Iyo Manual yeDebugging Software V3.0

Main Peji Nhanganyaya

1.1. Vhura iyo Debugging Software V3.0Mushure mekunge mota yaiswa simba, tinya kaviri EXE file yakanzi Assistant3.0, software yacho inozotsvaga inowanikwa serial ports uye edza kubatanidza. Iyo serial port chimiro mukona yezasi kuruboshwe yeFigure 1 inoratidza iyo serial port yekubatanidza chimiro. Kana iyo yekubatanidza ikabudirira, icharatidza kuti serial port yakabatana. Kana ikatadza, inosvetukira kune inotevera interface, Unogona kuramba uchidzvanya pamufananidzo kuti uedze kubatana zvakare. Mikana yekukundikana kwekubatanidza ndeiyi:

1. Iyo mota haina kubudirira kufambiswa pairi, uye iyo magetsi uye zvibatanidza zvinoda kuongororwa;
2. Chibatanidza chekutaura chine waya zvisizvo;
3. Iyo serial port yekombuta yatogarwa;
4. Iyo debugger haiisi mutyairi akakodzera;

1.2. The Interface Area Nhanganyaya
Iyo interface nzvimbo yakakamurwa kuita zvikamu zvinotevera maererano Figure 1:
A: Main menu bar
B: Servo mode control panel
C: motion mode control panel
D: Chaiyo-nguva waveform mamiriro pani
E: Waveform kuratidza pani
F: Status bar
Iyo huru menyu bha uye chimiro bhaa inoramba isina kuchinjika kana iyo interface ichichinjika, uye dzimwe nzvimbo dzichachinja zvinoenderana neakasiyana menyu mabara.

Motor Running Interface Nhanganyaya

Paunovhura debugging software v3.0, iyo mota inomhanyisa interface inopindwa neyakagadzika, uye chaiyo-nguva data update inogoneswa.
2.1. Servo Mode Control Panel
Kune 6 mabhatani ekudzora uye mana ekuisa data mabhokisi mune servo mode control panel.
Bhokisi rekupinda data riri kurudyi kwemabhatani ekudzora.Mushure mekuisa data rakakodzera, tinya bhatani riri kuruboshwe kuti uite zvinoenderana.

1. Kuwedzera kweAngle Control:Mushure mekupinda iyo yakawedzera tarisiro angle mubhokisi rekuisa data, tinya bhatani rekuwedzera angle, uye mota inomhanyisa yakaseti yekuwedzera angle nenzvimbo iripo senzvimbo yekutanga.
2. Absolute Angle ControlMushure mekupinda iyo yakakwana yekunongedza kona mubhokisi rekuisa data, tinya bhatani rekona chaiyo, uye mota inomhanya neyakagadzika chinzvimbo seyakananga.
3. Speed ​​​​Commandmubhokisi rekuisa data, tinya bhatani rekuraira rekumhanyisa, uye mota inomhanya nekumhanya kwakaiswa. Iyo yekuseti yekumhanyisa inoenderana nekumhanya kwemota yekupedzisira, ndiko kuti, kupera kwekupinza kweyero yekuderedza.
4. Current CommandMushure mekupinda muchinangwa chazvino mubhokisi rekuisa data, tinya bhatani rekuraira razvino, uye mota inomhanya panguva yakatarwa.
5. Stop CommandMushure meiyo mota yekumisa kuraira, mota ichapinda munzvimbo yekumira uye hapazove nekubuda.
6. Reset Command
   Mushure meiyo mota reset command, iyo mota chirongwa chinozotangwazve.

2.2. Motion Mode Control Panel
Kune 5 parameter yekuisa mabhokisi uye 1 bhatani rekudzora mune yekufamba control mode panhi.

1. Inodiwa kona::p_desPinda kona yaunoda mubhokisi rekuisa, uye mota inomhanya pakona iyi seyakanyanya kutariswa kukosha. Chete chinzvimbo chinoitwa kana KD=0. Ziva kuti iyo unit ndeye rad, uye kupinda 6.28 kwakafanana nekuseta kona yakanangwa kusvika 360 madhigirii.
2. Inoda kumhanya:v_desPinda kumhanya kwaunoda mubhokisi rekuisa, uye mota inomhanya neiyi nhanho yekumhanya. Chete nzvimbo yekumhanya inomhanya kana KP=0. Iyo unit ndeye rad/s, tarisa kushandurudzo unit formula: 1rad/s = 9.554RPM. Kumhanya ndiko kumhanya kwemota yekupedzisira, ndiko kuti, kumhanya kweiyo yekupedzisira yekupinza yeinoderedza.
3. Torque yaunoda:t_ffPinda torque yaunoda mubhokisi rekuisa, uye mota inomhanya neiyi tarisiro torque.
4. KP:Inotaridza kutsauswa kwepakati pakati pekona yekutarirwa uye mhinduro.
5. KD:Inotaridza kutsauswa kwepakati pakati pekumhanya kwechinangwa uye nekumhanyisa kwemhinduro.
6. Motion control commandMushure mekuisa iyo 5 paramita, tinya iyo oparesheni yekudzora kuraira, uye mota ichaverengerwa uye inobuda zvichienderana nemutengo unotarisirwa. Kuverengerwa sezvinotevera:
   TorqueRef = (p_des – p_fb)*KP + (v_des – v_fb)*KD + t_ff;
   TorqueRef: Inoratidza yekupedzisira tarisiro torque kuburitsa kune mota;
   p_fb: mhinduro chaiyo yekona;
   v_fb: mhinduro chaiyo yekumhanya

2.3. Real-nguva Waveform Status Panel

1. Shaft angle:
   Inoratidza kona chaiyo pakubuda kwemota inoderedza.
2. Speed
   Inoratidza iyo chaiyo kumhanya kwemota yekupedzisira, ndiko kuti, iyo yekupedzisira yekupinza yeinoderedza.
3. Zvazvino:
   Inoratidza iyo chaiyo torque (Iq) ikozvino yemota.
4. Motokari Tembiricha:
   Inoratidza kupisa chaiko kwemota.
5. Bhazi Voltage:
   Inoratidza voltage yemagetsi emagetsi.

2.4. Waveform Display Panel Iyo waveform inoratidzira interface inogona kuratidza 3 data waveforms yega kana panguva imwe chete, iyo IQ ikozvino, kumhanya, uye chinzvimbo. Aya matatu data anoenderana nekona, kumhanya, uye ikozvino mhinduro data mune chaiyo-nguva mamiriro bar. Iko kukosha kweiyo data kunoratidzwa kuruboshwe uye kurudyi mativi, uye huwandu hwayo hunongogadziriswa zvinoenderana nehukuru chaihwo.
2.5. Mamiriro eBar 
Iyo serial port chimiro inoratidza iyo serial port yekubatanidza mamiriro. Iyo mota mamiriro ichaita kuti zvikanganiso zvine hukama.

Nhanganyaya kune Basic Settings Interface

3.1. Pinda iyo Interface Iyo yekutanga kuseta yemenu huru yemota inogona kupinda iyo yekutanga kuseta interface. Iyo komputa inotambira yakagadziridza ma parameter kamwe mushure mekubatanidza, saka maparamendi anoratidzwa mune interface ndiwo maparamita anoverengwa kubva kumota. Iyo data inogona zvakare kuverengerwa zvakare kuburikidza neiyo Read Data bhatani.
3.2. Kushanda Nhanganyaya

1. Dzvanya kuti uverenge data kuti uvandudze ese ma parameter mune iyo interface;
2. Shandura akakodzera data paramita, wobva wadzvanya Nyora Dhata kuchengetedza;
3. Kana kuverenga data kana kunyora kuchitadza, unogona kudzvanya zvakare kuti uverenge data uye kunyora data kuti ushande zvakare.

3.3. Parameter Tsanangudzo
3.3.1. Kukurukurirana Parameters

parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
CAN/RS485ID	1-32	decimal	zvinobudirira pakarepo	zvinoreva kutumira ID, Ox140+ID,
CAN Baudrate	optional	bps	zvinobudirira pakarepo	Baud ratesettingforCAN kutaurirana, kupa sarudzo yebhadhi mwero.
EnebleCAN Sefa	Oorl		Inoshanda mushure mekutangazve	Ndinoreva kuti CAN sefa yakabatidzwa, inogona kuvandudza kushanda kwemota kutapurirana uye kugamuchira muCAN kutaurirana. 0 zvinoreva kuti CAN sefa yakadzimwa, uye inoda kudzimwa kana yadiwa multi-motor control command 0x280.
EnableCAN Version	Oorl		Inoshanda mushure mekutangazve	Ndinoreva kuti CAN basa rinogoneswa. 0 zvinoreva kuti CAN basa radzimwa. (Iyo 485 bhodhi haigone kugonesa basa racho)
RS485 Baudrate	optional	bps	zvinobudirira pakarepo	Iyo baud rate yekumisikidza yeRS485 kutaurirana inopa sarudzo yebaud mwero.
COIBI brake kuchengetedza nguva	0-232-1	millisecond	zvinobudirira pakarepo	Munguva yekutaurirana, kana mota isingagamuchire murairo mukati menguva yakatarwa, inomira kubuda. Kana paine bhureki rekubata, bhureki rekubata richavharwa. 0 zvinoreva kuti basa iri harishandi
Gonesa Fault Status Send	Oorl		zvinobudirira pakarepo	1 inoreva kuti mamiriro ekukanganisa anogoneswa, uye iyo otomatiki kuraira inodzokera kune yekukanganisa mamiriro kana kukanganisa kwataurwa. 0 zvinoreva kudzima mamiriro ekukanganisa kugonesa

3.3.2. PI Parameters

parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
Cor rent	0-255		zvinobudirira pakarepo	Kukosha kweseti kunoenderana nehupamhi hwepamusoro hweKP mukati memota. Kana iyo yakakura kukosha kweKP iri 1, ipapo 255 inoenderana ne 1. Iyo yakanyanya kukosha inobatana neiyo mota modhi uye haigone kuchinjwa nemushandisi.
Yazvino Loop KI	0-255		zvinobudirira pakarepo	Ditto
Speed ​​​​Loop NI'	0-255		zvinobudirira pakarepo	Ditto
Speed ​​​​Loop KI	0-255		zvinobudirira pakarepo	Ditto
chinzvimbo Loop KP	0-255		zvinobudirira pakarepo	Ditto
chinzvimbo Loop KI	0-255		zvinobudirira pakarepo	Ditto

Nhanganyaya yeAdvanced Settings Interface

4.1. Pinda iyo Interface4.1.1. Kushanda Nhanganyaya

1. Dzvanya kuti uverenge data kuti uvandudze ese ma parameter mune iyo interface;
2. Shandura akakodzera data paramita, wobva wadzvanya Nyora Dhata kuchengetedza;
3. Kana kuverenga data kana kunyora kuchitadza, unogona kudzvanya zvakare kuti uverenge data uye kunyora data kuti ushande zvakare.

4.2. Parameter Tsanangudzo
4.2.1. Dziviriro Parameters

parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
Ikozvino loop 0 Max	Hapana	Hapana	zvinobudirira pakarepo	Verenga chete
Yazvino loop KI Max	Hapana	Hapana	zvinobudirira pakarepo	Verenga chete
Speed ​​loop KP Max	Hapana	Hapana	zvinobudirira pakarepo	Verenga chete
Speed ​​​​loop KI Max	Hapana	Hapana	zvinobudirira pakarepo	Verenga chete
Position loop KP Max	Hapana	Hapana	zvinobudirira pakarepo	Verenga chete
Position loop KI Max	Hapana	Hapana	zvinobudirira pakarepo	Verenga chete
Kupfuura Voltage	0-100	Volt	zvinobudirira pakarepo	Verenga chete
Yakadzika Voltage	0-100	Volt	zvinobudirira pakarepo	Verenga chete
Kumisa nguva yakatarwa	0-2'2-1	millisecond	zvinobudirira pakarepo	Seta kuti inguva yakadii kumisa kuburitsa mushure mekupinda iyo yakakiyiwa rotor state, uye kuvhara bhureki kana paine brake.
Brake Mode	optional	Hapana	zvinobudirira pakarepo	Rimwe chete remabasa maviri eRelay uye Resistor rinogona kusarudzwa, sarudza basa iri uye vhura
Relay Kutanga Duty	0-100%	Hapana	zvinobudirira pakarepo	Basa rekutenderera kweiyi sarudzo rinochengetwa kubva panguva yekutanga kusvika 2seconds
Iyezvino Sample Res	Hapana	mR	Hapana	Verenga chete
Relay Bata Duty	0-100%	Hapana	zvinobudirira pakarepo	Basa rekutenderera kweiyi sarudzo rinochengetwa mushure memasekonzi maviri panguva yekutanga

4.2.2. Planning parameters

Parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
Max Positive Position	Hapana	deg	inoshanda pakarepo	iyo yepamusoro nzvimbo inogona kufambiswa kune iyo chinzvimbo loop
Max Negative Position	Hapana	deg	zvinobudirira pakarepo	Nzvimbo shoma iyo inogona kusvikwa mu-position loop, purogiramu ichaitora sechinhu chisina kunaka
Nzvimbo P1ar. Max Acc	100- 60000	dps/s	zvinobudirira pakarepo	Panguva yekushanda loop, iyo nguva yekumhanyisa kubva kune yazvino kumhanya kusvika kune yakasetwa kumhanya
Position Mar. Max Dec	100- 60000	dps/s	zvinobudirira pakarepo	Panguva yekushanda loop, iyo nguva yekudzikisira kubva kune yazvino kumhanya kusvika kune yakasetwa kumhanya
Position Plan Max Speed	10-motor yakatarwa kumhanya	Rio.'	zvinobudirira pakarepo	Maximum yekumhanyisa kuseta panguva yekushanda loop
Speed ​​​​Plan Max Acc	100- 60000	s	zvinobudirira pakarepo	Munguva yeSpeed ​​loop oparesheni, iyo yekumhanyisa nguva kubva pakumhanya kwazvino kusvika pakuseti yekumhanyisa
Speed ​​​​Plan Max Dec	100-60000	dps/s	zvinobudirira pakarepo	Munguva yeSpeed ​​loop oparesheni, iyo yekudzikisira nguva kubva pakumhanya kwazvino kuenda kune kuseti yekumhanyisa
Motor Position Zero	-462	Pulse	powercycle	kite iyo pulse yakatsanangurwa se zero point yemota chinzvimbo. Iwe unogona zvakare kuverenga iyo zero pulse kukosha kweiyo ikozvino mota chinzvimbo
isa chinzvimbo chazvino zero injini	Hapana	Hapana	powercycle	Kana ukadzvanya bhatani rekuisa, iyo yazvino mota chinzvimbo anozochengeta se zero point chinzvimbo.

Nhanganyaya yeMotor Gadzirisa Interface

5.1. Pinda iyo Interface

5.2. Kushanda Nhanganyaya

1. Dzvanya kuverenga data kuti uvandudze iyo parameter;
2. Shandura iyo yakakodzera yakavhurika-loop inoenderana neyazvino kukosha, kazhinji isingasviki hafu yeyakayerwa ikozvino pasina-mutoro;
3. Dzvanya bhatani re "Gadzirisa Encoder" uye mirira iyo mota calibration;;
4. Kana iyo calibration ikatadza, unogona kudzvanya iyo "Gadzirisa Encoder" zvakare;
5. Inogona kuwedzera yakavhurika-loop yekufananidza ikozvino kuita kuti mota calibration ibudirire;
6. Mushure mekunge iyo calibration yabudirira, icharatidza kuti yakagadziridzwa uye yakachengetwa, uye hapana chikonzero chekugadzirisa zvakare mushure mekuisa simba zvakare;
7. Mota calibration yakanakisa kuchengetedza mota isina-mutoro mamiriro;

5.3. Parameter Tsanangudzo
5.3.1. Master encoder

Parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
Yagoneswa Powerdown Chengetedza MultTurn	o !a. 1	Hapana	zvinobudirira pakarepo	Ndinoreva kugonesa kuponesa kukosha kwe-multi-turn kana simba radzimwa, kureva kuti, mota inogona kurangarira nzvimbo ye-multi-turn isati yadzima kunyangwe magetsi akadzimwa. 0 zvinoreva kudzima simba-kudzima chengetedza kuwanda-kutendeuka kukosha kugonesa.
Pole-Paris	Hapana		Hapana	Kuverenga-chete, iyo mota paramita haigone kugadziridzwa nemushandisi
Single- Resolution Value	Hapana	Hapana	Hapana	Kuverenga-chete, iyo mota paramita haigone kugadziridzwa nemushandisi
Rongedza Current	0.1- mota yakatarwa ikozvino	1	zvinobudirira pakarepo	Iko kumhanya ikozvino kwemota panguva yekuenzanisa. Kana iyo yazvino iri diki zvakanyanya, torque haizokwani, uye iyo mota calibration ichakundikana. Yakawandisa ikozvino inogonawo kukonzera kuchengetedzwa kwazvino. Kazhinji mukati meyero yakatarwa ikozvino.
Chinja Motor Direction	Hapana	Hapana	Hapana	Kuverenga-chete, iyo mota paramita haigone kugadziridzwa nemushandisi
Encoder Yakagadziridzwa Kukosha	Hapana	Hapana	Hapana	Kuverenga-chete, iyo calibration mhedzisiro haigone kugadziridzwa nemushandisi
Encoder Kururama	Hapana	Hapana	Hapana	Kuverenga-chete, iyo calibration mhedzisiro haigone kugadziridzwa nemushandisi

5.3.2. Slaver Encoder

Parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
Encoder Direction	Hapana	Hapana	Hapana	Kuverenga-chete, iyo mota paramita haigone kugadziridzwa nemushandisi
Encoder BCT	Hapana	Hapana	Hapana	Kuverenga-chete, iyo mota paramita haigone kugadziridzwa nemushandisi
Encoder Gadzirisa	0 kana 2	Hapana	Hapana	Nyora 2 paunenge uchienzanisa iyo muranda encoder, uye otomatiki chinja ku 0 mushure mekugadziriswa kwapera.
Encoder Zero	Hapana	Hapana	Hapana	Kuverenga-chete, iyo mota paramita haigone kugadziridzwa nemushandisi

Motor Update Interface Sumo

6.1. Pinda iyo Interface6.2. Kushanda Nhanganyaya
6.2.1. Verenga Parameters
Dzvanya bhatani rekuverenga kuti uverenge zvine chekuita nemota paramita; 6.2.2. Dzorera Factory
Dzvanya bhatani re "Dzosera Factory", sarudza iyo HEX file inoenderana nemota, uye wozodzosera ese calibration paramita kune Reset;

6.2.3. Update
MYACTUATOR inogonesa mabasa emutyairi uye vatengi vanogona kuvavandudza vari kure.
Baya Mutoro File bhatani, sarudza iyo firmware, uye takura iyo firmware data.Dzvanya "Update File”Kuvandudza chirongwa, maitiro ekuvandudza anoratidza kufambira mberi munguva chaiyo, kusimudzira chero tsvuku Mharidzo meseji, unofanirwa kutsvaga chikonzero chedambudziko uye tinya 'Gadziridza. File' zvakare kugadzirisa zvakare chirongwaMushure mekunge maitiro ekugadzirisa apera, BOOT mode inotangwa kuratidza ruzivo runotevera.6.2.4. Gadziridza Chirongwa Chikanganiso Zvikonzero uye Mhinduro

1. Munguva yekupenya, kutaurirana kunovhiringidzwa uye kupenya kunokundikana. Edza kudzivisa kupindira uye tangazve kupenya.
2. Mukuita kwekupenya, kana simba rakangoerekana rarasika kana kombiyuta inokundikana, unoda kutangazve kupenya pasi pemamiriro akagadzikana.
3. Kana re-flash ikasabudirira kakawanda, bata mugadziri kuti agadziriswe kana kudzokera kufekitori

6.3. Parameter Tsanangudzo

Parameter name	Ranges	unit	Nzira inoshanda	Tsanangudzo
Motor ID	Hapana	Hapana	Hapana	Verenga chete, fekitori paramita
Motor Name	Hapana	Hapana	Hapana	Verenga chete, fekitori paramita
Firmware Ver	Hapana	Hapana	Hapana	Verenga chete, fekitori paramita
Nominal Current	Hapana	A	Hapana	Verenga chete, ikozvino mota inogona kumhanya ichienderera
Maximum phase current limit	Hapana	A	Hapana	Kuverenga-chete, mota chikamu chazvino chekudzivirira nzvimbo, iyo inokonzeresa dziviriro kana ipfupi dunhu, kurasikirwa kwechikamu, kana kutiza.
Stall Current	\nth,	A	Hapana	Verenga chete, peak current inogona kumhanya kwenguva pfupi
Shutdown Temp	0-150	C	Hapana	Verenga-chete, kana tembiricha yemota yasvika painodzivirira, inomira kubuda uye kuudza chikanganiso
Resume Temp	0-150	°C	Hapana	Verenga chete, kushanda kwakajairika kunotangazve kana tembiricha yemota yasvika padanho rekudzoreredza.
Max Speed	Hapana	RPM	Hapana	Verenga-chete, mota inomira kuburitsa chikanganiso kana yasvika pakumhanya kwakanyanya
Nominal Speed	Hapana	RPM	Hapana	Verenga chete, iyo yakanyanya kumhanya iyo mota inogona kuwana payakayerwa voltage.
Vhura Encoder Yechipiri	Hapana	Hapana	Hapana	Verenga-chete, zvichiratidza kana mota ine mbiri encoder basa
Multi-turn Value	0-65535	Tendeuka	Hapana	Verenga chete, iyo yakachengetwa mota chinzvimbo multi-turn value pamberi pesimba rekupedzisira
Gear Radio	Hapana	Hapana	Hapana	Verenga chete, saizi yereshiyo yekudzikisa mota

Tsanangudzo yeMharidzo Yemhosho

Error message	Tsanangudzo	Solution
hardware overcurrent	Kana iyo motokari ikozvino inodarika kukosha kwemuganhu, panogona kunge kune pfupi pfupi, kurasikirwa kwechikamu, kurasikirwa kwekutonga, kukuvara kwemotokari	Tarisa simba rekupa uye mota wiring yepfupi dunhu, kurasikirwa kwechikamu, kana parameter kukanganisa.
Kumisa kukanganisa	Mushure mokunge ikozvino inosvika yakavharwa-rotor ikozvino, kukurumidza kuderera uye kunopfuurira kwenguva yakati. Zvinoratidza kuti mutoro wemotor wakakurisa	Mutoro unogona kudarika huwandu hwekushanda hwemotokari.
undervoltage kukanganisa	Simba rekuisa rakaderera pane set undervoltage value	Tarisa kuti voltage yemagetsi yakaderera uye inogona kuwedzerwa kune yakakosha kukosha
Kupfuuratage kukanganisa	Simba rinopinza rakakwirira kudarika kukosha kweseti overvoltage value	Tarisa kuti voltage yemagetsi akawandisa uye anogona kuderedzwa kusvika kune yakakosha kukosha
Phase current overcurrent	Iyo software inoona kuti mota yazvino inodarika kukosha kwemuganho, uye panogona kunge paine pfupi dunhu, kurasikirwa kwechikamu, kurasikirwa kwekutonga, kukuvara kwemota, nezvimwe.	Tarisa simba rekupa uye mota wiring yepfupi dunhu, kurasikirwa kwechikamu, kana parameter kukanganisa
Power overrun error	Kana iyo yekupinda ikozvino yemagetsi inodarika kukosha kwemuganhu, panogona kuve nemamiriro ezvinhu apo mutoro wakakura kwazvo kana kumhanya kwakanyanya.	Deredza mutoro kana kuderedza injini inomhanya kumhanya
Calibration parameter kuverenga kukanganisa	Tatadza kunyora maparameters zvichiita kuti zvirasikike	Gadziridza paramita nekudzoreredza zvigadziriso zvefekitari
overspeed kukanganisa	Iyo mota inomhanya kumhanya inodarika kukosha kwemuganho, panogona kuve nekudzvinyirira uye kudhonza kushandiswa.	Tarisa kuti simba rekuisa rapfuura-volttage, uye kana paine mukana wekudhonza mota nechisimba
Kukanganisa kwekupisa kwemotor	Kana tembiricha yemota ichidarika kukosha kwakatarwa, panogona kunge paine pfupi dunhu, kukanganisa kweparameter, uye kushandiswa kwenguva refu kwekuremedza	Tarisa uone kana mota paramita dzakarurama, kana paine dunhu diki, uye kuti mutoro wacho wakakura here
Encoder calibration kukanganisa	Mhedzisiro ye encoder calibration inotsauka zvakanyanya kubva pamutengo wakajairika	Tarisa kana mutoro wemota wakakurisa, unogona kubvisa kana kurerutsa mutoro, wedzera yakavhurika-loop inoenderana neyazvino zvakakodzera, uye gadzirisa mota zvakare.

Zvinyorwa / Zvishandiso

RobotShop V3.0 Debugging Software [pdf] User Manual V3.0, V3.0 Debugging Software, Debugging Software, Software

References

• User Manual