TurboDisc Stepper Motors

Transcription

1 TurboDisc Stepper Motors P43 P532 P31 P11 P1 The TurboDisc provides exceptional dynamic performance unparalleled by any other stepper on the market. The unique thin disc magnet enables finer step resolutions in the same diameter, significantly higher acceleration and greater top end speed than conventional steppers. TurboDisc excels in applications that require the precision of a stepper and the speed/acceleration of a DC motor. Why a TurboDisc motor 98 TurboDisc Motor Basics 99 How to select your TurboDisc motor 1 TurboDisc Specifications 11 Where to apply TurboDisc motors 13

2 Why a TurboDisc motor Stator w/windings Bearings Disc Magnet End Bells Innovation & Performance A technology providing unique results. At its heart there is the rotor, a thin disc or rare earth magnet material. Portescap s unique design allows for axial magnetizing with a high number of poles, and for optimizing the magnetic circuit with a corresponding reduction of losses. The quantum leap of this state-of-the-art technology developed by Portescap is extremely high dynamic performance comparable to DC servo motors but obtained from a simple stepper motor. The TurboDisc is well suited to be tailored to your application requirements. Our design engineers can integrate our motor into your assembly. Our TurboDisc design assistance can range from providing additional components to a fully customized motion solution that optimizes the space and performance of your machine. TurboDisc advantages include: Precise - Well suited for microstepping Fast - Disc Magnet enables fastest acceleration and highest top speed of any step motor while maintaining accurate positioning Unique - Low detent torque and highly customizable Your custom motion solution Sintered or ball bearings Various windings Shaft modifications increase/decrease length, knurling Longer leads, connectors Gearheads for increased torque Encoders for position verification Standard Features Frame sizes ranging from: Outer diameter - 1 mm to 52 mm Output speed - up to 1, Step angle 3.6º, 6, 9º & 15º Output torque - up to 35 Adaptable - Higher steps per revolution than CanStack products; can be increased through tooling Miniature - Down to 1 mm diameter with 24 steps per revolution

3 TurboDisc Motor Basics The High Performance Disc Magnet Technology The exceptional possibilities offered by the Turbo Disc line of disc magnet stepper motors are unequalled by any other kind of stepper motor. The advanced technology, developed and patented by Portescap, allows for truly exceptional dynamic performance. The rotor of these motors consists of a rare earth magnet having the shape of a thin disc which is axially magnetized. A particular magnetization method allows for a high number of magnetic poles, giving much smaller step angles than conventional twophase permanent magnet stepper motors. Short magnetic circuit using high quality laminations Such a rotor design has a very low moment of inertia, resulting in outstanding acceleration and dynamic behavior. These features, together with high peak speeds, mean that any incremental movement is carried out in the shortest possible time. Low inertia also means high start/stop frequencies allowing to save time during the first step and to solve certain motion problems without applying a ramp. Those motors, specially designed for microstepping, feature a sinusoidal torque function with very low harmonic distortion and low detent torque. Excellent static and dynamic accuracy is obtained for any position and under any load or speed conditions. No magnetic coupling Rotor with very low inertia Concept Detail Motor Characteristics Advantages for the application Thin multipolar rare earth disc magnet Very low motor inertia Very high acceleration, high start/stop frequencies Very short iron circuit made of SiFe / NdFeB laminations, Coils placed near to the airgap No coupling between phases Sinusoidal torque function Low detent torque Superior angular resolution in microstep mode Optimally dimensioned iron circuit Torque constant is linear up to 2 to 3 times nominal current High peak torques High energy magnet High power to weight ratio For motors in mobile applications For size limitations

4 How to select your TurboDisc stepper TurboDisc Motor Torque Range P1 P11 P31 P43 Continuous torque Peak torque PP52 P52 P53 P532 Torque in Torque in TurboDisc Motor Designation P X V TurboDisc Internal Code Code of length Number of rotor pole pairs Resistance per winding Motor execution code Particular option Code of diameter Motor version of full/ half-step = 2 Motor version of microstep = Number of connections or terminal wires

5 Explanation of Specifications MOTOR PART NUMBER P /12 Explanation RATED VOLTAGE vdc 12. Voltage rating of motor - motor can be run continuously at this voltage RESISTANCE PER PHASE, ± 1% ohms 62. Winding resistance dictated by magnet wire diameter and # of turns INDUCTANCE PER PHASE, TYP mh 46. Winding inductance dictated by magnet wire diameter and # of turns RATED CURRENT PER PHASE * amps.12 Current rating of motor - motor can be run continuously at this current BACK-EMP AMPLITUDE V/kst/s 1.8 The torque constant of the motor - the back EMF generated by the motor when externally spun at 1 steps per second HOLDING TORQUE, TYPICAL * / DETENT TORQUE, TYPICAL / 1. / 7 When energized, the amount of torque to move from one mechanical step to the next.1 / 1 When un-energized, the amount of torque to move from one mechanical step to the next STEP ANGLE, ± 1% * degrees deg / number of mechanical steps of the motor STEPS PER REVOLUTION * Number of mechanical steps of the motor NATURAL RESONANCE FREQUENCY (NOMINAL CURRENT) Hz 16. The frequency at which the motor vibrates at maximum amplitude ELECTRICAL TIME CONSTANT ms.8 Represents the time it takes for the input current to the motor coil to reach approximately 63% of its final value ANGULAR ACCELERATION (NOMINAL CURRENT) THERMAL RESISTANCE ºC/watt 45. ROTOR MOMENT OF INERTIA rad/s The rotational acceleration of the motor when supplied with nominal current -s2/ g-cm2.57 x 1E-4 /.4 Inertia of the rotor AMBIENT TEMPERATURE RANGE OPERATING ºC -2 ~ +5 Temperature range which the motor will operate STORAGE ºC -4 ~ +85 Storage temperature where the motor will operate BEARING TYPE - SINTERED BRONZE SLEEVE (Optional Ball Bearing on request) INSULATION RESISITANCE AT 5VDC Mohms 1 MEGOHMS Bearings on front and rear of the motor DIELECTRIC WITHSTANDING VOLTAGE vac 3 FOR 5 SECONDS WEIGHT lbs / g.5 / 23 Weight of the motor SHAFT LOAD RATINGS, MAX AT 15 RPM RADIAL lbs / N.12 /.5 (AT SHAFT CENTER) Maximum load that can be applied against the shaft AXIAL lbs / N.12 /.5 (BOTH DIRECTIONS) Maximum load that can be applied directly down the shaft LEADWIRES - Insulated Cable, AWG 26 Rating of the lead wires TEMPERATURE CLASS, MAX - B (13 C) Maximum temperature of the winding insulation RoHS - COMPLIANT

6 P /P Pull-Out Full step, bipolar voltage.9.8 Pull-Out Torque Pull-In Torque Torque.1 1. Speed P Pull-Out 24V, 47 ohms Series Resistor P Pull-Out 24V P Pull-In 24V, 47 ohms Series Resistor P Pull-In 24V Definitions Pull-Out Torque The amount of torque that the motor can produce at speed without stalling Pull-In Torque The amount of torque that the motor can produce from zero speed without stalling Speed # of pulses per second provided to the motor, also stated in revolutions per minute Voltage Voltage applied to the drive Current Current applied to the drive Drive Chopper type drive - current controlled to the motor winding

7 Where to apply your TurboDisc stepper The TurboDisc stepper provides the highest torque to inertia ratio and is ideal for applications requiring, fast and precise positioning. Focus On: Medical Analyzer Portescap s challenge for the application was to provide maximum torque in a small diameter package. The higher speed capability of the TurboDisc allowed a higher gear ratio to be utilized, yielding an increase in output torque at the desired speed. The disc magnet design creates quick response time for the motor, increasing the throughput of the machine. Textile Yarn monitoring system Electronic wire winding Factory Automation Pick & place machines Head positioning Die bonding Wafer handling Feeders Medical & Lab Automation Analyzers Syringe pumps Pipettes Milling machines Prosthetics Other Industries & Applications Engraving Laser cutting Bar code scanning Aircraft instrumentation Fiber optic splicers Mail sorting

8 Turbo Disc TM P1 24 steps/revolution 15º step angle A+ A- B+ B- 6.8 ±.1 1 ±3 4±.2 Ø M5.5 x.5 Ø ±.2.3 ±.5 5 ±.2 Ø ± ± ± ± ±.2 Ø P Motor Part Number P P Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * /.26 / 1.85 Detent torque, typical /.6 /.4 Step angle, ± 1% * degrees 15. Steps per revolution * 24 Natural resonance frequency (nominal current) Hz 2. Electrical time constant ms.6 Angular acceleration (nominal current) rad/s 2 265, Thermal resistance ºC/watt 1. Rotor moment of inertia -s 2 / g-cm 2.1 x 1E -4 /.7 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 2 for 5 seconds Weight lbs / g.2 / 9 Shaft load ratings, max at 15 Radial lbs / N.56 / 2.5 (at shaft center) Axial lbs / N.56 / 2.5 (both directions) Leadwires Flex Circuit reinforcement for connector ZIP ZMP pitch 1mm Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 14

9 Miniature Motors Turbo Disc TM P11 24 steps/revolution 15º step angle Ø Ø 3.9 Ø Ø Ø 16 Ø Ø Ø Ø Ø 16 Ø M1.6 x ± ± ± ±.3 P P Motor Part Number P /12 P /12 P /12 Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * / 1. / 7 Detent torque, typical /.1 / 1 Step angle, ± 1% * degrees 15. Steps per revolution * 24. Natural resonance frequency (nominal current) Hz 16. Electrical time constant ms.8 Angular acceleration (nominal current) rad/s 2 167, Thermal resistance ºC/watt 45. Rotor moment of inertia -s 2 / g-cm 2.57 x 1E -4 /.4 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Sintered bronze sleeve (optional ball bearing on request) Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 3 for 5 seconds Weight lbs / g.5 / 23 Shaft load ratings, max at 15 Radial lbs / N.12 /.5 (at shaft center) Axial lbs / N.12 /.5 (both directions) Leadwires Insulated Cable, AWG 26 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON Stepper 15

10 Turbo Disc TM P11 4 steps/revolution 9º step angle Ø Ø 3.9 Ø Ø Ø 16 Ø Ø Ø Ø Ø 16 Ø M1.6 x ± ± ± ±.3 P P Motor Part Number P /12 P /12 P /12 Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * /.864 / 6.1 Detent torque, typical /.85 /.6 Step angle, ± 1% * degrees 9. Steps per revolution * 4. Natural resonance frequency (nominal current) Hz 2. Electrical time constant ms.8 Angular acceleration (nominal current) rad/s 2 15, Thermal resistance ºC/watt 45. Rotor moment of inertia -s 2 / g-cm 2.57 x 1E -4 /.4 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Sintered bronze sleeve (optional ball bearing on request) Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 3 for 5 seconds Weight lbs / g.5 / 23 Shaft load ratings, max at 15 Radial lbs / N.12 /.5 (at shaft center) Axial lbs / N.12 /.5 (both directions) Leadwires Insulated Cable, AWG 26 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 16

11 Miniature Motors Turbo Disc TM P31 6 steps/revolution 6º step angle M2 x 6 Ø 32 Ø 32 Ø Ø Ø Ø ± ± P P Motor Part Number P P Series Parallel Series Parallel Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * / 2. / 14 Detent torque, typical /.3 / 2.5 Step angle, ± 1% * degrees 6. Steps per revolution * 6 Natural resonance frequency (nominal current) Hz 23. Electrical time constant ms.6 Angular acceleration (nominal current) rad/s 2 14, Thermal resistance ºC/watt 25. Rotor moment of inertia -s 2 / g-cm X 1E -4 /.86 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Sintered bronze sleeve or ball bearings Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 5 for 2 seconds Weight lbs / g.9 / 4 Shaft load ratings, max at 15 Radial lbs / N.22 / 1., 2.2^ / 1^ (at shaft center) Axial lbs / N.11 /.5, 4.5^ / 2^ (both directions) Leadwires NA (PCB connection) Temperature class, max B (13 C) RoHS COMPLIANT Stepper ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON ^ Ball bearings 17

12 Turbo Disc TM P43 1 steps/revolution 3.6º step angle M3 31 ± Ø ±.1 39 Ø 16 Ø P Motor Part Number P P Series Parallel Series Parallel Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * / 8.5 / 6 Detent torque, typical /.5 / 3.5 Step angle, ± 1% * degrees 3.6 Steps per revolution * 1 Natural resonance frequency (nominal current) Hz 36. Electrical time constant ms 1.5 Angular acceleration (nominal current) rad/s 2 2, Thermal resistance ºC/watt 11. Rotor moment of inertia -s 2 / g-cm x 1E -4 / 3. Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Radial ball bearings Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 5 for 5 seconds Weight lbs / g.22 / 1 Shaft load ratings, max at 15 Radial lbs / N 4.5 / 2 (at shaft center) Axial lbs / N 6.7 / 3 (both directions) Leadwires NA (PCB connection) Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 18

13 Miniature Motors Turbo Disc TM P52 1 steps/revolution 3.6º step angle Ø Ø 52 Ø 22 Ø ± Ø ± ±.5 3 PP Motor Part Number P P P PP PP PP Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * / 17 / 12 Detent torque, typical / 1.4 / 1 Step angle, ± 1% * degrees 3.6 Steps per revolution * 1. Natural resonance frequency (nominal current) Hz 25. Electrical time constant ms 1.8 Angular acceleration (nominal current) rad/s 2 1, Thermal resistance ºC/watt 9.5 Rotor moment of inertia -s 2 / g-cm x 1E -4 / 12 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Radial Ball Bearings Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 5 for 5 seconds Weight lbs / g.4 / 18 Shaft load ratings, max at 15 Radial lbs / N 4.5 / 2 (at shaft center) Axial lbs / N 6.7 / 3 (both directions) Leadwires Insulated Cable, AWG 24 Temperature class, max B (13 C) RoHS COMPLIANT Stepper ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 19

14 Turbo Disc TM P53 1 steps/revolution 3.6º step angle ± ±1 52 Ø 51.8 Ø Ø Ø ±.5 Ø ±.1 P P Motor Part Number P /84 P /84 P /84 Series Parallel Series Parallel Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * / 25 / 175 Detent torque, typical / 1.4 / 1 Step angle, ± 1% * degrees 3.6 Steps per revolution * 1 Natural resonance frequency (nominal current) Hz 3. Electrical time constant ms 2.3 Angular acceleration (nominal current) rad/s 2 141, Thermal resistance ºC/watt 7.3 Rotor moment of inertia -s 2 / g-cm X 1E -4 / 12 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Ball bearings Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 5 for 5 seconds Weight lbs / g.55 / 25 Shaft load ratings, max at 15 Radial lbs / N 4.5 / 2. (at shaft center) Axial lbs / N 6.75 / 3. (both directions) Leadwires INSULATED CABLE,.25 mm2 (AWG 24) Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 11

15 Miniature Motors Turbo Disc TM P532 1 steps/revolution 3.6º step angle ± ±1 Ø 51.8 Ø Ø Ø ±.5 Ø ±.1 P P Motor Part Number P /84 P /84 P /84 Series Parallel Series Parallel Rated voltage vdc Resistance per phase, ± 1% ohms Inductance per phase, typ mh Rated current per phase * amps Back-emf amplitude V/kst/s Holding torque, typical * / 29 / 25 Detent torque, typical / 1.4 / 1 Step angle, ± 1% * degrees 3.6 Steps per revolution * 1 Natural resonance frequency (nominal current) Hz 33. Electrical time constant ms 2.3 Angular acceleration (nominal current) rad/s 2 171, Thermal resistance ºC/watt 7.3 Rotor moment of inertia -s 2 / g-cm X 1E -4 / 12 Ambient temperature range Operating ºC -2 ~ +5 Storage ºC -4 ~ +85 Bearing type Ball bearings Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 5 for 5 seconds Weight lbs / g.55 / 25 Shaft load ratings, max at 15 Radial lbs / N 4.5 / 2. (at shaft center) Axial lbs / N 6.7 / 3. (both directions) Leadwires INSULATED CABLE,.25 mm 2 (AWG 24) Temperature class, max B (13 C) RoHS COMPLIANT Stepper ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 111

16 P Full step, bipolar voltage drive P Full step, bipolar voltage/current drive Current Source drive Voltage drive type L/R ,2 2, 5 1, 1,5 3, 5, ,2 2, 2,8 4, 5 1, 2, 3, 5, 7, 1,. P Pull-Out 3V P Pull-In 3V P Pull-Out 4V P Pull-In 4V P Pull-Out 6V, 3 ohms series resistor P Pull-In 6V, 3 ohms series resistor P Pull-Out 12V P Pull-In 12V P Full step, bipolar voltage drive P / P Full step, bipolar voltage Current Source drive Voltage drive type L/R ,2 2, ,2 2, 2,8 4,. 5 1, 1,5 3, 5, 5 1, 2, 3, 5, 7, 1, P Pull-Out 12V P Pull-In 12V P Pull-Out 24V, 68 ohms series resistor P Pull-In 24V, 68 ohms series resistor P Pull-Out 24V, 47 ohms Series Resistor P Pull-Out 24V P Pull-In 24V, 47 ohms Series Resistor P Pull-In 24V 112

17 Miniature Motors P , P Series Full step, bipolar voltage drive P , P Parallel Full step, bipolar voltage drive ,2 2, 4, 6, 12, 5 1, 2, 4, 6, 8, 1, 4 8 1,2 2, 4, 6, 12, 5 1, 2, 4, 6, 8, 1, P Pull-Out 45V P Pull-In 45V P Pull-Out 7V P Pull-In 7V P Pull-Out 1A, 24V P Pull-Out 24V, 12 ohm ext resistor P Pull-In 1A, 24V P Pull-In 24V, 12 ohm ext resistor P , P Series Full step, bipolar voltage drive P Parallel Full step, bipolar voltage drive Stepper , 2, 3, 5,. 1, 2, 4, 6, 8, 1, ,2 1,8 3, 6 1,2 2,4 3,6 4,8 6, P Pull-Out 36V, 47 ohm ext resistor P Pull-In 36V, 47 ohm ext resistor P Pull-Out 36V, 33 ohm ext resistor P Pull-In 36V, 33 ohm ext resistor P Pull-Out 24V P Pull-Out 36V P Pull-In 24V, 36V 113

18 P vdc, half step, bipolar voltage drive P/PP , P/PP Series 36 vdc, half step, bipolar voltage drive P Pull-Out 3A, 24V P Pull-Out 3A, 36V P Pull-In 3A, 24/36/45V P Pull-Out 3A, 45V P/PP Pull-Out 36V, 33 ohm ext resistor P/PP Pull-Out 1.3A, 36V P/PP Pull-In 36V, 33 ohm ext resistor P/PP Pull-In 1.3A, 36V P , P Series Full step, bipolar voltage drive P , P Parallel Full step, bipolar voltage drive ,2 1,5 1,8 2,4 3, ,8 1,44 1, , 2, 3, 4, 5, 6, 7, 6 1,2 1,8 2,4 3, 3,6 4, P Pull-Out 24V, 33 ohms series resistor P Pull-In 24V, 33 ohms series resistor P Pull-Out 36V, 39 ohms series resistor P Pull-In 36V, 39 ohms series resistor P Pull-Out 2A, 36V P Pull-In 2A, 36V P Pull-Out 2A, 36V P Pull-In 2A, 36V 114

19 Miniature Motors Notes Stepper 115

20 Notes 116