Trinamic QMot QBL4208-81-04-019 User manual

QMot QBL4208 family
Manual
V1.03
2010-NOV-03
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D –20357 Hamburg, Germany
http://www.trinamic.com

QBL4208 Manual (V1.03 / 2010-NOV-03) 2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Life support policy ....................................................................................................................................................... 3
2Features........................................................................................................................................................................... 4
3Order codes.................................................................................................................................................................... 5
4Mechanical Dimensions.............................................................................................................................................. 6
4.1 Dimensions........................................................................................................................................................... 6
4.2 Leadwire Configuration..................................................................................................................................... 6
5Torque figures............................................................................................................................................................... 7
5.1 Motor QBL4208-41-04-006.................................................................................................................................. 7
5.2 Motor QBL4208-61-04-013.................................................................................................................................. 8
5.3 Motor QBL4208-81-04-019.................................................................................................................................. 9
5.4 Motor QBL4208-100-04-025 ............................................................................................................................. 10
6Motor sizing................................................................................................................................................................. 12
6.1 Peak torque requirement................................................................................................................................ 12
6.2 RMS torque requirement................................................................................................................................. 12
6.3 Motor velocity .................................................................................................................................................... 13
7Revision history .......................................................................................................................................................... 14
7.1 Document revision ........................................................................................................................................... 14
List of Figures
Figure 4.1: Dimensions (all values in mm) ................................................................................................................... 6
Figure 5.1: QBL4208-41-04-006 Velocity vs. Torque characteristics ......................................................................... 7
Figure 5.2: QBL4208-61-04-013 Velocity vs. torque characteristics.......................................................................... 8
Figure 5.3: QBL4208-81-04-019 Velocity vs. Torque characteristics ......................................................................... 9
Figure 5.4: QBL4208-100-04-025 Velocity vs. Torque characteristics..................................................................... 10
Figure 5.5: QBL4208-100-04-025 Torque vs. Current characteristics...................................................................... 11
Figure 6.1: Trapezoidal move and triangular move.................................................................................................. 13
List of Tables
Table 1.1: Motor technical data......................................................................................................................................... 4
Table 3.1: Order codes......................................................................................................................................................... 5
Table 4.1: Leadwire configuration.................................................................................................................................... 6
Table 7.1: Document revision.......................................................................................................................................... 14

QBL4208 Manual (V1.03 / 2010-NOV-03) 3
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
1Life 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 2010
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.

QBL4208 Manual (V1.03 / 2010-NOV-03) 4
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2Features
QMOT BLDC motors are quality motors for universal use. They feature a long life due to ball bearings
and no wearing out parts. These BLDC motors give a good fit to the TRINAMIC family of medium and
high current BLDC motor modules.
Main characteristics:
Hall Effect Angle: 120° electric angle
Shaft run out: 0,025 mm
Insulation Class: B
Radial Play: 0,02 mm 450G load
Max Radial Force: 28N (10mm from flange)
Max Axial Force: 10N
Dielectric Strength: 500 VDC For One Minute
Insulation Resistance: 100M Ohm min. 500VDC
Recommended Ambient Temp.: -20 to +40°C
Bearing: Brushless motors fitted with ball bearings
Specifications
QBL 4208
-41-04-006
-61-04-013
-81-04-019
-100-04-025
No. of Pole
8
8
8
8
No. of Phase
3
3
3
3
Rated Voltage
V
24
24
24
24
Rated Phase Current
A
1.79
3.47
5.14
6.95
Rated Speed
RPM
4000
4000
4000
4000
Rated Torque
Nm
0.0625
0.125
0.185
0.25
Max Peak Torque
Nm
0.19
0.38
0.56
0.75
Torque Constant
Nm/A
0.035
0.036
0.036
0.036
Line to Line Resistance
Ohm
1.8
0.72
0.55
0.28
Line to Line Inductance
mH
2.6
1.2
0.8
0.54
Max Peak Current
A
5.4
10.6
15.5
20
Length (LMAX)
mm
41
61
81
100
Rotor Inertia
kgm² x 10-6
24
48
72
96
Mass
kg
0.3
0.45
0.65
0.8
Table 2.1: Motor technical data

QBL4208 Manual (V1.03 / 2010-NOV-03) 5
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
3Order codes
Order code
Description
Dimensions (mm)
QBL4208-41-04-006
QMot BLDC motor 42 mm, 4000RPM, 0.06Nm
42 x 42 x 41
QBL4208-61-04-013
QMot BLDC motor 42 mm, 4000RPM, 0.13Nm
42 x 42 x 61
QBL4208-81-04-019
QMot BLDC motor 42 mm, 4000RPM, 0.19Nm
42 x 42 x 81
QBL4208-100-04-025
QMot BLDC motor 42 mm, 4000RPM, 0.25Nm
42 x 42 x 100
Table 3.1: Order codes

QBL4208 Manual (V1.03 / 2010-NOV-03) 6
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4Mechanical dimensions
4.1 Dimensions
22±1
Ø5
3
42
Length
400±20
42
45°
42
4xM4
Ø36±0.1
Ø25.1
Figure 4.1: Dimensions (all values in mm)
4.2 Leadwire configuration
Cable type 1
Gauge
Function
Red

UL1007 AWG26
Vcc Hall Sensor
+5VDC to +24VDC
Blue

UL1007 AWG26
Hall A
Green

UL1007 AWG26
Hall B
White

UL1007 AWG26
Hall C
Black

UL1007 AWG26
GND Hall
Sensor Ground
Yellow

UL1007 AWG20
Phase U
Red

UL1007 AWG20
Phase V
Black

UL1007 AWG20
Phase W
Table 4.1: Leadwire configuration

QBL4208 Manual (V1.03 / 2010-NOV-03) 7
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5Torque figures
The torque figures detail motor torque characteristics measured in block commutation. Please be
careful not to operate the motors outside the blue field. This is possible for short times only because
of a resulting high coil temperature. The motors have insulation class B.
The blue field is described by rated speed and rated torque.
5.1 Motor QBL4208-41-04-006
Velocity vs. torque measured with 24V supply voltage
7000
6000
5000
4000
3000
2000
1000
0
RPM
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14
N.m
Figure 5.1: QBL4208-41-04-006 velocity vs. torque characteristics

QBL4208 Manual (V1.03 / 2010-NOV-03) 8
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5.2 Motor QBL4208-61-04-013
Velocity vs. torque measured with 24V supply voltage
7000
6000
5000
4000
3000
2000
1000
0
RPM
0 0.05 0.1 0.15 0.2 025 0.3
N.m
Figure 5.2: QBL4208-61-04-013 velocity vs. torque characteristics

QBL4208 Manual (V1.03 / 2010-NOV-03) 9
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5.3 Motor QBL4208-81-04-019
Velocity vs. torque measured with 24V supply voltage
6000
5000
4000
3000
2000
1000
0
RPM
0 0.05 0.1 0.15 0.2 0.25 0.3
N.m
Figure 5.3: QBL4208-81-04-019 velocity vs. torque characteristics

QBL4208 Manual (V1.03 / 2010-NOV-03) 10
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5.4 Motor QBL4208-100-04-025
Velocity vs. torque measured with 24V supply voltage
7000
6000
5000
4000
3000
2000
1000
0
RPM
0 0.05 0.1 0.15 0.2 025 0.3
N.m
Figure 5.4: QBL4208-100-04-025 velocity vs. torque characteristics

QBL4208 Manual (V1.03 / 2010-NOV-03) 11
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Torque vs. current measured with 24V supply voltage
8
7
6
5
4
3
2
1
0
RPM
0 0.05 0.1 0.15 0.2 025 0.3
N.m
Figure 5.5: QBL4208-100-04-025 torque vs. current characteristics

QBL4208 Manual (V1.03 / 2010-NOV-03) 12
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6Motor sizing
For the optimum solution it is important to fit the motor to the application. The three key parameters
are peak torque requirement, RMS torque requirement and motor velocity.
6.1 Peak torque requirement
Peak torque TPis the sum of the torque due to acceleration of inertia (TI), load (TL) and friction (TF):
FLJP TTTT 
The torque due to inertia is the product of the load (including motor rotor) inertia and the load
acceleration:
aJTJ
The torque due to the load is defined by the configuration of the mechanical system coupled to the
motor. The system also determines the amount of torque required to overcome the friction.
6.2 RMS torque requirement
Root-Mean-Square or RMS torque is a value used to approximate the average continuous torque
requirement. Its statistical approximation is with
t1: acceleration time t2: run time t3: deceleration time t4: time in a move
   
4321
3
2
FLJ2
2
FL1
2
P
RMS tttt tTTTtTTtT
T



QBL4208 Manual (V1.03 / 2010-NOV-03) 13
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.3 Motor velocity
The motor velocity is also dictated by the configuration of the mechanical system that is coupled to
the motor shaft, and by the type of move that is to be affected. For example, a single velocity
application would require a motor with rated velocity equal to the average move velocity. A point to
point positioning would require a motor with a rated velocity higher than the average move velocity.
(The higher velocity would account for acceleration, deceleration and run times of the motion profile).
Figure 6.1: Trapezoidal move and triangular move relates rated motor velocity to average move
velocity for two point to point positioning move profiles.
max
rated operating speed of motor RPM
trap
average speed of motor required for a specified trapezoidal move, RPM
tri
average speed of motor required for a specified triangular move, RPM
D
total distance traveled, motor shaft revolutions
t1
acceleration time, seconds
t2
run time, seconds
t3
deceleration time, seconds
t4
dwell time, seconds
Figure 6.1: Trapezoidal move and triangular move
  
 󰇛󰇜
  
 󰇛 󰇜
  󰇛   󰇜  󰇛   󰇜
  
 






Trapezoidal move
t1t3 t2
(1/4)D (1/2)D (1/4)D
t4
Vmax
For acceleration portion of curve:
For entire move:
Example: 
  
  
 󰇛󰇜
  
 󰇛 󰇜
  󰇛   󰇜
 
 




 
Triangular move
(1/2)D (1/2)D
t1t3t4
Vmax
For acceleration portion of curve:
For entire move:
Example:   

QBL4208 Manual (V1.03 / 2010-NOV-03) 14
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
7Revision history
7.1 Document revision
Version
Date
Author
Description
1.00
2007-MAY-09
HC
Initial Release
1.01
2008-APR-01
GE
Motor coil connections corrected
1.02
2008-NOV-25
MJ
Leadwire corrected
1.03
2010-NOV-03
SD
New motor drawings, order codes added, minor changes
Table 7.1: Document revision