TRINAMIC QSH6018-65-28 User guide

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QMOT STEPPER MOTORS MOTORS

V 1.05

QMOT QSH6018 MANUAL

+ +

-45-28-110

60mm

2.8A, 1.10 Nm

-56-28-165

60mm

2.8A, 1.65 Nm

-65-28-210

60mm

2.8A, 2.10 Nm

+ +

60mm

2.8A, 3.10 Nm

QSH-6018

-86-28-310

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

www.trinamic.com

QSH6018 Manual (V1.05 / 2011-MAR-19) 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 QSH6018-45-28-110 ................................................................................................................................. 7

5.2 Motor QSH6018-56-28-165 ................................................................................................................................. 7

5.3 Motor QSH6018-65-28-210 ................................................................................................................................. 8

5.4 Motor QSH6018-86-28-310 ................................................................................................................................. 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 Optimum motor settings ......................................................................................................................................... 13

7.1.1 Settings for TRINAMIC TMCL™ modules ......................................................................................... 13

8 Revision history .......................................................................................................................................................... 14

8.1 Documentation revision .................................................................................................................................. 14

List of figures

Figure 3.1: Lead wire configuration ................................................................................................................................ 6

Figure 4.2: Dimensions (all values in mm) ................................................................................................................... 6

Figure 5.1: QSH6018-45-28-110 Speed vs. Torque Characteristics ........................................................................... 7

Figure 5.2: QSH6018-56-28-165 Speed vs. Torque Characteristics ........................................................................... 7

Figure 5.3: QSH6018-65-28-210 Speed vs. Torque Characteristics ........................................................................... 8

Figure 5.4: QSH6018-86-28-310 Speed vs. Torque Characteristics ........................................................................... 8

List of tables

Table 1.1: Motor technical data ......................................................................................................................................... 4

Table 3.1: Order codes ......................................................................................................................................................... 5

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: Optimum motor settings .............................................................................................................................. 13

Table 7.2: Optimum motor settings for TMCL™ modules (tested with TMCM-109) ........................................ 13

Table 8.1: Documentation revision ................................................................................................................................ 14

QSH6018 Manual (V1.05 / 2011-MAR-19) 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.

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.

QSH6018 Manual (V1.05 / 2011-MAR-19) 4

Specifications

Parameter

Units

QSH6018

-45-28-110

-56-28-165

-65-28-210

-86-28-310

Rated Voltage

RATED

V 2.1

2.52

3.36

4.17

Rated Phase Current (nominal)

RMS_RATED_NOM

2.8

Rated Phase Current (max. continuous)

RMS_RATED_MAX

3.0

Phase Resistance at 20°C

COIL

Ω 0.75

0.9

1.2

1.5

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)

0.6

0.77

1.2

1.4

Insulation Class

B B B

Insulation Resistance

Ω 100M

100M

Dialectic Strength (for one minute)

VAC

500

Connection Wires

N° 4 4 4 4

Max applicable Voltage

V 75

Step Angle

° 1.8

1.8

Step angle Accuracy

% 5 5 5

Flange Size (max.)

60.5

Motor Length (max.)

MAX

45.0

56.0

65.0

86.0

Axis Diameter

8.0

Axis Length (visible part, typ.)

24.0

Axis D-cut (0.5mm depth)

20.0

Shaft Radial Play (450g load)

0.02

Shaft Axial Play (450g load)

0.08

Maximum Radial Force (20 mm from front flange)

Maximum Axial Force

N 15

Ambient Temperature

°C

-20..+50

Temp Rise (rated current, 2 phase on)

°C

max. 80

2 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 and TMC262 based driver circuits  up to 75V operating voltage  CE approved

Table 2.1: Motor technical data

QSH6018 Manual (V1.05 / 2011-MAR-19) 5

Order code

Description

Dimensions (mm3)

QSH6018-45-28-110

QMot Steppermotor 60 mm, 2.8A, 1.10 Nm

60 x 60 x 45

QSH6018-56-28-165

QMot Steppermotor 60 mm, 2.8A, 1.65 Nm

60 x 60 x 56

QSH6018-65-28-210

QMot Steppermotor 60 mm, 2.8A, 2.10 Nm

60 x 60 x 65

QSH6018-86-28-310

QMot Steppermotor 60 mm, 2.8A, 3.10 Nm

60 x 60 x 86

3 Order Codes

Table 3.1: Order codes

+ 9 hidden pages

TRINAMIC QSH6018-65-28 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual