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.com
QSH4218 Manual (V1.06/2011-APR-12)
2
Table of Contents
1
2
3
4
Life support policy ....................................................................................................................................................... 3
Features........................................................................................................................................................................... 4
Order codes.................................................................................................................................................................... 5
Mechanical dimensions .............................................................................................................................................. 6
4.1 Lead wire configuration .................................................................................................................................... 6
4.2 Dimensions ........................................................................................................................................................... 6
5
Torque figures ............................................................................................................................................................... 7
5.1 Motor QSH4218-35-10-027 ................................................................................................................................. 7
5.2 Motor QSH4218-41-10-035 ................................................................................................................................. 7
5.3 Motor QSH4218-51-10-049 ................................................................................................................................. 8
5.4 Motor QSH4218-47-28-040 ................................................................................................................................. 8
6
Considerations for operation.................................................................................................................................... 9
6.1 Choosing the best fitting motor for an application ................................................................................. 9
6.1.1
Determining the maximum torque required by your application ............................................. 9
6.2 Motor Current Setting ........................................................................................................................................ 9
6.2.1
Choosing the optimum current setting ........................................................................................... 10
6.2.2
Choosing the standby current ............................................................................................................ 10
6.3 Motor Driver Supply Voltage ......................................................................................................................... 10
6.3.1
Determining if the given driver voltage is sufficient .................................................................. 11
6.4 Back EMF (BEMF) ................................................................................................................................................ 11
6.5 Choosing the Commutation Scheme .......................................................................................................... 12
6.5.1
Fullstepping ............................................................................................................................................. 12
6.5.1.1
Avoiding motor resonance in fullstep operation ............................................................. 12
7
Revision history .......................................................................................................................................................... 13
7.1 Document revision ........................................................................................................................................... 13
List of Figures
Figure
Figure
Figure
Figure
Figure
Figure
4.1:
4.2:
5.1:
5.2:
5.3:
5.4:
Lead wire configuration ................................................................................................................................ 6
Dimensions (all values in mm) ................................................................................................................... 6
QSH4218-35-10-027 speed vs. torque characteristics ............................................................................. 7
QSH4218-41-10-035 speed vs. torque characteristics ............................................................................. 7
QSH4218-51-10-049 speed vs. torque characteristics ............................................................................. 8
QSH4218-47-28-040 speed vs. torque characteristics ............................................................................. 8
List of Tables
Table
Table
Table
Table
Table
Table
2.1:
4.1:
6.1:
6.2:
6.3:
7.1:
Motor technical data ......................................................................................................................................... 4
Lead wire configuration .................................................................................................................................. 6
Motor current settings ..................................................................................................................................... 9
Driver supply voltage considerations ........................................................................................................ 10
Comparing microstepping and fullstepping ............................................................................................ 12
Document revision .......................................................................................................................................... 13
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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.
© 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
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.
Characteristics of all QSH4218 motors:
NEMA 17 mounting configuration
flange max. 42.3mm * 42.3mm
step angle: 1.8˚
optimized for microstep operation
optimum fit for TMC236/TMC246 based driver circuits
4 wire connection
CE approved
Special characteristics of the QSH4218-47-28-40 motor:
optimized for 2.8A RMS coil current to provide maximum torque at high velocities
0.25Nm torque at 1200 RPM with a 24V supply
holding torque 0.40Nm
Specifications
Units
Rated Voltage
Rated Phase Current
Phase Resistance at 20°C
Phase Inductance (typ.)
V
A
Ω
mH
Ncm
oz in
mNm
g cm2
Kg
Holding Torque (typ.)
Detent Torque
Rotor Inertia
Weight (Mass)
Insulation Class
Dielectic Strength (for one minute)
Connection Wires
Step Angle
Step angle Accuracy (max.)
Flange Size (max.)
Motor Length (max.)
Rear shaft hole depth
Rear shaft hole diameter
Axis Diameter
Axis Length (typ.)
Axis D-cut (0.5mm depth)
Maximum Radial Force
(20 mm from front flange)
Maximum Axial Force
Ambient temperature
VAC
N°
°
%
mm
mm
mm
mm
mm
mm
mm
-35-10-027
5.3
1.0
5.3
6.6
27
38
22
35
0.22
B
500
4
1.8
5
42.3
33.5
5.0
3.0
5.0
24
20
QSH4218
-41-10-035 -51-10-049
4.5
5.0
1.0
1.0
4.5
5.0
7.5
8.0
35
49
50
69
25
28
54
68
0.28
0.35
B
B
500
500
4
4
1.8
1.8
5
5
42.3
42.3
38
47
5.0
5.0
3.0
3.0
5.0
5.0
24
24
20
20
-47-28-040
1.4
2.8
0.5 ± 10%
0.6 ± 20%
40
56.3
68
0.35
B
500
4
1.8
5
42.3
47
5.0
3.0
5.0
24
20
N
28
28
28
28
N
°C
10
-20…+50
10
-20…+50
10
-20…+50
10
-20…+50
Table 2.1: Motor technical data
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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 3.1: Order codes
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
(mm)
33,5
38
47
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 4.2: Dimensions (all values in mm)
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Motor
QSH4218-35-10-027
QSH4218-41-10-035
QSH4218-51-10-049
QSH4218-47-28-040
Length
33.5mm
38mm
47mm
47mm
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 5.1: QSH4218-35-10-027 speed vs. torque characteristics
5.2
Motor QSH4218-41-10-035
Testing conditions: driver supply voltage +24V DC, coil current 1.0A RMS, half step operation
Figure 5.2: QSH4218-41-10-035 speed vs. torque characteristics
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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. KG
8
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. 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.
6.1.1 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.
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 Percentage of
rated current 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 6.1: 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
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:
-
6.2.2
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)
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
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
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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. 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 MotorHoldingTorque 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
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. 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 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
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. operating voltage added
QSH4218-47-28-040 and order codes added, dimensions
and torque figures reconditioned, further minor changes
Front page new, figure in paragraph 4.2 (dimensions)
completed, minor changes
Table 7.1: Document revision
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
13
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