2 Life support policy ....................................................................................................................................................... 4
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
5.3 Motor velocity....................................................................................................................................................... 9
6 Revision History ..........................................................................................................................................................10
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
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.
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
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
⋅=
J
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
2
T
RMS
P
=
()()
2
FL1
tttt
+++
4321
2
tTTTtTTtT
⋅−−+⋅++⋅
3
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.