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

QMOT Motor QBL4208
Manual
42mm QMOT BLDC motor family
Trinamic Motion Control GmbH & Co. KG
D – 20357 Hamburg, Germany
http://www.trinamic.com
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
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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.
© TRINAMIC Motion Control GmbH & Co. KG 2007
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.
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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)
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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
=
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.
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
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