Screw Collar

 Hoffman Wireway 4" x 4" x 6" Top Opening Gutter

 AirTrol F-4200-0.5 Pressure Electric Switch N.O. N.C. 0.5PSI 1/8"NPT

 Lot of 4 Wago 284-621 Distribution Terminal Blocks, 3x 10mm2, 1x  35mm2