maxon_ec_motors (Курсовой проект на тему Схват манипулятора), страница 9

permissible speed25000 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. radiale Belastung, 5 mm from flange 25 NOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorn [rpm]CommentsContinuous 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 233271 gValues listed in the table are nominal.Connection Motor (Cable AWG 18)Connection 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 100281Notes17Encoder MR500 / 1000 CPT,3 channelsPage 246Encoder HEDL 5540500 CPT,3 channelsPage 254Brake AB 20Æ20 mm24 VDC, 0.1 NmPage 286maxon EC motor185maxon motorFor your personal notesPIhnmWmA%rpmmin-1MmNm186maxon flat motorThanks to theirflat design, the brushless DCexternal rotor motors areexactly the right drive for manyapplications.The well-conceived, simpleengineering allows mainlyautomated production whichresults in a favorable price.PageEC flat motors6 mm - 90 mm in diameter188 - 197187maxon flat motorEC 6 flat Æ6 mm, brushless, 0.03 WattM 2.5:1Stock programStandard programSpecial program (on request)Order Numbersensorless263800Motor Data (provisional)12345678910111213141516Values at nominal voltageNominal voltageNo load speedNo load currentNominal speedNominal torqueNominal currentStall torqueStarting currentMax.

efficiencyCharacteristicsTerminal resistance phase to phaseTerminal inductance phase to phaseTorque constantSpeed constantSpeed / torque gradientMechanical time constantRotor inertiaVrpmmArpmmNmAmNmA%1.0159006.5979500.002060.01060.004860.014722WmHmNm / Arpm / Vrpm / mNmmsgcm268.00.1210.3302890059600003930.00630Specifications171819202122Operating RangeThermal datan [rpm]Thermal resistance housing-ambient80 K / WThermal resistance winding-housing75 K / WThermal time constant windings1sThermal time constant motor14 sAmbient temperature-40 ...

+85°CMax. permissible winding temperature+100°CMechanical data (Ruby bearing)23 Max. permissible speed24 Axial playAxial preload (> 0.03 N)defined through magneticforce between rotor and stator25 Radial play26 Max. axial load (dynamic)27 Max. force for press fits (static)(static, shaft supported)28 Max. radial loading, 1 mm from flangeOther specifications29 Number of pole pairs30 Number of phases31 Weight of motorRuby bearing with axial pivot bearing20000 rpm0.5 mmCommentsContinuous 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 rating0.007 mm0.03 N2N20 N0.02 N430.35 gValues listed in the table are nominal.ConnectionConnectorMOLEX188Recommended Electronics:DECS 5/0.05page 282Notes17Article number52207-0385maxon EC motorApril 2006 edition / subject to changemaxon flat motorEC 10 flat Æ10 mm, brushless, 0.2 WattM 2.5:1Stock programStandard programSpecial program (on request)Order Numbersensorless301999VrpmmArpmmNmAmNmA%5.01590018.179500.06700.04700.1410.077029WmHmNm / Arpm / Vrpm / mNmmsgcm2520.2771.8352201480001240.0800Motor Data (provisional)12345678910111213141516Values at nominal voltageNominal voltageNo load speedNo load currentNominal speedNominal torqueNominal currentStall torqueStarting currentMax.

efficiencyCharacteristicsTerminal resistance phase to phaseTerminal inductance phase to phaseTorque constantSpeed constantSpeed / torque gradientMechanical time constantRotor inertiaSpecifications171819202122Operating RangeThermal datan [rpm]Thermal resistance housing-ambient50 K / WThermal resistance winding-housing50 K / WThermal time constant windings2.83 sThermal time constant motor20.5 sAmbient temperature-40 ... +85°CMax.

permissible winding temperature+100°CMechanical data (preloaded ball bearings)23 Max. permissible speed22000 rpm24 Axial play at axial load < 0.1 N0 mm> 0.1 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)1N27 Max. force for press fits (static)6N(static, shaft supported)20 N28 Max. radial loading, 1 mm from flange1NOther 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 rating430.82 gValues listed in the table are nominal.ConnectionConnectorTYCOMOLEXMOLEXArticle number84953-452207-048552089-0419Recommended Electronics:AECS 35/3page 270Notes17FPC, 4-pole, pitch 1.0 mm, top contact styleOption: with Hall sensorApril 2006 edition / subject to changemaxon EC motor189maxon flat motorEC 14 flat Æ13.6 mm, brushless, 1.5 WattM 1:1Stock programStandard programSpecial program (on request)Order Numbersensorless236679Motor 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 inertiagcm2Specifications17181920212218.02100057.499601.610.2573.360.4744438.00.9627.081350723083.31.10Operating RangeThermal datan [rpm]Thermal resistance housing-ambient7.92 K / WThermal resistance winding-housing11 K / WThermal time constant windings1.33 sThermal time constant motor33.6 sAmbient temperature-40 ... +100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max.

permissible speed22000 rpm24 Axial play at axial load < 1.5 N0 mm> 1.5 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)1.3 N27 Max. force for press fits (static)10 N(static, shaft supported)200 N28 Max. radial loading, 5 mm from flange1.8 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 rating438.5 gValues listed in the table are nominal.ConnectionAdaptersee p. 283ConnectorAMPMOLEXMOLEX190Order number220310Article number487951-452207-049052089-0410maxon EC motorRecommended Electronics:AECS 35/3page 270Notes17April 2006 edition / subject to changemaxon flat motorEC 20 flat Æ20 mm, brushless, 3 WattM 1:1Stock programStandard programSpecial program (on request)Order Numbersensorless241916Motor 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 inertiagcm2Specifications1718192021229.0963044.942203.920.4708.040.957629.401.308.401140127051.23.84Operating RangeThermal datan [rpm]Thermal resistance housing-ambient15.3 K / WThermal resistance winding-housing7.5 K / WThermal time constant windings3.28 sThermal time constant motor25.4 sAmbient temperature-40 ...

+100°CMax. permissible winding temperature+125°CMechanical data (preloaded ball bearings)23 Max. permissible speed15000 rpm24 Axial play at axial load < 2.0 N0 mm> 2.0 N0.14 mm25 Radial playpreloaded26 Max. axial load (dynamic)1.8 N27 Max. force for press fits (static)10 N(static, shaft supported)200 N28 Max. radial loading, 5 mm from flange1.8 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 rating4315 gValues listed in the table are nominal.ConnectionAdaptersee p.

283ConnectorAMPMOLEXMOLEXOrder number220310Article number487951-452207-049052089-0410April 2006 edition / subject to changeRecommended Electronics:AECS 35/3page 270Notes17maxon EC motor191maxon flat motorEC 32 flat Æ32 mm, brushless, 6 WattA with Hall sensorsB sensorlessM 1:2Stock programStandard programSpecial program (on request)Order Numberwith Hall sensorssensorless200187200138Motor 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 inertiagcm2Specifications171819202122Thermal dataThermal resistance housing-ambientThermal resistance winding-housingThermal time constant windingsThermal time constant motorAmbient temperatureMax. permissible winding temperature9.0838010737008.740.91519.02.00604.501.069.50101047669.313.94.501.069.50101047669.313.9Operating Range6.28 K / W5.83 K / W3.35 s16.8 s-40 ... +100°C+125°CMechanical data (preloaded ball bearings)23 Max.