maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 4

humidityCycle length+134°C ± 4°C2.3 bar100 %20 minutesOverview on page 17 - 21AECS 35/3DEC 50/5DECV 50/5NotesPage 27027127117maxon EC motor161maxon EC motorEC 32 Æ32 mm, brushless, 80 Watt, Œ approvedM 1:2Stock programStandard programSpecial program (on request)Order Number11889111889211888811888911889311889012.0150009011350039.16.0242857.27718.0143005551280041.64.0044337.47818.0130004871150042.53.7140731.47724.011000286947044.62.4235517.37636.0147002891320041.32.0445419.77848.011300148975043.71.223538.83760.2100.03007.48128035.87.4920.00.4810.075211.880632.76.8620.00.5730.090013.073732.66.8320.01.390.22620.546531.56.5920.01.830.28523.141432.86.8820.05.430.85640.023932.56.8120.0Motor 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-ambient5.4 K / WThermal resistance winding-housing2.5 K / WThermal time constant winding15.4 sThermal time constant motor1180 sAmbient temperature-20 ...

+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed25000 rpm24 Axial play at axial load < 8 N0 mm>8Nmax. 0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)5.6 N27 Max. force for press fits (static)110 N(static, shaft supported)1200 N28 Max. radial loading, 5 mm from flange28 N maxon Modular SystemOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Connection Motor (Cable AWG 22)redMotor winding 1blackMotor winding 2whiteMotor winding 3Connection Sensors (Cable AWG 26)greenVHall 4.5 ...

24 VDCblueGNDred / greyHall sensor 1black / greyHall sensor 2white / greyHall sensor 3Wiring diagram for Hall sensors see p. 26162CommentsContinuous 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 GearheadÆ32 mm1 0.75 - 4.5 Nm3 Page 228270 gPlanetary GearheadÆ32 mm1.0 - 6.0 NmPage 230Recommended Electronics:DECV 50/5page 271DEC 50/5271DEC 70/10271DES 50/5272EPOS 24/5278EPOS P 24/5279EPOS 70/10279MIP 50281Notes17Encoder HEDS 5540500 CPT,3 channelsPage 251Encoder HEDL 5540500 CPT,3 channelsPage 253Resolver Res 26Æ26 mm10 VPage 260April 2006 edition / subject to changemaxon EC motorEC 40 Æ40 mm, brushless, 120 Watt, Œ approvedM 1:2Stock programStandard programSpecial program (on request)Order Number167176 167177 118894 118895 167178 167179 118896 118897 167180 118898 167181 167183 118899 118901Motor Data12345678910111213141516Values at nominal voltageNominal voltageV 12.018.021.0No load speedrpm 10300 12000 10400No load currentmA886754515Nominal speedrpm 9050 10900 9240Nominal torque (max.

continuous torque)mNm107113116Nominal current (max. continuous current)A 10.48.626.46Stall torquemNm9851340 1150Starting currentA 89.294.460.1Max. efficiency%818383CharacteristicsTerminal resistance phase to phaseW 0.134 0.191 0.349Terminal inductance phase to phasemH 0.0266 0.0439 0.0797Torque constantmNm / A 11.014.219.1Speed constantrpm / V865673500Speed / torque gradientrpm / mNm 10.59.059.13Mechanical time constantms 9.398.068.13Rotor inertiagcm2 85.085.085.0Specifications17181920212230.024.011600 1030042644310500 91601201205.245.781420 121057.955.0848336.0983027587101233.76120034.68342.01040025892901223.40128033.58448.0756013964501272.2294015.78248.01030022291901232.96127028.88448.0593097.848301301.777439.728148.0542086.242901261.576397.658048.0353048.624001271.034103.217748.0311041.319901290.9203702.567648.0202024.48931290.5992371.07720.5180.13224.63898.207.3085.01.040.26334.72758.267.3585.01.250.31938.22508.207.3085.03.070.78860.11598.127.2285.01.660.42544.12168.167.2685.04.941.2876.41258.077.1885.06.281.5283.51148.597.6485.014.93.5612874.88.767.7985.018.84.5714566.08.567.6285.044.810.722143.28.757.7885.0Operating RangeThermal datan [rpm]Thermal resistance housing-ambient3.2 K / WThermal resistance winding-housing1.2 K / WThermal time constant winding17.1 sThermal time constant motor1050 sAmbient temperature-20 ...

+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed18000 rpm24 Axial play at axial load < 8 N0 mm>8Nmax. 0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)10 N27 Max. force for press fits (static)170 N(static, shaft supported)5000 N28 Max. radial loading, 5 mm from flange70 N maxon Modular SystemOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Explanation of the figures on page 49.Connection Motor (Cable AWG 22)blackMotor winding 2whiteMotor winding 3redMotor winding 1Connection Sensors (Cable AWG 26)white / greyHall sensor 3black / greyHall sensor 2blueGNDgreenVHall 4.5 ...

24 VDCred / greyHall sensor 1Wiring diagram for Hall sensors see p. 26April 2006 edition / subject to change0.4360.10622.14338.557.6185.0CommentsContinuous 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 GearheadÆ42 mm1 3 - 15 Nm3 Page 232390 gPlanetary GearheadÆ52 mm4 - 30 NmPage 235Recommended Electronics:DECV 50/5Page 271DEC 50/5271DEC 70/10271DES 50/5272DES 70/10272EPOS 24/5278EPOS P 24/5279EPOS 70/10279MIP 50, MIP 100281Notes17Encoder HEDS 5540500 CPT,3 channelsPage 251Encoder HEDL 5540500 CPT,3 channelsPage 253Resolver Res 26Æ26 mm10 VPage 260Brake AB 40Æ40 mm24 VDC, 0.4 NmPage 289maxon EC motor163maxon EC motorEC 45 Æ45 mm, brushless, 150 Watt, Œ approvedM 1:4Stock programStandard programSpecial program (on request)Order Number13620213619613620313619713620413619813620513620013620613620112.097701860861016816.015901387912.0563072244301829.6191645.87718.0103001350910016511.116501007918.0592052247101816.6995533.47724.010500106093601638.45167078.07924.0607040948601795.1096526.07736.0934057281801745.24159043.87936.0538022342001883.1391614.67748.01010049689801684.16167037.67948.0585019246501832.5196512.5770.08730.026611.58276.257.791190.2620.079720.04786.257.791190.1800.054216.55796.307.861190.5390.16328.63346.307.861190.3080.091721.44456.397.971190.9230.27537.12576.397.971190.8230.26336.32635.977.441192.470.78862.81525.977.441191.280.39544.52146.167.671193.831.1977.11246.167.67119Motor 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-ambient1.9 K / WThermal resistance winding-housing0.9 K / WThermal time constant winding15 sThermal time constant motor1600 sAmbient temperature-20 ...

+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed15000 rpm24 Axial play at axial load < 20 N0 mm> 20 Nmax. 0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)20 N27 Max. force for press fits (static)170 N(static, shaft supported)5000 N28 Max. radial loading, 5 mm from flange140 NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorProtectionValues listed in the table are nominal.13850 gIP54Connection Motor (Cable AWG 16)Cable 1Motor winding 1Cable 2Motor winding 2Cable 3Motor winding 3Connection Sensors (Cable AWG 24)whiteHall sensor 3brownHall sensor 2greenHall sensor 1yellowGNDgreyVHall 4.5 ... 24 VDCWiring diagram for Hall sensors see p.

26OptionTemperature monitoring, PTC resistance Micropille110°C, R 25°C < 0.5 kW, R 105°C = 1.2 ... 1.5 kW,R 115°C = 7 ... 13 kW, R 120°C = 18 ... 35 kW,Motor connection with plug164CommentsContinuous 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 GearheadÆ42 mm3 - 15 NmPage 232Planetary GearheadÆ52 mm4 - 30 NmPage 235Recommended Electronics:DECV 50/5Page 271DEC 50/5271DEC 70/10271DES 50/5272DES 70/10272EPOS 70/10279MIP 50281MIP 100281Notes17Encoder HEDL 9140500 CPT,3 channelsPage 255Resolver Res 26Æ26 mm10 VPage 260Brake AB 28Æ28 mm, 24 VDC0.4 NmPage 288April 2006 edition / subject to changemaxon EC motorEC 45 Æ45 mm, brushless, 250 Watt, Œ approvedM 1:4Stock programStandard programSpecial program (on request)Order Number13621013620713621113620813621213620924.090901140838028512.341801678524.0525043545203107.47242055.88436.0109001060102002839.9554701758536.0630039755903186.16316058.38548.011200830105002807.5955801378548.0646031157603164.72322045.8850.1430.056525.03822.194.802090.4300.17043.32212.194.802090.2060.088331.23062.014.402090.6170.26554.11762.014.402090.3500.14940.62352.024.432091.050.44870.41362.024.43209Motor Data12345678910111213141516Values at nominal voltageNominal voltageVNo load speedrpmNo load currentmANominal speedrpmNominal torque (max.