maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 2
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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 inertiagcm2Specifications17181920212212.033900234282004.961.7131.29.477218.037400179317004.761.2233.17.387224.039200144337004.890.98436.96.477332.038400105328004.770.70734.44.437212.033900234282004.961.7131.29.477218.037400179317004.761.2233.17.387224.039200144337004.890.98436.96.477332.038400105328004.770.70734.44.43721.270.03503.30290011108.750.7502.440.06484.48213011609.100.7503.710.1055.71167010908.530.7507.220.1947.77123011408.980.7501.270.03503.30290011108.750.7502.440.06484.48213011609.100.7503.710.1055.71167010908.530.7507.220.1947.77123011408.980.750Operating RangeCommentsThermal datan [rpm]Thermal resistance housing-ambient 15.6 K / WThermal resistance winding-housing1.8 K / WThermal time constant winding1.24 sThermal time constant motor265 sAmbient temperature-20 ...
+100°CMax. permissible winding temperature+125°CContinuous 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 speed50000 rpm24 Axial play at axial load < 3.5 N0 mm> 3.5 Nmax.
0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)3N27 Max. force for press fits (static)40 N(static, shaft supported)250 N28 Max. radial loading, 5 mm from flange10 N maxon Modular SystemOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorAssigned power ratingOverview on page 17 - 21Planetary GearheadÆ16 mm1 0.1 - 0.3 Nm3 Page 21334 gfor type A:Encoder MR128 / 256 / 512 CPT,Page 245Values listed in the table are nominal.Connection AbrownMotor winding 1Pin 1redMotor winding 2Pin 2orangeMotor winding 3Pin 3yellowVHall 4.5 … 24 VDC Pin 4greenGNDPin 5blueHall sensor 1Pin 6violetHall sensor 2Pin 7greyHall sensor 3Pin 8Connection B (Cable AWG 24)brownMotor winding 1redMotor winding 2orangeMotor winding 3Wiring diagram for Hall sensors see p.
26154AECS 35/3DEC 24/1DEC 50/5DECV 50/5DES 50/5EPOS 24/1NotesPage 27027027127127227817April 2006 edition / subject to changeEC 16 Æ16 mm, brushless, 40 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 sensorless232242262860232241262862235689262864235686262866Motor Data12345678910111213141516Values 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 inertiagcm2Specifications17181920212212.0358003583210013.34.5114144.58318.0403002843670013.43.4116639.38424.0414002223790013.92.7118433.58532.0414001663790013.82.0318324.98512.0358003583210013.34.5114144.58318.0403002843670013.43.4116639.38424.0414002223790013.92.7118433.58532.0414001663790013.82.0318324.9850.2690.01403.1830102553.391.270.4580.02494.2322602443.251.270.7160.04205.5017402263.011.271.280.07467.3313002283.031.270.2690.01403.1830102553.391.270.4580.02494.2322602443.251.270.7160.04205.5017402263.011.271.280.07467.3313002283.031.27Operating RangeCommentsThermal datan [rpm]Thermal resistance housing-ambient 10.3 K / WThermal resistance winding-housing1.2 K / WThermal time constant winding2.08 sThermal time constant motor299 sAmbient temperature-20 ...
+100°CMax. permissible winding temperature+125°CContinuous 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 speed50000 rpm24 Axial play at axial load < 3.5 N0 mm> 3.5 Nmax. 0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)3N27 Max. force for press fits (static)40 N(static, shaft supported)250 N28 Max. radial loading, 5 mm from flange10 N maxon Modular SystemOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorAssigned power ratingOverview on page 17 - 21Planetary GearheadÆ22 mm1 0.5 - 2.0 Nm3 Page 22158 gfor type A:Encoder MR128 / 256 / 512 CPT,Page 245Values listed in the table are nominal.Connection AbrownMotor winding 1Pin 1redMotor winding 2Pin 2orangeMotor winding 3Pin 3Pin 4yellowVHall 4.5 … 24 VDCgreenGNDPin 5blueHall sensor 1Pin 6violetHall sensor 2Pin 7greyHall sensor 3Pin 8Connection B (Cable AWG 24)brownMotor winding 1redMotor winding 2orangeMotor winding 3Wiring diagram for Hall sensors see p. 26April 2006 edition / subject to changeAECS 35/3DEC 50/5DECV 50/5DES 50/5EPOS 24/1EPOS 24/5EPOS P 24/5NotesPage 27027127127227827827917maxon EC motor155maxon EC motorEC 16 Æ16 mm, brushless, 40 Watt, sterilisableM 1:1Stock programStandard programSpecial program (on request)Order Number23582323582112.0421005723810010.34.3612044.57924.0487003424490010.72.6115633.5810.2690.01402.6835603575.121.370.7160.04204.6520503164.541.37Motor 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 datan [rpm]Thermal resistance housing-ambient 10.3 K / WThermal resistance winding-housing1.2 K / WThermal time constant winding2.08 sThermal time constant motor299 sAmbient temperature-20 ... +135°CMax.
permissible winding temperature+155°CContinuous 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 speed50000 rpm24 Axial play at axial load < 3.5 N0 mm> 3.5 Nmax. 0.14 mm25 Radial playpreloaded26 Max.
axial load (dynamic)3N27 Max. force for press fits (static)40 N(static, shaft supported)250 N28 Max. radial loading, 5 mm from flange10 N ApplicationOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Connection (Cable AWG 22)redMotor winding 1blackMotor winding 2whiteMotor winding 3Assigned power ratingSterilisation informationMedicine / surgery / chemicals1358 g Hand tools that can be sterilised, such as bone saw,bone drilling and grinding machineDermatological and dental toolsInfusion pumpsECGTherapy aid, analysis and dialysis equipmentThe motor can be sterilised at least 100 times in autoclave.No need to dismantle.Sterilisation with steamTemperatureCompression pressure up toRel.
humidityCycle length+134°C ± 4°C2.3 bar100 %20 minutesOverview on page 17 - 21maxon Modular SystemPlanetary GearheadÆ16 mm0.1 - 0.3 NmPage 214AECS 35/3Notes156maxon EC motorPage 27017April 2006 edition / subject to changeEC 22 Æ22 mm, brushless, 20 Watt, approvedB 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 sensorless169007169008200685200118200859200857200860200858Motor Data12345678910111213141516Values 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 inertiagcm2Specifications17181920212224.0355001683090015.82.4819530.48624.02050074.11650016.91.5111710.58424.01670055.61270015.91.1682.76.088224.0958027.0596016.20.68348.12.047924.0355001683090015.82.4819530.48624.02050074.11650016.91.5111710.58424.01670055.61270015.91.1682.76.088224.0958027.0596016.20.68348.12.04790.7890.3346.4014901845.783.002.281.0011.18611775.563.003.951.5113.67022046.403.0011.74.5323.64052026.353.000.7890.3346.4014901845.783.002.281.0011.18611775.563.003.951.5113.67022046.403.0011.74.5323.64052026.353.00Operating RangeThermal datan [rpm]Thermal resistance housing-ambient10 K / WThermal resistance winding-housing2.0 K / WThermal time constant winding4.93 sThermal time constant motor300 sAmbient temperature-20 ...
+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed1)50000 rpm24 Axial play at axial load < 5 N0 mm>5Nmax. 0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)4N27 Max. force for press fits (static)60 N(static, shaft supported)250 N28 Max. radial loading, 5 mm from flange16 N1) in combination with encoder MR nmax = 37500 rpmOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorCommentsContinuous 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 Gearhead1 Æ22 mm3 0.5 - 2.0 Nm85 g Page 221for type A:Encoder MR128 / 256 / 512 CPT,Page 245Values listed in the table are nominal.Connection Abrown Motor winding 1Pin 1redMotor winding 2Pin 2orange Motor winding 3Pin 3Pin 4yellow VHall 4.5 ...