Trinamic QSH4218-35-10-027, QSH4218-41-10-035, QSH4218-51-10-049, QSH4218-47-28-040 User guide
QMot QSH4218 family
Manual
V1.05
2009-JUN-20
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
QSH4218 Manual (V1.05/2009-JUN-20) 2
Table of Contents
1 Life support policy ....................................................................................................................................................... 3
2 Features........................................................................................................................................................................... 4
3 Order codes .................................................................................................................................................................... 5
4 Mechanical dimensions .............................................................................................................................................. 6
4.1 Lead wire configuration .................................................................................................................................... 6
4.2 Dimensions ........................................................................................................................................................... 6
5 Torque figures ............................................................................................................................................................... 7
5.1 Motor QSH4218-35-10-027 ................................................................................................................................. 7
5.2 Motor QSH4218-41-10-035 ................................................................................................................................. 7
5.3 Motor QSH4218-51-10-049 ................................................................................................................................. 8
5.4 Motor QSH4218-47-28-040 ................................................................................................................................. 8
6 Considerations for operation.................................................................................................................................... 9
6.1 Choosing the best fitting motor for an application ................................................................................. 9
6.1.1 Determining the maximum torque required by your application ............................................. 9
6.2 Motor Current Setting ........................................................................................................................................ 9
6.2.1 Choosing the optimum current setting ........................................................................................... 10
6.2.2 Choosing the standby current ............................................................................................................ 10
6.3 Motor Driver Supply Voltage ......................................................................................................................... 10
6.3.1 Determining if the given driver voltage is sufficient .................................................................. 11
6.4 Back EMF (BEMF) ................................................................................................................................................ 11
6.5 Choosing the Commutation Scheme .......................................................................................................... 12
6.5.1 Fullstepping ............................................................................................................................................. 12
6.5.1.1 Avoiding motor resonance in fullstep operation ............................................................. 12
7 Revision history .......................................................................................................................................................... 13
7.1 Document revision ........................................................................................................................................... 13
List of Figures
Figure 4.1: Lead wire configuration ................................................................................................................................ 6
Figure 4.2: Dimensions (all values in mm) ................................................................................................................... 6
Figure 5.1: QSH4218-35-10-027 speed vs. torque characteristics ............................................................................. 7
Figure 5.2: QSH4218-41-10-035 speed vs. torque characteristics ............................................................................. 7
Figure 5.3: QSH4218-51-10-049 speed vs. torque characteristics ............................................................................. 8
Figure 5.4: QSH4218-47-28-040 speed vs. torque characteristics ............................................................................. 8
List of Tables
Table 2.1: Motor technical data ......................................................................................................................................... 4
Table 4.1: Lead wire configuration .................................................................................................................................. 6
Table 6.1: Motor current settings ..................................................................................................................................... 9
Table 6.2: Driver supply voltage considerations ........................................................................................................ 10
Table 6.3: Comparing microstepping and fullstepping ............................................................................................ 12
Table 7.1: Document revision .......................................................................................................................................... 13
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
QSH4218 Manual (V1.05/2009-JUN-20) 3
1 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 2005
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility
is assumed for the consequences of its use nor for
any infringement of patents or other rights of third
parties, which may result from its use.
Specifications are subject to change without notice.
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
QSH4218 Manual (V1.05/2009-JUN-20) 4
Specifications
Units
QSH4218
-35-10-027
-41-10-035
-51-10-049
-47-28-040
Rated Voltage
V
5.3
4.5
5.0 1.4
Rated Phase Current
A
1.0
1.0
1.0 2.8
Phase Resistance at 20°C
Ω
5.3
4.5
5.0
0.5 ± 10%
Phase Inductance (typ.)
mH
6.6
7.5
8.0
0.6 ± 20%
Holding Torque (typ.)
Ncm
27
35
49 40
oz in
38
50
69 56.3
Rotor Inertia
g cm2
35
54
68 68
Weight (Mass)
Kg
0.22
0.28
0.35
0.35
Insulation Class
B B
B B
Dielectic Strength (for one minute)
VAC
500
500
500 500
Connection Wires
N° 4 4
4 4
Step Angle
°
1.8
1.8
1.8 1.8
Step angle Accuracy (max.)
% 5 5
5 5
Flange Size (max.)
mm
42.3
42.3
42.3
42.3
Motor Length (max.)
mm
33.5
38
47 47
Rear shaft hole depth
mm
5.0
5.0
5.0 5.0
Rear shaft hole diameter
mm
3.0
3.0
3.0 3.0
Axis Diameter
mm
5.0
5.0
5.0 5.0
Axis Length (typ.)
mm
24
24
24 24
Axis D-cut (0.5mm depth)
mm
20
20
20 20
Maximum Radial Force
(20 mm from front flange)
N
28
28
28 28
Maximum Axial Force
N
10
10
10 10
Ambient temperature
°C
-20…+50
-20…+50
-20…+50
-20…+50
Related Trinamic PANdrives
type
PD1-110-42-SE
PD1-013-42-SE
PD1-140-42-SE
PD2-110-42
PD2-013-42
PD2-140-42
PD3-110-42
PD3-013-42
PD3-140-42
PD-111-42
2 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 all used in the 42mm PANdrive™ family.
The QSH4218-35-10-027, QSH4218-41-10-035 and QSH4218-51-10-049 are motors with 1A RMS coil
current. The QSH4218-47-28-40 is different: It is designed for 2.8A RMS coil current to provide
maximum torque at high velocities. However the motor has the same mechanical dimensions as the
QSH4218-51-10-049.
Characteristics of all QSH4218 motors:
NEMA 17 mounting configuration
flange max. 42.3mm * 42.3mm
step angle: 1.8˚
optimized for microstep operation
optimum fit for TMC236/TMC246 based driver circuits
4 wire connection
CE approved
Special characteristics of the QSH4218-47-28-40 motor:
optimized for 2.8A RMS coil current to provide maximum torque at high velocities
0.25Nm torque at 1200 RPM with a 24V supply
holding torque 0.40Nm
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
Table 2.1: Motor technical data
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