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Hudson Motor User Manual

For Hudson motors purchased at Teknic.com

Rev. 1.21 December 21, 2020

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Summary of Contents for Hudson 2311

Page 1: ...Hudson Motor User Manual For Hudson motors purchased at Teknic com Rev 1 21 December 21 2020 USER MANUAL ...

Page 2: ... 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 Signali...

Page 3: ...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 Co...

Page 4: ... 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 o...

Page 5: ...agnet 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 affixe...

Page 6: ...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 el...

Page 7: ...dson 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...

Page 8: ...ass balancing tabs for sm oother m otion and less vibration 10 Epoxy insulation layer allows the use of higher operating voltages 11 Com pression fit alum inum stator housing channels heat out of the m otor 12 Sintered nickel plated rare earth m agnets generate m axim um power 13 Architectural quality anodized finish will look great for years 14 Oversized perm anently lubricated front bearing exte...

Page 9: ...ector 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...

Page 10: ...n 8 26 BLU WHT ENC A encoder out A 9 16 BLK or WHT BLK PHASE R MOTOR PHASE 10 16 RED or WHT RED PHASE S MOTOR PHASE 11 16 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 too...

Page 11: ...WHT ENC A encoder out A L 26 GRY WHT COMM T R commutation Hall sensor M 26 TIN E DRAIN Drain wire for Logic Cable shield N P R 16 TIN P DRAIN Drain wire for Phase Cable S 26 BLK GND 5VDC return T 26 RED 5VDC IN 5VDC input encoder hall power U 26 BRN ENC I encoder out index V 26 ORN ENC B encoder out B Terminal female 16 AWG motor phases Souriau RC16M23T Backshell Clamp Souriau UTG16AC Connector Ho...

Page 12: ...orientation Six Step Trapezoidal Commutation Note Six step commutation aka trapezoidal commutation can be used with Hudson motors though it is generally not preferred for high precision low speed applications due to higher torque ripple and lower operating efficiency Six step is often used in cost sensitive lower precision applications and for high speed applications where the mechanical system an...

Page 13: ...ze the commutation process First the commutation code is read from the motor to establish the initial rotor vs stator position Then the drive applies current to the motor windings to achieve the desired relationship between the permanent and electromagnetic fields After this relationship is established the electromagnetic vector is locked to the encoder position and commutation continues based on ...

Page 14: ...neously takes calibrated current measurements from all motor phases combines this data with information about rotor position phase resistance inductance and back EMF and then applies advanced vector mathematics to calculate the exact torque being produced at the shaft This tight torque feedback loop allows for very rapid corrections in torque error resulting in superior dynamic tracking performanc...

Page 15: ...d to driven signals present at the motor connector Encoder Track Glass encoder At left is a Hudson encoder disk At right is a glass encoder disk on a motor that was dropped on the floor Encoder Commutation Board Power Requirements Hudson motors require a 5VDC supply voltage to power the combined encoder commutation sensor board Input voltage at motor connector 4 5 5 5VDC 6 0VDC absolute max Curren...

Page 16: ...oder output is driven from an AM26C31 differential line driver optimized for 120Ω transmission lines Refer to the AM26C31 data sheet for complete specifications Differential encoder signal complement To Servo Drive 74HC14 AM26C31 24Ω ENC I ENC A ENC A ENC B ENC B encoder disk Motor read head one pulse per revolution Differential encoder output Differential encoder signals provide excellent common ...

Page 17: ...y below is read from right to left When spinning the shaft CCW a properly wired motor should report commutation codes in the following sequence 100 101 001 011 010 110 0 30 60 90 120 150 180 210 240 270 300 330 360 0 30 60 90 120 150 180 210 240 270 300 330 360 PHASE T PHASE R PHASE S Back EMF waveforms Commutation sensor Hall effect signals COMM T R COMM S T COMM R S 110 010 011 001 101 100 6 2 3...

Page 18: ...wed looking into the motor shaft If this is not the case swap encoder signals A and B for single ended encoders or A and A for differential encoders Important the motor phases must align with their associated commutation signal as follows refer to phase diagram on previous page Phase T and Comm T R Phase R and Comm R S Phase S and Comm S T Note Within the motion control industry there is no standa...

Page 19: ...LDC motors will work with the following drive types Six step trapezoidal Sine wave Sine wave with vector torque control Q Which connector should I use A A Hudson motor can be fitted with either a Molex MiniFit Jr or Souriau Trim Trio connector For most applications the Molex MiniFit Jr connector is a good choice Use this type of connector in relatively clean dry environments general dust is OK and...

Page 20: ... follow dynamic commands very quickly If less aggressive servo response is required for an application it may be advisable to reduce the drive s current or torque loop gains Q How can I change a motor s sense of direction A Some drives may include firmware or software controls that allow you to reverse motor shaft direction by changing a setting Consult the servo drive manufacturer for more inform...

Page 21: ...eat flow out of the motor increases continuous power output and improves long term reliability In exposed lamination motors i e motors with no true housing axial heat flow from motor to mounting surface is impeded by the many oxide coated interfaces between the steel laminations To make matters worse silicon steel laminations have about 6 times the thermal resistance of aluminum which makes expose...

Page 22: ... revolution post quadrature Shaft Diameter L Standard dia NEMA 23 0 375 NEMA 34 0 500 with keyway1 Q 1 4 0 250 dia round shaft available on M 231x and M 232x models only no keyway Winding Magnetic Structure 1 3 Indicates winding design Different designs offer different torque speed power characteristics Sealing2 N Dust standard S Optional Shaft Seal3 1 Dimensions of keyway are 12x3mm NEMA 23 and 2...

Page 23: ...ING Bearing Life vs Load Depending on the specific motor model typical bearing life is approximately 3 2 x109 to 5 0 x109 revolutions based on 5 lb axial and 25 lb radial loads centered 1 0 inch from front bearing surface Shaft Axial Force Limits See chart on page 7 WARRANTY 3 years INDIVIDUAL SPECIFICATIONS Model 2311 2311 2321 2321 2331 2331 2341 2341 Electrical interface option S E P C S E P C ...

Page 24: ...2 4 x109 to 5 0 x109 revolutions based on 5 lb axial and 25 lb radial loads centered 1 0 inch from front bearing surface Shaft Axial Force Limits See chart on page 7 WARRANTY 3 years INDIVIDUAL SPECIFICATIONS Model 3411 3411 3421 3421 3422 3422 3422 3432 3432 3432 3441 3441 3441 Electrical Interface Option S E P C S E P C S E P C S E P C S E P C Resistance phase to phase ohms 3 0 75 2 500 0 624 1 ...

Page 25: ...dson 0 hudson_1 NEMA 34 Series Dimensions 2 77 in 70 37 mm M 341x 3 51 in 89 19 mm M 342x 4 29 in 108 19 mm M 343x 5 01 in 127 37 mm M 344x Motor Body Length L Model 45 90 Note Shaft key not included Available through McMaster Carr Part Number 96717A181 Description Metric shaft key Dimensions 5mm x 5mm x 20mm Shaft Keyway Detail Ø 3 875 98 43 4x Ø 220 THRU 5 60 Ø2 875 004 73 03 0 10 3 420 030 86 8...

Page 26: ...L 100 L 2 54 6 358 6 342 2503 2497 90 59 37 0 76 2 337 030 66 68 2 625 0 05 1 500 002 38 10 5 20 THRU 205 472 12 3 118 1 80 071 3 118 2 79 in 70 94 mm M 231x 3 54 in 89 92 mm M 232x 4 29 in 108 97 mm M 233x 5 04 in 128 02 mm M 234x Motor Body Length L Model 3 8 shaft option 1 4 shaft option 0 76 030 810 20 58 Note Shaft key not included Available through McMaster Carr Part Number 96717A086 Descrip...

Page 27: ...encoder cable shield to the motor case 3 Don t run the motor s commutation Hall signals through the motor phase cable at any point Use two cables one for low voltage signals and one for motor phases 4 Use 16AWG or larger shielded cable for motor phases 5 Motor phase leads should be kept as short as possible where they exit the cable shield preferably under 2 6 The motor phase cable shield terminat...

Page 28: ...rminal Perform a visual inspection of each terminated wire to ensure that the insulation is properly captured in the strain relief closure and the bare wire is captured in the conductor closure always perform a pull test on each wire connection before inserting it into the connector housing If a wire can be pulled out of the terminal with a few pounds of force the crimp was faulty Note Each type o...

Page 29: ...e mating with tin Always mate gold plated terminals with gold plated terminals and tin with tin to avoid galvanic corrosion 5 Prepare complete pictorial drawings Create drawings that are pictorial in nature i e visually representative of the subject Include fabrication details such as jacket strip lengths shield termination details cable tie locations marking details etc The more call outs detail ...

Page 30: ...H u d s o n M a n u a l R e v 1 2 1 30 TEKNIC INC P H O N E 5 8 5 7 8 4 7 4 5 4 Teknic Incorporated 115 Victor Heights Pkwy Victor NY 14564 2020 TEKNIC INC ALL RIGHTS RESERVED ...

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