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qmot stepper motors motors trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com v 1.06 qmot qsh 86 18 manual + + qsh - 86 18 - 65 - 59 - 340 86mm 3.0a ( ser)/5.9a (par) 3.4nm - 80 - 55 - 460 86mm 5.5a, 4.6nm - 96 - 55 - 700 86mm 5.5a, 7.0nm + + - 118 - 60 - 870 86mm 6.0a, 8.7nm - 156 - 62 - 1280 86mm 6.2a, 12.8nm
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 2 copyright ? 201 1 , trinamic motion control gmbh & co. kg table of contents 1 life support policy ................................ ................................ ................................ ................................ ....................... 3 2 features ................................ ................................ ................................ ................................ ................................ ........... 3 3 order codes ................................ ................................ ................................ ................................ ................................ ... 5 4 dimensions of the qsh8618 motors ................................ ................................ ................................ ...................... 6 5 leadwire configurations of the qsh8618 motors ................................ ................................ .............................. 8 5.1 qsh8618 - 65 - 59 - 340 leadwire configuration ................................ ................................ ................................ . 8 5.2 qsh8618 - 80 - 55 - 460 leadwire configuration ................................ ................................ ................................ . 8 5.3 qsh8618 - 96 - 55 - 700 leadwire configuration ................................ ................................ ................................ . 8 5.4 qsh8618 - 118 - 60 - 870 leadwire configurat ion ................................ ................................ ............................... 9 5.5 qsh8618 - 156 - 62 - 1280 leadwire configuration ................................ ................................ ............................ 9 6 torque figures ................................ ................................ ................................ ................................ ............................. 10 6.1 qsh8618 - 65 - 5 9 - 340 ................................ ................................ ................................ ................................ ............ 10 6.2 qsh8618 - 80 - 55 - 460 ................................ ................................ ................................ ................................ ............ 10 6.3 qsh861 8 - 96 - 55 - 700 ................................ ................................ ................................ ................................ ............ 11 6.4 qsh8618 - 118 - 60 - 870 ................................ ................................ ................................ ................................ .......... 11 6.5 qsh8618 - 156 - 62 - 1280 ................................ ................................ ................................ ................................ ....... 12 7 considerations for operation ................................ ................................ ................................ ................................ .. 13 7.1 choosing the best fitting motor for an application ................................ ................................ ............... 13 7.1.1 determining the maximum torque required by your application ................................ ........... 13 7.2 motor current setting ................................ ................................ ................................ ................................ ...... 13 7.2.1 choosing the optimum current setting ................................ ................................ ........................... 14 7.2.2 choosing the standby current ................................ ................................ ................................ ............ 14 7.3 motor driver supply voltage ................................ ................................ ................................ ......................... 14 7.3.1 determining if the given driver voltage is sufficient ................................ ................................ .. 15 7.4 back emf (bemf) ................................ ................................ ................................ ................................ ................ 15 7.5 choosing the commutation scheme ................................ ................................ ................................ .......... 16 7.5.1 fullstepping ................................ ................................ ................................ ................................ ............. 16 7.5.1.1 avoiding motor resonance in fullstep operation ................................ ............................. 16 8 revision history ................................ ................................ ................................ ................................ .......................... 17 8.1 document revision ................................ ................................ ................................ ................................ ........... 17 9 references ................................ ................................ ................................ ................................ ................................ .... 18
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 3 copyright ? 201 1 , 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 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 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.
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 4 copyright ? 201 1 , trinamic motion control gmbh & co. kg 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 34 mounting confi guration ? flange max. 85.85mm * 85.85mm ? step angle: 1.8? ? optimized for microstep operation ? optimum fit for tmc239 / tmc249 based driver circuits , e.g. tmcm - 078 ? neodymium magnets for maximal torque ? 4 wire connection ? ce approved specifications units qsh8618 - 65 - 59 - 340 - 80 - 55 - 460 - 96 - 55 - 700 - 118 - 60 - 870 - 156 - 62 - 1280 wiring par ser rated voltage v 1.65 3.42 2.3 2.56 2.7 3.5 rated phase current (nominal) a 5.9 3 5.5 5.5 6 6.2 phase resistance at 20c 2 1000 1400 2700 2700 4000 weight (mass) kg 1.7 2.3 2.8 3.8 5.4 insulation class b b b b b insulation resistance 20+50 20+50 20+50 20+50 20+50 table 2 . 1 : motor technical data
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 5 copyright ? 201 1 , trinamic motion control gmbh & co. kg 3 order codes order code description dimensions (mm) qsh8618 - 65 - 59 - 340 qmot stepper motor 86mm, 3.0a (ser)/5.9a (par), 3.4nm 85.85 x 85.85 x 65.0 qsh8618 - 80 - 55 - 460 qmot stepper motor 86mm, 5.5a, 4.6nm 85.85 x 85.85 x 80.0 qsh8618 - 96 - 55 - 700 qmot stepper motor 86 mm , 5.5a , 7.0nm 85.85 x 85.85 x 96.0 qsh8618 - 118 - 60 - 870 qmot stepper motor 86mm, 6.0a, 8.7nm 85.85 x 85.85 x 118.0 qsh8618 - 156 - 62 - 1280 qmot stepper motor 86mm, 6.2a, 12.8nm 85.85 x 85.85 x 156.0 related products tmcm - 078 1 - axis step/direction driver module 75v, 7a 145.0 x 96.0 x 33.0 table 3 . 1 : order codes
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 6 copyright ? 201 1 , trinamic motion control gmbh & co. kg 4 dimensions of the qsh8618 motors l e n g t h 8 5 . 8 5 8 . 3 8 3 1 . 7 5 1 7 3 . 0 2 0 . 0 5 1 . 5 2 3 1 . 7 5 1 7 3 . 0 2 0 . 0 5 1 . 5 2 2 5 1 . 1 1 1 . 6 a x i s w i t h d - c u t : q s h - 8 6 1 8 - 8 0 - 5 5 - 4 6 0 q s h - 8 6 1 8 - 9 6 - 5 5 - 7 0 0 1 2 a x i s w i t h o u t d - c u t o r s l o t t e d s h a f t : q s h 8 6 1 8 - 6 5 - 5 9 - 3 4 0 1 2 . 7 q s h 8 6 1 8 - 6 5 - 5 9 - 3 4 0 - 8 0 - 5 5 - 4 6 0 - 9 6 - 5 5 - 7 0 0 - 1 1 8 - 6 0 - 8 7 0 - 1 5 6 - 6 2 - 1 2 8 0 l e n g t h 6 5 m m 8 0 m m 9 6 m m 1 1 8 m m 1 5 6 m m 3 1 . 7 5 1 7 3 . 0 2 0 . 0 5 1 . 5 2 2 5 a x i s w i t h s l o t t e d s h a f t : q s h - 8 6 1 8 - 1 1 8 - 6 0 - 8 7 0 5 1 2 . 7 3 1 . 7 5 1 7 3 . 0 2 0 . 0 5 1 . 5 2 2 5 a x i s w i t h s l o t t e d s h a f t : q s h - 8 6 1 8 - 1 5 6 - 6 2 - 1 2 8 0 5 1 5 . 8 7 5 k 3 + 0 / 0 . 1 5 0 . 2
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 7 copyright ? 201 1 , trinamic motion control gmbh & co. kg figure 4 . 1 : dimensions of the qsh8618 motor family d i a m e t e r 8 5 . 8 5 8 5 . 8 5 6 9 . 5 0 . 2 6 9 . 5 0 . 2 4 0 0 m i n . 4 x ? 5 . 5 7 3 . 0 2 0 . 0 5 d i a m e t e r 1 2 m m 1 2 . 7 m m 1 2 . 7 m m 1 2 . 7 m m 1 5 . 8 7 5 m m q s h 8 6 1 8 - 6 5 - 5 9 - 3 4 0 - 8 0 - 5 5 - 4 6 0 - 9 6 - 5 5 - 7 0 0 - 1 1 8 - 6 0 - 8 7 0 - 1 5 6 - 6 2 - 1 2 8 0 f u r t h e r a x i s s p e c i f i c a t i o n s w i t h o u t d - c u t o r s l o t t e d s h a f t d - c u t 1 . 1 x 2 5 m m d - c u t 1 . 1 x 2 5 m m s l o t t e d s h a f t 3 x 5 x 2 5 m m s l o t t e d s h a f t 3 x 5 x 2 5 m m
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 8 copyright ? 201 1 , trinamic motion control gmbh & co. kg 5 leadwire c onfiguration s of the qsh8618 motors 5.1 qsh8618 - 65 - 59 - 340 leadwire configuration cable type gauge coil function red ul1430 awg20 a motor coil a pin 1 yellow ul1430 awg20 a - motor coil a pin 2 blue ul1430 awg20 c - motor coil c pin 2 black ul1430 awg20 c motor coil c pin 1 white ul1430 awg20 b motor coil b pin 1 orange ul1430 awg20 b - motor coil b pin 2 brown ul1430 awg20 d - motor coil d pin 2 green ul1430 awg20 d motor coil d pin 1 table 5 . 1 : qsh8618 - 65 - 59 - 340 leadwire configuration please note: - f or parallel configuration (par) connect a with c - and a - with c for one coil and b with d - and b - with d for the other coil . - f or connection in series (ser) connect a - an d c - . the feed - in is at a and c. connect further b - and d - . the feed - in is at b and d. 5.2 qsh8618 - 80 - 55 - 460 leadwire c onfiguration cable type gauge coil function red ul1430 awg20 a motor coil a pin 1 white ul1430 awg20 a - motor coil a pin 2 yellow ul1430 awg20 b motor coil b pin 1 green ul1430 awg20 b - motor coil b pin 2 table 5 . 2 : qsh8618 - 80 - 55 - 460 leadwire configuration 5.3 qsh8618 - 96 - 55 - 700 leadwire configuration cable type gauge coil function red ul 1430 awg20 a motor coil a pin 1 white ul 1430 awg20 a - motor coil a pin 2 yellow ul 1430 awg20 b motor coil b pin 1 green ul 1430 awg20 b - motor coil b pin 2 table 5 . 3 : qsh8618 - 96 - 55 - 700 leadwire configuration
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 9 copyright ? 201 1 , trinamic motion control gmbh & co. kg 5.4 qsh8618 - 118 - 60 - 870 leadwire c onfiguration cable type gauge coil function red ul1430 awg20 a motor coil a pin 1 white ul1430 awg20 a - motor coil a pin 2 yellow ul1430 awg20 b motor coil b pin 1 green ul1430 awg20 b - motor coil b pin 2 table 5 . 4 : qsh8618 - 118 - 60 - 870 leadwire configuration 5.5 qsh8618 - 156 - 62 - 1280 leadwire configuration cable type gauge coil function red ul1430 awg20 a motor coil a pin 1 white ul1430 awg20 a - motor coil a pin 2 yellow ul1430 awg20 b motor coil b pin 1 green ul1430 awg20 b - motor coil b pin 2 table 5 . 5 : qsh8618 - 156 - 62 - 1280 leadwire configuration
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 10 copyright ? 201 1 , trinamic motion control gmbh & co. kg 6 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 application s. 6.1 qsh8618 - 65 - 59 - 340 testing conditions: 48v; 6.0a rms coil current , parallel connection of coils (par) , full step operation figure 6 . 1 : qsh8618 - 65 - 59 - 340 speed vs. torque c haracteristics 6.2 qsh8618 - 80 - 55 - 4 60 testing conditions: 48v; 5.5a rms coil current, full step operation figure 6 . 2 : qsh86 18 - 80 - 55 - 460 speed vs. torque c haracteristics
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 11 copyright ? 201 1 , trinamic motion control gmbh & co. kg 6.3 qsh86 18 - 96 - 55 - 700 testing conditions: 48v; 5.5a rms coil current, full step operation table 6 . 3 : qsh8618 - 96 - 55 - 700 speed vs. torque characteristics 6.4 qsh8618 - 118 - 60 - 870 testing conditions: 100v; 6.0a rms coil current, full step operation figure 6 . 4: q sh86 18 - 118 - 60 - 870 speed vs. torque c haracteristics
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 12 copyright ? 201 1 , trinamic motion control gmbh & co. kg 6.5 qsh86 18 - 156 - 62 - 1280 testing conditions: 100v; 6.0a rms coil current, full step operation figure 6 . 5: qsh86 18 - 156 - 62 - 1280 speed vs. torque c haracteristics
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 13 copyright ? 201 1 , trinamic motion control gmbh & co. kg 7 considerations for operation the following chapters try to help you to correctly set the key operation parameters in order to get a stable system. 7.1 choosing the best fitting motor for an application for an optimum solution it is important to fit the motor to the application a nd 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 paramet er 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 critic al, 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. 7.1.1 determining the maximum torque required by your application just try a motor with a torque 30 - 50% above the applications maximum requirement. ta ke 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 sid e, 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 c heck the operation at a velocity a little higher than the maximum application velocity. 7.2 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 130c respectively a continuous motor operation temperature of 90c. percentage of rated current percentage of motor torque percentage of st atic 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 7 . 1 : motor current settings
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 14 copyright ? 201 1 , trinamic motion control gmbh & co. kg 7.2.1 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 co nditions: - 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) 7.2.2 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 appl ication, 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 m ight 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. 7.3 motor driver supply voltage the driver supply voltage in many applications cannot be chosen freely, because other components have a fixed sup ply 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 giv en 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 m otor 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 resist ive 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 7 . 2 : driver supply voltage considerations u coil_nom = i rms_rated * r coil
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 15 copyright ? 201 1 , trinamic motion control gmbh & co. kg 7.3.1 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, t he 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 desir ed 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, t hat the voltage is not sufficient, you could either increase the voltage or reduce the current (and thus torque). 7.4 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 constan t. 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 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 /
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 16 copyright ? 201 1 , trinamic motion control gmbh & co. kg 7.5 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 steppe r 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 7 . 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. 7.5.1 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. 7.5.1.1 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 frequ encies cannot be skipped.
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 17 copyright ? 201 1 , trinamic motion control gmbh & co. kg 8 revision h istory 8.1 document r evision version date author description 1.00 initial version ge initial version 1.01 2008 - mar - 20 ge picture of motor has been added 1.02 2008 - apr - 01 ge max. operating voltage added 1.03 2009 - may - 15 sd qsh8618 - 96 - 55 - 700 added , dimension drawings renewed, minor changes 1.04 2010 - oct - 12 sd minor changes 1.05 2010 - oct - 25 sd qsh8618 - 65 - 59 - 340 l ead wire configuration corrected. 1.06 2011 - mar - 1 8 sd dimensions corrected and updated table 8 . 1 : document r evision
qsh8618 manual (v1.06 / 2011 - mar - 18 ) 18 copyright ? 201 1 , trinamic motion control gmbh & co. kg 9 references tmcm - 078 tmcm - 078 manual, www.trinamic.com

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