QMOT STEPPER MOTORS
MOTORS
V 2.3
QMOT QSH5718 MANUAL
+
+
QSH-5718
-41-28-055
57mm 2.8A, 0.55Nm
-51-28-101
57mm 2.8A, 1.01Nm
-56-28-126
57mm 2.8A, 1.26Nm
-76-28-189
57mm 2.8A, 1.89Nm
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
QSH5718 Manual (V2.3/2011-APR-12)
2
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 QSH5718-41-28-055 ........................................................................................................................................................... 8
5.2 QSH5718-51-28-101 ........................................................................................................................................................... 9
5.3 QSH5718-56-28-126 ........................................................................................................................................................... 9
5.4 QSH5718-76-28-189 .........................................................................................................................................................10
6
Considerations for operation...............................................................................................................................................11
6.1 Choosing the best fitting motor for an application ............................................................................................11
6.2 Motor Current Setting ...................................................................................................................................................11
6.2.1
Choosing the optimum current setting ........................................................................................................12
6.2.2
Choosing the standby current .........................................................................................................................12
6.3 Motor Driver Supply Voltage ......................................................................................................................................12
6.3.1
Determining if the given driver voltage is sufficient ...............................................................................13
6.4 Back EMF (BEMF) .............................................................................................................................................................13
6.5 Choosing the Commutation Scheme .......................................................................................................................14
6.5.1
Fullstepping ..........................................................................................................................................................14
7
Revision history .......................................................................................................................................................................15
7.1 Document revision ........................................................................................................................................................15
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-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.
© TRINAMIC Motion Control GmbH & Co. KG 2011
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 © 2011, TRINAMIC Motion Control GmbH & Co. KG
3
QSH5718 Manual (V2.3/2011-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.
Characteristics:
NEMA 23 mounting configuration
6.35mm axis diameter, 20mm axis length
step angle 1.8
optimized for microstep operation
optimized fit for TMC239/TMC249/TMC262 based driver circuits
4 wire connection
CE approved
flange max. 56.5mm x 56.5mm
D-cut of 15mm length and 0.5mm depth
up to 75V recommended operation voltage
Specifications
Number of Leads
Step Angle
Step Angle Accuracy
Rated Voltage
Rated Phase Current
Phase Resistance at 20°C
Phase Inductance (typ.)
Holding Torque
Detent Torque
Rotor Inertia
Insulation Class
Max. applicable voltage
Max. radial force
(20mm from front flange)
Max. axial force
Weight
Length
Temp. Rise (rated current,
2 phase on)
Ambient Temperature
Parameter
VRATED
IRMS RATED
RCOIL
Units
N˚
˚
%
V
A
Ω
mH
Nm
Nm
g cm2
V
N
-41-28-055
4
1.8
5
2
2.8
0.7
1.4
0.55
0.020
120
B
75
75
QSH5718
-51-28-101 56-28-126
4
4
1.8
1.8
5
5
2.3
2.5
2.8
2.8
0.83
0.9
2.2
2.5
1.01
1.26
0.035
0.039
275
300
B
B
75
75
75
75
-76-28-189
4
1.8
5
3.2
2.8
1.13
3.6
1.89
0.066
480
B
75
75
N
kg
mm
˚C
15
0.45
41
+80 max
15
0.65
51
+80 max
15
0.7
56
+80 max
15
1
76
+80 max
˚C
-20 +50
-20 +50
-20 +50
-20 +50
Table 2.1: Specifications of QSH5718-41-28-055, QSH5718-51-28-101, QSH5718-56-28-126,
and QSH5718-76-28-189
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-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
QSH5718-41-28-055
QSH5718-51-28-101
QSH5718-56-28-126
QSH5718-76-28-189
Description
QMot stepper
QMot stepper
QMot stepper
QMot stepper
motor
motor
motor
motor
57mm
57mm
57mm
57mm
2.8A,
2.8A,
2.8A,
2.8A,
0.55Nm
1.01Nm
1.26Nm
1.89Nm
Table 3.1: Order codes
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Dimensions
56.5 x 56.5 x
56.5 x 56.5 x
56.5 x 56.5 x
56.5 x 56.5 x
(mm3)
41
51
56
76
QSH5718 Manual (V2.3/2011-APR-12)
6
4 Mechanical dimensions
4.1 Dimensions
24±1
Length
38.1±0.03 6,35-0.012
3+0/0.1
56.4±1
R 0.5
5±0.2
20±0.5
1.6
5
56.4±1
47.14±0.2
6.35-0.013
47.14±0.2
56.4±1
38.1±0.025
4-ø4.6
Figure 4.1: Dimensions of QSH5718. All values in mm.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Motor
QSH5718-41-28-055
QSH5718-51-28-101
QSH5718-56-28-126
QSH5718-76-28-189
Length (mm)
41
51
56
76
QSH5718 Manual (V2.3/2011-APR-12)
7
4.2 Leadwire configuration
black
A
blue
red
B
green
M
Cable type 1 Gauge
Coil
Black
UL1007 AWG22 A
Green
UL1007 AWG22 ARed
UL1007 AWG22 B
Blue
UL1007 AWG22 B-
Figure 4.2: Leadwire configuration
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Function
Motor coil
Motor coil
Motor coil
Motor coil
A
A
B
B
pin
pin
pin
pin
1
2
1
2
QSH5718 Manual (V2.3/2011-APR-12)
8
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 QSH5718-41-28-055
VM: 30V, 2,8A/Phase
Torque [Nm]
0,560
Half step
0,480
0,400
0,320
0,240
0,160
0,080
0,000
100
1000
10000
Speed [Pps]
Figure 5.1: QSH5718-41-28-055 speed vs. torque characteristics
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
9
5.2 QSH5718-51-28-101
VM: 30V, 2,8A/Phase
Half step
Torque [Nm]
1,050
0,900
0,750
0,600
0,450
0,300
0,150
0,000
100
1000
10000
Speed [Pps]
Figure 5.2: QSH-5718-51-28-101 speed vs. torque characteristics
5.3 QSH5718-56-28-126
VM: 30V, 2,8A/Phase
Torque [Nm]
1.260
Half step
1.080
0.900
0.720
0.540
0.360
0.180
0.000
100
1000
10000
Speed [Pps]
Figure 5.3: QSH5718-56-28-126 speed vs. torque characteristics
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
10
5.4 QSH5718-76-28-189
VM: 30V, 2,8A/Phase
Torque [Nm]
2,100
Half step
1,800
1,500
1,200
0,900
0,600
0,300
0,000
100
1000
10000
Speed [Pps]
Figure 5.4: QSH5718-76-28-189 speed vs. torque characteristics
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
11
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. 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 the desired velocities.
Determining the maximum torque required by your application
Just try a motor with a torque 30-50% above the application’s maximum requirement. 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 to take into
account for unknown degradation of mechanics and motor. Therefore try to get a feeling for the motor
reliability at slightly increased load, especially at maximum velocity. That is also a good test to check the
operation at a velocity a little higher than the maximum application velocity.
6.2 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
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
12
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)
6.2.2 Choosing the standby current
Most applications do not need much torque during motor standstill. You should always reduce the motor
current during standstill. 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.
6.3 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 the 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
Value
Minimum driver supply 2 * UCOIL_NOM
voltage
Optimum driver supply ≥ 4 * UCOIL_NOM
voltage
and
≤ 22 * UCOIL_NOM
Maximum rated driver 25 * UCOIL_NOM
supply voltage
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
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
13
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).
6.4 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.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
14
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
Fullstepping
Halfstepping
Microstepping
Mixed: Microstepping and
fullstepping for
high velocities
Resolution
200 steps per
rotation
Velocity range
Low to very high.
Skip resonance areas
in low to medium
velocity range.
200 steps per Low to very high.
rotation * 2
Skip resonance areas
in low to medium
velocity range.
200 * (number Low to high.
of microsteps)
per rotation
200 * (number Low to very high.
of microsteps)
per rotation
Torque
Full torque if dampener
used, otherwise reduced
torque in resonance area
Comments
Audible noise
especially at low
velocities
Full torque if dampener Audible noise
used, otherwise reduced especially at low
torque in resonance area velocities
Reduced torque at very
high velocity
Full torque
Low noise,
smooth motor
behavior
At high velocities,
there is no
audible difference
for fullstepping
Table 6.3: Comparing microstepping and fullstepping
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.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
QSH5718 Manual (V2.3/2011-APR-12)
15
7 Revision history
7.1 Document revision
Version
1.00
1.01
1.02
1.03
1.04
2.0
Comment
Initial Release
20-Jun-07
24-Oct-07
13-Nov-07
2008-04-01
2009-05-14
Author
HC
HC
HC
HC
GE
SD
2.1
2010-SEP-25
SD
2.2
2.3
2010-OCT-18
2011-APR-12
SD
SD
Description
Chapter 0 Optimum motor settings added
Torque figures corrected
Chapter 6.4 Back EMF (BEMF) added
New picture added, minor corrections
New version of the document with QSH5718-41-28-055/
-51-28-101/-56-28-126/-76-28-189 included
Dimensions of QSH5718-41-28-055/-51-28-101/-56-28-126/
-76-28-189 corrected.
Torque characteristics of QSH5718-56-28-126 corrected.
Information about outdated motors delighted.
Drawing of dimensions with D-Cut and rear hole completed,
new front page
Table 7.1: Documentation revision
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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