Trinamic QMOT QSH4218-35-10-027, QMOT QSH4218-51-10-049, QMOT QSH4218-41-10-035 User Manual

QMOT Motor QSH4218

Manual

42mm QMOT motor family

Trinamic Motion Control GmbH & Co. KG

Sternstraße 67

D – 20357 Hamburg, Germany

http://www.trinamic.com

QSH4218 Manual (V1.03 /13-November-2007) 2

Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG

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 QSH4218-35-10-027................................................................................................................................. 6

4.2 Motor QSH4218-41-10-035................................................................................................................................. 6

4.3 Motor QSH4218-51-10-049................................................................................................................................. 7

5 Considerations for Operation................................................................................................................................... 8

5.1 Choosing the best fitting Motor for an Application................................................................................. 8

5.2 Motor Current Setting........................................................................................................................................ 9

5.3 Motor Driver Supply Voltage......................................................................................................................... 10

5.4 Back EMF (BEMF)................................................................................................................................................ 10

5.5 Choosing the Commutation Scheme.......................................................................................................... 11

5.5.1 Fullstepping ............................................................................................................................................. 12

5.6 Optimum motor settings................................................................................................................................ 12

5.6.1 Settings for Trinamic TMCL modules................................................................................................ 12

6 Revision History.......................................................................................................................................................... 13

6.1 Documentation Revision.................................................................................................................................13

List of Figures

Figure 3.1: Leadwire configuration.................................................................................................................................. 5

Figure 3.2: Dimensions (all values in mm) ................................................................................................................... 5

Figure 4.1: QSH4218-35-10-027 Speed vs. Torque Characteristics ........................................................................... 6

Figure 4.2: QSH4218-41-10-035 Speed vs. Torque Characteristics ........................................................................... 6

Figure 4.3: QSH4218-51-10-049 Speed vs. Torque Characteristics ........................................................................... 7

List of Tables

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

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

Table 5.1: Motor current settings..................................................................................................................................... 9

Table 5.2: Driver supply voltage considerations........................................................................................................10

Table 5.3: Comparing microstepping and fullstepping............................................................................................11

Table 5.4: Optimum motor settings .............................................................................................................................. 12

Table 5.5: Optimum motor settings for TMCL modules (tested with TMCM-110)............................................ 12

Table 6.1: Documentation Revisions ............................................................................................................................. 13

QSH4218 Manual (V1.03 /13-November-2007) 3

Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG

1 Features

These two phase hybrid stepper motors are optimized for microstepping and give a good fit to the
TRINAMIC family of motor controllers and drivers. They are also used in the 42mm PANdrive family.

Main characteristics:

• NEMA 17 mounting configuration

• flange max. 42.3mm * 42.3mm

• 5.0mm axis diameter, 20.0mm axis length

• step angle: 1.8˚

• optimized for microstep operation

• optimum fit for TMC236 / TMC246 based driver circuits

• up to 48V operating voltage

• 4 wire connection

• rear shaft hole for encoder connection, 5mm deep with 3mm diameter

• CE approved

QSH4218 Specifications

Parameter Units

-35-10-027 -41-10-035 -51-10-049

Rated Voltage V

RATED

V 5.3 4.5 5.0

Rated Phase Current I

RMS_RATED

A 1.0 1.0 1.0

Phase Resistance at 20°C R

COIL

Ω 5.3 4.5 5.0

Phase Inductance (typ.) mH 6.6 7.5 8.0

Ncm 27 35 49

Holding Torque (typ.)

oz in 38 50 69
Detent Torque Ncm
Rotor Inertia g cm

2

35 54 68
Weight (Mass) Kg 0.22 0.28 0.35
Insulation Class B B B
Insulation Resistance Ω 100M 100M 100M
Dialectic Strength (for one minute) VAC 500 500 500
Connection Wires N° 4 4 4
Max applicable Voltage V 48 48 48
Step Angle ° 1.8 1.8 1.8
Step angle Accuracy (max.) % 5 5 5
Flange Size (max.) mm 42.3 42.3 42.3
Motor Length (max.) L

MAX

mm 34.5 39 49
Rear shaft hole depth mm 5.0 5.0 5.0
Rear shaft hole diameter mm 3.0 3.0 3.0
Axis Diameter mm 5.0 5.0 5.0
Axis Length (typ.) mm 20.0 20.0 20.0
Axis D-cut (0.5mm depth) mm 15.0 15.0 15.0
Shaft Radial Play (450g load) mm 0.02 0.02 0.02
Shaft Axial Play (450g load) mm 0.08 0.08 0.08
Maximum Radial Force
(20 mm from front flange)

N 28 28 28

Maximum Axial Force N 10 10 10
Ambient Temperature °C -20..+50 -20..+50 -20..+50
Temp Rise (rated current, 2phase on) °C max. 80 max. 80 max. 80
Related Trinamic PANdrive type PD1-xxx-42 PD2-xxx-42 PD3-xxx-42

Table 1.1: Motor technical data

QSH4218 Manual (V1.03 /13-November-2007) 4

Copyright © 2007, TRINAMIC Motion Control GmbH & Co. KG

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.