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ManualsBrandsTrinamic ManualsAutomationHybrid Stepper Motor with Encoder 8192PPR 60Nmm 1.8° NEMA 11

Encoder + Motor Kits for Stepper

ENCODER + MOTOR KITS

QSH2818-8192-AT Hardware Manual

Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019

QSH2818-8192-AT is a NEMA11 (28mm) 2-phase stepper motor including a small size optical incre-

mental encoder kit. It comes with a resolution of 8192 lines (32768 counts). Trinamic’s Stepper

motors are quality motors for universal use. They feature a long life due to ball bearings and no

wearing out parts.

Features

• Low Cost

• High Resolution

• Small Dimension

• Easy Mounting

Applications

• Stepper Motor Servo

• Precision Motion Control

• Position Monitoring

• Automated Equipment

• Robotics

Simpliﬁed Block Diagram

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (20 pages)

PAGE 1
ENCODER + MOTOR KITS Encoder + Motor Kits for Stepper QSH2818-8192-AT Hardware Manual Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 QSH2818-8192-AT is a NEMA11 (28mm) 2-phase stepper motor including a small size optical incremental encoder kit. It comes with a resolution of 8192 lines (32768 counts). Trinamic’s Stepper motors are quality motors for universal use. They feature a long life due to ball bearings and no wearing out parts.
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/ 20 QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 Contents 1 Order Codes 2 Motor Speciﬁcations and Characteristics 2.1 Technical and Mechanical Parameters 2.2 Torque-Speed Diagrams . . . . . . . . . 2.2.1 QSH2818-32-07-006 . . . . . . . 2.2.2 QSH2818-51-07-012 . . . . . . . 3 . . . . 4 4 5 5 6 3 Technical Speciﬁcations of the Encoders 3.1 Electrical Encoder Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 1 3 / 20 Order Codes Order Code Description Size (LxWxH) QSH2818-32-07-006-8192-AT Motor + Encoder Module, NEMA11 2-phase stepper motor (0.67A / 6Ncm) with 20mmm diameter optical incremental encoder kit, resolution of 8.192lpr (32.768cpr), ABN, TTL 28mm x 28mm x 47mm QSH2818-51-07-012-8192-AT Motor + Encoder Module, NEMA11 2-phase stepper motor (0.
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/ 20 QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 2 Motor Speciﬁcations and Characteristics TRINAMIC’s stepper motors are quality motors for universal use. They feature a long life due to ball bearings and no wearing out parts. These hybrid stepper motors are optimized for microstepping and give a good ﬁt to the TRINAMIC family of motor controllers and drivers.. 2.
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/ 20 QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 Maximum Radial Force (20 mm from front ﬂange) N 28 28 Maximum Axial Force N 10 10 Ambient Temperature °C -20. . . +50 -20. . . +50 Temp Rise (rated current, 2phase on) °C max. 80 max. 80 Table 2: Electrical and Mechanical Characteristics Motor 2.2 Torque-Speed Diagrams The torque-speed ﬁgures detail motor torque characteristics measured in block commutation.
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/ 20 QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 2.2.2 QSH2818-51-07-012 Testing conditions: Driver Supply 24V, 0.67A / Phase. Figure 2: QSH2818-51-07-012 velocity vs. torque characteristics 3 3.1 Technical Speciﬁcations of the Encoders Electrical Encoder Parameters Parameter Min Typ Max Unit Supply voltage 4.5 5 5.5 V Supply current 90 mA Rise/fall time 10 ns Frequency 1500 kHz Output Voltage "‘H"’ 2.
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/ 20 QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 3.2 Mechanical Encoder Parameters Parameter Min Hollow Diameter (Symbol D in Drawings) Typ Max 4 Unit mm Starting Torque 0.8 Ncm Shaft Loading Axial 25 N Shaft Loading Radial 40 N Max. RPM 6000 rpm Net weight 30 g Table 4: Mechanical Speciﬁcations 3.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 8 / 20 Figure 3: Lead wire conﬁguration 4.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 Figure 4: Connection and circuit diagram for the line driver outputs 4.3 Wave Form Figure 5: Example wave form for CCW rotation ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 5 Mechanical Drawings Figure 6: Dimensions of motor & encoder kit (all units = mm) Motor Type Body Length QSH2818-32-07-006-8196-AT 32mm QSH2818-51-07-012-8196-AT 51mm Table 11: Motor length ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 6 11 / 20 Considerations for Operation The following sections 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 desired motor torque and velocity.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 13 / 20 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.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 14 / 20 • 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.
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/ 20 QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 Driver Scheme Resolution Velocity Range Torque Comment Fullstepping 200 steps per rotation Low to very high. Skip resonance areas in low to medium velocity range Full torque if dampener used, otherwise reduced torque in resonance area Audible noise and vibrations especially at low velocities Halfstepping 200 steps per rotation * 2 Low to very high.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 7 16 / 20 Figures Index 1 QSH2818-32-07-006 velocity vs. torque characteristic . . . . . . . . . . . . . . . . 2 QSH2818-51-07-012 velocity vs. torque characteristics . . . . . . . . . . . . . . . 3 Lead wire conﬁguration . . . . . . . . . . 5 6 8 ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 8 17 / 20 Tables Index 1 2 3 4 5 7 9 Order codes . . . . . . . . . . . . . . . Electrical and Mechanical Characteristics Motor . . . . . . . . . Electrical Characteristics Encoder . . Mechanical Speciﬁcations . . . . . . . Environmental Speciﬁcations . . . . . Connector and signals of motor . . . Connector and signals of the encoder . 3 . . . . . . 5 6 7 7 7 8 ©2019 TRINAMIC Motion Control GmbH & Co.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 9 18 / 20 Supplemental Directives 9.1 Producer Information 9.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 19 / 20 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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QSH2818-8192-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019 10 10.1 Revision History Hardware Revision Version Date Author Description 1.00 24.01.2019 TMC Initial release Table 18: Hardware Revision 10.2 Document Revision Version Date Author Description 1.00 22.02.2019 SK Initial release. Table 19: Document Revision ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.