Lithako tse se nang matsoalo a mabenyane li bokae?

Ke eng e khethollang likokoana-hloko tsa makoloi tsa DSC

Li-core tsa mantlha le mmaraka oa 'maraka

Litheko tsa tsamaiso ea makoloi (bddc) li tsamaisoa haholo ka tekanyetso ea matla, bokhoni ba hona joale, taolo e tsoileng matsoho le bophahamo ba tlhahiso. Qetellong, liboto tsa mantlha tsa batho ba fokolang ba boholo bo ka fumanoa ho tloha ka US $ 10 - US $ 20 ka bongata. Liipollo tsa indasteri - Likarolo tsa Kelello li oela US $ 70-Record Ho tsoa pokellong ea fektheri kapa pristale ea unit e ka theoha 30% -60% e ka tlase ho bophahamo ba taolo ea odara le tloaelo. Morekisi oa litsebi o lekanya lipara tsena ka mokhoa o hlophisehileng ho latela ts'ebetso ea Controrl e nang le tekanyetso.

Ts'ebetso, ho ts'epahala, le maemo a netefatso

Litlhoko tsa ts'ebetso li ama litheko ka kotloloho. Likarolo tse reriloeng tsa 24/7 libakeng tsa indasteri hangata li kenyelletsa likarolo tse tsoetseng pele, ho hlokomeloa ha lefatše, ho eketsa butle Ho latela melao e kang ea CE, Rohs, le li-fereus tsa polokeho li ka eketsa tse 5% -15% ka lebaka la likarolo tse eketsehileng, moralo oa liteko. Ha litoeba tsa tšimo ea selemo le selemo tsa ho hloleha ha sephethephethe sa selemo le selemo.

Ho kena - Boemo ba li-conshodis tsa DC tsa DC bakeng sa ho itlosa bolutu

Litaelo tse tloaelehileng le lihlopha tsa theko

Ho kena - Batsamaisi ba Bldc BARCH ba tloaetse ho sebelisoa ka har'a drones, lipompo tse nyane, likoloi tsa mokhabiso le merero e bobebe ea day. Litlhaloso tsa bona tse tloaelehileng li kenyelletsa:

• Voltage Range: 6-24 v DC (ka tloaelo 2-6 l - Lisele tsa ion)
• Khafetsa: 5-40 a
• Peak ea hona joale: ho fihlela ho 60-80 A bakeng sa metsotsoana e seng mekae
• Mosebetsi: Taolo ea Trapezeolidal e sa tsotelleng maemong a mangata
• Ts'ireletso ea mantlha: Ho fokotsa meeli ea ho fokotsa le maemo

Litefiso tsa ho rekisoa ha likarolong tse joalo hangata li tsoa ho US $ 10 ho ea US $ 60 ho latela likarolo tsa hajoale le li-firthware. Ha e le ka tlase (5-10 a, ha ho na puisano), litšenyehelo li ka ba haufi le $ 10-US $ 15. Qetellong (30-40 A, likarolo tse ngata tse fumanehang, mefuta e mengata), litheko hangata li ka US $ 35 - US $ 60 bophara. Tlas'a maemo a tlase, ha a laela likotoana tse 500 ho tloha fekthering, litheko tsa yuniti tsa yuniti li ka theoha ka 30% -50%.

Liaparo - Khoebo ea Sading Design - off

Ho boloka litheko tse tlase, ho kena - Likarolo tsa Masters li etsa khoebo e ikhethang -

• ToPology: E bonolo ho tse tšeletseng - Mohato (Trapezoudal
• Likarolo: Tšebeliso ea litšenyehelo - Tšebeliso ea litšenyehelo - ho hlasimolla litho tsa mofuta o fokolang, ho cheka ho fokolang le li-Ppro libatjo tse phahameng.
• Firmware:
• K'homphiso: Ho kenya letsoho ho spec kapa semolao sa bo-analog, ha ho tšehetso ea libese tsa indasteri.

Likhetho tsena li lumella bili ea lisebelisoa (bom) ho bolokoa ho US $ 4-US $ 15 Mefuta ea hajoale ho latela tekanyetso ea hona joale. Lekhalo pakeng tsa bom le ho rekisa theko e koahela R & D, taolo ea boleng, lequotory le mofani oa motho ea kenang mofani. For non-critical, cost-sensitive projects, these controllers are usually adequate when sized with at least 20%–30% current margin.

Bohareng -

Libaka tsa Bohlokoa le Boholo ba Libuka

Bo-ralitliloeng - Mulos Bldc Basebetsi ba Sebetsa Mechine, Lipula, Agvs, lisebelisoa tsa bongaka le lits'ebetso tsa khoebo. Litšobotsi tsa bona tsa motlakase le tšebetso li kenyelletsa:

• Lenane la Voltage: 24-72 v DC; mefuta e meng ho isa ho 100 v
• Meetso e tsoelang pele ea hona joale: 10-80 A (240-5,000
• Peak ea hajoale: 2 × × × × × × × × × ×
• Taolo: le / kapa trapezolidal e sa tsitsang; Ba bangata ba ts'ehetsa foc bakeng sa katleho e phahameng ea taolo ea torque
• Tšireletso: Ho feta tekano, ho pharalla holimo, ho lahleheloa ke mekhahlelo, ho thatafala ha mocheso oa mocheso
• Meetso: Kakaretso ea Analog, PWM, dijithale tsa Dijini

Litheko tsa thekiso ea karolo ena li fapana ho tloha ho $ 80 ho ea US $ 300 ho latela maemo a bona a ho bala le ho tsitsipana. Mohlala, 48 v, 20 ea peo ea tšepe e nang le mohoebi ea nang le indasteri ea indasteri hangata o rekisa pakeng tsa US $ 120 le US $ 180. A 72 V, 60 molaoli oa maikutlo a nang le karabo le ho ba le eona

Industrial -

Ha ho bapisoa le li-units tsa ho itlosa bolutu, Bongata - Marena a Liindaria a sebelisoang khafetsa:

• Likarolo tsa Copper Copper PCB (2-4 oz) ho sebetsana le setopo se phahameng.
• Li-aluminium tse boima kapa tse koahetsoeng mochesong, ka linako tse ling li ts'ehetso ea fan.
• Ho koahela mongobo oa mongobo le ho hanyetsa lerōle.
• Screw li-furu kapa plug plug - ho hokahana ho e-na le li-pads tsa theko

Lintlafatso tsena hangata li eketsa US $ 15 - US $ 60 ho ea Bom, empa u ntlafatsa ho tšepahala ebile ho na le bophelo bo phahameng ka ho hlaka. Ho tloha ka pono ea fektheri, litheko tsa tlhahiso bakeng sa likarolong tse joalo li ka US $ 400 ea US Bakeng sa bareki ba OEm ba hokahanya tsena har'a mochini, litheko tsa bophelo hangata li bohlokoa ho feta litšenyehelo tse nyane tsa upfront tse ncha.

Phahameng - Bokaholimo ba Servo le bohato ba Bldc

Tsebiso e tsoetseng pele ea taolo le lisebelisoa tsa lisebelisoa

Qetellong ea pheletso, BDDC Currollerrs e feta le li-dracs tsa Sertal, li shebane le ho nepahala, ts'ebetso e matla le taolo e tsoetseng pele le taolo e tsoetseng pele. Litlhaloso tse tloaelehileng:

• Voltage Rang: 24-400 v DC (AC ea AC - E FED ka tlholeho ea kahare)
• Meetso e tsoelang pele ea hona joale: 5-60 A Axis
• Tlhahiso: Katleho e phahameng haholo, kenyelletso e felletseng, li-santris, ka linako tse ling li lekanyelitsoeng
• Laola lialgorithms: foc ka lebelo la hajoale, lebelo le maemo a loops; e felileng; taolo ea jerk
• Boemo
• Meetso: Likhetho tsa naha tse ngata tsa naha, li-inputs tsa polokeho, li-digital tsa Digital I / O

Litefiso tsa thekiso bakeng sa li-driver tse joalo ka kakaretso li qala ho potoloha US $ 10 'me li ka re feta $ 1,000, haholo-holo bakeng sa sebaka - Axis kapa Pres - A le mong A 300 V - Sehlopha se 20 sa Tlhakubele

Lithabetso tsa ho netefatsa ho nepahala le setifikeiti

Ts'ebetso ea ts'ebetso e hloka li-eletisi e potlakileng, qeto e phahameng ea ADC, le bophahamo ba boleng ba hajoale, bo ka eketsang bom ka 20% -50 -50-controllers. E koetsoe - Lisebelisoa tsa ho ts'oaroa, software ea kalafo ea PC, 'me tlhahlobo e atolositsoeng ea firmware e boetse e kenyelletsa litšenyehelo tsa bohlokoa tsa boenjiniere tse lokelang ho hlahisoa ka bongata. Litsebi tsa polokeho, joalo ka sehlopha - Rated Toropo ea Ts'ireletso ea Strong (u hlotsoe Ha e ntse e tsoa molemong oa thepa ea boholo ba litheolelo, litheolelo li ka ba bonolo (10% -25%) hobane boenjiniere li phahameng haholo kapa tse ikhethang.

Tšusumetso ea Boemo ba Matla le Boloi ba Hona joale

Ho qhekella litšenyehelo ka voltage le ea hajoale

Boemo ba matla ke e 'ngoe ea bakhanni ba theko e nepahetseng ka ho fetisisa. E ka ba theko ea motlakase kapa ea morao-rao ea eketseha, likarolo tsa bohlokoa li fetoha tse theko e phahameng haholo:

• Li-razits / igbts ka voltage e phahameng le litekanyetso tsa hajoale.
• Bakhanni ba Gate ba ile ba lekantsoe bakeng sa dv / dt e phahameng le e phahameng haholo -
• Makhotla a maholo a libese tse nang le esr e tlase le e phahameng ea RIPLE - Litefiso tsa hajoale.
• E boima haholo ea koporo le li-sink tse kholo tsa mocheso.

Mohlala, a eketsa tekanyo ea molao e tsoang 24 V, 10 A (240 w) ho phahamisa matla a holimo ka lebaka la 8-5 Ka mantsoe a sebetsang, a 24 v, 10 boto e kanna ea rematike ho potoloha $ 40, ha e ntse e le makhopho

Nako e tsoelang pele ea Peak ea hona joale le ea mosebetsi

Liphetoho tsa molaoli li khetholla pakeng tsa tsa hona joale tse tsoelang pele le tse phahameng tsa peak. Designs ea ho sebeletsa (e.g., lisebelisoa tsa motlakase, hakhutšoanyane - lisele tsa mocheso le koporo e nyane, li-theko e tlase. Mohlala, likarolong tse peli li lekantsoe ka mokhoa o ikhethileng ho 60 A ka fapana:

• Molaoli oa A: 60 Peak bakeng sa metsotsoana e 10, mosebetsi o tsoelang pele, o le lipakeng tsa US $ 35-US $ 50.
• Molaoli B: 60 Peak e tsoelang pele, 9. Peak bakeng sa metsotsoana e 5, boima - Bom City

Phapang ea theko ea bolokolohi e ka re feta habonolo $ 80-US leha e le letoto la sehlooho. Ha u lekola lintlha tse qotsitsoeng fektheri kapa mofani oa thepa, ho bohlokoa ho lekola li-curves tse matlafatsang, mocheso o mongata (e.g., 40

Mesebetsi ea Puisano le Ts'ebetso ea Taolo e Phahameng

Kameho ea Pelo ea Puisano ka litheko

Bokhoni ba puisano bo eketsa qeto ka bobeli likarolo tsa Ntumisetso ea Nturmware. Batsamaisi ba nang le ente ea katse kapa e bonolo ea PWM e theko e tlaase. Ho eketsa linokoane tse tloaelehileng tsa digital tsa digital tsa digital Tloaelo e tloaelehileng ea theko ea theko e tlase:

• Uart e bonolo kapa spipi bakeng sa tlhophiso: Bom e eketsehileng ea bom, hangata e le $ 2, empa e hloka boiteko ba matla.
• Lits'oants'o tsa Range (mohlala, li sebelisoa haholo ka ho kenella ka bongata): US $ 5-US $ 15 BoM
• Eledend Ethernet - Li-Protocol tsa lienjhererial: US $ 15-US $ 40 e eketsehileng ea Elem.

Ka lebaka lena, likamore tse peli tse nang le litekanyetso tse tšoanang li ka fapana ka theko ea retail ka US $ 40-US $ 200 re ile ra itlama ka sebopeho sa mokala. Ho li-costation of wholeleles, likhetho tsa puisano hangata ke mothati; Ho tlosa meeli e itseng ka linako tse ling ka linako tse ling ho theola litšenyehelo tsa unit ka 10% -25%.

Taolo e bohlale, linohe tsa boleng le likarolo tsa firmware

Ho feta taolo ea mantlha, baetsi ba sejoale-joale sa BDC ba fana ka:

• Paramente ea Paramente ea Paramente ea Phetoho ea Boemo.
• Lintlha tse fanoang ha data ea hona joale, mocheso oa motlakase, mocheso, le lihora tsa ts'ebetso.
• Boemo ba boemo le maemo a phahameng a ho hlokomela litaba.
• PC - Lisebelisoa tsa ho ntlafatsa lisebelisoa le bokhoni ba Firmware.

Ho kenya tšebetsong likarolo tsena ho itšetlehile ka ts'ebetso ea Microcontroller le mohopolo. Ho tloha ho 8 - Bit McU ho 32 - "e nang le lebelo le phahameng le lepotlapotla Mahareng a - le phahameng - Likarolo tsa Boraro tsa Bolulo tsa "Smart" hangata li ka fokotsa system, ts'ebeliso ea matla a tlase e khaotsoeng ketelo ea tlhokomelo.

Litheko tsa molumo, OEM e sebetsana le eona, le meralo ea tloaelo

Litheko tsa litheko ho tsoa ho prototype ho tlhahiso e ngata

Bakeng sa litaelo tse nyane (tse 1-10 likotoana), bareki hangata ba lefa theko ea theko ea theko, e kenyelletsang ho ajoa le litšenyehelo tsa tšehetso. Ha e le palo ea tatellano ea tatellano e eketseha, ka hara litheko tsa unit e fokotseha ka lebaka la moruo. Sebopeho se nang le maemo a mangata bakeng sa bohareng -

• Litsi tsa 1-9: 100% ea theko ea lenane (e.g., US $ 200).
• Litsi tsa 10-49: 5% -15% theolelo (US $ 170-US $ 190).
• Litsi tse 50-1999: 15% -30 -30% (US $ 140-US $ 170).
• Litsi tsa 200-999: 25% -40 -40% (US $ 120-US $ 150).
• Lits'ebeletso tse 1 000r: 35% -55% (US $ 90-US $ 130), ho latela likhetho le mantsoe a ho lefa.

Linomoro tsa 'nete li fapana ho feta barekisi, empa mohlala o ne o feta boteng ba lekholo le neng le feta selemo le selemo,' mele oa fektheri o fetoha o motle haholo. Ka nako eo, moreki a ka sebetsa ka kotloloho le sehlopha sa boenjiniere ho firmation of Proftization kapa liphetoho tse nyane.

Litsenyehelo tsa tumellano le tse seng - boenjiniere ba khafetsa

Merapo ea tloaelo kapa ho ikarola ka mokhoa o tebileng oa firmware ea firmware e sa sebetseng e sa phekoleheng ea boenjiniere (nre). Boholo ba Nre li fapana ho tsoa ho US $ 20,000-US $ 20,000 bakeng sa li-comroller tse lekantsoeng tsa $ 50 000 kapa tse ling bakeng sa ts'ebetso e mengata ea hardware. Litsenyehelo tsena li namela ho feta bophahamo ba bophelo bohle:

• Likarolong tse 500 kaofela, e theko ea US $ 20,000 e re eketsa ka $ 40 ka yuniti.
• Likarolong tse 5,000 kaofela li hang, nre e tla eketsa feela $ 4 ka yuniti.

Puisano e hlophisitsoeng e nang le mofani oa thepa e atisang ho bua ka litšenyehelo tsa nre le tsa unitrate ho Tandem. Bakeng sa nako e telele - merero e tsitsitseng ea selemo le selemo, moralo oa moetlo o ka hlahisa molaoli ea 10%, ho feta ho ntlafatsa ts'ebetso le ho hokahana.

Litsenyehelo tse Patiloeng ho feta Theko ea molaoli ea theko ea Controlr

Wiring, Emc le litšenyehelo tse ling tsa ho kopanya

Theko e bonahalang e bonahala ke karolo feela ea ho khanna ka kakaretso - Lits'enyehelo tsa System. Litsenyehelo tse eketsehileng li kenyeletsa:

• Wiring Wiring, Lichelete, Li-fuse, le libui tsa potoloho (hangata US $ 10-US $ 100 ka axis).
• Lifilimi tsa Emc kapa mela ea line ho fihlela litlhoko tsa embion le ho itšireletsa (US $ 20 - US $ 150 +).
• Mefuta e mecha ea mecha ea letsoho, mabokose le tiiso ea tikoloho le ea tikoloho ea US $ 5).

Bakeng sa ba tlase - Lintho tsena tse katsetsang tsa theko li ka lekana kapa tsa feta theko ea control. Mohlala, molaoli oa indasteri ea indasteri o theko e tlaase ho US $ 150 a ka re hloka $ 80-US $ 180 meqolong e meng bakeng sa ho kenya ho hloekisang. Budgent e bohlale e bile ea matlafatsoa ka lebaka la 1.3-2.0 ho hakanyetsa litšenyehelo tsa drive ho latela tikoloho, litheko tsa taolo le libaka tsa ho sesa.

Software, Khohlano le Tlhokomelo le Tlhokomelo

Litsenyehelo tse seng - Litsenyehelo tsa Hardware li ka ba matla, haholo-holo likokelo tse rarahaneng:

• Nako ea boenjiniere ea khetho ea ho khanna, e sikisang le litokomane.
• Ho qoqa le ho hula, ho ka nka lihora tse thusang tsa 2-8 ka axis.
• Koetliso ea ts'ebetso le moralo oa tlhokomelo.
• Likarolo tsa phomolo tsa phomolo le ho ba le kotsi ea ho phomola.

Haeba sekhahla sa moenjiniere se kentsoe ka botlalo Batsamaisi ba nang le Auto - ho kopanya, ho etsa tlhahlobo le litokomane li ka fokotsa nako ea ho fumana chelete ka ho boloka nako ea $ 20 - US $ 50 ho Hardware. Ha ho hlahlojoa ho fana ka sethuseng ho tsoa fekthering kapa mofanibe ka botlalo, litšenyehelo tsa ho ba le tsona - Ho ngotsoe - Ho ngotsoe ka bongata le haeba theko ea bona ea unik e phahame hanyane.

Papiso ea theko ka tikoloho le seteishene sa thekiso

Liphapang tsa theko ea tikoloho

Lihlahisoa tse fapaneng tse fapaneng ka tikoloho ka lebaka la litšenyehelo tsa basebetsi, thepa, mesebetsi ea ts'ebetso le litlamorao tsa chelete. E le ho hlokoa ka mokhoa o lekantsoeng:

• Likarolo tse ngata tsa tlhahiso e nang le lihlopha tse kholo tsa motlakase li ka fana ka litheko tse ngata tse mabifi, haholo-holo libakeng tse mahareng ho ea mangoleng a mangata.
• Lits'ebetso tse nang le lisosa tse phahameng tsa basebetsi le ho lumellana li hloka litšenyehelo tse tloaelehileng tsa 10% -40 -40 -40% ho litlhaloso tse tšoanang.
• Litefiso tsa ho tlisa le ho tsamaisa ka ho kenya 5% -20% ho fihla litšenyehelo tse fihletsoeng, ho latela boholo ba naha le tsa odara.

Mohlala, 48 v, 30 molaoli oa liindasteri tsa liindastes tse ka qotsitsoeng ho US $ 180 Ex - Forts e ka re bitsa $ 210-US $ 290 ha e kenyelelitsoe. Ha re hlophisa lintho tse qotsitsoeng, ho bohlokoa ho netefatsa hore na litheko ke tsa Ex - Mesebetsi, fob, fob, ha sena se ama haholo.

Litlobo tsa ho tsamaisoa: Tsamaiso, Tsamaiso le Bohareng

Seteishene sa thekiso le sona se susumetsa litheko:

• Ka kotloloho ho tsoa ho feme: theko e tlase haholo ea unit ea unit bakeng sa masela a mahareng le a maholo; e kanna ea hloka bongata bo phahameng ba odara le boiteko bo holimo ba ho ikoetlisa ka hare.
• Ka mobisi: Ka tloaelo 20% -40 -40% e kenyellelitsoe; Ha e le phapanyetsano, bareki ba fumana setoko sa lehae, Lipehelo tsa mokitlane le tšehetso ea tekheniki.
• Ka 'muelli oa tsamaiso: Theko ea tsamaiso e ntle ka ho fetisisa, empa e kenyelletsa moralo, ho kopana, mananeong le ka linako tse ling ho atile.

Molaoli ea hlokang ho barekisi US $ 120 ho tloha fekthering ea pele e ka remate ho US $ 150 - US $ 190 ho phethela basebelisi. Haeba sehlahisoa se le seng se rekisoa ka har'a sistimi ea Turkey ka sehokelo, theko ea eona e abetsoeng e ka feta ka katleho US $ 250-US Ho utloisisa likarolo tsena ho thusa bareki ho etsa qeto ea ho ipehela litšenyehelo tse tlase tsa yuniti kapa tšehetso e felletseng ea tharollo.

Lithuto tsa lithuso tsa lithuso tsa ts'ebeliso ea kopo ea kopo

Ho rala litšenyehelo ka matla le sehlopha sa kopo

Mokhoa o sebetsang oa ho hakanya likhaolo tsa tsamaiso ke ho khetholla lits'ebetso ka matla le ho nyatsa. Kakaretso ka - Tataiso ea Busterller ea Axis ke:

• Lower - Matla a hobby kapa diy (≤300 w): US $ 10-US $ 50 ka molaoli.
• Kakaretso - Morero oa indasteri (300-3,000 w): US $ 30-US $ 300 ka molaoli.
• Phahameng - Servibotic ea ts'ebetso ea ts'ebetso kapa liroboto (500-5,000 w, ho nepahala): US $ 10-US $ 1 000 ka molaoli oa $ 1 000 ka molaoli.

Bakeng sa maemo a mangata - Mahlako a boholo le lisebelisoa tsa motlakase (lisebelisoa tsa motlakase Hangata ho latela maemo a le mong kapa a mabeli ho feta mefuta ea mochini ho eketsa molumo oa odara le ho boloka thepa e ntle e tsoang ho mofani ea khethiloeng.

Litšenyehelo tsa pele tsa ho lekanya tsa pele le boleng ba bophelo

Ha re rera likhahla, ho eletsoa ho:

• Boholo ba mekoloto e nang le bonyane 20% -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -3 -30% e ntseng e tsoela pele ho tšepahala.
• Kenyelletsa 30% -100% ea theko ea tsamaiso ea theko ea kabo, ts'ireletso le likarolo tsa EMC.
• Khakanyo ea Khahlano le Khokahano ea Khomishene ea Khomishene ea Moenjiniere - Lihora tse ngata, ebe o phetoho bakeng sa litšenyehelo.
• Nahana ka setopo - Ho boloka le ho qeta le leano la karolo, haholo-holo ke le leano la bohlokoa.

Maemong a mangata, sehlopha se khethang 20% ​​e ntlafalitsoeng haholoanyane e ka fokotsa tšebeliso ea matla ke 5% -15% ka ho laola liketsahalo tse sa reroang ka 30% -50%. Ka lebaka la mochini oa mochini oa 5-10 oa lilemo tse 5-10, ena e lula e feta phapano ea bohlokoa ea theko. Ho sebelisana le molekane oa feme ea nang le boiphihlelo ho ka thusa ho khetholla khoebo ena -

Maxtech e fana ka tharollo

Maxtech o bua ka lithahasello tsa li-cldc tsa makoloi tse tsamaisang ts'ebetso ea mahlale ka mahlakore ka litekanyetso tsa litekanyetso tsa litekanyetso tsa litekanyetso. Ho tloha ho compact low / liboto tsa voltage bakeng sa lisebelisoa tse nkehang tsa khoebo tsa morao-rao, Maxtech a tšehetsa Oems Ka ho kopanya koloi, molaoli le litlhoko tsa ts'ebeliso, mahlakore a maxtech a ka etsa tlhahiso ea litekanyetso tsa hajoale, maapa a mafura le ho fokotsa litšenyehelo tsa tsamaiso ha a ntse a ntlafatsa ts'ebetso ea tsamaiso. Joaloka selelele sa batho ba telele - Maxtech o tiisa boholo ba meaho e pepeneneng, tlhahiso e seng molaong le tšehetso ea mahlale a mahlale a morao-rao bakeng sa bareki ba lefatše la lefatše.