maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 5

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-ambient1.7 K / WThermal resistance winding-housing1.1 K / WThermal time constant winding30.8 sThermal time constant motor1570 sAmbient temperature-20 ...

+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed12000 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 flange180 NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorProtectionValues listed in the table are nominal.131150 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 kWMotor connection with plugApril 2006 edition / subject to changeCommentsContinuous 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 233Planetary GearheadÆ52 mm4 - 30 NmPage 235Planetary GearheadÆ62 mm8 - 50 NmPage 237Recommended Electronics:DEC 50/5Page 271DEC 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 288maxon EC motor165maxon EC motorEC 45 4-poles o45 mm, brushless, 200 WattM 1:2Stock programStandard programSpecial program (on request)Order Numberwith encoder26605225246325246448.0873047381502374.93442084.88648.0612026155802974.16407054.78748.0437015338303083.04289027.7860.5660.17252.21831.994.162000.8780.35074.51281.513.162001.730.68610491.61.523.18200Motor 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-ambient3.1 K / WThermal resistance winding-housing1.0 K / WThermal time constant winding31.8 sThermal time constant motor1550 sAmbient temperature-10 ... +100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed10000 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 N Integrated encoder RCM15Connection Encoder (Cable AWG 26)Other specificationswhite(Pin 1)VCC 129 Number of pole pairs2 brown(Pin 2)GND 130 Number of phases3 yellow(Pin 3)Channel A31 Weight of motor1000 g greenChannel A(ProtectionIP54 pink(Pin 5)Channel I (Index)grey(Pin 6)Channel I (Index)Values listed in the table are nominal.red(Pin 7)Channel Bblue(Pin 8)Channel BConnection Motor (Cable AWG 18)black(Pin 9)Commutation signal S 2Cable 1Motor winding 1violet(Pin 10)Commutation signal S 1Cable 2Motor winding 2grey/pink(Pin 11)Commutation signal S 3Cable 3Motor winding 3blue/red(Pin 12)GND 2white/green (Pin 13)VCC 2Optionbrown/greenPTC (Optional)Temperature monitoring, PTC resistancewhite/yellowPTC (Optional)R 20°C < 0.3 kWR 130°C = 7.0 ...

35 kW166CommentsContinuous 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 - 21Counts per turnNumber of channelsMax.

operating frequency (kHz)Supply voltageOutput signalPhase shift F (nominal)Logic state width sIndex pulse width (nominal)Operating temperature rangeMoment of inertiaRecommended Electronics:DEC 50/5DEC 70/10DES 50/5DES 70/10EPOS 70/10MIP 50MIP 100Notes204832005V ±5%RS 42290°emin. 45°e360°e-10 ... +100°C£ 3.11 gcm2Page 27127127227227928128117April 2006 edition / subject to changemaxon EC motorEC 45 4-poles o45 mm, brushless, 300 WattM 1:2Stock programStandard programSpecial program (on request)Order Numberwith encoder283150Motor 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 inertiagcm2Specifications17181920212248.0402017435806705.88829072.9910.6590.67711484.00.4861.88368Operating RangeThermal datan [rpm]Thermal resistance housing-ambient1.97 K / WThermal resistance winding-housing0.718 K / WThermal time constant winding34.3 sThermal time constant motor1600 sAmbient temperature-10 ...

+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed10000 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 N Integrated encoder RCM15Connection Encoder (Cable AWG 26)Other specificationswhite(Pin 1)VCC 129 Number of pole pairs2 brown(Pin 2)GND 130 Number of phases3 yellow(Pin 3)Channel A31 Weight of motor1130 g greenChannel A(ProtectionIP54 pink(Pin 5)Channel I (Index)grey(Pin 6)Channel I (Index)Values listed in the table are nominal.red(Pin 7)Channel Bblue(Pin 8)Channel BConnection Motor (Cable AWG 18)black(Pin 9)Commutation signal S 2Cable 1Motor winding 1violet(Pin 10)Commutation signal S 1Cable 2Motor winding 2grey/pink(Pin 11)Commutation signal S 3Cable 3Motor winding 3blue/red(Pin 12)GND 2white/green (Pin 13)VCC 2Optionenbrown/greenPTC (Optional)Temperature monitoring, PTC resistancewhite/yellowPTC (Optional)R 20°C < 0.3 kWR 130°C = 7.0 ...

35 kWApril 2006 edition / subject to changeCommentsContinuous 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 - 21Counts per turnNumber of channelsMax. operating frequency (kHz)Supply voltageOutput signalPhase shift F (nominal)Logic state width sIndex pulse width (nominal)Operating temperature rangeMoment of inertiaRecommended Electronics:DEC 50/5DEC 70/10DES 50/5DES 70/10EPOS 70/10MIP 50MIP 100Notes204832005V ±5%RS 42290°emin.

45°e360°e-10 ... +100°C£ 3.11 gcm2Page 27127127227227928128117maxon EC motor167maxon EC motorEC 60 Æ60 mm, brushless, 400 Watt, Œ approvedM 1:4Stock programStandard programSpecial program (on request)Order Number16713216713148.0537073349607479.38118001398648.0310030426808305.85682046.4850.3450.27384.91130.4573.988311.030.8214765.00.4573.98831Motor 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 inertiagcm2Specifications171819202122Mechanical data (preloaded ball bearings)23 Max. permissible speed7000 rpm24 Axial play at axial load < 30 N0 mm> 30 Nmax.

0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)26 N27 Max. force for press fits (static)320 N(static, shaft supported)8000 N28 Max. radial loading, 5 mm from flange240 NOther specifications29 Number of pole pairs130 Number of phases331 Weight of motor2450 gProtectionIP54Values listed in the table are nominal.Connection 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 VDCblueTemperature monitoring (PTC)pinkTemperature monitoring (PTC)Temperature monitoringPTC resistance Micropille 110°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 kWWiring diagram for Hall sensors see p. 26Option: Motor connection with plug168Operating RangeThermal datan [rpm]Thermal resistance housing-ambient1.3 K / WThermal resistance winding-housing0.5 K / WThermal time constant winding33.7 sThermal time constant motor1200 sAmbient temperature-20 ...

+100°CMax. permissible winding temperature+125°CCommentsContinuous 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 GearheadÆ81 mm20 - 120 NmPage 238Recommended Electronics:DEC 50/5Page 271DEC 70/10271DES 50/5272DES 70/10272EPOS 70/10279MIP 50281MIP 100281Notes17Encoder HEDL 9140500 CPT,3 channelsPage 255Resolver ResÆ26 mm10 VPage 260Brake AB 41Æ41 mm24 VDC, 2.0 NmPage 290April 2006 edition / subject to change-maxmaxonØ165-8 WØ2212-25 WØ3040-60 WØ4070-120 WPageThe new maxon EC-max program picks up the ideology of the successful A-max and RE-max motors.The electronically commutated DC motors are basedon the same parts platform idea, creating a widemarket-oriented range in the modular system withgearheads, sensors and brakes.SummaryEC-max motors16 mm - 40 mm in diameter170171 - 179169maxon EC-maxECmax 16 Æ16 mm, brushless, 5 WattM 1:1Connector:MKF 13268-6-0-808Stocko Elektronik GmbHStock programStandard programSpecial program (on request)Order Number2838252838262838272838284.51240012149603.531.176.151.89576.01300097.654303.410.9006.111.49569.01220059.146803.500.5735.950.9015612.01300048.855403.460.4556.270.762572.380.03963.25294021509.640.4284.040.06344.122320228010.20.4289.990.1636.60145021909.810.42815.70.2548.23116022209.950.428Motor 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-ambient23.5 K / WThermal resistance winding-housing2.57 K / WThermal time constant windings0.883 sThermal time constant motor390 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+100°CMechanical data (preloaded ball bearings)23 Max. permissible speed20000 rpm24 Axial play at axial load < 2.0 N0 mm> 2.0 N0.14 mm25 Radial playpreloaded26 Max.