QMOT STEPPER MOTORS MOTORS

V 1.08

QMOT QSH6018 MANUAL

+ +
QSH-6018
-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

+ +
-86-28-310
60mm
2.8A, 3.10 Nm

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

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QSH6018 Manual (V1.08 / 2014-SEP-04) 2

Table of Contents
1 Features........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 4
3 Mechanical Dimensions .............................................................................................................................................. 5
3.1 Lead Wire Configuration ................................................................................................................................... 5
3.2 Dimensions ........................................................................................................................................................... 5
4 Torque Figures .............................................................................................................................................................. 6
4.1 Motor QSH6018-45-28-110 ................................................................................................................................. 6
4.2 Motor QSH6018-56-28-165 ................................................................................................................................. 6
4.3 Motor QSH6018-65-28-210 ................................................................................................................................. 7
4.4 Motor QSH6018-86-28-310 ................................................................................................................................. 7
5 Considerations for Operation ................................................................................................................................... 8
5.1 Choosing the Best Fitting Motor for an Application ................................................................................ 8
5.1.1 Determining the Maximum Torque Required by Your Application ........................................... 8
5.2 Motor Current Setting ........................................................................................................................................ 8
5.2.1 Choosing the Optimum Current Setting ............................................................................................ 9
5.2.2 Choosing the Standby Current ............................................................................................................. 9
5.3 Motor Driver Supply Voltage ........................................................................................................................... 9
5.3.1 Determining if the Given Driver Voltage is Sufficient ................................................................. 10
5.4 Back EMF (BEMF) ................................................................................................................................................ 10
5.5 Choosing the Commutation Scheme .......................................................................................................... 11
5.5.1 Fullstepping ............................................................................................................................................. 11
5.5.1.1 Avoiding Motor Resonance in Fullstep Operation ........................................................... 11
6 Optimum Motor Settings ......................................................................................................................................... 12
6.1 Settings for TRINAMIC TMCL Modules ........................................................................................................ 12
7 Life Support Policy ..................................................................................................................................................... 13
7.1 Documentation Revision ................................................................................................................................. 14

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1 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
- 7.5mm axis diameter, 22.4mm 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

Specifications Parameter Units QSH6018

-45-28-110 -56-28-165 -65-28-210 -86-28-310
Rated Voltage VRATED V 2.1 2.52 3.36 4.17
Rated Phase Current (nominal) IRMS_RATED_NOM A 2.8 2.8 2.8 2.8
Rated Phase Current (max. IRMS_RATED_MAX
A 3.0 3.0 3.0 3.0
continuous)
Phase Resistance at 20°C RCOIL Ω 0.75 0.9 1.2 1.5
Phase Inductance (typ.) mH 2 3.6 4.6 6.8
Nm 1.1 1.65 2.1 3.1
Holding Torque (typ.)
oz in 156 233 297 439
Detent Torque Ncm
Rotor Inertia gcm2 275 400 570 840
Weight (Mass) Kg 0.6 0.77 1.2 1.4
Insulation Class B B B B
Insulation Resistance Ω 100M 100M 100M 100M
Dialectic Strength (for one
VAC 500 500 500 500
minute)
Connection Wires N° 4 4 4 4
Max applicable Voltage V 75 75 75 75
Step Angle ° 1.8 1.8 1.8 1.8
Step angle Accuracy % 5 5 5 5
Flange Size (max.) mm 60.5 60.5 60.5 60.5
Motor Length (max.) LMAX mm 45.0 56.0 65.0 86.0
Axis Diameter mm 7.5 7.5 7.5 7.5
Axis Length mm 22.4 22.4 22.4 22.4
Axis D-cut (0.5mm depth) mm 20.0 20.0 20.0 20.0
Shaft Radial Play (450g load) mm 0.02 0.02 0.02 0.02
Shaft Axial Play (450g load) mm 0.08 0.08 0.08 0.08
Maximum Radial Force N 75 75 75 75
Maximum Axial Force N 15 15 15 15
Ambient Temperature °C -20..+50 -20..+50 -20..+50 -20..+50
Temp Rise
°C max. 80 max. 80 max. 80 max. 80
(rated current, 2 phase on)
Table 1.1: Motor technical data

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2 Order Codes
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
Table 2.1: Order codes

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3 Mechanical Dimensions
3.1 Lead Wire Configuration black
Cable type Gauge Coil Function
Black UL1007 AWG22 A Motor coil A pin 1 A M
Green UL1007 AWG22 A- Motor coil A pin 2
Red UL1007 AWG22 B Motor coil B pin 1 green

B
Blue UL1007 AWG22 B- Motor coil B pin 2
Table 3.1: Lead wire configuration

blue
red
Figure 3.1: Lead wire configuration

3.2 Dimensions
24±1 Length

38.1±0.025 8+0/-0.015 60±0.5

R 0.5
20±0.5

1.6

60±0.5
47.14±0.2

60±0.5

8+0/-0.015 47.14±0.2

38.1±0.025

4-ø4.5

Figure 3.2: Dimensions (all values in mm)

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4 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 applications.

4.1 Motor QSH6018-45-28-110

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.1: QSH6018-45-28-110 Speed vs. Torque Characteristics

4.2 Motor QSH6018-56-28-165

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.2: QSH6018-56-28-165 Speed vs. Torque Characteristics

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4.3 Motor QSH6018-65-28-210

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.3: QSH6018-65-28-210 Speed vs. Torque Characteristics

4.4 Motor QSH6018-86-28-310

Testing conditions: 30V supply voltage; 3.0A RMS phase current

Figure 4.4: QSH6018-86-28-310 Speed vs. Torque Characteristics

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5 Considerations for Operation

The following chapters try to help you to correctly set the key operation parameters in order to get a
stable system.

5.1 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.

5.1.1 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.

5.2 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 Percentage of Percentage of static Comment

rated current motor torque motor power dissipation
150% ≤150% 225% Limit operation to a few seconds
125% 125% 156% Operation possible for a limited time
100% Normal operation
100% 100%
= 2 * IRMS_RATED * RCOIL
85% 85% 72% Normal operation
75% 75% 56% Normal operation
Reduced microstep exactness due to
50% 50% 25% torque reducing in the magnitude of
detent torque
38% 38% 14% -“-
25% 25% 6% -“-
see detent Motor might loose position if the
0% 0%
torque application’s friction is too low
Table 5.1: Motor current settings

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5.2.1 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)

5.2.2 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.

5.3 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:

UCOIL_NOM = IRMS_RATED * RCOIL
(Please refer to motor technical data table.)

Parameter Value Comment

Minimum driver 2 * UCOIL_NOM Very limited motor velocity. Only slow movement without
supply voltage torque reduction. Chopper noise might become audible.
Optimum driver≥ 4 * UCOIL_NOM Choose the best fitting voltage in this range using the motor
supply voltage and torque curve and the driver data. You can scale the torque
≤ 22 * UCOIL_NOM curve proportionally to the actual driver supply voltage.
Maximum rated 25 * UCOIL_NOM When exceeding this value, the magnetic switching losses in
driver supply the motor reach a relevant magnitude and the motor might
voltage get too hot at nominal current. Thus there is no benefit in
further raising the voltage.
Table 5.2: Driver supply voltage considerations

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5.3.1 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).

5.4 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:

 V  MotorHoldingTorque Nm
U BEMF  
 rad / s  2  I NOM A

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.

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5.5 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 Low to very high. Full torque if dam- Audible noise
rotation Skip resonance pener used, especially at low
areas in low to otherwise reduced velocities
medium velocity torque in resonance
range. area
Halfstepping 200 steps per Low to very high. Full torque if dam- Audible noise
rotation * 2 Skip resonance pener used, especially at low
areas in low to me- otherwise reduced velocities
dium velocity torque in resonance
range. area
Microstepping 200 * (number of Low to high. Reduced torque at Low noise, smooth
microsteps) per very high velocity motor behavior
rotation
Mixed: Micro- 200 * (number of Low to very high. Full torque At high velocities,
stepping and microsteps) per there is no audible
fullstepping for rotation difference for full-
high velocities stepping
Table 5.3 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.

5.5.1 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.

5.5.1.1 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.

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6 Optimum Motor Settings

Following table shows settings for highest reachable fullstep velocities.

Optimum Motor Settings Motor QSH6018

Unit
voltage -65-28-210 -86-28-310
Motor current (RMS) A 2.8 2.8
Maximum microstep velocity =
RPS 1.907 1.144
Fullstep threshold
24
Maximum fullstep velocity RPS 3.815 2.575
Maximum microstep velocity =
RPS 2.861 2.003
Fullstep threshold
48
Maximum fullstep velocity RPS 7.629 5.245

Table 6.1: Optimum motor settings

6.1 Settings for TRINAMIC TMCL Modules

Following TMCL settings apply best for highest motor velocities and smooth motor behavior at low
velocities. They are intended for use with TRINIAMICs controller modules.

Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16 times
microstepping. The pulse devisor is set to 3. With a 64 microstep setting the same values are valid
with the pulse divisor set to 1.

Optimum Motor Settings Motor QSH6018

Unit
voltage -65-28-210 -86-28-310
Motor current (RMS) TMCL value 204 204
Maximum microstep velocity =
TMCL value 200 120
Fullstep threshold
24
Maximum fullstep velocity TMCL value 400 270
Maximum microstep velocity =
TMCL value 300 210
Fullstep threshold
48
Maximum fullstep velocity TMCL value 800 550

Table 6.2: Optimum motor settings for TMCL modules (tested with TMCM-109)

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7 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 2011-2014

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.

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Revision History

7.1 Documentation Revision

Version Comment Author Description
1.00 Initial Release HC
1.01 2007-JUN-07 HC Chapter 5 Optimum motor settings added
1.02 2007-NOV-07 HC Chapter 5.4 added
1.03 2008-FEB-08 GE New motors added
1.04 2010-OCT-14 SD Minor changes
1.05 2011-MAR-19 SD Dimensions updated, new front page
1.06 2011-DEC-06 SD Features corrected
1.07 2012-FEB-14 SD Axis diameter corrected
1.08 2014-SEP-04 SD Changes related to the design.
Tolerances for axis diameter corrected + clarified
Table 7.1: Documentation revision

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