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qmot stepper motors motors trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com v 2.3 qmot qsh5718 manual + + qsh - 5718 - 41 - 28 - 055 57mm 2.8a, 0.55nm - 51 - 28 - 101 57mm 2.8a, 1.01nm - 56 - 28 - 126 57mm 2.8a, 1.26nm - 76 - 28 - 189 57mm 2.8a, 1.89nm + +
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 2 copyright ? 2011, trinamic motion control gmbh & co. kg contents 1 life support policy ................................ ................................ ................................ ................................ ................................ .... 3 2 features ................................ ................................ ................................ ................................ ................................ ........................ 4 3 order codes ................................ ................................ ................................ ................................ ................................ ................ 5 4 mechanical dimensions ................................ ................................ ................................ ................................ ........................... 6 4.1 dimensions ................................ ................................ ................................ ................................ ................................ ........ 6 4.2 leadwire confi guration ................................ ................................ ................................ ................................ .................. 7 5 torque figures ................................ ................................ ................................ ................................ ................................ ............ 8 5.1 qsh5718 - 41 - 28 - 055 ................................ ................................ ................................ ................................ ........................... 8 5.2 qsh5718 - 51 - 28 - 101 ................................ ................................ ................................ ................................ ........................... 9 5.3 qsh5718 - 56 - 28 - 126 ................................ ................................ ................................ ................................ ........................... 9 5.4 qsh5718 - 76 - 28 - 189 ................................ ................................ ................................ ................................ ......................... 10 6 consider ations for operation ................................ ................................ ................................ ................................ ............... 11 6.1 choosing the best fitting motor for an application ................................ ................................ ............................ 11 6.2 motor current setting ................................ ................................ ................................ ................................ ................... 11 6.2.1 choosing the optimum current setting ................................ ................................ ................................ ........ 12 6.2.2 choosing the standby current ................................ ................................ ................................ ......................... 12 6.3 motor driver supply voltage ................................ ................................ ................................ ................................ ...... 12 6.3.1 determining if the given driver voltage is sufficient ................................ ................................ ............... 13 6.4 back emf (bemf) ................................ ................................ ................................ ................................ ............................. 13 6.5 choosing the commutation scheme ................................ ................................ ................................ ....................... 14 6.5.1 fullstepping ................................ ................................ ................................ ................................ .......................... 14 7 revision his tory ................................ ................................ ................................ ................................ ................................ ....... 15 7.1 document revision ................................ ................................ ................................ ................................ ........................ 15
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 3 copyright ? 2011, trinamic motion control gmbh & co. kg 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 fa ilure 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 2011 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. s pecifications are subject to change without notice.
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 4 copyright ? 2011, trinamic motion control gmbh & co. kg 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. c haracteristics : ? nema 23 mounting configura tion ? 6.35mm axis diameter, 20 mm axis length ? step angle 1.8 ? optimized for microstep operation ? optimized fit for tmc239/tmc249 /tmc262 based driver circuits ? 4 wire connection ? ce approved ? flange max. 56.5mm x 56.5mm ? d - cut of 15mm length and 0.5mm depth ? up to 75v recommended operation voltage specifications parameter units qsh5718 - 41 - 28 - 055 - 51 - 28 - 101 56 - 28 - 126 - 76 - 28 - 189 number of leads n? 4 4 4 4 step angle ? 1.8 1.8 1.8 1.8 step angle accuracy % 5 5 5 5 rated voltage v rated v 2 2.3 2.5 3.2 rated phase current i rms rated a 2.8 2.8 2.8 2.8 phase resistance at 20c r coil ? 0.7 0.83 0.9 1.13 phase inductance (typ.) mh 1.4 2.2 2.5 3.6 holding torque nm 0.55 1.01 1.26 1.89 detent torque nm 0.020 0.035 0.039 0.066 rotor inertia g cm 2 120 275 300 480 insulation class b b b b max. applicable voltage v 75 75 75 75 max. radial force (20mm from front flange) n 75 75 75 75 max. axial force n 15 15 15 15 weight kg 0.45 0.65 0.7 1 length mm 41 51 56 76 temp. rise (rated current, 2 phase on) ?c +80 max +80 max +80 max +80 max ambient temperature ?c - 20 +50 - 20 +50 - 20 +50 - 20 +50 table 2 . 1 : specifications of qsh5718 - 41 - 28 - 055, qsh5718 - 51 - 28 - 101, qsh5718 - 56 - 28 - 126, and qsh5718 - 76 - 28 - 189
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 5 copyright ? 2011, trinamic motion control gmbh & co. kg 3 order codes the length of the motor is specified without the length of the axis. for the total length of the product add 24mm. order code description dimensions (mm 3 ) qsh5718 - 41 - 28 - 055 qmot stepper motor 57mm 2.8a, 0.55 nm 56.5 x 56.5 x 41 qsh5718 - 51 - 28 - 101 qmot stepper motor 57mm 2.8a, 1.01 nm 56.5 x 56.5 x 51 qsh5718 - 56 - 28 - 126 qmot stepper motor 57mm 2.8a, 1.26 nm 56.5 x 56.5 x 56 qsh5718 - 76 - 28 - 189 qmot stepper motor 57mm 2.8a, 1.89 nm 56.5 x 56.5 x 76 table 3 . 1 : order codes
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 6 copyright ? 2011, trinamic motion control gmbh & co. kg 4 mechanical dimensions 4.1 dimensions figure 4. 1 : dimensions of qsh5718. all values in mm. motor length (mm) qsh5718 - 41 - 28 - 055 41 qsh5718 - 51 - 28 - 101 51 qsh5718 - 56 - 28 - 126 56 qsh5718 - 76 - 28 - 189 76 l e n g t h 5 6 . 4 1 5 3 8 . 1 0 . 0 3 1 . 6 6 , 3 5 - 0 . 0 1 2 2 4 1 2 0 0 . 5 r 0 . 5 5 0 . 2 3 + 0 / 0 . 1 3 8 . 1 0 . 0 2 5 4 7 . 1 4 0 . 2 4 - ? 4 . 6 5 6 . 4 1 5 6 . 4 1 6 . 3 5 - 0 . 0 1 3 4 7 . 1 4 0 . 2
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 7 copyright ? 2011, trinamic motion control gmbh & co. kg 4.2 leadwire configuration figure 4. 2 : leadwire configuration cable type 1 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 m b l a c k g r e e n r e d b l u e a b
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 8 copyright ? 2011, trinamic motion control gmbh & co. kg 5 torque figures the torque figures detail motor torque characteristics for half 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 b e minimized by microstep operation in most applications. 5.1 qsh5718 - 41 - 28 - 055 vm: 30v, 2,8a/phase figure 5 . 1 : qsh5718 - 41 - 28 - 055 speed vs. torque characteristics 1 0 0 0 0 1 0 0 0 1 0 0 s p e e d [ p p s ] t o r q u e [ n m ] 0 , 5 6 0 0 , 4 8 0 0 , 4 0 0 0 , 3 2 0 0 , 2 4 0 0 , 1 6 0 0 , 0 8 0 0 , 0 0 0 h a l f s t e p
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 9 copyright ? 2011, trinamic motion control gmbh & co. kg 5.2 qsh5718 - 51 - 28 - 101 vm: 30v, 2,8a/phase figure 5 . 2 : qsh - 5718 - 51 - 28 - 101 speed vs. torque characteristics 5.3 qsh5718 - 56 - 28 - 126 vm: 30v, 2,8a/phase figure 5 . 3 : qsh5718 - 56 - 28 - 126 speed vs. torque characteristics 1 0 0 0 0 1 0 0 0 1 0 0 s p e e d [ p p s ] t o r q u e [ n m ] 1 , 0 5 0 0 , 9 0 0 0 , 7 5 0 0 , 6 0 0 0 , 4 5 0 0 , 3 0 0 0 , 1 5 0 0 , 0 0 0 h a l f s t e p 1 0 0 0 0 1 0 0 0 1 0 0 s p e e d [ p p s ] t o r q u e [ n m ] 1 . 2 6 0 1 . 0 8 0 0 . 9 0 0 0 . 7 2 0 0 . 5 4 0 0 . 3 6 0 0 . 1 8 0 0 . 0 0 0 h a l f s t e p
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 10 copyright ? 2011, trinamic motion control gmbh & co. kg 5.4 qsh5718 - 76 - 28 - 189 vm: 30v, 2,8a/phase figure 5 . 4 : qsh5718 - 76 - 28 - 189 speed vs. torque characteristics 1 0 0 0 0 1 0 0 0 1 0 0 s p e e d [ p p s ] t o r q u e [ n m ] 2 , 1 0 0 1 , 8 0 0 1 , 5 0 0 1 , 2 0 0 0 , 9 0 0 0 , 6 0 0 0 , 3 0 0 0 , 0 0 0 h a l f s t e p
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 11 copyright ? 2011, trinamic motion control gmbh & co. kg 6 c onsiderations for o peration the following chapters try to help you to correctly set the key operation parameters in order to get a stable system. 6.1 choosing the be st fitting motor for an a pplication 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 the desired motor torque and velocity. while the motor holding torque describes the torque at stand - still, and gives a good indication for comparing diffe rent 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, longer motor s and motor s with a larger d iameter deliver 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 fit ting solution. please refer to the torque vs. velocity diagram to determine the best fitting motor, which delivers enough torque at the desired velocities. determining the maximum torqu e required by your application just try a motor with a torque 30 - 50% above the applications maximum requirement. 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. therefore try to get a feeling for the motor reliability at s lightly increased load, especially at maximum velocity. that is also a good test to check the operation at a velocity a little higher than the maximum application velocity. 6.2 motor current setting basically, the motor torque is proportional to the motor curr ent, 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 ra ted 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 130c respectively a continuous motor operation temperat ure of 90c. percentage of rated current percentage of motor torque percentage of static motor power dissipation comment 150% 150% rms_rated * r coil normal operation 85% 85% 72% normal operation 75% 75% 56% normal operation 50% 50% 25% reduced microstep exactness due to torque reducing in the magnitude of detent torque 38% 38% 14% - applications friction is too low table 6 . 1 : motor current settings
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 12 copyright ? 2011, trinamic motion control gmbh & co. kg 6.2.1 choosing the optimum current setting 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 s elf 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 no minal setting, but be aware, that the mean power dissipation shall not exceed the motors nominal rating) 6.2.2 choosing the standby current most applications do not need much torque during motor stand still. you should always reduce the motor current durin g 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 standstill , motor torque is higher than at any other veloci ty. 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 n ot 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. 6.3 motor driver supply voltage the driver supply vol tage i n many applications can not be chosen freely, because other components have a fixed supply voltage of e.g. 24v dc. if you have the possibility to choose the driver supply voltage, please refer to the driver data sheet and consider that a higher voltage mean s 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 an d 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 volt age, which normally just has a theoretical background in order to determine the resistive loss in the motor. comment on the nominal motor voltage: (please refer to motor technical data table.) parameter value comment minimum driver supply voltage 2 * u coil_nom very limited motor velocity. only slow movement without torque reduction. chopper noise might become audible. optimum driver supply voltage coil_nom and coil_nom choose the best fitting voltage in this range using the motor torque curve and the driver data. you can scale the torque curve proportionally to the actual driver supply voltage. maximum rated driver supply voltage 25 * u coil_nom 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. table 6 . 2 : driver supply voltage considerations u coil_nom = i rms_rated * r coil
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 13 copyright ? 2011, trinamic motion control gmbh & co. kg 6.3.1 determining if the giv en driver voltage is sufficient try to brake the motor and listen to it 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 suppl y 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 af fect motor torque. measure the motor coil curre nt 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 const ant 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). 6.4 back emf (bemf) within si units, the numeric value of the bemf constant ha s 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 b emf voltage of 6.28v. t he back emf constant can be calculated as: the voltage is valid as rms voltage per coil, thus the nominal current i nom is multiplied by 2 in this 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 time s the frequency the measured sine wave. ? ? ? ? a i nm ngtorque motorholdi s rad v u nom bemf ? ? ? ? ? ? ? ? 2 /
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 14 copyright ? 2011, trinamic motion control gmbh & co. kg 6.5 choosing the commutation scheme while the motor performance curves are depicted for fullstepping and halfstepping , most modern drivers provide a microstepping scheme. microstepping uses a discrete sine and a cosin e wave to drive both coils of the motor, and gives a very smooth motor behavior as well as an increased position resolution. the amplitude of the waves is 1.41 times the nominal motor current, while the rms values equal the nominal motor current. the stepp er motor does not make loud steps any more C 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 low to very high. skip resonance areas in low to medium velocity range. full torque if dam pener used, otherwise re duced torque in re sonance area audible noise especially at low velocities halfstepping 200 steps per rotation * 2 low to very high. skip resonance areas in low to me dium velocity range. full torque if dam pener used, otherwise re duced torque in re sonance area audible noise especially at low velocities microstepping 200 * (number of microsteps) per rotation low to high. reduced torque at very high velocity low noise, smooth motor behavior mixed: micro - stepping and full stepping for high velocities 200 * (number of microsteps) per rotation low to very high. full torque at high velo cities, there is no audible diff erence for full stepping table 6 . 3 : comparing microstepping and 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 velocit ies gives best performance at all velocities and is most universal. most trinamic driver modules support all three modes. 6.5.1 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 anymore ! thus you should avoid resonance frequencies. 6.5.1.1 avoiding motor resonanc e in fullstep operation 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. a resonance dampener might be required, if the r esonance frequencies can not be skipped.
qsh5718 manual (v2.3/2011 - apr - 1 2 ) 15 copyright ? 2011, trinamic motion control gmbh & co. kg 7 r evision h istory 7.1 document r evision version comment author description 1.00 initial release hc 1.01 20 - jun - 07 hc chapter 0 optimum motor settings added 1.02 24 - oct - 07 hc torque figures corrected 1.03 13 - nov - 07 hc chapter 6.4 back emf (bemf) added 1.04 2008 - 04 - 01 ge new picture added, minor corrections 2.0 2009 - 05 - 1 4 sd new version of the document with qsh5718 - 41 - 28 - 055/ - 51 - 28 - 101/ - 56 - 28 - 126/ - 76 - 28 - 189 included 2.1 2010 - sep - 25 sd dimensions of qsh5718 - 41 - 28 - 055/ - 51 - 28 - 101/ - 56 - 28 - 126/ - 76 - 28 - 189 corrected . torque characteristics of qsh5718 - 56 - 28 - 126 corrected. 2.2 2010 - oct - 18 sd information about outdated motors delighted. 2.3 2011 - apr - 12 sd drawing of dimensions with d - cut and rear hole completed, new front page table 7 . 1 : documentation revision

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