Torque Motor & Direct Drive Motor

Technical Information

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HIWIN GmbH HIWIN Srl HIWIN KOREA HIWIN MIKROSYSTEM CORP. OFFENBURG, GERMANY BRUGHERIO, ITALY SUWON‧MASAN, KOREA No.6, Jingke Central Rd., www.hiwin.de www.hiwin.it www.hiwin.kr Taichung Precision Machinery Park, www.hiwin.eu [email protected] [email protected] [email protected] Taichung 40852, Taiwan Tel: +886-4-23550110 Fax: +886-4-23550123 www.hiwinmikro.tw HIWIN JAPAN HIWIN s.r.o. HIWIN CHINA [email protected] KOBE‧TOKYO‧NAGOYA‧NAGANO‧ BRNO, CZECH REPUBLIC SUZHOU, CHINA TOHOKU‧SHIZUOKA．HOKURIKU‧ www.hiwin.cz www.hiwin.cn HIROSHIMA‧FUKUOKA‧KUMAMOTO, [email protected] [email protected] JAPAN www.hiwin.co.jp [email protected]

HIWIN USA HIWIN SINGAPORE Mega-Fabs Motion Systems, Ltd. CHICAGO, U.S.A. SINGAPORE HAIFA, ISRAEL www.hiwin.com www.hiwin.sg www.mega-fabs.com [email protected] [email protected] [email protected]

Copyright © HIWIN Mikrosystem Corp. www.hiwinmikro.tw The specifications in this catalog are subject to change without notification. ©2019 FORM MR99TE05-1910 (PRINTED IN TAIWAN) INDUSTRIE 4.0 Best Partner

Linear Motor Stage Linear Motor Automated transport / AOI application / Machine tool / Touch panel industry / Precision / Semiconductor Semiconductor industry / • With Iron-core Laser manufacturing machine / • Coreless Type Glass cutting machine • Linear Turbo LMT • Ironcore linear motor-LMFA series, • Planar Servo Motor LMSA series, LMSC series • Air Bearing Platform • Ironless linear motor-LMC series, • X-Y Stage LMT series • Gantry Systems

Torque Motor & AC Servo Motor & Drive Direct Drive Motor Semiconductor / Packaging machine / SMT / Food industry / LCD Machine Tools • Drives-D1, D1-N, D2T • Torque Motor-- • Motors-50W~2000W TMRW Series Inspection / Testing Equipment / Robot • Direct Drive Motor-- DMS, DMY, DMN Series

Linear Actuator Positioning Hospital bed / Automatic window / Home Measurement System care facility / Riveting / Cutting machines / Press-fitting / Surface checks / Bending Traditional gantry milling machines / • Servo Actuator-LAA series Programmable drilling machines • LAM series • High Resolution • LAS series • Signal Translator • LAN series • High-precision Enclosed • LAC series • High Efficiency Counter

Multi-Axis Robot Pick-and-place / Assembly / Array and packaging / Semiconductor / Electro-Optical industry / Automotive industry / Food industry • Articulated Robot • Delta Robot • SCARA Robot • Wafer Robot • Electric Gripper • Integrated Electric Gripper • Rotary Joint Torque Motor & Direct Drive Motor Technical Information Single-Axis Robot Torque Motor Publication Date：December 2011, first edition Precision / Semiconductor / Rotary Table Print Date：October 2019, 5th edition Medical / FPD Aerospace / Medical / Automotive • KK, SK industry / • KS, KA Machine tools / Machinery industry • KU, KE, KC • RAB Series • RAS Series 1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. For your protection, avoid buying • RCV Series counterfeit products from unknown sources. • RCH Series 2. Actual products may differ from specifications and photos provided in this catalog. These differences may be the result of various factors including product improvements. . HIWIN will not sell or eport products or processes restricted under the Foreign Trade Act or related regulations. Eport of restricted products should be approved by proper authorities in Ballscrew Linear Guideway accordance with relevant laws and shall not be used to manufacture or develop nuclear, biochemical, Precision Ground / Rolled Automation / Semiconductor / Medical missiles or other weapons. • Super S series • Ball Type--HG, EG, WE, MG, CG • Super T series • Quiet Type--QH, QE, QW, QR • Mini Roller • Other--RG, E2, PG, SE, RC • Ecological & Economical lubrication Copyright © HIWIN Mikrosystem Corp. Module E2 • Rotating Nut (R1) • Energy-Saving & Thermal-Controlling (C1) • Heavy Load Series (RD) • Ball Spline Torque Motor & Direct Drive Motor Direct Drive Motor

Size Peak Torque (Nm) Accuracy Repeatability Drive Motor Power Cable Encoder Cable Type Page Features Applictions (mm) 4.2 9 12 18 24 30 40 45 60 75 90 120 150 180 225 300 450 (arcsec) (arcsec) Type Page Type Page Type Page

118x118

DMN42G ．LED inspection/ processing LMACE□□AA ．Low profile ．Semi-conductor DMN 180x180 ±10/±45 ± 2.5 15 ．Hollow shaft transport, inspection/ LMACE□□AM (With Hall sensor) ．External rotary table porcessing DMN71G ．Each kind of Assembly machines

D1-36-S2 230x230

DMN93G

Φ110 ±30 ± 3 9 LMACE□□AU

DMY44 DMY48 D1-36-S4 ．P&P ．Turntable DMYxxG: ．External rotary table ．Inspection machine DMY Φ170 10 LMACE□□AA ．High speed ．Automatic assembly DMYxxG: DMY63 DMY65 DMY68 D1-36-S2 machine ±30 ± 3 36 LMACS□□F 36 37 ．CD/DVD Mfg. system

DMYxx: Φ270 11

Direct Drive Motor LMACE□□AU

DMYxx: DMYA3 DMYA5 DMYAA D1-36-S4

Φ110 3

DMS03G DMS07G

．P&P Φ150 4 ．Turntable LMACE□□AA ．Index table DMS12G DMS14G DMS16G DMS18G ．Large torque DMS ±10/±25 ± 3 ．High-speed placement LMACE□□AM ．High precision (With Hall sensor) machine D1-36-S2 ．Automatic assembly Φ200 5 machine

DMS32G DMS34G DMS38G MS3CG

Φ300 6

DMS74G DMS76G MS7CG Torque Motor & Direct Drive Motor TMRW Torque motor

External Peak Torque (Nm) diameter Page (mm) 36 60 66 83 112 120 119 156 178 203 223 280 335 390 583

160 18 TMRW13 TMRW15 TMRW17 TMRW1A TMRW1F TMRW13L TMRW15L TMRW17L TMRW1AL TMRW1FL

198 20 TMRW23 TMRW25 TMRW27 TMRW2A TMRW2F

Torque Motor TMRW23L TMRW25L TMRW27L TMRW2AL TMRW2FL

230 22 TMRW43 TMRW45 TMRW47 TMRW4A TMRW4F TMRW43L TMRW45L TMRW47L TMRW4AL TMRW4FL

External Peak Torque (Nm) diameter Page (mm) 275 456 490 640 750 810 910 1100 1230 1360 1600 1760 2400 2470 3600

310 24 TMRW73 TMRW75 TMRW77 TMRW7A TMRW7F TMRW73L TMRW75L TMRW77L TMRW7AL TMRW7FL

385 26 TMRWA3 TMRWA5 TMRWA7 TMRWAA TMRWAF

Torque Motor TMRWA3L TMRWA5L TMRWA7L TMRWAAL TMRWAFL

485 28 TMRWD3 TMRWD5 TMRWD7 TMRWDA TMRWDF TMRWD3L TMRWD5L TMRWD7L TMRWDAL TMRWDFL

External Peak Torque (Nm) diameter Page (mm) 2360 3340 5020

565 30 TMRWG7 TMRWGA TMRWGF Torque Motor TMRWG7L TMRWGAL TMRWGFL

Contents Torque Motor & Direct Drive Motor

1.Direct Drive Motor 01 3.Drives and Accessories 33

1.1 Product Overview and Applications...... 1 3.1 Pin Assignment ...... 35 1.2 DMS ...... 2 1.2.1 DMS0 Series...... 3 1.2.2 DMS1 Series...... 4 1.2.3 DMS3 Series...... 5 1.2.4 DMS7 Series...... 6 1.2.5 DMS Series T-N curves...... 7 4.Appendix 36 1.3 DMY ...... 8 1.3.1 DMY4 Series...... 9 A：Motor Sizing ...... 36 1.3.2 DMY6 Series...... 10 B：Glossary ...... 40 1.3.3 DMYA Series...... 11 C：Environment ...... 43 1.3.4 DMY Series T-N curves...... 12 D：Motor Inquiry Form ...... 44 1.4 DMN ...... 13 1.4.1 DMN Incremental Series...... 15 1.4.2 DMN Absolute Series...... 16 1.4.3 DMN Series T-N curves...... 16

2.TMRW Torque Motor 17

2.1 TMRW1 Series ...... 18 2.2 TMRW2 Series ...... 20 2.3 TMRW4 Series ...... 22 2.4 TMRW7 Series ...... 24 2.5 TMRWA Series ...... 26 2.6 TMRWD Series ...... 28 2.7 TMRWG Series ...... 30 Torque Motor & Direct Drive Motor 1

1. Direct Drive Motor

1.1 Product Overview and Applications An extremely rigid connection between motor and load, and a servo-drive regulation ensures excellent acceleration capabilities and good uniformity of movement. HIWIN direct drive motors are especially well suited for tasks in automation due to the hollow shaft design. Media, cable systems or mechanical parts can be fed through without problems.

 No backlash  Drive free of clearance  Hollow shaft

 No gear transmission losses Direct Drive Motor  Maintenance free and compact  Brush-free drive Short and compact:  Extremely rigid support with cross-roller bearing HIWIN direct drive motors are optimized for high  IP65 available for DMS Series torques and robust  Integrated brake is available as an option dynamics.  Hall sensor is available as an option

Table 1.1 Applications

Features and Applications Classification Application Maintenance Accuracy Speed Rigidity Compactness Cleanliness Free CVD, wafer cleaning, ion     Production implantation equipment Semi-conductor transport,     inspection/processing Assembly machines for      electric components Assembly High-speed assembly machines machines for      electronic components Various assembly machines      Machine part inspection    Inspection of electric    components Inspection/ Inspection of optical testing    components equipment Chemical analysis of liquids    Various Inspection/testing    equipment Various assembly robots      Various transport robots Robots     Inpsection/Transport robots      in clean rooms TMS7

2 MR99TE05-1910 Torque Motor & Direct Drive Motor 3 TMS3 8-M8x1.25Px16DP PCD 190 TMS1 (Rotor fixture) TMS0 2-Ø12H7x2.6DP 1.2 DMS Series 1.2.1 DMS0 Series PCD 190 45°TYP

The DMS series is designed with an integrated, high resolution feedback system optimized to achieve high DMS0 Dimensions 2-Ø5H7x7DP PCD 48 45°TYP dynamic motion, high torque and high precision. The DMS series is a perfect fit for industries that require 2-Ø9H7x2.1DP high precision. 2-Ø9H7x2.1DP PCD 60 PCD 60 60°TYP 60°TYP Encoder Encoder Encoder Encoder 135° connector connector 22.5°  connector connector Inner rotating structure 22.5°  Integrated incremental/absolute feedback system 30°  High dynamic, torque and precision 2-Ø5H7x7DP  Maximum torque: 9.3~450Nm 6-M6x1Px9DP PCD 60 8-M6x1Px12DP PCD 60  Meets IP65 enclosure standards as an option Motor Motor PCD 120 Motor connector (Rotor fixture) Motor  6-M5x0.8Px10DP connector connector (Rotor fixture) connector Integrated brake is available as an option PCD 60  Hall sensor is available as an option 120° (Rotor fixture) 35° 120° Direct Drive Motor Ø80 2-Ø12H7x2.1DP 67.5° Model Numbers for DMS Series 0.07 A 2-Ø5H7x7DP PCD 120 2-Ø12 H7 x2.1DP Ø24H7 2-Ø5H7x7DP 2-Ø6H7x8DP Rr A Ra A Ø99 PCD 142 2-Ø6H7x8DP PCD 180 PCD 90 0.07 A 10° PCD 120 15° Ø35H7 PCD 180 2-Ø8H7x10DP Rr A Ra A 45°TYP Motor specification Function 60°TYP PCD 190 1 Ø170.5 45°

10 0.07 A DMS 3 2 L G H B P C 1 Ø60H7 30°TYP Rr A Ra A Series 10 22.5° 2-Ø12 H7 x2.6DP

0.3 0.07 A PCD 280

± Ø230 DMS：Internal rotary type 0.3 H ± Ra A

H 150° 0.5 Ø104H7 2-Ø8 H7x10DP 120° 15° Size 10 Rr A PCD 280 2-Ø9 H7 x2.1DP 135° 0：External diameterΦ110mm PCD 90 0.4 1：External diameterΦ150mm 6-M6x1Px9DP 0.5 ± 10

Ø110 View X PCD 90 Ø150 2-Ø9 H7 x2.1DP H 3：External diameterΦ200mm PCD 110 A (Stator fixture) A 35° 7：External diameterΦ300mm X X 35° 8-M6x1Px12DP PCD 142 View X (Stator fixture) Rotor height 10-M6x1Px12DP 0.4 ± 2：20mm PCD 180 H Table 1.2 DMS0 Specifications Ø200 (Stator fixture) 3：30mm A 7.5° 4：40mm Symbol Unit DMS03G DMS07G X View X 6：60mm Continuous torque Tc Nm 3.1 6.2 Continuous current Ic Arms 2 2 8：80mm 160° Peak torque (Within 1s.) Tp Nm 9.3 18.6 C：120mm Ø300 9-M8x1.25Px20DP Peak current (Within 1s.) Ip Arms 6 6 PCD 280 A (Stator fixture) Wiring Code Torque constant Kt Nm/Arms 1.55 3.1 X Electrical time constant Te ms 1.9 2.1 S：Standard Resistance (line to line at 25℃) R25 Ω 7.1 11.1 L：Low Back emf Inductance (line to line) L mH 13.8 23 Feedback system Number of poles 2p 10 10 Back emf constant (line to line) Kv Vrms/(rad/s) 0.82 1.7 20° 40°TYP G：Incremental _ Motor constant (line to line at 25℃) Km Nm/√W 0.5 0.8 View X Hall sensor Thermal resistance Rth K/W 1.76 1.13 Temperature sensor PTC SNM100 H：Without Hall sensor 2) Nominal input voltage VDC 500(600 ) H：With Hall sensor Inertia of rotating parts J kgm2 0.003 0.006 Mass of motor Mm kg 4 7 Brake Max. axial load Fa N 3700 3700 ： B Without brake Max. moment load M Nm 40 40 TMX6 B：With power-on brake (DMS1, DMS3, DMS7 Series) Max. speed rpm 700 700 TMX4 Resolution p/rev 4,325,376 (Incremental, sin/cos 1Vpp) International Protection Standard 4-M6x1Px9DP Repeatability arc-sec ±3 6-M5x0.8Px10DP PCD 160 S：IP40(Standard) Accuracy arc-sec ±45/±101) PCD 100 (Rotor fixture) 2) (Rotor fixture) P：IP65 Axial runout Ra mm 0.03(0.005 ) Resolver 2) connector Radial runout Rr mm 0.03(0.015 ) Optional Specifications 30° Resolver Height H mm 117.5 150 45° connector S：Standard Note： 1) After error mapping C：Customized 2) Optional *All the specifications in the table are in ±10％ of tolerance except dimensions. 30° Motor connector 2-Ø5 H9x5DP 30° PCD 100 Motor connector 45° Rr A Ø110h7 2-Ø6 H9x4DP 0.07 A PCD 160 Ø35 Ra A 2-Ø5 H9x4DP 2-Ø6 H9x8DP PCD 95 PCD 160 Rr A Ø170h7 10 0.07 A Ø45 45° 45° Ra A 0.4

Ø110 ± H 10

45°

Ø170 0.4 ± H 45° 4-M5x0.8Px10DP X A View X PCD 95 (Stator fixture) 4-M6x1Px12DP PCD 160 View X A (Stator fixture) X TMS7 TMS7

4 MR99TE05-1910 Torque Motor & Direct Drive Motor 5 TMS3 8-M8x1.25Px16DP TMS3 8-M8x1.25Px16DPPCD 190 (Rotor fixture)PCD 190 TMS1 (Rotor fixture) TMS0 TMS1 2-Ø12H7x2.6DP TMS0 PCD 1902-Ø12H7x2.6DP PCD 190 1.2.2 DMS1 Series 1.2.3 DMS3 Series 45°TYP 45°TYP DMS1 Dimensions DMS3 Dimensions 2-Ø5H7x7DP 2-Ø5H7x7DP PCD 48 PCD 48 45°TYP 45°TYP 2-Ø9H7x2.1DP 2-Ø9H7x2.1DP 2-Ø9H7x2.1DP 2-Ø9H7x2.1DP PCD 60 PCD 60 PCD 60 60°TYP PCD 60 60°TYP 60°TYP Encoder 60°TYP Encoder Encoder Encoder 135° Encoder 22.5° Encoder connector Encoder connector Encoder 135°connector connector connector 22.5° connector connector connector 22.5°

30° 22.5°

30°

2-Ø5H7x7DP 6-M6x1Px9DP 2-Ø5H7x7DP PCD 60 8-M6x1Px12DP 6-M6x1Px9DP PCD 60 PCD 60 Motor Motor (Rotor fixture) Motor PCD 120 Motor connector 6-M5x0.8Px10DP connectorPCD 60 connector 8-M6x1Px12DP (Rotor fixture) connector Motor PCD 60 Motor (Rotor fixture) Motor PCD 120 Motor connector 6-M5x0.8Px10DP 120° (Rotor fixture) connector connector (Rotor fixture) connector 35° PCD 60 120° 120° (Rotor fixture) 35° Ø80 2-Ø12H7x2.1DP 67.5° 0.07 A 120° 2-Ø5H7x7DP 2-Ø12 H7 x2.1DP Ø24H7 PCD 120 2-Ø6H7x8DP Rr A 2-Ø5H7x7DP Ø99 PCD 142 2-Ø6H7x8DP PCD 180 Ra A 67.5° PCD 120 15° Direct Drive Motor Ø80 PCD 90 0.07 A 2-Ø12H7x2.1DP 10° PCD 180 0.07 A Ø35H7 2-Ø5H7x7DP 2-Ø12 H7 x2.1DP 2-Ø8H7x10DP Ø24H7 Rr A Ra A 45°TYP PCD 120 2-Ø5H7x7DP 60°TYP 2-Ø6H7x8DP PCD 190 Rr A Ra A Ø99 PCD 142 2-Ø6H7x8DP PCD 180 1 PCD 120 15° PCD 90 0.07 A 10° Ø170.5 PCD 180 45° Ø35H7 2-Ø8H7x10DP

10 0.07 A

1 45°TYP Rr A Ra A Ø60H7 30°TYP 60°TYP Rr A Ra A PCD 190 1 10 22.5° Ø170.5 2-Ø12 H7 x2.6DP

45° 0.3 0.07 A PCD 280

10 0.07 ± A

1 Ø230

0.3 30°TYP

H Ø60H7 ± Rr A Ra A

H 150° Ra A 0.5 Ø104H7 2-Ø8 H7x10DP 15° 120° 10 22.5° 10 Rr A PCD 280 2-Ø12 H7 x2.6DP 2-Ø9 H7 x2.1DP 135° 0.3 0.07 A PCD 280

± PCD 90 Ø230 0.3 H ± Ra A

H 150° 0.5 2-Ø8 H7x10DP

0.4 Ø104H7 6-M6x1Px9DP 15° 0.5

120° ± 10 Rr A

10 PCD 280 Ø110 2-Ø9 H7 x2.1DP View X PCD 90 Ø150 2-Ø9 H7 x2.1DP H 135° PCD 110 PCD 90 A (Stator fixture) A 35° X X 35° 8-M6x1Px12DP PCD 142 0.4 6-M6x1Px9DP 0.5 (Stator fixture) ± 10

2-Ø9 H7 x2.1DP View X H Ø110 View X PCD 90 Ø150 10-M6x1Px12DP 0.4 ±

PCD 110 H A (Stator fixture) A PCD 180 35° Ø200 (Stator fixture) X X 35° 8-M6x1Px12DP PCD 142 A 7.5° X View X (Stator fixture) View X 10-M6x1Px12DP 0.4 ±

PCD 180 H Table 1.3 DMS1 Specifications TableØ 2001.4 DMS3 Specifications (Stator fixture) 160° A 7.5° Ø300 9-M8x1.25Px20DP PCD 280 Symbol Unit DMS12G DMS14G DMS16G DMS18G X Symbol Unit DMS32G DMS34G DMS34LG DMS38G DMS38LG DMS3CG DMS3CLG A View X (Stator fixture) X Continuous torque Tc Nm 5 10 15 20 Continuous torque Tc Nm 10 20 20 40 40 60 60

Continuous current Ic Arms 4 4 4 4 Continuous current Ic Arms 3 3 6 3 6 3 6 160° Peak torque (Within 1s.) Tp Nm 15 30 45 60 Peak torque (Within 1s.) Tp Nm 30 60 60 120 120 180 180 Ø300 9-M8x1.25Px20DP PCD 280 Peak current (Within 1s.) Ip Arms 12 12 12 12 Peak current (Within 1s.) Ip Arms 9 9 18 9 18 9 18 A 20° 40°TYP (Stator fixture) Torque constant Kt Nm/Arms 1.25 2.5 3.75 5 Torque constant Kt Nm/Arms 3.3 6.6 3.3 13.3 6.65 20 10 X Electrical time constant Te ms 3.2 3.6 3.8 4 Electrical time constant Te ms 4.7 4.8 4.4 5.3 4.5 5.1 5 View X Resistance (line to line at 25℃) R25 Ω 2.6 3.9 5.2 6.5 Resistance (line to line at 25℃) R25 Ω 5.8 8.4 1.7 13.6 2.9 18.8 3.9 Inductance (line to line) L mH 8.2 14 20 26 Inductance (line to line) L mH 27 40 7.5 71.5 13 95 19.5 Number of poles 2p 22 22 22 22 Number of poles 2p 22 22 22 22 22 22 22 40°TYP v rms v rms 20° Back emf constant (line to line) K V /(rad/s)_ 0.6 1.2 1.8 2.4 Back emf constant (line to line) K V /(rad/s)_ 1.6 3.2 1.6 6.4 3.2 9.6 4.8 Motor constant (line to line at 25℃) Km Nm/√W 0.6 1 1.3 1.6 Motor constant (line to line at 25℃) Km Nm/√W 1.1 1.9 2.1 2.9 3.2 3.8 4.1 View X Thermal resistance Rth K/W 1.2 0.8 0.6 0.48 Thermal resistance Rth K/W 0.96 TMX60.66 0.82 0.41 0.48 0.3 0.36 Temperature sensor PTC SNM100 TMX4 Temperature sensor PTC SNM100 2) 2) Nominal input voltage VDC 500(600 ) Nominal input voltage 4-M6x1Px9DPVDC 500(600 ) 2 6-M5x0.8Px10DP PCD 160 2 Inertia of rotating parts J kgm 0.006 0.0065 PCD 100 0.007 0.0075 Inertia of rotating parts (RotorJ fixture)kgm 0.014 0.02 0.02 0.026 0.026 0.035 0.035 (Rotor fixture) Mass of motor Mm kg Resolver 7.2 8.5 9.8 11 Mass of motor Mm kg 14 17 17 22.5 22.5 28.5 28.5 connector Max. axial load Fa N 3700 3700 3700 3700 Max. axial load Fa N 8000 8000 8000 8000 8000 8000 8000

30° Resolver Max. moment load M Nm 60 60 60 60 Max. moment load M 45° Nm TMX6240 240 240 240 240 240 240 connector Max. speed rpm 600 600TMX4600 500 Max. speed rpm 600 400 600 200 450 120 300 Resolution p/rev 4,320,000 (Incremental, sin/cos 1Vpp) Resolution 4-M6x1Px9DP p/rev 4,320,000 (Incremental, sin/cos 1Vpp) Repeatability arc-sec6-M5x0.8Px10DP 30° ±3 Repeatability PCD 160 arc-sec ±2.5 Accuracy arc-secPCD 100Motor ±45/±101) Accuracy (Rotor fixture) arc-sec ±25/±101) (Rotorconnector fixture) 2-Ø5 H9x5DP 2) 2) Axial runoutResolver Ra mm 0.03(0.005 ) Axial runout Ra mm 0.03(0.005 ) connector 30° PCD 100 Motor 2) connector 2) Radial runout Rr mm 0.03(0.015 ) Radial runout Rr 45° mm 0.03(0.015 ) 30° Rr A Resolver Height H mm 100 120 140 160 Height 45° H mm 130 150 150 190 190 230 230 Ø110h7 connector 2-Ø6 H9x4DP 0.07 A 1) PCD 160 ：1) Ø35 Note： After error mapping Note After error mapping Ra A 2-Ø5 H9x4DP 2) 2) Optional 2-Ø6 H9x8DP Optional PCD 95 PCD 160 ± ％ *All the specifications in the table are in ±1030° ％ of tolerance except dimensions. *All the specifications in the table are in 10 of tolerance except dimensions. Rr A Motor Ø170h7 10 0.07 A connector Ø45 45° 2-Ø5 H9x5DP 45° Ra A 30° PCD 100 Motor 0.4

Ø110 ± connector 45° H Rr A Ø110h7 10 2-Ø6 H9x4DP 0.07 A PCD 160 Ø35 45°

Ø170 0.4 Ra A 2-Ø5 H9x4DP 2-Ø6 H9x8DP ± H PCD 95 PCD 160 45° 4-M5x0.8Px10DP X A View X PCD 95 Rr A (Stator fixture) Ø170h7 10 0.07 A Ø45 45° 4-M6x1Px12DP 45° Ra A PCD 160 View X A (Stator fixture)

0.4 X

Ø110 ± H 10

45°

Ø170 0.4 ± H 45° 4-M5x0.8Px10DP X A View X PCD 95 (Stator fixture) 4-M6x1Px12DP PCD 160 View X A (Stator fixture) X 6 MR99TE05-1910 Torque Motor & Direct Drive Motor 7

TMS7 1.2.4 DMS7 Series TMS7 1.2.5 DMS Series T-N curves

DMS7 Dimensions (DC bus voltage=325VDC)

8-M8x1.25Px16DP 8-M8x1.25Px16DP PCD 190PCD 190 (Rotor fixture(Rotor) fixture) 2-Ø12H7x2.6DP2-Ø12H7x2.6DP DMS0 DMS1 PCD 190 PCD 190 20 45°TYP45°TYP 70 18 DMS07G DMS18G 60 16 DMS03G DMS16G 14 50 DMS14G Encoder 12 DMS12G Encoder connector 22.5° 40 connector 22.5° 10 8 30 Torque (Nm) Torque (Nm) 157.5° 6 20 Motor 157.5° connector 4 10 Motor 35° 2 connector 0 0 35° 0 200 400 600 800 0 200 400 600 800

2-Ø8H7x10DP Speed (rpm) Speed (rpm) Direct Drive Motor PCD 190

11.25° 2-Ø8H7x10DP PCD 190 2-Ø12 H7 x2.6DP Ø230 PCD 280 Ø104H7 Ra A 2-Ø8 H7x10DP 11.25° Rr A PCD 280 2-Ø12 H7 x2.6DP DMS3 DMS7 PCD 280 200 500

Ø230 1

Ra A 10 Ø104H7 2-Ø8 H7x10DP 180 DMS3CLG 450 DMS7CLG Rr A 35° PCD 280 DMS3CG DMS7CG 160 400 DMS38LG DMS76LG 1 140 350 10 H±0.4 DMS38G DMS76G 35° 120 300 DMS34LG DMS74LG 100 250 DMS34G DMS74G

160° 80 200 Torque (Nm) Torque (Nm)

H±0.4 9-M8x1.25Px20DP DMS32G Ø300 PCD 280 60 150 A (Stator fixture) X 40 100 20 50 160° 9-M8x1.25Px20DP 0 0 Ø300 20° 40°TYP PCD 280 0 100 200 300 400 500 600 700 0 50 100 150 200 250 300 A (Stator fixture) X View X Speed (rpm) Speed (rpm)

Table 1.5 DMS7 Specifications 20° 40°TYP Symbol Unit DMS74G DMS74LG DMS76G DMS76LGView X DMS7CG DMS7CLG

Continuous torque Tc Nm 50 50 75 75 150 150 Continuous current Ic Arms 3 6 3 6 3 6 Peak torque (Within 1s.) Tp Nm 150 150 225 225 450 450 Peak current (Within 1s.) Ip Arms 9 18 9 18 9 18 Torque constant Kt Nm/Arms 16.7 8.35 25 12.5 50 25 Electrical time constant Te ms 4.6 5 5.1 5 5.4 6 Resistance (line to line at 25℃) R25 Ω 14 3.5 19 4.8 32.5 8.5 Inductance (line to line) L mH 64 17.5 96.5 27 176 50.6 Number of poles 2p 44 44 44 44 44 44 v rms Back emf constant (line to line) K V /(rad/s)_ 10.8 5.4 16.2 8.1 32.4 16.2 Motor constant (line to line at 25℃) Km Nm/√W 3.6 3.6 4.7 4.7 7.2 7.0 Thermal resistance Rth K/W 0.4 0.4 0.29 0.29 0.17 0.16 Temperature sensor PTC SNM100 2) Nominal input voltage VDC 500(600 ) Inertia of rotating parts J kgm2 0.152 0.152 0.174 0.174 0.241 0.241 Mass of motor Mm kg 36 36 41 41 57 57 Max. axial load Fa N 8000 8000 8000 8000 8000 8000 Max. moment load M Nm 360 360 360 360 360 360 Max. speed rpm 120 250 72 170 24 80 Resolution p/rev 4,320,000 (Incremental, sin/cos 1Vpp) Repeatability arc-sec ±2.5 Accuracy arc-sec ±25/±101) 2) Axial runout Ra mm 0.03(0.005 ) 2) Radial runout Rr mm 0.03(0.015 ) Height H mm 160 160 180 180 240 240 Note：1) After error mapping 2) Optional *All the specifications in the table are in ±10％ of tolerance except dimensions. TMS7

TMS3 8-M8x1.25Px16DP PCD 190 TMS1 (Rotor fixture) TMS0 2-Ø12H7x2.6DP PCD 190 45°TYP

2-Ø5H7x7DP PCD 48 45°TYP 2-Ø9H7x2.1DP 2-Ø9H7x2.1DP PCD 60 PCD 60 60°TYP 60°TYP Encoder Encoder Encoder Encoder 135° connector connector connector connector 22.5°

22.5°

30°

2-Ø5H7x7DP 6-M6x1Px9DP PCD 60 PCD 60 8-M6x1Px12DP Motor Motor (Rotor fixture) Motor PCD 120 Motor connector 6-M5x0.8Px10DP connector connector (Rotor fixture) connector PCD 60 120° (Rotor fixture) 35° 120° Ø80 2-Ø12H7x2.1DP 67.5° 0.07 A 2-Ø5H7x7DP PCD 120 2-Ø12 H7 x2.1DP Ø24H7 2-Ø5H7x7DP 2-Ø6H7x8DP Rr A Ra A Ø99 PCD 142 2-Ø6H7x8DP PCD 180 PCD 90 0.07 A 10° PCD 120 15° Ø35H7 PCD 180 2-Ø8H7x10DP Rr A Ra A 45°TYP 60°TYP PCD 190 1 Ø170.5 45°

10 0.07 A 1 Ø60H7 30°TYP Rr A Ra A 10 22.5° 2-Ø12 H7 x2.6DP

0.3 0.07 A PCD 280

± Ø230 0.3 H ± Ra A

H 150° 0.5 Ø104H7 2-Ø8 H7x10DP 120° 15° 10 Rr A PCD 280 2-Ø9 H7 x2.1DP 135° PCD 90 0.4 6-M6x1Px9DP 0.5 ± 10

Ø110 View X PCD 90 Ø150 2-Ø9 H7 x2.1DP H PCD 110 A (Stator fixture) A 35° X X 35° 8-M6x1Px12DP PCD 142 View X (Stator fixture) 10-M6x1Px12DP 0.4 ±

PCD 180 H Ø200 (Stator fixture) A 7.5° X View X

160°

Ø300 9-M8x1.25Px20DP PCD 280 A (Stator fixture) X

8 MR99TE05-1910 Torque Motor & Direct Drive Motor 9 20° 40°TYP

View X 1.3 DMY Series 1.3.1 DMY4 Series

The DMY series is designed with an intergrated, high resolution feedback system which is optimized to DMY4 Dimensions TMX6 achieve high dynamic motion, high torque and high precision. The DMY series is a perfect fit for indusries TMX4 that require high precision. 4-M6x1Px9DP 6-M5x0.8Px10DP PCD 160 PCD 100 (Rotor fixture) (Rotor fixture)  Outer rotating structure Resolver connector  Integrated high resolution incremental/absolute feedback system 30° Resolver 45°  High dynamic, torque and precision connector  Maximum torque: 12~300 Nm  Compatible with special environments 30° Motor connector 2-Ø5 H9x5DP 30° PCD 100 Motor connector 45° Rr A Ø110h7 Direct Drive Motor 2-Ø6 H9x4DP 0.07 A PCD 160 Ø35 Ra A 2-Ø5 H9x4DP 2-Ø6 H9x8DP PCD 95 PCD 160 Rr A Ø170h7 10 0.07 A Ø45 45° 45° Ra A 0.4

Ø110 ± H 10

45°

Ø170 0.4 ± H Model Numbers for DMY Series 45° 4-M5x0.8Px10DP X A View X PCD 95 (Stator fixture) Motor specification Function 4-M6x1Px12DP PCD 160 View X A (Stator fixture) DMY 6 3 G C X Series DMY：External rotary type Table 1.6 DMY4 Specifications

Size Symbol Unit DMY44 DMY48

4：External diameterΦ110mm Continuous torque Tc Nm 4 8 6：External diameterΦ170mm Continuous current Ic Arms 2.6 2.6 A：External diameterΦ270mm Peak torque (Within 1s.) Tp Nm 12 24 Peak current (Within 1s.) Ip Arms 7.8 7.8 Rotor height Torque constant Kt Nm/Arms 1.56 3.12 3：30mm Electrical time constant Te ms 5.2 5.4 5：50mm Resistance (line to line at 25℃) R25 Ω 2.57 4.5 8：80mm Inductance (line to line) L mH 13.27 24.42 Number of poles 2p 14 14 ： A 100mm v rms Back emf constant (line to line) K V /(rad/s)_ 0.9 1.8 Feedback system Motor constant (line to line at 25℃) Km Nm/√W 0.8 1.2 Thermal resistance Rth K/W 2.9 1.6 S：Absolute Temperature sensor PTC SNM100 2) G：Incremental Nominal input voltage VDC 500(600 ) Inertia of rotating parts J kgm2 0.0065 0.0085 Optional Specifications Mass of motor Mm kg 5 7.5 ： S Standard Max. axial load Fa N 1000 1000 C：Customized Max. moment load M Nm 30 30 Max. speed rpm 300 300 Resolution p/rev 920,000 (Absolute1)) Repeatability arc-sec ±3 Accuracy arc-sec ±30 2) Axial runout Ra mm 0.03(0.005 ) 2) Radial runout Rr mm 0.03(0.015 ) Height H mm 123 163 Note： 1) The motor should be matched with corresponding HIWIN drive. 2) Optional *All the specifications in the table are in ±10％ of tolerance except dimensions. TMS7

TMS3 8-M8x1.25Px16DP PCD 190 TMS1 (Rotor fixture) TMS0 2-Ø12H7x2.6DP PCD 190 45°TYP

2-Ø5H7x7DP PCD 48 45°TYP 2-Ø9H7x2.1DP 2-Ø9H7x2.1DP PCD 60 PCD 60 60°TYP 60°TYP Encoder Encoder Encoder Encoder 135° connector connector connector connector 22.5°

22.5°

30°

10 0.07 A 1 Ø60H7 30°TYP Rr A Ra A 10 22.5° 2-Ø12 H7 x2.6DP

0.3 0.07 A PCD 280

± Ø230 0.3 H ± Ra A

H 150° 0.5 Ø104H7 2-Ø8 H7x10DP 120° 15° 10 Rr A PCD 280 2-Ø9 H7 x2.1DP 135° PCD 90 0.4 6-M6x1Px9DP 0.5 ± 10

Ø110 View X PCD 90 Ø150 2-Ø9 H7 x2.1DP H PCD 110 A (Stator fixture) A 35° X X 35° 8-M6x1Px12DP PCD 142 View X (Stator fixture) 10-M6x1Px12DP 0.4 ±

PCD 180 H Ø200 (Stator fixture) A 7.5° X View X

160°

Ø300 9-M8x1.25Px20DP PCD 280 A (Stator fixture) X

10 MR99TE05-1910 20°Torque Motor &40°TYP Direct Drive Motor 11 View X

1.3.2 DMY6 Series 1.3.3 DMYA Series TMX6 TMX4 DMY6 Dimensions DMYA Dimensions 4-M6x1Px9DP 6-M5x0.8Px10DP 6-M8x1.25Px16DP PCD 160 P.C.D 255 PCD 100 (Rotor fixture) (Rotor fixture) (Rotor fixture) Resolver 127.5±0.03 connector 60° TYP

30° Resolver connector 45° Ø8H7x10DP 4-M10x1.25Px15DP Motor P.C.D 260 30° connector 90° TYP (Stator fixture) Motor Resolver connector connector 2-Ø5 H9x5DP 45° 30° PCD 100 Motor connector 45° Rr A Ø110h7 2-Ø6 H9x4DP 0.07 A PCD 160 Ø35 Ø10H7x12DP (27) Direct Drive Motor Ra A 2-Ø5 H9x4DP 2-Ø6 H9x8DP PCD 95 PCD 160 Rr A Rr A Ø270 (50) Ø170h7 10 0.07 A Ø45 45° Ø160h7 45° Ra A Ra A Ø60 0.4

Ø110 ± H 7 10 130±0.03

45°

Ø170 0.4 View X ± H 45° H±0.4 4-M5x0.8Px10DP b

X A View X PCD 95 H (Stator fixture) 4-M6x1Px12DP Ø280 A PCD 160 View X x A (Stator fixture) X

Table 1.8 DMYA Specifications

Table 1.7 DMY6 Specifications Symbol Unit DMYA3G DMYA5G DMYA5 DMYAAG DMYAA

Symbol Unit DMY63G DMY63 DMY65G DMY65 DMY68G DMY68 Continuous torque Tc Nm 25 50 100 Continuous current Ic Arms 2.2 2.2 4.4 Continuous torque Tc Nm 8 16 24 Peak torque (Within 1s.) Tp Nm 75 150 300 Continuous current Ic Arms 3.8 3.8 3.8 Peak current (Within 1s.) Ip Arms 6.6 6.6 13.2 Peak torque (Within 1s.) Tp Nm 24 48 72 Torque constant Kt Nm/Arms 11.4 22.5 22.5 Peak current (Within 1s.) Ip Arms 12 12 12 Electrical time constant Te ms 11.3 12.8 13.3 Torque constant Kt Nm/Arms 2.13 4.26 6.39 Resistance (line to line at 25℃) R25 Ω 8.6 13.3 5.8 Electrical time constant Te ms 5.7 6.8 6.5 Inductance (line to line) L mH 97 170 77 Resistance (line to line at 25℃) R25 Ω 2 3.1 4.38 Number of poles 2p 22 22 22 Inductance (line to line) L mH 11.4 21 28.26 Back emf constant (line to line) Kv Vrms/(rad/s) 6.6 13 13 Number of poles 2p 16 16 16 _ Motor constant (line to line at 25℃) Km Nm/√W 3.2 5 7.6 Back emf constant (line to line) Kv Vrms/(rad/s) 1.2 2.5 3.7 _ Thermal resistance Rth K/W 1.2 0.8 0.4 Motor constant (line to line at 25℃) Km Nm/√W 1.2 2 2.5 Temperature sensor PTC SNM100 Thermal resistance Rth K/W 1.7 1.1 0.8 2) Nominal input voltage VDC 500(600 ) Temperature sensor PTC SNM100 2 2) Inertia of rotating parts J kgm 0.254 0.32 0.44 Nominal input voltage VDC 500(600 ) 2 Mass of motor Mm kg 45 54 71 Inertia of rotating parts J kgm 0.019 0.026 0.033 Max. axial load Fa N 8000 8000 8000 Mass of motor Mm kg 7.7 10.7 14.7 Max. moment load M Nm 240 240 240 Max. axial load Fa N 3700 3700 3700 200 Max. moment load M Nm 60 60 60 Max. speed rpm 100 100 1) Max. speed rpm 500 300 500 300 400 300 Resolution p/rev 4,320,000 4,320,000 920,000 4,320,000 920,000 1) ± Resolution p/rev 4,320,000 920,000 4,320,000 920,000 4,320,000 920,000 Repeatability arc-sec 3 ± Repeatability arc-sec ±3 Accuracy arc-sec 30 2) Accuracy arc-sec ±30 Axial runout Ra mm 0.03(0.005 ) 2) 2) Axial runout Ra mm 0.03(0.005 ) Radial runout Rr mm 0.03(0.015 ) 2) Radial runout Rr mm 0.03(0.015 ) Height H mm 120 145 200 Height H mm 109.5 134.5 159.5 Height of base Hb mm 31 Note： 1) Incremental type with sin/cos 1Vpp, absolute type should be matched with corresponding HIWIN drive. Note： 1) Incremental type with sin/cos 1Vpp, absolute type should be matched with corresponding HIWIN drive. 2) Optional 2) Optional *All the specifications in the table are in ±10％ of tolerance except dimensions. *All the specifications in the table are in ±10％ of tolerance except dimensions. 12 MR99TE05-1910 Torque Motor & Direct Drive Motor 13

1.3.4 DMY Series T-N curves 1.4 DMN Series

(DC bus voltage=325VDC) The DMN series is designed with an extremely low profile and a high resolution optical encoder optimized to DMY4 DMY6 30 80 achieve high dynamic motion, high torque and high precision. The DMN series is a perfect fit for industries DMY48 DMY68 70 that require high precision but less force. 25 DMY44 DMY65 60 DMY63 20 50 DMY68G  Outer rotating structure 15 40 DMY65G DMY63G  Space saving with Low profile design Torque (Nm) 10 Torque (Nm) 30  High resolution optical encoder 20 5  Maximum torque: 4.2~39.6 Nm 10 0 0 0 100 200 300 400 0 100 200 300 400 500 600 Speed (rpm) Speed (rpm) Direct Drive Motor DMYA 350 DMYAA(G) 300 Model Numbers for DMN Series DMYA5(G) 250 DMYA3(G)

200

150

Torque (Nm) Motor specification Function 100

50 DMN 7 1 G H C

0 Series 0 50 100 150 200 250 DMN：Low profile type Speed (rpm) Size 4：External diameterΦ118mm 7：External diameterΦ180mm 9：External diameterΦ230mm Rotor height 1：10mm 2：20mm 3：30mm Feedback system G：Incremental A：Absolute Hall sensor E：Without hall sensor H：With Hall sensor(Encoder Type) Optional Specifications E：Standard C：Customized 14 MR99TE05-1910 Torque Motor & Direct Drive Motor 15

DMN Dimensions 1.4.1 DMN Incremental Series

Table 1.9 DMN Specifications

DMN42 DMN71 Symbol Unit DMN42G DMN71G DMN93G

Continuous torque Tc Nm 1.4 3.7 13.2 4-Ø6.6THRU, □160 □118 Ø11x11DP 4-Ø6.6THRU, Continuous current Ic Arms 1.5 3.4 3.4 146 Ø11x7DP 108 (Stator fixture) (Stator fixture) Peak torque (Within 1s.) Tp Nm 4.2 11.1 39.6 +0.02 140 92 2-Ø5 0 THRU 2-Ø6H7 THRU Peak current (Within 1s.) Ip Arms 4.5 10.2 10.2 +0.02 Ø35 THRU Ø12THRU Ø5 0 x7DP Ø5H7x7DP Torque constant Kt Nm/Arms 0.97 1.09 3.9 PCD 75 PCD 160 Encoder Electrical time constant Te ms 1.8 3.5 5.4 connector Encoder connector Resistance (line to line at 25℃) R25 Ω 4.59 2.55 4.3 Inductance (line to line) L mH 8.18 9.02 23.2 Number of poles 2p 16 16 22 92 78

140 v rms 120 Back emf constant (line to line) K V /(rad/s)_ 0.56 0.63 2.25 Motor constant(line to line at 25℃) Km Nm/√W 0.4 0.6 1.5 Motor Motor Direct Drive Motor connector connector Thermal resistance Rth K/W 4.84 1.95 1.01 6-M5x0.8Px8DP Temperature sensor PTC SNM100 PCD 75 2) 6-M5x0.8Px8DP Nominal input voltage VDC 500(600 ) (Rotor fixture) PCD 160 2 (145.5) (212.5) (Rotor fixture) Inertia of rotating parts J kgm 0.003 0.008 0.012 Ra A (Ø180) m Ø86 h7 Mass of motor M kg 2 3.5 7.5 Rr A Ø150h7 Ra A Rr A Max. axial load Fa N 600 1000 1000 Max. moment load M Nm 30 50 50 50

2.7 Max. speed rpm 700 600 500 45±0.3 45±0.3 4,320,000 4,325,376 4,320,000 Resolution p/rev A (Incremental, sin/cos 1Vpp) A Repeatability arc-sec ±2.5 ±2.5 ±2.5 Accuracy arc-sec ±45/±101) ±45/±101) ±45/±101) 2) Axial runout Ra mm 0.03(0.005 ) 2) Radial runout Rr mm 0.03(0.015 ) DMN93 Size WxLxH mm 118x118x45 160x160x50 212x212x55 Note： 1) After error mapping 2) Optional □212 *All the specifications in the table are in ±10％ of tolerance except dimensions. 200 4-Ø9THRU, Ø15x14DP 180 (Stator fixture) Ø35THRU 2-Ø8H7 THRU Ø5H7x7DP PCD 150

Encoder connector 150 180

Motor connector

8-M5x0.8Px8DP PCD 150 (Rotor fixture) (257.5) (Ø230) Ø160h7 Ra A Rr A 3.5 55±0.3

A 16 MR99TE05-1910 Torque Motor & Direct Drive Motor 17

1.4.2 DMN absolute Series 2. TMRW Torque Motor Table 1.10 DMN Specifications

Symbol Unit DMN71A DMN93A The combination of a high torque stator and rotor meets the most Continuous torque Tc Nm 3.7 13.2 demanding specifications in high precision industry. By using a water Continuous current Ic Arms 3.4 3.4 cooled design, high torque can be achieved. Peak torque (Within 1s.) Tp Nm 11.1 39.6 Peak current (Within 1s.) Ip Arms 10.2 10.2  Water cooled Torque constant Kt Nm/Arms 1.09 3.9 Electrical time constant Te ms 4.1 5.4  Large hollow shaft Resistance (line to line at 25℃) R25 Ω 2.22 4.3  Maximum torque up to 5020 Nm Inductance (line to line) L mH 9.02 23.2  The concentricity of the stator and rotor will be calibrated before shipment Number of poles 2p 16 22 v rms Back emf constant (line to line) K V /(rad/s)_ 0.63 2.25 Motor constant(line to line at 25℃) Km Nm/√W 0.6 1.5 Thermal resistance Rth K/W 1.95 1.01 Example：Index table Temperature sensor PTC SNM100 2) Nominal input voltage VDC 500(600 ) Inertia of rotating parts J kgm2 0.008 0.012 Mass of motor Mm kg 3.5 7.5 Max. axial load Fa N 1000 1000 Max. moment load M Nm 50 50 Max. speed rpm 300 300 Resolution p/rev 920,000 (Absolute 1)) Model Numbers for TMRW Series Repeatability arc-sec ±2.5 ±2.5 Accuracy arc-sec ±30 ±30 2) Axial runout Ra mm 0.03(0.005 ) Motor specification Function Winding Code 2) Radial runout Rr mm 0.03(0.015 ) Size WxLxH mm 160x160x50 212x212x55 TMRW 4 7 L C - XX

Note： 1) The motor should be matched with corresponding HIWIN drive. TMRW Torque Motor 2) Optional Series *All the specifications in the table are in ±10％ of tolerance except dimensions. TMRW：Water cooling type External diameter of the stator’s lamination stack 1：Φ140mm 2：Φ175mm 4：Φ210mm 1.4.3 DMN Series T-N curves 7：Φ291mm A：Φ360mm (DC bus voltage=325VDC) D：Φ450mm 45 G：Φ530mm DMN42GE 40 DMN71GE 35 Rotor height DMN71GA 30 DMN93E 3：30mm

25 DMN93A 5：50mm 20 7：70mm

Torque (Nm) 15 A：100mm 10 F：150mm 5 0 Winding code 0 100 200 300 400 500 600 700 800 Speed (rpm) S：Standard L：Low Back emf Optional Specifications S：Standard C：Customized ：Standard XX：Winding code 18 MR99TE05-1910 Torque Motor & Direct Drive Motor 19

2.1 TMR W1 Series 2.1.2 TMRW1 Series T-N curves

TMRW13 TMRW13L 40 40 e torque 2.1.1 TMRW1 Dimensions 35TMRW73/5/7 TMRW7A/F 35 Tp 600VDC TMRW13/5/7 TMRW1A/F 30 30 @ Tp 325VDC 25 25 @ 20 20 otuou torque W Hs

Torque (Nm) 15 Torque (Nm) 15 25 35 Thermal cable Tc@600VDC Hs 12.5 17.5 TMRW13/5/7 TMRW1A/F Motor cable 10 X 10 X Tc 325VDC 25 25 Thermal cable @ 10 10 5 5 Motor cable otuou torque 45° 0 30° 0 TYP ree r oeto H 0 1000 2000 TYP 3000 4000 0 1000 2000 3000 4000 5000 H Speed (rpm) Speed (rpm) Tc@600VDC Tc@325VDC

15°

22.5° H TMRW15 TMRW15L

H min. 15°TYP

310f9 70 70 200H8 min. 234

Ø HR±0.2 Ø Ø

60H8 22.5°TYP 160f9 Ø 85.5 Ø 60 60

HR±0.2 19.5±0.2 Ø 29.5±0.2 50 50

40 40 16-M5x0.8Px10DP 8-M5x0.8Px10DP PCD 70 (Both sides) 30 30 24-M5x0.8Px10DP PCD 70 (Both sides) 12-M5x0.8Px10DP X PCD 210 (Both sides) PCD 210 (Both sides)

16-M5x0.8Px10DP Torque (Nm) Torque (Nm) 8-M5x0.8Px10DP 20 20 PCD 150 (Both sides) Seal (O-ring) position X 24-M5x0.8Px10DP Seal (O-ring) position PCD 150 (Both sides) 12-M5x0.8Px10DP 10 PCD 300 (Both sides) PCD10 300 (Both sides) Section Section 0 0 0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000 Speed (rpm) Speed (rpm)

TMRW17 TMRW17L 90 90 Table 2.1 TMRW1 Specifications 80 80 Symbol Unit TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1A TMRW1AL TMRW1F TMRW1FL 70 70 60 60 TMRW Torque Motor TMRW23/5/7 TMRW2A/F Continuous torque Tc Nm 7.5 7.5 12.4 12.4 17.4 17.4 24.9 24.9 37.3 37.3 50 50 Continuous current Ic Arms 4 5.7 4 5.7 4 5.7 4 5.7 5.7 11.4 40 40

cw Torque (Nm) Torque (Nm) Continuous torque (WC) T Nm 18.8 18.8 31.3 31.3 43.8 43.8 62.5 62.5 93.8 93.8 30 30 Hs Continuous current30 (WC)30 Icw Arms 10 14.4 10 14.4 10 14.4 10 14.4 14.4 28.8 20 20 12.5 12.5 Thermal cable Stall torque TMotors cableNm 5 5 9 9 12 12 17 17 26 26 10 10 Stall current Is Arms 2.8 4 2.8 45° 4 2.8 4 2.8 4 4 8 0 0 TYP 0 500 1000 1500 0 500 1000 1500 2000 2500 Stall torque (WC) Tsw Nm 13 13 22 22 31 31 44 44 66 66 Speed (rpm) Speed (rpm) Stall current (WC) Isw Arms 7 10.1 7 10.1 7 10.1 7 10.1 10.1 20.2 H Peak torque(Within 1s.) Tp Nm 35.6 35.6 59.4 59.422.5° 83.1 83.1 118.8 118.8 178.1 178.1 H TMRW1A TMRW1AL Peak current(Within 1s.) Ip Arms 27 38.9 27 38.9 27 38.9 27 38.9 38.9 77.8 140 140 Torque constant Kt min. Nm/ Arms 1.87 1.32 3.1 2.18 4.36 3.06 6.23 4.36 6.55 3.27

90H8 22.5°TYP 198f9

Ø 120 120 119 Ø

Ø ElectricalHR±0.2 time constant 24.5±0.2Te ms 3.2 3.2 3.6 3.4 3.6 4.1 4 4.1 3.9 4.3 100 100 Resistance (line to line at 25℃) R25 Ω 3.3 1.6 4.5 2.36 6.2 2.9 7.7 3.8 5.5 1.37 Inductance (line to line) L mH 10.5 5.1 16 8 22.5 11.9 31 15.5 21.7 5.9 80 80

Number of poles 2p 22 60 60 8-M5x0.8Px10DP 16-M5x0.8Px10DP Back emf constant (line to line) Kv Vrms/(rad/s) 1.08 0.76 1.8 1.26 2.52 1.76 3.6 2.52PCD 100 (Both3.78 sides)1.89 _ PCD 100 (Both sides) 40 40 ℃ √ 16-M5x0.8Px10DP Torque (Nm) Torque (Nm) Motor constant (at 25 ) Km Nm/ W 0.84 8-M5x0.8Px10DP0.85 1.19 1.16 1.43 1.46 1.83 1.83 2.28 2.28 Seal (O-ring) position PCD 185 (Both sides) 20 20 Thermal resistance Rth K/W 1.2 PCD1.22 185 (Both0.88 sides) 0.83 0.64 0.67 0.51 0.51 0.35 0.36 Section TMRWA3/5/7 TMRWAA/F TMRWD3/5/7 TMRWDA/F Thermal resistance ( WC) Rthw K/W 0.192 0.191 0.141 0.129 0.102 0.105 0.082 0.08 0.056 0.056 0 0 0 200 400 600 800 1000 0 500 1000 1500 Thermal sensor PTC SNM100+SNM120+Pt1000 Speed (rpm) Speed (rpm) Max. DC BUS VDC 750 Inertia of rotor J kgm2 0.001 0.001 0.0016 0.0016 0.0023 0.0023 0.0033 0.0033 0.0049 0.0049

Hs TMRW1F TMRW1FL Max. speed at conti. Torque rpm 2800 4000 1600 2400 1150 1700 800 1170 760 1600 200 200 35 35 Thermal cable Max. speed at conti. Torque (WC) rpm 2200 TMRW43/53200 1200 1750 830 1300 580TMRW47/A/F870 540 1200 8.5 8.5 180 Motor cable 180 Hs Thermal cable Max. speed at max. Torque rpm 1000 1600 600 830 400 610 230 390 210 560 160 160 27 43 10 26 Motor cable 140 140 Rated speed Hs ωn rpm 820 820 820 820 820 820 820 820 800 820 120 120 25 25 30° Thermal cable H Mass of10 rotor 10 Mr kg 0.6 0.6 1 1 1.4 1.4 2 2 3 3 H 100 100 Motor cable TYP Mass of stator MS kg 3.7 3.7 5.1 5.1 6.2 6.2 8.6 8.6 12.2 12.2 80 80 H 30° H TYP Torque (Nm) 60 Torque (Nm) 60 Height of stator HS mm 70 70 90 90 110 110 140 140 190 190 40 40 15°TYP 30° 15°

Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 15° TYP 20 20

H 15° TYP Height H H mm 10 10 15 15 15 15 15 15 15 15 0 min. 0 385f9

265H8 0 200 400 600 800 1000 0 500 1000 1500 2000 299 Ø min.

Note：WC：water cooled Ø Ø R 485f9 H ±0.2 Speed (rpm) Speed (rpm) 345H8 15° ± 384

*All the specifications in the table are in 10% of tolerance except dimensions. Ø

HR±0.2 Ø 1)The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary.

29.5±0.2 37.5±0.2 15°TYP 230f9 140H8 169min.

HR±0.2 19.5±0.2 Ø Ø

12-M6x1Px12DP 24-M6x1Px12DP PCD 277 (Both sides) PCD 277 (Both sides) 24-M8x1.25Px12DP X 12-M8x1.25Px12DP PCD 360 (Both sides) Seal (O-ring) position 12-M6x1Px12DP 24-M6x1Px12DP PCD 360 (Both sides) 24-M8x1.25Px12DP 12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) PCD 370 (Both sides) Seal (O-ring) position PCD 150 (Both sides) PCD 150 (Both sides) Section 12-M8x1.25Px12DP PCD 468 (Both sides) Section PCD 468 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP Seal (O-ring) position PCD 220 (Both sides) PCD 220 (Both sides) Section TMRW73/5/7 TMRW7A/F TMRW13/5/7 TMRW1A/F

Hs 25 35 Thermal cable Hs 12.5 17.5 X Motor cable X 25 25 Thermal cable 10 10 Motor cable 45° 30° TYP H TYP H

15°

22.5° H

H min. 15°TYP 310f9 200H8 min. 234

Ø HR±0.2 Ø Ø

60H8 22.5°TYP 160f9 Ø 85.5 Ø

HR±0.2 19.5±0.2 Ø 29.5±0.2

16-M5x0.8Px10DP 8-M5x0.8Px10DP PCD 70 (Both sides) 24-M5x0.8Px10DP PCD 70 (Both sides) 12-M5x0.8Px10DP PCD 210 (Both sides) 16-M5x0.8Px10DP X PCD 210 (Both sides) 20 MR99TE05-1910 8-M5x0.8Px10DP Torque Motor & Direct Drive Motor 21 PCD 150 (Both sides) Seal (O-ring) position X 24-M5x0.8Px10DP Seal (O-ring) position PCD 150 (Both sides) 12-M5x0.8Px10DP PCD 300 (Both sides) PCD 300 (Both sides) Section Section

2.2 TMRW2 Series 2.2.2 TMRW2 Series T-N curves

TMRW23 TMRW23L 70 70 e torque 2.2.1 TMRW2 Dimensions 60 60 Tp@600VDC TMRW23/5/7 TMRW2A/F 50 50 Tp@325VDC 40 40 otuou torque W 30 30 Torque (Nm) Torque (Nm) Tc@600VDC Hs TMRW23/5/7 TMRW2A/F 30 30 20 20 Thermal cable Tc@325VDC 12.5 12.5 Motor cable 10 10 45° otuou torque TYP 0 0 0 500 1000 1500 0 500 1000 1500 2000 2500 ree r oeto Speed (rpm) Speed (rpm) Tc@600VDC Tc@325VDC H H 22.5° TMRW25 TMRW25L

min. 120 120

90H8 22.5°TYP 198f9 Ø 119 Ø

Ø HR±0.2 24.5±0.2 100 100

80 80

60 60 8-M5x0.8Px10DP 16-M5x0.8Px10DP PCD 100 (Both sides) PCD 100 (Both sides) 40 40

16-M5x0.8Px10DP Torque (Nm) Torque (Nm) 8-M5x0.8Px10DP Seal (O-ring) position PCD 185 (Both sides) PCD 185 (Both sides) 20 20 Section TMRWA3/5/7 TMRWAA/F TMRWD3/5/7 TMRWDA/F 0 0 0 200 400 600 800 1000 0 500 1000 1500 Speed (rpm) Speed (rpm)

Hs TMRW27 TMRW27L 35 35180 Thermal cable 180 TMRW43/5 TMRW47/A/F 8.5 8.5 Table 2.2 TMRW2 Specifications Motor cable Hs 160 160 27 43 Thermal cable 140 140 10 26 Motor cable Symbol Unit TMRW23 TMRW23L TMRW25 TMRW25L TMRW27 TMRW27L TMRW2A TMRW2AL TMRW2F TMRW2FL Hs TMRW Torque Motor 120 120 25 25 30° Continuous torque TcThermalNm cable 14.2 14.2 23.6 23.6 33 33 47.3 47.3 71 71 H 10 10 H 100 100 Motor cable TYP Continuous current Ic Arms 3.3 4.9 3.3 4.9 3.3 4.9 3.3 4.9 4.9 9.9 80 80 H 30° H TYP

Continuous torque (WC) Tcw Nm 35 35 59 59 82.5 82.5 117.5 117.5 176 176 Torque (Nm) 60 Torque (Nm) 60

15°TYP

Continuous current (WC) Icw Arms 8.3 12.3 8.3 12.3 30°8.3 12.3 8.3 12.3 12.3 24.6 40 40 15°

15° TYP

Stall torque H Ts Nm 10 10 17 17 23 23 33 33 50 50 20 20 15° TYP H min.

s rms 0 385f9 0

Stall current I A 2.3 3.4 2.3 3.4 2.3 3.4 2.3 3.4 3.4 6.9 265H8 299 Ø min. Ø 0 Ø 200 400 600 800 0 200 400 600 800 1000 R 485f9 Stall torque (WC) Tsw Nm 25 25 41 41 58 58 82 82 123 123 H ±0.2 345H8 15° 384 Ø Speed (rpm) Speed (rpm) Ø HR±0.2 Ø Stall current (WC) Isw Arms 5.8 8.6 5.8 8.6 5.8 8.6 5.8 8.6 8.6 17.2

29.5±0.2 37.5±0.2 15°TYP

Peak torque(Within 1s.) Tp Nm230f9 66.5 66.5 112 112 156 156 223 223 334.5 334.5 140H8 169min.

HR±0.2 19.5±0.2 Ø Ø TMRW2A TMRW2AL Peak current(Within 1s.) Ip Arms 22.3 33.2 22.3 33.2 22.3 33.2 22.3 33.2 33.2 66.4 250 250 Torque constant Kt Nm/ Arms 4.29 2.8 7.16 4.8 10.03 6.72 14.32 9.6 14.39 7.2 Electrical time constant Te ms 6.4 6.1 6.8 6.5 6.5 6.5 7.4 7.4 7.8 6.9 200 12-M6x1Px12DP200 24-M6x1Px12DP PCD 277 (Both sides) PCD 277 (Both sides) 24-M8x1.25Px12DP Resistance (line to line at 25℃) R25 Ω 4.3 1.9 5.7 2.5 7.8 3.5 9.6 4.4 6 1.5 12-M8x1.25Px12DP PCD 360 (Both sides) X 24-M6x1Px12DP Seal150 (O-ring) position 12-M6x1Px12DP 150 PCD 360 (Both sides) Inductance (line to line) L mH 27.5 11.5 39 16.23 50.7 22.72 70.8 32.46 47 10.4 PCD 370 (Both sides) 24-M8x1.25Px12DP 12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) Seal (O-ring) position Section 12-M8x1.25Px12DP PCD 468 (Both sides) Number of poles 2p PCD 150 (Both sides)22 PCD 150 (Both sides) 100 100 Section PCD 468 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP Back emf constant (line toSeal line) (O-ring)Kv positionVrms/(rad/s) 2.48 1.6 4.13 2.77 5.79 3.88 8.27 5.54 8.31 4.15 _ PCD 220 (Both sides) PCD 220 (Both sides) Motor constant (at 25℃) Km Nm/√W 1.68 1.72 2.45 2.49 2.92 2.94 3.78 3.76 4.83 4.78 Torque (Nm) Torque (Nm) Section 50 50 Thermal resistance Rth K/W 1.35 1.39 1.02 1.06 0.75 0.75 0.61 0.53 0.44 0.43 Thermal resistance ( WC) Rthw K/W 0.214 0.22 0.161 0.167 0.118 0.12 0.096 0.095 0.07 0.07 0 0 0 100 200 300 400 500 0 200 400 600 800 Thermal sensor PTC SNM100+SNM120+Pt1000 Speed (rpm) Speed (rpm) Max. DC BUS VDC 750 Inertia of rotor J kgm2 0.0027 0.0027 0.0045 0.0045 0.0063 0.0063 0.009 0.009 0.013 0.013 TMRW2F TMRW2FL Max. speed at conti. Torque rpm 1260 1900 750 1130 525 800 360 550 360 740 400 400 Max. speed at conti. Torque (WC) rpm 1060 1600 610 950 420 660 280 440 275 610 350 350 Max. speed at max. Torque rpm 590 900 330 525 210 360 125 225 120 330 300 300 ω Rated speed n rpm 820 820 750 820 530 810 360 560 370 760 250 250 Mass of rotor Mr kg 0.95 0.95 1.6 1.6 2.2 2.2 3.2 3.2 4.8 4.8 200 200 Mass of stator MS kg 6.1 6.1 8.4 8.4 10.2 10.2 14.2 14.2 20.1 20.1 150 150 Torque (Nm) Torque (Nm) Height of stator HS mm 80 80 100 100 120 120 150 150 200 200 100 100 Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 50 50 Height H mm 10 10 15 15 15 15 15 15 15 15 0 0 0 100 200 300 400 500 0 200 400 600 800 1000 Note：WC：water cooled *All the specifications in the table are in ±10% of tolerance except dimensions. Speed (rpm) Speed (rpm) 1)The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary. TMRW73/5/7 TMRW7A/F TMRW13/5/7 TMRW1A/F

Hs 25 35 Thermal cable Hs 12.5 17.5 X Motor cable X 25 25 Thermal cable 10 10 Motor cable 45° 30° TYP H TYP H

15°

22.5° H

H min. 15°TYP 310f9 200H8 min. 234

Ø HR±0.2 Ø Ø

60H8 22.5°TYP 160f9 Ø 85.5 Ø

HR±0.2 19.5±0.2 Ø 29.5±0.2

16-M5x0.8Px10DP 8-M5x0.8Px10DP PCD 70 (Both sides) 24-M5x0.8Px10DP PCD 70 (Both sides) 12-M5x0.8Px10DP PCD 210 (Both sides) 16-M5x0.8Px10DP X PCD 210 (Both sides) 8-M5x0.8Px10DP PCD 150 (Both sides) Seal (O-ring) position X 24-M5x0.8Px10DP Seal (O-ring) position PCD 150 (Both sides) 12-M5x0.8Px10DP PCD 300 (Both sides) PCD 300 (Both sides) Section Section

TMRW23/5/7 TMRW2A/F

Hs 30 30 12.5 12.5 Thermal cable Motor cable 45° TYP

H H 22.5° min.

90H8 22.5°TYP 198f9 Ø 119 Ø

Ø HR±0.2 24.5±0.2

22 MR99TE05-1910 Torque Motor & Direct Drive Motor 23 8-M5x0.8Px10DP 16-M5x0.8Px10DP PCD 100 (Both sides) PCD 100 (Both sides) 16-M5x0.8Px10DP 8-M5x0.8Px10DP Seal (O-ring) position PCD 185 (Both sides) PCD 185 (Both sides) TMRWDA/F 2.3 Section TMRW4Series 2.3.2 TMRW4 SeriesTMRWA3/5/7 T-N curves TMRWAA/F TMRWD3/5/7

TMRW43 TMRW43L 140 140

2.3.1 TMRW4 Dimensions Hs e torque 120 120 35 35 Thermal cable TMRW43/5 TMRW47/A/F 8.5 8.5 Tp@600VDC Motor cable Hs 100 100 27 43 Thermal cable Tp@325VDC 10 26 Motor cable 80 80 Hs TMRW43/5 TMRW47/A/F otuou torque W 25 25 60 30° 60 Thermal cable H Torque (Nm) Torque (Nm) 10 10 H Tc@600VDC Motor cable TYP 40 40 H 30° Tc@325VDC H TYP 20 20 15°TYP otuou torque 30° 0 15° 0 ree r oeto 15° TYP 0 200 400 600 800 1000 0 500 1000 1500 2000 H 15° TYP H min. Speed (rpm) Speed (rpm) Tc@600VDC 385f9 265H8 299 Ø min.

Ø Tc@325VDC Ø R 485f9 H ±0.2 345H8 15° 384 Ø

Ø TMRW45 TMRW45L HR±0.2 Ø

29.5±0.2 250 250 37.5±0.2 15°TYP 230f9 140H8 169min.

HR±0.2 19.5±0.2 Ø Ø 200 200

150 12-M6x1Px12DP 150 24-M6x1Px12DP PCD 277 (Both sides) PCD 277 (Both sides) 24-M8x1.25Px12DP X 12-M8x1.25Px12DP PCD 360 (Both sides) Seal (O-ring) position 12-M6x1Px12DP 24-M6x1Px12DP PCD 360 (Both sides) 100 100 24-M8x1.25Px12DP 12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) PCD 370 (Both sides) Seal (O-ring) position PCD 150 (Both sides) PCD 150 (Both sides) Section Torque (Nm) Torque (Nm) 12-M8x1.25Px12DP PCD 468 (Both sides) Section PCD 468 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP 50 50 Seal (O-ring) position PCD 220 (Both sides) PCD 220 (Both sides) Section 0 0 0 100 200 300 400 500 600 0 200 400 600 800 1000 1200 Speed (rpm) Speed (rpm)

TMRW47 TMRW47L 300 300 Table 2.3 TMRW4 Specifications 250 250

Symbol Unit TMRW43 TMRW43L TMRW45 TMRW45L TMRW47 TMRW47L TMRW4A TMRW4AL TMRW4F TMRW4FL TMRW Torque Motor 200 200 Continuous torque Tc Nm 28.2 28.2 47 47 65 65 91 91 136 136 150 150 Continuous current Ic Arms 4 8 4 8 4 8 8 12 8 12

Continuous torque (WC) Tcw Nm 63.5 63.5 106 106 148 148 205 205 307 307 Torque (Nm) 100 Torque (Nm) 100 Continuous current (WC) Icw Arms 9 18 9 18 9 18 18 27 18 27 50 50 Stall torque Ts Nm 20 20 33 33 46 46 64 64 95 95 Stall current Is Arms 2.8 5.6 2.8 5.6 2.8 5.6 5.6 8.4 5.6 8.4 0 0 0 100 200 300 400 0 200 400 600 800 Stall torque (WC) Tsw Nm 44 44 74 74 104 104 144 144 215 215 Speed (rpm) Speed (rpm) Stall current (WC) Isw Arms 6.3 12.6 6.3 12.6 6.3 12.6 12.6 18.9 12.6 18.9 Peak torque(Within 1s.) Tp Nm 120 120 203 203 280 280 390 390 583 583 TMRW4A TMRW4AL p rms Peak current(Within 1s.) I A 24.3 48.6 24.3 48.6 24.3 48.6 48.6 72.9 48.6 72.9 450 450 Torque constant Kt Nm/ Arms 7.06 3.53 11.76 5.88 16.47 8.23 11.76 7.61 17.65 11.42 400 400 Electrical time constant Te ms 4.1 4.1 4.7 4.3 4.9 4.7 5.2 4.3 5.2 4.4 350 350 Resistance (line to line at 25℃) R25 Ω 4.38 1.1 6.01 1.5 7.63 1.9 2.5 1.06 3.66 1.58 300 300 Inductance (line to line) L mH 17.9 4.5 28 6.38 37.6 8.93 13 4.57 19.13 6.9 250 250 Number of poles 2p 22 200 200 v rms 150 150 Back emf constant (line to line) K V /(rad/s)_ 4.08 2.04 6.8 3.4 9.5 4.75 6.79 4.39 10.19 6.59 Motor constant (at 25℃) Km Nm/√W 2.75 2.74 3.91 3.92 4.8 4.81 5.87 6.01 7.26 7.36 Torque (Nm) 100 Torque (Nm) 100 Thermal resistance Rth K/W 0.9 0.9 0.66 0.66 0.52 0.52 0.4 0.41 0.27 0.28 50 50 Thermal resistance ( WC) Rthw K/W 0.179 0.178 0.13 0.13 0.102 0.103 0.078 0.082 0.053 0.055 0 0 0 100 200 300 400 500 600 0 200 400 600 800 1000 Thermal sensor PTC SNM100+SNM120+Pt1000 Speed (rpm) Speed (rpm) Max. DC BUS VDC 750 Inertia of rotor J kgm2 0.0085 0.0085 0.014 0.014 0.022 0.022 0.029 0.029 0.045 0.045 TMRW4F TMRW4FL Max. speed at conti. Torque rpm 770 1600 450 950 320 670 460 730 300 470 700 700 Max. speed at conti. Torque (WC) rpm 710 1500 410 890 290 620 420 680 260 440 600 600 Max. speed at max. Torque rpm 500 1100 270 660 180 450 300 500 160 300 500 500 Rated speed ωn rpm 780 820 460 820 330 680 470 740 300 480 400 400 Mass of rotor Mr kg 1.4 1.4 2.4 2.4 3.3 3.3 4.7 4.7 7.1 7.1 300 300 Mass of stator MS kg 5.8 5.8 7.8 7.8 9.6 9.6 12.7 12.7 18.7 18.7 Torque (Nm) Torque (Nm) Height of stator HS mm 70 70 90 90 110 110 140 140 190 190 200 200 Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 100 100 Height H mm 10 10 15 15 15 15 15 15 15 15 0 0 0 100 200 300 400 0 100 200 300 400 500 600 Note：WC：water cooled Speed (rpm) Speed (rpm) *All the specifications in the table are in ±10% of tolerance except dimensions. 1)The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary. 24 MR99TE05-1910 Torque Motor & Direct Drive Motor 25

2.4 TMRW7 Series 2.4.2 TMRW7 Series T-N curves TMRW73 TMRW73L 300 300 e torque 2.4.1 TMRW7 Dimensions 250 250 Tp@600VDC TMRW73/5/7 TMRW7A/F 200 200 Tp@325VDC TMRW13/5/7 TMRW1A/F 150 150 otuou torque W

Torque (Nm) 100 Torque (Nm) 100 Tc@600VDC TMRW73/5/7 TMRW7A/F Hs Tc@325VDC 25 35 Thermal cable 50 50 Hs 12.5 17.5 Motor cable X 25 25 X otuou torque Thermal cable 0 0 10 10 ree r oeto Motor cable 0 200 400 600 800 0 500 1000 1500 Tc 600VDC 45° 30° Speed (rpm) Speed (rpm) @ TYP TYP H Tc@325VDC H TMRW75 TMRW75L

15°

22.5° 500 500 H

min. 450 450

H 15°TYP 310f9 200H8 min.

234 400 400

Ø HR±0.2 Ø Ø

60H8 22.5°TYP 160f9 Ø 85.5 Ø 350 350

HR±0.2 19.5±0.2 Ø 300 300 29.5±0.2 250 250 200 200 16-M5x0.8Px10DP

8-M5x0.8Px10DP Torque (Nm) 150 Torque (Nm) 150 PCD 70 (Both sides) 24-M5x0.8Px10DP PCD 70 (Both sides) 12-M5x0.8Px10DP PCD 210 (Both sides) 100 100 16-M5x0.8Px10DP X PCD 210 (Both sides) 8-M5x0.8Px10DP 50 50 Seal (O-ring) position PCD 150 (Both sides) Seal (O-ring) position X 24-M5x0.8Px10DP PCD 150 (Both sides) 12-M5x0.8Px10DP 0 0 PCD 300 (Both sides) PCD 300 (Both sides) Section Section 0 100 200 300 400 0 200 400 600 800 Speed (rpm) Speed (rpm)

TMRW77 TMRW77L 700 700

Table 2.4 TMRW7 Specifications 600 600 Symbol Unit TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7A TMRW7AL TMRW7F TMRW7FL 500 500 TMRW Torque Motor 400 400 Continuous torque Tc Nm 58 58 98 98 137 137 195 195 293 293 TMRW23/5/7 TMRW2A/F Continuous current Ic Arms 6 12 6 12 6 12 6 12 6 12 300 300 Torque (Nm) Torque (Nm) Continuous torque (WC) Tcw Nm 145 145 240 240 335 335 480 480 720 720 200 200 Continuous current (WC) Icw Arms 15 30 15 30 15 30 15 30 15 30 100 100 Hs Stall torque Ts Nm 41 41 69 69 96 96 137 137 205 205 30 30 0 0 12.5 12.5 Thermal cable Motor cable Stall current Is Arms 4.2 8.4 4.2 8.4 4.2 8.4 4.2 8.4 4.2 8.4 0 50 100 150 200 250 300 0 100 200 300 400 500 600 45° Stall torque (WC) Tsw Nm 102 102 168 168 235 235 336 336 504 504 Speed (rpm) Speed (rpm) TYP Stall current (WC) Isw Arms 10.5 21 10.5 21 10.5 21 10.5 21 10.5 21 Peak torque(Within 1s.) Tp Nm 275 275 456 456 640 640 910 910 1360 1360 TMRW7A TMRW7AL H Peak current(Within 1s.) Ip Arms 40.5 81 40.5 81 40.5 81 40.5 81 40.5 81 1000 1000 H 22.5° Torque constant Kt Nm/ Arms 9.77 4.89 16.3 8.15 22.8 11.4 32.56 16.28 48.85 24.45 900 900 800 800 min. Electrical time constant Te ms 5 4.9 5.6 5.6 5.6 5.6 5.6 5.6 6 5.8

90H8 22.5°TYP 198f9 700 700 Ø 119 Ø ℃ Ω Ø Resistance (line to line at 25 ) R25 3 0.81 4.19 1.05 5.52 1.38 7.52 1.88 10 2.5 HR±0.2 24.5±0.2 600 600 Inductance (line to line) L mH 15 4 23.45 5.86 30.9 7.73 42.07 10.52 60 14.6 500 500 Number of poles 2p 44 400 400 Back emf constant (line to line) Kv Vrms/(rad/s) 5.64 2.82 9.4 4.7 13.2 6.6 18.8 9.4 28.2 14.1 300 300

16-M5x0.8Px10DP _ Torque (Nm) Torque (Nm) 8-M5x0.8Px10DP ℃ √ 200 200 PCD 100 (Both sides) PCD 100 (Both sides) Motor constant (at 25 ) Km Nm/ W 4.56 4.38 6.52 6.51 7.92 7.94 9.68 9.68 12.61 12.61 100 100 16-M5x0.8Px10DP th 8-M5x0.8Px10DP Thermal resistance R K/W 0.59 0.54 0.42 0.42 0.32 0.32 0.23 0.23 0.18 0.18 Seal (O-ring) position PCD 185 (Both sides) 0 0 PCD 185 (Both sides) Thermal resistance ( WC) Rthw K/W 0.094 0.087 0.067 0.067 0.051 0.051 0.037 0.037 0.028 0.028 0 50 100 150 200 0 100 200 300 400 TMRWD3/5/7 TMRWDA/F Section Thermal sensor TMRWA3/5/7PTC SNM100+SNM120+Pt1000 TMRWAA/F Speed (rpm) Speed (rpm) Max. DC BUS VDC 750 2 Inertia of rotor J kgm 0.023 0.023 0.039 0.039 0.059 0.059 0.079 0.079 0.11 0.11 TMRW7F TMRW7FL Max. speed at conti. Torque rpm 560 1110 325 675 225 475 160 325 100 210 1600 1600

Max. speed at conti. Torque (WC) Hrpms 470 890 270 580 180 400 115 275 72 170 1400 1400 35 35 Thermal cable TMRW43/5 TMRW47/A/F Max. speed at max. Torque 8.5 rpm 8.5270 460 150 340 90 230 50 150 13 85 1200 1200 Motor cable Hs Thermal cable Rated speed ω rpm 410 410 320 410 230 410 150 330 100 210 271000 43 1000 n 10 26 Motor cable Hs Mass of rotor Mr kg 2.5 2.5 4.1 4.1 5.7 5.7 8.1 8.1 12.1 12.1 800 800

25 25 30° Thermal cable Mass of stator MS kg H 14.2 14.2 18.9 18.9 23.7 23.7 30.9 30.9 43.6 43.6 600 600

10 10 H Torque (Nm) Torque (Nm) Motor cable TYP 400 400 30° Height of stator HS mm 80 80 100 100 120 120 150 150 200 200 H H TYP 200 200 Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 15°TYP

30° 15° 0 0

Height H mm 10 10 15 15 15 15 15 15 15 15 15° TYP 0 20 40 60 80 100 120 140 0 50 100 150 200 250 300

H 15° TYP H Note：WC：water cooled min. Speed (rpm) Speed (rpm) 385f9

± 265H8

*All the specifications in the table are in 10% of tolerance299 except dimensions. Ø min. Ø 1) Ø The rated speed is the maximumR speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary. 485f9 H ±0.2 345H8 15° 384 Ø

HR±0.2 Ø

29.5±0.2 37.5±0.2 15°TYP 230f9 140H8 169min.

HR±0.2 19.5±0.2 Ø Ø

Hs 25 35 Thermal cable Hs 12.5 17.5 X Motor cable X 25 25 Thermal cable 10 10 Motor cable 45° 30° TYP H TYP H

15°

22.5° H

H min. 15°TYP 310f9 200H8 min. 234

Ø HR±0.2 Ø Ø

60H8 22.5°TYP 160f9 Ø 85.5 Ø

HR±0.2 19.5±0.2 Ø 29.5±0.2

TMRW23/5/7 TMRW2A/F

Hs 30 30 12.5 12.5 Thermal cable Motor cable 45° TYP

H H 22.5° min.

90H8 22.5°TYP 198f9 MR99TE05-1910 Torque Motor & Direct Drive Motor Ø 119 26 27 Ø

Ø HR±0.2 24.5±0.2

8-M5x0.8Px10DP 16-M5x0.8Px10DP PCD 100 (Both sides) PCD 100 (Both sides) 2.5 TMRWASeries 2.5.2 TMRWA Series T-N curves 16-M5x0.8Px10DP 8-M5x0.8Px10DP Seal (O-ring) position PCD 185 (Both sides) PCD 185 (Both sides) TMRWA3 TMRWA3L Section TMRWA3/5/7 TMRWAA/F 600 TMRWD3/5/7 60TMRWDA/F0 2.5.1 TMRWA Dimensions e torque 500 500 Tp@600VDC

400 400 Tp@325VDC

H TMRWA3/5/7 TMRWAA/F s 300 300 otuou torque W 35 35

Thermal cable Torque (Nm) Torque (Nm) TMRW43/5 TMRW47/A/F 8.5 8.5 Motor cable Hs 200 200 Tc@600VDC 27 43 Thermal cable 10 26 Motor cable Tc@325VDC 100 100 Hs otuou torque 25 25 30° 0 0 Thermal cable H ree r oeto 10 10 H TYP 0 100 200 300 400 0 200 400 600 800 Motor cable H Speed (rpm) 30° Speed (rpm) Tc@600VDC H TYP Tc@325VDC

15°TYP

30° 15°

15° TYP TMRWA5 TMRWA5L

H 15° 900 900 TYP H min. 385f9 265H8

299 800 800 Ø min. Ø Ø R 485f9 H ±0.2 345H8 15° 700 384 700 Ø

HR±0.2 Ø 600 600

29.5±0.2 37.5±0.2 15°TYP

230f9 500 500 140H8 169min.

HR±0.2 19.5±0.2 Ø Ø 400 400 300 300 Torque (Nm) Torque (Nm) 12-M6x1Px12DP 24-M6x1Px12DP 200 200 24-M8x1.25Px12DP PCD 277 (Both sides) PCD 277 (Both sides) 100 100 X 12-M8x1.25Px12DP PCD 360 (Both sides) Seal (O-ring) position 12-M6x1Px12DP 24-M6x1Px12DP PCD 360 (Both sides) 0 0 24-M8x1.25Px12DP 12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) PCD 370 (Both sides) Seal (O-ring) position 0 50 100 150 200 0 100 200 300 400 Section 12-M8x1.25Px12DP PCD 468 (Both sides) PCD 150 (Both sides) PCD 150 (Both sides) Speed (rpm) Speed (rpm) Section PCD 468 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP Seal (O-ring) position PCD 220 (Both sides) PCD 220 (Both sides) Section TMRWA7 TMRWA7L 1200 1200 Table 2.5 TMRWA Specifications 1000 1000 Symbol Unit TMRWA3 TMRWA3L TMRWA5 TMRWA5L TMRWA7 TMRWA7L TMRWAA TMRWAAL TMRWAF TMRWAFL 800 800 TMRW Torque Motor Continuous torque Tc Nm 117 117 195 195 274 274 390 390 585 585 600 600 Continuous current Ic Arms 6 12 6 12 12 18 12 18 18 24 Continuous torque (WC) Tcw Nm 260 260 430 430 600 600 860 860 1290 1290 Torque (Nm) 400 Torque (Nm) 400 Continuous current (WC) Icw Arms 15 30 15 30 30 45 30 45 45 60 200 200 Stall torque Ts Nm 82 82 137 137 192 192 273 273 410 410 0 0 Stall current Is Arms 4.2 8.4 4.2 8.4 8.4 12.6 8.4 12.6 12.6 16.8 0 50 100 150 200 250 300 0 100 200 300 400 500 Stall torque (WC) Tsw Nm 182 182 301 301 420 420 602 602 903 903 Speed (rpm) Speed (rpm) Stall current (WC) Isw Arms 10.5 21 10.5 21 21 31.5 21 31.5 31.5 42 Peak torque(Within 1s.) Tp Nm 490 490 810 810 1100 1100 1600 1600 2400 2400 TMRWAA TTMMRRWWAAAALL Peak current(Within 1s.) Ip Arms 40.5 81 40.5 81 81 121.5 81 121.5 121.5 162 1800 1800 Torque constant Kt Nm/ Arms 19.57 9.79 32.6 16.32 22.84 15.23 32.63 21.75 32.63 24.45 1600 1600 Electrical time constant Te ms 7.9 10 7.5 7.5 8.4 8.2 8.1 8 8.6 10 1400 1400 Resistance (line to line at 25℃) R25 Ω 4.8 0.89 7.1 1.78 2.2 0.98 2.97 1.32 1.98 1 1200 1200 Inductance (line to line) L mH 38.15 8.93 53.4 13.35 18.5 8 24.2 10.5 17 10 1000 1000 Number of poles 2p 66 800 800 v rms 600 600 Back emf constant (line to line) K V /(rad/s)_ 11.3 5.65 18.8 9.42 13.18 8.79 18.83 12.55 18.83 14.12 Torque (Nm) Torque (Nm) Motor constant (at 25℃) Km Nm/√W 8.43 8.44 9.96 9.94 12.57 12.56 15.4 15.4 18.86 19.9 400 400 Thermal resistance Rth K/W 0.37 0.49 0.25 0.25 0.2 0.2 0.15 0.15 0.1 0.11 200 200 0 0 Thermal resistance ( WC) Rthw K/W 0.059 0.079 0.04 0.04 0.032 0.032 0.024 0.024 0.016 0.018 0 50 100 150 200 0 50 100 150 200 250 300 Thermal sensor PTC SNM100+SNM120+Pt1000 Speed (rpm) Speed (rpm) Max. DC BUS VDC 750 Inertia of rotor J kgm2 0.065 0.065 0.1 0.1 0.15 0.15 0.21 0.21 0.32 0.32 TMRWAF TMRWAFL Max. speed at conti. Torque rpm 250 510 140 300 210 320 140 220 140 200 3000 3000 Max. speed at conti. Torque (WC) rpm 160 340 90 200 135 210 90 140 92 125 2500 2500 Max. speed at max. Torque rpm 65 150 35 80 55 90 35 60 35 50 2000 2000 Rated speed ωn rpm 240 270 140 270 210 270 150 230 150 200

Mass of rotor Mr kg 3.1 3.1 5.1 5.1 7.1 7.1 10.2 10.2 15.3 15.3 1500 1500 Mass of stator MS kg 20.1 20.1 26.8 26.8 34.5 34.5 44.9 44.9 63.1 63.1

Torque (Nm) 1000 Torque (Nm) 1000 Height of stator HS mm 90 90 110 110 130 130 160 160 210 210 500 500 Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 Height H mm 10 10 15 15 15 15 15 15 15 15 0 0 0 50 100 150 200 0 50 100 150 200 250 300 ：： Note WC water cooled Speed (rpm) Speed (rpm) *All the specifications in the table are in ±10% of tolerance except dimensions. 1)The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary. TMRW73/5/7 TMRW7A/F TMRW13/5/7 TMRW1A/F

Hs 25 35 Thermal cable Hs 12.5 17.5 X Motor cable X 25 25 Thermal cable 10 10 Motor cable 45° 30° TYP H TYP H

15°

22.5° H

H min. 15°TYP 310f9 200H8 min. 234

Ø HR±0.2 Ø Ø

60H8 22.5°TYP 160f9 Ø 85.5 Ø

HR±0.2 19.5±0.2 Ø 29.5±0.2

TMRW23/5/7 TMRW2A/F

Hs 30 30 12.5 12.5 Thermal cable Motor cable 45° TYP

H H 22.5° min.

90H8 22.5°TYP 198f9 Ø 119 Ø

Ø HR±0.2 24.5±0.2 28 MR99TE05-1910 Torque Motor & Direct Drive Motor 29

8-M5x0.8Px10DP 16-M5x0.8Px10DP PCD 100 (Both sides) PCD 100 (Both sides) 16-M5x0.8Px10DP 8-M5x0.8Px10DP Seal (O-ring) position PCD 185 (Both sides) PCD 185 (Both sides) 2.6 TMRWD Series 2.6.2 TMRWD Series T-N curves Section TMRWA3/5/7 TMRWAA/F TMRWD3/5/7 TMRWDA/F TMRWD3 TMRWD3L 800 800 e torque 2.6.1 TMRWD Dimensions 700 700 Tp 600VDC 600 600 @

Hs Tp@325VDC 500 500 35 35 Thermal cable TMRW43/5 TMRW47/A/F 8.5 8.5 Motor cable Hs TMRWD3/5/7 TMRWDA/F 400 400 otuou torque W 27 43 Thermal cable Torque (Nm) Torque (Nm) 300 10 26 Motor cable 300 Tc@600VDC Hs 200 200 Tc@325VDC 25 25 30° Thermal cable H 100 100 10 10 H TYP Motor cable otuou torque H 30° 0 0 ree r oeto H TYP 0 100 200 300 400 0 200 400 600 800 Tc@600VDC 15°TYP Speed (rpm) Speed (rpm)

30° 15° Tc@325VDC 15° TYP

H 15° TYP H min. TMRWD5L 385f9 TMRWD5 265H8 299 Ø min.

Ø 1400 Ø 1400 R 485f9 H ±0.2 345H8 15° 384 Ø

Ø HR±0.2 Ø 1200 1200 29.5±0.2 37.5±0.2

15°TYP 1000 1000 230f9 140H8 169min.

HR±0.2 19.5±0.2 Ø Ø 800 800

600 600 12-M6x1Px12DP 24-M6x1Px12DP

PCD 277 (Both sides) PCD 277 (Both sides) 24-M8x1.25Px12DP Torque (Nm) 400 Torque (Nm) 400 X 12-M8x1.25Px12DP PCD 360 (Both sides) Seal (O-ring) position 12-M6x1Px12DP 24-M6x1Px12DP PCD 360 (Both sides) 24-M8x1.25Px12DP 200 200 12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) PCD 370 (Both sides) Seal (O-ring) position PCD 150 (Both sides) PCD 150 (Both sides) Section 12-M8x1.25Px12DP PCD 468 (Both sides) PCD 468 (Both sides) 0 0 Section 0 100 200 300 400 500 12-M5x0.8Px10DP 24-M5x0.8Px10DP 0 50 100 150 200 250 Seal (O-ring) position PCD 220 (Both sides) PCD 220 (Both sides) Speed (rpm) Speed (rpm) Section TMRWD7 TMRWD7L 2000 2000 Table 2.6 TMRWD Specifications 1800 1800 1600 1600 Symbol Unit TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWDA TMRWDAL TMRWDF TMRWDFL

1400 1400 TMRW Torque Motor 1200 Continuous torque Tc Nm 185 185 310 310 430 430 619 619 925 925 1200 1000 1000 Continuous current Ic Arms 12 24 12 24 12 24 12 24 24 48 800 800 Torque (Nm) Torque (Nm) Continuous torque (WC) Tcw Nm 400 400 660 660 930 930 1340 1340 2000 2000 600 600 Continuous current (WC) Icw Arms 30 60 30 60 30 60 30 60 60 120 400 400 Stall torque Ts Nm 130 130 217 217 301 301 433 433 648 648 200 200 0 0 Stall current Is Arms 8.4 16.8 8.4 16.8 8.4 16.8 8.4 16.8 16.8 33.6 0 50 100 150 200 0 50 100 150 200 250 300 350 Stall torque (WC) Tsw Nm 280 280 462 462 651 651 938 938 1400 1400 Speed (rpm) Speed (rpm) Stall current (WC) Isw Arms 21 42 21 42 21 42 21 42 42 84 Peak torque(Within 1s.) Tp Nm 750 750 1230 1230 1760 1760 2470 2470 3600 3600 TMRWDA TMRWDAL Peak current(Within 1s.) Ip Arms 81 162 81 162 81 162 81 162 162 324 3000 3000 Torque constant Kt Nm/ Arms 15.48 7.74 25.8 12.9 36.11 18.1 51.6 25.8 38.7 19.35 2500 2500 Electrical time constant Te ms 7.1 7.1 7.1 8.1 7.1 7.1 7.1 7 8.3 8.5 Resistance (line to line at 25℃) R25 Ω 1.57 0.39 2.31 0.59 3.04 0.76 4.14 1.04 1.35 0.33 2000 2000 Inductance (line to line) L mH 11.13 2.78 16.3 4.78 21.5 5.38 29.3 7.33 11.2 2.8 1500 1500 Number of poles 2p 88 v rms 1000 1000 Back emf constant (line to line) K V /(rad/s)_ 8.94 4.47 14.9 7.45 20.85 10.43 29.8 14.9 22.35 11.18 ℃ √ Torque (Nm) Torque (Nm) Motor constant (at 25 ) Km Nm/ W 10.05 10.08 13.88 13.73 16.78 16.78 20.7 20.65 27.08 27.39 500 500 Thermal resistance Rth K/W 0.28 0.28 0.19 0.19 0.14 0.14 0.11 0.11 0.08 0.08 0 0 Thermal resistance ( WC) Rthw K/W 0.045 0.045 0.030 0.030 0.023 0.023 0.017 0.017 0.013 0.013 0 20 40 60 80 100 120 0 50 100 150 200 250 Thermal sensor PTC SNM100+SNM120+Pt1000 Speed (rpm) Speed (rpm) Max. DC BUS VDC 750 Inertia of rotor J kgm2 0.16 0.16 0.26 0.26 0.37 0.37 0.53 0.53 0.8 0.8 TMRWDF TMRWDFL Max. speed at conti. Torque rpm 300 630 180 390 130 275 90 190 125 260 4000 4000 Max. speed at conti. Torque (WC) rpm 200 420 120 250 85 190 60 133 80 190 3500 3500 Max. speed at max. Torque rpm 85 175 50 115 30 85 18 60 30 80 3000 3000 Rated speed ωn rpm 200 200 190 200 130 200 90 190 120 200 2500 2500 Mass of rotor Mr kg 5.5 5.5 9.2 9.2 12.8 12.8 18.3 18.3 22 22 2000 2000 Mass of stator MS kg 22.8 22.8 38 38 53.2 53.2 76 76 90 90 1500 1500 Torque (Nm) Torque (Nm) Height of stator HS mm 90 90 110 110 130 130 160 160 210 210 1000 1000 Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 500 500 Height H mm 10 10 15 15 15 15 15 15 15 15 0 0 0 50 100 150 200 0 50 100 150 200 250 300 350 ：： Note WC water cooled Speed (rpm) Speed (rpm) *All the specifications in the table are in ±10% of tolerance except dimensions. 1)The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary. 30 MR99TE05-1910 Torque Motor & Direct Drive Motor 31

2.7 TMRWG Series 2.7.2 TMRWG Series T-N curves

2.7.1 TMRWG Dimensions TMRWG7 TMRWG7L 2500 2500 Peak瞬間轉矩 torque TMRWG7TMRWG7 TMRWGA/FTMRWGA/F 2000 2000 Tp@600VDC Tp@325VDC (2000) (2000) 1500 1500 Hs Hs 65 max. 35 35 Thermal溫度開關線 cable 35 35 Thermal溫度開關線 cable 65 max. 18 18 Motor馬達電源線 cable 51 max. 18 18 Motor馬達電源線 cable 51 max. Continuous連續轉矩(水冷) torque(WC) Torque (Nm) 1000 Torque (Nm) 1000 Tc@600VDC

500 500 Tc@325VDC 30° H TYP H H H 0 0 Continuous連續轉矩(空冷) torque(WC) 0 20 40 60 80 100 120 0 50 100 150 200 250 (Free air convection) Tc 600VDC 15° Speed (rpm) Speed (rpm) @

15°

TYP Tc@325VDC 420H8 420H8 Ø Ø 565f9 565f9 459min. 459min. Ø Ø HR±0.2 Ø HR±0.2 Ø TMRWGA TMRWGAL 29.5±0.2 29.5±0.2 4000 4000 3500 3500 3000 3000 24-M8x1.25Px12DP 2500 2500 PCD 548 24-M8x1.25Px12DP 12-M8x1.25Px12DP PCD 435 (Both(兩端 sides)) 2000 2000 PCD 435 (Both(兩端 sides)) Torque (Nm) Torque (Nm) Seal(O-ring) 23-M8x1.25Px12DP 1500 OSeal(O-ring)型環位置 position Oposition型環位置 1500 12-M8x1.25Px12DP PCD 548 兩端 SectionX-X 剖面 PCD 548 (Both( sides)) SectionX-X 剖面 1000 1000 500 500 0 0 0 20 40 60 80 100 120 140 160 0 50 100 150 200 250 300 350 Speed (rpm) Speed (rpm)

Table 2.7 TMRWG Specifications TMRWGF TMRWGFL 6000 Symbol Unit TMRWG7 TMRWG7L TMRWGA TMRWGAL TMRWGF TMRWGFL 6000 TMRW Torque Motor 5000 Continuous torque Tc Nm 582 582 810 810 1200 1200 5000 Continuous current Ic Arms 10.5 21 21 42 21 42 4000 4000 Continuous torque (WC) Tcw Nm 1255 1255 1810 1810 2720 2720 3000 3000 Continuous current (WC) Icw Arms 26.3 52.5 52.5 105 52.5 105 Torque (Nm) Torque (Nm) Stall torque Ts Nm 407 407 567 567 840 840 2000 2000 Stall current Is Arms 7.4 14.7 14.7 29.4 14.7 29.4 1000 1000 Stall torque (WC) Tsw Nm 879 879 1267 1267 1904 1904 0 0 Stall current (WC) Isw Arms 18.4 36.8 36.8 73.5 36.8 73.5 0 20 40 60 80 100 120 0 50 100 150 200 250 Peak torque(for 1s) Tp Nm 2360 2360 3340 3340 5020 5020 Speed (rpm) Speed (rpm) Peak current(for 1s) Ip Arms 71 142 142 284 142 284 Torque constant Kt Nm/Arms 55.4 27.7 38.8 19.4 57 28.5 Electrical time constant Te ms 7.8 7.2 8 8.3 8.9 8.8 Resistance (line to line at 25℃) R25 Ω 3.3 0.83 1.06 0.27 1.46 0.37 Inductance (line to line) L mH 25.7 6 8.5 2.23 13 3.25 Number of poles 2p 88 v rms Back emf constant (line to line) K V /(rad/s)_ 32 16 22.4 11.2 33.6 16.8 Motor constant (at 25℃) Km Nm/√W 24.91 24.84 30.59 30.3 38.61 38.35 Thermal resistance Rth K/W 0.17 0.17 0.14 0.13 0.1 0.1 Thermal resistance ( WC) Rthw K/W 0.028 0.028 0.022 0.021 0.016 0.016 Thermal sensor PTC SNM100+SNM120+Pt1000 Max. DC BUS VDC 750 Inertia of rotor J kgm2 0.619 0.619 0.904 0.904 1.38 1.38 Max. speed at conti. Torque rpm 90 190 130 280 90 180 Max. speed at conti. Torque (WC) rpm 70 150 100 220 60 140 Max. speed at max. Torque rpm 30 80 50 110 30 70

Rated speed ωn rpm 90 190 130 200 90 180 Mass of rotor Mr kg 13.3 13.3 19 19 28.3 28.3 Mass of stator MS kg 61.1 61.1 75 75 107.5 107.5 Height of stator HS mm 130 130 160 160 210 210 Height of rotor HR mm 71 71 101 101 151 151 Height H mm 15 15 15 15 15 15 Note：WC：water cooled *All the specifications in the table are in ±10% of tolerance except dimensions. 1)The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary. Torque Motor & Direct Drive Motor 33

3. Drives and Accessories

DC24V Option 6

Main Power

2 1 Drive

CN1 CN2

CN3 CN2 3 4

5 Pulse signal etc. PC

Motion Controller

Part name Model Connector Description

For Incremental feedback types

D1-36-S2

1 Drive For absolute feedback types

D1-36-S4

U V W

T - T +

For Direct Drive motors

Free leads

Motor U V W 2 Motor Power Cable LMACSF Connects (U,V,W) Intercontec Model:BSTA880FR0886201A000 Drives and Accessories FMK3G FMK3G

34 MR99TE05-1910 Torque Motor & Direct Drive Motor 35 FMK3G

3.1 Pin Assignment Part name Model Connector Description For incremental feedback types A□□AA A□□A 8-10-0090 Color SCSI 20 8-10-0090 Color SCSI 20 Function Signal Function Signal LMACEAA (Female) (051400300069) (Male) (Female) (051400300069) (Male) Intercontec Drive Connector(3M) 4 5V Blue 3 4 5V Blue 3 Model : ASTA876FR1085200A000 Model : 10120-3000VE Power 5 5V Blue - Power 5 5V Blue - 6 0V White 2 6 0V White 2 FMK3G - - For incremental feedback types with hall sensor 2 U2 Red 19 2 U2 Red 19

FMK3G - - Incremental 3 U1 Brown 17 Incremental 3 U1 Brown 17 Signal + Signal + 3 Position Signal Cable LMACEAM CN3 9 U2 Black 18 9 U2 Black 18 + + 10 U1 Green 16 10 U1 Green 16 Intercontec Drive Connector(3M) Model : ASTA876FR1085200A000 - - Model : 10120-3000VE 1 U0 Pink 9 1 U0 Pink 9 + Reference + Reference 8 U0 Grey 8 8 U0 Grey 8 Mark For absolute feedback types Mark 6 0V Inner Shield 20 Case Shield Outer Shield 1 Case Shield Outer Shield 1 Temperature 11 T+ Purple 14 11 T+ Purple 14 Switch 12 T- Yellow 15 LMACEAU Temperature Switch 13 Vcc Blue 3 Intercontec Drive Connector(3M) 12 T- Yellow 15 Model : ASTA876FR1085200A000 Model : 10120-3000VE 14 Hall A Brown/Green 11 Hall Sensor 15 Hall B White/Yellow 12 To PC (about 2m long for mega-fabs drive) 16 Hall C White/Green 13 17 GND Whtie 10 D-SUB 9 Female 4 RS-232 Cable LMACR21D Drive RS-232 RJ-11

To motion controller (about 3m long) A□□A Controller Pulse 5 LMACK30R CN2 8-10-0090 Color SCSI 20 Cable Function Signal (Female) (051400300069) (Male) Drive Connector(3M) Model : 10126-3000VE 1 VREF+ Brown 11 4 White/Yellow 6 Regen Resistor 050100700001 Rated 100W, Peak 500W 7 VREF- White 3 D1-CK1 All Connector (Not Include CN3) D1 Drive Accessory Resolver 1 8 Yellow/Brown D1-CK2 All Connector (Include CN3) (20/115) 2 SIN+ Green 16 D1-EMC1 Used in Single Phase AC Power EMC Accessory 3 SIN- Yellow 17 D1-EMC2 Used in Three Phase AC Power 9 COS+ Blue 18 D1-H1 Standard Heat Sink 10 COS- Red 19 D1-H2 Low Profile 13 SIN+ Black 4 Resolver 2 14 SIN- Purple 5 (24/114) 15 COS+ Grey 6

□□ 03 04 05 06 07 08 09 10 16 COS- Pink 7 Inner 12 Inner shield 15 Cable Length (m) 3 4 5 6 7 8 9 10 shield Outer Note: User must prepare one 24 VDC power supply for each drive. Case Outer shield 1/Case shield Temperature 11 T+ Brown/Green 14 Switch 12 T- White/Green 15 Drives and Accessories 36 MR99TE05-1910 Torque Motor & Direct Drive Motor 37

Appendix A: Motor Sizing STEP1 Requirement In order to select the motor that meet user’s needs, the following formula of load inertia motion must be understood prior to the selection. Start Motor Sizing Calculation of loading inertia The following contents describe how to choose proper motor according to speed, moving distance, and Loading inertia can be determined by 3D drawing software or according to the formula. The basic loading loading inertia. The basic process for sizing a motor is: formula is as follows: moment of inertia of a hollow cylinder Requirement r r R2 + r2 J= m ( + S2 ) S S  Operating environment R2 2+ r2 S S J= m ( + S2 )  Installation (horizontal or vertical ) 2 moment aof2 inertia+ b2 of a rectangular b b  Driving method J= m ( + S2 ) R R 2 2 a 1+2 b 2  Load conditions (loading inertia, friction and cutting force) J= m ( + S ) m m 12 m m  Speed condition (maximum acceleration and velocity) a a

 Duty cycle ω = ω0 + αt = + t ω ω0 α1 2 θ = ω0t + αt 12 θ = ω t + αt2 0R2 + r2 J= m ( 2 + S2 ) 2 θ 旋轉中心 Rotary旋轉中心 center Rotary旋轉中心 center 旋轉中心 Torque calculation ωmax = 2 × 或 ωmax = α × θ θt ω = 2 × 2 或 ω = × Determinemax a the+ bt motion2 speedmax andα parametersθ  Calculate the torque corresponding to the speed under each J= m ( 4θ + S ) Motion =equation12 operation condition α max 2 Basic kinematicsr 4tθ equations areω(rad/s) describedω(rad/s) as follows: ω(rad/s) ω(rad/s) α max = 2  Calculate equivalent torque t S ω max ω max ω max ω max ω = ω0 + αt S T max = ( J +J ) × + T = T + T 1 m 2 αmax f i f θ = ω0t + αt T max = ( J +2Jm) × αmax + Tf = Ti + Tf b R Where ω is angular2 velocity,2 α is angular acceleration,2 t t(sec)is movingt(sec) time and θ is angular displacement.t(sec) t(sec) (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 m UserTe = can chooseθ two2 of the four2 parameterst/2 (ω2t/2, αt/2, t andθ)t/2 as user’s designed t1parameters,t2 t1 t3thent2t4 the t3left t4 Motor sizing and T-N curve confirmation ω = 2m× 或 ω = max (Ti + Tf ) × t1m++axTtf2 +×αtt32×++θt(4Ti − Tf ) × t3 a twoTe =parameterst can be calculated by above equations.  Select the appropriate motor from the HIWIN’s catalogue t1 + t2 + t3 + t4 in accordance with calculated maximum torque, equivalent 4θ Motionα max =velocityTmax profile I max = t2 torque and speed. The motionTKmat xprofiles for torque motor are usually classified as “Trapezoid Profile” and “Triangle Symbol : I max =  Ensure the speed and the corresponding torque under all Profile”,K wheret the Trapezoid Profile is frequently used for scan. The motion profiles are divided as θ: Angular displacement (rad) Te operating conditions are within the range of torque-speed acceleration,Ie = constant velocity and deceleration. The maximum angular acceleration can be determined t: Moving time(sec) T max = ( J +Jm) × αmax + Tf = Ti + Tf KTet 旋轉中心旋轉中心 curve of the motor. 2 byIe the= basic kinematics equations above-mentioned; the Trapezoid Profile is usually used in point-to-point α: Angular acceleration(rad/s )  Confirm the equivalent torque is within the continuous torque application.Kt The motion profiles are divided as acceleration and deceleration, where the motion profile and ω: Angular velocity (rad/s) 2 2 2 formula (canT2 2+ beT 2simplified)2 × t + asT follows:× t + (2T −2T ) × t of the motor. 2 RRi ++rfr 21 f 02.25 +i 0 f 2 3 2 J: Load inertia (kgm ) JT1e===mm( ( + +S2S) ) = 12 ( + 0 ) = 0.375kgm 2 2 2 2 t1 + t2 + t3 + t24 2 Jm: Rotor inertia (kgm ) R2 + r 2 0.25 + 0 2 2 J1 = m( + S ) = 12 ( + 0 ) = 0.375kgm T-N curve ω(rad/s) ω(rad/s) Tp: Peak torque (Nm) 2 2 2 2 2 2 2 2 max a + b 0.1 + 0.05 max Torque (Nm) Tc: Continuous torque (Nm) J=ω m ( Tmaax+ b+ S2 )2 2 ω 2 JI m2 a=x =m( + S ) = 1 ( 2 2 + 0.15 ) = 0.0235kgm Tp 122 2 0.1 + 0.05 Ti: Inertia torque (Nm) Kat 1+2 b 2 12 2 2 (Peak Torque) J2 = m( + S ) = 1 ( + 0.15 ) = 0.0235kgm Kt: Torque constant (Nm/Arms) 12 12 Te 2 Ip: Peak current (Arms) ωJIe==J1ω+0 +8 ×αtJ 2 = 0.375 + 8 × 0.0235 = 0.563kgm Tcw e Kt 2 (Continuous I : Equivalent current (Arms) J= J + 8 × J = 0.375 + 8 × 0.02t(sec)35 = 0.563kgm t(sec) torque for 1 1 2 2 c θ = ω0t + αt water cooling) I : Continuous current (Arms) 4t/25 × π t/2 t1 t2 t3 t4 θ = 45° = 2 = 0.7854rad ω0: Initial angular velocity (rad/s) 2 2 2 2 Tc R 4+158r×0π 2 0.25 + 0 2 2 (Continuous m: Loading Mass (kg) θJ1== 4m5°( = + S= 0).7=85142r(ad + 0 ) = 0.375kgm torque for air 2180 2 cooling) θ R: External diameter of loading Mass (m) ωmax = 2 × θ 或 ω0m.a7x8=54 α × θ ω max = 2 × t = 2 × = 5.236rad /s = 50rpm Speed (rpm) r: Internal diameter of loading Mass (m) 2 θt 2 0.708.354 2 2 ω max = 2a×+ b= 2 × =0.15.2+360r.0a5d /s = 50rpm a, b: Side length of loading Mass (m) J = m(4θ t + S2 ) 0=.31 ( + 0.152 ) = 0.0235kgm2 2 = 12 12 S: Distance from gravity center to rotary center (m) α max 4θ2 4 × 0.7854 2 α max = t = = 34.91rad/s 4t2θ 4 ×00..372854 max 2 α = 2 = 2 = 34.91rad/s 2 J= J1 + t8 × J2 = 0..375 + 8 × 0.0235 = 0.563kgm T max = ( J +Jm) × αmax + Tf = Ti + Tf 45 × π θ = 45° = 2 = 0.78524rad 2 2 2 2 (Ti + 1T8f 0) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 Te = 2 2 2 = 2 2 2 = 9.9Nm (Ti + Tf ) × t1 ++ Ttf2 +× tt32 ++ t(4Ti − Tf ) × t3 (20.4 + 2) × 00..1155++ 20 +× 00.1+5 (+201.4 − 2 ) × 0.15 Te = Te = θ t 0.+78t54+ t + t = = 9.9Nm ω = 2 × = 2 ×t1 + t2 +=t35+.23t46rad /s = 50rpm 0.15 + 0 + 0.15 + 1 max t 0.3

T4mθax 4 × 0.7854 αI mmaaxx== = = 34.91rad/s2 tK2t 0.32

Te Ie = Kt 2 2 2 2 2 2 (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 Te = = = 9.9Nm R2 + r2 0.252 + 02 J = m( + St21) +=t12 2+(t3 + t4 + 02 ) = 0.375kgm2 0.15 + 0 + 0.15 + 1 1 2 2

a2 + b2 0.12 + 0.052 J = m( + S2 ) = 1 ( + 0.152 ) = 0.0235kgm2 2 12 12

2 J= J1 + 8 × J2 = 0.375 + 8 × 0.0235 = 0.563kgm

45 × π θ = 45° = = 0.7854rad 180

θ 0.7854 ω = 2 × = 2 × = 5.236rad /s = 50rpm max t 0.3

4θ 4 × 0.7854 α max = = = 34.91rad/s2 t2 0.32

2 2 2 2 2 2 (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 Te = = = 9.9Nm t1 + t2 + t3 + t4 0.15 + 0 + 0.15 + 1 2 2 R2 + r2 2 J= m ( + S2 ) 2

a2 + b2 a 2 + b2 2 J= m ( R + r + S22 ) J= m ( 12 + S ) R2 + r2 2 J= m ( + S2 ) 2 ω = ω a+2 +αtb 2 ωJ==mω( 0 + αt + S2 ) aR22 ++ br2 121 22 1 2 J= mm ( + S ) θ = ω0t + αt 122 0 2 ω = ω0 + αt 2 2 a + b 2 θ ωJ==mω( 0 + αt + S ) ω = 2 ×1θ 2或 ω = 12 ωθ m=aωx =0t2+× αt 或 ωmax = α × θ max 2 t max α θ 1 2 θ = ω0t + αt 42 θ 2 2 R4θ+ r 2 ω = ω + αt Jα=mmax (= 2 + S ) r 0 α max t2 θ 38 MR99TE05-1910 ωmax = 2t × 或 ωmax = α × θ Torque Motor & Direct Drive Motor 39 S 1 2 t θ = ω0t + θαt ωmax = 2 ×2 或 ωmaxS = α × θ a2 + b2 t J= m ( 4θ + S2 ) T max == (1J2+Jm) × αmax + Tf = Ti + Tf α max t2 m αmax f i f 4b θ R STEPα max = 2 Torqueθ calculation Example of motor sizing ωmax = 2t2× 或 ωmax = α × θ t 2 2 2 ω = ω0(+T α+t T ) 2 × t + T 2 × t + (T − T ) 2 × t m (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 m The maximum torque can be calculated by the following equation LoadingTem=ax = requirement:( J +Jm) × α mAnax aluminum+ Tf = Ti +discTf with φ500mm and 15mm thick without offset and weight is 12kg. 4 Te = 1 2 a θ θ = ω0t + αt t1 + t2 + t3 + t4 α max = There are eight2 jigs with 100x50x50mm on the aluminum disc at an interval of 45˚. Each jig weighs 1 kg. The T max = (tJ2 +Jm) × αmax + Tf = Ti + Tf distance from the jig gravity center to the rotary center is 150mm, and the mechanical friction force is 2Nm. 2 2 2 (TTmi a+x Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 Where Ti is inertia torque, Tf is the torque which is cause by friction torque, cutting force or external force. SpeedI = requirement:Tmaxθ Each position 45˚ is completed in 0.3 seconds, and rests for 1 second. 2 2 2 ITme a=x == 2 × 或 = ωmax Kt ωtm1ax+ t2 +α t×3θ+ t4 InT mmostax = (cases,(TJi +JTm fthe)) × ×motionsαtm1ax+ +Tf Taref×= tcyclic2Ti++(T point-to-pointfi − Tf ) × t3 movements. Assuming a cyclic motion shown in the Kt t Te = following profile with at1 dwell+ t2 time+ t3 of+ tt44 second, the effective force can be calculated as follows: STEP1Te 4 θ Requirement confirmation αIem=ax = T max 2 2 2 2 旋轉中心旋轉中心 I max =Kt t (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 CalculationK of loading inertia Te = Tmax t I max = t1 + t2 + t3 + t4 Inertia of disc Kt Te 2 2 2 2 T max = ( JR+2J+ )r2× α 2 + T = T0.+25T2 + 02 2 2 IJe = m R +m r + Sm2ax = 1f 2 0i .25 f + 0 + 02 = 0.375kgm2 J1 = m( + S ) = 12 ( + 0 ) = 0.375kgm Te Kt 2 2 (rad/s) Ie(rad/s)= T max ω Iωmax = Kt 2 2 Kt Inertia of jig 2 (Ti +2 Tf ) 2 × t1 + Tf × t2 +2(Ti − Tf 2) × t3 ω max ω max a22 + b2 0.12 +20.0522 Te = Ra ++ br 2 0.01.25+ 0+.005 2 2 2 2 J2 = m ( + St12 )+ =t2 1+2(t3 + t4 ++ 00.15=2 )0=.3705.0k2g3m5k gm2 Te J12 = m( 12 + S ) = 1 ( ( 12 + 0.1)5 ) = 0.0235kgm Ie = 2 2 2 2 122 12 R + r 2 0.25 + 0 2 2 J = mKt( + S ) = 12 ( + 0 ) = 0.375kgm 1 2 2 Total inertia Tmax J= J + 8 2× J =2 0.375 + 8 × 0.02 235 = 02 .563kgm2 IJm=axJ=1 + 8a×+J2b= 0.3275 + 8 ×00.1.02+350.0=50.563kgm2 2 J = m(Kt + S ) = 1 ( + 0.15 ) = 0.0235kgm t(sec) 2 2 2 t(sec)2 22 2 R2 + r2 2 0.01.25+ 0+.005 2 2 12 12 J1 = m( a + b + S2 ) = 12 ( + 0 ) =2 0.375kgm 2 t/2 t/2 J2 = mt1( 2 t2 + S t3) =t41 ( 2 + 0.15 ) = 0.0235kgm MotionT eprofile45 × π 12 12 Iθe == 45 ° = = 0.7854rad It is a Kpoint-to-point180 application. The maximum angular2 velocity and the maximum angular acceleration are J= J1 +t 8 × 1J28=0 0.375 + 8 × 0.0235 = 0.563kgm 2 2 0.12 + 0.052 calculated as follows: J= J + 8a×+J b= 0.3275 + 8 × 0.0235 = 0.563kgm2 2 2 J2 = m1 ( 2 + S ) = 1 ( + 0.15 ) = 0.0235kgm θ 0.7854 ω max = 22× θ =2 2 × 0.7854 = 5.236ra2 d /s = 50rpm STEP 3 Motor12 sizing and1 T-N2 curve confirmation ω max = R2 ×4+5r×= π2 ×2 =0.255.23+60rad /s2= 50rpm 2 Jθ1== 4m5(° = t + S= )0=.708.13524(rad + 0 ) = 0.375kgm With the help4 of5 ×HIWINπ ’s motor specification, users can select the appropriate motor from peak torque and 2180 2 θ = 45° = = 0.7854rad 2 4 4 × 0.7854 equivalentJ= J1 + 8 torque,× 1J28=0 and0.3 7ensure5 + 8 ×the0 .speed0235 =and0 .5torque63kg munder all operating conditions is within the range of the 4θ 4 × 0.7854 2 α max = = = 342.91rad/2s2 α max = 22 =θ 2 20.785=403.14.9+1r0a.0d5/s T-N curve for the motor. ω max = t2a2×+ b= 20.×232 = 5.236rad /s = 520rpm 2 2 2 J2 = m( t + S ) =0.13( + 0.15 ) = 0.0235kgm R + θr 2 0.7854 12 12 Jω= m (= 2 ×45 ×=+πS2 ×) = 5.236rad /s = 50rpm θ =ma4x5° =2 t = 0.708.354rad 180 T-N curve 4θ 4 × 0.7854 α max = = = 34.91rad/s2 2 2 2 J= J1 + 82× J2 = 0.3725 + 8 × 0.0235 = 0.563kgm Torque (Nm)a + b t 2 0.3 2 2 2 2 2 4θ θ4 × 02.7805.74854 2 (T + T ) 2 × t + T 2 × t + (T − T ) 2 × t (20.4 + 2) 2 × 0.15 + 22 × 0 + (20.4 − 2 ) 2 × 0.15 Jαω=mmax =(= 2 ×= =+ S2 ×) = 3=4.951.2r3a6dr/asd /s = 50rpm (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 maTpx t12 2 0.32 Te = = = 9.9Nm (Peak Torque) t 0.3 Te = 45 × π t + t + t + t = 0.15 + 0 + 0.15 + 1 = 9.9Nm θ = 45° = = 0t1.7+85t42r+adt 3 + t4 0.15 + 0 + 0.15 + 1 STEP 2 Torque180 calculation 4θ 4 × 0Tmax.7854 ωm=axω + αt 2 2 2 2 2 2 2 α Tcw=0 2 = 2 = 34.91rad/s (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 (Continuous t 0.3 It is recommendedθ that0. 7the85 4ratio loading inertia (J) over motor rotator inertia (Jm) be less than 50. It can be torque for 2 2 2 2 2 2 ωTem=ax = 2 × = 2 × = 5.236rad /s = 50rpm = = 9.9Nm water cooling) 1 2 t + t + t + t 0.15 + 0 + 0.15 + 1 θ = ω0(tT+i + αTft) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 roughly estimatedt 30 in1 0motor.3 2 sizing.3 4Since J/30=0.563/30=0.019kgm², user can select the DMS34 (Jm=0.02 Te = 2 Te = = 9.9Nm Tc t1 + t2 + t3 + t4 0.15 + 0 + 0.15 + 1 kgm²) (Continuous 4θ 4 × 0.7854 2 torque for air max α = 2 = 2 = 34.91rad/s cooling) 2 2 2 2 2 2 Tmax = (J+Jt m ) ×0α.3max + Tf = Ti + Tf = (0.563 + 0.02) × 34.91 + 2 = 20.4 + 2 = 22.1Nm (Ti + θTf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 ωmax = 2 × 或 ωmax = α × θ Te = t Speed (rpm) = = 9.9Nm t1 + t2 + t3 + t4 0.15 + 0 + 0.15 + 1 Where Ti=20.4Nm, Tf=2Nm 4θ α max = 2 2 2 2 2 2 2 The motort sizing is determined as follows: (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 max < p Te = = = 9.9Nm T T t1 + t2 + t3 + t4 0.15 + 0 + 0.15 + 1 Te < Tc TheT m auserx = (needsJ +Jm )to× considerαmax + Tthef = ratioTi + ofTf equivalent torque and continuous torque. Usually the ratio (Te/Tc) Torque (Nm) 70 is recommended within 0.7; continuous torque for TMRW series can be classified as air cooling and water STEP 3 Motor sizing and T-N curve 60 cooling. If the motor2 is operated2 with water cooling,2 the comparison of equivalent torque can be based on water cooling(Ti + continuousTf ) × t1 + torqueTf × twhen2 + ( Tselectingi − Tf ) the× t 3motor. confirmation 50 Te = The peak current Imaxt1 and+ teffective2 + t3 + currentt4 Ie can be calculated by bringing motor torque constant into the 40 Finally, DMS34G can be selected according to the Tmax following equation (For Kt, please refer to Appendix B) 30 and Te. The peak torque Tp=60Nm, the continuous torque Tmax 20 Tmax Tc=20Nm, the torque constant Kt=6.6 Nm/Arms, and the I max = 10 Kt speed and torque under all operating conditions are within Te 0 the range of T-N curve for DMS34G. 0 50 100 150 200 250 300 350 400 450 Te Ie = Speed (rpm) K t

R2 + r2 0.252 + 02 J = m( + S2 ) = 12 ( + 02 ) = 0.375kgm2 1 2 2

a2 + b2 0.12 + 0.052 J = m( + S2 ) = 1 ( + 0.152 ) = 0.0235kgm2 2 12 12

2 J= J1 + 8 × J2 = 0.375 + 8 × 0.0235 = 0.563kgm

45 × π θ = 45° = = 0.7854rad 180

θ 0.7854 ω = 2 × = 2 × = 5.236rad /s = 50rpm max t 0.3

4θ 4 × 0.7854 α max = = = 34.91rad/s2 t2 0.32

2 2 2 2 2 2 (Ti + Tf ) × t1 + Tf × t2 + (Ti − Tf ) × t3 (20.4 + 2) × 0.15 + 2 × 0 + (20.4 − 2 ) × 0.15 Te = = = 9.9Nm t1 + t2 + t3 + t4 0.15 + 0 + 0.15 + 1 40 MR99TE05-1910 Torque Motor & Direct Drive Motor 41

11. Stall current: Is/Isw (Arms) Appendix B: Glossary The stall current, is the upper limit of current when the motor is at 25℃ and in the stall condition; Depending on the heat dissipation, TMRW/TMRI series will correspond to Is for air cooling and Isw for V rms water cooling. 1. Back EMF constant(Line to Line): K（v rad/s ） The back EMF constant, Kv, is the ratio of the back emf voltage (Vrms) to the motor rotational speed 12. Stall torque: Ts/Tsw(Nm) (rad/s) when the magnet is at 25℃. It is created at the movement of the coil in the magnetic field of The stall current, Ts, is the upper limit of torque when the motor is at 25℃ and in the stall condition; permanent magnets. Depending on the heat dissipation, TMRW/TMRI series will correspond to Ts for air cooling and Tsw for water cooling. 2. Continuous current: Ic/Icw (Arms) The continuous current, Ic, is the current that can be continuously supplied to the motor coils at the 13. Thermal resistance: Rth/Rthw (K/W) ambient temperature 25℃, and the final temperature of coil can’t exceed 100℃ (120℃ for TMRW The thermal resistance, Rth, is defined as the resistance suffered heat from motor coil to dissipate the series). Under this condition, the motor reaches the rating continuous torque Tc; in relation with the environment (consider the natural convection and radiation for air cooling when ambient temperature continuous current and coil temperature, TMRW/TMRI series will respond to Ic for air cooling and Icw is at 25℃, and the force water cooling for water cooling when the water is at 25℃); Higher thermal for water cooling. resistance represents the larger temperature difference between the coil and environment under the same heat source. 3. Continuous torque: Tc/Tcw (Nm) The continuous torque, Tc, is the maximum torque the motor is able to generate continuously at the 14. Torque constant: Kt (Nm/Arms) ambient temperature 25℃ and the final temperature of coil can’t exceed 100℃ (120℃ for TMRW The torque constant, Kt, is ratio between as the motor’s output torque per RMS current. series).This continuous torque corresponds to Ic/Icw supplied to the motor; in relation with the Except for TMRW/TMRI series, output torque and input current shows a linear relationship. The non- continuous current and coil temperature, TMRW/TMRI series will respond to Tc for air cooling and Tcw linear relationship is due to saturation in the lamination stack. for water cooling.

Torque 4. Inductance (line-to-line): L (mH) Tp Inductance is defined as inductance measured between lines when the motor operates in continuous current Ic/Icw.

Tc 5. Resistance at 25°C (line-to-line): R25 (Ω) Kt Resistance is defined as resistance measured between lines when the motor operates at the coil temperature 25℃. Ic Ip Current Nm - 15. Maximum speed (RPM) 6. Motor constant: K（m √ ） The motor constant, Km, is defined as the ratio of square root of motor output torque to consumption Maximum speed is defined as maximum speed provided under specific torque (usually continuous power when the coils and magnets are at 25℃. The larger motor constant represents the lower power torque); if there is a bearing installed inside the motor, the maximum speed will be limited by the loss when the motor outputs at the specific torque. bearing’s DN value; there are three conditions to define the maximum speed of water-cooling motor: maximum speed under air-cooling continuous torque, maximum speed under water-cooling continuous 7. Number of poles: 2p torque and maximum speed under peak torque. 2p represents the number of poles of the rotor, where p is the number of poles pair. 16. Rated speed: ωn(RPM) 8. Peak current: Ip (Arms) The rated speed is defined as the speed at which when the motor is running continuously without break, The peak current, Ip, is the current corresponding to maximum torque output of the motor, and the the rotor does not suffer from excessive rotor temperature (>80 °C) due to iron loss; if the speed is motor temperature reached by current can’t demagnetize magnet; generally speaking, peak current exceeded, the duty cycle must be reduced or an additional rotor heat dissipation design must be done. can be granted to supply 1 second when the motor is operating in the normal condition, and then need Please refer to 17. T-N curve for details regarding motor operation range. to ensure it reaches the normal temperature to supply peak current.

9. Peak torque: Tp (Nm) The peak torque, Tp, is the maximum torque that the motor output less than 1 second. Peak current corresponding to the torque can’t demagnetize magnet.

10. Rotor inertia: J (kgm2) The rotor inertia, J, is the rotary component resists any changes in its state of motion, including changes to its speed and direction.It is related with the shape and mass. 42 MR99TE05-1910 Torque Motor & Direct Drive Motor 43

17. T-N Curve 23. Loading capacity: The T-N curve is defined as the comparison chart of the torque and the speed that can be output under The load of motor must be considered when it is operating. The load can be calculated by external a certain input voltage of the motor. Considering the temperature rise of the motor, the figure can be force and the installation to identify the motor structure tolerates or not. The axial force applied to the divided into four operating ranges as shown below: motor in the calculation needs be less than the maximum axial load Fi < Fa, and can be used when the applied torque needs to be less than the maximum torque load Mi < M. TORQUE (A) External force=F T p Axial force applied to the motor F1=F+loading weight W Torque applied to the motor M1=0 4 (B) External force=F Axial force applied to the motor F2=F+loading weight W Torque applied to the motor M2 =FxL Tcw (C) External force=F 2 Axial force applied to the motor F3=F+loading weight W 3 T c Torque applied to the motor M3 =Fx(L+0.03m)+Wx(L2+0.03m) 1 L ω SPEED n L L2

F F F ① When the motor is air-cooled and the torque is less than Tc, it can run continuously below ωn without break. C.G C.G ①+② When the motor is water-cooled and the torque is less than Tcw, it can run continuously below W W C.G ωn without break. ③ When the motor is air-cooled and the torque is less than Tc or when it is water-cooled and the W

torque is less than Tcw, the speed is greater than ωn, the duty cycle must be reduced or additional design on rotor heat dissipation must be provided to avoid overheating of the rotor. (A) (B) (C) ④ When the motor is air-cooled and the torque is greater than Tc or when it is water-cooled and the torque is greater than Tcw, the duty cycle must be reduced. When Tp is reached, only 1 second output is allowed to avoid overheating of the stator.

18. Maximum Input Voltage (VDC): Maximum input voltage is the maximum voltage for the motor operating in the normal environment. Appendix C: Environment 19. Resolution: p/rev Resolution is the quantity of the motor feedback system divided in one turn. Temperature +5 to +40℃ Operating Temperature 20. Accuracy: arc-sec Humidity 20 to 85% RH (no condensation) Accuracy is the error between the target position and the actual position; in the HIWIN’s definition, the Temperature -10 to +50℃ Storage Temperature motor is measured clockwise and counterclockwise twice per 22.5° to take the maximum error. Humidity 20 to 85% RH (no condensation) Atmosphere 21. (Bi-) Repeatability: arc-sec Under 1000m, no corrosive gas, liquid and powder (Bi-)Repeatability is the repetition when the motor moves to the same angle.

Rr Rr Ra Ra

Rr Ra

(A) DMS(A) inner TMS 內轉式rotation type (B) DMN (B)outer TMN rotation外轉式 type (C) DMY(C) outer TMX/Y rotation外轉式 type

22. Axial runout and radial runout: Axial runout is the runout Ra by measuring the parallel direction between the installation end and rotary axis when the motor rotates; radial runout is defined as runout Rr by measuring the vertical direction between the installation end and the rotary axis when the motor rotates. Due to different types of motor, refer to the figure below for the measurement criteria. 44 MR99TE05-1910

Appendix D : Motor Inquiry Form Date: Company Name: Contact person: Email: Tel: Fax: Title: Industrial □Horizontal □Laterally (□Upside Down) Environment □Normal environment (25℃) a A □Clean room, Class______Installation □Pollution environment。 □Other______A

水平安裝側掛安裝 W 軸向偏擺 D L W D D L □ □ □ D Standard T2 T2 □High Precision T Load Type T T1

T1 Run out of output Shaft Surface □Other______(a)______μm 2 □Total moment of inertia: ____kgm Shaft runout , Size:____mm a A □Load1, Number ______Mass: _____kg or Material: ______

Size: ______mm A Offset of C.G. : ______mm水平安裝側掛安裝 □Point軸向偏擺 to Point □Scan □Load2, Number ______Moving Angle: ______。 Load Conditions Mass: _____kg or Material: ______Moving Time: ______sec Size: ______mm Dwell Time: ______sec

Offset of C.G. : ______mm V(rad/s) □Load3, Number ______Application Mass: _____kg or Material: ______Size: ______mm Offset of C.G. : ______mm

T(sec) □ None Moving運動時間 Time Dwell休息時間 Time Force □ Yes: ___ kg, Offset of C.G.：___ mm V(rad/s) Repeatability ______arc-sec Special requirement: Accuracy ______arc-sec □110V □ 220V Drive voltage □Other ______V T(sec) □CW/CCW □A/B Pulse format Moving Time Dwell Time □STEP/DIR □None Brake □Power Off Brake □Power On Brake The information below is to be filled out by our authorized agents. Recommended specification:

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HIWIN USA HIWIN SINGAPORE Mega-Fabs Motion Systems, Ltd. CHICAGO, U.S.A. SINGAPORE HAIFA, ISRAEL www.hiwin.com www.hiwin.sg www.mega-fabs.com [email protected] [email protected] [email protected]