QMOT Motor QSH6018 Manual 60mm QMOT motor family Trinamic Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg, Germany http://www.trinamic.
QSH6018 Manual (V1.03 / 06-February-2008) 2 Table of Contents 1 2 3 Features ........................................................................................................................................................................... 3 Life support policy ....................................................................................................................................................... 4 Mechanical Dimensions ..............................................................
QSH6018 Manual (V1.03 / 06-February-2008) 3 1 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 (V1.03 / 06-February-2008) 2 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 (V1.03 / 06-February-2008) 5 3 Mechanical Dimensions Leadwire Configuration Cable type Gauge Coil Black UL1007 AWG22 A Green UL1007 AWG22 ARed UL1007 AWG22 B Blue UL1007 AWG22 B- Function Motor coil Motor coil Motor coil Motor coil black A A B B pin pin pin pin 1 2 1 2 A green M B 3.1 blue red Table 3.1: Leadwire configuration Figure 3.1: Leadwire configuration 3.2 Dimensions Figure 3.2: Dimensions (all values in mm) Copyright © 2008, TRINAMIC Motion Control GmbH & Co.
QSH6018 Manual (V1.03 / 06-February-2008) 6 4 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. 4.1 Motor QSH6018-45-28-110 Testing conditions: 30V supply voltage; 3.0A RMS phase current Figure 4.1: QSH6018-45-28-110 Speed vs.
QSH6018 Manual (V1.03 / 06-February-2008) 4.3 Motor QSH6018-65-28-210 Testing conditions: 30V supply voltage; 3.0A RMS phase current Figure 4.3: QSH6018-65-28-210 Speed vs. Torque Characteristics 4.4 Motor QSH6018-86-28-310 Testing conditions: 30V supply voltage; 3.0A RMS phase current Figure 4.4: QSH6018-86-28-310 Speed vs. Torque Characteristics Copyright © 2008, TRINAMIC Motion Control GmbH & Co.
QSH6018 Manual (V1.03 / 06-February-2008) 8 5 Considerations for Operation The following chapters try to help you to correctly set the key operation parameters in order to get a stable system. 5.1 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 desired motor torque and velocity.
QSH6018 Manual (V1.03 / 06-February-2008) 5.2 9 Motor Current Setting Basically, the motor torque is proportional to the motor current, as long as the current stays at a reasonable level. At the same time, the power consumption of the motor (and driver) is proportional to the square of the motor current. Optimally, the motor should be chosen to bring the required performance at the rated motor current.
QSH6018 Manual (V1.03 / 06-February-2008) 5.3 10 Motor Driver Supply Voltage The driver supply voltage in many applications can not be chosen freely, because other components have a fixed supply voltage of e.g. 24V DC. If you have to possibility to choose the driver supply voltage, please refer to the driver data sheet, and consider that a higher voltage means a higher torque at higher velocity. The motor torque diagrams are measured for a given supply voltage.
QSH6018 Manual (V1.03 / 06-February-2008) 5.4 11 Back EMF (BEMF) Within SI units, the numeric value of the BEMF constant has the same numeric value as the numeric value of the torque constant. For example, a motor with a torque constant of 1 Nm/A would have a BEMF constant of 1V/rad/s. Turning such a motor with 1 rps (1 rps = 1 revolution per second = 6.28 rad/s) generates a BEMF voltage of 6.28V.
QSH6018 Manual (V1.03 / 06-February-2008) 12 5.5.1 Fullstepping When operating the motor in fullstep, resonances may occur. The resonance frequencies depend on the motor load. When the motor gets into a resonance area, it even might not turn any more! Thus you should avoid resonance frequencies. Hints: Q: How to avoid motor resonance in fullstep operation? A1: Do not operate the motor at resonance velocities for extended periods of time.
QSH6018 Manual (V1.03 / 06-February-2008) 6 Revision History 6.1 Version 1.00 1.01 1.02 1.03 Documentation Revision Comment Initial Release 20-Jun-07 13-Nov-07 06-Feb-08 Author HC HC HC GE Description Chapter 5.6 Optimum motor settings added Chapter 5.4 Back EMF (BEMF) added New motors added Table 6.1: Documentation Revisions Copyright © 2008, TRINAMIC Motion Control GmbH & Co.
