Me pēhea te tere whakatau mēnā kua pakaru te motuka o te servo manipulator

Me pēhea te tere whakatau mēnā ko te motuka o te Kaiwhakahaere Ratonga kua pakaru

I roto i te tukanga aunoatanga ahumahi, he mahi nui te manipulator servo hei taputapu matua hei whakapai ake i te pai me te tika o te whakaputanga. Ko te motuka servo tētahi o ngā wāhanga matua o te manipulator servo, ā, e pā tika ana tōna mahi ki te āhua whakahaere o te taputapu katoa. Nō reira, he mea nui kia taea e ngā kaihoko rarawe o te ao me ngā kaimahi tiaki e pā ana te whakatau tere me te tika mēnā he pai te motuka o te kaiwhakahaere servo kua pakaru. Ka whakamāramahia e tēnei tuhinga ngā momo tikanga whakatau whai hua hei āwhina i a koe ki te kimi i ngā raruraru pea o te motuka i te wā tika, te whakaiti i te wā whakamutu mahi, me te whakaiti i ngā ngaronga whakaputa.

1. Mātakihia te āhua
Tirohia te mata o te motuka: Tuatahi, tirohia marietia mēnā he tohu kitea o te kino ā-tinana pērā i te pakaru, te whakarerekētanga, me te wera i te anga o waho o te motuka. Mēnā ka kitea ēnei āhuatanga, tera pea kua pakaru hoki te roto o te motuka, ā, me tirotirohia anō. Hei tāpiri, tirohia mēnā he wetekina ngā tīwiri whakapiri o te motuka. Mēnā he wetekina, tera pea ka wiri te motuka i te wā e whakamahia ana, ka kino ai ngā wāhanga o te motuka i te wā roa.
Tirohia ngā pito waea me ngā taura: Tirohia mēnā kua waikura, kua wera, kua wetekina rānei ngā pito waea o te motuka. Mēnā kua pakaru, kua tawhito, kua whati rānei ngā taura. Mēnā he kino te hononga, he kino rānei o te taura, ka pā pea ki te tuku hiko me te tuku tohu o te motuka, ā, ka raru pea te motuka, ka hē rānei te mahi.

2. Te whakatau ā-rongo me te whakatau ā-pā
Whakarongo ki te tangi o te motuka: I te wā e whakahaerehia ana te motuka, ka tukuna e te motuka servo noa he ngunguru pumau me te manawataki. Mena ka rongo koe i te tangi waku koi, tera pea na te pakaru o te peera, te waku rānei i waenga i te rotor me te stator; ko ngā haruru rerekē i ia wā e tohu ana i ngā raruraru ki ngā wāhanga tuku taputapu; ko ngā tangi patuki koretake ka puta mai i ngā hanganga miihini ngoikore, kore taurite rānei; ā, ko ngā tangi aue e pā ana ki te papa hikohiko, ki te pūnaha whakahaere rānei o te motuka, ka puta mai pea i ngā tautuhinga tawhā taraiwa hē, i ngā ara iahiko poto rānei i roto i te motuka.
Pā atu ki te whare o te motuka: I muri i te wā e oma ana te motuka, pā atu mārire ki te whare o te motuka ki te tuara o tō ringa kia rongo ai mēnā ka piki te pāmahana i te āhua rerekē. Tērā pea ka puta te pāmahana nui rawa atu i te kore e pai te tohatoha wera, te taumaha rawa, te porowhita poto rānei i roto i te takai o roto o te motuka. I raro i ngā āhuatanga noa, me pupuri te pāmahana o te whare o te motuka i roto i te awhe whaitake, kaua e neke ake i te 80°C. Me whakatau hoki te pāmahana motuhake i runga i ngā āhuatanga pēnei i te mana, te tauira, me te taiao mahi o te motuka. I taua wā anō, kia aro ki te mea kei te wiri te mata o te motuka. Mēnā he nui rawa te wiri, tera pea he tohu kua pakaru te whāriki o te motuka, kāore i te taurite te rotor, kāore rānei i te tika te tāutanga miihini.

3. Whakamahia ngā taputapu hei kimi
Te kimi i te mita maha
Inehia te ātete o te takai: Whakawetohia te mana o te motuka, ka wetewete i ngā wāhanga e tika ana kia kitea ai ngā pito takai o te motuka. Whakamahia te whānuitanga ātete o te mita maha hei ine i ngā uara ātete i waenga i ngā takai toru-wāhanga. I raro i ngā āhuatanga noa, me ōrite, me tata rānei ngā uara ātete o ngā takai toru-wāhanga. Mena he nui ake, he iti iho rānei te uara ātete o tētahi, o ētahi wāhanga rānei, he mutunga kore rānei (porowhita tuwhera) he kore rānei (porowhita poto), ko te tikanga he hapa te takai motuka. Hei tauira, mena he nui ake te uara ātete o tētahi takai wāhanga i ērā atu wāhanga e rua, tera pea he tohu kei te raru te takai wāhanga o te porowhita tuwhera, te pā kino rānei; ki te kore te uara ātete, he tohu kei te porowhita poto te takai.
Tirohia te ātete ārai: Whakamahia he mita ātete ārai (megohmmeter) hei ine i te ātete ārai i waenga i te takai o te motuka me te anga. I raro i ngā āhuatanga noa, me neke ake te uara ātete ārai i te maha o ngā megohm. Mena he iti rawa te uara ātete ārai, ko te tikanga kua heke te mahi ārai o te motuka, ā, tera pea ka turuturu, ka ngāwari ai te pakaru me te kino o te takai o te motuka, ka puta rānei he aituā haumaru.
Te kimi i te oscilloscope: Ka taea te tirotiro i te āhua o te tohu hiko o te motuka mā te oscilloscope. Honoa te tirotiro o te oscilloscope ki te pito putanga o te motuka, ki te raina tohu whakahaere rānei e tika ana hei tirotiro mēnā he noa ngā āhua o ngā tohu pēnei i te ngaohiko me te iahiko. Hei tauira, ko te tohu taraiwa motuka noa me noho hei ngaru tapawhā noa, hei ngaru sine rānei. Mēnā he hē te āhua o te ngaru, he wiriwiri, he pūwero, he rerekē rānei te kaha, tera pea he hapa te motuka, te taraiwa rānei. Ka taea e te kimi oscilloscope te āwhina i ngā tohunga hangarau ki te kimi tere i te pūwāhi hapa, pēnei i te whakatau mēnā he noa te tohu encoder me te mēnā he pumau te putanga taraiwa.

4. Ngā mōhiohio whakaoho tohutoro me ngā waehere hapa
Tirohia te tohu whakaoho taraiwa: He maha ngā taraiwa motuka servo kua rite ki ngā tohu whakaoho, ā, ko ngā tae me ngā tauira kanapa o ēnei tohu he maha ngā mōhiohio hapa motuhake kei roto. Hei tauira, ko te rama tohu whero e kā tonu ana ka tohu pea i te rahunga taputapu, pērā i te taumaha rawa o te motuka, te ara iahiko poto, te rahunga taraiwa rānei; ko te rama tohu kōwhai e kanapa ana ka tohu pea i te taumaha rawa, te wera rawa, te rerekētanga rānei o te tohu encoder. Me whakamārama te tikanga motuhake i runga anō i te pukapuka a te taraiwa.
Pānuihia te waehere hapa: Ina rahua te kaiwhakahaere servo, ka tuhia e te pūnaha whakahaere te waehere hapa e rite ana. He pūtake nui ēnei waehere hapa mō te tautuhi tere i te hapa. Ka taea e ngā kaihoko, e ngā kaimahi tiaki rānei te tiki whakamārama taipitopito mō ngā waehere hapa mā te tirotiro i te pukapuka kaiwhakamahi o te kaiwhakahaere servo, mā te whakapā atu rānei ki te kaiwhakarato taputapu. Hei tauira, ko te waehere hapa "20504" o tētahi waitohu kaiwhakahaere servo e tohu ana he teitei rawa te pāmahana o te motuka, ka puta pea i ngā raruraru whakamarara wera, i te taumaha rawa rānei; ko te waehere hapa "10023" e tohu ana i te rahua o te encoder, ā, me tirotiro anō i te hononga encoder, te whakatikatika, te kino rānei.

5. Whakahaerehia ngā whakamātautau mahi
Whakamātautau mahi kore-kawenga: I raro i te kaupapa o te whakarite i te haumaru, tuatahi me whakahaere he whakamātautau mahi kore-kawenga ki te kaiwhakahaere servo. Tirohia mēnā he noa te tīmatanga, te mutu, te hurihanga whakamua me te whakamuri o te motuka, me ngā mahi whakahaere tere i raro i ngā āhuatanga kore-kawenga. Mena he raruraru kei te motuka pēnei i te uaua ki te tīmata, te mahi kore pumau, te rerekētanga tere nui, te haruru rerekē rānei i te wā kore-kawenga, tera pea he hapa kei roto i te motuka tonu, i te pūnaha whakahaere puku rānei. Hei tauira, ko te pakaru o te peera motuka ka nui ake te wiri me te haruru i te wā mahi kore-kawenga; ko ngā tautuhinga tawhā taraiwa hē ka hua ake te tere kore pumau o te motuka, me ētahi atu.
Whakamātautau mahi kawenga: I runga i te mahi kore-kawenga noa, whakanuia mārire te kawenga kia rite ai te āhua mahi tuturu o te manipulator servo. Tirohia te mahi a te motuka i raro i ngā āhuatanga kawenga, tirohia mēnā he raruraru pēnei i te wera nui, te mahi tiaki taumaha, te hekenga tere nui, te tūnga hē, me ētahi atu. Mena kāore e taea e te motuka te mahi noa i raro i te kawenga kua whakatauhia, pēnei i te whakaoho taumaha, he iti iho te tere i te uara kua whakaritea, kāore rānei e taea te whakatutuki i te putanga taipana e tumanakohia ana, tera pea kua heke te mahi a te motuka, kua pakaru rānei. Hei tauira, ka whakaitihia e te ara iahiko poto ā-rohe i roto i te takai motuka tōna mana whakaputa, ā, kāore e taea te whakatutuki i te hiahia ina piki ake te kawenga; mā te korenga o te wāhanga tuku miihini ka nui rawa te kawenga o te motuka, ka pā ki te mahi noa o te motuka.

6. Tirohia ngā wāhanga e pā ana
Tirotiro i te kaiwhakakōwaehere: He wāhanga nui te kaiwhakakōwaehere o te motuka servo, ā, e whakamahia ana hei kimi i ngā mōhiohio tūnga me te tere o te motuka. Whakamahia he taputapu kimi kaiwhakakōwaehere ngaio hei tuku tohu whakamātautau, hei tirotiro mēnā he tika, he pumau hoki ngā raraunga urupare a te kaiwhakakōwaehere. Mēnā ka pekepeke ngā raraunga, ka ngaro, ka nui rawa rānei te hapa, tera pea he tohu kua pakaru te kaiwhakakōwaehere, kua ngoikore rānei te whakapā atu. Hei tāpiri, ka taea hoki e koe te tirotiro i te āhua o te kaiwhakakōwaehere, te raina hononga, me te mea he wetekina te tāutanga hei whakatau tuatahi mēnā he noa. Hei tauira, mēnā he paru, he pakaru rānei te kōpae whatu o te kaiwhakakōwaehere, ā, mēnā kua tawhito, kua whati rānei te taura hono, ka pā ki tana mahi noa.
Tirotiro i te peera: Hurihia te rakau motuka mā te ringaringa kia kitea ai mēnā he tūnga, he ātete rerekē, he wetewete rānei. Mēnā kāore te hurihanga i te ngāwari, he tangi rerekē rānei, tera pea kua tawhito te peera, kāore he hinu, kua pakaru rānei. Mō ngā motuka kua tāutahia ki te kaiwhakahaere, ka taea hoki e koe te aromatawai ā-kore i te āhua o te peera mā te tirotiro mēnā he ngāwari, he maeneene hoki te neke o te kaiwhakahaere. Hei tauira, mēnā ka rūrū te kaiwhakahaere, ka tio, ka heke rānei te tika o te tūnga i te wā e neke ana, tera pea nā te pakaru o te peera motuka.
Tirotiro pūnaha whakamatao: Tirohia mēnā kei te mahi tika te pā whakamatao o te motuka, me te mea kua purua te totohu wera e te puehu. Mēnā he ngoikore te tohatoha wera, ka piki ake te pāmahana o te motuka, ka tere ake te tawhito o te rauemi whakamarumaru i roto i te motuka, ā, ka pakaru te motuka. Mēnā e tika ana, ka taea te whakamahi i te hau kōpeke hei horoi i te puehu i runga i te totohu wera kia kore ai e araia te awa tohatoha wera. I taua wā anō, tirohia mēnā kua pakaru te motuka o te pā whakamatao. Mēnā kua pakaru, me whakakapi i te wā tika.

7. Whakatauritehia ngā tawhā mōtini noa
Kohia ngā mōhiohio mō te papa ingoa o te motuka: I mua i te tīmatanga o te whakatairite, tirohia marietia ngā tawhā rerekē kei runga i te papa ingoa o te motuka, tae atu ki te tauira motuka, te ngaohiko whakatauranga, te iahiko whakatauranga, te mana whakatauranga, te tere whakatauranga, te taumata whakamarumaru, te taumata tiaki, me ētahi atu. He mea nui ēnei tawhā hei whakatau mena kei te mahi tika te motuka.
Te ine me te whakatairite tuturu: Whakamahia ngā taputapu e rite ana, pērā i te āmita rawhi hei ine i te iahiko mahi tuturu o te motuka, te tachometer hei ine i te tere tuturu o te motuka, me ētahi atu, ka whakatairite i ngā hua ine ki ngā tawhā kua whakatauria i runga i te pereti ingoa. Mena he nui ake te iahiko tuturu i te iahiko kua whakatauria, tera pea he tohu kei te utaina te motuka, he ara iahiko poto rānei. Mena he nui rawa te rerekētanga o te tere tuturu mai i te tere kua whakatauria, tera pea he rahunga pūnaha whakahaere o te motuka, he hapa rānei o ngā wāhanga tuku miihini.

8. Te tiaki me te tirotiro ārai i ia wā
Whakawhanakehia he mahere tiaki: Hei whakarite kia mau tonu te āhua mahi pai o te motuka o te servo manipulator, kia whakaitihia ai te tūponotanga o te rahunga, me whakatakoto he mahere tiaki auau e tika ana. E ai ki te auau o te whakamahinga o ngā taputapu me te taiao mahi, e taunakihia ana kia whakahaerehia he tirotiro whānui me te tiaki i ia 3 ki te 6 marama. Ko ngā mahi tiaki ko te horoi i te puehu me ngā paru i runga i te mata me roto o te motuka, te tirotiro mēnā he wetekina ngā here o te motuka, te whakahinuhinu i ngā peera, me te tirotiro mēnā he pai te pūnaha whakamatao.
Tirotiro ārai: I roto i te whakamahinga o ia rā, ka whakahaerehia ngā tirotiro ārai auau hei kimi i ngā hapa pea i te wā tika. Hei tauira, tirohia mēnā he huringa rerekē kei roto i te tangi o te oma, te pāmahana, te wiri, me ētahi atu o te motuka; tirohia mēnā he tohu werawera, he waikura, he whatiwhati, me ētahi atu kei ngā pito me ngā taura o te motuka; kia aro ki te tohu whakaoho me te whakaaturanga waehere hapa o te taraiwa. Mā ēnei tirotiro ngāwari o ia rā, ka kitea ngā raruraru i te wā tōmua o te hapa, kia taea ai te mahi i ngā mahi e tika ana hei karo i te horapa atu o te hapa.

9. Te tātari i ngā take noa o te kino o te motuka
Te mahi taumaha rawa: Ko te mahi taumaha roa tētahi o ngā tino take o te kino o te motuka servo. Ina nui ake te kawenga e mau ana i te motuka i tōna mana kua whakatauria, ka nui rawa te ia o te motuka, ka wera rawa te takai, ka tere ake te tawhito o te rauemi whakamarumaru, ā, ka mutu, ka puta te takai ki te ara iahiko poto, ki te ara iahiko tuwhera, ki te hapa whenua rānei. Hei tauira, i roto i te tukanga whakahaere kawenga taumaha, i te tīmatanga me te whakamutu pinepine rānei o te kaiwhakahaere, ki te kore e whakatakotoria tika ngā tawhā kawenga, ngā rautaki whakahaere rānei, ka ngāwari te taumaha rawa o te motuka.
Raruraru hiko: Ka pā nui te kore pumau o te hiko ki te motuka servo. Ka wera rawa te takai o te motuka, ka pakaru te whakamarumaru o te hiko ina nui rawa te ngaohiko; ka uaua pea te tīmata i te motuka, ka kore e mahi tika, ka wera rānei te motuka ina iti rawa te ngaohiko. Hei tāpiri, ka raru pea te wiri o te motuka nā te pokanoa o te haurore i roto i te hiko, ka nui ake te haruru, ka iti haere te pai o te mahi. Hei tauira, i roto i te pūnaha hiko o te wheketere, mena he āhuatanga pēnei i te tīmatanga me te mutu o ngā taputapu nui, te pakaru o te whatunga hiko, te tawhito rānei o ngā raina hiko, ka heke pea te kounga o te hiko, ka pā ki te mahi noa o te motuka.
Ngā āhuatanga taiao: Ka tere ake te kino o te motuka i te taiao mahi kino. Hei tauira, i roto i te taiao he nui te pāmahana, he nui te haumākū, he nui te puehu, he hau waikura, me ētahi atu, ka heke te mahi whakamarara wera o te motuka, ka ngawari te makuku me te tawhito o te rauemi whakamarumaru, ā, ka waikura, ka waikura hoki ngā wāhanga whakarewa, ka pā ki te mahi me te roa o te ora o te motuka. Ki te kore e ranea te taumata tiaki o te motuka, ka uru mai ngā mea ke atu pērā i te konganuku rino, te paru hinu, te wai, me ētahi atu, ka puta hoki ngā raruraru pērā i te porowhita poto o roto, te pā kino, te aukati miihini rānei o te motuka.
Te ngoikore o te miihini: Ka pāngia hoki te miihini e te ngoikore o te hanganga miihini. Hei tauira, ko te kakahu o te peera, te pakaru o te taputapu, te tawhito o te whitiki me te wetewete ka kaha ake te wiri o te miihini i te wā e whakahaerehia ana, ka piki ake te kawenga, kātahi ka wera rawa te miihini, ka pakaru te takai ki te ngenge. Hei tāpiri, ko te tāutanga hē o ngā wāhanga miihini, pērā i te rerekētanga o te hononga me te piko o te pou tuku, ka pāngia hoki te wiri me te haruru o te miihini, ka pā ki te mahi noa o te miihini.

10. Whakarāpopototanga
Hei whakatau tere me te tika mēnā ko te motuka o te kaiwhakahaere servo Ki te pakaru, me whakamahi ngā momo tikanga me ngā tikanga maha. Mai i te tirotiro āhua, te whakarongo me te whakatau pā, ki te kimi taputapu, te tātari mōhiohio whakaoho, ki te tirotiro wāhanga e pā ana me te whakamātautau mahi, he mea nui ia hononga. Mā ēnei tikanga, ka taea e koe te mārama katoa ki te āhua whakahaere o te motuka me te kimi i ngā raruraru hapa pea i te wā tika.
Mō ngā kaihoko rarawe o te ao, i te wā e whiriwhiri ana i tētahi taputapu whakahaere servo, me aro nui koe ki te kounga, te mahi me te ratonga muri-hoko o ngā taputapu. Whakanuia ngā waitohu rongonui me ngā kaiwhakarato whai mana kia mōhio ai kei te taputapu kua hokona he motuka pono me ngā kaupapa here pūtāhui tino tika. I te wā e whakamahia ana ngā taputapu, me whai tonu i ngā tikanga whakahaere, me mahi i te tiaki auau, me te whakarato whakangungu ngaio mō ngā kaiwhakahaere kia pai ake ai tō rātou kaha ki te tautuhi me te whakahaere i ngā hapa o ngā taputapu.
Mēnā ka tūtaki koe ki ngā hapa uaua pēnei i te kino o te motuka, kaua e whakatika noa iho. Me whakapā atu koe ki tētahi whakahaere tiaki ngaio, ki tētahi kaiwhakarato taputapu rānei i te wā tika, ā, me tono kia mahi ngā tohunga hangarau ngaio i te tiaki me te whakakapi i ngā wāhanga. I taua wā anō, whakatūria he kōnae rahunga taputapu hei tuhi i te wā, te āhuatanga, te take me ngā mehua tiaki o ia rahunga. Mā tēnei ka āwhina i te tātari i ngā ture rahunga o ngā taputapu, ka whakatakoto i tētahi mahere tiaki pūtaiao ake, whai take ake hoki, ka whakapai ake i te pono me te roa o te ratonga o ngā taputapu, ā, ka whakarite kia maeneene te haere o te whakaputanga.