Teknic Hudson 2311 Manual de usuario

Hudson Motor User Manual

For Hudson motors purchased at Teknic.com

Rev. 1.21 December 21, 2020

SER

ANUAL

Hudson Manual / Rev. 1.21 2

TEKNIC,INC. TEL.(585)784-7454

Table of Contents

Table of Contents.............................................................................................................. 2

Introduction ....................................................................................................................... 4

What's in This Document ....................................................................................................... 4

Information on the Web .........................................................................................................4

What are Hudson Motors?..................................................................................................... 5

Safety and Safe Handling Information ............................................................................ 6

General Precautionary Statement .........................................................................................6

Symbols Used in this Manual ................................................................................................6

Safe Handling Practices......................................................................................................... 7

Parts of a Hudson Motor................................................................................................... 8

Interconnect and Wiring................................................................................................... 9

Motor Connector Options.......................................................................................................9

Molex Mini-Fit Jr. Connector .................................................................................................. 9

Souriau Trim-Trio Connector ................................................................................................. 9

Connector Pinouts and Mating Parts ................................................................................... 10

Molex Mini-Fit Jr. Pinout ...................................................................................................... 10

Souriau Trim-Trio Pinout...................................................................................................... 11

Servo Drive Selection ..................................................................................................... 12

Drive Compatibility ............................................................................................................... 12

Supported Commutation Methods .......................................................................................12

Six-Step (Trapezoidal) Commutation ................................................................................... 12

Sine wave Commutation (Better) ......................................................................................... 13

Sine wave commutation with Vector Torque Control (Best)................................................. 13

Encoder and Commutation Signals............................................................................... 15

Encoder & Commutation Board Power Requirements ........................................................15

Encoder Signaling................................................................................................................ 16

Commutation (Hall) Signaling ..............................................................................................17

Commutation Signal and Motor Phase Relaionship............................................................. 17

Wiring Hudson Motors To Third-Party Drives ...................................................................... 18

Hudson Motor FAQ ......................................................................................................... 19

Q: Are Hudson Motors UL or CE certified? .......................................................................... 19

Q: How are Hudson Motors tested?..................................................................................... 19

Q: What type of servo drives will work with a Hudson Motor? ............................................. 19

Q: Which connector should I use? ....................................................................................... 19

Hudson Manual / Rev. 1.21 3

TEKNIC,INC. TEL.(585)784-7454

Q: Which motor winding option should I pick?......................................................................19

Q: Do I need the optional motor shaft seal? .........................................................................20

Q: How do I tune a Hudson motor? ......................................................................................20

Q: How can I change a motor’s “sense of direction”?...........................................................20

Q: Why is the motor warm during operation? .......................................................................21

Q: Where can I find 3D drawings of Hudson motors? ..........................................................21

Appendix A: Hudson Part Number Key.........................................................................22

Appendix B: NEMA 23 Specifications............................................................................23

Appendix C: NEMA 34 Specifications............................................................................24

Appendix D: Motor Dimensions .....................................................................................25

Hudson Motor 3D Models ....................................................................................................25

NEMA 34 Series Dimensions ..............................................................................................25

NEMA 23 Series Dimensions ..............................................................................................26

Appendix E: Motor Cables..............................................................................................27

Cable Drawings....................................................................................................................27

Golden Rules for Motor Cable Construction ........................................................................27

Cable Making Guidelines.....................................................................................................28

Hudson Manual / Rev. 1.21 4

TEKNIC,INC. TEL.(585)784-7454

Introduction

Thank you for choosing Hudson brushless DC servo motors for your motion

control project. Previously, Hudson motors were available for purchase by

high volume OEMs exclusively (i.e., companies buying hundreds or

thousands of units per year). In late 2020, Teknic opened up sales of Hudson

motors to the general public.

Hudson motors are among the most reliable, safe, and rugged servo motors

available, and our production staff are the guardians of Hudson quality. Each

production associate works diligently to build and test every Hudson motor to

an exacting standard, while our administrative staff works hard to ensure that

each of our customers has a great experience when they call in with a

question or problem.

What's in This Document

This document contains technical information on the Hudson family of

brushless DC servo motors, including:

•Wiring information

•Mechanical drawings

•Application tips

•Specifications

Information on the Web

Please visit Teknic's website for more information on the Hudson Family of

brushless servo motors: https://www.teknic.com/products/hudson-motors/

Hudson Manual / Rev. 1.21 5

TEKNIC,INC. TEL.(585)784-7454

What are Hudson Motors?

Hudson motors have been called (more or less correctly) all of the following:

•BLDC motors

•Three-phase, permanent magnet motors

•Synchronous, permanent magnet motors

•AC servomotors (AC because electronic commutation requires a

sinusoidal current to produce constant torque, not to be confused

with AC induction motors)

•DC servomotors (presumably to distinguish them from AC induction

motors)

•3-phase servomotors

Technically speaking, Hudson motors are:

Three-phase, synchronous, permanent magnet,

brushless servo motors.

Definitions

"Servo Motor" refers to a motor that uses one or more feedback devices

(encoder, Hall effect sensors, etc.) to control torque, velocity, and/or position

in a closed loop manner.

"Brushless", aside from the obvious, means the motor requires a drive

(amplifier) that supports electronic, non-contact commutation.

"Permanent Magnet" means that the motor has permanent magnets affixed

to the rotor (brush motors typically have permanent magnets affixed to the

stator).

"Synchronous" means that the rotational speed of the electromagnetic field

is the same as (i.e. synchronous with) the speed of the rotor. There is virtually

no “slip” between them.

“3-phase" means the motor has three separate stator windings connected

together in a delta or wye configuration.

Hudson Manual / Rev. 1.21 6

TEKNIC,INC. TEL.(585)784-7454

Safety and Safe Handling Information

General Precautionary Statement

Always follow appropriate safety precautions when installing and operating

motion control devices. Automated equipment should be designed to prevent

personnel from coming into contact with moving parts and electrical contacts

that could potentially cause injury or death.

Read all cautions, warnings and notes before attempting to operate or service

motion control devices. Follow all applicable codes and standards when using

this equipment. Failure to use this equipment as described may impair or

neutralize protections built into the product.

Symbols Used in this Manual

The following symbols and conventions are used on the equipment and in this

manual. Please read all equipment labels and manuals before using any

motion control device.

Caution, risk of danger

Identifies information about practices or circumstances that can lead to

equipment damage, personal injury, or loss of life.

Shock hazard

Identifies presence of hazardous electrical voltages and currents.

Protective earth terminal

Indicates points that must be connected to a reliable earth system for safety

compliance. Protective earth connections should never be omitted.

Earth ground terminal

Frame or chassis terminal (shield)

Direct current

Note

Identifies information that is critical for successful application and

understanding of the product.

Tip

Identifies additional information that may be helpful in supporting certain

applications.

Hudson Manual / Rev. 1.21 7

TEKNIC,INC. TEL.(585)784-7454

Safe Handling Practices

•Do not hammer pulleys, pinions, etc. onto the motor shaft.

•Do not wrench or pry pulleys, pinions, etc. off the motor shaft.

When removing accessories use a gear puller that pushes on the

center of the shaft (offsetting the applied force).

•Do not exceed the axial force limit (see table below) when

pulling on the shaft or bearing damage will occur.

•Do not pick up a Hudson motor by its pigtail. Note: Maximum

pigtail pull force is 7 lbs.

•Do not allow the Hudson pigtail to flex during routine operation. The

Hudson pigtail is not flex-rated. Use cable ties or other means to

immobilize the motor pigtail during operation.

•Do not install a Hudson motor such that pigtail is pulled taut (has a

constant tension applied to it). Allow for some slack in the pigtail

when securing the motor to your machine.

•When pushing an accessory onto the motor shaft, do not exceed

the axial force limit when pushing into the shaft (see table

below).

Shaft Axial Force Limits, N (Lb.)

Pushing into shaft Pulling out of shaft

NEMA 23 NEMA 34 NEMA 23 NEMA 34

Continuous, operating 90 (20.2) 115 (25.9) 22 (4.9) 32 (7.2)

Static, short term 224 (50.4) 360 (80.9) 112 (25.2) 135 (30.3)

Shock / Impact 45 (10.1) 68 (15.3) 45 (10.1) 68 (15.3)

•ESD Warning: Do not touch the bare pins on a Hudson motor

connector unless you are working in a static-safe environment.

Hudson Manual / Rev. 1.21 8

TEKNIC,INC. TEL.(585)784-7454

Parts of a Hudson Motor

eaw

Inside a Hudson Motor

1. 16 inch pigtail eliminates costly motor

cables in many applications.

2. Single cable, single connector pigtail

results in neater, lower cost installations.

3. Two connector choices: lower cost

automotive-style, and sealed, bayonet-

style.

4. All Hudson motors come with

connectors.

5. Zero-clearance pigtail allows bigger

motors to fit into smaller spaces.

6. Shatter-proof encoder disk eliminates

shock-induced failures.

7. Industry-standard encoder and

com mutation signals.

8. Low-profile encoder allows you to fit

motors into tighter spaces.

9. Precision brass balancing tabs for

smoother motion and less vibration.

10. Epoxy insulation layer allows the use of

higher operating voltages.

11. Compression-fit aluminum stator

housing channels heat out of the motor.

12. Sintered, nickel-plated, rare-earth

magnets generate maximum power.

13. Architectural-quality, anodized finish will

look great for years.

14. Oversized, permanently lubricated front

bearing extends bearing life.

15. Long-stroke, wave spring imparts

consistent bearing preload.

16. Optional high-performance shaft seal for

more protection against dirt and dust.

17. Smooth, radiused transition from

external shaft diameter results in a

stronger shaft.

18. Feather keyway allows easy assembly

(and the key can’t work its way out).

19. Helically skewed stator laminations

improve smoothness of motion.

20. Tightly formed and laced end-turns heat

more evenly for higher reliability and

longevity.

Hudson motor cutaway view

Hudson Manual / Rev. 1.21 9

TEKNIC,INC.PHONE (585)784-7454

Interconnect and Wiring

This section discusses Hudson motor interconnect topics, including the

following:

•Motor connector options

•Mating connector parts and pinout information

Motor Connector Options

Hudson motors are available in two connector options: Molex MiniFit Jr. (at

left below) and Souriau Trim-Trio, free hanging (at right).

Hudson motor connector options

Molex Mini-Fit Jr. Connector

The Molex Mini-Fit Jr. connector provides a gas tight link with four points of

contact. This low cost, rugged connector is rated at up to 10A continuous

current per circuit, and 600V. The connector includes a positive locking

mechanism, and fully isolated, low engagement-force terminals.

Use Molex Mini-Fit Jr. connectors when:

•Lower cost and high reliability is required

•The operating environment is relatively clean and dry (typical dust/dirt

is OK)

•Less than 10A of continuous current per phase is required

Souriau Trim-Trio Connector

The Souriau Trim-Trio bayonet-style connector is a keyed, sealed, positively

locking unit derived from the MIL-C 26482 specification.

Use Souriau Trim-Trio connectors when:

•The pollution level (at the connector) is higher (light spray, mists,

fumes, chips, etc.)

•A water resistant seal (at the connector) is required

•Higher current-carrying capacity (> 10A continuous) is required

Hudson Manual / Rev. 1.21 10

TEKNIC,INC.PHONE (585)784-7454

Connector Pinouts and Mating Parts

Molex Mini-Fit Jr. Pinout

12345678

910 11 12 13 14 15 16

WIRE ENTRY VIEW

Pin# AWG Color Signal Name Notes

TIN P DRAIN Drain wire for Phase Cable

326 GRN COMM S-T commutation (Hall) sensor

426 GRN/WHT COMM R-S commutation (Hall) sensor

526 GRY/WHT COMM T-R commutation (Hall) sensor

626 TIN E DRAIN drain wire for Logic Cable shield

726 BLK GND +5VDC ground (encoder/Hall board return)

826 BLU/WHT ENC A~ encoder out (A~)

BLK or WHT/BLK PHASE R MOTOR PHASE

RED or WHT/RED PHASE S MOTOR PHASE

WHT PHASE T MOTOR PHASE

12 26 RED +5VDC IN +5VDC input (encoder/Hall board power)

13 26 BRN ENC I encoder out (index)

14 26 ORN ENC B encoder out (B)

15 26 BLU ENC A encoder out (A)

16 26 ORN/WHT ENC B~ encoder out (B~)

Mating Parts

Molex / 39-00-0049 (loose) -0048 (reel)

Molex / 39-01-2166

Crimp tool, 22-28AWG

Terminal, male, 16 AWG (motor phases)

Terminal, male, 24 AWG (logic signals)

Connector Housing, panel mount

Pigtail Pinout Table (Molex, Minifit Jr.)

Part Description

Extraction Tool

Molex / 11-03-0044

Mfg. / Part Number

Crimp tool, 16AWG

Molex / 2002182200

Molex / 11-01-0198

Molex / 39-00-0082 (loose) -0081 (reel)

NO CONNECT

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