36
Torque Motors www.hiwin.de
Torque Motors
www.hiwin.de
2
HIWIN GmbHBrücklesbünd 2D-77654 OffenburgPhone +49 (0) 7 81 9 32 78 - 0Fax +49 (0) 7 81 9 32 78 - [email protected]
All rights reserved.Complete or partial reproductionis not permitted without our permission.
Note:The technical data in this catalog may be changed without prior notice.
3
Welcome to HIWIN Alongside complete rotary tables, HIWIN also offers individual torque motor components for the customised design of rotary tables and rotary axes. The torque motor components each consist of a hollow shaft rotor and a stator with coils.The motors are available in the TMR (standard version) and TMRW (with cooling channels for liquid cooling) series.
Torque MotorsContents
Contents
1. Product overview 7
2. HIWIN torque motors TMR 82.1 Special characteristics of the TMR torque motors 82.2 Order code TMR torque motor 82.3 TMR torques 92.4 TMR torque motor specifications 102.4.1 TMR0 specifications 102.4.2 TMR1 specifications 122.4.3 TMR3 specifications 142.4.4 TMR7 specifications 16
3. HIWIN torque motors TMRW 183.1 Special characteristics of the TMRW torque motors 183.2 Order code TMRW torque motor 183.3 TMRW torques 193.4 TMRW torque motor specifications 203.4.1 TMRW1 specifications 203.4.2 TMRW2 specifications 223.4.3 TMRW4 specifications 243.4.4 TMRW7 specifications 263.4.5 TMRWA specifications 283.4.6 TMRWD specifications 30
6
Torque MotorsProduct overview
7
1. Product overview
HIWIN torque motors TMR Page 8
High continuous and peak torques High dynamics High efficiency Maintenance-free and wear-free operation Integrated thermal sensors
HIWIN torque motors TMRW Page 18
High continuous and peak torques High dynamics Efficient cooling system High efficiency Maintenance-free and wear-free operation Integrated thermal sensors
8
Torque MotorsTMR series
2. HIWIN torque motors TMR
2.1 Special characteristics of the TMR torque motorsTMR series torque motors are ready-to-install motor elements consisting of a stator and rotor. The rotor is in the form of a ring. Their high power density enables high acceleration rates and hence short cycle times. In most cases a transmission system can be omitted when using a torque motor. For matching crossed roller bearings please see our catalogue “Crossed Roller Bearings”.
Key features of the TMR torque motor: High continuous and peak torques High dynamics High efficiency Maintenance-free and wear-free operation Integrated thermal sensors
Typical fields of application: Automation technology Rotary tables
2.2 Order code TMR torque motor
TMR 0 2 L C
Torque motor:TMR: TM components
Outer diameter [mm]:0: 1101: 1503: 1937: 291
Rotor height [mm]:2: 203: 304: 406: 607: 658: 80C: 120
Winding variant:none: standard windingL: for high rotary speed
Special equipment:0: noneC: customer specific
9
2.3 TMR torques
0
Peak torqueContinuous torque
16.950.6
10.53.5
20.97.0
33.811.3
16.95.6
67.522.5
3010
6020
100 200 300 400 500 [Nm]
TMR34(L)
12040TMR38(L)
18060TMR3C(L)
15050TMR74(L)
22575TMR76(L)
450150TMR7C(L)
TMR32
TMR18
TMR16
TMR14
TMR12
TMR07
TMR03
10
Torque MotorsTMR series
2.4 TMR torque motor specifications
2.4.1 TMR0 specifications
Tabelle 2.1 Technical data
Symbol Unit TMR03 TMR07Torques and electrical parametersPeak torque (for 1 sec.) Tp Nm 10.5 20.9Continuous torque 1) Tc Nm 3.5 7Stall torque Ts Nm 2.5 4.9Peak current (for 1 sec.) Ip A 6.8 6.8Continuous current 1) Ic A 2.3 2.3Stall current Is A 1.6 1.6Resistance 2) R25 Ω 7.1 11.1Inductance 2) L25 mH 15.2 22.2Motor constant Km Nm/√ W 0.5 0.8Electrical time constant Ke ms 2.1 2Torque constant Kt Nm/√ W 1.55 3.1Back emf constant Ku Veff/(rad/s) 0.82 1.7Inertia of rotor J kgm² 0.00018 0.00036Thermal resistance Rth K/W 1.76 1.13Max. DC Bus Umax VDC 600Mechanical parametersNumber of poles 2 mm 10Thermal sensor PTC SNM 120Stator height HS mm 68.5 101.0Rotor height HR mm 32.5 65.0Weight of motor Mm kg 2.6 4.3All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature1) Coil temperature 120 °C2) Line to line
Motor cable: Ø10.5
40 max.
0.050.05
B
1000±50
(Ø32
)
18±0.2HR
(84.5)
Ø110
0 –0.1
Ø30
(
H7)
+0.0
21 0
.0
10
A
B HS
0.05
0.2 A
Ø58.
7 m
in.
22.5°
45°
60°
Thermal cable: Ø5.5
Installation clamps
6-M5 × 0.8P × 10DP (both sides)PCD: 40
8-M4 × 0.7P × 8DP (both sides)PCD: 103
11
Torque-speed curves
DC Bus: 600 VDC
010000 2000 3000 4000 5000
5
10
15
20
25
Speed [rpm]
TMR03Torqu
e [Nm
]
TpTc
010000 2000 3000 4000 5000
5
10
15
20
25
Speed [rpm]
TMR07
Torqu
e [Nm
]
TpTc
12
Torque MotorsTMR series
2.4.2 TMR1 specifications
Tabelle 2.2 Technical data
Symbol Unit TMR12 TMR14 TMR16 TMR18Torques and electrical parametersPeak torque (for 1 sec.) Tp Nm 16.9 33.8 50.6 67.5Continuous torque 1) Tc Nm 5.6 11.3 16.9 22.5Stall torque Ts Nm 3.9 7.9 11.8 15.8Peak current (for 1 sec.) Ip A 13.5 13.5 13.5 13.5Continuous current 1) Ic A 4.5 4.5 4.5 4.5Stall current Is A 3.2 3.2 3.2 3.2Resistance 2) R25 Ω 2.6 3.9 5.2 6.5Inductance 2) L25 mH 8.2 14 20 26Motor constant Km Nm/√ W 0.6 1 1.3 1.6Electrical time constant Ke ms 3.2 3.6 3.8 4Torque constant Kt Nm/√ W 1.25 2.5 3.75 5Back emf constant Ku Veff/(rad/s) 0.6 1.2 1.8 2.4Inertia of rotor J kgm² 0.00045 0.00088 0.00132 0.00175Thermal resistance Rth K/W 1.2 0.8 0.6 0.48Max. DC Bus Umax VDC 600Mechanical parametersNumber of poles 2 mm 22Thermal sensor PTC SNM 120Stator height HS mm 50 70 90 110Rotor height HR mm 20 40 60 80Weight of motor Mm kg 3.1 4.8 6.6 8.3All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature1) Coil temperature 120 °C2) Line-to-line
Motor cable: Ø10.5
HR
(106)
(Ø57
)
15±0.2
Ø150
0 –0.1
Ø55
(
H7)
+0.0
3 0
.0
10
B HS
0.05 0.050.05
1000±50 40max.
B
0.2 A
A
Ø85.
3 m
in.
60°
22.5
°45
°
Thermal cable: Ø5.5
Installation clamps
6-M5 × 0.8P × 10DP (both sides)PCD: 66
8-M4 × 0.7P × 8DP (both sides)PCD: 142
13
Torque-speed curves
DC Bus: 600 VDC
0 2000 4000300010000 5000 6000
5
10
15
20
40
35
30
25
Speed [rpm]
TMR14
Torqu
e [Nm
]
0 1000 15005000 2000
10
20
30
40
80
70
60
50
Speed [rpm]
TMR16
Torqu
e [Nm
]
TpTc
0 2000 4000300010000 5000 6000
5
10
15
20
40
35
30
25
Speed [rpm]
TMR12Torqu
e [Nm
]
TpTc
TpTc
0 1000 15005000 2000
10
20
30
40
80
70
60
50
Speed [rpm]
TMR18
Torqu
e [Nm
]
TpTc
14
Torque MotorsTMR series
2.4.3 TMR3 specifications
Tabelle 2.3 Technical data
Symbol Unit TMR32 TMR34 TMR34L TMR38 TMR38L TMR3C TMR3CLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 30 60 120 180Continuous torque 1) Tc Nm 10 20 40 60Stall torque Ts Nm 7 14 28 42Peak current (for 1 sec.) Ip A 10.2 10.2 20.4 10.2 20.4 10.2 20.4Continuous current 1) Ic A 3.4 3.4 6.8 3.4 6.8 3.4 6.8Stall current Is A 2.4 2.4 4.8 2.4 4.8 2.4 4.8Resistance 2) R25 Ω 5 7.5 1.9 12 3 17.1 4.3Inductance 2) L25 mH 22.3 34.6 8.7 65.3 16.3 101 25.3Motor constant Km Nm/√ W 1.1 1.8 1.8 2.8 2.8 3.6 3.5Electrical time constant Ke ms 4.5 4.6 4.6 5.4 5.4 5.9 5.9Torque constant Kt Nm/√ W 3 6 3 12 6 18 9Back emf constant Ku Veff/(rad/s) 1.5 3 1.5 6 3 9 4.5Inertia of rotor J kgm² 0.002 0.005 0.009 0.014Thermal resistance Rth K/W 1.1 0.73 0.73 0.46 0.46 0.32 0.32Max. DC Bus Umax VDC 600Mechanical parametersNumber of poles 2 mm 22Thermal sensor PTC SNM 120Stator height HS mm 60 80 120 160Rotor height HR mm 20 40 80 120Weight of motor Mm kg 5.7 8.2 13.2 18.1All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature1) Coil temperature 120 °C2) Line-to-line
Motor cable: Ø10.5
HR
(136)8020
Ø111
20±0.2
Ø193
Ø107
(H7)
+0.0
35 0
.0
10
B HS
0.05
0.050.05
1000±50
B
0.2
A
A
Ø138
min
.
45°30°
15°10°
Thermal cable: Ø5.5
Installation clamps
8-M6 × 1.0P × 12DP (both sides)PCD: 120
12-M5 × 0.8P × 10DP (both sides)PCD: 182
15
Torque-speed curves
DC Bus: 600 VDC
05000 1000 1500 2000 2500
10
20
30
40
50
60
70
Speed [rpm]
TMR32
Torqu
e [Nm
]
05000 1000 1500 2000 2500
10
20
30
40
50
60
70
Speed [rpm]
Torqu
e [Nm
]
0 1000 12507505002500 1500
4060
20
80100120
200180160140
Speed [rpm]
Torqu
e [Nm
]
TMR34L
TMR38L
TpTc
05000 1000 1500 2000 2500
10
20
30
40
50
60
70
Speed [rpm]
Torqu
e [Nm
]
0 400 5003002001000 600
4060
20
80100120
200180160140
Speed [rpm]
Torqu
e [Nm
]
TMR34
TMR38
TpTc
0 400 5003002001000 600
4060
20
80100120
200180160140
Speed [rpm]
TMR3C
Torqu
e [Nm
]
TpTc
TpTc
TpTc
TpTc
0 1000 12507505002500 1500
4060
20
80100120
200180160140
Speed [rpm]
Torqu
e [Nm
]
TMR3CL TpTc
16
TorquemotorenTMR series
2.4.4 TMR7 specifications
Tabelle 2.4 Technical data
Symbol Unit TMR74 TMR74L TMR76 TMR76L TMR7C TMR7CLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 150 225 450Continuous torque 1) Tc Nm 50 75 150Stall torque Ts Nm 35 52.5 105Peak current (for 1 sec.) Ip A 10.2 20.4 10.2 20.4 10.2 20.4Continuous current 1) Ic A 3.4 6.8 3.4 6.8 3.4 6.8Stall current Is A 2.4 4.8 2.4 4.8 2.4 4.8Resistance 2) R25 Ω 12.9 3.2 17 4.3 29 7.3Inductance 2) L25 mH 55 13.8 76 19 145 36.3Motor constant Km Nm/√ W 3.9 3.9 5.1 5 7.7 7.7Electrical time constant Ke ms 4.3 4.3 4.5 4.4 5 5Torque constant Kt Nm/√ W 17 8.5 25.6 12.8 51.1 25.5Back emf constant Ku Veff/(rad/s) 9.8 4.9 14.8 7.4 29.5 14.8Inertia of rotor J kgm² 0.044 0.061 0.11Thermal resistance Rth K/W 0.42 0.42 0.32 0.32 0.19 0.19Max. DC Bus Umax VDC 600Mechanical parametersNumber of poles 2 mm 44Thermal sensor PTC SNM 120Stator height HS mm 80 100 160Rotor height HR mm 40 60 120Weight of motor Mm kg 15.9 20.4 33.7All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature1) Coil temperature 120 °C2) Line-to-line
Motor cable: Ø10.5
HR
HR20(120)
(Ø19
8)
20±0.2
Ø291
±0.4
Ø175
+0.0
4 0
.0
25
B HS0.05
0.050.05
1000±50
B
0.2
A
A
Ø234
min
.
20°45° Thermal cable: Ø5.5
Installation clamps
18-M5 × 0.8P × 15DP (both sides)PCD: 2808-M8 × 1.25P × 15DP
PCD: 1908-M8 × 1.25P × 15DPPCD: 210
17
Torque-speed curves
0 200 3001000 400
50100150200250300
500450400350
Speed [rpm]
TMR7C
Torqu
e [Nm
]
0 400 6002000 800
50100150200250300
500450400350
Speed [rpm]
TMR7CL
Torqu
e [Nm
]
TpTc
TpTc
0 200 3001000 400
50100150200250300
500450400350
Speed [rpm]
TMR76To
rque [
Nm]
0 400 6002000 800
50100150200250300
500450400350
Speed [rpm]
TMR76L
Torqu
e [Nm
]
TpTc
TpTc
0 200 3001000 400
50100150200250300
500450400350
Speed [rpm]
TMR74
Torqu
e [Nm
]
0 400 6002000 800
50100150200250300
500450400350
Speed [rpm]
TMR74L
Torqu
e [Nm
]
TpTc
TpTc
18
Torque MotorsTMRW series
3. HIWIN torque motors TMRW
3.1 Special characteristics of the TMRW torque motorsTMR series torque motors are ready-to-install motor elements consisting of a stator and rotor, especially suitable for applications in machine tools. They differ from the TMR series by the integrated cooling channels in the stator. Through the liquid cooling higher continuous torques and at the same time lower motor temperatures are achieved, in order to avoid additional process heat in the machine tool. All TMRW torque motors are equipped with temperature sensors to protect the motor even under extreme loads. For matching crossed roller bearings please see our catalogue “Crossed Roller Bearings”.
Key features of the TMRW torque motor: High continuous and peak torque High dynamics Efficient cooling system High efficiency Maintenance-free and wear-free operation Integrated thermal sensors
Typical fields of application: Machine tools Rotary tables
3.2 Order code TMRW torque motor
TMRW A 3 L C
Torque motor:TMRW: TM componentmit water cooling
Outer diameter [mm]:1: 1602: 1984: 230A: 385D: 485
Rotor height [mm]:3: 315: 517: 71A: 101F: 151
Winding variant:none: standard windingL: for high rotary speed
Special equipment:0: noneC: customer specific
19
7.518.835.6
12.431.3
59.4
17.443.8
83.1
24.962.5
118.8
37.393.8
178.1
14.235
66.5
23.659
112
3382.5
156
47.3117.5
223
47106
203
65148
280
91205
390
136307
583
71176
334.5
TMRW13(L)
TMRW15(L)
TMRW17(L)
TMRW1A(L)
TMRW1F(L)
TMRW23(L)
TMRW25(L)
TMRW27(L)
TMRW2A(L)
TMRW45(L)
TMRW47(L)
TMRW4A(L)
TMRW4F(L)
TMRW2F(L)
TMRW43(L)28.2
63.5120
0 500 1000 1500 2000 2500 3000 3500 [Nm]
58145
275
98240
456
137335
640
195480
910
293720
1360
117260
490
195430
810
274600
1100
390860
1600
310660
1230
430930
1760
6191340
2470
9252000
3600
5851290
2400
TMRW73(L)
TMRW75(L)
TMRW77(L)
TMRW7A(L)
TMRW7F(L)
TMRWA3(L)
TMRWA5(L)
TMRWA7(L)
TMRWAA(L)
TMRWD5(L)
TMRWD7(L)
TMRWDA(L)
TMRWDF(L)
TMRWAF(L)
TMRWD3(L)185
400750
Peak torqueContinuous torque (with water cooling)Continuous torque (without water cooling
3.3 TMRW torques
20
Torque MotorsTMRW series
3.4 TMRW torque motor specifications
3.4.1 TMRW1 specifications
Tabelle 3.1 Technical data
Symbol Unit TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1A TMRW1AL TMRW1F TMRW1FLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 35.6 59.4 83.1 118.8 178.1Continuous torque 1) Tc Nm 7.5 12.4 17.4 24.9 37.3Continuous torque (wc) Tc_wc Nm 18.8 31.3 43.8 62.5 93.8Stall torque Ts Nm 5 9 12 17 26Stall torque (wc) Ts_wc Nm 13 22 31 44 66Peak current (for 1 sec.) Ip A 27 38.9 27 38.9 27 38.9 27 38.9 38.9 77.8Continuous current 1) Ic A 4 5.7 4 5.7 4 5.7 4 5.7 5.7 11.4Continuous current (wc) Ic_wc A 10 14.4 10 14.4 10 14.4 10 14.4 14.4 28.8Stall current Is A 2.7 3.8 2.9 4.1 2.8 3.9 2.7 3.9 4 8Stall current (wc) Is_wc A 7 9.8 7.1 10.1 7.1 10.1 7.1 10.1 10.1 20.2Resistance 2) R25 Ω 2.92 1.42 4.88 2.36 6.83 3.32 9.75 4.74 5.5 1.78Inductance 2) L25 mH 10.5 5.1 17.5 9 24.5 11.9 35 17.01 21.7 6.38Motor constant Km Nm/√ W 0.9 0.9 1.15 1.16 1.36 1.37 1.63 1.64 2.28 2Electrical time constant Ke ms 3.6 3.6 3.6 3.8 3.6 3.6 3.6 3.6 3.9 3.6Torque constant Kt Nm/√ W 1.87 1.32 3.1 2.18 4.36 3.06 6.23 4.36 6.55 3.27Back emf constant Ku Veff/(rad/s) 1.08 0.76 1.8 1.26 2.52 1.76 3.6 2.52 3.78 1.89Inertia of rotor J kgm² 0.001 0.0016 0.0023 0.0033 0.0049Thermal resistance Rth °C/W 1.36 1.37 0.81 0.83 0.58 0.59 0.41 0.41 0.35 0.27Thermal resistance (wc) Rth_wc °C/W 0.217 0.215 0.13 0.129 0.093 0.092 0.065 0.064 0.056 0.043Max. DC Bus Umax VDC 750Mechanical parametersNumber of poles 2 mm 22Thermal sensors PTC SNM 100; PTC SNM 120; KTY84Stator height HS mm 70 90 110 140 190Rotor height HR mm 31 51 71 101 151Length H mm 10 15Weight of motor Mm kg 4.3 6.1 7.6 10.6 15.2All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature; wc = with water cooling1) Coil temperature 120 °C2) Line-to-line
HS TMRW13/5/7 TMRW1A/F
8-M5×0.8P×10DPPCD 70 (both sides)
8-M5×0.8P×10DPPCD 150 (both sides)
16-M5×0.8P×10DPPCD 150 (both sides)
16-M5×0.8P×10DPPCD 70 (both sides)
Section X-X
Seal (O-ring) position
HR±0.2 19.5±0.2
10102525
HH
Ø60H
8Ø8
5.5m
in.
Ø160
f9
22.5°
45°
22.5°
X
X
X
X
21
Torque-speed curves
DC Bus: 600 VDC
010000 2000 3000 4000 5000
5
10
15
20
25
30
35
40
Speed [rpm]
Torqu
e [Nm
]
010000 2000 3000 4000 5000
5
10
15
20
25
30
35
40
Speed [rpm]
Torqu
e [Nm
]
TMRW13
TMRW13L
TMRW17
TMRW17L
TMRW15
TMRW15L
0 1000 200015005000 2500 3000
10
20
30
40
70
60
50
Speed [rpm]
Torqu
e [Nm
]
0 1000 200015005000 2500 3000
10
20
30
40
70
60
50
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
Tp
TcTc_wc
Tp
TcTc_wc
Tp
TcTc_wc
TMRW1A
0 500 10007502500 1250 1500
20
40
60
80
140
120
100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW1F
0 1000 15005000 2000
20406080
200
140160180
120100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW1FL
0 1000 15005000 2000
20406080
200
140160180
120100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wcTMRW1AL
0 500 10007502500 1250 1500
20
40
60
80
140
120
100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
0 1000 200015005000 2500
10
20
30
40
90
70
80
60
50
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
0 1000 200015005000 2500
10
20
30
40
90
70
80
60
50
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
22
Torque MotorsTMRW series
3.4.2 TMRW2 specifications
Tabelle 3.2 Technical data
HS TMRW23/5/7 TMRW2A/F
8-M5×0.8P×10DPPCD 100 (both sides)
16-M5×0.8P×10DPPCD 100 (both sides)
8-M5×0.8P×10DPPCD 185 (both sides)
16-M5×0.8P×10DPPCD 185 (both sides)Section X-X
HR±0.2 24.5±0.2
Seal (O-ring) position
12.512.53030
HH
Ø90H
8Ø1
19m
in.
Ø198
f9
22.5°
45°
22.5°
X
X
X
X
Symbol Unit TMRW23 TMRW23L TMRW25 TMRW25L TMRW27 TMRW27L TMRW2A TMRW2AL TMRW2F TMRW2FLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 66.5 112 156 223 334.5Continuous torque 1) Tc Nm 14.2 23.6 33 47.3 71Continuous torque (wc) Tc_wc Nm 35 59 82.5 117.5 176Stall torque Ts Nm 10 17 23 33 50Stall torque (wc) Ts_wc Nm 25 41 58 82 123Peak current (for 1 sec.) Ip A 22.3 33.2 22.3 33.2 22.3 33.2 22.3 33.2 33.2 66.4Continuous current 1) Ic A 3.3 4.9 3.3 4.9 3.3 4.9 3.3 4.9 4.9 9.9Continuous current (wc) Ic_wc A 8.3 12.3 8.3 12.3 8.3 12.3 8.3 12.3 12.3 24.6Stall current Is A 2.3 3.5 2.4 3.5 2.3 3.4 2.3 3.4 3.5 6.9Stall current (wc) Is_wc A 5.8 8.7 5.7 8.5 5.8 8.6 5.7 8.5 8.5 17.1Resistance 2) R25 Ω 4.3 1.5 5.57 2.5 7.8 3.5 11.14 5 6 1.87Inductance 2) L25 mH 24.95 9.74 36.21 16.23 50.7 22.72 72.43 32.46 43 12.17Motor constant Km Nm/√ W 1.69 1.93 2.47 2.49 2.92 2.94 3.51 3.52 4.83 4.28Electrical time constant Ke ms 5.8 6.5 6.5 6.5 6.5 6.5 6.5 6.5 7.2 6.5Torque constant Kt Nm/√ W 4.29 2.88 7.16 4.8 10.03 6.72 14.32 9.6 14.39 7.2Back emf constant Ku Veff/(rad/s) 2.48 1.66 4.13 2.77 5.79 3.88 8.27 5.54 8.31 4.15Inertia of rotor J kgm² 0.0027 0.0045 0.0063 0.009 0.013Thermal resistance Rth °C/W 1.35 1.76 1.04 1.06 0.75 0.75 0.52 0.53 0.44 0.35Thermal resistance (wc) Rth_wc °C/W 0.214 0.279 0.165 0.167 0.118 0.12 0.083 0.084 0.07 0.056Max. DC Bus Umax VDC 750Mechanical parametersNumber of poles 2 mm 22Thermal sensors PTC SNM 100; PTC SNM 120; KTY84Stator height HS mm 80 100 120 150 200Rotor height HR mm 31 51 71 101 151Length H mm 10 15 15 15 15Weight of motor Mm kg 7.05 10 12.4 17.4 24.9All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature; wc = with water cooling1) Coil temperature 120 °C2) Line-to-line
23
Torque-speed curves
DC Bus: 600 VDC
TMRW23
0 1000 200015005000 2500
10
20
30
40
70
60
50
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW23L
0 1000 200015005000 2500
10
20
30
40
70
60
50
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW2F
0 400 8006002000 1000
50
100
150
200
400
350
300
250
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW2FL
0 400 8006002000 1000
50
100
150
200
400
350
300
250
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW25
0 500 10007502500 1250 1500
20
40
60
80
120
100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW25L
0 500 10007502500 1250 1500
20
40
60
80
120
100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
02000 400 600 800 1000
20
40
60
80
100
120
140
180
160
Speed [rpm]
Torqu
e [Nm
]
TMRW27 Tp
TcTc_wc
02000 400 600 800 1000
20
40
60
80
100
120
140
180
160
Speed [rpm]
Torqu
e [Nm
]
TMRW27L Tp
TcTc_wc
TMRW2A
0 400 6002000 800
50
100
250
200
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW2AL
0 400 6002000 800
50
100
250
200
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
24
Torque MotorsTMRW series
3.4.3 TMRW4 specifications
Tabelle 3.3 Technical data
HS TMRW4 3/5 TMRW47/A/F
24-M5×0.8P×10DPPCD 150 (both sides)
24-M5×0.8P×10DPPCD 220 (both sides)
12-M5×0.8P×10DPPCD 220 (both sides)
12-M5×0.8P×10DPPCD 150 (both sides)
Section X-X
HR±0.2 19.5±0.2
Seal (O-ring) position
10102525
HH
Ø140
H8
Ø169
min
.Ø2
30f9 15°
30°
15°
X
X
X
X
Symbol Unit TMRW43 TMRW43L TMRW45 TMRW45L TMRW47 TMRW47L TMRW4A TMRW4AL TMRW4F TMRW4FLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 120 203 280 390 583Continuous torque 1) Tc Nm 28.2 47 65 91 136Continuous torque (wc) Tc_wc Nm 63.5 106 148 205 307Stall torque Ts Nm 20 33 46 64 95Stall torque (wc) Ts_wc Nm 44 74 104 144 215Peak current (for 1 sec.) Ip A 24.3 48.6 24.3 48.6 24.3 48.6 48.6 72.9 48.6 72.9Continuous current 1) Ic A 4 8 4 8 4 8 8 12 8 12Continuous current (wc) Ic_wc A 9 18 9 18 9 18 18 27 18 27Stall current Is A 2.8 5.7 2.8 5.6 2.8 5.6 5.4 8.4 5.4 8.3Stall current (wc) Is_wc A 6.2 12.5 6.3 12.6 6.3 12.6 12.2 18.9 12.2 18.8Resistance 2) R25 Ω 4.38 1.1 6.01 1.5 7.63 1.9 2.44 1.06 3.66 1.58Inductance 2) L25 mH 15.3 3.83 26 6.38 35.7 8.93 11 4.57 19.13 6.9Motor constant Km Nm/√ W 2.75 2.74 3.91 3.92 4.8 4.81 5.95 6.01 7.26 7.36Electrical time constant Ke ms 3.5 3.5 4.3 4.3 4.7 4.7 4.5 4.3 5.2 4.4Torque constant Kt Nm/√ W 7.06 3.53 11.76 5.88 16.47 8.23 11.76 7.61 17.65 11.42Back emf constant Ku Veff/(rad/s) 4.08 2.04 6.8 3.4 9.5 4.75 6.79 4.39 10.19 6.59Inertia of rotor J kgm² 0.0085 0.014 0.022 0.029 0.045Thermal resistance Rth °C/W 0.9 0.9 0.66 0.66 0.52 0.52 0.41 0.41 0.27 0.28Thermal resistance (wc) Rth_wc °C/W 0.179 0.178 0.13 0.13 0.102 0.103 0.080 0.082 0.053 0.055Max. DC Bus Umax VDC 750Mechanical parametersNumber of poles 2 mm 22Thermal sensors PTC SNM 100; PTC SNM 120; KTY84Stator height HS mm 70 90 110 140 190Rotor height HR mm 31 51 71 101 151Length H mm 10 15 15 15 15Weight of motor Mm kg 7.2 10.2 12.9 17.4 25.8All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature; wc = with water cooling1) Coil temperature 120 °C2) Line-to-line
25
Torque-speed curves
DC Bus: 600 VDC
TMRW43
0 1000 15005000 2000
20
40
60
80
140
120
100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW4F
0 4002000 600
100
200
300
400
700
600
500
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW4FL
0 4002000 600
100
200
300
400
700
600
500
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW43L
0 1000 15005000 2000
20
40
60
80
140
120
100
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW45
0 900300 6000 1200
50
100
250
200
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW47
0 600200 4000 800
50
100
300
200
250
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW4A
TMRW4AL
0 600200 4000 800
50
100
450
200
250
150
Speed [rpm]
Torqu
e [Nm
]
300
350
400 Tp
TcTc_wc
0 600200 4000 800
50
100
450
200
250
150
Speed [rpm]
Torqu
e [Nm
]
300
350
400 Tp
TcTc_wc
TMRW47L
0 600200 4000 800
50
100
300
200
250
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wcTMRW45L
0 900300 6000 1200
50
100
250
200
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
26
Torque MotorsTMRW series
3.4.4 TMRW7 specifications
Tabelle 3.4 Technical data
HS TMRW73/5/7 TMRW7A/F
12-M5×0.8P×10DPPCD 210 (both sides)
24-M5×0.8P×10DPPCD 210 (both sides)
12-M5×0.8P×10DPPCD 300 (both sides)
24-M5×0.8P×10DPPCD 300 (both sides)Section X-X
Seal (O-ring) position
HR±0.2 29.5±0.2
17.512.5 3525
HH
Ø200
H8
Ø234
min
.Ø3
10f9
15°
15°30°
X
X
X
X
Symbol Unit TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7A TMRW7AL TMRW7F TMRW7FLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 275 456 640 910 1360Continuous torque 1) Tc Nm 58 98 137 195 293Continuous torque (wc) Tc_wc Nm 145 240 335 480 720Stall torque Ts Nm 41 69 96 137 205Stall torque (wc) Ts_wc Nm 102 168 235 336 504Peak current (for 1 sec.) Ip A 40.5 81 40.5 81 40.5 81 40.5 81 40.5 81Continuous current 1) Ic A 6 12 6 12 6 12 6 12 6 12Continuous current (wc) Ic_wc A 15 30 15 30 15 30 15 30 15 30Stall current Is A 4.2 8.4 4.2 8.5 4.2 8.4 4.2 8.4 4.2 8.4Stall current (wc) Is_wc A 10.4 20.9 10.3 20.6 10.3 20.6 10.3 20.6 10.3 20.6Resistance 2) R25 Ω 2.86 0.72 4.19 1.05 5.52 1.38 7.52 1.88 10.84 2.71Inductance 2) L25 mH 16 4 23.45 5.86 30.9 7.73 42.07 10.52 60.68 15.17Motor constant Km Nm/√ W 4.67 4.65 6.52 6.51 7.94 7.94 9.68 9.68 12.11 12.11Electrical time constant Ke ms 5.6 5.6 5.6 5.6 5.6 5.6 5.6 5.6 5.6 5.6Torque constant Kt Nm/√ W 9.77 4.89 16.3 8.15 22.8 11.4 32.56 16.28 48.85 24.45Back emf constant Ku Veff/(rad/s) 5.64 2.82 9.4 4.7 13.2 6.6 18.8 9.4 28.2 14.1Inertia of rotor J kgm² 0.023 0.039 0.059 0.079 0.11Thermal resistance Rth °C/W 0.62 0.61 0.42 0.42 0.32 0.32 0.23 0.23 0.16 0.16Thermal resistance (wc) Rth_wc °C/W 0.098 0.098 0.067 0.067 0.051 0.051 0.037 0.037 0.026 0.026Max. DC Bus Umax VDC 750Mechanical parametersNumber of poles 2 mm 44Thermal sensors PTC SNM 100; PTC SNM 120; KTY84Stator height HS mm 80 100 120 150 200Rotor height HR mm 31 51 71 101 151Length H mm 10 15 15 15 15Weight of motor Mm kg 16.7 23 29.4 39 55.7All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature; wc = with water cooling1) Coil temperature 120 °C2) Line-to-line
27
Torque-speed curves
DC Bus: 600 VDC
TMRW73
0 1200900300 6000 1500
50
100
300
200
250
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRW75
0 600200 4000 800
100
200
500
400450
300
Speed [rpm]
Torqu
e [Nm
]
250
350
150
50
Tp
TcTc_wc
TMRW77
0 500100 3000 600
200
400
700
600
Speed [rpm]200 400
500
300
100
Tp
TcTc_wc
TMRW77L
0 500100 3000 600
200
400
700
600
Speed [rpm]200 400
500
300
100
Tp
TcTc_wc
TMRW7F
0 25050 1500 300
400
800
1600
1400
Speed [rpm]100 200
1000
600
200
1200
Tp
TcTc_wc
TMRW75L
0 600200 4000 800
100
200
500
400450
300
Speed [rpm]
Torqu
e [Nm
]
Torqu
e [Nm
]To
rque [
Nm]
Torqu
e [Nm
]
TMRW7FL
0 25050 1500 300
400
800
1600
1400
Speed [rpm]100 200
1000
600
200
1200
Tp
TcTc_wc
Torqu
e [Nm
]
250
350
150
50
Tp
TcTc_wc
TMRW7A
0 300100 2000 400
200
400
1000
800900
600
Speed [rpm]
Torqu
e [Nm
]
500
700
300
100
Tp
TcTc_wc
TMRW7AL
0 300100 2000 400
200
400
1000
800900
600
Speed [rpm]
Torqu
e [Nm
]
500
700
300
100
Tp
TcTc_wc
TMRW73L
0 1200300 9006000 1500
50
100
300
200
250
150
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
28
Torque MotorsTMRW series
3.4.5 TMRWA specifications
Tabelle 3.5 Technical data
HS
8.58.5 3535
HH
Ø265
H8
Ø299
min
.Ø3
85f9
TMRWA3/5/7 TMRWAA/F
15°30°
12-M6×1P×12DPPCD 277 (both sides)
24-M6×1P×12DPPCD 277(both sides)
24-M6×1P×12DPPCD 370 (both sides)
12-M6×1P×12DPPCD 370 (both sides)
15°
X
X
X
XSection X-X
Seal (O-ring) position
HR±0.2 29.5±0.2
Symbol Unit TMRWA3 TMRWA3L TMRWA5 TMRWA5L TMRWA7 TMRWA7L TMRWAA TMRWAAL TMRWAF TMRWAFLTorques and electrical parametersPeak torque (for 1 sec.) Tp Nm 490 810 1100 1600 2400Continuous torque 1) Tc Nm 117 195 274 390 585Continuous torque (wc) Tc_wc Nm 260 430 600 860 1290Stall torque Ts Nm 82 137 192 273 410Stall torque (wc) Ts_wc Nm 182 301 420 602 903Peak current (for 1 sec.) Ip A 40.5 81 40.5 81 81 121.5 81 121.5 121.5 162Continuous current 1) Ic A 6 12 6 12 12 18 12 18 18 24Continuous current (wc) Ic_wc A 15 30 15 30 30 45 30 45 45 60Stall current Is A 4.2 8.4 4.2 8.4 8.4 12.6 8.4 12.6 12.6 16.8Stall current (wc) Is_wc A 9.3 18.6 9.2 18.4 18.4 27.6 18.4 27.7 27.7 36.9Resistance 2) R25 Ω 3.57 0.89 7.1 1.48 2.08 0.92 2.97 1.32 1.98 1.11Inductance 2) L25 mH 35.7 8.93 53.4 14.88 20.84 9.26 24.2 13.23 15.6 11.11Motor constant Km Nm/√ W 8.43 8.44 9.96 10.91 12.93 12.96 15.4 15.4 18.86 18.89Electrical time constant Ke ms 10 10 7.5 10.1 10 10.1 8.1 10 7.9 10Torque constant Kt Nm/√ W 19.57 9.79 32.6 16.32 22.84 15.23 32.63 21.75 32.63 24.45Back emf constant Ku Veff/(rad/s) 11.3 5.65 18.8 9.42 13.18 8.79 18.83 12.55 18.83 14.12Inertia of rotor J kgm² 0.065 0.1 0.15 0.21 0.32Thermal resistance Rth °C/W 0.49 0.49 0.25 0.3 0.21 0.21 0.15 0.15 0.1 0.1Thermal resistance (wc) Rth_wc °C/W 0.079 0.079 0.04 0.048 0.034 0.034 0.024 0.024 0.016 0.016Max. DC Bus Umax VDC 750Mechanical parametersNumber of poles 2 mm 66Thermal sensors PTC SNM 100; PTC SNM 120; KTY84Stator height HS mm 90 110 130 160 210Rotor height HR mm 31 51 71 101 151Length H mm 10 15 15 15 15Weight of motor Mm kg 23.2 31.9 41.6 55.1 78.4All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature; wc = with water cooling1) Coil temperature 120 °C2) Line-to-line
29
Torque-speed curves
DC Bus: 600 VDC
TMRWA3
0 600200 4000 800
100
200
600
400
500
300
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRWA7
0 300 400100 2000 500
200
400
1200
800
1000
600
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRWA7L
0 300 400100 2000 500
200
400
1200
800
1000
600
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
TMRWA5
0 300100 2000 400
200
400
900
800
600
Speed [rpm]
Torqu
e [Nm
]
500
700
300
100
Tp
TcTc_wc
TMRWA5L
0 300100 2000 400
200
400
900
800
600
Speed [rpm]
Torqu
e [Nm
]
500
700
300
100
Tp
TcTc_wc
TMRWAA
0 20050 1000 300
400
800
1800
1600
1200
Speed [rpm]
Torqu
e [Nm
]
250150
1000
1400
600
200
Tp
TcTc_wc TMRWAF
0 20050 1000 300
1000
2000
3000
Speed [rpm]
Torqu
e [Nm
]
250150
2500
1500
500
Tp
TcTc_wc
TMRWAFL
0 20050 1000 300
1000
2000
3000
Speed [rpm]
Torqu
e [Nm
]
250150
2500
1500
500
Tp
TcTc_wc
TMRWAAL
0 20050 1000 300
400
800
1800
1600
1200
Speed [rpm]
Torqu
e [Nm
]
250150
1000
1400
600
200
Tp
TcTc_wc
TMRWA3L
0 600200 4000 800
100
200
600
400
500
300
Speed [rpm]
Torqu
e [Nm
]
Tp
TcTc_wc
30
Torque MotorsTMRW series
3.4.6 TMRWD specifications
Tabelle 3.6 Technical data
HS TMRWD3/5/7 TMRWDA/F
12-M8×1.25P×12DPPCD 360 (both sides)
12-M8×1.25P×12DPPCD 468 (both sides)
24-M8×1.25P×12DPPCD 468 (both sides)
24-M8×1.25P×12DPPCD360(both sides)
Section X-X Seal (O-ring) position
HR±0.237.5±0.2
26104327
HH
Ø345
H8
Ø384
min
.Ø4
85f9
30°
X
XX
X
15°
15°
Symbol Unit TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWDA TMRWDAL TMRWDF TMRWDFLKräfte und elektrische ParameterPeak torque (for 1 sec.) Tp Nm 750 1230 1760 2470 3600Continuous torque 1) Tc Nm 185 310 430 619 925Continuous torque (wc) Tc_wc Nm 400 660 930 1340 2000Stall torque Ts Nm 130 217 301 433 648Stall torque (wc) Ts_wc Nm 280 462 651 938 1400Peak current (for 1 sec.) Ip A 81 162 81 162 81 162 81 162 162 324Continuous current 1) Ic A 12 24 12 24 12 24 12 24 24 48Continuous current (wc) Ic_wc A 30 60 30 60 30 60 30 60 60 120Stall current Is A 8.4 16.8 8.4 16.8 8.3 16.6 8.4 16.8 16.7 33.5Stall current (wc) Is_wc A 18.1 36.2 17.9 35.8 18 36 18.2 36.4 36.2 72.4Resistance 2) R25 Ω 1.57 0.39 2.31 0.59 3.04 0.76 4.14 1.04 1.59 0.37Inductance 2) L25 mH 11.13 2.78 16.3 4.78 21.5 5.38 29.3 7.33 10.57 2.64Motor constant Km Nm/√ W 10.05 10.08 13.88 13.73 16.78 16.78 20.7 20.65 24.96 25.87Electrical time constant Ke ms 7.1 7.1 7.1 8.1 7.1 7.1 7.1 7 6.6 7.1Torque constant Kt Nm/√ W 15.48 7.74 25.8 12.9 36.11 18.1 51.6 25.8 38.7 19.35Back emf constant Ku Veff/(rad/s) 8.94 4.47 14.9 7.45 20.85 10.43 29.8 14.9 22.35 11.18Inertia of rotor J kgm² 0.16 0.26 0.37 0.53 0.8Thermal resistance Rth °C/W 0.28 0.28 0.19 0.19 0.14 0.14 0.11 0.11 0.07 0.07Thermal resistance (wc) Rth_wc °C/W 0.045 0.045 0.03 0.03 0.023 0.023 0.017 0.017 0.011 0.012Max. DC Bus Umax VDC 750Mechanical parametersNumber of poles 2 mm 88Thermal sensors PTC SNM 100; PTC SNM 120; KTY84Stator height HS mm 90 110 130 160 210Rotor height HR mm 31 51 71 101 151Length H mm 10 15 15 15 15Weight of motor Mm kg 28.3 47.2 66 94.3 141.4All the specifications in the table (except dimensions) are in ± 10 % of tolerance at 25 °C ambient temperature; wc = with water cooling1) Coil temperature 120 °C2) Line-to-line
31
Torque-speed curves
DC Bus: 600 VDC
TMRWD3
0 600200 4000 800
100
200
800
400
600
300
Speed [rpm]
Torqu
e [Nm
]
700
500
Tp
TcTc_wc
TMRWD3L
0 600200 4000 800
100
200
800
400
600
300
Speed [rpm]
Torqu
e [Nm
]
700
500
Tp
TcTc_wc
TMRWD7
0 300100 2000 400
200
600
2000
1400
1800
1000
Speed [rpm]
Torqu
e [Nm
]
400
800
1200
1600
Tp
TcTc_wc
TMRWD7L
0 300100 2000 400
200
600
2000
1400
1800
1000
Speed [rpm]
Torqu
e [Nm
]
400
800
1200
1600
Tp
TcTc_wc
TMRWDF
0 300100 2000 400
400
1200
4000
2800
3600
2000
Speed [rpm]
Torqu
e [Nm
]
800
1600
2400
3200
Tp
TcTc_wc
TMRWDFL
0 300100 2000 400
400
1200
4000
2800
3600
2000
Speed [rpm]
Torqu
e [Nm
]
800
1600
2400
3200
Tp
TcTc_wc
TMRWD5
0 300 400100 2000 500
200
400
1400
800
600
Speed [rpm]
Torqu
e [Nm
]
1200
1000
Tp
TcTc_wc
TMRWDFL
0 300 400100 2000 500
200
400
1400
800
600
Speed [rpm]
Torqu
e [Nm
]
1200
1000
Tp
TcTc_wc
TMRWDA
0 20050 1000 250
1000
2000
3000
Speed [rpm]
Torqu
e [Nm
]
150
2500
1500
500
Tp
TcTc_wc
TMRWDAL
0 20050 1000 250
1000
2000
3000
Speed [rpm]
Torqu
e [Nm
]
150
2500
1500
500
Tp
TcTc_wc
32
Torque Motors
Notes
33
Notes
34
Torque Motors
Notes
35
Linear Actuators
Linear Motor Components
Linear Axes with Ballscrews
Ballscrews Linear Motor Systems
Rotary Tables
Ball Bearings
Linear Guideways
Drives
Linear Axes with Ballscrews
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TMR-01-0-EN-1501-K
