Torque Motor (Direct Drive Motor)

Transcription

1 Torque (Direct Drive ) Technical Information

2 INDUSTRIE 4. Best Partner Linear Stage utomated transport / OI application / Precision / Semiconductor With Iron-core Coreless Type Linear Turbo LMT Planar Servo ir Bearing Platform -Y Stage Gantry Systems Linear Machine tool / Touch panel industry / Semiconductor industry / Laser manufacturing machine / Glass cutting machine Ironcore linear motor-lmf series, LMS series, LMSC series Ironless linear motor-lmc series, LMT series Torque (Direct Drive ) Inspection / Testing equipment / Machine tools / Robot Rotary Tables-TMS,TMY,TMN TMRW Series TMRI Series C Servo & Drive Semiconductor / Packaging machine / SMT / Food industry / LCD Drives-D1, D1-N, D2T s-5w~2w Linear ctuator ospital bed / utomatic window / ome care facility / Riveting / Press-fitting / Surface checks / Bending Servo ctuator-l series LM series LS series LN series LC series Positioning Measurement System Cutting machines / Traditional gantry milling machines / Programmable drilling machines igh Resolution Signal Translator igh-precision Enclosed igh Efficiency Counter Multi xis Robot Pick-and-place / ssembly / rray and packaging / Semiconductor / Electro-Optical industry / utomotive industry / Food industry rticulated Robot Delta Robot SCR Robot Wafer Robot Electric Gripper Integrated Electric Gripper Rotary Joint Single xis Robot Precision / Semiconductor / Medical / FPD KK, SK KS, K KU, KE, KC Medical Equipment ospital / Rehabilitation centers / Nursing homes Robotic Gait Training System ygiene System Robotic Endoscope older Ballscrew Precision Ground / Rolled Super S series Super T series Mini Roller Ecological & Economical lubrication Module E2 Rotating Nut (R1) Energy-Saving & Thermal-Controlling (C1) eavy Load Series (RD) Ball Spline Linear Guideway utomation / Semiconductor / Medical Ball Type--G, EG, WE, MG, CG Quiet Type--Q, QE, QW, QR Other--RG, E2, PG, SE, RC

3 Torque Rotary Table Torque (Direct Drive ) Type Size (mm) Peak ccuracy Repeatability Drive Power Cable Encoder Cable Page (arcsec) (arcsec) Type Page Type Page Type Page Features pplictions 118x118 TMN42G LMCE TMN 18x18 23x23 18x18 TMN71G TMN71 TMN93G ±1/±45 ± ±3 ± D1-36-S2 LMCE M (With all sensor).low profile.ollow shaft.external rotary table.led inspection/ processing.semi-conductor transport, inspection/ porcessing.each kind of ssembly machines Torque Rotary Table TMY 23x23 Φ11 Φ17 Φ27 TMY44 TMY48 TMN93 TMY63 TMY65 TMY68 TMY5 TMY ±3 ± ±3 ± 3 11 D1-36-S4 TMYxxG: D1-36-S2 TMYxx: D1-36-S4 39 LMCS F 39 LMCE U TMYxxG: LMCE TMYxx: LMCE U 4.External rotary table.igh speed.p&p.turntable.inspection machine.utomatic assembly machine.cd/dvd Mfg. system Φ11 3 TMS3 TMS7 TMS Φ15 Φ2 TMS12 TMS14 TMS16 TMS18 TMS32 TMS34 TMS38 TMS3C ±1/±25 ± D1-36-S2 LMCE LMCE M (With all sensor).large torque.igh precision.p&p.turntable.index table.igh-speed placement machine.utomatic assembly machine Φ3 6 TMS74 TMS76 TMS7C

4 Torque (Direct Drive ) TMRW Torque motor External diameter (mm) Peak Page TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1 TMRW1L TMRW1F TMRW1FL Torque motor 198 TMRW23 TMRW23L TMRW25 TMRW25L TMRW27 TMRW27L TMRW2 TMRW2L TMRW2F TMRW2FL TMRW43 TMRW43L TMRW45 TMRW45L TMRW47 TMRW47L TMRW4 TMRW4L TMRW4F TMRW4FL External diameter (mm) Peak Page TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7 TMRW7L TMRW7F TMRW7FL Torque motor 385 TMRW3 TMRW3L TMRW5 TMRW5L TMRW7 TMRW7L TMRW TMRWL TMRWF TMRWFL TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWD TMRWDL TMRWDF TMRWDFL External diameter (mm) Peak Page Torque motor 565 TMRWG7 TMRWG7L TMRWG TMRWGL TMRWGF TMRWGFL 3

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6 Contents Torque 1.Torque Rotary Tables 1 3.TMRI Torque Product Overview and pplications TMS Rotary Tables TMS Series TMS1 Series TMS3 Series TMS7 Series TMS Series T-N curves TMY Rotary Tables TMY4 Series TMY6 Series TMY Series TMY Series T-N curves TMN Rotary Tables TMN Incremental Series TMN absolute Series TMN Series T-N curves TMRW Torque TMRI Series TMRIG Series Drive and ccessories Pin ssignment ppendix 42 : Sizing...42 B:Glossary...46 C:Environment...48 D:Torque Inquiry Form TMRW1 Series TMRW2 Series TMRW4 Series TMRW7 Series TMRW Series TMRWD Series TMRWG Series...3

7 Torque (Direct Drive ) 1 1. Torque Rotary Tables 1.1 Product Over view and pplications n extremely rigid connection between motor and load, and a servo-drive regulation ensures excellent acceleration capabilities and good uniformity of movement. IWIN rotary tables and torque 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 ollow shaft No gear transmission losses Maintenance free and compact Brush-free drive Extremely rigid support with cross-roller bearing IP65 available for TMS Series Integrated brake is available as an option all sensor is available as an option Short and compact: IWIN rotary tables are optimized for high torques and robust dynamics. Torque Rotary Tables Table 1.1 pplications of Rotary Tables Classification Production equipment ssembly machines Machine tools Inspection/ testing equipment Robots Features and pplications pplication ccuracy Speed Rigidity Compactness Cleanliness Maintenance Free CVD, wafer cleaning, ion implantation Semi-conductor transport, inspection/processing ssembly machines for electric components igh-speed assembly machines for electronic components Various assembly machines Tool changers C axis Machine part inspection Inspection of electric components Inspection of optical components Chemical analysis of liquids Various Inspection/testing equipment Various assembly robots Various transport robots Inpsection/Transport robots in clean rooms

8 2 MR99TE3-184 Torque (Direct Drive ) TMS Rotary Tables TMS Series TMS The TMS series is designed with an integrated, high resolution feedback system optimized to achieve high dynamic motion, high torque and high precision. The TMS series is a perfect fit for industries that require high precision. Inner rotating structure Integrated incremental/absolute feedback system igh dynamic, torque and precision Maximum torque: 9.3~45Nm Meets IP65 enclosure standards as an option Integrated brake is available as an option all sensor is available as an option Model Numbers for TMS Series Series TM:Torque Type S:Internal rotary table Size :External diameterφ11mm 1:External diameterφ15mm 3:External diameterφ2mm 7:External diameterφ3mm Rotor height 2:2mm 3:3mm 4:4mm 6:6mm 8:8mm C:12mm Wiring Code S:Standard L:Low Back emf Feedback system G:Incremental all sensor :Without all sensor :With all sensor Brake B:Without brake B:With power-on brake (TMS1, TMS3, TMS7 Series) International Protection Standard S:IP4(Standard) P:IP65 Optional Specifications S:Standard C:Customized specification Function TM S 3 2 L G B P C TMS Dimensions 2-Ø97x2.1DP PCD 6 Encoder 12 Table 1.2 TMS Specifications Ø8 Ø247 Ø TYP 2-Ø57x7DP PCD 6 6-M5x.8Px1DP PCD 6 (Rotor fixture) Rr 1 ±.3 Ra 2-Ø57x7DP PCD 9 View 12 6 TYP 6-M6x1Px9DP PCD 9 (Stator fixture) Symbol Unit TMS3G TMS7G Continuous torque Tc Nm Note: 1) fter error mapping 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions. 2-Ø9 7 x2.1dp PCD 9 Continuous current Ic rms 2 2 Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms 6 6 Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 1 1 Back emf constant (line to line) Kv Vrms/(rad/s) constant (line to line at 25 ) Km Nm/ W _.5.8 Thermal resistance Rth K/W Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg 4 7 Max. axial load Fa N Max. moment load M Nm 4 4 Max. speed rpm 7 7 Resolution p/rev 4,325,376 (Incremental, sin/cos 1Vpp) Repeatability arc-sec ±3 ccuracy arc-sec ±45/±1 1) xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) eight mm Encoder connect Torque Rotary Tables connec Resolver

9 4 MR99TE3-184 Torque (Direct Drive ) TMS1 Series TMS3 Series TMS1 Dimensions TMS TMS1 TMS1 TMS3 TMS3 Dimensions TMS3 2-Ø127x2.6DP PCD 19 8-M8x1.25Px1 PCD (Rotor fixt TYP 9 7 x2.1dp D 9 DP re) 2-Ø97x2.1DP PCD 6 Encoder 12 Ø8 Ø247 Ø11 Encoder 2-Ø97x2.1DP PCD TYP 2-Ø57x7DP PCD 6 6-M5x.8Px1DP PCD 6 (Rotor fixture) Rr 1 12 ±.3 Ra Table 1.3 TMS1 Specifications Ø99 Ø357 Ø15 2-Ø57x7DP PCD 48 2-Ø57x7DP PCD 9 View 12 6 TYP 6-M6x1Px9DP PCD 6 (Rotor fixture) Rr 1 6 TYP ±.3 6-M6x1Px9DP PCD 9 (Stator fixture) 1 Ra 2-Ø9 7 x2.1dp PCD 9 2-Ø57x7DP PCD Encoder View 2-Ø97x2.1DP PCD 6 TYP Ø99 Ø357 Ø15 2-Ø9 7 x2.1dp PCD 11 8-M6x1Px12DP PCD 142 (Stator fixture) 2-Ø57x7DP PCD 48 6 TYP 6-M6x1Px9DP PCD 6 (Rotor fixture) Rr 1 1 ±.3 Encoder 2-Ø57x7DP 2-Ø127x2.1DP PCD 142 PCD 12 Ra View 135 TYP Ø17.5 Ø Ø9 7 x2.1dp PCD 11 8-M6x1Px12DP PCD 142 (Stator fixture) Ø2 1 Rr TYP 2-Ø67x8DP PCD Encoder 8-M6x1Px12DP PCD 12 (Rotor fixture) 1 ±.4 2-Ø127x2.1DP PCD 12 Ra Table 1.4 TMS3 Specifications 2-Ø67x8DP PCD 18 Ø17.5 Ø67 Ø2 1 Rr TYP 2-Ø67x8DP PCD View M6x1Px12DP PCD 12 (Rotor fixture) 2-Ø12 7 x2.1dp PCD 18 1 ±.4 Ra 3 TYP 1-M6x1Px12DP PCD 18 (Stator fixture) 2-Ø67x8DP PCD View Encoder 2-Ø12 7 x2.1dp PCD 18 3 TYP 1-M6x1Px12DP PCD 18 (Stator fixture) Encoder connect Torque Rotary Tables connec Ø23 Ø Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) M5x.8Px1DP constant (line to line at 25 ) PCD 1 Km Nm/ W _ (Rotor fixture) Resolver Thermal resistance Rth K/W Temperature sensor TM4 PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm M5x.8Px1DP Mass of motor Mm PCD kg (Rotor fixture) Max. axial Resolver load Fa N Ø5 9x5DP Max. moment load M Nm PCD 1 Max. speed rpm Ø11h7 Resolution p/rev 4,32, (Incremental, sin/cos 1Vpp) Rr Ø35 Ra Repeatability arc-sec ±3 ccuracy arc-sec ±45/±1 1) xial runout Ra mm.3(.5 2) ) 2-Ø5 9x5DP Radial runout Rr PCD 1 mm.3(.15 2) ) eight mm 1 12 Ø Ø11 3 Symbol Unit TMS12G TMS14G TMS16G TMS18G Continuous torque Tc Nm Ø11h7 Note: 1) fter error mapping Rr 2) Ø35 Optional Ra 2-Ø5 9x4DP *ll the specifications in the table are in ±1% of tolerance except PCD 95 dimensions. 3 1 ± ±.4 Resolver 2-Ø5 9x4DP PCD 95 TM4 View 2-Ø6 9x8DP PCD 16 4-M5x.8Px1DP PCD 95 Ø17h7 (Stator fixture) Ø45 Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m 27 4TM Number of poles 2p M6x1Px9DP Back emf constant (line to line) Kv Vrms/(rad/s) PCD 16 constant (line to line at 25 ) Km (Rotor Nm/ W _ fixture) Thermal resistance Rth K/W TM6 Temperature Resolver sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) 4-M6x1Px9DP Inertia of rotating parts J kgm PCD 16 (Rotor fixture) Mass of motor Mm kg Max. axial load Fa N Max. moment load M Nm Max. speed rpm Resolution p/rev 2-Ø6 9x4DP PCD 4,32, 16 (Incremental, sin/cos 1Vpp) Repeatability 2-Ø6 9x8DP arc-sec ±2.5 PCD 16 ccuracy arc-sec ±25/±1 1) Ø17h7 xial runout Ra mm Rr.3(.5 2) ) Ø45 Ra Radial runout Rr mm.3(.15 2) ) eight mm Ø6 9x4DP Note: 1) fter error mapping 2) PCD 16 Optional Ø17 *ll the specifications in the table are in ±1% of tolerance except dimensions. Rr Ra Symbol Unit TMS32G TMS34G TMS34LG TMS38G TMS38LG TMS3CG TMS3CLG Continuous torque Tc Nm ±.4 View 4-M6x1Px12DP PCD 16 (Stator fixture) Ø3

10 6 MR99TE3-184 Torque (Direct Drive ) 7 TMS TMS7 Series TMS Series T-N curves TMS7 Dimensions (DC bus voltage=325vdc) Encoder 8-M8x1.25Px16DP PCD 19 8-M8x1.25Px16DP (Rotor fixture) PCD 19 2-Ø127x2.6DP PCD 19 (Rotor fixture) 2-Ø127x2.6DP PCD 19 Encoder Ø23 Ø147 Ø Ø23 Ø147 Ø3 Rr TYP Ø87x1DP PCD 19 Rr TYP Ra 1 ± Ø87x1DP PCD 19 Ra 1 ±.4 2 View 16 4 TYP 2-Ø12 7 x2.6dp PCD 28 2-Ø8 7x1DP PCD M8x1.25Px2DP PCD 28 (Stator fixture) TMS TMS TMS7G TMS3G TMS3CLG TMS3CG TMS38LG TMS38G TMS34LG TMS34G TMS32G TMS TMS TMS18G TMS16G TMS14G TMS12G TMS7CLG TMS7CG TMS76LG TMS76G TMS74LG TMS74G Torque Rotary Tables Table 1.5 TMS7 Specifications Symbol Unit TMS74G TMS74LG TMS76G TMS76LG TMS7CG TMS7CLG Continuous torque Tc Nm Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) constant (line to line at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg Max. axial load Fa N Max. moment load M Nm Max. speed rpm Resolution p/rev 4,32, (Incremental, sin/cos 1Vpp) Repeatability arc-sec ±2.5 ccuracy arc-sec ±25/±1 1) xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) eight mm Note: 1) fter error mapping 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions.

11 8 MR99TE3-184 Torque (Direct Drive ) TMY Rotary Tables TMY4 Series The TMY series is designed with an intergrated, high resolution feedback system which is optimized to achieve high dynamic motion, high torque and high precision. The TMY series is a perfect fit for indusries that require high precision. Outer rotating structure Integrated high resolution incremental/absolute feedback system igh dynamic, torque and precision Maximum torque: 12~3 Nm Compatible with special environments TMY4 Dimensions Resolver Ø11h7 Ø M5x.8Px1DP PCD 1 (Rotor fixture) Ø5 9x5DP PCD 1 Rr Ra 2-Ø5 9x4DP PCD 95 TM4 Torque Rotary Tables Resolver connecto connect 1 Ø11 ±.4 Model Numbers for TMY Series Series TM:Torque Type Y:bsolute resolver type Size 4:External diameterφ11mm 6:External diameterφ17mm :External diameterφ27mm Rotor height 3:3mm 4:4mm 5:5mm 8:8mm :1mm Feedback system S:bsolute G:Incremental (TMY6x/TMYx) Optional Specifications S:Standard C:Customized specification Function TM Y 6 3 G C Table 1.6 TMY4 Specifications Symbol Unit TMY44 TMY48 Continuous torque Tc Nm 4 8 Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) constant (line to line at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg Max. axial load Fa N 1 1 Max. moment load M Nm 3 3 Max. speed rpm 3 3 Resolution p/rev 92, (bsolute 1) ) Repeatability arc-sec ±3 ccuracy arc-sec ±3 xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) eight mm Note: 1) The motor should be matched with corresponding IWIN drive. 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions. View 4-M5x.8Px1DP PCD 95 (Stator fixture) Ø

12 1 MR99TE3-184 Torque (Direct Drive ) 11 2 View 4 TYP TMY6 Series TMY Series TMY6 Dimensions TM6 TMY Dimensions 4-M6x1Px9DP PCD 16 (Rotor fixture) 6 TYP 6-M8x1.25Px16DP P.C.D 255 (Rotor fixture) 127.5±.3 Resolver Ø17h7 Ø45 2-Ø6 9x8DP PCD 16 Rr Ra 2-Ø6 9x4DP PCD 16 Ø27 Ø16h7 Ø6 Ø87x1DP Rr Resolver Ra Ø17x12DP 9 TYP 4-M1x1.25Px15DP P.C.D 26 (Stator fixture) (27) (5) Torque Rotary Tables Ø17 1 ±.4 7 ±.4 13±.3 View b View 4-M6x1Px12DP PCD 16 (Stator fixture) Ø28 x Table 1.7 TMY6 Specifications Symbol Unit TMY63G TMY63D TMY65G TMY65D TMY68G TMY68D Continuous torque Tc Nm Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) constant (line to line at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg Max. axial load Fa N Max. moment load M Nm Max. speed rpm Resolution 1) p/rev 4,32, 92, 4,32, 92, 4,32, 92, Repeatability arc-sec ±3 ccuracy arc-sec ±3 xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) eight mm Note: 1) Incremental type with sin/cos 1Vpp, absolute type should be matched with corresponding IWIN drive. 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions. Table 1.8 TMY Specifications Symbol Unit TMY5G TMY5D TMYG TMYD Continuous torque Tc Nm 5 1 Continuous current Ic rms Peak torque (Within 1s.) Tp Nm 15 3 Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) constant (line to line at 25 ) Km Nm/ W _ Thermal resistance Rth K/W.8.4 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg Max. axial load Fa N 8 8 Max. moment load M Nm Max. speed rpm 1 1 Resolution 1) p/rev 4,32, 92, 4,32, 92, Repeatability arc-sec ±3 ccuracy arc-sec ±3 xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) eight mm eight of base b mm 31 Note: 1) Incremental type with sin/cos 1Vpp, absolute type should be matched with corresponding IWIN drive. 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions.

13 12 MR99TE3-184 Torque (Direct Drive ) TMY Series T-N curves 1.4 TMN Rotary Tables (DC bus voltage=325vdc) TMY4 TMY TMY48 TMY44 TMY(G) TMY5(G) TMY TMY68 TMY65 TMY63 TMY68G TMY65G TMY63G The TMN series is designed with an extremely low profile and a high resolution resolver/ optical encoder optimized to achieve high dynamic motion, high torque and high precision. The TMN series is a perfect fit for industries that require high precision but less force. Outer rotating structure Space saving with Low profile design igh resolution optical encoder/ resolver selectable Maximum torque: 4.2~39.6 Nm Model Numbers for TMN Series Torque Rotary Tables Series TM:Torque Type N:Low profile type specification Function TM N 7 1 G C Size 4:External diameterφ118mm 7:External diameterφ18mm 9:External diameterφ23mm Rotor height 1:1mm 2:2mm 3:3mm Feedback system G:Incremental :bsolute all sensor E:Without hall sensor :With all sensor(encoder Type) Optional Specifications E:Standard C:Customized

14 14 MR99TE3-184 Torque (Direct Drive ) 15 TMN Dimensions TMN Incremental Series TMN42 TMN71 Table 1.9 TMN Specifications Symbol Unit TMN42G TMN71G TMN93G Encoder Rr TMN Ø12TRU 4-Ø6.6TRU, Ø11x11DP (Stator fixture) Ø5 TRU +.2 Ø5 x7dp PCD M5x.8Px8DP PCD 75 (Rotor fixture) ±.3 16 Ø35 TRU (145.5) (212.5) Ra (Ø18) Ø86 h7 Ø15h7 Rr Ø35TRU 4-Ø9TRU, Ø15x14DP (Stator fixture) 2-Ø87 TRU Ø57x7DP PCD 15 Encoder ±.3 4-Ø6.6TRU, Ø11x7DP (Stator fixture) 2-Ø67 TRU 5 Ø57x7DP PCD 16 6-M5x.8Px8DP PCD 16 (Rotor fixture) Ra Continuous torque Tc Nm Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) constant(line to line at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg Max. axial load Fa N Max. moment load M Nm Max. speed rpm Resolution p/rev 4,32, 4,325,376 4,32, (Incremental, sin/cos 1Vpp) Repeatability arc-sec ±2.5 ±2.5 ±2.5 ccuracy arc-sec ±45/±1 1) ±45/±1 1) ±45/±1 1) xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Size WxLx mm 118x118x45 16x16x5 212x212x55 Note: 1) fter error mapping 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions. Torque Rotary Tables Encoder Rr (257.5) (Ø23) Ø16h7 8-M5x.8Px8DP PCD 15 (Rotor fixture) Ra ±.3

15 16 MR99TE3-184 Torque (Direct Drive ) TMN absolute Series Table 1.1 TMN Specifications 2. TMRW Torque Symbol Unit TMN71 TMN93 Continuous torque Tc Nm Continuous current Ic rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p Back emf constant (line to line) Kv Vrms/(rad/s) constant(line to line at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6 2) ) Inertia of rotating parts J kgm Mass of motor Mm kg Max. axial load Fa N 1 1 Max. moment load M Nm 5 5 Max. speed rpm 3 3 Resolution p/rev 92, (bsolute 1) ) Repeatability arc-sec ±2.5 ±2.5 ccuracy arc-sec ±3 ±3 xial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Size WxLx mm 16x16x5 212x212x55 Note: 1) The motor should be matched with corresponding IWIN drive. 2) Optional *ll the specifications in the table are in ±1% of tolerance except dimensions. The combination of a high torque stator and rotor meets the most demanding specifications in high precision industry. By using a water cooled design, high torque can be achieved. Water cooled Large hollow shaft Maximum torque up to 52 Nm The concentricity of the stator and rotor will be calibrated before shipment Example:Index table Model Numbers for TMRW Series Series TM:Torque specification Function Winding Code TM RW 4 7 L C - TMRW Torque Type RW:Water cooling type TMN Series T-N curves (DC bus voltage=325vdc) TMN42EG TMN71EG TMN71 TMN93EG TMN93 External diameter of the stator s lamination stack 1:Φ14mm 2:Φ175mm 4:Φ21mm 7:Φ291mm :Φ36mm D:Φ45mm G:Φ53mm Rotor height 3:3mm 5:5mm 7:7mm :1mm F:15mm Winding code S:Standard L:Low Back emf Optional Specifications S:Standard C:Customized :Standard :Winding code

16 18 MR99TE3-184 Torque (Direct Drive ) TMRW1 Series TMRW1 Series T-N curves TMRW1 Dimensions 1 25 s 25 1 Thermal cable cable TMRW13/5/7 TMRW13/5/7 TYP TMRW1/F TMRW1/F s Thermal cable cable 4 35TMRW73/5/ TMRW TYP TMRW7/F TMRW13L Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Continuous torque ( Free air convection) Tc@6VDC R± ±.2 Ø68 Ø85.5min. Ø16f9 Seal (O-ring) position Section - Table 2.1 TMRW1 Specifications 8-M5x.8Px1DP PCD 15 (Both sides) M5x.8Px1DP PCD 7 (Both sides) 22.5 TYP 16-M5x.8Px1DP PCD 7 (Both sides) 16-M5x.8Px1DP PCD 15 (Both sides) s Continuous current 3 (WC) 3 Icw rms Thermal cable Stall torque Ts cable Nm Ø98 Ø119min. Ø198f9 TMRW23/5/7 TYP 22.5 TMRW2/F Max. speed at conti. Torque (WC) rpm 22 TMRW43/ TMRW47//F Mass of rotor s Mr kg Thermal cable 1 1 cable Mass of stator MS kg eight of stator S mm eight of rotor R mm eight mm Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions. R± ±.2 Ø148 Ø169min. Ø23f9 Symbol Unit TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1 TMRW1L TMRW1F TMRW1FL Continuous torque Tc Nm Continuous current Ic rms Continuous torque (WC) Tcw Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(within 1s.) Tp Nm Peak current(within 1s.) Ip rms Torque constant Kt Nm/ rms Electrical R±.2time constant 24.5±.2 Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 22 8-M5x.8Px1DP 16-M5x.8Px1DP Back emf constant (line to line) Kv Vrms/(rad/s) PCD (Both sides) PCD 1 (Both 3.78 sides) 1.89 constant (at 25 ) Km Nm/ W _ M5x.8Px1DP Seal (O-ring) position 8-M5x.8Px1DP PCD 185 (Both sides) Thermal resistance Rth K/W 1.2 PCD (Both.88 sides) Section Thermal resistance ( - WC) Rthw K/W Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at max. Torque rpm TYP 22.5 TYP TYP R± ±.2 Section - Ø28 Ø234min. Ø31f9 Seal (O-ring) position 8.5 R± ±.2 35 s TMRW15 Ø2658 Ø299min. Ø385f9 12-M5x.8Px1DP PCD 21 (Both sides) 12-M5x.8Px1DP PCD 3 (Both sides) TMRW TMRW1 TMRW3/5/ TMRW1F Thermal cable cable TYP M5x.8Px1DP PCD 21 (Both sides) 2 24-M5x.8Px1DP PCD 13 (Both sides) TMRW15L TYP TMRW17L TMRW1L TMRW/F TMRW1FL TYP TMRW Torque 2 1 R± 37.5±

17 TYP 29.5±.2 16-M5x.8Px1DP 8-M5x.8Px1DP PCD 7 (Both sides) PCD 7 (Both sides) 12-M5x.8Px1DP 24-M5x.8Px1DP 2 MR99TE M5x.8Px1DP 8-M5x.8Px1DP Torque (Direct Drive ) 21 PCD 21 (Both sides) PCD 21 (Both sides) Seal (O-ring) position PCD 15 (Both sides) Seal (O-ring) position PCD 15 (Both sides) 12-M5x.8Px1DP 24-M5x.8Px1DP Section - PCD 3 (Both sides) PCD 3 (Both sides) Section TMRW2 Series TMRW2 Series T-N curves TMRW2 Dimensions s Thermal cable cable TMRW23/5/7 TMRW23/5/7 TYP TMRW2/F TMRW2/F TMRW TMRW23L Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Continuous torque ( Free air convection) Tc@6VDC R±.2 Section - s 24.5±.2 Ø98 Ø119min. Ø198f9 Seal (O-ring) position Table 2.2 TMRW2 Specifications Ø148 Ø169min. Ø23f9 8-M5x.8Px1DP PCD 185 (Both sides) TMRW43/ M5x.8Px1DP PCD 1 (Both sides) 3 TYP 22.5 TYP 16-M5x.8Px1DP PCD 1 (Both sides) 16-M5x.8Px1DP PCD 185 (Both sides) TMRW47//F Symbol Unit TMRW23 TMRW23L TMRW25 TMRW25L TMRW27 TMRW27L TMRW2 TMRW2L TMRW2F TMRW2FL Continuous torque TcThermal Nm cable cable Continuous current Ic rms Continuous torque (WC) Tcw Nm Continuous current (WC) Icw rms Stall torque Ts Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(within 1s.) Tp Nm R±.2 Peak current(within 1s.) 19.5±.2 Ip rms Torque constant Kt Nm/ rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m M5x.8Px1DP M5x.8Px1DP 1.4 Number of poles 2p PCD 15 (Both sides) 22 PCD 15 (Both sides) 12-M5x.8Px1DP 24-M5x.8Px1DP Back emf constant (line to Seal line) (O-ring) Kv positionvrms/(rad/s) PCD 22 (Both sides) PCD 22 (Both sides) constant (at 25 ) Km Nm/ W _ Section - Thermal resistance Rth K/W Thermal resistance ( WC) Rthw K/W Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at conti. Torque (WC) rpm Max. speed at max. Torque rpm Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm eight of rotor R mm eight mm TYP s TMRW Thermal cable cable R± ±.2 TMRW TMRW3/5/ Ø2658 Ø299min. Ø385f9 TMRW2 25 Seal 15 (O-ring) position Section M6x1Px12DP PCD 37 (Both sides) TMRW2F TMRW25L TMRW/F TMRW27L TYP 12-M6x1Px12DP 2 PCD 277 (Both sides) TMRW2L TMRW2FL M6x1Px12DP PCD 277 (Both sides) 24-M6x1Px12DP PCD 37 (Both sides) TYP TMRW Torque 37 Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions

18 R± ±.2 Ø9 Ø119m Ø198f 22 MR99TE3-184 Torque (Direct Drive ) 23 8-M5x.8Px1DP 16-M5x.8Px1DP PCD 1 (Both sides) PCD 1 (Both sides) Seal (O-ring) position Section TMRW4Series 8-M5x.8Px1DP PCD 185 (Both sides) 22.5 TYP 16-M5x.8Px1DP PCD 185 (Both sides) TMRW3/5/ TMRW4 Series T-N curves TMRW/F TMRW4 Dimensions 1 R±.2 25 s ±.2 Thermal cable cable Ø148 Ø169min. Ø23f9 TMRW43/5 TMRW43/5 3 TYP TMRW47//F TMRW47//F TYP 8.5 R± ±.2 35 s Ø2658 Ø299min Thermal cable 1 cable Ø385f9 TMRW TMRW45 3 TYP TMRW43L TMRW45L 25 2 TYP Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Continuous torque ( Free air convection) Tc@6VDC 27 1 R± ±.2 Section - Seal (O-ring) position Table 2.3 TMRW4 Specifications 12-M5x.8Px1DP PCD 22 (Both sides) 12-M5x.8Px1DP PCD 15 (Both sides) 24-M5x.8Px1DP PCD 15 (Both sides) 24-M5x.8Px1DP PCD 22 (Both sides) Symbol Unit TMRW43 TMRW43L TMRW45 TMRW45L TMRW47 TMRW47L TMRW4 TMRW4L TMRW4F TMRW4FL Continuous torque Tc Nm Continuous current Ic rms Continuous torque (WC) Tcw Nm Continuous current (WC) Icw rms Stall torque Ts Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(within 1s.) Tp Nm Peak current(within 1s.) Ip rms Torque constant Kt Nm/ rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 22 Back emf constant (line to line) Kv Vrms/(rad/s) constant (at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Thermal resistance ( WC) Rthw K/W Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at conti. Torque (WC) rpm Max. speed at max. Torque rpm Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm eight of rotor R mm eight mm Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions. 15 Seal (O-ring) position 1 Section M6x1Px12DP PCD 37 (Both sides) TMRW TMRW TMRW4F M6x1Px12DP 15 PCD 277 (Both sides) 1 5 TMRW47L TMRW4FL M6x1Px12DP PCD 277 (Both sides) 24-M6x1Px12DP PCD 37 (Both sides) TMRW4L TMRW Torque Se

19 T 24 MR99TE3-184 Torque (Direct Drive ) TMRW7 Series TMRW7 Series T-N curves TMRW7 Dimensions 12.5 R± ±.2 25 s 35 Section Ø28 Ø234min. Ø31f9 Seal (O-ring) position R±.2 Thermal cable cable Table 2.4 TMRW7 Specifications TMRW73/5/7 TMRW73/5/7 12-M5x.8Px1DP PCD 3 (Both sides) 12-M5x.8Px1DP PCD 21 (Both sides) TMRW7/F 24-M5x.8Px1DP PCD 21 (Both sides) 24-M5x.8Px1DP PCD 3 (Both sides) Continuous current Ic rms Continuous torque (WC) Tcw Nm Continuous current (WC) Icw rms Stall torque Ts Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(within 1s.) Tp Nm Peak current(within 1s.) Ip rms Torque constant Kt Nm/ rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 44 Back emf constant (line to line) Kv Vrms/(rad/s) constant (at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Thermal resistance ( WC) Rthw K/W Thermal sensor TMRW3/5/7 PTC SNM1+SNM12+KTY84 TMRW/F Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at conti. Torque (WC) s rpm Thermal cable Max. speed at max. Torque 8.5 rpm cable Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm Ø2658 Ø299min. Ø385f9 3 TYP TMRW7/F Symbol Unit TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7 TMRW7L TMRW7F TMRW7FL Continuous torque Tc Nm eight of rotor R mm eight mm Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions. 3 TYP TYP TYP 12 s R±.2 TMRW TMRW TMRW TMRW TMRWD3/5/7 TMRW7F 16 6 Thermal cable cable Ø3458 Ø384min. Ø485f9 TMRW73L TMRW75L TMRW77L TMRW7L TMRWD/F TMRW7FL TYP Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Continuous torque ( Free air convection) Tc@6VDC TYP TMRW Torque 29.5± ±.2

20 26 MR99TE3-184 Torque (Direct Drive ) TMRWSeries TMRW Series T-N curves TMRW Dimensions 8.5 s Thermal cable cable TMRW3/5/7 TMRW3/5/7 TMRW/F TMRW/F 27 1 s Thermal cable cable TMRW3 TMRWD3/5/7 6 TMRWD/F TMRW3L Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC 3 TYP TYP Continuous torque ( Free air convection) Tc@6VDC R± ±.2 Ø2658 Ø299min. Ø385f9 Section - Seal (O-ring) position 12-M6x1Px12DP PCD 37 (Both sides) 12-M6x1Px12DP PCD 277 (Both sides) 24-M6x1Px12DP PCD 277 (Both sides) 24-M6x1Px12DP PCD 37 (Both sides) TYP R± ±.2 Ø3458 Ø384min. Ø485f TMRW5 TMRW5L TYP Table 2.5 TMRW Specifications Symbol Unit TMRW3 TMRW3L TMRW5 TMRW5L TMRW7 TMRW7L TMRW TMRWL TMRWF TMRWFL Continuous torque Tc Nm Continuous current Ic rms Continuous torque (WC) Tcw Nm Continuous current (WC) Icw rms Stall torque Ts Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(within 1s.) Tp Nm Peak current(within 1s.) Ip rms Torque constant Kt Nm/ rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 66 Back emf constant (line to line) Kv Vrms/(rad/s) constant (at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Thermal resistance ( WC) Rthw K/W Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at conti. Torque (WC) rpm Max. speed at max. Torque rpm Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm eight of rotor R mm eight mm Section - Seal (O-ring) position M8x1.25Px12DP PCD 36 (Both sides) M8x1.25Px12DP PCD 468 Speed (Both sides) (rpm) TMRW TMRW TMRWF M8x1.25Px12DP 1 PCD 36 (Both sides) 24-M8x1.25Px12DP PCD 468 (Both sides) TMRW7L TMRWL TMRWFL TMRW Torque Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions

21 28 MR99TE3-184 Torque (Direct Drive ) TMRWD Series TMRWD Dimensions 27 1 s Thermal cable cable TMRWD3/5/7 TMRWD3/5/7 TMRWD/F TMRWD/F TMRWD Series T-N curves TMRWD TMRWD3L Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC 3 TYP Continuous torque ( Free air convection) Tc@6VDC R± ±.2 Ø3458 Ø384min. Ø485f9 Section - Seal (O-ring) position 12-M8x1.25Px12DP PCD 468 (Both sides) 12-M8x1.25Px12DP PCD 36 (Both sides) 24-M8x1.25Px12DP PCD 468 (Both sides) 24-M8x1.25Px12DP PCD 36 (Both sides) TYP TMRWD TMRWD5L Table 2.6 TMRWD Specifications Symbol Unit TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWD TMRWDL TMRWDF TMRWDFL Continuous torque Tc Nm Continuous current Ic rms Continuous torque (WC) Tcw Nm Continuous current (WC) Icw rms Stall torque Ts Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(within 1s.) Tp Nm Peak current(within 1s.) Ip rms Torque constant Kt Nm/ rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 88 Back emf constant (line to line) Kv Vrms/(rad/s) constant (at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Thermal resistance ( WC) Rthw K/W Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at conti. Torque (WC) rpm Max. speed at max. Torque rpm Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm eight of rotor R mm eight mm TMRWD TMRWD TMRWDF TMRWD7L TMRWDL TMRWDFL TMRW Torque Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions

22 3 MR99TE3-184 Torque (Direct Drive ) TMRWG Series TMRWG Series T-N curves TMRWG Dimensions TMRWG7 (2) s Thermal 溫度開關線 cable 65 max. 18 馬達電源線 cable 51 max. 18 (2) s Thermal 溫度開關線 cable 馬達電源線 cable TMRWG/F 65 max. 51 max. TMRWG TMRWG7L Peak 瞬間轉矩 torque Tp@6VDC Tp@325VDC Continuous 連續轉矩 torque(wc) ( 水冷 ) Tc@6VDC TYP Continuous torque(wc) 連續轉矩 ( 空冷 ) (Free air convection) Tc@6VDC R± ±.2 Ø428 Ø459min. Ø565f9 O Seal(O-ring) 型環位置 position Section- 剖面 Table 2.7 TMRWG Specifications 12-M8x1.25Px12DP PCD 548 (Both ( 兩端 sides) ) 12-M8x1.25Px12DP PCD 435 (Both ( 兩端 sides) ) R± ±.2 24-M8x1.25Px12DP PCD 548 Seal(O-ring) O position 型環位置 Ø428 Ø459min. Section- 剖面 Ø565f9 23-M8x1.25Px12DP PCD 548 Symbol Unit TMRWG7 TMRWG7L TMRWG TMRWGL TMRWGF TMRWGFL Continuous torque Tc Nm Continuous current Ic rms Continuous torque (WC) Tcw Nm Continuous current (WC) Icw rms Stall torque Ts Nm Stall current Is rms Stall torque (WC) Tsw Nm Stall current (WC) Isw rms Peak torque(for 1s) Tp Nm Peak current(for 1s) Ip rms Torque constant Kt Nm/rms Electrical time constant Te ms Resistance (line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 88 Back emf constant (line to line) Kv Vrms/(rad/s) constant (at 25 ) Km Nm/ W _ Thermal resistance Rth K/W Thermal resistance ( WC) Rthw K/W Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed at conti. Torque rpm Max. speed at conti. Torque (WC) rpm Max. speed at max. Torque rpm Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm eight of rotor R mm eight mm Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions. 24-M8x1.25Px12DP PCD 435 (Both ( 兩端 sides) ) TYP TMRWG TMRWGF TMRWGL TMRWGFL TMRW Torque

23 Torque (Direct Drive ) TMRI Torque Special rotor design, can be used with field weakening to achieve high speed requirements. The combination of a high torque stator and rotor meets the most demanding specifications in high precision industry. By using a water cooled design, high torque can be achieved. Water cooled Large hollow shaft Maximum torque up to 53 NM The concentricity of the stator and rotor will be calibrated before shipment With field weakening to achieve high speed requirements Example:Machine tool,rotary table Model Numbers for TMRI Series specification Function Winding Code TM RI 5 C - Series TM:Torque Type RI:igh speed type External diameter of the stator s lamination stack :Φ36mm G:Φ53mm Rotor height 5:5mm 7:7mm :1mm F:15mm TMRI Torque Optional Specifications S:Standard C:Customized :Standard :Winding code

24 34 MR99TE3-184 Torque (Direct Drive ) TMRI Series TMRI Series T-N curves TMRI Dimensions s (1) TMRI5/7 cable x4 Thermal cable 4 max. TMRI/F 9 max. 馬達電源線 cable x4 Thermal 溫度開關線 cable TMRI5-W TMRI5-WB Peak 瞬間轉矩 torque Tp@6VDC Tp@325VDC Continuous 連續轉矩 torque(wc) ( 水冷 ) Tc@6VDC (Field weakening) Tc@6VDC Continuous torque (Free 連續轉矩 air convection) ( 空冷 ) Ø385f9 Ø299 min. Ø238 min. Ø Seal(O-ring) slot O position 型環槽 Section- 剖面 R ±.2 12±.2 Ø264g8 3 TYP 12-M6x1Px12DP P.C.D 228 (Both ( 兩端 sides) ) 12-M6x1Px12DP P.C.D 37( (Both 兩端 sides) ) TYP 24-M6x1Px12DP P.C.D (Both ( 兩端 sides) ) 24-M6x1Px12DP P.C.D 37( (Both 兩端 sides) ) TMRI7-SC TMRI7-WC Tc@6VDC Table 3.1 TMRI Specifications 35 s TMRIG5/7 TMRIG/F Symbol Unit TMRI5-W TMRI5-WB TMRI7-SC TMRI7-WC TMRI-SC TMRI-WC TMRIF-WC TMRIF-WF 35 Continuous torque 馬達電源線 x4 Tc Nm (1) 72 Continuous current Ic rms 11.2 溫度開關線 Continuous torque (WC) Tcw Nm Continuous current(wc) Icw rms Stall torque Ts 18±.2 Nm Stall current Is rms Stall torque(wc) Tsw Nm Stall current(wc) Isw rms Peak torque (Within 1s.) Tp Nm Peak current (Within 1s.) Ip rms Torque constant Kt R ±.2 Nm/ rms Electrical time constant Te ms Resistance (Line to line at 25 ) R25 Ω Inductance (line to line) L m Number of poles 2p 66 Back emf constant (line to line) Kv Vrms/(rad/s) constant (at 25 ) Km Nm/ W _ M8x1.25Px12DP Thermal resistance O-ring slot O 型環槽 Rth K/W P.C.D 376 ( 兩端 ) Thermal resistance (WC) 12-M8x1.25P x12dp Rthw K/W P.C.D ( 兩端 ) 剖面.17 Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm Max. speed (conti. torque(wc)) rpm Max. speed (Field Weakening ) rpm Mass of rotor Mr kg Mass of stator MS kg eight of stator S mm eight of rotor R mm Ø565 f9 Ø459 min. Ø392 Ø36 8 Ø42 h9 Note: WC:water cooled *ll the specifications in the table are in ±1% of tolerance except dimensions. 3 TYP 4 max. 9 max. 4 max. TYP 9 max. 馬達電源線 x4 溫度開關線 24-M8x1.25Px12DP P.C.D 376 ( 兩端 ) 24-M8x1.25P x12dp P.C.D 548( 兩端 ) TMRI-SC TMRIF-WC TMRI-WC TMRIF-WF TMRI Torque