QSH8618-96-55-700

QMOT STEPPER MOTORS MOTORS V 1.06 QMOT QSH8618 MANUAL + + QSH-8618 -65-59-340 86mm 3.0A (SER)/5.9A (PAR) 3.4Nm -80-55-460 86mm 5.5A, 4.6Nm -96-55-700 86mm 5.5A, 7.0Nm + + -118-60-870 86mm 6.0A, 8.7Nm -156-62-1280 86mm 6.2A, 12.8Nm TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com QSH8618 Manual (V1.06 / 2011-MAR-18) 2 Table of contents 1 2 3 4 5 6 7 8 9 Life support policy ....................................................................................................................................................... 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Dimensions of the QSH8618 motors ...................................................................................................................... 6 Leadwire configurations of the QSH8618 motors .............................................................................................. 8 5.1 QSH8618-65-59-340 leadwire configuration ................................................................................................. 8 5.2 QSH8618-80-55-460 leadwire configuration ................................................................................................. 8 5.3 QSH8618-96-55-700 leadwire configuration ................................................................................................. 8 5.4 QSH8618-118-60-870 leadwire configuration ............................................................................................... 9 5.5 QSH8618-156-62-1280 leadwire configuration ............................................................................................ 9 Torque figures ............................................................................................................................................................. 10 6.1 QSH8618-65-59-340 ............................................................................................................................................ 10 6.2 QSH8618-80-55-460 ............................................................................................................................................ 10 6.3 QSH8618-96-55-700 ............................................................................................................................................ 11 6.4 QSH8618-118-60-870.......................................................................................................................................... 11 6.5 QSH8618-156-62-1280 ....................................................................................................................................... 12 Considerations for operation.................................................................................................................................. 13 7.1 Choosing the best fitting motor for an application ............................................................................... 13 7.1.1 Determining the maximum torque required by your application ........................................... 13 7.2 Motor Current Setting ...................................................................................................................................... 13 7.2.1 Choosing the optimum current setting ........................................................................................... 14 7.2.2 Choosing the standby current ............................................................................................................ 14 7.3 Motor Driver Supply Voltage ......................................................................................................................... 14 7.3.1 Determining if the given driver voltage is sufficient .................................................................. 15 7.4 Back EMF (BEMF) ................................................................................................................................................ 15 7.5 Choosing the Commutation Scheme .......................................................................................................... 16 7.5.1 Fullstepping ............................................................................................................................................. 16 7.5.1.1 Avoiding motor resonance in fullstep operation ............................................................. 16 Revision history .......................................................................................................................................................... 17 8.1 Document revision ........................................................................................................................................... 17 References .................................................................................................................................................................... 18 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG QSH8618 Manual (V1.06 / 2011-MAR-18) 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 QSH8618 Manual (V1.06 / 2011-MAR-18) 4 2 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 34 mounting configuration flange max. 85.85mm * 85.85mm step angle: 1.8˚ optimized for microstep operation optimum fit for TMC239/TMC249 based driver circuits, e.g. TMCM-078 Neodymium magnets for maximal torque 4 wire connection CE approved Specifications Units -65-59-340 Wiring Rated Voltage Rated Phase Current (nominal) Phase Resistance at 20°C Phase Inductance (typ.) 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 Flange Size (max.) Motor Length (max.) Axis Diameter Axis Length (visible part, typ.) Axis D-cut (1.1mm depth) 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, 2 phase on) PAR V A Ω mH Nm Nm gcm2 Kg -80-55-460 QSH8618 -96-55-700 -118-60-870 -156-62-1280 SER 1.65 3.42 5.9 3 0.28 1.14 1.7 6.8 3.4 3.4 0.078 1000 1.7 B 100M 2.3 5.5 0.42 3.5 4.6 0.117 1400 2.3 B 100M 2700 2.8 B 100M 2.7 6 0.45 5.1 8.7 0.235 2700 3.8 B 100M 3.5 6.2 0.75 9 12.8 0.353 4000 5.4 B 100M VAC 500 500 500 500 500 N° V ° % mm mm mm mm mm mm mm 8 100 1.8 5 85.85 65.0 12.0 31.75 0.02 0.08 4 140 1.8 5 85.85 80.0 12.7 31.75 25.0 0.02 0.08 4 140 1.8 5 85.85 96 12.7 31.75 25.0 0.02 0.08 4 140 1.8 5 85.85 118.0 12.7 24.0 (25.0) 0.02 0.08 4 160 1.8 5 85.85 156.0 15.875 24.0 (25.0) 0.02 0.08 N 220 220 220 220 220 N °C 60 -20…+50 60 -20…+50 60 -20…+50 60 -20…+50 60 -20…+50 °C max. 80 max. 80 max. 80 max. 80 Ω max. 80 Table 2.1: Motor technical data Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 2.56 5.5 0.45 4.5 7.0 QSH8618 Manual (V1.06 / 2011-MAR-18) 5 3 Order Codes Order code QSH8618-65-59-340 QSH8618-80-55-460 QSH8618-96-55-700 QSH8618-118-60-870 QSH8618-156-62-1280 Related products TMCM-078 Description QMot stepper QMot stepper QMot stepper QMot stepper QMot stepper motor motor motor motor motor 86mm, 86mm, 86mm, 86mm, 86mm, 3.0A (SER)/5.9A (PAR), 3.4Nm 5.5A, 4.6Nm 5.5A, 7.0Nm 6.0A, 8.7Nm 6.2A, 12.8Nm 1-axis step/direction driver module 75V, 7A Table 3.1: Order codes Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG Dimensions (mm) 85.85 x 85.85 x 65.0 85.85 x 85.85 x 80.0 85.85 x 85.85 x 96.0 85.85 x 85.85 x 118.0 85.85 x 85.85 x 156.0 145.0 x 96.0 x 33.0 QSH8618 Manual (V1.06 / 2011-MAR-18) 6 4 Dimensions of the QSH8618 motors Axis without D-Cut or slotted shaft: QSH8618-65-59-340 73.02±0.05 Length QSH8618 -65-59-340 -80-55-460 -96-55-700 -118-60-870 -156-62-1280 12 31.75±1 K Length 65mm 80mm 96mm 118mm 156mm 85.85 3+0/0.1 5±0.2 1.52 8.38 Axis with D-Cut: QSH-8618-80-55-460 QSH-8618-96-55-700 Axis with slotted shaft: QSH-8618-118-60-870 Axis with slotted shaft: QSH-8618-156-62-1280 1.1 25 73.02±0.05 12.7 11.6 25 25 31.75±1 73.02±0.05 12.7 73.02±0.05 5 31.75±1 1.52 15.875 5 31.75±1 1.52 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 1.52 QSH8618 Manual (V1.06 / 2011-MAR-18) 7 69.5±0.2 85.85 Diameter 85.85 69.5±0.2 73.02±0.05 4 x ø 5.5 400 min. QSH8618 -65-59-340 -80-55-460 -96-55-700 -118-60-870 -156-62-1280 Diameter 12mm 12.7mm 12.7mm 12.7mm 15.875mm Further axis specifications without D-Cut or slotted shaft D-Cut 1.1x25mm D-Cut 1.1x25mm Slotted shaft 3x5x25mm Slotted shaft 3x5x25mm Figure 4.1: Dimensions of the QSH8618 motor family Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG QSH8618 Manual (V1.06 / 2011-MAR-18) 8 5 Leadwire configurations QSH8618 motors of the 5.1 QSH8618-65-59-340 leadwire configuration Cable type Red Yellow Blue Black White Orange Brown Green Gauge UL1430 UL1430 UL1430 UL1430 UL1430 UL1430 UL1430 UL1430 AWG20 AWG20 AWG20 AWG20 AWG20 AWG20 AWG20 AWG20 Coil A ACC B BDD Function Motor coil Motor coil Motor coil Motor coil Motor coil Motor coil Motor coil Motor coil A pin 1 A pin 2 C pin 2 C pin 1 B pin 1 B pin 2 D pin 2 D pin 1 Table 5.1: QSH8618-65-59-340 leadwire configuration Please note: - For parallel configuration (PAR) connect A with C- and A- with C for one coil and B with D- and B- with D for the other coil. - For connection in series (SER) connect A- and C-. The feed-in is at A and C. further B- and D-. The feed-in is at B and D. 5.2 QSH8618-80-55-460 leadwire configuration Cable type Red White Yellow Green Gauge UL1430 UL1430 UL1430 UL1430 AWG20 AWG20 AWG20 AWG20 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 Table 5.2: QSH8618-80-55-460 leadwire configuration 5.3 QSH8618-96-55-700 leadwire configuration Cable type Red White Yellow Green Gauge UL1430 UL1430 UL1430 UL1430 AWG20 AWG20 AWG20 AWG20 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 Table 5.3: QSH8618-96-55-700 leadwire configuration Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG Connect QSH8618 Manual (V1.06 / 2011-MAR-18) 9 5.4 QSH8618-118-60-870 leadwire configuration Cable type Red White Yellow Green Gauge UL1430 UL1430 UL1430 UL1430 AWG20 AWG20 AWG20 AWG20 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 Table 5.4: QSH8618-118-60-870 leadwire configuration 5.5 QSH8618-156-62-1280 leadwire configuration Cable type Red White Yellow Green Gauge UL1430 UL1430 UL1430 UL1430 AWG20 AWG20 AWG20 AWG20 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 Table 5.5: QSH8618-156-62-1280 leadwire configuration Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG QSH8618 Manual (V1.06 / 2011-MAR-18) 10 6 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. 6.1 QSH8618-65-59-340 Testing conditions: 48V; 6.0A RMS coil current, parallel connection of coils (PAR), full step operation Figure 6.1: QSH8618-65-59-340 speed vs. torque characteristics 6.2 QSH8618-80-55-460 Testing conditions: 48V; 5.5A RMS coil current, full step operation Figure 6.2: QSH8618-80-55-460 speed vs. torque characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG QSH8618 Manual (V1.06 / 2011-MAR-18) 6.3 QSH8618-96-55-700 Testing conditions: 48V; 5.5A RMS coil current, full step operation Table 6.3: QSH8618-96-55-700 speed vs. torque characteristics 6.4 QSH8618-118-60-870 Testing conditions: 100V; 6.0A RMS coil current, full step operation Figure 6.4: QSH8618-118-60-870 speed vs. torque characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 11 QSH8618 Manual (V1.06 / 2011-MAR-18) 6.5 QSH8618-156-62-1280 Testing conditions: 100V; 6.0A RMS coil current, full step operation Figure 6.5: QSH8618-156-62-1280 speed vs. torque characteristics Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 12 QSH8618 Manual (V1.06 / 2011-MAR-18) 13 7 Considerations for operation The following chapters try to help you to correctly set the key operation parameters in order to get a stable system. 7.1 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 fitting solution. Please refer to the torque vs. velocity diagram to determine the best fitting motor, which delivers enough torque at the desired velocities. 7.1.1 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. 7.2 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 Percentage of static motor power dissipation 150% 125% ≤150% 125% 100% 100% 85% 75% 85% 75% = 2 * IRMS_RATED * RCOIL 72% 56% 50% 50% 25% 38% 25% 38% 25% see detent torque 14% 6% 0% 225% 156% 100% 0% Table 7.1: Motor current settings Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG Comment Limit operation to a few seconds Operation possible for a limited time Normal operation Normal operation Normal operation Reduced microstep exactness due to torque reducing in the magnitude of detent torque -“-“Motor might loose position if the application’s friction is too low QSH8618 Manual (V1.06 / 2011-MAR-18) 14 7.2.1 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) 7.2.2 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. 7.3 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 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 7.2: Driver supply voltage considerations Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG QSH8618 Manual (V1.06 / 2011-MAR-18) 15 7.3.1 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). 7.4 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 QSH8618 Manual (V1.06 / 2011-MAR-18) 16 7.5 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 200 steps per rotation * 2 Microstepping 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 Audible noise especially at low velocities Low noise, smooth motor behavior Table 7.3: 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. 7.5.1 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. 7.5.1.1 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 QSH8618 Manual (V1.06 / 2011-MAR-18) 17 8 Revision history 8.1 Document revision Version 1.00 1.01 1.02 1.03 1.04 1.05 1.06 Date Initial Version 2008-MAR-20 2008-APR-01 2009-MAY-15 Author GE GE GE SD 2010-OCT-12 2010-OCT-25 2011-MAR-18 SD SD SD Description Initial version Picture of motor has been added Max. operating voltage added QSH8618-96-55-700 added, dimension drawings renewed, minor changes Minor changes QSH8618-65-59-340 leadwire configuration corrected. Dimensions corrected and updated Table 8.1: Document revision Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG QSH8618 Manual (V1.06 / 2011-MAR-18) 9 References TMCM-078 TMCM-078 Manual, www.trinamic.com Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 18