maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 8

axial load (dynamic)9N27 Max. force for press fits (static)170 N(static, shaft supported)5000 N28 Max. radial loading, 5 mm from flange80 NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorValues listed in the table are nominal.Connection (Cable AWG 20)redMotor winding 1Pin 1blackMotor winding 2Pin 2whiteMotor winding 3Pin 3N.C.Pin 4Connector Article numberMolex39-01-2040Connection (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.

26178maxon 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 Æ42 mm400 g 3 - 15 NmPage 233Recommended Electronics:DEC 50/5page 271DECV 50/5271DES 50/5272EPOS 24/5278EPOS P 24/5279MIP 50, 100281Notes17Encoder MR500 / 1000 CPT,3 channelsPage 247Encoder HEDL 5540500 CPT,3 channelsPage 254Brake AB 28Æ28 mm24 VDC, 0.4 NmPage 287April 2006 edition / subject to changemaxon EC-maxECmax 40 Æ40 mm, brushless, 120 WattM 1:2Stock programStandard programSpecial program (on request)Order Number28387028387128387228387348.01010034892801643.95209046.78448.0724020262901833.08149023.78348.0472010537702032.19105010.98248.0361071.426702121.748386.68811.030.20444.82134.895.171012.020.40062.81524.905.191014.400.93796.199.44.554.811017.191.6012676.14.354.61101Motor 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-ambient3.45 K / WThermal resistance winding-housing0.29 K / WThermal time constant windings3.87 sThermal time constant motor1140 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. axial load (dynamic)9N27 Max. force for press fits (static)170 N(static, shaft supported)5000 N28 Max. radial loading, 5 mm from flange80 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 Æ52 mm650 g 4 - 30 NmPage 236Recommended Electronics:DECV 50/5page 271DEC 50/5271DEC 70/10271DES 50/5272DES 70/10272EPOS 70/10279MIP 50281MIP 100281Notes17Encoder MR500 - 1000 CPT,3 channelsPage 247Encoder HEDL 5540500 CPT,3 channelsPage 254Brake AB 28Æ28 mm24 VDC, 0.4 NmPage 287maxon EC motor179maxon motorFor your personal notesPIhnmWmA%rpmmin-1MmNm180-powermaxmaxonØ30100 WØ22120 WØ30200 WPageThis 4-pole power motor is one of the best in itsclass and demonstrates excellent performancethanks to maxon’s winding technology: top performance per volume and weight unit, quality andsecurity thanks to largely automated production,inertia-free motion and of course an unprecedented service life.SummaryEC-powermax motors22 mm - 30 mm in diameter182183 - 185181The “heart” is the ironless winding,System maxon®.

This means physically dependent – advantages likeno detent, high efficiency andexcellent regulating dynamics.The motor housing, a simpletube made of stainless steel –non magnetic, rigid, rust-proof.High performancecapability thanks tothe 4-pole magnet.Metallic housing andflange allow goodheat dissipation andmechanical stability.Shaft with no groove guarantees torsional stability andsmooth running.Non-tension cables can bedirected both radially andaxially from the motor. Widerange of plug options.High quality, thanks to aprocess monitored production on the most modernassembly lines which are, inpart, developed by maxon.The EC-motor programdelivers top performance pervolume and weight unit.182ECpowermax 22 Æ22 mm, brushless, 120 Wattmaxon EC-powermaxHighM 1:1Stock programStandard programSpecial program (on request)Order Number31153531153631153731153818.0145002511340077.76.7212301049124.0161002271480069.45.00114080.49036.0154001401430079.03.62138062.19148.01450094.31340078.82.55126040.2910.1720.033111.881011.81.108.910.2990.058914.267214.11.328.910.5800.11822.342911.21.048.911.190.23631.430411.51.088.91Motor 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-ambient8.01 K / WThermal resistance winding-housing1K/WThermal time constant windings6.36 sThermal time constant motor476 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max.

permissible speed25000 rpm24 Axial play at axial load < 5.0 N0 mm> 5.0 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)5N27 Max. force for press fits (static)60 N(static, shaft supported)1400 N28 Max. radiale Belastung, 5 mm from flange 16 NOther 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 GearheadÆ32 mm2 1 - 6 Nm3 Page 230160 gValues listed in the table are nominal.Connection Motor (Cable AWG 18)blackMotor winding 2whiteMotor winding 3redMotor winding 1Connection Hall sensors (Cable AWG 26)white/greyHall sensor 3greenVHall 4.5 … 24 VDCblueGNDblack/greyHall sensor 2red/greyHall sensor 1April 2006 edition / subject to changeRecommended Electronics:DEC 70/10page 271DES 70/10272EPOS 70/10279MIP 100281Notes17maxon EC motor183ECpowermax 30 Æ30 mm, brushless, 100 Wattmaxon EC-powermaxHighM 1:2Stock programStandard programSpecial program (on request)Order Number30975530975630975730975818.0178006661660076.28.3616101698824.0178004991660073.56.0715101188836.0178003331660076.34.19162084.48848.0178002501660074.63.08155060.7880.1070.03499.5899711.12.1318.30.2030.062012.874811.92.2818.30.4260.14019.249911.12.1318.30.7910.24825.537411.62.2218.3Motor 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-ambient7.95 K / WThermal resistance winding-housing0.831 K / WThermal time constant windings4.28 sThermal time constant motor859 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+155°CMechanical data (preloaded ball bearings)23 Max. permissible speed25000 rpm24 Axial play at axial load < 8.0 N0 mm> 8.0 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)7N27 Max.

force for press fits (static)100 N(static, shaft supported)2000 N28 Max. radiale Belastung, 5 mm from flange 25 NOther 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 GearheadÆ42 mm2 3 - 15 Nm3 Page 233165 gValues listed in the table are nominal.Connection Motor (Cable AWG 18)blackMotor winding 2whiteMotor winding 3redMotor winding 1Connection Sensors (Cable AWG 26)white / greyHall sensor 3greenVHall 4.5 … 24 VDCblueGNDblack/greyHall sensor 2red / greyHall sensor 1184maxon EC motorRecommended Electronics:DEC 70/10page 271DES 70/10272EPOS 70/10279MIP 100281Notes17Encoder MR500 / 1000 CPT,3 channelsPage 246Encoder HEDL 5540500 CPT,3 channelsPage 254Brake AB 20Æ20 mm24 VDC, 0.1 NmPage 286April 2006 edition / subject to changeECpowermax 30 Æ30 mm, brushless, 200 Wattmaxon EC-powermaxHighM 1:2Stock programStandard programSpecial program (on request)Order Number30501330501430501524.017000885162001149.2131802368836.017000590162001196.3934601718948.016500422158001204.703430124890.1020.016313.57105.361.8733.30.2100.036820.24734.921.7233.30.3860.065327.63464.831.6833.3Motor 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 inertiagcm2Specifications171819202122Thermal dataThermal resistance housing-ambientThermal resistance winding-housingThermal time constant windingsThermal time constant motorAmbient temperatureMax. permissible winding temperatureOperating Range5.3 K / W0.0785 K / W0.738 s848 s-40 ... +100°C+155°CMechanical data (preloaded ball bearings)23 Max.