Trinamic QSH6018-45-28-110, QSH6018-56-28-165, QSH6018-65-28-210, QSH6018-86-28-310 User guide

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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

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

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

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.

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.

QSH6018 Manual (V1.03 / 06-February-2008) 5

3 Mechanical Dimensions

3.1 Leadwire Configuration

Cable type Gauge Coil Function

Black UL1007 AWG22 A Motor coil A pin 1 Green UL1007 AWG22 A- Motor coil A pin 2 Red UL1007 AWG22 B Motor coil B pin 1 Blue UL1007 AWG22 B- Motor coil B pin 2

Table 3.1: Leadwire configuration

black

green

Figure 3.1: Leadwire configuration

red

3.2 Dimensions

blue

Figure 3.2: Dimensions (all values in mm)

QSH6018 Manual (V1.03 / 06-February-2008) 6

4 Torque figures

The torque figures detail motor torque characteristics for full step operation in order to allow simple comparison. For half step operation there are always a number of resonance points (with less torque) which are not depicted. These will be minimized by microstep operation in most applications.

4.1 Motor QSH6018-45-28-110

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.1: QSH6018-45-28-110 Speed vs. Torque Characteristics

4.2 Motor QSH6018-56-28-165

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.2: QSH6018-56-28-165 Speed vs. Torque Characteristics

QSH6018 Manual (V1.03 / 06-February-2008) 7

4.3 Motor QSH6018-65-28-210

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.3: QSH6018-65-28-210 Speed vs. Torque Characteristics

4.4 Motor QSH6018-86-28-310

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.4: QSH6018-86-28-310 Speed vs. Torque Characteristics

QSH6018 Manual (V1.03 / 06-February-2008) 8

5 Considerations for Operation

The following chapters try to help you to correctly set the key operation parameters in order to get a stable system.

5.1 Choosing the best fitting Motor for an Application

For an optimum solution it is important to fit the motor to the application and to choose the best mode of operation. The key parameters are desired motor torque and velocity. While the motor holding torque describes the torque at stand-still, and gives a good indication for comparing different motors, it is not the key parameter for the best fitting motor. The required torque is a result of static load on the motor, dynamic loads which occur during acceleration / deceleration and loads due to friction. In most applications the load at maximum desired motor velocity is most critical, because of the reduction of motor torque at higher velocity. While the required velocity generally is well known, the required torque often is only roughly known. Generally, a longer motor and a motor with a larger diameter delivers a higher torque. But, using the same driver voltage for the motor, the larger motor earlier looses torque when increasing motor velocity. This means, that for a high torque at a high motor velocity, the smaller motor might be the better fitting solution. Please refer to the torque vs. velocity diagram to determine the best fitting motor, which delivers enough torque at all desired velocities.

Hints:

Q: How to determine the maximum torque required by your application?

A: Just try a motor which should roughly fit. Take into consideration worst case conditions, i.e.

minimum driver supply voltage and minimum driver current, maximum or minimum environment temperature (whichever is worse) and maximum friction of mechanics. Now, consider that you want to be on the safe side, and add some 10 percent safety margin to take into account for unknown degradation of mechanics and motor.

QSH6018 Manual (V1.03 / 06-February-2008) 9

5.2 Motor Current Setting

Basically, the motor torque is proportional to the motor current, as long as the current stays at a reasonable level. At the same time, the power consumption of the motor (and driver) is proportional to the square of the motor current. Optimally, the motor should be chosen to bring the required performance at the rated motor current. For a short time, the motor current may be raised above this level in order to get increased torque, but care has to be taken in order not to exceed the maximum coil temperature of 130°C respectively a continuous motor operation temperature of 90°C.

Percentage of

rated current

Percentage of

motor torque

Percentage of static

motor power dissipation

150% ≤150% 225% 125% 125% 156%

100% 100%

= 2 * I

100%

RMS_RATED

* R

COIL

85% 85% 72% 75% 75% 56%

50% 50% 25%

38% 38% 14% 25% 25% 6%

see detent

torque

Comment

Limit operation to a few seconds Operation possible for a limited time Normal operation

Normal operation Normal operation Reduced microstep exactness due to

torque reducing in the magnitude of detent torque

-“-

-“Motor might loose position if the

application’s friction is too low

Table 5.1: Motor current settings

Hints:

Q: How to choose the optimum current setting?

A1: Generally, you choose the motor in order to give the desired performance at nominal current.

For short time operation, you might want to increase the motor current to get a higher torque than specified for the motor. In a hot environment, you might want to work with a reduced motor current in order to reduce motor self heating. The Trinamic drivers allow setting the motor current for up to three conditions:

- Stand still (choose a low current)

- Nominal operation (nominal current)

- High acceleration (if increased torque is required: You may choose a current above the nominal

setting, but be aware, that the mean power dissipation shall not exceed the motors nominal rating)

A2: If you reach the velocity limit, it might be a good idea to reduce the motor current, in order to avoid resonances occurring. Please see the hints on choosing the driver voltage.

Q: What about energy saving – how to choose standby current?

A1: Most applications do not need much torque during motor stand-still. You should always reduce

motor current during stand still. This reduces power dissipation and heat generation. Depending on your application, you typically at least can half power dissipation. There are several aspects why this is possible: In stand still, motor torque is higher than at any other velocity. Thus, you do not need the full current even with a static load! Your application might need no torque at all, but you might need to keep the exact microstep position: Try how low you can go in your application. If the microstep position exactness does not matter for the time of stand still, you might even reduce the motor current to zero, provided that there is no static load on the motor and enough friction in order to avoid complete position loss.

QSH6018 Manual (V1.03 / 06-February-2008) 10

5.3 Motor Driver Supply Voltage

The driver supply voltage in many applications can not be chosen freely, because other components have a fixed supply voltage of e.g. 24V DC. If you have to possibility to choose the driver supply voltage, please refer to the driver data sheet, and consider that a higher voltage means a higher torque at higher velocity. The motor torque diagrams are measured for a given supply voltage. You typically can scale the velocity axis (steps / sec) proportionally to the supply voltage to adapt the curve, e.g. if the curve is measured for 48V and you consider operation at 24V, half all values on the x-Axis to get an idea of the motor performance.

For a chopper driver, consider the following corner values for the driver supply voltage (motor voltage). The table is based on the nominal motor voltage, which normally just has a theoretical background in order to determine the resistive loss in the motor.

Comment on the nominal motor voltage: U

COIL_NOM

(Please refer to motor technical data table.)

Parameter Value Comment

Minimum driver supply voltage Optimum driver supply voltage

Maximum rated driver supply voltage

2 * U

COIL_NOM

≥ 4 * U and ≤ 22 * U 25 * U

Very limited motor velocity. Only slow movement without

torque reduction. Chopper noise might become audible.

COIL_NOM

Choose the best fitting voltage in this range using the motor torque curve and the driver data. You can scale the torque

COIL_NOM

curve proportionally to the actual driver supply voltage.

When exceeding this value, the magnetic switching losses in

the motor reach a relevant magnitude and the motor might get too hot at nominal current. Thus there is no benefit in further raising the voltage.

= I

RMS_RATED

* R

COIL

Table 5.2: Driver supply voltage considerations

Hints:

Q: How to determine if the given driver voltage is sufficient?

A1: Just listen to the motor at different velocities. Does the “sound” of the motor get raucous or

harsh when exceeding some velocity? Then the motor gets into a resonance area. The reason is, that the motor back-EMF voltage reaches the supply voltage. Thus, the driver can not bring the full current into the motor any more. This is typically a sign, that the motor velocity should not be further increased, because resonances and reduced current affect motor torque.

A2: Measure the motor coil current at maximum desired velocity. For microstepping: If the waveform is still basically sinusoidal, the motor driver supply voltage is sufficient. For Fullstepping: If the motor current still reaches a constant plateau, the driver voltage is sufficient. If you determine, that the voltage is not sufficient, you could either increase the voltage or reduce the current (and thus torque).

QSH6018 Manual (V1.03 / 06-February-2008) 11

5.4 Back EMF (BEMF)

Within SI units, the numeric value of the BEMF constant has the same numeric value as the numeric value of the torque constant. For example, a motor with a torque constant of 1 Nm/A would have a BEMF constant of 1V/rad/s. Turning such a motor with 1 rps (1 rps = 1 revolution per second =

6.28 rad/s) generates a BEMF voltage of 6.28V.

Thus, the Back EMF constant can be calculated as:

[]

AI2

[]

NmngTorqueMotorHoldi

is multiplied by 2 in this

NOM

BEMF

 

The voltage is valid as RMS voltage per coil, thus the nominal current I formula, since the nominal current assumes a full step position, with two coils switched on. The torque is in unit [Nm] where 1Nm = 100cNm = 1000mNm.

One can easily measure the BEMF constant of a two phase stepper motor with a (digital) scope. One just has to measure the voltage of one coil (one phase) when turning the axis of the motor manually. With this, one gets a voltage (amplitude) and a frequency of a periodic voltage signal (sine wave). The full step frequency is 4 times the frequency the measured sine wave.



s/rad



⋅

NOM





5.5 Choosing the Commutation Scheme

While the motor performance curves are depicted for fullstepping, most modern drivers provide a microstepping scheme. Microstepping uses a discrete sine and a cosine wave to drive both coils of the motor, and gives a very smooth motor behaviour as well as an increased position resolution. The amplitude of the waves is 1.41 times the nominal motor current, while the RMS values equals the nominal motor current. The stepper motor does not make loud steps any more – it turns smoothly! Therefore, 16 microsteps or more are recommended for a smooth operation and the avoidance of resonances. To operate the motor at fullstepping, some considerations should be taken into account.

Driver Scheme Resolution Velocity range Torque Comments

Fullstepping 200 steps per

rotation

Microstepping 200 * (number

of microsteps)

per rotation Mixed: Microstepping and fullstepping for high velocities

200 * (number

of microsteps)

per rotation

Table 5.3: Comparing microstepping and fullstepping

Low to very high. Skip resonance areas in low to medium velocity range. Low to high. Reduced torque at very

Low to very high. Full torque At high velocities,

Full torque if dampener used, otherwise reduced torque in resonance area

high velocity

Audible noise especially at low velocities

Low noise, smooth motor behaviour

there is no audible difference for fullstepping

Microstepping gives the best performance for most applications and can be considered as state-of-the art. However, fullstepping allows some ten percent higher motor velocities, when compared to microstepping. A combination of microstepping at low and medium velocities and fullstepping at high velocities gives best performance at all velocities and is most universal. Most Trinamic driver modules support all three modes.

QSH6018 Manual (V1.03 / 06-February-2008) 12

5.5.1 Fullstepping

When operating the motor in fullstep, resonances may occur. The resonance frequencies depend on the motor load. When the motor gets into a resonance area, it even might not turn any more! Thus you should avoid resonance frequencies.

Hints:

Q: How to avoid motor resonance in fullstep operation?

A1: Do not operate the motor at resonance velocities for extended periods of time. Use a reasonably

high acceleration in order to accelerate to a resonance-free velocity. This avoids the build-up of resonances. When resonances occur at very high velocities, try reducing the current setting.

A2: A resonance dampener might be required, if the resonance frequencies can not be skipped.

5.6 Optimum motor settings

Following table shows settings for highest reachable fullstep velocities.

Motor

voltage

Unit

-65-28-210 -86-28-310

QSH6018 Optimum Motor Settings

Motor current (RMS) A 2.8 2.8

Maximum microstep velocity = Fullstep threshold

Maximum fullstep velocity

Maximum microstep velocity = Fullstep threshold

Maximum fullstep velocity

Table 5.4: Optimum motor settings

RPS 1.907 1.144

RPS 3.815 2.575

RPS 2.861 2.003

RPS 7.629 5.245

5.6.1 Settings for Trinamic TMCL modules

Following TMCL settings apply best for highest motor velocities and smooth motor behavior at low velocities. They are intended for use with Trinamics controller modules. Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16 times microstepping. The pulse devisor is set to 3. With a 64 microstep setting the same values are valid with the pulse divisor set to 1.

Motor

Motor current (RMS) TMCL value 204 204

voltage

Unit

-65-28-210 -86-28-310

QSH6018 Optimum Motor Settings

Maximum microstep velocity = Fullstep threshold

Maximum fullstep velocity

Maximum microstep velocity = Fullstep threshold

Maximum fullstep velocity

Table 5.5: Optimum motor settings for TMCL modules (tested with TMCM-109)

TMCL value 200 120

TMCL value 400 270

TMCL value 300 210

TMCL value 800 550

QSH6018 Manual (V1.03 / 06-February-2008) 13

6 Revision History

6.1 Documentation Revision

Version Comment Author Description

1.00 Initial Release HC

1.01 20-Jun-07 HC Chapter 5.6 Optimum motor settings added

1.02 13-Nov-07 HC Chapter 5.4 Back EMF (BEMF) added

1.03 06-Feb-08 GE New motors added

Table 6.1: Documentation Revisions

Trinamic QSH6018-45-28-110, QSH6018-56-28-165, QSH6018-65-28-210, QSH6018-86-28-310 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual