Precision motion control

Transcription

1 Precision motion control D.C. miniature gearmotors technology in motion or +44 (0)

2 motor index general guide gearmotors page 3 D.C. miniature gearmotors 71 B138F B138F.4/ BS138F BS138F.4/ H9 HV PS1 planetary E192 planetary P5 planetary B192 brushless planetary page 4 page 5 page page 7 page 8 page 9 page 10 page 11 page page 13 page page 15 to 17 encoder general guide gearmotors with encoder page technical data encoder 712S BS138F2S H92S HV1552S 13082S E1922S P52S gearmotors with twophase Halleffect 90 encoder page 19 page 21 page 22 page 23 page page 25 page 25 technical data encoders page 19 71E BSE138F HE9 HVE E technology in motion gearmotors with Halleffect encoder page 21 page 22 page 23 page Page 2 or +44 (0)

3 general guide gearmotors TYPE 71 B138F B138F.4/ BS138F BS138F.4/ H9 HV E192 P5 Voltage V 4 Reduction Max Torque Ncm Speed (no load) Speed (max Torque) Dimensions RPM RPM Ø 27 Ø 34 Ø 34 Ø 30 Ø 30 Ø 39. Ø x 42 TE: It is recoended to avoid the use of the motor s internal inductance in PWM drive applications. It is advisable to use an external series inductance. 71 page 4 planetary B138F page 5 B138F.4/ page BS138F page 7 BS138F.4/ page 8 H9 page 9 HV155 page page 11 t e c h n o l o g y i n m o t i o n PS1 page E192 page 13 P5 page brushless planetary B192 page 15 to 17 Page 3 or +44 (0)

4 TECHNICA DA s e r i e s 71 VDR interference suppression on the collector Precious metal brushes (Au Ag Cu) Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: 10N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 55g Typical values at ambient temperature + Tolerance +/ 10% SPEED CURRENT TYPE MINA VOTAGE RIO TO:1 IMUM OAD OAD M3(x2 v Ncm rpm ma < < < < < < º Ø max Ø Ø27 71 Page 4 or +44 (0)

5 TECHNICA DA s e r i e s B138F VDR interference suppression on the collector Precious metal brushes (Au Ag Cu) Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 85g Typical values at ambient temperature + Tolerance +/ 10% SPEED CURRENT 0º TYPE B138F.. B138F.. 21 B138F.. 3 B138F.. 72 B138F.. 9 B138F.. 8 B138F.. 08 B138F.. 70 R 3.3(x3 MINA VOTAGE 41 v Ncm rpm ma Ø32.5 Ø8.5 1 RIO TO:1 IMUM OAD OAD Ø Ø34 B138F 27º30' Page 5 or +44 (0)

6 TECHNICA DA s e r i e s B138F.4/ VDR interference suppression on the collector Precious metal brushes (Au Ag Cu) Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 85g Typical values at ambient temperature + Tolerance +/ 10% TYPE B138F 4/ B138F 4/ 21 B138F 4/ 3 B138F 4/ 72 MINA VOTAGE RIO TO:1 IMUM OAD SPEED CURRENT OAD v Ncm rpm ma B138F.4/ B138F 4/ B138F 4/ B138F 4/ º R 3.3(x Ø32.5 Ø Ø8 Ø34 27º30' Page or +44 (0)

7 TECHNICA DA s e r i e s BS138F VDR interference suppression on the collector Precious metal brushes (Au Ag Cu) Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 90g Typical values at ambient temperature + Tolerance +/ 10% SPEED CURRENT BS138F.. BS138F.. 21 BS138F.. 3 BS138F.. 72 BS138F.. 9 BS138F.. 8 BS138F.. 08 BS138F.. 70 M3(x3 TYPE 27 0º MINA VOTAGE v Ncm rpm ma Ø32.5 Ø8.5 1 RIO TO:1 IMUM 19.5 OAD max OAD Ø Ø35 BS138F 27º30' Page 7 or +44 (0)

8 TECHNICA DA s e r i e s BS138F.4/ VDR interference suppression on the collector Precious metal brushes (Au Ag Cu) Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 90g TYPE BS138F 4/ BS138F 4/ 21 BS138F 4/ 3 BS138F 4/ 72 MINA VOTAGE RIO TO:1 Typical values at ambient temperature + Tolerance +/ 10% IMUM OAD SPEED CURRENT OAD v Ncm rpm ma BS138F.4/ BS138F 4/ BS138F 4/ BS138F 4/ º M3(x3 Ø32.5 Ø max 3 Ø8 Ø35 27º30' Page 8 or +44 (0)

9 TECHNICA DA s e r i e s H9 VDR interference suppression on the collector Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: 10N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 100g Typical values at ambient temperature + Tolerance +/ 10% TYPE H H H H MINA VOTAGE RIO TO:1 IMUM OAD SPEED CURRENT OAD v Ncm rpm ma < < 0 < < 115 < < 0 < < 85 H9 M3(x2 Ø30 Ø max Ø9 Ø27 45º Page 9 or +44 (0)

10 TECHNICA DA s e r i e s HV155 VDR interference suppression on the collector Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: 10N Maximum axial shaft load: 5N Temperature range: C/0 C Approx weight: 100g Typical values at ambient temperature + Tolerance +/ 10% TYPE HV HV HV HV MINA VOTAGE v Ncm rpm ma RIO TO: IMUM OAD SPEED CURRENT OAD <0 <70 <0 <70 <0 <70 <0 < HV155 M3(x2 Ø30 Ø max Ø9 Ø27 45º Page 10 or +44 (0)

11 TECHNICA DA s e r i e s 1308 VDR interference suppression on the collector Direction of rotation depending on polarity Can be mounted in any position Maximum radial shaft load: N Maximum axial shaft load: 10N Temperature range: C/0 C Approx weight: 190g Typical values at ambient temperature + Tolerance +/ 10% SPEED CURRENT TYPE M3(x3 31 MINA VOTAGE v Ncm rpm ma <0 < <0 < <0 < <0 < <0 < <0 < <0 < 7 0º Ø30 Ø RIO TO: IMUM OAD max OAD 5.5 Øh8 Ø Ø3. Ø º Page 11 or +44 (0)

12 M o t o r i d u t t o r i G e a r m o t o r s Series PS1 Planetary gearmotor. Motor interference suppression by VDR Outgoing shaft supported by two ball bearings. Maximun radial shaft load: 0N (10 from the fixing flange). Maximum axial shaft load: N Direction of rotation depending on polarity Can be mounted in any position Temperature range: C/0 C Approx weight: 1/2g. Typical values at ambient temperature + Tolerance +/ 10% SPEED CURRENT T Y P E MINA VOTAGE RIO MINA TO :1 OAD MINA OAD MINA INPUT POWER MINA PS 1 3 PS 1 5 PS 1 PS 1 17 PS 1 25 PS 1 39 PS 1 58 PS 1 85 PS 1 5 PS 1 19 PS PS PS 1 25 Ø22 M3 (x3 max.) V m m ,2 71,2 71,2 79,4 79,4 79,4 79,4 87,7 87,7 87,7 87,7 3,4 5 11, ,3 57, , N c m r p m ,5 11 8,5 s.r.l. m A 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 <1 0 < ,5 Ø 28,8 2,3 1 Ø30 Ø2,3 5 5,5 0,013 Ø 0,022 (f) +0 Ø15 0,043 (h9) W 9,8 10,3 10,8 11,0 10,8 10, 10,2 10, 9,2 9, 10,0 11,0 11,3 11,3 11,4 10,8 10,8 10, 11,4 10,3 9, 9, 9, 8,,4,7 Page or +44 (0)

13 TECHNICA DA s e r i e s E192 Planetary gearmotor Motor interference suppression by VDR and capacitors Outgoing shaft two ball bearings supported Maximum radial shaft load: 0N (10 from the fixing flange) Maximum axial shaft load: 100N Direction of rotation depending on polarity Can be mounted in any position Temperature working range: C/0 C Approx weight: 385/4g Typical values at ambient temperature + Tolerance +/ 10% TYPE E E E E E E E E E E E192.. E E E M4(x3 MINA VOTAGE v Ncm rpm A W < < < < < < < < < < < < < < < < < < < < < < < < < Ø39 Ø º RIO TO:1 25 IMUM OAD SPEED 9.2 max 8 <0.2 <0.4 <0.2 5 Ø2.5H CURRENT OAD Ø8 Ø19.5h9 Ø40.5 INPUT POWER E192 Page 13 or +44 (0)

14 TECHNICA DA s e r i e s P5 Planetary gearmotor Motor interference suppression by VDR Outgoing shaft supported by two ball bearings Maximum radial shaft load: 300N (10 from the fixing flange) Maximum axial shaft load: 1N Direction of rotation depending on polarity Can be mounted in any position Working temperature range: C/0 C Approx weight: 700/900g Typical values at ambient temperature + Tolerance +/ 10% TYPE P5.. 4 P5.. P5.. 1 P P P5.. 4 P P P5.. 4 P P ± ±0.05 M4 (x4) 34 ±0.05 MINA VOTAGE 42 ±0.1 v Ncm rpm A W < < < < < < < < < < < < < < < < < < < < < < Ø ± RIO TO:1 75 (Ø44.4) IMUM OAD SPEED 2 ±0.1 CURRENT OAD ± (H) 0 INPUT POWER Ø (f) Ø (h9) P5 Page or +44 (0)

15 Series B192 Brushless Planetary Gearmotor Brushless gearmotor with electronics onboard. Brushless motor 3 phase pole with 3 Hall sensors. Outgoing shaft supported by two ball bearings. Maximun radial shaft load: 0N (10 from the fixing flange). Maximum axial shaft load: 100N. Temperature range: 10 C/+ C. Approx weight: 3/4g. Typical values at ambient temperature + Tolerance +/ 10% SPEED CURRENT T Y P E MINA VOTAGE RIO TO :1 MINA OAD MINA OAD MINA INPUT POWER MINA V m m N c m r p m m A W B B B B B B B B B B B 192 B B B M4 (x3 max 8 ) Ø40,5 Connector housing: XMP0V (JST Terminal SXA001TP0. (JST) 7,5 7,5 74,5 74,5 74,5 81,5 81,5 81,5 81,5 88,5 88,5 88,5 88,5 88,5 2: GND (BACK) 1: V (RED) 3, 5 13,44 18, ,29 7,22 91, 5 1,75,48 33,11 458, : FG (YEOW) 3: CW/CCW (ORANGE) 10,2 : ST/SP (WHITE) 5: PWM (BUE) EAD WIRE: U3385HF Ø35, ,5 40 s.r.l. <3 <3 <3 <3 <3 <3 <3 <3 <3 <3 <3 <3 <3 < , 11 27, , , , , , ,2 9 22, , 70 1,08 13,44 530, , Ø2,5H 15 +0,01 0,02 Ø8 (h9) +0 Ø19,5 0,052 Page 15 or +44 (0)

16 Brushless motor for series B192 Ratings N Item Specification Note 1 Rated voltage DC V Min. operating voltage Max. operating voltage Type Rotating direction Bearing type Motor posture Motor mass DC 1V DC 2.4V 3 phases poles brushless motor with 3 hall sensor CW/CCW Sleeve bearing Horizontal 5g Typ. Electrical characteristics (temp. +/5 C, relative humidity % max) N Item Specification Note 1 Dielectric strength AC 00V 1 sec 1mA Check between all shorted terminals and 2 Insulation resistance DC 0V 10MΩ Min motor cover 3 No load current 0.3A Max DC V 4 No load speed 00 +/ 15% RPM DC V Temperature ratings N Item Specification Note 1 Operating ambient conditions Dry bulb temp: 10 + C Relative humidity: 0 90% Max permissive coil temp. Max permissive IC surface temp. Max permissive FET surface temp. Max Transistor Temperature Max permissive lead wire temp. Max permissive bearing temp. 115 C 110 C 110 C 110 C 105 C 90 C Circuit protection N Item Specification Note 1 Current limit 3A Typ. Using PWM 2 3 Thermal shutdown Motor lock protection 175 C +/30 C 2 sec Typ. There is no guarantee of proper operation when thermal shutdown motor is reused When the motor locks, the motor current is automatically cut off within the defined time. The motor restarts by power supply reset. s.r.l. Page 1 or +44 (0)

17 Brushless motor for series B192 Interface Pin No. Signal name I/O Specification Note VM GND CW/CCW Input voltage range IN IN IN DC V +/ 10% Ground 05V Power supply High CW ow CCW 4 5 VIH VI FG OUT VOH VO Max rating of FG sink current Number of FG output pulse PWM IN Input voltage range VIH VI Max PWM input frequency START/STOP IN Input voltage range VIH VI 2.0V Min 1.0V Max V Max 0.V Max 3mA Pulse/round 05V 2.5V Min 1.0V Max 40 khz 05V 2.0V Min 1.0V Max You need to pull up for FG terminal so that the terminal is open drain output. High motor ON ow motor OFF Recoended between 15 to 25 khz High motor Start ow motor Stop You should connect a Schottky Barrier Diode between each signal line and and ground to prevent Ic from being damaged. We recoend to the connect 47uF capacitor between 5V to GND for protecting from filter actions by electrical noises. Do not change CW/CCW input until motor has stopped completely, if you change the CW/CCW signal during motor running, motor may have some damage or be destroyed. : 5 : 4 : 3 : 2 : 1 : ST/SP PWM FG CW/CCW GND V (WHITE WIRE) (BUE WIRE) (YEOW WIRE) (ORANGE WIRE) (BACK WIRE) (RED WIRE) s.r.l. (17.3) Page 17 or +44 (0)

18 optional encoders gearmotors with twophase Halleffect 90 encoder 712S page S page BS138F2S page 22 E1922S page 25 H92S HV1552S page 23 P52S page 25 gearmotors with Halleffect encoder 71E page 21 BSE138F page 22 HE9 HVE155 page E page t e c h n o l o g y i n m o t i o n Page 18 or +44 (0)

19 gearmotors with twophase Halleffect 90 encoder SIX POES MAGNET: THREE PUSES FOR MOTOR TURN The sequence of the phases AB is obtained connecting the motor with the polarities printed on the black bottom cover. HAEFFECT SWITCHES These Halleffect switches are highly temperature stable and stressresistant sensors best utilized in applications that provide steep magnetic slopes and low residual levels of magnetic flux density. Each device includes a voltage regulator. quadratic Hall voltage generator. temperature stability circuit. signal Schmitt chopper stabilized amplifier. Schmitt trigger and an open drain mosfet on a single silicon chip. The onboard regulator permits operation with supply voltages of to V. The output mosfet can sink up to ma with suitable output pull up. they can be used directly with bipolar or MOS logic circuits. A MAGNET B connections 1 Green: GROUND 2 Yellow: O.C. B NPN 3 Blue: O.C. A NPN 4 Brown: Vcc (Hall) ABSOUTE IMUM RINGS PARAMETER SYMBO VAUE UNITS Supply Voltage Supply Current VDD IDD 28 V ma Output Voltage VOUT 28 V Output Current IOUT ma Storage Temperature Range TS to 1 C Maximimum Junction Temperature TJ 15 C GENERA EECTRICA SPECIFICIONS PARAMETER SYMBO TEST CONDITIONS MIN TYPE UNITS Supply Voltage Supply Current Output Saturation Voltage Output eakage Current Output Rise Time Output Fall Time VDD IDD VDSon IOFF tr tr Operating B<BRP IOUT=mA. B>BOP IB<BRP. VOUT=V R=1kΩ. C=pF R=1kΩ. C=pF OC Operating Parameters TA = 25 C, VDD = V to V (unless otherwise specified) technology in motion Exceeding the absolute maximum ratings may cause permanent damage. Exposure to all absolutemaximumrated conditions for extended periods may affect device reliability V ma V µa µs µs Page 19 or +44 (0)

20 gearmotors with Halleffect encoder SIX POES MAGNET: THREE PUSES FOR MOTOR TURN HAEFFECT SWITCHES Halleffect switches are highly temperature stable and stressresistant sensors best utilized in applications that provide steep magnetic slopes and low residual levels of magnetic flux density. Each device includes a voltage regulator. quadratic Hall voltage generator. temperature stability circuit. signal chopper stabilized amplifier. Schmitt trigger and an open drain mosfet on a single silicon chip. The onboard regulator permits operation with supply voltages of to V. The output mosfet can sink up to ma with suitable output pull up. they can be used directly with bipolar or MOS logic circuits. + M H A connections + Red : +Motor 3 Blue : O.C. Output 2 Green : Ground 1 Brown : Vcc (Hall) Black : Motor ABSOUTE IMUM RINGS PARAMETER SYMBO VAUE UNITS Supply Voltage Output Voltage Storage Temperature Range GENERA EECTRICA SPECIFICIONS PARAMETER SYMBO TEST CONDITIONS MIN TYPE UNITS Supply Voltage Supply Current Output eakage Current Output Rise Time Output Fall Time Supply Current Output Current Maximum Junction Temperature Output Saturation Voltage VDD IDD VDSon IOFF tr tr VDD IDD VOUT IOUT TS Operating B<BRP IOUT=mA. B>BOP IB<BRP. VOUT=V R=1kΩ. C=pF R=1kΩ. C=pF technology in motion TJ to OC Operating Parameters TA = 25 C, VDD = V to V (unless otherwise specified) 2.0 V ma V ma C C Exceeding the absolute maximum ratings may cause permanent damage. Exposure to all absolutemaximumrated conditions for extended periods may affect device reliability. V ma V µa µs µs Page or +44 (0)

21 gearmotors with twophase Halleffect 90 encoder 712S Ø9 Ø27 Ø27 17º 4321 M3(x2 max 4 RED (+) = See: Series 71 gearmotors with Halleffect encoder M3(x E max 4 Ø9 Ø = See: Series 71 73º Page 21 or +44 (0)

22 gearmotors with twophase Halleffect 90 encoder 0º 11 BS138F2S Ø32.5 Ø27 Ø8 Ø35 M3(x3 max 3 RED (+) º30' gearmotors with Halleffect encoder 27 0º Ø32.5 M3(x3 Ø27 11 BSE138F max 3 Ø8 Ø º30' Page 22 or +44 (0)

23 gearmotors with twophase Halleffect 90 encoder H92S/HV1552S M3(x Ø29 Ø9 Ø27 45º 4321 max = See: Series H9 HV155 gearmotors with Halleffect encoder M3(x2 11 HE9/HVE Ø Ø9 Ø27 max 4 73º +321 = See: Series H9 HV155 Page 23 or +44 (0)

24 gearmotors with twophase Halleffect 90 encoder 13082S º Ø Øh8 Ø Ø3. Ø M3(x3 max 4 45º = See: Series 1308 gearmotors with Halleffect encoder º M3(x E Ø29 Ø39. max Ø Ø3. Øh = See: Series º30º Page or +44 (0)

25 gearmotors with twophase Halleffect 90 encoder E1922S max Ø39 7 Ø8 Ø19.5h9 Ø º M4(x3 Ø2.5H = See: Series E192 P52S 42±0.1 8±0.5 34±0.05 M4 (x4) 34± ± (Ø44.4) 2± ± (H) Ø (f) Ø (h9) = See: Series P5 Page 25 or +44 (0)