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Cch tnh vn tc khi mun iu khin ng c bc quay theo tc t trc(vng/pht) : T vn tc suy ra gi tr cho cc thanh ghi. t vn tc cn t l V ( Vong/Phut).

. 1 Step ca Motor = 7,5, vy xoay 1 vng cn 48 Step. => s Step quay trong 1 Phut : V*48 => Thi gian delay cho 1 Step : 1Phut / V*48. = 60000ms/V*48= 1250ms/V Thi gian Delay : = T_DELAY = 1250 ms/V Vy : Nu mun t vn tc V th : T_DELAY = 1250/V. Ch :Ty theo mi loi ng c bc m ta s c gc quay 1 step khc nhau. Bng step ca 1 s ng c bc thng dng:

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