QMOT STEPPER MOTORS MOTORS V 1.06 QMOT QSH4218 MANUAL + + QSH-4218 -35-10-027 42mm 1A, 0.27Nm -41-10-035 42mm 1A, 0.35Nm -51-10-049 42mm 1A, 0.49Nm + + -47-28-040 42mm 2.8A, 0.40Nm TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
QSH4218 Manual (V1.06/2011-APR-12) 2 Table of Contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features........................................................................................................................................................................... 4 Order codes...............................................................................
QSH4218 Manual (V1.06/2011-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.
QSH4218 Manual (V1.06/2011-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. They are all used in the 42mm PANdrive™ family. The QSH4218-35-10-027, QSH4218-41-10-035 and QSH4218-51-10-049 are motors with 1A RMS coil current. The QSH4218-47-28-40 is different: It is designed for 2.8A RMS coil current to provide maximum torque at high velocities.
QSH4218 Manual (V1.06/2011-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 QSH4218-35-10-027 QSH4218-41-10-035 QSH4218-51-10-049 Description QMot stepper motor 42mm, 1A, 0.27Nm QMot stepper motor 42mm, 1A, 0.35Nm QMot stepper motor 42mm, 1A, 0.49Nm Dimensions 42.3 x 42.3 x 42.3 x 42.3 x 42.3 x 42.3 x QSH4218-47-28-040 QMot stepper motor 42mm, 2.8A, 0.40Nm 42.3 x 42.3 x 47 Tabelle 3.
QSH4218 Manual (V1.06/2011-APR-12) 6 4 Mechanical dimensions Lead wire configuration Function Motor coil Motor coil Motor coil Motor coil black A A B B pin pin pin pin 1 2 1 2 M A green red Table 4.1: Lead wire configuration blue Cable type Coil Black A Green ARed B Blue B- B 4.1 Figure 4.1: Lead wire configuration 4.2 Dimensions Length±1 24±1 20 4.5 42.3 22-0.05 3+0/0.1 5 5±0.2 2 31 22 5 42.3 4xM3 Deep 4.5 Figure 4.
QSH4218 Manual (V1.06/2011-APR-12) 7 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 Motor QSH4218-35-10-027 Testing conditions: driver supply voltage +24V DC, coil current 1.0A RMS, half step operation Figure 5.
QSH4218 Manual (V1.06/2011-APR-12) 5.3 Motor QSH4218-51-10-049 Testing conditions: driver supply voltage +24V DC, coil current 1.0A RMS, half step operation Figure 5.3: QSH4218-51-10-049 speed vs. torque characteristics 5.4 Motor QSH4218-47-28-040 Testing conditions: driver supply voltage: +24V DC, coil current: 2.8A RMS, half step operation Figure 5.4: QSH4218-47-28-040 speed vs. torque characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
QSH4218 Manual (V1.06/2011-APR-12) 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.
QSH4218 Manual (V1.06/2011-APR-12) 6.2.1 10 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. The Trinamic drivers allow setting the motor current for up to three conditions: - 6.2.
QSH4218 Manual (V1.06/2011-APR-12) 6.3.1 11 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.
QSH4218 Manual (V1.06/2011-APR-12) 6.5 12 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.
QSH4218 Manual (V1.06/2011-APR-12) 7 Revision history 7.1 Document revision Version 1.00 1.01 Date 2007-JUN-20 Author HC HC 1.02 1.03 1.04 1.05 2007-JUL-11 2007-NOV-13 2009-APR-01 2009-JUN-20 HC HC GE SD 1.06 2011-APR-12 SD Description Initial Release Chapter Fehler! Verweisquelle konnte nicht gefunden werden. optimum motor settings added Chapter 5: motor codes corrected Chapter 6.4 Back EMF (BEMF) added Max.
