Trinamic QSH6018-45-28-110, QSH6018-56-28-165, QSH6018-65-28-210, QSH6018-86-28-310 User guide
QMOT Motor QSH6018
Manual
60mm QMOT motor family
Trinamic Motion Control GmbH & Co. KG
D – 20357 Hamburg, Germany
http://www.trinamic.com
Sternstraße 67
QSH6018 Manual (V1.03 / 06-February-2008) 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 QSH6018-45-28-110 ................................................................................................................................. 6
4.2 Motor QSH6018-56-28-165 ................................................................................................................................. 6
4.3 Motor QSH6018-65-28-210 ................................................................................................................................. 7
4.4 Motor QSH6018-86-28-310 ................................................................................................................................. 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) ................................................................................................................................................11
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: QSH6018-45-28-110 Speed vs. Torque Characteristics............................................................................6
Figure 4.2: QSH6018-56-28-165 Speed vs. Torque Characteristics............................................................................6
Figure 4.3: QSH6018-65-28-210 Speed vs. Torque Characteristics............................................................................7
Figure 4.4: QSH6018-86-28-310 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-109).............................................12
Table 6.1: Documentation Revisions..............................................................................................................................13
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
QSH6018 Manual (V1.03 / 06-February-2008) 3
1 Features
These four phase hybrid stepper motors are optimized for microstepping and give a good fit to the
TRINAMIC family of motor controllers and drivers.
Main characteristics:
• NEMA 23 mounting configuration
• flange max. 60.5mm * 60.5mm
• 8.0mm axis diameter, 25mm axis length with 20mm D-cut of 0.5mm depth
• step angle: 1.8˚
• optimized for microstep operation
• optimum fit for TMC239 / TMC249 based driver circuits
• up to 75V operating voltage
• CE approved
Parameter Units
Rated Voltage V
Rated Phase Current (nominal) I
Rated Phase Current (max.
continuous)
Phase Resistance at 20°C R
V 2.1 2.52 3.36 4.17
RATED
RMS_RATED_NOM
I
RMS_RATED_MAX
Ω 0.75 0.9 1.2 1.5
COIL
-45-28-110 -56-28-165 -65-28-210 -86-28-310
A 2.8 2.8 2.8 2.8
A 3.0 3.0 3.0 3.0
Phase Inductance (typ.) mH 2 3.6 4.6 6.8
Holding Torque (typ.)
Nm 1.1 1.65 2.1 3.1
oz in 156 233 297 439
Detent Torque Ncm
Rotor Inertia gcm2 275 400 570 840
Weight (Mass) Kg 0.6 0.77 1.2 1.4
Insulation Class B B B B
Insulation Resistance Ω 100M 100M 100M 100M
Dialectic Strength (for one
minute)
VAC 500 500 500 500
Connection Wires N° 4 4 4 4
Max applicable Voltage V 75 75 75 75
Step Angle ° 1.8 1.8 1.8 1.8
Step angle Accuracy % 5 5 5 5
Flange Size (max.) mm 60.5 60.5 60.5 60.5
Motor Length (max.) L
mm 45.0 56.0 65.0 86.0
MAX
Axis Diameter mm 8.0 8.0 8.0 8.0
Axis Length (visible part, typ.) mm 24.0 24.0 24.0 24.0
Axis D-cut (0.5mm depth) mm 20.0 20.0 20.0 20.0
Shaft Radial Play (450g load) mm 0.02 0.02 0.02 0.02
Shaft Axial Play (450g load) mm 0.08 0.08 0.08 0.08
Maximum Radial Force
(20 mm from front flange)
N 75 75 75 75
Maximum Axial Force N 15 15 15 15
Ambient Temperature °C -20..+50 -20..+50 -20..+50 -20..+50
Temp Rise
(rated current, 2 phase on)
°C max. 80 max. 80 max. 80 max. 80
QSH6018 Specifications
Table 1.1: Motor technical data
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
QSH6018 Manual (V1.03 / 06-February-2008) 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
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