QMOT STEPPER MOTORS
MOTORS
V 1.08
QMOT QSH6018 MANUAL
+
+
QSH-6018
-45-28-110
60mm
2.8A, 1.10 Nm
-56-28-165
60mm
2.8A, 1.65 Nm
-65-28-210
60mm
2.8A, 2.10 Nm
+
+
-86-28-310
60mm
2.8A, 3.10 Nm
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
QSH6018 Manual (V1.08 / 2014-SEP-04)
2
Table of Contents
1
2
3
4
5
6
7
Features........................................................................................................................................................................... 3
Order Codes ................................................................................................................................................................... 4
Mechanical Dimensions .............................................................................................................................................. 5
3.1 Lead Wire Configuration ................................................................................................................................... 5
3.2 Dimensions ........................................................................................................................................................... 5
Torque Figures .............................................................................................................................................................. 6
4.1 Motor QSH6018-45-28-110 ................................................................................................................................. 6
4.2 Motor QSH6018-56-28-165 ................................................................................................................................. 6
4.3 Motor QSH6018-65-28-210 ................................................................................................................................. 7
4.4 Motor QSH6018-86-28-310 ................................................................................................................................. 7
Considerations for Operation ................................................................................................................................... 8
5.1 Choosing the Best Fitting Motor for an Application ................................................................................ 8
5.1.1
Determining the Maximum Torque Required by Your Application ........................................... 8
5.2 Motor Current Setting ........................................................................................................................................ 8
5.2.1
Choosing the Optimum Current Setting ............................................................................................ 9
5.2.2
Choosing the Standby Current ............................................................................................................. 9
5.3 Motor Driver Supply Voltage ........................................................................................................................... 9
5.3.1
Determining if the Given Driver Voltage is Sufficient ................................................................. 10
5.4 Back EMF (BEMF) ................................................................................................................................................ 10
5.5 Choosing the Commutation Scheme .......................................................................................................... 11
5.5.1
Fullstepping ............................................................................................................................................. 11
5.5.1.1
Avoiding Motor Resonance in Fullstep Operation ........................................................... 11
Optimum Motor Settings ......................................................................................................................................... 12
6.1 Settings for TRINAMIC TMCL Modules ........................................................................................................ 12
Life Support Policy ..................................................................................................................................................... 13
7.1 Documentation Revision ................................................................................................................................. 14
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QSH6018 Manual (V1.08 / 2014-SEP-04)
3
1 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 23 mounting configuration
flange max. 60.5mm * 60.5mm
7.5mm axis diameter, 22.4mm axis length with 20mm D-cut of 0.5mm depth
step angle: 1.8˚
optimized for microstep operation
optimum fit for TMC239, TMC249 and TMC262 based driver circuits
up to 75V operating voltage
CE approved
Specifications
Parameter
Units
Rated Voltage
Rated Phase Current (nominal)
Rated Phase Current (max.
continuous)
Phase Resistance at 20°C
Phase Inductance (typ.)
VRATED
IRMS_RATED_NOM
IRMS_RATED_MAX
V
A
-45-28-110
2.1
2.8
A
3.0
3.0
3.0
3.0
RCOIL
Ω
mH
Nm
oz in
Ncm
gcm2
Kg
0.75
2
1.1
156
0.9
3.6
1.65
233
1.2
4.6
2.1
297
1.5
6.8
3.1
439
275
0.6
B
100M
400
0.77
B
100M
570
1.2
B
100M
840
1.4
B
100M
VAC
500
500
500
500
N°
V
°
%
mm
mm
mm
mm
mm
mm
mm
N
N
°C
4
75
1.8
5
60.5
45.0
7.5
22.4
20.0
0.02
0.08
75
15
-20..+50
4
75
1.8
5
60.5
56.0
7.5
22.4
20.0
0.02
0.08
75
15
-20..+50
4
75
1.8
5
60.5
65.0
7.5
22.4
20.0
0.02
0.08
75
15
-20..+50
4
75
1.8
5
60.5
86.0
7.5
22.4
20.0
0.02
0.08
75
15
-20..+50
°C
max. 80
max. 80
max. 80
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.)
LMAX
Axis Diameter
Axis Length
Axis D-cut (0.5mm depth)
Shaft Radial Play (450g load)
Shaft Axial Play (450g load)
Maximum Radial Force
Maximum Axial Force
Ambient Temperature
Temp Rise
(rated current, 2 phase on)
Table 1.1: Motor technical data
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Ω
QSH6018
-56-28-165 -65-28-210 -86-28-310
2.52
3.36
4.17
2.8
2.8
2.8
max. 80
QSH6018 Manual (V1.08 / 2014-SEP-04)
4
2 Order Codes
Order code
QSH6018-45-28-110
QSH6018-56-28-165
QSH6018-65-28-210
QSH6018-86-28-310
Description
QMot Steppermotor
QMot Steppermotor
QMot Steppermotor
QMot Steppermotor
Table 2.1: Order codes
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60
60
60
60
mm,
mm,
mm,
mm,
2.8A,
2.8A,
2.8A,
2.8A,
1.10
1.65
2.10
3.10
Nm
Nm
Nm
Nm
Dimensions (mm3)
60 x 60 x 45
60 x 60 x 56
60 x 60 x 65
60 x 60 x 86
QSH6018 Manual (V1.08 / 2014-SEP-04)
5
3 Mechanical Dimensions
3.1 Lead Wire Configuration
Function
Motor coil
Motor coil
Motor coil
Motor coil
A
A
B
B
pin
pin
pin
pin
1
2
1
2
A
green
M
B
Cable type Gauge
Coil
Black
UL1007 AWG22 A
Green
UL1007 AWG22 ARed
UL1007 AWG22 B
Blue
UL1007 AWG22 B-
black
red
blue
Table 3.1: Lead wire configuration
Figure 3.1: Lead wire configuration
3.2 Dimensions
24±1
38.1±0.025
Length
8+0/-0.015
60±0.5
R 0.5
20±0.5
1.6
5
60±0.5
47.14±0.2
60±0.5
8+0/-0.015
47.14±0.2
38.1±0.025
4-ø4.5
Figure 3.2: Dimensions (all values in mm)
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QSH6018 Manual (V1.08 / 2014-SEP-04)
6
4 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.
4.1 Motor QSH6018-45-28-110
Testing conditions: 30V supply voltage; 3.0A RMS phase current
Figure 4.1: QSH6018-45-28-110 Speed vs. Torque Characteristics
4.2 Motor QSH6018-56-28-165
Testing conditions: 30V supply voltage; 3.0A RMS phase current
Figure 4.2: QSH6018-56-28-165 Speed vs. Torque Characteristics
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QSH6018 Manual (V1.08 / 2014-SEP-04)
4.3 Motor QSH6018-65-28-210
Testing conditions: 30V supply voltage; 3.0A RMS phase current
Figure 4.3: QSH6018-65-28-210 Speed vs. Torque Characteristics
4.4 Motor QSH6018-86-28-310
Testing conditions: 30V supply voltage; 3.0A RMS phase current
Figure 4.4: QSH6018-86-28-310 Speed vs. Torque Characteristics
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7
QSH6018 Manual (V1.08 / 2014-SEP-04)
8
5 Considerations for Operation
The following chapters try to help you to correctly set the key operation parameters in order to get a
stable system.
5.1 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.
5.1.1 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.
5.2 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 Percentage
of
static Comment
rated current
motor torque
motor power dissipation
Limit operation to a few seconds
150%
≤150%
225%
Operation possible for a limited time
125%
125%
156%
100%
Normal operation
100%
100%
= 2 * IRMS_RATED * RCOIL
Normal operation
85%
85%
72%
Normal operation
75%
75%
56%
Reduced microstep exactness due to
50%
50%
25%
torque reducing in the magnitude of
detent torque
-“38%
38%
14%
-“25%
25%
6%
see detent
Motor might loose position if the
0%
0%
torque
application’s friction is too low
Table 5.1: Motor current settings
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QSH6018 Manual (V1.08 / 2014-SEP-04)
9
5.2.1 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)
5.2.2 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.
5.3 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
driver
voltage
Value
2 * UCOIL_NOM
≥ 4 * UCOIL_NOM
and
≤ 22 * UCOIL_NOM
rated 25 * UCOIL_NOM
supply
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 5.2: Driver supply voltage considerations
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UCOIL_NOM = IRMS_RATED * RCOIL
QSH6018 Manual (V1.08 / 2014-SEP-04)
10
5.3.1 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:
sufficient.
For Fullstepping:
sufficient.
If the waveform is still basically sinusoidal, the motor driver supply voltage is
If the motor current still reaches a constant plateau, the driver voltage is
If you determine, that the voltage is not sufficient, you could either increase the voltage or reduce the
current (and thus torque).
5.4 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.
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QSH6018 Manual (V1.08 / 2014-SEP-04)
11
5.5 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 5.3 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.
5.5.1 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.
5.5.1.1 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.
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QSH6018 Manual (V1.08 / 2014-SEP-04)
12
6 Optimum Motor Settings
Following table shows settings for highest reachable fullstep velocities.
Optimum Motor Settings
Motor
voltage
Motor current (RMS)
Unit
QSH6018
-65-28-210
-86-28-310
A
2.8
2.8
RPS
1.907
1.144
Maximum fullstep velocity
RPS
3.815
2.575
Maximum microstep velocity =
Fullstep threshold
RPS
2.861
2.003
RPS
7.629
5.245
Maximum microstep velocity =
Fullstep threshold
24
48
Maximum fullstep velocity
Table 6.1: Optimum motor settings
6.1 Settings for TRINAMIC TMCL Modules
Following TMCL settings apply best for highest motor velocities and smooth motor behavior at low
velocities. They are intended for use with TRINIAMICs 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
voltage
Motor current (RMS)
Unit
QSH6018
-65-28-210
-86-28-310
TMCL value
204
204
TMCL value
200
120
Maximum fullstep velocity
TMCL value
400
270
Maximum microstep velocity =
Fullstep threshold
TMCL value
300
210
TMCL value
800
550
Maximum microstep velocity =
Fullstep threshold
Maximum fullstep velocity
24
48
Table 6.2: Optimum motor settings for TMCL modules (tested with TMCM-109)
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QSH6018 Manual (V1.08 / 2014-SEP-04)
7 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 2011-2014
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.
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13
QSH6018 Manual (V1.08 / 2014-SEP-04)
14
Revision History
7.1 Documentation Revision
Version
1.00
1.01
1.02
1.03
1.04
1.05
1.06
1.07
1.08
Comment
Initial Release
2007-JUN-07
2007-NOV-07
2008-FEB-08
2010-OCT-14
2011-MAR-19
2011-DEC-06
2012-FEB-14
2014-SEP-04
Author
HC
HC
HC
GE
SD
SD
SD
SD
SD
Table 7.1: Documentation revision
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Description
Chapter 5 Optimum motor settings added
Chapter 5.4 added
New motors added
Minor changes
Dimensions updated, new front page
Features corrected
Axis diameter corrected
Changes related to the design.
Tolerances for axis diameter corrected + clarified
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