maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 3

18 VDCgreen GNDPin 5blueHall sensor 1*Pin 6violet Hall sensor 2*Pin 7greyHall sensor 3*Pin 8*Internal pull-up (7 … 13 kW) on pin 4Connection B (Cable AWG 24)brownMotor winding 1redMotor winding 2orangeMotor winding 3Wiring diagram for Hall sensors see p. 26April 2006 edition / subject to changefor type B:Resolver Res 26on requestRecommended Electronics:AECS 35/3Page 270DEC 24/1270DEC 50/5271DECV 50/5271DES 50/5272EPOS 24/1278EPOS 24/5278EPOS P 24/5279Notes17maxon EC motor157maxon EC motorEC 22 Æ22 mm, brushless, 20 Watt, with integrated electronics, Œ approvedConnector:MKF 13264-6-0-404Stocko Elektronik GmbHM 1:1Stock programStandard programSpecial program (on request)Order Number20116220086320116320086424.035400123322008.221.3616.02.508524.02050057.41650014.91.3427.82.508524.01670044.01260015.31.1134.02.508324.0959022.4590016.00.67346.61.9880k.A.k.A.6.4114902778.693.00k.A.k.A.11.18602076.523.00k.A.k.A.13.67012247.033.00k.A.k.A.23.64052086.553.00Motor 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 inertiagcm2Specifications171819202122Operating 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 speed50000 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 N maxon Modular SystemMax. temperature of electronics+125°CPlanetary Gearhead(max. loading capacity of the motorÆ22 mmis defined by the electronics)0.5 - 2.0 NmPage 221Other specifications29 Number of pole pairs130 Number of phases331 Weight of motor85 gCommentsContinuous 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 - 21Values listed in the table are nominal.CautionWrong polarity will destroy the electronicsCaution: the direction of rotation (DIR) mayonly be changed when the motor is at standstill,otherwise the electronics can be damaged.Connectiongreen +VCC 10 ...

50 VDCblueGNDviolet DisablegreyDirection158Pin 1Pin 2Pin 3Pin 4April 2006 edition / subject to changeEC 22 Æ22 mm, brushless, 50 Watt, Œ 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 sensorless167130167129201049201048Motor 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 inertiagcm2Specifications17181920212232.0387003273660030.64.1669288.28832.0224001282020037.22.8243732.18832.0387003273660030.64.1669288.28832.0224001282020037.22.8243732.1880.3630.04907.85122056.22.474.200.9970.14713.670251.42.264.200.3630.04907.85122056.22.474.200.9970.14713.670251.42.264.20Operating RangeThermal datan [rpm]Thermal resistance housing-ambient7.0 K / WThermal resistance winding-housing1.0 K / WThermal time constant winding5.06 sThermal time constant motor355 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 Nm130 g Page 221for type A:Encoder MR128 / 256 / 512 CPTPage 245Values listed in the table are nominal.Connection Abrown Motor winding 1Pin 1redMotor winding 2Pin 2orange Motor winding 3Pin 3Pin 4yellow VHall 4.5 ...

18 VDCgreen GNDPin 5blueHall sensor 1*Pin 6violet Hall sensor 2*Pin 7greyHall sensor 3*Pin 8*Internal pull-up (7 … 13 kW) on pin 4Connection B (Cable AWG 24)brownMotor winding 1redMotor winding 2orangeMotor winding 3Wiring diagram for Hall sensors see p. 26April 2006 edition / subject to changefor type B:Resolver Res 26on requestRecommended Electronics:AECS 35/3Page 270DEC 50/5271DECV 50/5271DES 50/5272EPOS 24/1278EPOS 24/5278EPOS P 24/5279Notes17maxon EC motor159maxon EC motorEC 22 Æ22 mm, brushless, 20 Watt, with integrated electronics, Œ approvedConnector:MKF 13264-6-0-404Stocko Elektronik GmbHM 1:1Stock programStandard programSpecial program (on request)Order Number20116420029324.028900264278008.981.3919.62.508332.0223001282100017.41.3934.02.5086k.A.k.A.7.8512201185.204.20k.A.k.A.13.670272.13.174.20Motor 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 inertiagcm2Specifications171819202122Operating RangeThermal datan [rpm]Thermal resistance housing-ambient 10.5 K / WThermal resistance winding-housing1.0 K / WThermal time constant winding5.06 sThermal time constant motor532 sAmbient temperature-20 ... +100°CMax.

permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed30000 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 N maxon Modular SystemMax. temperature of electronics+125°CPlanetary Gearhead(max. loading capacity of the motorÆ22 mmis defined by the electronics)0.5 - 2.0 NmPage 221Other specifications29 Number of pole pairs130 Number of phases331 Weight of motor130 gCommentsContinuous 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 - 21Values listed in the table are nominal.CautionWrong polarity will destroy the electronicsCaution: the direction of rotation (DIR) mayonly be changed when the motor is at standstill,otherwise the electronics can be damaged.Connectiongreen +VCC 10 ...

50 VDCblueGNDviolet DisablegreyDirection160Pin 1Pin 2Pin 3Pin 4April 2006 edition / subject to changeEC 22 Æ22 mm, brushless, 50 Watt, sterilisableB sensorlessmaxon EC motorA with Hall sensorsM 1:1Stock programStandard programSpecial program (on request)Order NumberA with Hall sensorsB sensorless266520264443275312254168Motor 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 inertiagcm2Specifications17181920212232.0411003643890028.64.1865288.28832.0238001412140034.92.8241132.18732.0411003643890028.64.1865288.28832.0238001412140034.92.8241132.1870.3630.04907.39129063.43.084.630.9970.14712.874658.12.824.630.3630.04907.39129063.43.084.630.9970.14712.874658.12.824.63Operating RangeThermal datan [rpm]Thermal resistance housing-ambient7.0 K / WThermal resistance winding-housing1.0 K / WThermal time constant winding5.06 sThermal time constant motor355 sAmbient temperature-20 ...

+100°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.Mechanical data (preloaded ball bearings)23 Max. permissible speed50000 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 N ApplicationOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Connection A, Motor (Cable AWG 22)redMotor winding 1blackMotor winding 2whiteMotor winding 3Connection A, Sensors (Cable AWG 26)Hall + 5 VDCblueGNDred / greyHall sensor 1black / greyHall sensor 2white / greyHall sensor 3Connection B (Cable AWG 22)redMotor winding 1blackMotor winding 2whiteMotor winding 3Wiring diagram for Hall sensors see p. 26April 2006 edition / subject to change13130 gCommentsMedicine / surgery / chemicalsHand tools that can be sterilised, such as bone saw,bone drilling and grinding machineDermatological and dental toolsInfusion pumpsECGTherapy aid, analysis and dialysis equipmentmaxon Modular SystemPlanetary GearheadsterilisableÆ22 mm0.5 - 2.0 NmPage 222Short term operationThe motor may be briefly overloaded (recurring).Assigned power ratingSterilisation informationThe motor can be sterilised at least 100 times in autoclave.No need to dismantle.Sterilisation with steamTemperatureCompression pressure up toRel.