QMOT STEPPER MOTORS MOTORS V 1.05 QMOT QSH6018 MANUAL + + QSH-6018 -45-28-110 60mm 2.8A, 1.10 Nm -56-28-165 60mm 2.8A, 1.65 Nm -65-28-210 60mm 2.8A, 2.10 Nm + + -86-28-310 60mm 2.8A, 3.10 Nm TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
QSH6018 Manual (V1.05 / 2011-MAR-19) 2 Table of contents 1 2 3 4 5 6 7 8 Life support policy ....................................................................................................................................................... 3 Features........................................................................................................................................................................... 4 Order Codes .................................................................
QSH6018 Manual (V1.05 / 2011-MAR-19) 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.
QSH6018 Manual (V1.05 / 2011-MAR-19) 4 2 Features These four phase hybrid stepper motors are optimized for microstepping and give a good fit to the TRINAMIC family of motor controllers and drivers. Main characteristics: NEMA 23 mounting configuration flange max. 60.5mm * 60.5mm 8.0mm axis diameter, 25mm axis length with 20mm D-cut of 0.5mm depth step angle: 1.
QSH6018 Manual (V1.05 / 2011-MAR-19) 5 3 Order Codes Order code QSH6018-45-28-110 QSH6018-56-28-165 QSH6018-65-28-210 QSH6018-86-28-310 Description QMot Steppermotor QMot Steppermotor QMot Steppermotor QMot Steppermotor 60 60 60 60 mm, mm, mm, mm, 2.8A, 2.8A, 2.8A, 2.8A, 1.10 1.65 2.10 3.10 Nm Nm Nm Nm Table 3.1: Order codes Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH6018 Manual (V1.05 / 2011-MAR-19) 6 4 Mechanical dimensions 4.1 Lead wire configuration Function Motor coil Motor coil Motor coil Motor coil A A B B pin pin pin pin black 1 2 1 2 M A green blue red Table 4.1: Lead wire configuration B Cable type Gauge Coil Black UL1007 AWG22 A Green UL1007 AWG22 ARed UL1007 AWG22 B Blue UL1007 AWG22 B- 4.2 Dimensions 24±1 Length K 38.1±0.025 7.5±0.2 60±0.5 3+0/0.1 R 0.5 5±0.2 20±0.5 1.6 5 60±0.5 47.14±0.2 60±0.5 8-0/0.013 47.14±0.2 38.1±0.
QSH6018 Manual (V1.05 / 2011-MAR-19) 7 5 Torque figures The torque figures detail motor torque characteristics for full 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 Motor QSH6018-45-28-110 Testing conditions: 30V supply voltage; 3.0A RMS phase current Figure 5.1: QSH6018-45-28-110 Speed vs.
QSH6018 Manual (V1.05 / 2011-MAR-19) 5.3 Motor QSH6018-65-28-210 Testing conditions: 30V supply voltage; 3.0A RMS phase current Figure 5.3: QSH6018-65-28-210 Speed vs. Torque Characteristics 5.4 Motor QSH6018-86-28-310 Testing conditions: 30V supply voltage; 3.0A RMS phase current Figure 5.4: QSH6018-86-28-310 Speed vs. Torque Characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH6018 Manual (V1.05 / 2011-MAR-19) 9 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.
QSH6018 Manual (V1.05 / 2011-MAR-19) 10 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.
QSH6018 Manual (V1.05 / 2011-MAR-19) 11 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.
QSH6018 Manual (V1.05 / 2011-MAR-19) 12 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.
QSH6018 Manual (V1.05 / 2011-MAR-19) 13 7 Optimum motor settings Following table shows settings for highest reachable fullstep velocities. Optimum Motor Settings Motor voltage Motor current (RMS) Maximum microstep velocity = Fullstep threshold QSH6018 -65-28-210 -86-28-310 A 2.8 2.8 RPS 1.907 1.144 RPS 3.815 2.575 RPS 2.861 2.003 RPS 7.629 5.245 24 Maximum fullstep velocity Maximum microstep velocity = Fullstep threshold Unit 48 Maximum fullstep velocity Table 7.
QSH6018 Manual (V1.05 / 2011-MAR-19) 14 8 Revision history 8.1 Documentation revision Version 1.00 1.01 1.02 1.03 1.04 1.05 Comment Initial Release 2007-JUN-07 2007-NOV-07 Author HC HC HC 2008-FEB-08 2010-OCT-14 2011-MAR-19 GE SD SD Description Chapter 6 Optimum motor settings added Chapter 6.4 Fehler! Verweisquelle konnte nicht gefunden werden. added New motors added Minor changes Dimensions updated, new front page Table 8.
