QMOT STEPPER MOTORS MOTORS V 2.3 QMOT QSH5718 MANUAL + + QSH-5718 -41-28-055 57mm 2.8A, 0.55Nm -51-28-101 57mm 2.8A, 1.01Nm -56-28-126 57mm 2.8A, 1.26Nm -76-28-189 57mm 2.8A, 1.89Nm + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
QSH5718 Manual (V2.3/2011-APR-12) 2 Contents 1 2 3 4 Life support policy .................................................................................................................................................................... 3 Features........................................................................................................................................................................................ 4 Order Codes ..............................................................
QSH5718 Manual (V2.3/2011-APR-12) 1 Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.
QSH5718 Manual (V2.3/2011-APR-12) 4 2 Features These two phase hybrid stepper motors are optimized for microstepping and give a good fit to the TRINAMIC family of motor controllers and drivers. Characteristics: NEMA 23 mounting configuration 6.35mm axis diameter, 20mm axis length step angle 1.8 optimized for microstep operation optimized fit for TMC239/TMC249/TMC262 based driver circuits 4 wire connection CE approved flange max. 56.5mm x 56.5mm D-cut of 15mm length and 0.
QSH5718 Manual (V2.3/2011-APR-12) 5 3 Order Codes The length of the motor is specified without the length of the axis. For the total length of the product add 24mm. Order code QSH5718-41-28-055 QSH5718-51-28-101 QSH5718-56-28-126 QSH5718-76-28-189 Description QMot stepper QMot stepper QMot stepper QMot stepper motor motor motor motor 57mm 57mm 57mm 57mm 2.8A, 2.8A, 2.8A, 2.8A, 0.55Nm 1.01Nm 1.26Nm 1.89Nm Table 3.1: Order codes Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG Dimensions 56.
QSH5718 Manual (V2.3/2011-APR-12) 6 4 Mechanical dimensions 4.1 Dimensions 24±1 Length 38.1±0.03 6,35-0.012 3+0/0.1 56.4±1 R 0.5 5±0.2 20±0.5 1.6 5 56.4±1 47.14±0.2 6.35-0.013 47.14±0.2 56.4±1 38.1±0.025 4-ø4.6 Figure 4.1: Dimensions of QSH5718. All values in mm. Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH5718 Manual (V2.3/2011-APR-12) 7 4.2 Leadwire configuration black A blue red B green M Cable type 1 Gauge Coil Black UL1007 AWG22 A Green UL1007 AWG22 ARed UL1007 AWG22 B Blue UL1007 AWG22 B- Figure 4.2: Leadwire configuration Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH5718 Manual (V2.3/2011-APR-12) 8 5 Torque figures The torque figures detail motor torque characteristics for half step operation in order to allow simple comparison For half step operation there are always a number of resonance points (with less torque) which are not depicted. These will be minimized by microstep operation in most applications. 5.1 QSH5718-41-28-055 VM: 30V, 2,8A/Phase Torque [Nm] 0,560 Half step 0,480 0,400 0,320 0,240 0,160 0,080 0,000 100 1000 10000 Speed [Pps] Figure 5.
QSH5718 Manual (V2.3/2011-APR-12) 9 5.2 QSH5718-51-28-101 VM: 30V, 2,8A/Phase Half step Torque [Nm] 1,050 0,900 0,750 0,600 0,450 0,300 0,150 0,000 100 1000 10000 Speed [Pps] Figure 5.2: QSH-5718-51-28-101 speed vs. torque characteristics 5.3 QSH5718-56-28-126 VM: 30V, 2,8A/Phase Torque [Nm] 1.260 Half step 1.080 0.900 0.720 0.540 0.360 0.180 0.000 100 1000 10000 Speed [Pps] Figure 5.3: QSH5718-56-28-126 speed vs. torque characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH5718 Manual (V2.3/2011-APR-12) 10 5.4 QSH5718-76-28-189 VM: 30V, 2,8A/Phase Torque [Nm] 2,100 Half step 1,800 1,500 1,200 0,900 0,600 0,300 0,000 100 1000 10000 Speed [Pps] Figure 5.4: QSH5718-76-28-189 speed vs. torque characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH5718 Manual (V2.3/2011-APR-12) 11 6 Considerations for operation The following chapters try to help you to correctly set the key operation parameters in order to get a stable system. 6.1 Choosing the best fitting motor for an application For an optimum solution it is important to fit the motor to the application and to choose the best mode of operation. The key parameters are the desired motor torque and velocity.
QSH5718 Manual (V2.3/2011-APR-12) 12 6.2.1 Choosing the optimum current setting Generally, you choose the motor in order to give the desired performance at nominal current. For short time operation, you might want to increase the motor current to get a higher torque than specified for the motor. In a hot environment, you might want to work with a reduced motor current in order to reduce motor self heating.
QSH5718 Manual (V2.3/2011-APR-12) 13 6.3.1 Determining if the given driver voltage is sufficient Try to brake the motor and listen to it at different velocities. Does the sound of the motor get raucous or harsh when exceeding some velocity? Then the motor gets into a resonance area. The reason is that the motor back-EMF voltage reaches the supply voltage. Thus, the driver cannot bring the full current into the motor any more.
QSH5718 Manual (V2.3/2011-APR-12) 14 6.5 Choosing the Commutation Scheme While the motor performance curves are depicted for fullstepping and halfstepping, most modern drivers provide a microstepping scheme. Microstepping uses a discrete sine and a cosine wave to drive both coils of the motor, and gives a very smooth motor behavior as well as an increased position resolution. The amplitude of the waves is 1.41 times the nominal motor current, while the RMS values equal the nominal motor current.
QSH5718 Manual (V2.3/2011-APR-12) 15 7 Revision history 7.1 Document revision Version 1.00 1.01 1.02 1.03 1.04 2.0 Comment Initial Release 20-Jun-07 24-Oct-07 13-Nov-07 2008-04-01 2009-05-14 Author HC HC HC HC GE SD 2.1 2010-SEP-25 SD 2.2 2.3 2010-OCT-18 2011-APR-12 SD SD Description Chapter 0 Optimum motor settings added Torque figures corrected Chapter 6.
