Trinamic QBL4208-41-04-006, QBL4208-61-04-013, QBL4208-81-04-019, QBL4208-100-04-025 User guide

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QMOT Motor QBL4208

Manual

42mm QMOT BLDC motor family

Trinamic Motion Control GmbH & Co. KG

D – 20357 Hamburg, Germany

http://www.trinamic.com

Sternstraße 67

QBL4208 Manual (V1.01 / 2008-04-01) 2

Table of Contents

1 Features...........................................................................................................................................................................3

2 Life support policy ....................................................................................................................................................... 4

3 Mechanical Dimensions ..............................................................................................................................................5

3.1 Leadwire Configuration ..................................................................................................................................... 5

3.2 Dimensions ........................................................................................................................................................... 5

4 Torque figures ............................................................................................................................................................... 6

4.1 Motor QBL4208-41-04-006..................................................................................................................................6

4.2 Motor QBL4208-61-04-013..................................................................................................................................7

4.3 Motor QBL4208-81-04-019..................................................................................................................................7

4.4 Motor QBL4208-100-04-025................................................................................................................................8

5 Motor Sizing...................................................................................................................................................................9

5.1 Peak torque requirement ..................................................................................................................................9

5.2 RMS torque requirement................................................................................................................................... 9

5.3 Motor velocity....................................................................................................................................................... 9

6 Revision History ..........................................................................................................................................................10

6.1 Documentation Revision .................................................................................................................................10

List of Figures

Figure 3.1: Dimensions (all values in mm)....................................................................................................................5

Figure 4.1: QBL4208-41-04-006 Velocity vs. Torque characteristics .........................................................................6

Figure 4.2: QBL4208-61-04-013 Velocity vs. Torque characteristics .........................................................................7

Figure 4.3: QBL4208-81-04-019 Velocity vs. Torque characteristics .........................................................................7

Figure 4.4: QBL4208-100-04-025 Velocity vs. Torque characteristics.......................................................................8

Figure 4.5: QBL4208-100-04-025 Torque vs. Current characteristics........................................................................8

Figure 5.1: Rated motor velocity to average move velocity for point to point positioning ........................10

List of Tables

Table 1.1: Motor technical data......................................................................................................................................... 3

Table 3.1: Leadwire configuration .................................................................................................................................... 5

Table 6.1: Documentation Revisions..............................................................................................................................10

QBL4208 Manual (V1.01 / 2008-04-01) 3

1 Features

QMOT BLDC motors are quality motors for universal use. They feature a long life due to ball bearings and no wearing out parts.

high current BLDC motor modules.

Main characteristics:

Hall Effect Angle: 120° electric angle

Shaft run out: 0,025 mm

Insulation Class: B

Radial Play: 0,02 mm 450G load

Max Radial Force: 28N (10mm from flange)

Max Axial Force: 10N

These BLDC motors give a good fit to the TRINAMIC family of medium and

Dielectric Strength: 500 VDC For One Minute

Insulation Resistance: 100M Ohm min. 500VDC

Recommended Ambient Temp.: -20 to +40°C

Bearing: Brushless motors fitted with ball bearings

→ optimized for TMCM-160, TMCM-163 and TMCM-170 modules

Specifications

No. of Pole 8 8 8 8 No. of Phase 3 3 3 3 Rated Voltage V 24 24 24 24 Rated Phase Current A 1.79 3.47 5.14 6.95 Rated Speed RPM 4000 4000 4000 4000 Rated Torque Nm 0.0625 0.125 0.185 0.25 Max Peak Torque Nm 0.19 0.38 0.56 0.75 Torque Constant Nm/A 0.035 0.036 0.036 0.036 Line to Line Resistance Ohm 1.8 0.72 0.55 0.28 Line to Line Inductance mH 2.6 1.2 0.8 0.54 Max Peak Current A 5.4 10.6 15.5 20 Lenth (L Rotor Inertia kgm² x 10 Mass kg 0.3 0.45 0.65 0.8 Related Trinamic PANdrive PD3-163-42 PD4-163-42

) mm 41 61 81 100

MAX

-41-04-006 -61-04-013 -81-04-019 -100-04-025

-6

24 48 72 96

QBL 4208

Table 1.1: Motor technical data

QBL4208 Manual (V1.01 / 2008-04-01) 4

2 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.

Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use.

Specifications subject to change without notice.

QBL4208 Manual (V1.01 / 2008-04-01) 5

3 Mechanical Dimensions

3.1 Leadwire Configuration

Cable type 1 No. Gauge Function

Red

Blue Green White

Black

Black Red Yellow

Table 3.1: Leadwire configuration



1 UL1007 AWG26



2 UL1007 AWG26 Hall A



3 UL1007 AWG26 Hall B



4 UL1007 AWG26 Hall C



5 UL1007 AWG26



6 UL1007 AWG20 Phase U



7 UL1007 AWG20 Phase V



8 UL1007 AWG20 Phase W

Vcc Hall Sensor +5VDC to +24VDC

GND Hall Sensor Ground

3.2 Dimensions

Figure 3.1: Dimensions (all values in mm)

QBL4208 Manual (V1.01 / 2008-04-01) 6

4 Torque figures

The torque figures detail motor torque characteristics measured in block commutation. Please be careful not to operate the motors outside the blue field. This is possible for short times only because of a resulting high coil temperature. The motors have insulation class B. The blue field is described by rated speed and rated torque.

4.1 Motor QBL4208-41-04-006

Velocity vs. torque measured with 24V supply voltage

Figure 4.1: QBL4208-41-04-006 Velocity vs. Torque characteristics

QBL4208 Manual (V1.01 / 2008-04-01) 7

4.2 Motor QBL4208-61-04-013

Velocity vs. torque measured with 24V supply voltage

Figure 4.2: QBL4208-61-04-013 Velocity vs. Torque characteristics

4.3 Motor QBL4208-81-04-019

Velocity vs. torque measured with 24V supply voltage

Figure 4.3: QBL4208-81-04-019 Velocity vs. Torque characteristics

QBL4208 Manual (V1.01 / 2008-04-01) 8

4.4 Motor QBL4208-100-04-025

Velocity vs. torque measured with 24V supply voltage

Figure 4.4: QBL4208-100-04-025 Velocity vs. Torque characteristics

Torque vs. current measured with 24V supply voltage

Figure 4.5: QBL4208-100-04-025 Torque vs. Current characteristics

QBL4208 Manual (V1.01 / 2008-04-01) 9

5 Motor Sizing

For the optimum solution it is important to fit the motor to the application. The three key parameters are peak torque requirement, RMS torque requirement and motor velocity.

5.1 Peak torque requirement

Peak torque TP is the sum of the torque due to acceleration of inertia (TI), load (TL) and friction (TF):

TTTT ++=

FLJP

The torque due to inertia is the product of the load (including motor rotor) inertia and the load acceleration:

aJT

⋅=

The torque due to the load is defined by the configuration of the mechanical system coupled to the motor. The system also determines the amount of torque required to overcome the friction.

5.2 RMS torque requirement

Root-Mean-Square or RMS torque is a value used to approximate the average continuous torque requirement. Its statistical approximation is with t1: acceleration time t2: run time t3: deceleration time t4: time in a move

RMS

()( )

FL1

tttt

+++

4321

tTTTtTTtT

⋅−−+⋅++⋅

FLJ2

5.3 Motor velocity

The motor velocity is also dictated by the configuration of the mechanical system that is coupled to the motor shaft, and by the type of move that is to be effected. For example, a single velocity application would require a motor with rated velocity equal to the average move velocity. A point to point positioning would require a motor with a rated velocity higher than the average move velocity. (The higher velocity would account for acceleration, deceleration and run times of the motion profile). Figure 5.1 relates rated motor velocity to average move velocity for two point to point positioning move profiles.

QBL4208 Manual (V1.01 / 2008-04-01) 10

Figure 5.1: Rated motor velocity to average move velocity for point to point positioning

6 Revision History

6.1 Documentation Revision

Version Date Author Description

1.00 2007-05-09 HC Initial Release

1.01 2008-04-01 GE Motor coil connections corrected

Table 6.1: Documentation Revisions

Trinamic QBL4208-41-04-006, QBL4208-61-04-013, QBL4208-81-04-019, QBL4208-100-04-025 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual