maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 7
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24 VDCgreenGNDPin 5blueHall sensor 1Pin 6violetHall sensor 2Pin 7greyHall sensor 3Pin 8Wiring diagram for Hall sensors see p. 26174maxon EC motorRecommended Electronics:DEC 24/1page 270DECV 50/5271DES 50/5272EPOS 24/1278EPOS 24/5278EPOS P 24/5279Notes17April 2006 edition / subject to changemaxon EC-maxECmax 22 Æ22 mm, brushless, 25 WattConnector:MKF 13268-6-0-808Stocko Elektronik GmbHStock programStandard programSpecial program (on request)M 1:1Order Number283856283857283858283859283860zMotor 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 inertiagcm2Specifications17181920212212.012400214982022.92.6911412.67618.0129001531030021.91.801128.557624.0129001151040022.91.411216.977736.01220069.7961022.70.8771114.007648.01300057.61050023.40.7201273.66770.9550.04999.1010501105.144.452.100.10313.07321185.504.453.440.18217.45491095.064.459.010.46227.73451125.234.4513.10.73034.82741034.824.45Operating RangeThermal datan [rpm]Thermal resistance housing-ambient10.2 K / WThermal resistance winding-housing1.02 K / WThermal time constant windings1.97 sThermal time constant motor628 sAmbient temperature-40 ...
+100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max. permissible speed18000 rpm24 Axial play at axial load < 5.0 N0 mm> 5.0 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)4.5 N27 Max. force for press fits (static)60 N(static, shaft supported)1000 N28 Max. radial loading, 5 mm from flange16 N maxon Modular SystemOther 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 - 21Planetary GearheadÆ32 mm1 1 - 6 Nm3 Page 230110 gEncoder MR128 / 256 / 512 CPT,2 / 3 channelsPage 245Brake AB 20Æ20 mm24 VDC, 0.1 NmPage 286Values listed in the table are nominal.Connection (Cable AWG 24)brownMotor winding 1Pin 1redMotor winding 2Pin 2orangeMotor winding 3Pin 3Pin 4yellowVHall 4.5 ...
24 VDCgreenGNDPin 5blueHall sensor 1Pin 6violetHall sensor 2Pin 7greyHall sensor 3Pin 8Wiring diagram for Hall sensors see p. 26April 2006 edition / subject to changeRecommended Electronics:DEC 50/5page 271DECV 50/5271DES 50/5272EPOS 24/5278EPOS P 24/5279MIP 50281Notes17maxon EC motor175maxon EC-maxECmax 30 Æ30 mm, brushless, 40 WattM 1:2Stock programStandard programSpecial program (on request)Order Number27276627276827276927277012.08700202664035.02.8515311.87624.09270112721034.31.501606.577636.0916073.2708033.90.9761544.187648.0927055.9719034.00.7431573.24761.010.08812.973857.86.6611.03.650.31024.339359.16.8111.08.610.71336.825960.66.9811.014.81.2448.619759.96.9011.0Motor 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-ambient8.6 K / WThermal resistance winding-housing1K/WThermal time constant windings3.12 sThermal time constant motor777 sAmbient temperature-40 ...
+100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max. permissible speed15000 rpm24 Axial play at axial load < 6.0 N0 mm> 6.0 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)5.5 N27 Max. force for press fits (static)100 N(static, shaft supported)2000 N28 Max. radial loading, 5 mm from flange25 NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Connection Motor (Cable AWG 20)redMotor winding 1Pin 1blackMotor winding 2Pin 2whiteMotor winding 3Pin 3N.C.Pin 4Connector Article numberMolex39-01-2040Connection Sensors (Cable AWG 26)yellowHall sensor 1Pin 1brownHall sensor 2Pin 2greyHall sensor 3Pin 3blueGNDPin 4Pin 5greenVHall 4.5 … 24 VDCN.C.Pin 6Connector Article numberMolex430-25-0600Wiring diagram for Hall sensors see p.
26176maxon EC 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 System1 Planetary Gearhead3 Æ32 mm165 g 1 - 6 NmPage 230Recommended Electronics:DEC 50/5page 271DECV 50/5271DES 50/5272EPOS 24/5278EPOS P 24/5279MIP 50281Notes17Encoder MR500 / 1000 CPT,3 channelsPage 246Encoder HEDL 5540500 CPT,3 channelsPage 254Brake AB 20Æ20 mm24 VDC, 0.1 NmPage 286April 2006 edition / subject to changemaxon EC-maxECmax 30 Æ30 mm, brushless, 60 WattM 1:2Stock programStandard programSpecial program (on request)Order Number27276227276327276427276512.07990268663062.44.6138126.88124.09350170804061.32.6645818.88236.09500116826064.71.9052214.58348.0936085.1812065.31.4151910.7830.4470.04914.267221.24.8621.91.270.14324.339320.64.7321.92.480.31235.926618.44.2121.94.490.57348.619718.24.1721.9Motor 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-ambient7.4 K / WThermal resistance winding-housing0.5 K / WThermal time constant windings2.69 sThermal time constant motor1000 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max.
permissible speed15000 rpm24 Axial play at axial load < 6.0 N0 mm> 6.0 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)5.5 N27 Max. force for press fits (static)100 N(static, shaft supported)1300 N28 Max. radial loading, 5 mm from flange25 NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Connection Motor (Cable AWG 20)redMotor winding 1Pin 1blackMotor winding 2Pin 2whiteMotor winding 3Pin 3N.C.Pin 4Connector Article numberMolex39-01-2040Connection Sensors (Cable AWG 26)yellowHall sensor 1Pin 1brownHall sensor 2Pin 2greyHall sensor 3Pin 3blueGNDPin 4Pin 5greenVHall 4.5 … 24 VDCN.C.Pin 6Connector Article numberMolex430-25-0600Wiring diagram for Hall sensors see p.
26April 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 System1 Planetary Gearhead3 Æ42 mm275 g 3 - 15 NmPage 233Recommended Electronics:DEC 50/5page 271DECV 50/5271DES 50/5272EPOS 24/5278EPOS P 24/5279MIP 50281Notes17Encoder MR500 / 1000 CPT,3 channelsPage 246Encoder HEDL 5540500 CPT,3 channelsPage 254Brake AB 20Æ20 mm24 VDC, 0.1 NmPage 286maxon EC motor177maxon EC-maxECmax 40 Æ40 mm, brushless, 70 WattM 1:2Stock programStandard programSpecial program (on request)Order Number28386628386728386828386912.08020631649085.16.5846633.37524.08030316654088.03.3949717.87636.08450228705093.72.5259514.97748.09020190762092.92.0163612.7780.3600.046414.068217.69.4151.21.350.18628.034116.58.8251.22.420.37940.023914.47.7451.23.780.59250.019114.47.7351.2Motor 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-ambient4.63 K / WThermal resistance winding-housing0.542 K / WThermal time constant windings3.76 sThermal time constant motor926 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max. permissible speed12000 rpm24 Axial play at axial load < 10 N0 mm> 10 N0.14 mm25 Radial playpreloaded26 Max.