QBL5704-94-04-032

QMot QBL5704 family Manual V1.03 2010-NOV-03 Trinamic Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg, Germany http://www.trinamic.com QBL5704 Manual (V1.03 / 2010NOV-03) 2 Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features........................................................................................................................................................................... 4 Order codes.................................................................................................................................................................... 5 Mechanical dimensions .............................................................................................................................................. 6 4.1 Dimensions ........................................................................................................................................................... 6 4.2 Leadwire configuration ..................................................................................................................................... 7 5 Torque figures ............................................................................................................................................................... 8 5.1 Motor QBL5704-94-04-032.................................................................................................................................. 8 5.2 Motor QBL5704-116-04-042 ............................................................................................................................... 9 6 Motor sizing ................................................................................................................................................................. 10 6.1 Peak torque requirement ................................................................................................................................ 10 6.2 RMS torque requirement ................................................................................................................................. 10 6.3 Motor velocity .................................................................................................................................................... 11 7 Revision history .......................................................................................................................................................... 12 7.1 Document revision ........................................................................................................................................... 12 List of figures Figure Figure Figure Figure 4.1: 5.1: 5.2: 6.1: Dimensions (all values in mm, hx describe drilling tolerance) ......................................................... 6 QBL5704-94-04-032 velocity vs. torque characteristics .......................................................................... 8 QBL5704-116-04-042 velocity vs. torque characteristics ........................................................................ 9 Trapezoidal move and triangular move .................................................................................................. 11 List of tables Table Table Table Table 2.1: 3.1: 4.1: 7.1: Motor technical data ......................................................................................................................................... 4 Order codes ......................................................................................................................................................... 5 Leadwire configuration .................................................................................................................................... 7 Document revision .......................................................................................................................................... 12 Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QBL5704 Manual (V1.03 / 2010NOV-03) 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. © TRINAMIC Motion Control GmbH & Co. KG 2010 Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use. Specifications are subject to change without notice. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 3 QBL5704 Manual (V1.03 / 2010NOV-03) 4 2 Features QMOT BLDC motors are quality motors for universal use. They feature a long life due to ball bearings and no wearing out parts. These BLDC motors give a good fit to the TRINAMIC family of medium and high current BLDC motor modules. Main characteristics:  Hall Effect Angle: 120° electric angle  Shaft run out: 0,025 mm  Insulation Class: B  Radial Play: 0,02 mm 450G load  Max Radial Force: 75N (10mm from flange)  Max Axial Force: 15N  Dielectric Strength: 500 VDC For One Minute  Insulation Resistance: 100M Ohm min. 500VDC  Recommended Ambient Temp.: -20 to +40°C  Bearing: Brushless motors fitted with ball bearings Specifications No. of Pole No. of Phase Rated Voltage V Rated Phase Current A Rated Speed RPM Rated Torque Nm Max Peak Torque Nm Torque Constant Nm/A Line to Line Resistance Ohm Line to Line Inductance mH Max Peak Current A Length (LMAX) mm Rotor Inertia kgm² x 10-6 Weight (Mass) kg -94-04-032 4 3 36 5.08 4000 0.32 0.98 0.063 0.45 1.4 16.5 94 17,3 1 QBL 5704 -116-04-042 4 3 36 6.67 4000 0.42 1.3 0.063 0.35 1 20.5 116 23 1,25 Table 2.1: Motor technical data Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QBL5704 Manual (V1.03 / 2010NOV-03) 5 3 Order codes Order code QBL5704-94-04-032 QBL5704-116-04-042 Description QMot BLDC motor 57 mm, 4000RPM, 0.32Nm QMot BLDC motor 57 mm, 4000RPM, 0.42Nm Table 3.1: Order codes Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG Dimensions (mm) 57 x 57 x 94 57 x 57 x 116 QBL5704 Manual (V1.03 / 2010NOV-03) 6 4 Mechanical dimensions 4.1 Dimensions 46 Ø38.88 2xM2.5 4xM4 Length 2 Ø57 Ø25 Ø6 Ø8 17 25 30 Motor Length QBL5704-94-04-032 94mm QBL5704-116-04-042 116mm Figure 4.1: Dimensions (all values in mm, hx describe drilling tolerance) Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QBL5704 Manual (V1.03 / 2010NOV-03) 4.2 Leadwire configuration Cable type 1 Gauge Function Vcc Hall Sensor +5VDC to +24VDC Hall A Hall B Hall C GND Hall Sensor Ground Red  UL1007 AWG26 Blue Green White  UL1007 AWG26  UL1007 AWG26  UL1007 AWG26 Black  UL1007 AWG26 Yellow Red Black  UL1007 AWG20 Phase U  UL1007 AWG20 Phase V  UL1007 AWG20 Phase W Table 4.1: Leadwire configuration Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 7 QBL5704 Manual (V1.03 / 2010NOV-03) 8 5 Torque figures The torque figures detail motor torque characteristics measured in block commutation. Please be careful not to operate the motors outside the blue-turquoise field. This is possible for short times only because of a resulting high coil temperature. The motors have insulation class B. The blueturquoise field is described by rated speed and rated torque. 5.1 Motor QBL5704-94-04-032 6000 12 5000 10 4000 8 3000 6 2000 4 1000 2 0 0 0.022 0.052 0.13 0.22 0.301 0.321 0.406 0.501 N.m Tor. vs speed Tor. vs current Figure 5.1: QBL5704-94-04-032 velocity vs. torque characteristics Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 0.602 A RPM Measured with 36V supply voltage QBL5704 Manual (V1.03 / 2010NOV-03) 9 5.2 Motor QBL5704-116-04-042 6000 12 5000 10 4000 8 3000 6 2000 4 1000 2 0 0 0 0.019 0.125 0.263 0.303 0.402 0.442 0.552 N.m Tor. vs speed Tor. vs current Figure 5.2: QBL5704-116-04-042 velocity vs. torque characteristics Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 0.654 A RPM Measured with 36V supply voltage QBL5704 Manual (V1.03 / 2010NOV-03) 10 6 Motor sizing For the optimum solution it is important to fit the motor to the application. The three key parameters are peak torque requirement, RMS torque requirement and motor velocity. 6.1 Peak torque requirement Peak torque TP is the sum of the torque due to acceleration of inertia (TI), load (TL) and friction (TF): TP  TJ  TL  TF The torque due to inertia is the product of the load (including motor rotor) inertia and the load acceleration: TJ  J  a The torque due to the load is defined by the configuration of the mechanical system coupled to the motor. The system also determines the amount of torque required to overcome the friction. 6.2 RMS torque requirement Root-Mean-Square or RMS torque is a value used to approximate the average continuous torque requirement. Its statistical approximation is with t1: acceleration time t2: run time t3: deceleration time t4: time in a move TP2  t 1  TL  TF   t 2  TJ  TL  TF   t 3 t1  t 2  t 3  t 4 2 TRMS  2 Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QBL5704 Manual (V1.03 / 2010NOV-03) 11 6.3 Motor velocity The motor velocity is also dictated by the configuration of the mechanical system that is coupled to the motor shaft, and by the type of move that is to be affected. For example, a single velocity application would require a motor with rated velocity equal to the average move velocity. A point to point positioning would require a motor with a rated velocity higher than the average move velocity. (The higher velocity would account for acceleration, deceleration and run times of the motion profile). Figure 6.1: Trapezoidal move and triangular move relates rated motor velocity to average move velocity for two point to point positioning move profiles. Trapezoidal move Triangular move Vmax Vmax (1/4)D (1/2)D (1/4)D t1 t2 t3 (1/2)D t1 t4 (1/2)D t3 t4 For acceleration portion of curve: For acceleration portion of curve: For entire move: For entire move: Example: Example: ωmax rated operating speed of motor RPM ωtrap average speed of motor required for a specified trapezoidal move, RPM ωtri average speed of motor required for a specified triangular move, RPM D total distance traveled, motor shaft revolutions t1 acceleration time, seconds t2 run time, seconds t3 deceleration time, seconds t4 dwell time, seconds Figure 6.1: Trapezoidal move and triangular move Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QBL5704 Manual (V1.03 / 2010NOV-03) 7 Revision history 7.1 Document revision Version Date Author Description 1.00 2007-MAY-09 HC Initial Release 1.01 2008-APR-01 GE Motor coil connections corrected 1.02 2008-NOV-25 MJ Leadwire corrected 1.03 2010-NOV-03 SD Oder codes added, new drawings of dimensions, minor changes Table 7.1: Document revision Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 12