QSH4218-41-10-035 - TRINAMIC

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

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.

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.

QSH4218 Manual (V1.05/2009-JUN-20) 4

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

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

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

Weight (Mass)

Kg

0.22

0.28

0.35

Insulation Class

B

Dielectic Strength (for one minute)

VAC

500

Connection Wires

N°

4

Step Angle

°

1.8

Step angle Accuracy (max.)

%

5

Flange Size (max.)

mm

42.3

Motor Length (max.)

mm

33.5

38

47

Rear shaft hole depth

mm

5.0

Rear shaft hole diameter

mm

3.0

Axis Diameter

mm

5.0

Axis Length (typ.)

mm

24

Axis D-cut (0.5mm depth)

mm

20

Maximum Radial Force

(20 mm from front flange)

N

28

Maximum Axial Force

N

10

Ambient temperature

°C

-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

Table 2.1: Motor technical data

QSH4218 Manual (V1.05/2009-JUN-20) 5

3 Order codes

Order code

Description

Dimensions (mm)

QSH4218-35-10-027

QMot stepper motor 42mm, 1A, 0.27Nm

42.3 x 42.3 x 33,5

QSH4218-41-10-035

QMot stepper motor 42mm, 1A, 0.35Nm

42.3 x 42.3 x 38

QSH4218-51-10-049

QMot stepper motor 42mm, 1A, 0.49Nm

42.3 x 42.3 x 47

QSH4218-47-28-040

QMot stepper motor 42mm, 2.8A, 0.40Nm

42.3 x 42.3 x 47

Related products

PDx-110-42 (-option)

PANdrive™ with QSH42-18 motor and

interface option

42.3 x 42.3 x 53.5/58/67

PDx-013-42

PANdrive™ with QSH42-18 motor and

step/direction interface

42.3 x 42.3 x 52.5/57/66

PD-111-42 (-option)

TMCM-111-42 with QSH4218-47-28-040

42.3 x 42.3 x 100

Tabelle 3.1: Order codes

QSH4218 Manual (V1.05/2009-JUN-20) 6

4 Mechanical dimensions

4.1 Lead wire configuration

Cable type

Coil

Function

Black

A

Motor coil A pin 1

Green

A-

Motor coil A pin 2

Red

B

Motor coil B pin 1

Blue

B-

Motor coil B pin 2

Table 4.1: Lead wire configuration

Figure 4.1: Lead wire configuration

4.2 Dimensions

Length±1

42.3

2

22-0.05

24±1

20

5

4.5

22

42.3

31

5

4xM3

Deep 4.5

Motor

Length

QSH4218-35-10-027

33.5mm

QSH4218-41-10-035

38mm

QSH4218-51-10-049

47mm

QSH4218-47-28-040

47mm

Figure 4.2: Dimensions (all values in mm)

M

black

green

red

blue

A

B

QSH4218 Manual (V1.05/2009-JUN-20) 7

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 be minimized by microstep operation in most applications.

5.1 Motor QSH4218-35-10-027

Testing conditions: driver supply voltage +24V DC, coil current 1.0A RMS, half step operation

Figure 5.1: QSH4218-35-10-027 speed vs. torque characteristics

5.2 Motor QSH4218-41-10-035

Testing conditions: driver supply voltage +24V DC, coil current 1.0A RMS, half step operation

Figure 5.2: QSH4218-41-10-035 speed vs. torque characteristics

QSH4218 Manual (V1.05/2009-JUN-20) 8

5.3 Motor QSH4218-51-10-049

Testing conditions: driver supply voltage +24V DC, coil current 1.0A RMS, half step operation

Figure 5.3: QSH4218-51-10-049 speed vs. torque characteristics

5.4 Motor QSH4218-47-28-040

Testing conditions: driver supply voltage: +24V DC, coil current: 2.8A RMS, half step operation

Figure 5.4: QSH4218-47-28-040 speed vs. torque characteristics

QSH4218 Manual (V1.05/2009-JUN-20) 9

6 Considerations for operation

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 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 the 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, longer motors and motors with a larger

diameter 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 fitting solution. Please refer to the torque vs. velocity

diagram to determine the best fitting motor, which delivers enough torque at the desired velocities.

6.1.1 Determining the maximum torque required by your application

Just try a motor with a torque 30-50% above the application’s 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 slightly 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 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

Comment

150%

≤150%

225%

Limit operation to a few seconds

125%

156%

Operation possible for a limited time

100%

= 2 * IRMS_RATED * RCOIL

Normal operation

85%

72%

Normal operation

75%

56%

Normal operation

50%

25%

Reduced microstep exactness due to

torque reducing in the magnitude of

detent torque

38%

14%

-“-

25%

6%

-“-

0%

see detent

torque

0%

Motor might loose position if the

application’s friction is too low

Table 6.1: Motor current settings

QSH4218 Manual (V1.05/2009-JUN-20) 10

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 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)

6.2.2 Choosing the standby current

Most applications do not need much torque during motor standstill. You should always reduce the

motor current during standstill. 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 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 standstill, 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 voltage in many applications cannot 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 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:

(Please refer to motor technical data table.)

Parameter

Value

Comment

Minimum driver

supply voltage

2 * UCOIL_NOM

Very limited motor velocity. Only slow movement without

torque reduction. Chopper noise might become audible.

Optimum driver

supply voltage

≥ 4 * UCOIL_NOM

and

≤ 22 * UCOIL_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 * UCOIL_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

UCOIL_NOM = IRMS_RATED * RCOIL

QSH4218 Manual (V1.05/2009-JUN-20) 11

6.3.1 Determining if the given 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 supply voltage. Thus, the driver cannot 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.

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).

6.4 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.

The Back EMF constant can be calculated as:

The voltage is valid as RMS voltage per coil, thus the nominal current INOM 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 times the frequency the measured sine wave.

 

AI NmngTorqueMotorHoldi

srad

V

U

NOM

BEMF 















2/

QSH4218 Manual (V1.05/2009-JUN-20) 12

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 cosine 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 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

Low to very high.

Skip resonance

areas in low to

medium velocity

range.

Full torque if dam-

pener used,

otherwise reduced

torque in resonance

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 reduced

torque in resonance

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

fullstepping for

high velocities

200 * (number of

microsteps) per

rotation

Low to very high.

Full torque

At high velocities,

there is no audible

difference 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 velocities 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 resonance 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 resonance frequencies cannot be skipped

QSH4218 Manual (V1.05/2009-JUN-20) 13

7 Revision history

7.1 Document revision

Version

Date

Author

Description

1.00

HC

Initial Release

1.01

2007-JUN-20

HC

Chapter Fehler! Verweisquelle konnte nicht gefunden

werden. optimum motor settings added

1.02

2007-JUL-11

HC

Chapter 0: motor codes corrected

1.03

2007-NOV-13

HC

Chapter 6.4 Back EMF (BEMF) added

1.04

2009-APR-01

GE

Max. operating voltage added

1.05

2009-JUN-20

SD

QSH4218-47-28-040 and order codes added, dimensions

and torque figures reconditioned, further minor changes

Table 7.1: Document revision