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QMOT Motor QBL5704
Manual
57mm QMOT BLDC motor family
Trinamic Motion Control GmbH & Co. KG
D – 20357 Hamburg, Germany
http://www.trinamic.com
Sternstraße 67
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QBL5704 Manual (V1.00 /09-May-2007) 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 QBL5704-94-04-032 ................................................................................................................................. 6
4.2 Motor QBL5704-116-04-042 ............................................................................................................................... 7
5 Motor Sizing................................................................................................................................................................... 7
5.1 Peak torque requirement.................................................................................................................................. 7
5.2 RMS torque requirement................................................................................................................................... 8
5.3 Motor velocity...................................................................................................................................................... 8
6 Revision History............................................................................................................................................................ 9
6.1 Documentation Revision................................................................................................................................... 9
List of Figures
Figure 3.1: Leadwire configuration.................................................................................................................................. 5
Figure 3.2: Dimensions (all values in mm, hx describes drilling tolerance) ....................................................... 5
Figure 4.1: QBL5704-94-04-032 Velocity vs. Torque Characteristics......................................................................... 6
Figure 4.2: QBL5704-116-04-042 Velocity vs. Torque Characteristics ...................................................................... 7
Figure 5.1: Rated motor velocity to average move velocity for point to point positioning.......................... 8
List of Tables
Table 1.1: Motor technical data......................................................................................................................................... 3
Table 3.1: Leadwire configuration.................................................................................................................................... 5
Table 6.1: Documentation Revisions ............................................................................................................................... 9
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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QBL5704 Manual (V1.00 /09-May-2007) 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. These BLDC motors give a good fit to the TRINAMIC family of medium and
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: 75N (10mm from flange)
Max Axial Force: 15N
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 4 4
No. of Phase 3 3
Rated Voltage V 36 36
Rated Phase Current A 5.08 6.67
Rated Speed RPM 4000 4000
Rated Torque Nm 0.32 0.42
Max Peak Torque Nm 0.98 1.3
Torque Constant Nm/A 0.063 0.063
Line to Line Resistance Ohm 0.45 0.35
Line to Line Inductance mH 1.4 1
Max Peak Current A 16.5 20.5
Lenth (L
Rotor Inertia kgm² x 10
Mass kg 1 1,25
Related Trinamic PANdrive
) mm 94 116
MAX
PD3-xxx-57 PD4-xxx-57
-94-04-032 -116-04-042
-6
QBL 5704
17,3 23
Table 1.1: Motor technical data
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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QBL5704 Manual (V1.00 /09-May-2007) 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 © 2007, TRINAMIC Motion Control GmbH & Co. KG
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QBL5704 Manual (V1.00 /09-May-2007) 5
3 Mechanical Dimensions
3.1 Leadwire Configuration
Cable type 1 No. Gauge Function
Red
Blue
Green
White
Black
Yellow
Red
Black
Table 3.1: Leadwire configuration
Figure 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 AWG21 Phase V
8 UL1007 AWG22 Phase W
Vcc Hall Sensor
+5VDC to +24VDC
GND Hall
Sensor Ground
3.2 Dimensions
Figure 3.2: Dimensions (all values in mm, hx describes drilling tolerance)
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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QBL5704 Manual (V1.00 /09-May-2007) 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 QBL5704-94-04-032
Measured with 36V supply voltage
Figure 4.1: QBL5704-94-04-032 Velocity vs. Torque Characteristics
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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QBL5704 Manual (V1.00 /09-May-2007) 7
4.2 Motor QBL5704-116-04-042
Measured with 36V supply voltage
Figure 4.2: QBL5704-116-04-042 Velocity vs. Torque Characteristics
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.
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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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
tTTTtTTtT
⋅−−+⋅++⋅
3
FLJ2
T
RMS
2
P
=
()( )
2
FL1
tttt
+++
4321
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.
Figure 5.1: Rated motor velocity to average move velocity for point to point positioning
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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QBL5704 Manual (V1.00 /09-May-2007) 9
6 Revision History
6.1 Documentation Revision
Version
1.00 09-May-2007 HC Initial Release
Date Author Description
Table 6.1: Documentation Revisions
Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG
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