QSH2818-51-07-012

QMot QSH2818 family Manual V1.04 2010-OCT-19 Trinamic Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg, Germany http://www.trinamic.com QSH2818 Manual (V1.04 / 2010-OCT-19) 2 Table of contents 1 2 3 4 5 6 7 8 Life support policy ....................................................................................................................................................... 3 Features........................................................................................................................................................................... 4 Order codes.................................................................................................................................................................... 5 Mechanical dimensions .............................................................................................................................................. 6 4.1 Lead wire configuration .................................................................................................................................... 6 4.2 Dimensions ........................................................................................................................................................... 6 Torque figures ............................................................................................................................................................... 7 5.1 Motor QSH2818-32-07-006 ................................................................................................................................. 7 5.2 Motor QSH2818-51-07-012 ................................................................................................................................. 7 Considerations for operation.................................................................................................................................... 8 6.1 Choosing the best fitting motor for an application ................................................................................. 8 6.1.1 Determining the maximum torque required .................................................................................... 8 6.2 Motor current setting ......................................................................................................................................... 9 6.2.1 Choosing the optimum current setting ............................................................................................. 9 6.2.2 Choosing the standby current .............................................................................................................. 9 6.3 Motor driver supply voltage .......................................................................................................................... 10 6.3.1 Determining if the given driver voltage is sufficient .................................................................. 10 6.4 Back EMF (BEMF) ................................................................................................................................................ 11 6.5 Choosing the commutation scheme ........................................................................................................... 11 6.5.1 Fullstepping ............................................................................................................................................. 12 6.5.1.1 Avoiding motor resonance in fullstep operation ............................................................. 12 6.6 Optimum motor settings ................................................................................................................................ 12 6.6.1 Settings for the TRINAMIC TMCL™ modules.................................................................................. 12 Revision history .......................................................................................................................................................... 13 7.1 Documentation revision .................................................................................................................................. 13 References .................................................................................................................................................................... 14 List of figures Figure Figure Figure Figure 4.1: 4.2: 5.1: 5.2: Lead wire configuration ................................................................................................................................ 6 Dimensions (all values in mm) ................................................................................................................... 6 QSH2818-32-07-006 speed vs. torque characteristics ............................................................................. 7 QSH2818-51-07-012 speed vs. torque characteristics ............................................................................. 7 List of tables Table Table Table Table Table Table Table Table 2.1: 4.1: 6.1: 6.2: 6.3: 6.4: 5.5: 6.1: Motor technical data ......................................................................................................................................... 4 Lead wire configuration .................................................................................................................................. 6 Motor current settings ..................................................................................................................................... 9 Driver supply voltage considerations ........................................................................................................ 10 Comparing microstepping and fullstepping ............................................................................................ 11 Optimum motor settings .............................................................................................................................. 12 Optimum motor settings for TMCL™ modules (tested with TMCM-110) ........................................ 12 Documentation revision ................................................................................................................................ 13 Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-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. © 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 QSH2818 Manual (V1.04 / 2010-OCT-19) 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. Main characteristics:  NEMA 11 mounting configuration  flange max. 28.0mm * 28.0mm  5mm axis diameter, 20mm axis length  step angle: 1.8˚  optimized for microstep operation  optimum fit for TMC222 / TMC236 / TMC246 / TMC262 based driver circuits  4 wire connection  CE approved Specifications Parameter Units Rated Voltage Rated Phase Current Phase Resistance at 20°C Phase Inductance (typ.) VRATED IRMS_RATED RCOIL Holding Torque (typ.) Detent Torque Rotor Inertia Weight (Mass) Insulation Class Insulation Resistance Dialectic Strength (for one minute) Connection Wires Max applicable Voltage Step Angle Step angle Accuracy (max.) Flange Size (max.) Motor Length (max.) LMAX Axis Diameter Axis Length (typ.) Shaft Radial Play (450g load) Shaft Axial Play (450g load) Maximum Radial Force (20 mm from front flange) Maximum Axial Force Ambient Temperature Temp Rise (rated current, 2phase on) Related Trinamic PANdrive V A Ω mH Ncm oz in Ncm g cm2 Kg QSH2818 -32-07-006 -51-07-012 3.8 6.2 0.67 0.67 5.6 9.2 3.4 7.2 6 12 8.5 17.0 9 0.11 B 100M 500 4 tbd 1.8 5 28.0 32 5.0 20.0 0.02 0.08 18 0.2 B 100M 500 4 tbd 1.8 5 28.0 51 5.0 20.0 0.02 0.08 28 28 10 -20…+50 max. 80 PD1-108-28 10 -20…+50 max. 80 PD3-108-28 Ω VAC N° V ° % mm mm mm mm mm mm N N °C °C type Table 2.1: Motor technical data Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-19) 5 3 Order codes Order code QSH2818-32-07-006 QSH2818-51-07-012 Description QMot stepper motor 28mm, 0.67A, 6 Ncm QMot stepper motor 28mm, 0.67A, 12 Ncm Table 3.1: Order codes Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG Dimensions (mm) 28 x 28 x 32 28 x 28 x 51 QSH2818 Manual (V1.04 / 2010-OCT-19) 6 4 Mechanical dimensions 4.1 Lead wire configuration black Gauge UL1007 UL1007 UL1007 UL1007 AWG26 AWG26 AWG26 AWG26 Coil A AB B- Function Motor coil Motor coil Motor coil Motor coil A A B B pin pin pin pin 1 2 1 2 M A green B Cable type Black Green Red Blue blue red Table 4.1: Lead wire configuration Figure 4.1: Lead wire configuration 4.2 Dimensions 20±1 15±2 Length K 22-0/0.03 Ø5-0/0.012 28 4.5 3+0/0.1 0.5 5±0.2 2 QSH2818 Length -32-07-006 32 28 max 28 max 23±0.2 4 x M2.5 Deep 3.5 23±0.2 Figure 4.2: Dimensions (all values in mm) Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG -51-07-012 51 QSH2818 Manual (V1.04 / 2010-OCT-19) 7 5 Torque figures The torque figures detail motor torque characteristics for half and full step. For half and full 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 QSH2818-32-07-006 Testing conditions: VM: 24V 0.67A /Phase Driver, SMD 103 Figure 5.1: QSH2818-32-07-006 speed vs. torque characteristics 5.2 Motor QSH2818-51-07-012 Testing conditions: VM: 24V 0.67A /Phase Driver, SMD 103 Figure 5.2: QSH2818-51-07-012 speed vs. torque characteristics Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-19) 8 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 desired motor torque and velocity. While the motor holding torque describes the torque at stand-still, and gives a good indication for comparing different motors, it is not the key parameter for the best fitting motor. The required torque is a result of static load on the motor, dynamic loads which occur during acceleration/deceleration and loads due to friction. In most applications the load at maximum desired motor velocity is most critical, because of the reduction of motor torque at higher velocity. While the required velocity generally is well known, the required torque often is only roughly known. Generally, longer motors and motors with a larger diameter deliver a higher torque. But, using the same driver voltage for the motor, the larger motor earlier looses torque when increasing motor velocity. This means, that for a high torque at a high motor velocity, the smaller motor might be the better fitting solution. Please refer to the torque vs. velocity diagram to determine the best fitting motor, which delivers enough torque at your desired velocities. 6.1.1 Determining the maximum torque required Try a motor which should roughly fit. Take into consideration worst case conditions, i.e. minimum driver supply voltage and minimum driver current, maximum or minimum environment temperature (whichever is worse) and maximum friction of mechanics. Now, consider that you want to be on the safe side, and add some 10 percent safety margin taking into account unknown degradation of mechanics and motor. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-19) 6.2 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. For a short time, the motor current may be raised above this level in order to get increased torque, but care has to be taken in order not to exceed the maximum coil temperature of 130°C respectively a continuous motor operation temperature of 90°C. Percentage of rated current Percentage of motor torque 150% 125% ≤150% 125% 100% 100% 85% 75% 85% 75% 50% 50% 38% 25% 38% 25% see detent torque 0% Comment Percentage of static motor power dissipation Limit operation to a few seconds 225% Operation possible for a limited time 156% 100% Normal operation = 2 * IRMS_RATED * RCOIL Normal operation 72% Normal operation 56% Reduced microstep exactness due to 25% torque reducing in the magnitude of detent torque -“14% -“6% Motor might lose position if the 0% application’s friction is too low Table 6.1: Motor current settings 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. The TRINAMIC drivers allow setting the motor current for up to three conditions: - Stand still (choose a low current) Nominal operation (nominal current) High acceleration (if increased torque is required: You may choose a current above the nominal setting, but be aware, that the mean power dissipation shall not exceed the motors nominal rating) If you reach the velocity limit, it might be a good idea to reduce the motor current, in order to avoid resonances occurring. Please refer to the information about choosing the driver voltage. 6.2.2 Choosing the standby current Most applications do not need much torque during motor stand-still. You should always reduce motor current during stand still. This reduces power dissipation and heat generation. Depending on your application, you typically at least can half power dissipation. There are several aspects why this is possible: In standstill, motor torque is higher than at any other velocity. Thus, you do not need the full current even with a static load! Your application might need no torque at all, but you might need to keep the exact microstep position. Try how low you can go in your application. If the microstep position exactness does not matter for the time of standstill, you might even reduce the motor current to zero, provided that there is no static load on the motor and enough friction in order to avoid complete position loss. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-19) 6.3 10 Motor driver supply voltage The driver supply voltage in many applications cannot be chosen freely, because other components have a fixed supply voltage of e.g. 24V DC. If you have 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. You typically can scale the velocity axis (steps/sec) proportionally to the supply voltage to adapt the curve, e.g. if the curve is measured for 48V and you consider operation at 24V, half all values on the x-Axis to get an idea of the motor performance. For a chopper driver, consider the following corner values for the driver supply voltage (motor voltage). The table is based on the nominal motor voltage, which normally just has a theoretical background in order to determine the resistive loss in the motor. Comment on the nominal motor voltage: (Please refer to motor technical data table.) Parameter Minimum driver supply voltage Optimum driver supply voltage Maximum rated driver supply voltage Value 2 * UCOIL_NOM ≥ 4 * UCOIL_NOM and ≤ 22 * UCOIL_NOM 25 * UCOIL_NOM UCOIL_NOM = IRMS_RATED * RCOIL Comment Very limited motor velocity. Only slow movement without torque reduction. Chopper noise might become audible. Choose the best fitting voltage in this range using the motor torque curve and the driver data. You can scale the torque curve proportionally to the actual driver supply voltage. When exceeding this value, the magnetic switching losses in the motor reach a relevant magnitude and the motor might get too hot at nominal current. Thus there is no benefit in further raising the voltage. Table 6.2: Driver supply voltage considerations 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. This is typically a sign, that the motor velocity should not be further increased, because resonances and reduced current affect motor torque. Measure the motor coil current at maximum desired velocity For microstepping: For Fullstepping: If the waveform is still basically sinusoidal, the motor driver supply voltage is sufficient. If the motor current still reaches a constant plateau, the driver voltage is sufficient. If you determine, that the voltage is not sufficient, you could either increase the voltage or reduce the current (and thus torque). Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-19) 6.4 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. The Back EMF constant can be calculated as:  V  MotorHoldi ngTorque Nm U BEMF   2  I NOM A  rad / s  The voltage is valid as RMS voltage per coil, thus the nominal current INOM is multiplied by 2 in this formula, since the nominal current assumes a full step position, with two coils switched on. The torque is in unit [Nm] where 1Nm = 100cNm = 1000mNm. One can easily measure the BEMF constant of a two phase stepper motor with a (digital) scope. One just has to measure the voltage of one coil (one phase) when turning the axis of the motor manually. With this, one gets a voltage (amplitude) and a frequency of a periodic voltage signal (sine wave). The full step frequency is 4 times the frequency the measured sine wave. 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. The stepper motor does not make loud steps any more – it turns smoothly! Therefore, 16 microsteps or more are recommended for a smooth operation and the avoidance of resonances. To operate the motor at fullstepping, some considerations should be taken into account. Driver Scheme Resolution Fullstepping 200 steps per rotation Halfstepping Microstepping 200 steps per rotation * 2 200 * (number of microsteps) per rotation Mixed: Micro200 * (number of stepping and microsteps) per fullstepping for rotation high velocities Velocity range Low to very high. Skip resonance areas in low to medium velocity range. Low to very high. Skip resonance areas in low to medium velocity range. Low to high. Torque Full torque if dampener used, otherwise reduced torque in resonance area Full torque if dampener used, otherwise reduced torque in resonance area Reduced torque at very high velocity Comments Audible noise especially at low velocities Low to very high. Full torque At high velocities, there is no audible difference for fullstepping Table 6.3: Comparing microstepping and fullstepping Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG Audible noise especially at low velocities Low noise, smooth motor behavior QSH2818 Manual (V1.04 / 2010-OCT-19) 12 Microstepping gives the best performance for most applications and can be considered as state-of-the art. However, fullstepping allows some ten percent higher motor velocities, when compared to microstepping. A combination of microstepping at low and medium velocities and fullstepping at high velocities gives best performance at all velocities and is most universal. Most Trinamic driver modules support all three modes. 6.5.1 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 anymore! Thus you should avoid resonance frequencies. 6.5.1.1 Avoiding motor resonance in fullstep operation Do not operate the motor at resonance velocities for extended periods of time. Use a reasonably high acceleration in order to accelerate to a resonance-free velocity. This avoids the build-up of resonances. When resonances occur at very high velocities, try reducing the current setting. A resonance dampener might be required, if the resonance frequencies cannot be skipped 6.6 Optimum motor settings The following table shows the settings for the highest reachable fullstep velocities. Optimum Motor Settings Unit QSH2818 -32-07-006 -51-07-012 Motor current (RMS) A 0.67 0.67 Motor voltage Maximum microstep velocity = Fullstep threshold V 24 24 RPS 5.817 4.578 RPS 12.875 9.155 Maximum fullstep velocity Table 6.4: Optimum motor settings 6.6.1 Settings for the TRINAMIC TMCL™ modules Following TMCL™ settings apply best for highest motor velocities and smooth motor behavior at low velocities. They are intended for the use with TRINIMICs controller modules. Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL™), this is 16 times microstepping. The pulse devisor is set to 3. With a 64 microstep setting the same values are valid with the pulse divisor set to 1. Optimum Motor Settings Motor current (RMS) Motor voltage Maximum microstep velocity = Fullstep threshold Maximum fullstep velocity Unit QSH2818 -32-07-006 -51-07-012 TMCL™ value 947 947 V 24 24 TMCL™ value 610 480 TMCL™ value 1350 960 Table 6.5: Optimum motor settings for TMCL™ modules (tested with TMCM-110) Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG QSH2818 Manual (V1.04 / 2010-OCT-19) 7 Revision history 7.1 Version 1.00 1.01 1.02 1.03 1.04 Documentation revision Comment Initial Release 2007-JUN-07 2007-NOV-13 2010-AUG-11 2010-OCT-19 Author HC HC HC SD SD Description Chapter 6.6 optimum motor settings added Chapter 6.4 Back EMF (BEMF) added New technical drawing of the motor, minor changes Minor changes Table 7.1: Documentation revision Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 13 QSH2818 Manual (V1.04 / 2010-OCT-19) 8 References [TMCL™] TMCLTM manual, www.trinamic.com Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG 14