maxon_ec_motors (Курсовой проект на тему Схват манипулятора)

maxon EC motorEC 6 Æ6 mm, brushless, 1.2 WattM 2.5:1Stock programStandard programSpecial program (on request)Order Number3105992501016.04750057.4238000.2320.2650.5090.4804312.03610020.5119000.2410.1050.4020.1473912.50.09111.0690101060005.560.0050081.50.6022.7335001050005.480.00500Motor Data (provisional)12345678910111213141516Values at nominal voltageNominal voltageVNo load speedrpmNo load currentmANominal speedrpmNominal torque (max. continuous torque)mNmNominal current (max. continuous current)AStall torquemNmStarting currentAMax. efficiency%CharacteristicsTerminal resistance phase to phaseWTerminal inductance phase to phasemHTorque constantmNm / ASpeed constantrpm / VSpeed / torque gradientrpm / mNmMechanical time constantmsRotor inertiagcm2Specifications171819202122Values listed in the table are nominal.ConnectionPin 1Motor winding 3Pin 2Motor winding 2Pin 3Hall sensor 3Pin 4VHall 4.5 ...

12 VDCPin 5GNDPin 6Hall sensor 1Pin 7Hall sensor 2Pin 8Motor winding 1Connector for Flexprint MOLEX 52745-0896,FPC, 8-pole, pitch 0.5 mm, top contact style.Wiring diagram for Hall sensors see p. 26310599Continuous operationIn observation of above listed thermal resistance(lines 17 and 18) the maximum permissible windingtemperature will be reached during continuousoperation at 25°C ambient.= Thermal limit.Short term operationThe motor may be briefly overloaded (recurring).Mechanical data (preloaded ball bearings)23 Max. permissible speed100000 rpm24 Axial play at axial load < 0.15 N0 mm> 0.15 Nmax.

0.06 mm25 Radial play0.01 mm26 Max. axial load (dynamic)0.1 N27 Max. force for press fits (static)10 N28 Max. radial loading, 2 mm from flange8NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorCommentsOperating RangeThermal datan [rpm]Thermal resistance housing-ambient75 K / WThermal resistance winding-housing5.0 K / WThermal time constant winding0.464 sThermal time constant motor80.2 sAmbient temperature-20 ...

+100°CMax. permissible winding temperature+125°CAssigned power ratingOverview on page 17 - 21maxon Modular System1 Planetary Gearhead3 Æ6 mm2.8 g 0.002 - 0.03 NmPage 201Micro Harmonic Drive®Æ8 mm0.006 - 0.016 NmPage 202Encoder MR100 CPT,2 channelsPage 242Recommended Electronics:DEC 24/1Page 270EPOS 24/1278Notes17Optionsterilisable version150April 2006 edition / subject to changeEC 10 Æ10 mm, brushless, 8 WattB sensorlessmaxon EC motorA with Hall sensorsM 1:1Stock programStandard programSpecial program (on request)Order NumberA with Hall sensorsB sensorless3151703151743151713151753151723151763151733151779.080500126725001.551.5816.615.78312.07620087.0682001.601.1516.010.78318.08700071.1794001.550.85219.09.698424.08290049.4753001.630.63819.37.02840.5750.009981.06902049003.580.06981.120.01981.49641048103.520.06981.860.03421.96487046203.380.06983.420.06712.74348043303.170.0698Motor Data (provisional)12345678910111213141516Values at nominal voltageNominal voltageVNo load speedrpmNo load currentmANominal speedrpmNominal torque (max.

continuous torque)mNmNominal current (max. continuous current)AStall torquemNmStarting currentAMax. efficiency%CharacteristicsTerminal resistance phase to phaseWTerminal inductance phase to phasemHTorque constantmNm / ASpeed constantrpm / VSpeed / torque gradientrpm / mNmMechanical time constantmsRotor inertiagcm2Specifications171819202122232425262728293031Thermal dataThermal resistance housing-ambient 35.9 K / WThermal resistance winding-housing 2.21 K / WThermal time constant winding0.605 sThermal time constant motor200 sAmbient temperature-40 ... +100°CMax.

permissible winding temperature+125°CMechanical data (preloaded ball bearings)Max. permissible speed80000 rpmAxial play at axial load < 1.5 N0 mm> 1.5 Nmax. 0.15 mmRadial playpreloadedMax. axial load (dynamic)1.5 NMax. force for press fits (static)40 N(static, shaft supported)400 NMax. radial loading, 5 mm from flange5NOther specificationsNumber of pole pairs1Number of phases3Weight of motor15 gValues listed in the table are nominal.Connection with Hall sensors sensorlessPin 2Hall sensor 3Motor winding 2Pin 3Hall sensor 1Motor winding 3Pin 4Hall sensor 2neutral pointPin 5GNDPin 6Motor winding 3Pin 7Motor winding 2Pin 8Motor winding 1AdapterOrder numberOrder numbersee p.

283220300220310ConnectorArticle numberArticle numberAMP1-487951-1487951-4MOLEX52207-119052207-0490MOLEX52089-111052089-0410Pin for design with Hall sensors:FPC, 11-pole, pitch 1.0 mm, top contact styleWiring diagram for Hall sensors see p. 26Option: sterilisable versionApril 2006 edition / subject to changeOperating Rangen [rpm]CommentsContinuous operationIn observation of above listed thermal resistance(lines 17 and 18) the maximum permissible windingtemperature will be reached during continuousoperation at 25°C ambient.= Thermal limit.Short term operationThe motor may be briefly overloaded (recurring).Assigned power ratingOverview on page 17 - 21maxon Modular SystemPlanetary GearheadÆ10 mm0.01 - 0.15 NmPage 205Recommended Electronics:AECS 35/3Page 270DEC 24/1270DEC 50/5271DECV 50/5271Notes17maxon EC motor151maxon EC motorEC 13 Æ13 mm, brushless, 6 WattM 1:1Stock programStandard programSpecial program (on request)Order Number3051903051913051923051933051946.028300194209002.101.258.304.30639.030100140231002.210.9279.933.626512.02700090.5197002.210.6218.472.096418.02740061.7199002.130.4098.131.366324.02720045.8196002.10.3017.830.976621.400.02061.93495035806.180.1652.480.04162.74348031605.460.1655.740.09104.05236033405.770.16513.20.1985.98160035306.100.16524.60.3578.03119036406.290.165Motor Data (provisional)12345678910111213141516Values at nominal voltageNominal voltageVNo load speedrpmNo load currentmANominal speedrpmNominal torque (max.

continuous torque)mNmNominal current (max. continuous current)AStall torquemNmStarting currentAMax. efficiency%CharacteristicsTerminal resistance phase to phaseWTerminal inductance phase to phasemHTorque constantmNm / ASpeed constantrpm / VSpeed / torque gradientrpm / mNmMechanical time constantmsRotor inertiagcm2Specifications171819202122CommentsOperating RangeThermal dataThermal resistance housing-ambient32 K / WThermal resistance winding-housing 2.46 K / WThermal time constant winding0.716 sThermal time constant motor188 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+155°Cn [rpm]50000400003000020000Mechanical data (preloaded ball bearings)23 Max. permissible speed50000 rpm 1000024 Axial play at axial load < 1.5 N0 mm> 1.5 Nmax.

0.15 mm1.02.025 Radial playpreloaded0.51.026 Max. axial load (dynamic)1.5 N27 Max. force for press fits (static)40 N(static, shaft supported)250 N28 Max. radial loading, 5 mm from flange5 N maxon Modular SystemOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorContinuous operationIn observation of above listed thermal resistance(lines 17 and 18) the maximum permissible windingtemperature will be reached during continuousoperation at 25°C ambient.= Thermal limit.6.0Short term operationThe motor may be briefly overloaded (recurring).3.0Assigned power rating1.5Overview on page 17 - 21Planetary GearheadÆ13 mm1 0.2 - 0.35 Nm3 Page 20815 gValues listed in the table are nominal.ConnectionPin 1Pin 2Pin 3Pin 4Motor winding 1Motor winding 2Motor winding 3N.C.ConnectorTYCOMOLEXMOLEXArticle number84953-452207-048552089-0419Recommended Electronics:AECS 35/5Page 270Notes17OptionHall sensors152April 2006 edition / subject to changemaxon EC motorEC 13 Æ13 mm, brushless, 12 WattM 1:1Stock programStandard programSpecial program (on request)Order Number3051953051963051973051983051993052006.025500229204004.492.2423.210.5739.025600153209004.921.6327.78.407512.025500114204004.491.1223.25.277318.02630079.2216004.820.82227.74.327524.02550057.2204004.540.56723.72.697336.02810043.3234004.660.42728.72.39750.5690.01032.20434011203.820.3251.070.02333.3028909403.190.3252.280.04134.40217011203.820.3254.170.08796.4214909663.290.3258.930.1658.80109011003.740.32515.00.30812.07959963.390.325Motor Data (provisional)12345678910111213141516Values at nominal voltageNominal voltageVNo load speedrpmNo load currentmANominal speedrpmNominal torque (max.

continuous torque)mNmNominal current (max. continuous current)AStall torquemNmStarting currentAMax. efficiency%CharacteristicsTerminal resistance phase to phaseWTerminal inductance phase to phasemHTorque constantmNm / ASpeed constantrpm / VSpeed / torque gradientrpm / mNmMechanical time constantmsRotor inertiagcm2Specifications171819202122Operating RangeThermal datan [rpm]Thermal resistance housing-ambient 23.9 K / WThermal resistance winding-housing 1.26 K / WThermal time constant winding0.6 sThermal time constant motor263 sAmbient temperature-40 ...

+100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max. permissible speed50000 rpm24 Axial play at axial load < 1.5 N0 mm> 1.5 Nmax. 0.15 mm25 Radial playpreloaded26 Max. axial load (dynamic)1.5 N27 Max. force for press fits (static)40 N(static, shaft supported)250 N28 Max.

radial loading, 5 mm from flange5 N maxon Modular SystemOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorConnectionPin 1Pin 2Pin 3Pin 4Continuous operationIn observation of above listed thermal resistance(lines 17 and 18) the maximum permissible windingtemperature will be reached during continuousoperation at 25°C ambient.= Thermal limit.Short term operationThe motor may be briefly overloaded (recurring).Assigned power ratingOverview on page 17 - 21Planetary GearheadÆ13 mm1 0.2 - 0.35 Nm3 Page 20825 gMotor winding 1Motor winding 2Motor winding 3N.C.Values listed in the table are nominal.ConnectorTYCOMOLEXMOLEXCommentsArticle number84953-452207-048552089-0419Recommended Electronics:AECS 35/5Page 270Notes17OptionHall sensorsApril 2006 edition / subject to changemaxon EC motor153EC 16 Æ16 mm, brushless, 15 WattB sensorlessmaxon EC motorA with Hall sensorsConnector:MKF 13268-6-0-808Stocko Elektronik GmbHM 1:1Stock programStandard programSpecial program (on request)Order NumberA with Hall sensorsB sensorless266521236918266519236917266523236922266522236921Motor Data12345678910111213141516Values at nominal voltageNominal voltageVNo load speedrpmNo load currentmANominal speedrpmNominal torque (max.