Technical Information

Torque Motor (Direct Drive Motor) Technical Information

INDUSTRIE 4. Best Partner Multi Axis Robot Pick-and-place / Assembly / Grinding and Polishing / Semiconductor / Light Industry / Automotive industry / Food industry Articulated Robot Delta Robot Movable Delta Robot SCARA Robot Wafer Robot Electric Gripper Single Axis Robot Medical Equipment Precision / Semiconductor / Medical / FPD KK, SK KS, KA KU, KE Hospital / Rehabilitation centers / Nursing homes Robotic Gait Training System Hygiene System The Robotic Endoscope Holder Robot for Upper Limb Exercise Ballscrew Linear Guideway Precision Ground / Rolled Super S series Super T series Mini Roller Ecological & Economical lubrication Module E2 Rotating Nut (R1) Energy-Saving & ThermalControlling (C1) Heavy Load Series (RD) Automation / Semiconductor / Medical Ball Type--HG, EG, WE, MG, PM Quiet Roller Type--QH, QE, QW, QR Other--RG, E2, PG, SE, RC Direct Drive CNC Tilting Rotary Bearing Aerospace / Medical / Auto industry RAB-8 RAB-5 AC Servo Motor & Driver Semiconductor / Packaging machine / SMT / Food industry / LCD Drivers-D1, D1-N, D2 Motors-4W~2W Linear Motor Automated transport / AOI application / Precision / Semiconductor With Iron-core Coreless Type Linear Turbo LMT Planar Servo Motor Air Bearing Platform -Y Stage Gantry Systems Machine tools / Robot Crossed Roller Bearings Ball Screw Bearings Linear Bearing Support Unit Torque Motor (Direct Drive Motor) Inspection / Testing equipment / Machine tools/ Robot Rotary Tables-TMS,TMY,TMN TMRW Series Positioning Measurement System Cutting machines / Traditional gantry milling machines / Programmable drilling machines High Resolution Signal Translator High-precision Enclosed High Efficiency Counter

Torque Motor Contents 1. Torque Motor Rotary Tables... 1 1.1 Product Overview and Applications... 1 1.2 TMS Rotary Tables... 2 1.2.1 TMS Series... 3 1.2.2 TMS1 Series... 4 1.2.3 TMS3 Series... 5 1.2.4 TMS7 Series... 6 1.2.5 TMS Series T-N curves... 7 1.3 TMY Rotary Tables... 8 1.3.1 TMY4 Series... 9 1.3.2 TMY6 Series... 1 1.3.3 TMYA Series... 11 1.3.4 TMY Series T-N curves... 12 1.4 TMN Rotary Tables... 13 1.4.1 TMN Incremental Series... 15 1.4.2 TMN absolute Series... 16 1.4.3 TMN Series T-N curves... 16 2. TMRW Torque Motor... 17 2.1 TMRW1 Series... 18 2.2 TMRW2 Series... 2 2.3 TMRW4 Series... 22 2.4 TMRW7 Series... 24 2.5 TMRWA Series... 26 2.6 TMRWD Series... 28 3. Drivers and Accessories... 31 3.1 Pin Assignment... 33 Appendix... 34 A:Motor Sizing... 34 B:Glossary... 38 C:Environment... 4 D:Torque Motor Inquiry Form... 41

Torque Motor (Direct Drive Motor) 1 1. Torque Motor Rotary Tables 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 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 Hollow 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 Hall sensor is available as an option Short and compact: HIWIN rotary tables are optimized for high torques and robust dynamics. Table 1.1 Applications of Rotary Tables Classification Production equipment Assembly machines Machine tools Inspection/ testing equipment Robots Features and Applications Application Accuracy Speed Rigidity Compactness Cleanliness Maintenance Free CVD, wafer cleaning, ion implantation Semi-conductor transport, inspection/processing Assembly machines for electric components High-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

2 MR99TE1-151 1.2 TMS Rotary Tables The TMS series is designed with an integrated, high resolution incremental optical encoder 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 optical rotary encoder with resolution 4,32, p/rev High dynamic, torque and precision Maximum torque: 9.3~45Nm Meets IP65 enclosure standards as an option Integrated brake is available as an option Hall sensor is available as an option Model Numbers for TMS Series Series TM:Torque Motor Motor specification Function TM S 3 2 L H B P C Type S:Complete 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 Hall sensor H:Without Hall sensor H:With Hall 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

Torque Motor (Direct Drive Motor) 3 1.2.1 TMS Series TMS TMS Dimensions 2-Ø9H7x2.1DP PCD 6 2-Ø9H PCD 6 Encoder 6 TYP Encoder 3 Motor 12 2-Ø5H7x7DP PCD 6 6-M5x.8Px1DP PCD 6 (Rotor fixture) Motor Ø8 Ø24H7 Rr A Ra A 2-Ø5H7x7DP PCD 9 6 TYP 1 1 45 H±.3 12 2-Ø9 H7 x2.1dp PCD 9 Ø11 A View 6-M6x1Px9DP PCD 9 (Stator fixture) Table 1.2 TMS Specifications Symbol Unit TMS3 TMS7 Continuous torque Tc Nm 3.1 6.2 Continuous current Ic Arms 2 2 Peak torque (Within 1s.) Tp Nm 9.3 18.6 Peak current (Within 1s.) Ip Arms 6 6 Torque constant Kt Nm/Arms 1.55 3.1 Electrical time constant Te ms 2.1 2 Resistance (line to line at 25 ) R25 Ω 7.1 11.1 Inductance (line to line) L mh 15.2 22.2 Number of poles 2p 1 1 Back emf constant (line to line) Kv Vrms/(rad/s).82 1.7 Motor constant (line to line at 25 ) Km Nm/ W _.5.8 Thermal resistance Rth K/W 1.76 1.13 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.3.6 Mass of motor Mm kg 4 7 Max. axial load Fa N 37 37 Max. moment load M Nm 4 4 Max. speed rpm 7 7 Resolution p/rev 4,325,376 (Incremental rotary encoder, sin/cos 1Vpp) Repeatability arc-sec ±3 Accuracy arc-sec ±45/±1 1) Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Height H mm 117.5 15 Note: 1) After error mapping 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions. Resolver Motor Ø11

TYP 22.5 4 MR99TE1-151 1.2.2 TMS1 Series TMS1 Dimensions TMS1 2-Ø9H7x2.1DP PCD 6 2-Ø5H7x7DP PCD 48 Encoder 6 TYP Encoder 13 Motor 6-M6x1Px9DP PCD 6 (Rotor fixture) Motor 12 Ø99 Ø35H7 Rr A Ra A 2-Ø5H7x7DP PCD 142 45 TYP 2-Ø12H7x2.1DP PCD 12 67.5 H±.3 1 1 9 H7 x2.1dp D 9 135 DP re) Ø15 A 35 View 2-Ø9 H7 x2.1dp PCD 11 8-M6x1Px12DP PCD 142 (Stator fixture) Table 1.3 TMS1 Specifications Symbol Unit TMS12 TMS14 TMS16 TMS18 Continuous torque Tc Nm 5 1 15 2 Continuous current Ic Arms 4 4 4 4 Peak torque (Within 1s.) Tp Nm 15 3 45 6 Peak current (Within 1s.) Ip Arms 12 12 12 12 Torque constant Kt Nm/Arms 1.25 2.5 3.75 5 Electrical time constant Te ms 3.2 3.6 3.8 4 Resistance (line to line at 25 ) R25 Ω 2.6 3.9 5.2 6.5 Inductance (line to line) L mh 8.2 14 2 26 Number of poles 2p 22 22 22 22 Back emf constant (line to line) Kv Vrms/(rad/s).6 1.2 1.8 2.4 Motor constant (line to line at 25 ) Km Nm/ W _.6 1 1.3 1.6 Thermal resistance Rth K/W 1.2.8.6.48 Temperature sensor PTC SNM1 TM4 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.6.65.7.75 6-M5x.8Px1DP Mass of motor Mm PCD kg 1 5.7 7 8.3 9.5 (Rotor fixture) Max. axial Resolver load Fa N 37 37 37 37 Max. moment load M Nm 6 6 6 6 Max. speed rpm 6 6 6 5 Resolution p/rev 4,32, (Incremental rotary encoder, sin/cos 1Vpp) Repeatability arc-sec ±3 Accuracy arc-sec ±45/±1 1) Motor Axial runout Ra mm.3(.5 2) ) 2-Ø5 H9x5DP Radial runout Rr PCD 1 mm.3(.15 2) ) Height H mm 1 12 14 16 3 3 Note: 1) After error mapping Ø11h7 Rr A 2) Ø35 Optional Ra A 2-Ø5 H9x4DP *All the specifications in the table are in ±1% of tolerance except PCD 95 dimensions. 3 Resolver Motor 1 45 Ø11 ±.4

22.5 22.5 TMS3 Torque Motor (Direct Drive Motor) 5 1.2.3 TMS3 Series TMS3 Dimensions 45 TYP Encoder 135 Motor 8-M6x1Px12DP PCD 12 (Rotor fixture) 2-Ø12H7x2.1DP PCD 12 67.5 1 2-Ø6H7x8DP PCD 12 2-Ø6H7x8DP PCD 18 15 2-Ø12 H7 x2.1dp PCD 18 Ø17.5 Ø6H7 Rr A Ra A 3 TYP 1.5 15 15 9 H7 x2.1dp D 11 2DP H±.4 ure) Ø2 A 7.5 View 1-M6x1Px12DP PCD 18 (Stator fixture) Table 1.4 TMS3 Specifications Symbol Unit TMS32 TMS34 TMS34L TMS38 TMS38L TMS3C TMS3CL Continuous torque Tc Nm 1 2 2 4 4 6 6 Continuous current Ic Arms 3 3 6 3 6 3 6 Peak torque (Within 1s.) Tp Nm 3 6 6 12 12 18 18 Peak current (Within 1s.) Ip Arms 9 9 18 9 18 9 18 Torque constant Kt Nm/Arms 3.3 6.6 3.3 13.3 6.65 2 1 Electrical time constant Te ms 4.7 4.8 4.4 5.7 4.6 5.9 5 Resistance (line to line at 25 ) R25 Ω 5.8 8.4 1.7 13.6 2.85 18.8 3.9 Inductance (line to line) L mh 27 4 7.5 78 13 111 19.5 Number of poles 2p 22 22 22 22 22 22 22 Back emf constant (line to line) Kv Vrms/(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 TM6 1.1 4.1 4.1 2.9 3.2 3.8 4.1 Thermal resistance Rth K/W.96 3.27 3.27.41.49.3.36 Temperature sensor PTC SNM1 4-M6x1Px9DP Nominal input voltage PCD 16 VDC 5(6) Inertia of rotating parts J (Rotor fixture) kgm 2.14.2.2.26.26.35.35 Mass of motor Mm kg 15 21 21 26 26 32 32 Max. axial load Fa N 8 8 8 8 8 8 8 Resolver Max. moment load M Nm 24 24 24 24 24 24 24 Max. speed rpm 6 4 6 2 45 12 3 Resolution p/rev 4,32, (Incremental rotary encoder, sin/cos 1Vpp) Repeatability arc-sec ±2.5 Accuracy arc-sec ±25/±1 1) Motor Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Height H mm 13 2-Ø6 H9x4DP 15 PCD 15 16 19 19 23 23 Note: 1) After error mapping 2) Optional 2-Ø6 H9x8DP PCD 16 45 *All the specifications Ø17h7 in the table are in ±1% of tolerance except dimensions. Rr A Ø45 45 Ra A 45 1

TMS7 6 MR99TE1-151 8-M8x1.25Px16DP PCD 19 (Rotor fixture) PCD 2-Ø12H7x2.6DP 1.2.4 TMS7 19 Series Encoder TMS7 Dimensions 2-Ø12H7x2.6DP PCD 19 8-M8x1.25Px16DP PCD 19 (Rotor fixture) 45 TYP 45 TYP 22.5 Motor Encoder 157.5 35 22.5 Motor 157.5 11.25 Ø23 Ø14H7 Rr A 2-Ø8H7x1DP PCD 19 35 2-Ø8H7x1DP PCD 19 1 Ra A 2-Ø12 H7 x2.6dp PCD 28 2-Ø8 H7x1DP PCD 28 11.25 Ø23 Ø14H7 Rr A Ra A 1 1 1 35 H±.4 16 Ø3 A H±.4 9-M8x1.25Px2DP PCD 28 (Stator fixture) Ø3 A 2 View 4 TYP Table 1.5 TMS7 Specifications Symbol Unit TMS74 TMS74L TMS76 TMS76L TMS7C TMS7CL Continuous torque Tc Nm 5 5 75 75 15 15 Continuous current Ic Arms 3 6 3 6 3 6 Peak torque (Within 1s.) Tp Nm 15 15 225 225 45 45 Peak current (Within 1s.) Ip Arms 9 18 9 18 9 18 Torque constant Kt Nm/Arms 16.7 8.35 25 12.5 5 25 Electrical time constant Te ms 5 5 5.1 5.1 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 7 17.5 96.5 24.1 176 5.6 Number of poles 2p 44 44 44 44 44 44 Back emf constant (line to line) Kv Vrms/(rad/s) 1.8 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. Thermal resistance Rth K/W.4.4.29.29.17.16 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.152.152.174.174.241.241 Mass of motor Mm kg 39 39 44.5 44.5 61.5 61.5 Max. axial load Fa N 8 8 8 8 8 8 Max. moment load M Nm 36 36 36 36 36 36 Max. speed rpm 12 25 72 17 24 8 Resolution p/rev 4,32, (Incremental rotary encoder, sin/cos 1Vpp) Repeatability arc-sec ±2.5 Accuracy arc-sec ±25/±1 1) Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Height H mm 16 16 18 18 24 24 Note: 1) After error mapping 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions.

Torque Motor (Direct Drive Motor) 7 1.2.5 TMS Series T-N curves (DC bus voltage=325vdc) TMS TMS1 2 18 16 14 12 1 8 TMS7 TMS3 7 6 5 4 3 TMS18 TMS16 TMS14 TMS12 6 4 2 2 1 2 4 6 8 2 4 6 8 TMS3 TMS7 2 18 16 14 12 1 8 6 TMS3CL TMS3C TMS38L TMS38 TMS34L TMS34 TMS32 5 45 4 35 3 25 2 15 TMS7CL TMS7C TMS76L TMS76 TMS74L TMS74 4 1 2 5 1 2 3 4 5 6 7 5 1 15 2 25 3

8 MR99TE1-151 1.3 TMY Rotary Tables The TMY series is designed with an integrated, high resolution absolute resolver which is optimized to achieve high dynamic motion, high torque and high precision. The TMY series is a perfect fit for industries that require high precision. Outer rotating structure Integrated absolute resolver with resolution 92, p/rev Time sparing for homing procedure with absolute resolver integrated High dynamic, torque and precision Maximum torque: 12~3 Nm Compatible with special environments Model Numbers for TMY Series Series TM:Torque Motor Motor specification Function TM Y 6 3 C Type Y:Absolute resolver type Size 4:External diameterφ11mm 6:External diameterφ17mm A:External diameterφ27mm Rotor height 3:3mm 4:4mm 5:5mm 8:8mm A:1mm Optional Specifications S:Standard C:Customized

Torque Motor (Direct Drive Motor) 9 1.3.1 TMY4 Series TMY4 Dimensions TM4 Resolver 6-M5x.8Px1DP PCD 1 (Rotor fixture) 3 Resolver connecto 3 Motor 3 2-Ø5 H9x5DP PCD 1 Motor connect Ø11h7 Ø35 Rr A Ra A 2-Ø5 H9x4DP PCD 95 1 45 Ø11 H±.4 45 Ø A View 4-M5x.8Px1DP PCD 95 (Stator fixture) Table 1.6 TMY4 Specifications Symbol Unit TMY44 TMY48 Continuous torque Tc Nm 4 8 Continuous current Ic Arms 2.6 2.6 Peak torque (Within 1s.) Tp Nm 12 24 Peak current (Within 1s.) Ip Arms 7.8 7.8 Torque constant Kt Nm/Arms 1.56 3.12 Electrical time constant Te ms 5.2 5.4 Resistance (line to line at 25 ) R25 Ω 2.57 4.5 Inductance (line to line) L mh 13.27 24.42 Number of poles 2p 14 14 Back emf constant (line to line) Kv Vrms/(rad/s).9 1.8 Motor constant (line to line at 25 ) Km Nm/ W _.8 1.2 Thermal resistance Rth K/W 2.9 1.6 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.65.85 Mass of motor Mm kg 4.5 7 Max. axial load Fa N 1 1 Max. moment load M Nm 3 3 Max. speed rpm 3 3 Resolution p/rev 92, (Absolute Resolver 1) ) Repeatability arc-sec ±3 Accuracy arc-sec ±3 Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Height H mm 123 163 Note: 1) The motor should be matched with corresponding HIWIN driver. 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions.

1 MR99TE1-151 1.3.2 TMY6 Series TMY6 Dimensions TM6 4-M6x1Px9DP PCD 16 (Rotor fixture) Resolver 45 Motor 45 2-Ø6 H9x8DP PCD 16 2-Ø6 H9x4DP PCD 16 Ø17h7 Ø45 Rr A Ra A 45 1 Ø17 H±.4 45 A View 4-M6x1Px12DP PCD 16 (Stator fixture) Table 1.7 TMY6 Specifications Symbol Unit TMY63 TMY65 TMY68 Continuous torque Tc Nm 8 16 24 Continuous current Ic Arms 3.8 3.8 3.8 Peak torque (Within 1s.) Tp Nm 24 48 72 Peak current (Within 1s.) Ip Arms 12 12 12 Torque constant Kt Nm/Arms 2.13 4.26 6.39 Electrical time constant Te ms 5.7 6.3 6.5 Resistance (line to line at 25 ) R25 Ω 2 3.1 4.38 Inductance (line to line) L mh 11.4 19.4 28.26 Number of poles 2p 16 16 16 Back emf constant (line to line) Kv Vrms/(rad/s) 1.2 2.5 3.7 Motor constant (line to line at 25 ) Km Nm/ W _ 1.2 2 2.5 Thermal resistance Rth K/W 1.7 1.1.8 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.19.26.33 Mass of motor Mm kg 8 11 15 Max. axial load Fa N 37 37 37 Max. moment load M Nm 6 6 6 Max. speed rpm 3 3 3 Resolution p/rev 92, (Absolute Resolver 1) ) Repeatability arc-sec ±3 Accuracy arc-sec ±3 Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Height H mm 19.5 134.5 159.5 Note: 1) The motor should be matched with corresponding HIWIN driver. 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions.

Torque Motor (Direct Drive Motor) 11 1.3.3 TMYA Series TMYA Dimensions 6 TYP 6-M8x1.25Px16DP P.C.D 255 (Rotor fixture) 127.5±.3 Ø8H7x1DP Motor Resolver 45 9 TYP 4-M1x1.25Px15DP P.C.D 26 (Stator fixture) Ø1H7x12DP (27) Ø27 Rr A (5) Ø16h7 Ø6 Ra A 7 13±.3 H±.4 View Hb Ø28 x A Table 1.8 TMYA Specifications Symbol Unit TMYA5 TMYAA Continuous torque Tc Nm 5 1 Continuous current Ic Arms 2.2 4.4 Peak torque (Within 1s.) Tp Nm 15 3 Peak current (Within 1s.) Ip Arms 6.6 13.2 Torque constant Kt Nm/Arms 22.5 22.5 Electrical time constant Te ms 13.2 13.3 Resistance (line to line at 25 ) R25 Ω 13.3 5.8 Inductance (line to line) L mh 17 77 Number of poles 2p 22 22 Back emf constant (line to line) Kv Vrms/(rad/s) 13 13 Motor constant (line to line at 25 ) Km Nm/ W _ 5 7.6 Thermal resistance Rth K/W.8.4 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.32.44 Mass of motor Mm kg 54 74 Max. axial load Fa N 65 65 Max. moment load M Nm 24 24 Max. speed rpm 1 1 Resolution p/rev 92, (Absolute Resolver 1) ) Repeatability arc-sec ±3 Accuracy arc-sec ±3 Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Height H mm 145 2 Height of base Hb mm 31 Note: 1) The motor should be matched with corresponding HIWIN driver. 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions.

12 MR99TE1-151 1.3.4 TMY Series T-N curves (DC bus voltage=325vdc) 3 25 2 15 1 5 TMY4 TMY48 TMY44 8 7 6 5 4 3 2 1 TMY6 TMY68 TMY65 TMY63 1 2 3 4 1 2 3 4 35 3 TMYA TMYAA TMYA5 25 2 15 1 5 2 4 6 8 1 12

Torque Motor (Direct Drive Motor) 13 1.4 TMN Rotary Tables 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 High resolution optical encoder/ resolver selectable Maximum torque: 4.2~39.6 Nm Model Numbers for TMN Series Series TM:Torque Motor Motor specification Function TM N 7 1 E H C Type N:Low profile type Size 4:External diameterφ118mm 7:External diameterφ18mm 9:External diameterφ23mm Rotor height 1:1mm 2:2mm 3:3mm Feedback system E:Encoder A:Absolute resolver Hall sensor E:Without hall sensor H:With Hall sensor(encoder Type) Optional Specifications E:Standard C:Customized

14 MR99TE1-151 TMN Dimensions TMN42 TMN71 Encoder 118 18 92 Ø12THRU 4-Ø6.6THRU, Ø11x11DP (Stator fixture) +.2 2-Ø5 THRU +.2 Ø5 x7dp PCD 75 Encoder 16 146 14 Ø35 THRU 4-Ø6.6THRU, Ø11x7DP (Stator fixture) 2-Ø6H7 THRU Ø5H7x7DP PCD 16 2.7 45±.3 78 (145.5) (212.5) Ra A (Ø18) Ø86 h7 Ø15h7 Rr A 45±.3 5 92 12 14 Motor Rr A 6-M5x.8Px8DP PCD 75 (Rotor fixture) Motor 6-M5x.8Px8DP PCD 16 (Rotor fixture) Ra A A A TMN93 212 2 18 Ø35THRU 4-Ø9THRU, Ø15x14DP (Stator fixture) 2-Ø8H7 THRU Ø5H7x7DP PCD 15 Encoder 15 18 Motor Rr A (257.5) (Ø23) Ø16h7 8-M5x.8Px8DP PCD 15 (Rotor fixture) Ra A 3.5 55±.3 A

Torque Motor (Direct Drive Motor) 15 1.4.1 TMN Incremental Series Table 1.9 TMN Specifications Symbol Unit TMN42E TMN71E TMN93E Continuous torque Tc Nm 1.4 3.7 13.2 Continuous current Ic Arms 1.5 3.4 3.4 Peak torque (Within 1s.) Tp Nm 4.2 11.1 39.6 Peak current (Within 1s.) Ip Arms 4.5 1.2 1.2 Torque constant Kt Nm/Arms.97 1.9 3.9 Electrical time constant Te ms 1.8 4.1 5.4 Resistance (line to line at 25 ) R25 Ω 4.59 2.22 4.3 Inductance (line to line) L mh 8.18 9.2 23.2 Number of poles 2p 16 16 22 Back emf constant (line to line) Kv Vrms/(rad/s).56.63 2.25 Motor constant(line to line at 25 ) Km Nm/ W _.4.6 1.5 Thermal resistance Rth K/W 4.84 1.95 1.1 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.3.8.12 Mass of motor Mm kg 2 3.5 7.5 Max. axial load Fa N 6 1 1 Max. moment load M Nm 3 5 5 Max. speed rpm 7 6 5 Resolution p/rev 4,325,376 4,32, (Incremental rotary encoder, sin/cos 1Vpp) Repeatability arc-sec ±2.5 ±2.5 ±2.5 Accuracy arc-sec ±45/±1 1) ±45/±1 1) ±45/±1 1) Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Size WxLxH mm 118x118x45 16x16x5 212x212x55 Note: 1) After error mapping 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions.

16 MR99TE1-151 1.4.2 TMN absolute Series Table 1.1 TMN Specifications Symbol Unit TMN71A TMN93A Continuous torque Tc Nm 3.7 13.2 Continuous current Ic Arms 3.4 3.4 Peak torque (Within 1s.) Tp Nm 11.1 39.6 Peak current (Within 1s.) Ip Arms 1.2 1.2 Torque constant Kt Nm/Arms 1.9 3.9 Electrical time constant Te ms 4.1 5.4 Resistance (line to line at 25 ) R25 Ω 2.22 4.3 Inductance (line to line) L mh 9.2 23.2 Number of poles 2p 16 22 Back emf constant (line to line) Kv Vrms/(rad/s).63 2.25 Motor constant(line to line at 25 ) Km Nm/ W _.6 1.5 Thermal resistance Rth K/W 1.95 1.1 Temperature sensor PTC SNM1 Nominal input voltage VDC 5(6) Inertia of rotating parts J kgm 2.8.12 Mass of motor Mm kg 3.5 7.5 Max. axial load Fa N 1 1 Max. moment load M Nm 5 5 Max. speed rpm 3 3 Resolution p/rev 92, (Absolute Resolver 1) ) Repeatability arc-sec ±2.5 ±2.5 Accuracy arc-sec ±3 ±3 Axial runout Ra mm.3(.5 2) ) Radial runout Rr mm.3(.15 2) ) Size WxLxH mm 16x16x5 212x212x55 Note: 1) The motor should be matched with corresponding HIWIN driver. 2) Optional *All the specifications in the table are in ±1% of tolerance except dimensions. 1.5.3 TMN Series T-N curves (DC bus voltage=325vdc) 45 4 35 3 25 2 15 1 5 1 2 3 4 5 6 7 8 TMN42E TMN71E TMN71A TMN93E TMN93A

Torque Motor (Direct Drive Motor) 17 2. TMRW Torque Motor 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 36 Nm The concentricity of the stator and rotor will be calibrated before shipment Example:Index table Model Numbers for TMRW Series Motor specification Function Winding Code TM RW 4 7 L C - Series TM:Torque Motor Type RW:Water cooling type External diameter of the stator s lamination stack 1:Φ14mm 2:Φ175mm 4:Φ21mm 7:Φ291mm A:Φ36mm D:Φ45mm Rotor height 3:3mm 5:5mm 7:7mm A:1mm F:15mm Winding code S:Standard L:Low Back emf Optional Specifications S:Standard C:Customized :Standard :Winding code

15 18 MR99TE1-151 2.1 TMRW1 Series 2.1.1 TMRW1 Dimensions TMRW13/5/7 TMRW1A/F 1 25 Hs 25 1 Thermal cable Motor cable TMRW13/5/7 45 TYP TMRW1A/F 12.5 H HR±.2 H H 19.5±.2 Ø6H8 Ø85.5min. Ø16f9 22.5 22.5 TYP HR±.2 29.5±.2 Seal (O-ring) position Section - 8-M5x.8Px1DP PCD 15 (Both sides) 8-M5x.8Px1DP PCD 7 (Both sides) 16-M5x.8Px1DP PCD 7 (Both sides) 16-M5x.8Px1DP PCD 15 (Both sides) S Table 2.1 TMRW1 Specifications Symbol Unit TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1A TMRW1AL TMRW1F TMRW1FL Continuous torque Tc Nm 7.5 7.5 12.4 12.4 17.4 17.4 24.9 24.9 37.3 37.3 Continuous current Ic Arms 4 5.7 4 5.7 4 5.7 4 5.7 5.7 11.4 Continuous torque (WC) Tcw Nm 18.8 18.8 31.3 31.3 43.8 43.8 62.5 62.5 93.8 93.8 Hs Continuous current 3 (WC) 3 Icw Arms 1 14.4 1 14.4 1 14.4 1 14.4 14.4 28.8 Stall torque 12.5 12.5 Thermal cable Ts Motor cable Nm 5 5 9 9 12 12 17 17 26 26 Stall current Is Arms 2.7 3.8 2.9 4.1 2.8 3.9 2.7 3.9 4 8 Stall torque (WC) Tsw Nm 13 13 22 22 31 31 44 44 66 66 Stall current (WC) Isw Arms 7 9.8 7.1 1.1 7.1 1.1 7.1 1.1 1.1 2.2 Peak torque(within 1s.) H H Tp Nm 35.6 35.6 59.4 59.4 83.1 83.1 118.8 118.8 178.1 178.1 Peak current(within 1s.) Ip Arms 27 38.9 27 38.9 27 38.9 27 38.9 38.9 77.8 Torque constant Kt Nm/ Arms 1.87 1.32 3.1 2.18 4.36 3.6 6.23 4.36 6.55 3.27 Electrical HR±.2time constant 24.5±.2 Te ms 3.6 3.6 3.6 3.6 3.5 3.6 3.6 3.6 3.9 3.6 Resistance (line to line at 25 ) R25 Ω 2.92 1.42 4.88 2.36 6.83 3.32 9.75 4.74 5.5 1.78 Inductance (line to line) L mh 1.5 5.1 17.5 9 22.5 11.9 35 17.1 21.7 6.38 Number of poles 2p 22 22 22 22 22 22 22 22 22 22 Ø9H8 Ø119min. Ø198f9 TMRW23/5/7 Back emf constant (line to line) Kv Vrms/(rad/s) 1.8.76 1.8 1.26 2.52 1.76 3.6 2.52 3.78 1.89 Motor constant (at 25 ) Km Nm/ W _ PCD 1 (Both sides) PCD 1 (Both sides).89.9 1.15 1.16 1.43 1.37 1.63 16-M5x.8Px1DP 1.64 2.28 2 Seal (O-ring) position 8-M5x.8Px1DP PCD 185 (Both sides) Thermal resistance Rth K/W 1.36 PCD 1.37 185 (Both.81 sides).83.64.59.41.41.35.27 Section Thermal resistance ( - WC) Rthw K/W.217.215.13.129.143.92.65.64.56.43 Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm 2.1.1.16.16.23.23.33.33.49.49 Max. speed at conti. Torque rpm 28 4 16 24 115 17 8 117 76 16 Max. speed at conti. Torque (WC) rpm 22 TMRW43/5 32 12 175 83 13 58 TMRW47/A/F 87 54 12 Max. speed at max. Torque rpm 1 16 6 83 4 61 23 39 21 56 Mass of rotor Hs Mr kg.6.6 1 1 1.4 1.4 2 2 3 3 25 25 Mass of stator Thermal MS cable kg 3.7 3.7 5.1 5.1 6.2 6.2 8.6 8.6 12.2 12.2 1 1 Motor cable Height of stator HS mm 7 7 9 9 11 11 14 14 19 19 Height of rotor HR mm 31 31 51 51 71 71 11 11 151 151 Height H mm 1 1 15 15 15 15 15 15 15 15 H Note: WC:water H cooled *All the specifications in the table are in ±1% of tolerance except dimensions. 45 TYP 22.5 8-M5x.8Px1DP 3 TYP TMRW2A/F 22.5 TYP 16-M5x.8Px1DP HR±.2 19.5±.2 Ø14H8 Ø169min. Ø23f9 15 TYP

Torque Motor (Direct Drive Motor) 19 2.1.2 TMRW1 Series T-N curves 4 35 TMRW13 4 35 TMRW13L Peak torque 3 25 2 15 1 5 1 2 3 4 3 25 2 15 1 5 1 2 3 4 5 Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Tc@325VDC Continuous torque ( Free air convection) Tc@6VDC Tc@325VDC 7 TMRW15 7 TMRW15L 6 6 5 5 4 3 2 4 3 2 1 1 5 1 15 2 5 1 15 2 25 3 9 TMRW17 9 TMRW17L 8 8 7 7 6 5 4 3 6 5 4 3 2 2 1 1 5 1 15 5 1 15 2 25 14 TMRW1A 14 TMRW1AL 12 12 1 1 8 6 4 8 6 4 2 2 2 4 6 8 1 5 1 15 TMRW1F 2 18 16 14 12 1 8 6 4 2 2 4 6 8 1 TMRW1FL 2 18 16 14 12 1 8 6 4 2 5 1 15 2

TYP 29.5± 2 MR99TE1-151 Seal (O-ring) position Section - 8-M5x.8Px1DP PCD 15 (Both sides) 8-M5x.8Px1DP PCD 7 (Both sides) 16-M5x.8Px1DP PCD 7 (Both sides) 16-M5x.8Px1DP PCD 15 (Both sides) 2.2 TMRW2 Series 2.2.1 TMRW2 Dimensions TMRW23/5/7 TMRW2A/F 12.5 3 Hs 3 12.5 Thermal cable Motor cable TMRW23/5/7 45 TYP TMRW2A/F H H 22.5 HR±.2 24.5±.2 Ø9H8 Ø119min. Ø198f9 22.5 TYP Section - Seal (O-ring) position 8-M5x.8Px1DP PCD 185 (Both sides) 8-M5x.8Px1DP PCD 1 (Both sides) 16-M5x.8Px1DP PCD 1 (Both sides) 16-M5x.8Px1DP PCD 185 (Both sides) Table 2.2 TMRW2 Specifications TMRW43/5 TMRW47/A/F 25 Hs 25 Symbol Unit TMRW23 TMRW23L TMRW25 TMRW25L TMRW27 TMRW27L TMRW2A TMRW2AL TMRW2F TMRW2FL Continuous torque TcThermal Nm cable 14.2 14.2 23.6 23.6 33 33 47.3 47.3 71 71 1 1 Motor cable Continuous current Ic Arms 3.3 4.9 3.3 4.9 3.3 4.9 3.3 4.9 4.9 9.9 Continuous torque (WC) Tcw Nm 35 35 59 59 82.5 82.5 117.5 117.5 176 176 Continuous current (WC) Icw Arms 8.3 12.3 8.3 12.3 8.3 12.3 8.3 12.3 12.3 24.6 Stall torque H Ts Nm 1 1 17 17 23 23 33 33 5 5 H Stall current Is Arms 2.3 3.5 2.4 3.5 2.3 3.4 2.3 3.4 3.5 6.9 Stall torque (WC) Tsw Nm 25 25 41 41 58 58 82 82 123 123 Stall current (WC) Isw Arms 5.8 8.7 5.7 8.5 5.8 8.6 5.7 8.5 8.5 17.1 Peak torque(within 1s.) Tp Nm 66.5 66.5 112 112 156 156 223 223 334.5 334.5 HR±.2 Peak current(within 1s.) 19.5±.2 Ip Arms 22.3 33.2 22.3 33.2 22.3 33.2 22.3 33.2 33.2 66.4 Torque constant Kt Nm/ Arms 4.29 2.88 7.16 4.8 1.3 6.72 14.32 9.6 14.39 7.2 Electrical time constant Te ms 5.8 6.5 6.5 6.5 6.5 6.5 6.5 6.5 7.3 6.5 Resistance (line to line at 25 ) R25 Ω 4.3 1.5 5.57 2.5 7.8 3.5 11.14 5 6 1.87 Inductance (line to line) L mh 24.95 9.74 36.21 16.23 5.7 22.72 72.43 32.46 43 12.17 Ø14H8 Ø169min. Ø23f9 Number of poles 2p 22 22 22 22PCD 15 (Both 22 sides) 22 22 22 22 22 Back emf constant (line to line) Kv Vrms/(rad/s) 2.48 1.66 12-M5x.8Px1DP 24-M5x.8Px1DP Seal (O-ring) position 4.13 2.77 5.79 3.88 8.27 5.54 8.31 4.15 Motor constant (at 25 ) Km Nm/ W _ PCD 22 (Both sides) 1.68 1.92 2.48 2.48 2.93 2.93 3.5 3.51 4.83 4.3 Section - Thermal resistance Rth K/W 1.35 1.74 1.4 1.6.75.74.52.52.44.35 Thermal resistance ( WC) Rthw K/W.214.279.167.167.119.12.84.84.7.56 Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm 2.27.27.45.45.63.63.9.9.13.13 Max. speed at conti. Torque rpm 126 19 75 113 525 8 36 55 36 74 Max. speed at conti. Torque (WC) rpm 16 16 61 95 42 66 28 44 275 61 Max. speed at max. Torque rpm 59 9 33 525 21 36 125 225 12 33 Mass of rotor Mr kg.95.95 1.6 1.6 2.2 2.2 3.2 3.2 4.8 4.8 Mass of stator MS kg 6.1 6.1 8.4 8.4 1.2 1.2 14.2 14.2 2.1 2.1 Height of stator HS mm 8 8 1 1 12 12 15 15 2 2 Height of rotor HR mm 31 31 51 51 71 71 11 11 151 151 Height H mm 1 1 15 15 15 15 15 15 15 15 Note: WC:water cooled *All the specifications in the table are in ±1% of tolerance except dimensions. 3 TYP 12-M5x.8Px1DP 15 PCD 22 (Both sides) 15 TYP 24-M5x.8Px1DP PCD 15 (Both sides)

Torque Motor (Direct Drive Motor) 21 2.2.2 TMRW2 Series T-N curves TMRW23 7 6 7 6 TMRW23L Peak torque 5 4 3 2 1 5 4 3 2 1 Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Tc@325VDC 5 1 15 5 1 15 2 25 Continuous torque ( Free air convection) Tc@6VDC Tc@325VDC TMRW25 12 TMRW25L 12 1 1 8 6 4 8 6 4 2 2 2 4 6 8 1 5 1 15 TMRW27 18 16 14 12 1 8 6 4 2 2 4 6 8 TMRW27L 18 16 14 12 1 8 6 4 2 2 4 6 8 1 TMRW2A 25 TMRW2AL 25 2 2 15 1 5 15 1 5 1 2 3 4 5 2 4 6 8 TMRW2F 4 35 3 25 2 15 1 5 1 2 3 4 5 TMRW2FL 4 35 3 25 2 15 1 5 2 4 6 8 1

15 22 HR±.2 MR99TE1-151 24.5±.2 Ø9H Ø119m Ø198f Seal (O-ring) position Section - 2.3 TMRW4Series 8-M5x.8Px1DP PCD 185 (Both sides) 8-M5x.8Px1DP PCD 1 (Both sides) 22.5 TYP 16-M5x.8Px1DP PCD 1 (Both sides) 16-M5x.8Px1DP PCD 185 (Both sides) 2.3.1 TMRW4 Dimensions TMRW43/5 TMRW47/A/F 1 25 Hs 25 1 Thermal cable Motor cable TMRW43/5 TMRW47/A/F 3 TYP H H HR±.2 19.5±.2 Ø14H8 Ø169min. Ø23f9 15 TYP Section - Seal (O-ring) position 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) Table 2.3 TMRW4 Specifications Symbol Unit TMRW43 TMRW43L TMRW45 TMRW45L TMRW47 TMRW47L TMRW4A TMRW4AL TMRW4F TMRW4FL Continuous torque Tc Nm 28.2 28.2 47 47 65 65 91 91 136 136 Continuous current Ic Arms 4 8 4 8 4 8 8 12 8 12 Continuous torque (WC) Tcw Nm 63.5 63.5 16 16 148 148 25 25 37 37 Continuous current (WC) Icw Arms 9 18 9 18 9 18 18 27 18 27 Stall torque Ts Nm 2 2 33 33 46 46 64 64 95 95 Stall current Is Arms 2.8 5.7 2.8 5.6 2.8 5.6 5.4 8.4 5.4 8.3 Stall torque (WC) Tsw Nm 44 44 74 74 14 14 144 144 215 215 Stall current (WC) Isw Arms 6.2 12.5 6.3 12.6 6.3 12.6 12.2 18.9 12.2 18.8 Peak torque(within 1s.) Tp Nm 12 12 23 23 28 28 39 39 583 583 Peak current(within 1s.) Ip Arms 24.3 48.6 24.3 48.6 24.3 48.6 48.6 72.9 48.6 72.9 Torque constant Kt Nm/ Arms 7.6 3.53 11.76 5.88 16.47 8.23 11.76 7.61 17.65 11.42 Electrical time constant Te ms 3.5 3.5 5 4.3 4.7 4.7 4.5 4.3 5.2 4.4 Resistance (line to line at 25 ) R25 Ω 4.38 1.1 6.1 1.5 7.63 1.9 2.44 1.6 3.66 1.58 Inductance (line to line) L mh 15.3 3.83 26 6.38 35.7 8.93 11 4.57 19.13 6.9 Number of poles 2p 22 22 22 22 22 22 22 22 22 22 Back emf constant (line to line) Kv Vrms/(rad/s) 4.8 2.4 6.8 3.4 9.5 4.75 6.79 4.39 1.19 6.59 Motor constant (at 25 ) Km Nm/ W _ 2.75 2.74 3.91 3.92 4.8 4.81 5.6 6.1 7.26 7.36 Thermal resistance Rth K/W.9.9.66.66.52.52.36.41.27.28 Thermal resistance ( WC) Rthw K/W.179.178.13.13.12.13.71.82.53.55 Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm 2.85.85.14.14.22.22.29.29.45.45 Max. speed at conti. Torque rpm 77 16 45 95 32 67 46 73 3 47 Max. speed at conti. Torque (WC) rpm 71 15 41 89 29 62 42 68 26 44 Max. speed at max. Torque rpm 5 11 27 66 18 45 3 5 16 3 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 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 Height of stator HS mm 7 7 9 9 11 11 14 14 19 19 Height of rotor HR mm 31 31 51 51 71 71 11 11 151 151 Height H mm 1 1 15 15 15 15 15 15 15 15 Note: WC:water cooled *All the specifications in the table are in ±1% of tolerance except dimensions.

Torque Motor (Direct Drive Motor) 23 2.3.2 TMRW4 Series T-N curves TMRW43 14 12 1 8 6 4 2 2 4 6 8 1 TMRW43L 14 12 1 8 6 4 2 5 1 15 2 Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC Tc@325VDC Continuous torque ( Free air convection) Tc@6VDC Tc@325VDC 25 TMRW45 TMRW45L 25 2 2 15 1 15 1 5 5 1 2 3 4 5 6 2 4 6 8 1 12 3 25 TMRW47 TMRW47L 3 25 2 15 1 2 15 1 5 5 1 2 3 4 2 4 6 8 TMRW4A 45 4 35 3 25 2 15 1 5 1 2 3 4 5 6 TMRW4AL 45 4 35 3 25 2 15 1 5 2 4 6 8 1 TMRW4F 7 6 7 6 TMRW4FL 5 4 3 2 5 4 3 2 1 1 1 2 3 4 1 2 3 4 5 6

15 T 15 24 MR99TE1-151 2.4 TMRW7 Series 2.4.1 TMRW7 Dimensions TMRW73/5/7 TMRW7A/F 12.5 25 Hs 35 17.5 Thermal cable Motor cable TMRW73/5/7 TMRW7A/F 3 TYP H H HR±.2 29.5±.2 Ø2H8 Ø234min. Ø31f9 15 TYP Section - Seal (O-ring) position 12-M5x.8Px1DP PCD 3 (Both sides) 12-M5x.8Px1DP PCD 21 (Both sides) 24-M5x.8Px1DP PCD 21 (Both sides) 24-M5x.8Px1DP PCD 3 (Both sides) Table 2.4 TMRW7 Specifications Symbol Unit TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7A TMRW7AL TMRW7F TMRW7FL Continuous torque Tc Nm 58 58 98 98 137 137 195 195 293 293 Continuous current Ic Arms 6 12 6 12 6 12 6 12 6 12 Continuous torque (WC) Tcw Nm 145 145 24 24 335 335 48 48 72 72 Continuous current (WC) Icw Arms 15 3 15 3 15 3 15 3 15 3 Stall torque Ts Nm 41 41 69 69 96 96 137 137 25 25 Stall current Is Arms 4.2 8.4 4.2 8.5 4.2 8.4 4.2 8.4 4.2 8.4 Stall torque (WC) Tsw Nm 12 12 168 168 235 235 336 336 54 54 Stall current (WC) Isw Arms 1.4 2.9 1.3 2.6 1.3 2.6 1.3 2.6 1.3 2.6 Peak torque(within 1s.) Tp Nm 275 275 456 456 64 64 91 91 136 136 Peak current(within 1s.) Ip Arms 4.5 81 4.5 81 4.5 81 4.5 81 4.5 81 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 Electrical time constant Te ms 5.6 5.6 5.6 5.6 5.6 5.6 5.6 5.6 5.6 5.6 Resistance (line to line at 25 ) R25 Ω 2.86.72 4.19 1.5 5.52 1.38 7.52 1.88 1.84 2.71 Inductance (line to line) L mh 16 4 23.45 5.86 3.9 7.73 42.7 1.52 6.68 15.17 Number of poles 2p 44 44 44 44 44 44 44 44 44 44 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 Motor constant (at 25 ) Km Nm/ W _ 4.67 4.65 6.52 6.51 7.92 7.94 9.68 9.68 12.11 12.13 Thermal resistance Rth K/W.62.61.42.42.32.32.23.23.16.16 Thermal resistance ( WC) Rthw K/W.98.98.67.67.51.51.37.37.26.26 Thermal sensor TMRWA3/5/7 PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm 2.23.23.39.39.59.59.79.79.11.11 Max. speed at conti. Torque rpm 56 111 325 675 225 475 16 325 1 21 Max. speed at conti. Torque (WC) Hs rpm 47 59 27 58 18 4 115 275 72 17 35 35 Thermal cable Max. speed at max. Torque 8.5 rpm 8.5 27 46 15 34 9 23 5 15 13 85 Motor cable 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 Mass of stator MS kg 14.2 14.2 18.9 18.9 23.7 23.7 3.9 3.9 43.6 43.6 Height of stator HS mm H 8 8 1 1 12 12 15 15 2 2 H Height of rotor HR mm 31 31 51 51 71 71 11 11 151 151 Height H mm 1 1 15 15 15 15 15 15 15 15 Note: WC:water cooled *All the specifications in the table are in ±1% of tolerance except dimensions. HR±.2 Ø265H8 Ø299min. Ø385f9 3 TYP 15 TMRWAA/F 15 TYP 29.5±.2

Torque Motor (Direct Drive Motor) 25 2.4.2 TMRW7 Series T-N curves 3 25 TMRW73 3 25 TMRW73L Peak torque Tp@6VDC 2 15 1 2 15 1 Tp@325VDC Continuous torque (WC) Tc@6VDC 5 5 Tc@325VDC 2 4 6 8 5 1 15 Continuous torque ( Free air convection) Tc@6VDC Tc@325VDC TMRW75 5 45 4 35 3 25 2 15 1 5 1 2 3 4 TMRW75L 5 45 4 35 3 25 2 15 1 5 2 4 6 8 7 TMRW77 7 TMRW77L 6 6 5 4 3 2 5 4 3 2 1 1 5 1 15 2 25 3 1 2 3 4 5 6 TMRW7A 1 9 8 7 6 5 4 3 2 1 5 1 15 2 TMRW7AL 1 9 8 7 6 5 4 3 2 1 1 2 3 4 TMRW7F 16 14 12 1 8 6 4 2 2 4 6 8 1 12 14 TMRW7FL 16 14 12 1 8 6 4 2 5 1 15 2 25 3

15 15 TYP 26 MR99TE1-151 2.5 TMRWASeries 2.5.1 TMRWA Dimensions TMRWA3/5/7 TMRWAA/F 8.5 35 Hs 35 8.5 Thermal cable Motor cable TMRWA3/5/7 TMRWAA/F H H 3 TYP HR±.2 29.5±.2 Ø265H8 Ø299min. Ø385f9 HR 37. 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) Table 2.5 TMRWA Specifications Symbol Unit TMRWA3 TMRWA3L TMRWA5 TMRWA5L TMRWA7 TMRWA7L TMRWAA TMRWAAL TMRWAF TMRWAFL Continuous torque Tc Nm 117 117 195 195 274 274 39 39 585 585 Continuous current Ic Arms 6 12 6 12 12 18 12 18 18 24 Continuous torque (WC) Tcw Nm 26 26 43 43 6 6 86 86 129 129 Continuous current (WC) Icw Arms 15 3 15 3 3 45 3 45 45 6 Stall torque Ts Nm 82 82 137 137 192 192 273 273 41 41 Stall current Is Arms 4.2 8.4 4.2 8.4 8.4 12.6 8.4 12.6 12.6 16.8 Stall torque (WC) Tsw Nm 182 182 31 31 42 42 62 62 93 93 Stall current (WC) Isw Arms 9.3 18.6 9.2 18.4 18.4 27.6 18.4 27.7 27.7 36.9 Peak torque(within 1s.) Tp Nm 49 49 81 81 11 11 16 16 24 24 Peak current(within 1s.) Ip Arms 4.5 81 4.5 81 81 121.5 81 121.5 121.5 162 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 Electrical time constant Te ms 1 1 7.5 1 7.8 1.1 8.1 1 7.9 1 Resistance (line to line at 25 ) R25 Ω 3.57.89 7.1 1.48 2.2.92 2.97 1.32 1.98 1.11 Inductance (line to line) L mh 35.7 8.93 53.4 14.88 17.21 9.26 24.2 13.23 15.6 11.11 Number of poles 2p 66 66 66 66 66 66 66 66 66 66 Back emf constant (line to line) Kv Vrms/(rad/s) 11.3 5.65 18.8 9.42 13.18 8.79 18.83 12.55 18.83 14.12 Motor constant (at 25 ) Km Nm/ W _ 8.43 8.44 9.96 1.91 12.57 12.96 15.4 15.4 18.93 18.89 Thermal resistance Rth K/W.49.49.25.3.2.21.15.15.1.1 Thermal resistance ( WC) Rthw K/W.79.79.4.48.32.34.24.24.16.16 Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm 2.65.65.1.1.15.15.21.21.32.32 Max. speed at conti. Torque rpm 25 51 14 3 21 32 14 22 14 2 Max. speed at conti. Torque (WC) rpm 16 34 9 2 135 21 9 14 92 125 Max. speed at max. Torque rpm 65 15 35 8 55 9 35 6 35 5 Mass of rotor Mr kg 3.1 3.1 5.1 5.1 7.1 7.1 1.2 1.2 15.3 15.3 Mass of stator MS kg 2.1 2.1 26.8 26.8 34.5 34.5 44.9 44.9 63.1 63.1 Height of stator HS mm 9 9 11 11 13 13 16 16 21 21 Height of rotor HR mm 31 31 51 51 71 71 11 11 151 151 Height H mm 1 1 15 15 15 15 15 15 15 15 Note: WC:water cooled *All the specifications in the table are in ±1% of tolerance except dimensions.

Torque Motor (Direct Drive Motor) 27 2.5.2 TMRWA Series T-N curves 6 5 4 3 2 TMRWA3 TMRWA3L 6 5 4 3 2 Peak torque Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC 1 1 Tc@325VDC 1 2 3 4 2 4 6 8 Continuous torque ( Free air convection) Tc@6VDC Tc@325VDC 9 TMRWA5 TMRWA5L 9 8 8 7 7 6 5 4 3 6 5 4 3 2 2 1 1 5 1 15 2 1 2 3 4 12 1 TMRWA7 TMRWA7L 12 1 8 6 4 8 6 4 2 2 5 1 15 2 25 3 1 2 3 4 5 TMRWAA 18 16 14 12 1 8 6 4 2 5 1 15 2 TMRWAAL 18 16 14 12 1 8 6 4 2 5 1 15 2 25 3 3 25 TMRWAF TMRWAFL 3 25 2 15 1 2 15 1 5 5 5 1 15 2 5 1 15 2 25 3

15 15 TYP 28 MR99TE1-151 2.6 TMRWD Series TMRWD3/5/7 TMRWDA/F 2.6.1 TMRWD Dimensions 27 1 Hs 43 26 Thermal cable Motor cable TMRWD3/5/7 TMRWDA/F H H 3 TYP HR±.2 37.5±.2 Ø345H8 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) Table 2.6 TMRWD Specifications Symbol Unit TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWDA TMRWDAL TMRWDF TMRWDFL Continuous torque Tc Nm 185 185 31 31 43 43 619 619 925 925 Continuous current Ic Arms 12 24 12 24 12 24 12 24 24 48 Continuous torque (WC) Tcw Nm 4 4 66 66 93 93 134 134 2 2 Continuous current (WC) Icw Arms 3 6 3 6 3 6 3 6 6 12 Stall torque Ts Nm 13 13 217 217 31 31 433 433 648 648 Stall current Is Arms 8.4 16.8 8.4 16.8 8.3 16.6 8.4 16.8 16.7 33.5 Stall torque (WC) Tsw Nm 28 28 462 462 651 651 938 938 14 14 Stall current (WC) Isw Arms 18.1 36.2 17.9 35.8 18 36 18.2 36.4 36.2 72.4 Peak torque(within 1s.) Tp Nm 75 75 123 123 176 176 247 247 36 36 Peak current(within 1s.) Ip Arms 81 162 81 162 81 162 81 162 162 324 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 Electrical time constant Te ms 7.1 7.1 7.1 8.1 7.7 7.1 7.1 7 6.6 7.1 Resistance (line to line at 25 ) R25 Ω 1.57.39 2.31.59 3.4.76 4.14 1.4 1.59.37 Inductance (line to line) L mh 11.13 2.78 16.3 4.78 21.5 5.38 29.3 7.33 1.57 2.64 Number of poles 2p 88 88 88 88 88 88 88 88 88 88 Back emf constant (line to line) Kv Vrms/(rad/s) 8.94 4.47 14.9 7.45 2.85 1.43 29.8 14.9 22.35 11.18 Motor constant (at 25 ) Km Nm/ W _ 1.5 1.8 13.88 13.73 16.78 16.78 2.7 2.65 24.96 25.87 Thermal resistance Rth K/W.28.28.19.19.11.14.11.11.7.7 Thermal resistance ( WC) Rthw K/W.45.45.3.3.18.23.17.17.11.12 Thermal sensor PTC SNM1+SNM12+KTY84 Max. DC BUS VDC 75 Inertia of rotor J kgm 2.16.16.26.26.37.37.53.53.8.8 Max. speed at conti. Torque rpm 3 63 18 39 13 275 9 19 125 26 Max. speed at conti. Torque (WC) rpm 2 42 12 25 85 19 6 133 8 19 Max. speed at max. Torque rpm 85 175 5 115 3 85 18 6 3 8 Mass of rotor Mr kg 5.5 5.5 9.2 9.2 12.8 12.8 18.3 18.3 27.4 27.4 Mass of stator MS kg 22.8 22.8 38 38 53.2 53.2 76 76 114 114 Height of stator HS mm 9 9 11 11 13 13 16 16 21 21 Height of rotor HR mm 31 31 51 51 71 71 11 11 151 151 Height H mm 1 1 15 15 15 15 15 15 15 15 Note: WC:water cooled *All the specifications in the table are in ±1% of tolerance except dimensions.

Torque Motor (Direct Drive Motor) 29 2.6.2 TMRWD Series T-N curves TMRWD3 8 7 TMRWD3L 8 7 Peak torque 6 5 4 3 6 5 4 3 Tp@6VDC Tp@325VDC Continuous torque (WC) Tc@6VDC 2 2 Tc@325VDC 1 1 2 3 4 1 2 4 6 8 Continuous torque ( Free air convection) Tc@6VDC Tc@325VDC TMRWD5 14 TMRWD5L 14 12 12 1 8 6 4 2 5 1 15 2 25 1 8 6 4 2 1 2 3 4 5 TMRWD7 2 18 16 14 12 1 8 6 4 2 5 1 15 2 TMRWD7L 2 18 16 14 12 1 8 6 4 2 5 1 15 2 25 3 35 TMRWDA 3 25 2 15 1 5 2 4 6 8 1 12 TMRWDAL 3 25 2 15 1 5 5 1 15 2 25 TMRWDF 4 35 3 25 2 15 1 5 5 1 15 2 TMRWDFL 4 35 3 25 2 15 1 5 5 1 15 2 25 3 35

3 MR99TE1-151

U V W Torque Motor (Direct Drive Motor) 31 3. Drivers and Accessories DC24V Option 6 Main Power 2 1 Driver CN1 CN2 CN2 3 CN3 4 5 Pulse signal etc. PC Motion Controller Part name Model Connector Description For TMS, TMNxxE Standard Series D1-18-S8 For TMS3xL, TMS7xL Series 1 Driver D1-36-S8 For TMY, TMNxxA Series D1-36-DR U V W T - T + For Torque Motor 2 Motor Power Cable LMACSF Motor Connects (U,V,W) Intercontec Model:BSTA88FR88621A Free leads

32 MR99TE1-151 Part name Model Connector Description For TMS, TMNxxE Series LMACEAA Intercontec Model : ASTA876FR1852A Driver Connector(3M) Model : 112-3VE For TMS, TMNxxE Series FMK3G FMK3G 3 Position Signal Cable LMACEAM CN3 Intercontec Model : ASTA876FR1852A Driver Connector(3M) Model : 112-3VE For TMY, TMNxxA Series LMACEAU Intercontec Model : ASTA876FR1852A Driver Connector(3M) Model : 112-3VE To PC (about 2m long for mega-fabs driver) 4 RS-232 Cable LMACR21D D-SUB 9 Female Driver RS-232 RJ-11 To motion controller (about 3m long) 5 Controller Pulse Cable LMACK3R CN2 Driver Connector(3M) Model : 1126-3VE 6 Regen Resistor 5171 Rated 1W, Peak 5W D1 Drive Accessory EMC Accessory Heat Sink D1-CK1 All Connector (Not Include CN3) D1-CK2 All Connector (Include CN3) D1-EMC1 Used in Single Phase AC Power D1-EMC2 Used in Three Phase AC Power D1-H1 Standard D1-H2 Low Profile 3 4 5 6 7 8 9 1 Cable Length (m) 3 4 5 6 7 8 9 1 Note: User must prepare one 24 V DC power supply for each driver.

Torque Motor (Direct Drive Motor) 33 3.1 Pin Assignment LMACE AA Function Power Incremental Signal Reference Mark Temperature Switch 8-1-9 (Female) Signal Color (514369) SCSI 2 (Male) 4 5V Blue 3 5 5V Blue - 6 V White 2 2 U2 - Red 19 3 U1 - Brown 17 9 U2 + Black 18 1 U1 + Green 16 1 U - Pink 9 8 U + Grey 8 6 V Inner Shield 2 Case Shield Outer Shield 1 11 T+ Purple 14 12 T- Yellow 15 LMACE AM Function Power Incremental Signal Reference Mark Temperature Switch Hall Sensor 8-1-9 (Female) Signal Color (514369) SCSI 2 (Male) 4 5V Blue 3 5 5V Blue - 6 V White 2 2 U2 - Red 19 3 U1 - Brown 17 9 U2 + Black 18 1 U1 + Green 16 1 U - Pink 9 8 U + Grey 8 Case Shield Outer Shield 1 11 T+ Purple 14 12 T- Yellow 15 13 Vcc Blue 3 14 Hall A Brown/Green 11 15 Hall B White/Yellow 12 16 Hall C White/Green 13 17 GND Whtie 1 LMACE AU Function Resolver 1 (2/115) Resolver 2 (24/114) Temperature Switch 8-1-9 (Female) Signal Color (514369) SCSI 2 (Male) 1 VREF+ Brown 11 4 White/Yellow 7 VREF- White 3 8 Yellow/Brown 2 SIN+ Green 16 3 SIN- Yellow 17 9 COS+ Blue 18 1 COS- Red 19 13 SIN+ Black 4 14 SIN- Purple 5 15 COS+ Grey 6 16 COS- Pink 7 12 Case Inner shield Outer shield Inner shield 15 Outer shield 1/Case 11 T+ Brown/Green 14 12 T- White/Green 15

34 MR99TE1-151 Appendix A: Motor Sizing Start Motor Sizing The following contents describe how to choose proper motor according to speed, moving distance, and loading inertia. The basic process for sizing a motor is: Requirement Operating environment Installation (horizontal or vertical ) Driving method Load conditions (loading inertia, friction and cutting force) Speed condition (maximum acceleration and velocity) Duty cycle Torque calculation Calculate the torque corresponding to the speed under each operation condition Calculate equivalent torque Motor sizing and T-N curve confirmation Select the appropriate motor from the HIWIN s catalogue in accordance with calculated maximum torque, equivalent torque and speed. Ensure the speed and the corresponding torque under all operating conditions are within the range of torque-speed curve of the motor. Confirm the equivalent torque is within the continuous torque of the motor. Tp (Peak Torque) Tcw (Continuous torque for water cooling) Tc (Continuous torque for air cooling) Torque Motor T-N curve Symbol : θ: Angular displacement (rad) t: Moving time(sec) α: Angular acceleration(rad/s 2 ) ω: Angular velocity (rad/s) J: Load inertia (kgm 2 ) Jm: Rotor inertia (kgm 2 ) Tp: Peak torque (Nm) Tc: Continuous torque (Nm) Ti: Inertia torque (Nm) Kt: Torque constant (Nm/Arms) Ip: Peak current (Arms) Ie: Equivalent current (Arms) Ic: Continuous current (Arms) ω: Initial angular velocity (rad/s) m: Loading Mass (kg) R: External diameter of loading Mass (m) r: Internal diameter of loading Mass (m) a, b: Side length of loading Mass (m) S: Distance from gravity center to rotary center (m)

Torque Motor (Direct Drive Motor) 35 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. Calculation of loading inertia Loading inertia can be determined by 3D drawing software or according to the formula. The basic loading formula is as follows: moment of inertia of a hollow cylinder r J= m ( R2 + r 2 + S 2 ) 2 S S moment of inertia of a rectangular J= m ( a2 + b 2 + S 2 ) 12 m R a b m Rotary center Rotary center Determine the motion speed and parameters Motion equation Basic kinematics equations are described as follows: ω = ω + αt θ = ω t + 1 2 αt2 Where ω is angular velocity, α is angular acceleration, t is moving time and θ is angular displacement. User can choose two of the four parameters (ω, α, t andθ) as user s designed parameters, then the left two parameters can be calculated by above equations. Motion velocity profile The motion profiles for torque motor are usually classified as Trapezoid Profile and Triangle Profile, where the Trapezoid Profile is frequently used for scan. The motion profiles are divided as acceleration, constant velocity and deceleration. The maximum angular acceleration can be determined by the basic kinematics equations above-mentioned; the Trapezoid Profile is usually used in point-to-point application. The motion profiles are divided as acceleration and deceleration, where the motion profile and formula can be simplified as follows: ω(rad/s) ω max t/2 t/2 t(sec) ω max = 2 θ t 或 ω max = α θ α max = 4θ t 2

36 MR99TE1-151 STEP 2 Torque calculation The maximum torque can be calculated by the following equation T max = ( J +J m ) α max + T f = T i + T f Where Ti is inertia torque, Tf is the torque which is cause by friction torque, cutting force or external force. In most cases, the motions are cyclic point-to-point movements. Assuming a cyclic motion shown in the following profile with a dwell time of t4 second, the effective force can be calculated as follows: T e = (T + T ) 2 t + T 2 t + (T T ) 2 t t + t + t + t i f 1 f 2 i f 3 1 2 3 4 ω(rad/s) ω max t(sec) t1 t2 t3 t4 STEP 3 Motor sizing and T-N curve confirmation With the help of HIWIN s motor specification, users can select the appropriate motor from peak torque and equivalent torque, and ensure the speed and torque under all operating conditions is within the range of the T-N curve for the motor. Torque Motor T-N curve Tp (Peak Torque) Tcw (Continuous torque for water cooling) Tc (Continuous torque for air cooling) Tmax Te The motor sizing is determined as follows: Tmax <Tp Te < Tc The User needs to consider the ratio of equivalent torque and continuous torque. Usually the ratio (Te/Tc) is recommended within.7; continuous torque for TMRW series can be classified as air cooling and water cooling. If the motor is operated with water cooling, the comparison of equivalent torque can be based on water cooling continuous torque when selecting the motor. The peak current Imax and effective current Ie can be calculated by bringing motor torque constant into the following equation (For Kt, please refer to Appendix B) I max = Tmax K t Ie = Te Kt

Torque Motor (Direct Drive Motor) 37 Example of motor sizing Loading requirement: An aluminum disc with φ5mm and 15mm thick without offset and weight is 12kg. There are eight jigs with 1x5x5mm on the aluminum disc at an interval of 45. Each jig weighs 1 kg. The distance from the jig gravity center to the rotary center is 15mm, and the mechanical friction force is 2Nm. Speed requirement: Each position 45 is completed in.3 seconds, and rests for 1 second. STEP1 Requirement confirmation Calculation of loading inertia Inertia of disc J 1 = m( R2 + r 2 + S 2 ) = 12 (.252 + 2 + 2 ) =.375kgm 2 2 2 Inertia of jig J 2 = m( a2 + b 2 + S 2 ) = 1 (.12 +.5 2 +.15 2 ) =.235kgm 2 12 12 Total inertia J= J 1 + 8 J 2 =.375 + 8.235 =.563kgm 2 Motion profile It is a point-to-point application. The maximum angular velocity and the maximum angular acceleration are calculated as follows: θ = 45 = 45 π 18 =.7854rad ω max = 2 θ t = 2.7854.3 = 5.236rad /s = 5rpm α max = 4θ t 2 = 4.7854.3 2 = 34.91rad/s 2 STEP 2 Torque calculation It is recommended that the ratio loading inertia (J) over motor rotator inertia (Jm) be less than 5. It can be roughly estimated 3 in motor sizing. Since J/3=.563/3=.19kgm², user can select the TMS34 (Jm=.2 kgm²) Tmax = (J+Jm ) αmax + Tf = Ti + Tf = (.563 +.2) 34.91 + 2 = 2.4 + 2 = 22.1Nm Where Ti=2.4Nm, Tf=2Nm T e = (T + T ) 2 t + T 2 t + (T T ) 2 t t + t + t + t i f 1 f 2 i f 3 1 2 3 4 = (2.4 + 2) 2.15 + 2 2 + (2.4 2 ) 2.15.15 + +.15 + 1 = 9.9Nm STEP 3 Motor sizing and T-N curve confirmation Finally, TMS34 can be selected according to the Tmax and Te. The peak torque Tp=6Nm, the continuous torque Tc=2Nm, the torque constant Kt=6.6 Nm/Arms, and the speed and torque under all operating conditions are within the range of T-N curve for TMS34. 7 6 5 4 3 Tmax 2 1 Te 5 1 15 2 25 3 35 4 45

38 MR99TE1-151 Appendix B: Glossary 1. Back EMF constant(line to Line): Kv rad/s The back EMF constant, Kv, is the ratio of the back emf voltage (Vrms) to the motor rotational speed (rad/s) when the magnet is at 25. It is created at the movement of the coil in the magnetic field of permanent magnets. 2. Continuous current: Ic/Icw (Arms) The continuous current, Ic, is the current that can be continuously supplied to the motor coils at the ambient temperature 25, and the final temperature of coil can t exceed 1 (12 for TMRW series). Under this condition, the motor reaches the rating continuous torque Tc; in relation with the continuous current and coil temperature, TMRW series will respond to Ic for air cooling and Icw for water cooling. 3. Continuous torque: Tc/Tcw (Nm) The continuous torque, Tc, is the maximum torque the motor is able to generate continuously at the ambient temperature 25 and the final temperature of coil can t exceed 1 (12 for TMRW series).this continuous torque corresponds to Ic/Icw supplied to the motor; in relation with the continuous current and coil temperature, TMRW series will respond to Tc for air cooling and Tcw for water cooling. 4. Inductance (line-to-line): L (mh) Inductance is defined as inductance measured between lines when the motor operates in continuous current Ic/Icw. 5. Resistance at 25 C (line-to-line): R25 (Ω) Resistance is defined as resistance measured between lines when the motor operates at the coil temperature 25. Nm Km ( W ) - The motor constant, Km, is defined as the ratio of square root of motor output torque to consumption power when the coils and magnets are at 25. The larger motor constant represents the lower power loss when the motor outputs at the specific torque. 6. Motor constant: 7. Number of poles: 2p 2p represents the number of poles of the rotor, where p is the number of poles pair. 8. Peak current: Ip (Arms) The peak current, Ip, is the current corresponding to maximum torque output of the motor, and the motor temperature reached by current can t demagnetize magnet; generally speaking, peak current can be granted to supply 1 second when the motor is operating in the normal condition, and then need 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. 1. Rotor inertia: J (kgm 2 ) V rms ( ) 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.

Torque Motor (Direct Drive Motor) 39 11. Stall current: Is/Isw (Arms) 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 series will correspond to Is for air cooling and Isw for water cooling. 12. Stall torque: Ts/Tsw(Nm) The stall current, Ts, is the upper limit of torque when the motor is at 25 and in the stall condition; Depending on the heat dissipation, TMRW series will correspond to Ts for air cooling and Tsw for water cooling. 13. Thermal resistance: Rth/Rthw (K/W) The thermal resistance, Rth, is defined as the resistance suffered heat from motor coil to dissipate the environment (consider the natural convection and radiation for air cooling when ambient temperature is at 25, and the force water cooling for water cooling when the water is at 25 ); Higher thermal resistance represents the larger temperature difference between the coil and environment under the same heat source. 14. Torque constant: Kt (Nm/Arms) The torque constant, Kt, is ratio between as the motor s output torque per RMS current. Except for TMRW series, output torque and input current shows a linear relationship. The non-linear relationship is due to saturation in the lamination stack. Torque Tp Tc Kt Ic I p Current 15. Maximum speed Maximum speed is defined as maximum speed provided under specific torque (usually continuous torque); if there is a bearing installed inside the motor, the maximum speed will be limited by the 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 torque and maximum speed under peak torque. 16. Maximum Input Voltage (VDC): Maximum input voltage is the maximum voltage for the motor operating in the normal environment. 17. Resolution: p/rev Resolution is the quantity of the motor feedback system divided in one turn. 18. Accuracy: arc-sec Accuracy is the error between the target position and the actual position; in the HIWIN s definition, the motor is measured clockwise and counterclockwise twice per 22.5 to take the maximum error. 19. (Bi-) Repeatability: arc-sec (Bi-)Repeatability is the repetition when the motor moves to the same angle.

4 MR99TE1-151 2. 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. Rr Ra Rr Ra Rr Ra (A) TMS (A) inner TMS 內轉式 rotation type (B) TMN (B) outer TMN rotation 外轉式 type (C) TMY (C) outer TM/Y rotation 外轉式 type 21. Loading capacity: The load of motor must be considered when it is operating. The load can be calculated by external force and the installation to identify the motor structure tolerates or not. The axial force applied to the 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. (A) External force=f Axial force applied to the motor F1=F+loading weight W Torque applied to the motor M1= (B) External force=f Axial force applied to the motor F2=F+loading weight W Torque applied to the motor M2 =FxL (C) External force=f Axial force applied to the motor F3=F+loading weight W Torque applied to the motor M3 =Fx(L+.3m)+Wx(L2+.3m) L L L2 F F F C.G W C.G W C.G W (A) (B) (C) Appendix C: Environment Operating Temperature Storage Temperature Atmosphere Temperature +5 to +4 Humidity 2 to 85% RH (no condensation) Temperature -1 to +5 Humidity 2 to 85% RH (no condensation) Under 1m, no corrosive gas, liquid and powder

T Torque Motor (Direct Drive Motor) 41 Appendix D : Torque Motor Inquiry Form Company Name: Date: Contact person: Email: Tel: Fax: Title: Industrial Horizontal Laterally Environment Normal environment (25 ) ( Upside Down) Clean room, Class Pollution environment Installation Other Load Type D D T1 L W T2 Standard High Precision Run out of output Shaft Surface Other (a) μm Total moment of inertia: kgm 2, Size: mm Shaft runout a A Load1, Number Mass: kg or Material: Size: mm A Load Conditions Offset of C.G. : mm Load2, Number Mass: kg or Material: Size: mm Offset of C.G. : mm Point to Point Scan Moving Angle: Moving Time: sec Dwell Time: sec V(rad/s) Load3, Number Mass: kg or Material: Application Size: mm Offset of C.G. : mm None Force Yes: kg, Offset of C.G.: mm Repeatability arc-sec Special requirement: Accuracy arc-sec Drive voltage 11V 22V Other V Pulse format CW/CCW A/B STEP/DIR Brake None Power Off Brake Power On Brake The information below is to be filled out by our authorized agents. Recommended specification: Moving 運動時間 Time T(sec) Dwell 休息時間 Time Manager: Engineer: Salesperson:

MEMO

Torque Motor Rotary Table Torque Motor (Direct Drive Motor) Type Size (mm) Peak Accuracy Repeatability Driver Motor Power Cable Encoder Cable Page 4.2 9 12 18 24 3 4 45 6 75 9 12 15 18 225 3 45 (arcsec) (arcsec) Type Page Type Page Type Page Features Applictions 118x118 TMN42E LMACE AA TMN 18x18 23x23 18x18 TMN71E TMN71A TMN93E ±1/±45 ± 2.5 15 ±3 ± 2.5 16 D1-18-S8 LMACE AM (With Hall senso) LMACE AU.Low profile.hollow shaft.external rotary table.led inspection/ processing.semi-conductor transport, inspection/ porcessing.each kind of Assembly machines Torque Motor Rotary Table TMY 23x23 Φ11 Φ17 Φ27 TMY44 TMY48 TMN93A TMY63 TMY65 TMY68 ±3 ± 3 9 1 11 D1-36-DR D1-36-DR 31 LMACS F 31 LMACE AU 32.Resolver.External rotary table.high speed.p&p.turntable.inspection machine.automatic assembly machine.cd/dvd Mfg. system TMYA5 TMYAA Φ11 3 TMS3 TMS7 TMS Φ15 Φ2 TMS12 TMS14 TMS16 TMS18 TMS32 TMS34 TMS38 TMS3C ±1/±25 ± 3 4 5 D1-18-S8 LMACE AA LMACE AM (With Hall senso).large torque.high precision.optical encoder.p&p.turntable.index table.high-speed placement machine.automatic assembly machine Φ3 6 TMS74 TMS76 TMS7C