Torque Motor&Direct Drive Motor(en)

Torque Motor &
Direct Drive Motor

Technical Information
Global Sales And Customer Service Site
HIWIN GmbH HIWIN Srl HIWIN KOREA HIWIN MIKROSYSTEM CORP.

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

CHICAGO, U.S.A. SINGAPORE HAIFA, ISRAEL
www.hiwin.com www.hiwin.sg www.mega-fabs.com
[email protected] [email protected] [email protected]
Copyright © HIWIN Mikrosystem Corp. www.hiwinmikro.tw

The specifications in this catalog are subject to change without notification. ©2019 FORM MR99TE05-1910 (PRINTED IN TAIWAN)
INDUSTRIE 4.0 Best Partner
Linear Motor Stage Linear Motor

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

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

Hospital bed / Automatic window / Home Measurement System
care facility / Riveting /
Cutting machines /
Press-fitting / Surface checks / Bending
Traditional gantry milling machines /
• Servo Actuator-LAA series
Programmable drilling machines
• LAM series
• High Resolution
• LAS series
• Signal Translator
• LAN series
• High-precision Enclosed
• LAC series
• High Efficiency Counter
Multi-Axis Robot
Pick-and-place / Assembly /
Array and packaging / Semiconductor /
Electro-Optical industry /
Automotive industry / Food industry
• Articulated Robot
• Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
Torque Motor & Direct Drive Motor Technical Information

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

Size Peak Torque (Nm) Accuracy Repeatability Drive Motor Power Cable Encoder Cable
Type Page Features Applictions
(mm) 4.2 9 12 18 24 30 40 45 60 75 90 120 150 180 225 300 450 (arcsec) (arcsec) Type Page Type Page Type Page
118x118
DMN42G
．LED inspection/
processing
LMACE□□AA ．Low profile ．Semi-conductor
DMN 180x180 ±10/±45 ± 2.5 15 ．Hollow shaft transport, inspection/
LMACE□□AM
(With Hall sensor) ．External rotary table porcessing
DMN71G
．Each kind of Assembly
machines
D1-36-S2
230x230
DMN93G
Φ110 ±30 ±3 9 LMACE□□AU
DMY44 DMY48 D1-36-S4

．P&P
．Turntable
DMYxxG: ．External rotary table ．Inspection machine
Direct Drive Motor
DMY Φ170 10
LMACE□□AA ．High speed ．Automatic assembly
DMY63 DMY65 DMY68
DMYxxG:
D1-36-S2
machine
±30 ±3 36 LMACS□□F 36 37 ．CD/DVD Mfg. system
DMYxx:
Φ270 11
LMACE□□AU
DMYxx:
DMYA3 DMYA5 DMYAA D1-36-S4
Φ110 3
DMS03G DMS07G
．P&P
Φ150 4
．Turntable
LMACE□□AA ．Index table
DMS12G DMS14G DMS16G DMS18G ．Large torque
DMS ±10/±25 ±3 ．High-speed placement
LMACE□□AM ．High precision
(With Hall sensor) machine
D1-36-S2 ．Automatic assembly
Φ200 5
machine
DMS32G DMS34G DMS38G MS3CG
Φ300 6
DMS74G DMS76G MS7CG

TMRW Torque motor

External Peak Torque (Nm)
diameter Page
(mm) 36 60 66 83 112 120 119 156 178 203 223 280 335 390 583
160 18
TMRW13 TMRW15 TMRW17 TMRW1A TMRW1F
TMRW13L TMRW15L TMRW17L TMRW1AL TMRW1FL
Torque Motor
198 20
230 22

diameter Page
(mm) 275 456 490 640 750 810 910 1100 1230 1360 1600 1760 2400 2470 3600
310 24
Torque Motor
385 26
TMRWA3 TMRWA5 TMRWA7 TMRWAA TMRWAF
TMRWA3L TMRWA5L TMRWA7L TMRWAAL TMRWAFL
485 28
TMRWD3 TMRWD5 TMRWD7 TMRWDA TMRWDF
TMRWD3L TMRWD5L TMRWD7L TMRWDAL TMRWDFL

diameter Page
(mm) 2360 3340 5020
Torque Motor
565 30
TMRWG7 TMRWGA TMRWGF
TMRWG7L TMRWGAL TMRWGFL
Contents
1.Direct Drive Motor 01 3.Drives and Accessories 33

1.1 Product Overview and Applications....................................... 1 3.1 Pin Assignment ....................................................................35
1.2 DMS ....................................................................................... 2
1.2.1 DMS0 Series................................................................ 3
1.2.2 DMS1 Series................................................................ 4
1.2.3 DMS3 Series................................................................ 5
1.2.4 DMS7 Series................................................................ 6
1.2.5 DMS Series T-N curves............................................... 7 4.Appendix 36
1.3 DMY ....................................................................................... 8
1.3.1 DMY4 Series................................................................ 9 A：Motor Sizing .........................................................................36
1.3.2 DMY6 Series...............................................................10 B：Glossary ...............................................................................40
1.3.3 DMYA Series...............................................................11 C：Environment ........................................................................43
1.3.4 DMY Series T-N curves..............................................12 D：Motor Inquiry Form .............................................................44
1.4 DMN .....................................................................................13
1.4.1 DMN Incremental Series...........................................15
1.4.2 DMN Absolute Series.................................................16
1.4.3 DMN Series T-N curves.............................................16
2.TMRW Torque Motor 17

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

1.1 Product Over view and Applications
An extremely rigid connection between motor and load, and a servo-drive regulation ensures excellent
acceleration capabilities and good uniformity of movement. HIWIN direct drive motors are especially well
suited for tasks in automation due to the hollow shaft design. Media, cable systems or mechanical parts can
Direct Drive Motor

be fed through without problems.
 No backlash
 Drive free of clearance
 Hollow shaft
 No gear transmission losses
 Maintenance free and compact
 Brush-free drive Short and compact:
 Extremely rigid support with cross-roller bearing HIWIN direct drive motors
are optimized for high
 IP65 available for DMS Series torques and robust
 Integrated brake is available as an option dynamics.
 Hall sensor is available as an option
Table 1.1 Applications
Features and Applications

Classification Application Maintenance
Accuracy Speed Rigidity Compactness Cleanliness
Free
CVD, wafer cleaning, ion
implantation
   
Production
equipment Semi-conductor transport,
inspection/processing
   
Assembly machines for

electric components
    
Assembly High-speed assembly

machines machines for     
electronic components
Various assembly machines     
Machine part inspection   
Inspection of electric
components
  
Inspection/
Inspection of optical
testing   
components
equipment
Chemical analysis of liquids   
Various Inspection/testing
equipment
  
Various assembly robots     

Various transport robots    
Robots
Inpsection/Transport robots
in clean rooms
    
2 MR99TE05-1910 Torque Motor & Direct Drive Motor 3
TMS0
1.2 DMS Series 1.2.1 DMS0 Series
The DMS series is designed with an integrated, high resolution feedback system optimized to achieve high DMS0 Dimensions
dynamic motion, high torque and high precision. The DMS series is a perfect fit for industries that require
high precision. 2-Ø9H7x2.1DP
PCD 60
Encoder Encoder
60°
connector connect
 Inner rotating structure
TY
P
 Integrated incremental/absolute feedback system
30°
Direct Drive Motor

 High dynamic, torque and precision
 Maximum torque: 9.3~450Nm 2-Ø5H7x7DP
PCD 60
 Meets IP65 enclosure standards as an option Motor Motor
connector 6-M5x0.8Px10DP connec
 Integrated brake is available as an option PCD 60
12
 Hall sensor is available as an option 0° (Rotor fixture)
Model Numbers for DMS Series Ø80

Ø24H7
A
0.07
Rr A 2-Ø5H7x7DP
Ra A
PCD 90
Motor specification Function
60
1
°T
DMS 3 2 L G H B P C
10
YP
45°
Series
H±0.3
DMS：Internal rotary type
0°
12
Size 2-Ø9 H7 x2.1DP
PCD 90
0：External diameterΦ110mm
1：External diameterΦ150mm 6-M6x1Px9DP
Ø110 View X PCD 90
3：External diameterΦ200mm A (Stator fixture)
7：External diameterΦ300mm X
Rotor height
2：20mm Table 1.2 DMS0 Specifications
3：30mm
Symbol Unit DMS03G DMS07G
4：40mm
6：60mm Continuous torque Tc Nm 3.1 6.2
Continuous current Ic Arms 2 2
8：80mm
Peak torque (Within 1s.) Tp Nm 9.3 18.6
C：120mm Peak current (Within 1s.) Ip Arms 6 6
Wiring Code Torque constant Kt Nm/Arms 1.55 3.1
Electrical time constant Te ms 1.9 2.1
S：Standard
Resistance (line to line at 25℃) R25 Ω 7.1 11.1
L：Low Back emf Inductance (line to line) L mH 13.8 23
Number of poles 2p 10 10
Feedback system
Back emf constant (line to line) Kv Vrms/(rad/s) 0.82 1.7
G：Incremental Motor constant (line to line at 25℃) Km Nm/√W
_
0.5 0.8
Thermal resistance Rth K/W 1.76 1.13
Hall sensor
Temperature sensor PTC SNM100
H：Without Hall sensor Nominal input voltage VDC 500(6002))
H：With Hall sensor Inertia of rotating parts J kgm2 0.003 0.006
Mass of motor Mm kg 4 7
Brake
Max. axial load Fa N 3700 3700
B：Without brake Max. moment load M Nm 40 40
B：With power-on brake (DMS1, DMS3, DMS7 Series) Max. speed rpm 700 700
Resolution p/rev 4,325,376 (Incremental, sin/cos 1Vpp)
International Protection Standard Repeatability arc-sec ±3
S：IP40(Standard) Accuracy arc-sec ±45/±101)
P：IP65 Axial runout Ra mm 0.03(0.0052)) Resolver
connector
Radial runout Rr mm 0.03(0.0152))
Optional Specifications Height H mm 117.5 150
S：Standard 1)
Note： After error mapping
C：Customized 2)
Optional
*All the specifications in the table are in ±10％ of tolerance except dimensions.
Motor
connector
4 MR99TE05-1910 TMS3TMS3 Torque Motor & Direct Drive Motor 5
TMS0
TMS1 TMS1
1.2.2 DMS1 Series 1.2.3 DMS3 Series
DMS1 Dimensions 2-Ø5H7x7DP 2-Ø5H7x7DP
DMS3 Dimensions
PCD 48 PCD 48
45
45
2-Ø9H7x2.1DP 2-Ø9H7x2.1DP
°T
°T
YP
PCD 60
YP
PCD 60
60
5°
60
Encoder Encoder
°T
5°
Encod
60°
13
Encoder connector Encoder connector
°T
YP
13
connector connector conne
TY
YP
P
22.5°
22.5°
30°
Direct Drive Motor

2-Ø5H7x7DP
6-M6x1Px9DP
PCD 60 8-M6x1Px12DP
PCD 60
Motor 6-M6x1Px9DP (Rotor fixture) Motor 8-M6x1Px12DP
PCD 120
5x0.8Px10DP PCD 60
connector connector (Rotor fixture)
60 Motor (Rotor fixture) Motor PCD 120 Moto
or fixture) connector connector (Rotor fixture) conn
12
0°
2-Ø12H7x2.1DP 67
12 .5°
A
0.07 2-Ø5H7x7DP PCD 120 2-Ø12 H7 x2.1DP
2-Ø5H7x7DP 0° Ø99
2-Ø6H7x8DP
2-Ø6H7x8DP
Rr A Ra A PCD 142 67 PCD 180
PCD 90 A
0.07 2-Ø12H7x2.1DP 10° PCD 120 15°
Ø35H7 .5° PCD 180
2-Ø5H7x7DP
Rr A Ra A PCD 120 2-Ø12 H7 x2.1DP
2-Ø6H7x8DP
Ø99 PCD 142 2-Ø6H7x8DP PCD 180
45
PCD 120 15°
60
°T
0.07 A 10°
1
Ø170.5 PCD 180
YP
°T
Ø35H7 A
Rr A
10
0.07
YP
Ra A Ø60H7
1
45°
45
Rr A
30
Ra A
10
°T
°T
Ø170.5
YP
22.5°
YP
H±0.3
0.07 A
H±0.3
Ø60H7
1
0°
Rr A
30
Ra A
0.5
15
0°
10
°T
10
12
15°
2-Ø9 H7 x2.1DP
22.5°
YP
H±0.3
PCD 90
13
0°
5°
0.5
15
H±0.4
6-M6x1Px9DP
10
Ø150 2-Ø9 H7 x2.1DP
15°
H7 x2.1DP View X PCD 90
(Stator fixture) A PCD 110
0 A
13
5°
X 35° 8-M6x1Px12DP
H±0.4
PCD 142
2-Ø9 H7 x2.1DP (Stator fixture)
Ø150 View X 10-M6x1Px12DP
A PCD 110 PCD 180
X 8-M6x1Px12DP Ø200 (Stator fixture)
35°
PCD 142 A 7.5°
(Stator fixture) X
View X View X 10-M6x1Px12DP
PCD 180
Table 1.3 DMS1 Specifications TableØ200
1.4 DMS3 Specifications (Stator fixture)
A 7.5°
Symbol Unit DMS12G DMS14G DMS16G DMS18G X Symbol Unit DMS32G DMS34G DMS34LG DMS38G DMS38LG DMS3CG DMS3CLG
View X
Continuous torque Tc Nm 5 10 15 20 Continuous torque Tc Nm 10 20 20 40 40 60 60
Continuous current Ic Arms 4 4 4 4 Continuous current Ic Arms 3 3 6 3 6 3 6
Peak torque (Within 1s.) Tp Nm 15 30 45 60 Peak torque (Within 1s.) Tp Nm 30 60 60 120 120 180 180
Peak current (Within 1s.) Ip Arms 12 12 12 12 Peak current (Within 1s.) Ip Arms 9 9 18 9 18 9 18
Torque constant Kt Nm/Arms 1.25 2.5 3.75 5 Torque constant Kt Nm/Arms 3.3 6.6 3.3 13.3 6.65 20 10
Electrical time constant Te ms 3.2 3.6 3.8 4 Electrical time constant Te ms 4.7 4.8 4.4 5.3 4.5 5.1 5
Resistance (line to line at 25℃) R25 Ω 2.6 3.9 5.2 6.5 Resistance (line to line at 25℃) R25 Ω 5.8 8.4 1.7 13.6 2.9 18.8 3.9
Inductance (line to line) L mH 8.2 14 20 26 Inductance (line to line) L mH 27 40 7.5 71.5 13 95 19.5
Number of poles 2p 22 22 22 22 Number of poles 2p 22 22 22 22 22 22 22
Back emf constant (line to line) Kv Vrms/(rad/s) 0.6 1.2 1.8 2.4 Back emf constant (line to line) Kv Vrms/(rad/s) 1.6 3.2 1.6 6.4 3.2 9.6 4.8
TMX6
_ _
Motor constant (line to line at 25℃) Km Nm/√W 0.6 1 1.3 1.6 Motor constant (line to line at 25℃) Km Nm/√W 1.1 1.9 2.1 2.9 3.2 3.8 4.1
Thermal resistance
Temperature sensor
Rth K/W 1.2 0.8
PTC SNM100
0.6 0.48
TMX4 Thermal resistance
Temperature sensor
Rth K/W 0.96 0.66 0.82 0.41
PTC SNM100
0.48 0.3 0.36
Nominal input voltage VDC 500(6002)) Nominal input voltage 4-M6x1Px9DPVDC 500(6002))
6-M5x0.8Px10DP PCD 160
Inertia of rotating parts J kgm2 0.006 0.0065 PCD 100 0.007 0.0075 Inertia of rotating parts J
(Rotor fixture)kgm
2
0.014 0.02 0.02 0.026 0.026 0.035 0.035
Mass of motor Mm kg (Rotor fixture)
Resolver 7.2 8.5 9.8 11 Mass of motor Mm kg 14 17 17 22.5 22.5 28.5 28.5
Max. axial load Fa N connector
3700 3700 3700 3700 Max. axial load Fa N
TMX6 8000 8000 8000 8000 8000 8000 8000
Max. moment load M Nm 60 60
TMX4 60 60 ResolverMax. moment load M Nm 240 240 240 240 240 240 240
30°
connector
45°
Max. speed rpm 600 600 600 500 Max. speed rpm 600 400 600 200 450 120 300
Resolution p/rev 4,320,000 (Incremental, sin/cos 1Vpp) Resolution 4-M6x1Px9DP p/rev 4,320,000 (Incremental, sin/cos 1Vpp)
30°
Repeatability arc-sec
6-M5x0.8Px10DP ±3 Repeatability PCD 160 arc-sec ±2.5
PCD 100
Motor (Rotor fixture)
Accuracy arc-sec ±45/±101) Accuracy arc-sec ±25/±101)
(Rotorconnector
fixture) 2-Ø5 H9x5DP 2)
Axial runoutResolver Ra mm 0.03(0.005 )
PCD 100 Motor
Axial runout Ra mm 0.03(0.0052))
connector 30°
45°
Radial runout Rr mm 0.03(0.0152)) connector
Height H mm 100 120 Rr A 140 160 Resolver Height H mm 130 150H9x4DP 150 190 190 230 230
30°
Ø110h7 connector 2-Ø6

45°
A
0.07 PCD 160
1)
Note： After error mapping Ø35
2-Ø5 H9x4DP
Note：1) After error mapping
Ra A 2) 2-Ø6 H9x8DP
2)
Optional PCD 95 Optional PCD 160
30°
*All the specifications in the table are in ±10％ of tolerance except dimensions. *All the specifications in the table are in ±10％ of tolerance except dimensions.
Rr A
Motor Ø170h7
10
connector A
0.07
Ø45
2-Ø5 H9x5DP Ra A
45°
45°
30° PCD 100 Motor

H±0.4
45°
Ø110 connector
TMS7
1.2.4 DMS7 Series 1.2.5 DMS Series T-N curves

TMS7
DMS7 Dimensions (DC bus voltage=325VDC)

8-M8x1.25Px16DP
8-M8x1.25Px16DP
PCD 190 PCD 190
(Rotor fixture)
(Rotor fixture)
2-Ø12H7x2.6DP
2-Ø12H7x2.6DP DMS0 DMS1
PCD 190 PCD 190
20 70
45
DMS07G DMS18G
45
18
°T
°T
YP
60
YP
16 DMS03G DMS16G
50 DMS14G
14
Torque (Nm)
Torque (Nm)
DMS12G
Direct Drive Motor

Encoder 12
Encoder
connector 40
22.5°
connector 10
22.5°
8 30
6
157.5°
20
Motor 4
157.5°
connector
10
35°
Motor 2
connector
0 0
35°
0 200 400 600 800 0 200 400 600 800
2-Ø8H7x10DP Speed (rpm) Speed (rpm)
PCD 190
11.25° 2-Ø8H7x10DP
PCD 190 2-Ø12 H7 x2.6DP
Ø230 PCD 280
Ø104H7 Ra A 2-Ø8 H7x10DP
11.25° Rr A PCD 280
2-Ø12 H7 x2.6DP DMS3 DMS7
Ø230 PCD 280 200 500
1
Ra A 2-Ø8 H7x10DP DMS3CLG DMS7CLG

10
Ø104H7 180 450

Rr A PCD 280
DMS3CG DMS7CG
35°
160 400
DMS38LG DMS76LG
H±0.4
140 350
1
10
Torque (Nm)
Torque (Nm)
DMS38G DMS76G
120 300
35°
DMS34LG DMS74LG
100 250
DMS34G DMS74G
H±0.4
0°
80 200
16
9-M8x1.25Px20DP DMS32G
Ø300 PCD 280 60 150
A (Stator fixture)
X 40 100
20 50
0°
16
P 9-M8x1.25Px20DP 0 0
Ø300 40°TY PCD 280
20° 0 100 200 300 400 500 600 700 0 50 100 150 200 250 300
A (Stator fixture)
View X
X
Speed (rpm) Speed (rpm)
Table 1.5 DMS7 Specifications TYP

20° 40°
Symbol Unit DMS74G DMS74LG DMS76G DMS76LG
View X DMS7CG DMS7CLG
Continuous torque Tc Nm 50 50 75 75 150 150
Continuous current Ic Arms 3 6 3 6 3 6
Peak torque (Within 1s.) Tp Nm 150 150 225 225 450 450
Peak current (Within 1s.) Ip Arms 9 18 9 18 9 18
Torque constant Kt Nm/Arms 16.7 8.35 25 12.5 50 25
Electrical time constant Te ms 4.6 5 5.1 5 5.4 6
Resistance (line to line at 25℃) R25 Ω 14 3.5 19 4.8 32.5 8.5
Inductance (line to line) L mH 64 17.5 96.5 27 176 50.6
Number of poles 2p 44 44 44 44 44 44
Back emf constant (line to line) Kv Vrms/(rad/s)
_
10.8 5.4 16.2 8.1 32.4 16.2
Motor constant (line to line at 25℃) Km Nm/√W 3.6 3.6 4.7 4.7 7.2 7.0
Thermal resistance Rth K/W 0.4 0.4 0.29 0.29 0.17 0.16
Nominal input voltage VDC 500(6002))
Inertia of rotating parts J kgm2 0.152 0.152 0.174 0.174 0.241 0.241
Mass of motor Mm kg 36 36 41 41 57 57
Max. axial load Fa N 8000 8000 8000 8000 8000 8000
Max. moment load M Nm 360 360 360 360 360 360
Max. speed rpm 120 250 72 170 24 80
Resolution p/rev 4,320,000 (Incremental, sin/cos 1Vpp)
Repeatability arc-sec ±2.5
Accuracy arc-sec ±25/±101)
Height H mm 160 160 180 180 240 240
Note：1) After error mapping
2)
Optional
1.3 DMY Series 1.3.1 DMY4 Series
The DMY series is designed with an intergrated, high resolution feedback system which is optimized to DMY4 Dimensions
achieve high dynamic motion, high torque and high precision. The DMY series is a perfect fit for indusries TMX4
that require high precision.
6-M5x0.8Px10DP
PCD 100
(Rotor fixture)
 Outer rotating structure Resolver
connector
 Integrated high resolution incremental/absolute feedback system
Direct Drive Motor

Resolver
30°
connecto
 High dynamic, torque and precision
 Maximum torque: 12~300 Nm
30°
 Compatible with special environments
Motor
connector
2-Ø5 H9x5DP
30° PCD 100 Motor
connect
Rr A
Ø110h7
0.07 A
Ø35
Ra A 2-Ø5 H9x4DP
PCD 95
10
45°
H±0.4
Ø110
45°
Ø
Model Numbers for DMY Series
4-M5x0.8Px10DP
X A View X PCD 95
(Stator fixture)
Motor specification Function
DMY 6 3 G C
Series
DMY：External rotary type Table 1.6 DMY4 Specifications
Size Symbol Unit DMY44 DMY48
4：External diameterΦ110mm Continuous torque Tc Nm 4 8
6：External diameterΦ170mm Continuous current Ic Arms 2.6 2.6
A：External diameterΦ270mm Peak torque (Within 1s.) Tp Nm 12 24
Peak current (Within 1s.) Ip Arms 7.8 7.8
Rotor height Torque constant Kt Nm/Arms 1.56 3.12
3：30mm Electrical time constant Te ms 5.2 5.4
5：50mm Resistance (line to line at 25℃) R25 Ω 2.57 4.5
Inductance (line to line) L mH 13.27 24.42
8：80mm
A：100mm Back emf constant (line to line) Kv Vrms/(rad/s) 0.9 1.8
_
Motor constant (line to line at 25℃) Km Nm/√W 0.8 1.2
Feedback system
Thermal resistance Rth K/W 2.9 1.6
S：Absolute Temperature sensor PTC SNM100
G：Incremental Nominal input voltage VDC 500(6002))
Inertia of rotating parts J kgm2 0.0065 0.0085
Optional Specifications
Mass of motor Mm kg 5 7.5
S：Standard Max. axial load Fa N 1000 1000
C：Customized Max. moment load M Nm 30 30
Max. speed rpm 300 300
Resolution p/rev 920,000 (Absolute1))
Repeatability arc-sec ±3
Accuracy arc-sec ±30
Height H mm 123 163
1)
Note： The motor should be matched with corresponding HIWIN drive.
2)
Optional
X
10 MR99TE05-1910 °TY
P
40Direct
20°Torque Motor & Drive Motor 11
View X
1.3.2 DMY6 Series 1.3.3 DMYA Series
DMY6 Dimensions
TMX6 DMYA Dimensions
4-M6x1Px9DP
6-M8x1.25Px16DP
PCD 160 P.C.D 255
(Rotor fixture) (Rotor fixture)
YP 127.5±0.03
°T
60
Resolver
connector
45°
Direct Drive Motor

Ø8H7x10DP
4-M10x1.25Px15DP
Motor P.C.D 260
connector 90° TYP (Stator fixture)
Resolver
connector 45°
Motor
45°
connector
2-Ø6 H9x4DP
PCD 160 (27)
Ø10H7x12DP
2-Ø6 H9x8DP
PCD 160
(50)
Ø270 Rr A
Rr A
Ø170h7
0.07 A
Ø45 Ø160h7
Ra A Ra A
45°
Ø60
10
7
130±0.03
H±0.4
Ø170
H±0.4
View X
45°
Hb
4-M6x1Px12DP Ø280 A
PCD 160
View X x
A (Stator fixture)
X
Table 1.8 DMYA Specifications

Table 1.7 DMY6 Specifications Symbol Unit DMYA3G DMYA5G DMYA5 DMYAAG DMYAA
Symbol Unit DMY63G DMY63 DMY65G DMY65 DMY68G DMY68 Continuous torque Tc Nm 25 50 100
Continuous current Ic Arms 2.2 2.2 4.4
Continuous torque Tc Nm 8 16 24
Peak torque (Within 1s.) Tp Nm 75 150 300
Continuous current Ic Arms 3.8 3.8 3.8 Peak current (Within 1s.) Ip Arms 6.6 6.6 13.2
Peak torque (Within 1s.) Tp Nm 24 48 72 Torque constant Kt Nm/Arms 11.4 22.5 22.5
Peak current (Within 1s.) Ip Arms 12 12 12 Electrical time constant Te ms 11.3 12.8 13.3
Torque constant Kt Nm/Arms 2.13 4.26 6.39
Resistance (line to line at 25℃) R25 Ω 8.6 13.3 5.8
Electrical time constant Te ms 5.7 6.8 6.5
Inductance (line to line) L mH 97 170 77
Resistance (line to line at 25℃) R25 Ω 2 3.1 4.38
Number of poles 2p 22 22 22
Inductance (line to line) L mH 11.4 21 28.26
_
6.6 13 13
Motor constant (line to line at 25℃) Km Nm/√W 3.2 5 7.6
Back emf constant (line to line) Kv Vrms/(rad/s) 1.2 2.5 3.7
_ Thermal resistance Rth K/W 1.2 0.8 0.4
Motor constant (line to line at 25℃) Km Nm/√W 1.2 2 2.5
Thermal resistance Rth K/W 1.7 1.1 0.8
Inertia of rotating parts J kgm2 0.254 0.32 0.44
Mass of motor Mm kg 45 54 71
Inertia of rotating parts J kgm2 0.019 0.026 0.033
Max. axial load Fa N 8000 8000 8000
Mass of motor Mm kg 7.7 10.7 14.7
Max. moment load M Nm 240 240 240
Max. speed rpm 200 100 100
Max. speed rpm 500 300 500 300 400 300 Resolution1) p/rev 4,320,000 4,320,000 920,000 4,320,000 920,000
Resolution1) p/rev 4,320,000 920,000 4,320,000 920,000 4,320,000 920,000 Repeatability arc-sec ±3
Repeatability arc-sec ±3 Accuracy arc-sec ±30
Accuracy arc-sec ±30 Axial runout Ra mm 0.03(0.0052))
Axial runout Ra mm 0.03(0.0052)) Radial runout Rr mm 0.03(0.0152))
Radial runout Rr mm 0.03(0.0152)) Height H mm 120 145 200
Height H mm 109.5 134.5 159.5 Height of base Hb mm 31
Note：1) Incremental type with sin/cos 1Vpp, absolute type should be matched with corresponding HIWIN drive. Note：1) Incremental type with sin/cos 1Vpp, absolute type should be matched with corresponding HIWIN drive.
2) 2)
Optional Optional
*All the specifications in the table are in ±10％ of tolerance except dimensions. *All the specifications in the table are in ±10％ of tolerance except dimensions.
1.3.4 DMY Series T-N curves 1.4 DMN Series

(DC bus voltage=325VDC)
The DMN series is designed with an extremely low profile and a high resolution optical encoder optimized to
DMY4 DMY6
30 80 achieve high dynamic motion, high torque and high precision. The DMN series is a perfect fit for industries
DMY48 DMY68
25 DMY44
70
DMY65
that require high precision but less force.
60 DMY63
Torque (Nm)
Torque (Nm)
20
50 DMY68G  Outer rotating structure
15 40 DMY65G
 Space saving with Low profile design
Direct Drive Motor

DMY63G
30
10  High resolution optical encoder
20
5  Maximum torque: 4.2~39.6 Nm
10
0 0
0 100 200 300 400 0 100 200 300 400 500 600
DMYA
350
300
DMYAA(G)
DMYA5(G)
Model Numbers for DMN Series
Torque (Nm)
250 DMYA3(G)
200
150 Motor specification Function

100
50
DMN 7 1 G H C
0 Series
0 50 100 150 200 250
DMN：Low profile type
Speed (rpm)
Size
Rotor height
1：10mm
2：20mm
3：30mm
Feedback system
G：Incremental
A：Absolute
Hall sensor
E：Without hall sensor
H：With Hall sensor(Encoder Type)
E：Standard
C：Customized
DMN Dimensions 1.4.1 DMN Incremental Series

Table 1.9 DMN Specifications
DMN42 DMN71 Symbol Unit DMN42G DMN71G DMN93G
Continuous torque Tc Nm 1.4 3.7 13.2
4-Ø6.6THRU, □160
□118 Ø11x11DP 4-Ø 6.6THRU, Continuous current Ic Arms 1.5 3.4 3.4
(Stator fixture) 146 Ø11x7DP
108
(Stator fixture) Peak torque (Within 1s.) Tp Nm 4.2 11.1 39.6
2-Ø5 +0.02 THRU 140
92 0
2-Ø6H7 THRU Peak current (Within 1s.) Ip Arms 4.5 10.2 10.2
Ø35 THRU
Direct Drive Motor

Ø12THRU Ø5+0.02
0 x7DP
Ø5H7x7DP Torque constant Kt Nm/Arms 0.97 1.09 3.9
PCD 75 PCD 160
Encoder Encoder
Electrical time constant Te ms 1.8 3.5 5.4
connector connector Resistance (line to line at 25℃) R25 Ω 4.59 2.55 4.3
Inductance (line to line) L mH 8.18 9.02 23.2
92
78
140
Back emf constant (line to line) Kv Vrms/(rad/s) 0.56 0.63 2.25
120
_
Motor constant(line to line at 25℃) Km Nm/√W 0.4 0.6 1.5
Motor Motor
connector connector
Thermal resistance Rth K/W 4.84 1.95 1.01
6-M5x0.8Px8DP Temperature sensor PTC SNM100
PCD 75
(Rotor fixture)
6-M5x0.8Px8DP
PCD 160
(145.5) (212.5) (Rotor fixture) Inertia of rotating parts J kgm2 0.003 0.008 0.012
Ra A (Ø180) Mass of motor Mm kg 2 3.5 7.5
Ø86 h7 Ø150h7
Rr A Rr A Ra A
45±0.3
45±0.3
50
2.7
Max. speed rpm 700 600 500

4,320,000 4,325,376 4,320,000
Resolution p/rev
A (Incremental, sin/cos 1Vpp)
A
Repeatability arc-sec ±2.5 ±2.5 ±2.5
Accuracy arc-sec ±45/±101) ±45/±101) ±45/±101)
2)
Axial runout Ra mm 0.03(0.005 )
DMN93 Size WxLxH mm 118x118x45 160x160x50 212x212x55

1)
Note： After error mapping
2)
Optional
□212
4-Ø9THRU,
200
Ø15x14DP
180 (Stator fixture)
Ø35THRU 2-Ø8H7 THRU
Ø5H7x7DP
PCD 150
Encoder
connector
150
180
Motor
connector
8-M5x0.8Px8DP
PCD 150
(Rotor fixture)
(257.5)
(Ø230)
Ø160h7 Ra A
Rr A
55±0.3
3.5
A
1.4.2 DMN absolute Series

2. TMRW Torque Motor
Table 1.10 DMN Specifications
Symbol Unit DMN71A DMN93A The combination of a high torque stator and rotor meets the most
Continuous torque Tc Nm 3.7 13.2 demanding specifications in high precision industry. By using a water
Continuous current Ic Arms 3.4 3.4 cooled design, high torque can be achieved.
Peak torque (Within 1s.) Tp Nm 11.1 39.6
Peak current (Within 1s.) Ip Arms 10.2 10.2
Torque constant Kt Nm/Arms 1.09 3.9
 Water cooled
Electrical time constant Te ms 4.1 5.4  Large hollow shaft
Resistance (line to line at 25℃) R25 Ω 2.22 4.3  Maximum torque up to 5020 Nm
Inductance (line to line) L mH 9.02 23.2  The concentricity of the stator and rotor will be calibrated before shipment
_
0.63 2.25
Motor constant(line to line at 25℃) Km Nm/√W 0.6 1.5
Thermal resistance Rth K/W 1.95 1.01 Example：Index table
Inertia of rotating parts J kgm2 0.008 0.012
Mass of motor Mm kg 3.5 7.5
Max. axial load Fa N 1000 1000
Max. moment load M Nm 50 50
TMRW Torque Motor

Max. speed rpm 300 300
Resolution
Repeatability
p/rev
arc-sec ±2.5
920,000 (Absolute 1))
±2.5
Model Numbers for TMRW Series
Accuracy arc-sec ±30 ±30
Axial runout Ra mm 0.03(0.0052)) Motor specification Function Winding Code
Size WxLxH mm 160x160x50 212x212x55 TMRW 4 7 L C - XX
1)
Note： The motor should be matched with corresponding HIWIN drive.
2)
Optional Series
*All the specifications in the table are in ±10％ of tolerance except dimensions. TMRW：Water cooling type
External diameter of the stator’s lamination stack
1：Φ140mm
2：Φ175mm
4：Φ210mm
1.4.3 DMN Series T-N curves 7：Φ291mm
(DC bus voltage=325VDC) A：Φ360mm
D：Φ450mm
45
G
DMN42E
G：Φ530mm
40
G
DMN71E
35 Rotor height
G
DMN71A
30 DMN93E 3：30mm
Torque (Nm)
25 DMN93A 5：50mm
20 7：70mm
15
A：100mm
10
F：150mm
5
0 Winding code
0 100 200 300 400 500 600 700 800
Speed (rpm) S：Standard
L：Low Back emf
S：Standard
C：Customized
：Standard
XX：Winding code
2.1 TMRW1 Series 2.1.2 TMRW1 Series T-N curves

TMRW13 TMRW13L
40 40
2.1.1 TMRW1 Dimensions 35TMRW73/5/7 TMRW7A/F 35 Peak torque
TMRW13/5/7 TMRW1A/F Tp@600VDC

30 30
Torque (Nm)
Torque (Nm)
Tp@325VDC
25 25
20 20
Continuous torque (WC)
Hs
15 15 Tc@600VDC
25 35 Thermal cable
Hs TMRW13/5/7 TMRW1A/F 12.5 17.5
Motor cable X
25 25 X 10 10 Tc@325VDC
Thermal cable
10 10
Motor cable
X 5 5
X 0 0 Continuous torque
( Free air convection)
30
45
H 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000
°T
°TY
Tc@600VDC
YP
H Speed (rpm) Speed (rpm)
P
Tc@325VDC
15°
Ø234min.
TMRW15 TMRW15L
Ø200H8
22.5°
H
Ø310f9
Ø85.5min.
H 70 70
Ø60H8
Ø160f9
15°TYP
HR ±0.2
60 60
22.5°TYP
HR ±0.2 19.5±0.2
29.5±0.2 50 50
Torque (Nm)
Torque (Nm)
40 40
16-M5x0.8Px10DP
8-M5x0.8Px10DP 30 30
PCD 70 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP
PCD 70 (Both sides)
PCD 210 (Both sides)
X 8-M5x0.8Px10DP
16-M5x0.8Px10DP X 20 PCD 210 (Both sides) 20
Seal (O-ring) position PCD 150 (Both sides)
X PCD 150 (Both sides) Seal (O-ring) position
12-M5x0.8Px10DP X 24-M5x0.8Px10DP
TMRW Torque Motor

10 PCD 300 (Both sides) PCD
10300 (Both sides)
Section X-X Section X-X
0 0
0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000
TMRW17 TMRW17L
90 90
Table 2.1 TMRW1 Specifications 80 80
70 70
Symbol Unit TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1A TMRW1AL TMRW1F TMRW1FL
Torque (Nm)
Torque (Nm)
60 60
TMRW23/5/7 TMRW2A/F
Continuous torque Tc Nm 7.5 7.5 12.4 12.4 17.4 17.4 24.9 24.9 37.3 37.3 50 50
Continuous current Ic Arms 4 5.7 4 5.7 5.7 4 4 5.7 5.7 11.4 40 40
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 30 30
Hs
Continuous current
30 (WC)30 Icw Arms 10 14.4 10 14.4 14.4 1010 14.4 14.4 28.8 20 20
12.5
Stall torque 12.5 TThermal
s
cable
Nm 5 5 9 9 12 X 1712 17 26 26 10 10
Motor cable
Stall current Is Arms X 2.8 4 2.8 4 4 2.8
2.8 4 4 8 0 0
45
0 500 1000 1500 0 500 1000 1500 2000 2500

Stall torque (WC) Tsw Nm 13 13 22 22 31 4431 44 66 66
°T
Y

P
Stall current (WC) Isw Arms 7 10.1 7 10.1 10.1 7 7 10.1 10.1 20.2
Peak torque(Within
H
1s.) H Tp Nm 35.6 35.6 59.4 59.4 83.1 83.1
118.8 118.8 178.1 178.1
TMRW1A TMRW1AL
22.5°
Peak current(Within 1s.) Ip Arms 27 38.9 27 38.9 38.9 2727 38.9 38.9 77.8
Ø119min.
140 140
Ø90H8
Ø198f9
Torque constant Kt Nm/ Arms 1.87 1.32 3.1 2.18 3.06 4.36
6.23 4.36 6.55 3.27
120 120
Electrical
HR ±0.2time constant Te ms 3.2 3.2 3.6 3.4 4.1 4 3.6 4.1 3.9 4.3
22.5°TYP
24.5±0.2
Resistance (line to line at 25℃) R25 Ω 3.3 1.6 4.5 2.36 2.9 6.2
7.7 3.8 5.5 1.37 100 100
Inductance (line to line) L mH 10.5 5.1 16 8 11.9 3122.5 15.5 21.7 5.9
Torque (Nm)
Torque (Nm)
80 80
Number of poles 2p 22 16-M5x0.8Px10DP 60 60
8-M5x0.8Px10DP
_ X
1.08 0.76 1.8PCD 100
1.26 2.52
(Both sides) 1.76 3.6 2.52 3.78 sides)1.89
PCD 100 (Both
40 40
Motor constant (at 25℃) Km Nm/√W 0.84 8-M5x0.8Px10DP
0.85 1.19 1.16 1.43 1.46
X 1.83 1.83
16-M5x0.8Px10DP 2.28 2.28
Seal (O-ring) position PCD 185 (Both sides) 20 20
Thermal resistance Rth K/W 1.2 PCD1.22
185 (Both0.88
sides) 0.83 0.64 0.67 0.51 0.51 0.35 0.36
Section X-X TMRWA3/5/7 TMRWAA/F
Thermal resistance ( WC) Rthw K/W 0.192 0.191 0.141 0.129 0.102 0.105 0.082 0.08 0.056 0.056 0 0
0 200 400 600 800 1000 0 500 1000 1500
Thermal sensor PTC SNM100+SNM120+Pt1000 Speed (rpm) Speed (rpm)
Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.001 0.001 0.0016 0.0016 0.0023 0.0023 0.0033 0.0033 0.0049 0.0049
Hs TMRW1F TMRW1FL
Max. speed at conti. Torque rpm 2800 4000 1600 2400 1150 1700 800 1170 760 1600 200 200
35 35 Thermal cable
Max. speed at conti. Torque (WC) rpm 2200 TMRW43/5
3200 1200 1750 830 1300 580 870
TMRW47/A/F 540 1200 8.5 8.5
180 Motor cable 180 X
X 2
Max. speed at max. Torque rpm 1000 1600 600 830 400 610 230 390 210 560 160 160
1
140 140
Rated speed Hs ωn rpm 820 820 820 820 820 820 820 820 800 820
Torque (Nm)
Torque (Nm)
25 25 120 120
Mass of10rotor Mr
Thermal kg
cable 0.6 0.6 1 1 1.4 1.4 2 2 3 3 H 100 100
30
10
Motor cable X H
°TY
Mass of stator MS kg 3.7X 3.7 5.1 5.1 6.2 6.2 8.6 8.6 12.2 12.2 80 80
P
60 60
Height of stator HS mm 70 70 90 90 110 110 140 140 190 190
40 40
15°TYP
Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151
15°
30
20 20
Ø299min.
°TY
H
Ø265H8
Ø385f9
Height H H mm 10 10 15 15 15 15 15 15 15 15 0 0
P
0 200 400 600 800 1000 0 500 1000 1500 2000

Note：WC：water cooled
*All the specifications in the table are in ±10% of tolerance except dimensions. HR ±0.2 Speed (rpm) Speed (rpm)
HR ±0
15°
1)
The rated speed is the maximum speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary.
Ø169min.
Ø140H8
Ø230f9
29.5±0.2 37.5±
15°TYP
HR ±0.2 19.5±0.2
°TYP
29.5±0.2
16-M5x0.8Px10DP
8-M5x0.8Px10DP
PCD 70 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP
20 21
PCD 70 (Both sides)
MR99TE05-1910 X 8-M5x0.8Px10DP
16-M5x0.8Px10DP X PCD 210 (Both sides) Torque Motor & Direct Drive Motor
Seal (O-ring) position PCD 150 (Both sides)
X PCD 150 (Both sides) Seal (O-ring) position
12-M5x0.8Px10DP X 24-M5x0.8Px10DP
PCD 300 (Both sides) PCD 300 (Both sides)
Section X-X Section X-X

TMRW23 TMRW23L
70 70
2.2.1 TMRW2 Dimensions 60 60
Peak torque
Tp@600VDC
50 50
Torque (Nm)
Torque (Nm)
TMRW23/5/7 TMRW2A/F Tp@325VDC
40 40
30 30
Hs TMRW23/5/7 TMRW2A/F 20 20
Tc@600VDC
30 30 Tc@325VDC
Thermal cable
12.5 12.5
Motor cable X 10 10
X
Continuous torque
0 0
45
°T
0 500 1000 1500 0 500 1000 1500 2000 2500
YP
Speed (rpm) Speed (rpm) Tc@600VDC
Tc@325VDC
H
H
22.5°
TMRW25 TMRW25L
Ø119min.
Ø90H8
Ø198f9
120 120
22.5°TYP
HR ±0.2 24.5±0.2 100 100
80 80
Torque (Nm)
Torque (Nm)
16-M5x0.8Px10DP 60 60
8-M5x0.8Px10DP
X 16-M5x0.8Px10DP
40 40
Seal (O-ring) position 8-M5x0.8Px10DP X PCD 185 (Both sides)
PCD 185 (Both sides) 20 20
TMRW Torque Motor

Section X-X TMRWA3/5/7 TMRWAA/F
0 0
0 200 400 600 800 1000 0 500 1000 1500
Hs TMRW27 TMRW27L
35 35 180 Thermal cable 180
Table 2.2 TMRW2 Specifications TMRW43/5 TMRW47/A/F 8.5 8.5
Motor cable
X
160 X 160
140 140
Hs
Torque (Nm)
Torque (Nm)
120 120
25 25
Continuous10torque Tc ThermalNm
cable 14.2 14.2 23.6 23.6 33 33 47.3 47.3 71 71 H
100 100
30
10
Motor cable X H
°TY
Continuous current Ic Arms 3.3 X 4.9 3.3 4.9 3.3 4.9 3.3 4.9 4.9 9.9 80 80
P
Continuous torque (WC) Tcw Nm 35 35 59 59 82.5 82.5 117.5 117.5 176 176 60 60
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 40 40
15°TYP
15°
30
Stall torque H Ts Nm 10 10 17 17 23 23 33 33 50 50
Ø299min.
20 20
°TY
Ø265H8
Ø385f9
H
P
Stall current Is Arms 2.3 3.4 2.3 3.4 2.3 3.4 2.3 3.4 3.4 6.9 0 0
0 200 400 600 800 0 200 400 600 800 1000
Stall torque (WC) Tsw Nm 25 25 41 41 58 58 82 82 123 123 HR ±0.2
Speed (rpm) Speed (rpm) H
15°
Stall current (WC) Isw Arms 5.8 8.6 5.8 8.6 5.8 8.6 5.8 8.6 8.6 17.2
Ø169min.
Ø140H8
Ø230f9
29.5±0.2 37
Peak torque(Within 1s.) Tp Nm 66.5 66.5 112 112 156 156 223 223 334.5 334.5
TMRW2A TMRW2AL
15°TYP
HR ±0.2 19.5±0.2
Peak current(Within 1s.) Ip Arms 22.3 33.2 22.3 33.2 22.3 33.2 22.3 33.2 33.2 66.4 250 250
Torque constant Kt Nm/ Arms 4.29 2.8 7.16 4.8 10.03 6.72 14.32 9.6 14.39 7.2
Electrical time constant Te ms 6.4 6.1 6.8 6.5 6.5 6.5 7.4 7.4 7.8 6.9 200 12-M6x1Px12DP
200 24-M6x1Px12DP
Resistance (line to line at 25℃) R25 Ω 4.3 1.9 5.7 2.5 7.8 3.5 9.6 4.4 6 1.5 X
Seal 24-M6x1Px12DP
Inductance (line to line) L mH 27.5 11.5 39 16.23 50.7 22.72 70.8 32.46 47 10.4 150 (O-ring) position 12-M6x1Px12DP 150 X
Torque (Nm)
Torque (Nm)
12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) PCD 370 (Both sides)
PCD 150 (Both sides) Section X-X
Number of poles 2p 22
100 100
Back emf constant (line toSeal
line)(O-ring)
Kv positionVrms/(rad/s)
_
2.48 X 1.6 12-M5x0.8Px10DP
4.13 2.77 5.79 3.88 8.27 X 5.54 24-M5x0.8Px10DP
8.31 4.15
Motor constant (at 25℃) Km Nm/√W 1.68 1.72 2.45 2.49 2.92 2.94 3.78 3.76 4.83 4.78 50 50
Section X-X
Thermal resistance Rth K/W 1.35 1.39 1.02 1.06 0.75 0.75 0.61 0.53 0.44 0.43
0 100 200 300 400 500 0 200 400 600 800
Max. DC BUS VDC 750
TMRW2F TMRW2FL
Max. speed at conti. Torque (WC) rpm 1060 1600 610 950 420 660 280 440 275 610 350 350
Rated speed ωn rpm 820 820 750 820 530 810 360 560 370 760
Torque (Nm)
Torque (Nm)
250 250
Mass of rotor Mr kg 0.95 0.95 1.6 1.6 2.2 2.2 3.2 3.2 4.8 4.8 200 200
Mass of stator MS kg 6.1 6.1 8.4 8.4 10.2 10.2 14.2 14.2 20.1 20.1 150 150
Height of stator HS mm 80 80 100 100 120 120 150 150 200 200 100 100
Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 50 50
Height H mm 10 10 15 15 15 15 15 15 15 15 0 0
0 100 200 300 400 500 0 200 400 600 800 1000
*All the specifications in the table are in ±10% of tolerance except dimensions. Speed (rpm) Speed (rpm)
1)
Ø198
Ø90
Ø119
22.5°TYP
HR ±0.2 24.5±0.2
22 MR99TE05-1910
16-M5x0.8Px10DP
8-M5x0.8Px10DP
X 16-M5x0.8Px10DP
Section X-X
2.3 TMRW4Series
TMRWA3/5/7 TMRWAA/F
2.3.2 TMRW4 Series T-N curves
TMRW43 TMRW43L
2.3.1 TMRW4 Dimensions

140 140
Hs Peak torque
35 35 120 120
Thermal cable
TMRW43/5 TMRW47/A/F 8.5 8.5
Motor cable
X Tp@600VDC
Torque (Nm)
Torque (Nm)
100 X 100
Tp@325VDC 27
10
80 80
Hs
25 25 TMRW43/5 TMRW47/A/F 60 60
Thermal cable H Tc@600VDC
30
10 10
Motor cable X H
°TY
X 40 40
Tc@325VDC H
P
20 20
Continuous torque
15°TYP
0 0 ( Free air convection)
15°
30
0 200 400 600 800 1000 0 500 1000 1500 2000
Ø299min.
°TY
H
Ø265H8
Ø385f9
H Speed (rpm) Speed (rpm) Tc@600VDC
P
Tc@325VDC
HR ±0.2
HR ±0.2
TMRW45 TMRW45L
15°
Ø169min.
Ø140H8
Ø230f9
29.5±0.2 250 250 37.5±0.2
15°TYP
HR ±0.2 19.5±0.2
200 200
Torque (Nm)
Torque (Nm)
150 12-M6x1Px12DP 150 24-M6x1Px12DP
X 24-M6x1Px12DP
Seal (O-ring) position 12-M6x1Px12DP
100 100 X PCD 370 (Both sides)
12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides)
PCD 150 (Both sides) PCD 150 (Both sides) Section X-X
50 50 Se
X 24-M5x0.8Px10DP
TMRW Torque Motor

12-M5x0.8Px10DP
Seal (O-ring) position X PCD 220 (Both sides)
Section X-X 0 0
0 100 200 300 400 500 600 0 200 400 600 800 1000 1200
TMRW47 TMRW47L
300 300
Table 2.3 TMRW4 Specifications
250 250
Torque (Nm)
Torque (Nm)
200 200
Continuous torque Tc Nm 28.2 28.2 47 47 65 65 91 91 136 136
150 150
Continuous current Ic Arms 4 8 4 8 4
8 8 12 8 12
Continuous torque (WC) Tcw Nm 63.5 63.5 106 106 148
148 205 205 307 307 100 100
Continuous current (WC) Icw Arms 9 18 9 18 9
18 18 27 18 27
50 50
Stall torque Ts Nm 20 20 33 33 46
46 64 64 95 95
Stall current Is Arms 2.8 5.6 2.8 5.6 2.8
5.6 5.6 8.4 5.6 8.4 0 0
0 100 200 300 400 0 200 400 600 800
Stall torque (WC) Tsw Nm 44 44 74 74 104
104 144 144 215 215 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 6.3 12.6 6.3 12.6 6.3
12.6 12.6 18.9 12.6 18.9
Peak torque(Within 1s.) Tp Nm 120 120 203 203 280
280 390 390 583 583
TMRW4A TMRW4AL
Peak current(Within 1s.) Ip Arms 24.3 48.6 24.3 48.6 24.3
48.6 48.6 72.9 48.6 72.9 450 450
Torque constant Kt Nm/ Arms 7.06 3.53 11.76 5.88 16.47
8.23 11.76 7.61 17.65 11.42 400 400
Electrical time constant Te ms 4.1 4.1 4.7 4.3 4.9
4.7 5.2 4.3 5.2 4.4 350 350
Resistance (line to line at 25℃) R25 Ω 4.38 1.1 6.01 1.5 7.63
1.9 2.5 1.06 3.66 1.58 300 300
Inductance (line to line) L mH 17.9 4.5 28 6.38 37.6
8.93 13 4.57 19.13 6.9
Torque (Nm)
Torque (Nm)
250 250
_
4.08 2.04 6.8 3.4 9.5 4.75 6.79 4.39 10.19 6.59 150 150
Thermal resistance Rth K/W 0.9 0.9 0.66 0.66 0.52 0.52 0.4 0.41 0.27 0.28 50 50
0 100 200 300 400 500 600 0 200 400 600 800 1000
Max. DC BUS VDC 750
TMRW4F TMRW4FL
Max. speed at conti. Torque (WC) rpm 710 1500 410 890 290 620 420 680 260 440
600 600
Max. speed at max. Torque rpm 500 1100 270 660 180 450 300 500 160 300
500 500
Rated speed ωn rpm 780 820 460 820 330 680 470 740 300 480
Torque (Nm)
Torque (Nm)
400 400
Mass of rotor Mr kg 1.4 1.4 2.4 2.4 3.3 3.3 4.7 4.7 7.1 7.1
Mass of stator MS kg 5.8 5.8 7.8 7.8 9.6 9.6 12.7 12.7 18.7 18.7 300 300
Height H mm 10 10 15 15 15 15 15 15 15 15 0 0
0 100 200 300 400 0 100 200 300 400 500 600
*All the specifications in the table are in ±10% of tolerance except dimensions.
1)

TMRW73 TMRW73L
300 300
2.4.1 TMRW7 Dimensions 250 250

Peak torque
Tp@600VDC
Torque (Nm)
Torque (Nm)
TMRW73/5/7 TMRW7A/F 200 200 Tp@325VDC
150 150 Continuous torque (WC)
100 100 Tc@600VDC

Hs
TMRW73/5/7 TMRW7A/F
Tc@325VDC
25 35 Thermal cable 50 50
12.5 17.5 X
Motor cable X Continuous torque
0 0
0 200 400 600 800 0 500 1000 1500 ( Free air convection)
30
H Tc@325VDC
°TY
H
P
TMRW75 TMRW75L
500 500
15°
Ø234min.
Ø200H8
Ø310f9
450 450
400 400
15°TYP
HR ±0.2
350 350
Torque (Nm)
Torque (Nm)
300 300
29.5±0.2
250 250
200 200
150 150
12-M5x0.8Px10DP 24-M5x0.8Px10DP
PCD 210 (Both sides) 100 100
X PCD 210 (Both sides)
TMRW Torque Motor

50 50
Seal (O-ring) position X 24-M5x0.8Px10DP
12-M5x0.8Px10DP 0 0
Section X-X 0 100 200 300 400 0 200 400 600 800
TMRW77 TMRW77L
700 700
Table 2.4 TMRW7 Specifications 600 600
Symbol Unit TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7A TMRW7AL TMRW7F TMRW7FL 500 500
Torque (Nm)
Torque (Nm)
Continuous torque Tc Nm 58 58 98 98 137 137 195 195 293 293 400 400
Continuous current Ic Arms 6 12 6 12 6

12 6 12 6 12 300 300
Continuous torque (WC) Tcw Nm 145 145 240 240 335

335 480 480 720 720 200 200
Continuous current (WC) Icw Arms 15 30 15 30 15
30 15 30 15 30 100 100
Stall torque Ts Nm 41 41 69 69 96
96 137 137 205 205
0 0
Stall current Is Arms 4.2 8.4 4.2 8.4 4.2
8.4 4.2 8.4 4.2 8.4 0 50 100 150 200 250 300 0 100 200 300 400 500 600
Stall torque (WC) Tsw Nm 102 102 168 168 235
235 336 336 504 504 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 10.5 21 10.5 21 10.5
21 10.5 21 10.5 21
Peak torque(Within 1s.) Tp Nm 275 275 456 456 640
640 910 910 1360 1360 TMRW7A TMRW7AL
Peak current(Within 1s.) Ip Arms 40.5 81 40.5 81 40.5
81 40.5 81 40.5 81 1000 1000
11.4 32.56 16.28 48.85 24.45 900 900
800 800
Electrical time constant Te ms 5 4.9 5.6 5.6 5.6
5.6 5.6 5.6 6 5.8
700 700
Resistance (line to line at 25℃) R25 Ω 3 0.81 4.19 1.05 5.52
1.38 7.52 1.88 10 2.5 600 600
Torque (Nm)
Torque (Nm)
Inductance (line to line) L mH 15 4 23.45 5.86 30.9
7.73 42.07 10.52 60 14.6 500 500
_
5.64 2.82 9.4 4.7 13.2 6.6 18.8 9.4 28.2 14.1 300 300
100 100
0 0
Thermal resistance ( WC) Rthw K/W 0.094 0.087 0.067 0.067 0.051 0.051 0.037 0.037 0.028 0.028 0 50 100 150 200 0 100 200 300 400
TMRWA3/5/7 TMRWAA/F TMRWD3/5/7 TMRWDA/F
Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.023 0.023 0.039 0.039 0.059 0.059 0.079 0.079 0.11 0.11 TMRW7F TMRW7FL
Max. speed at conti. Torque (WC) Hrpm
s 470 890 270 580 180 400 115 275 72 170 1400 1400
35 35 Thermal cable
Max. speed at max. Torque 8.5 rpm 8.5 270 460 150 340 90 230 50 150 13 85X 1200 Hs 1200
Motor cable
X 27 1000 43 Thermal cable
Torque (Nm)
Torque (Nm)
Rated speed ωn rpm 410 410 320 410 230 410 150 330 100 210 1000
10 26 Motor cable
X X
Mass of stator MHS kg H 14.2 14.2 18.9 18.9 23.7 23.7 30.9 30.9 43.6 43.6 600 600
30
°TY
Height of stator HS mm 80 80 100 100 120 120 150 150 200 200 H400 400
P
30
H
°TY
200 200
P
0 0
15°TYP
Height H mm 10 10 15 15 15 15 15 15 15 15
15°
0 20 40 60 80 100 120 140 0 50 100 150 200 250 300

Ø299min.
15°TYP
Ø265H8
Ø385f9
Note：WC：water cooled Speed (rpm) Speed (rpm)
15°
Ø384min.
Ø345H8
Ø485f9
1)
The rated speed is the maximum
HR ±0.2 speed which the motor can run continuously witout rest. More information please refer to Appendix B:Glossary.
HR ±0.2
29.5±0.2 37.5±0.2
15°T
2.5 TMRWASeries 2.5.2 TMRWA Series T-N curves

TMRWA3 TMRWA3L
TMRWA3/5/7 TMRWAA/F 600 TMRWD3/5/7 TMRWDA/F
600
2.5.1 TMRWA Dimensions 500 500
Peak torque
Tp@600VDC
Torque (Nm)
Torque (Nm)
400 400 Tp@325VDC
Hs TMRWA3/5/7 TMRWAA/F 300 300 Continuous torque (WC)

35 35 Thermal cable
8.5 8.5
Motor cable
X Hs 200 200 Tc@600VDC
X 27 43 Thermal cable
Tc@325VDC
10 26 Motor cable
100 X 100
X
Continuous torque
H 0 0
30
H 0 100 200 300 400 0 200 400 600 800
°TY
H Speed (rpm) Speed (rpm) Tc@600VDC
30
H
°TY
Tc@325VDC
P
15°TYP
TMRWA5 TMRWA5L
15°
Ø299min.
15°TYP
Ø265H8
900
Ø385f9
900
15°
Ø384min.
Ø345H8
800 800
Ø485f9
HR ±0.2 700 700
HR ±0.2
600 600
Torque (Nm)
Torque (Nm)
29.5±0.2 37.5±0.2
500 500
400 400
300 300
12-M6x1Px12DP 24-M6x1Px12DP 200 200
24-M8x1.25Px12DP
TMRW Torque Motor

PCD 277 (Both sides) PCD 277 (Both sides) 100 100
X 12-M8x1.25Px12DP PCD 360 (Both sides)
Seal (O-ring) position 12-M6x1Px12DP 24-M6x1Px12DP
X PCD 370 (Both sides) 0 X PCD 360 (Both sides) 0 24-M8x1.25Px12DP
Section X-X
PCD 370 (Both sides) Seal (O-ring) position 0 50 100
12-M8x1.25Px12DP
150 200 X0 100 200
300 400
Section X-X PCD 468 Speed (rpm)

(Both sides) Speed (rpm)
TMRWA7 TMRWA7L
1200 1200
Table 2.5 TMRWA Specifications
1000 1000
Symbol Unit TMRWA3 TMRWA3L TMRWA5 TMRWA5L TMRWA7 TMRWA7L TMRWAA TMRWAAL TMRWAF TMRWAFL
Torque (Nm)
Torque (Nm)
800 800
Continuous torque Tc Nm 117 117 195 195 274 274 390 390 585 585
600 600
Continuous current Ic Arms 6 12 6 12 12 18 12 18 18 24
Continuous torque (WC) Tcw Nm 260 260 430 430 600 600 860 860 1290 1290 400 400
Continuous current (WC) Icw Arms 15 30 15 30 30 45 30 45 45 60 200 200
Stall torque Ts Nm 82 82 137 137 192 192 273 273 410 410
0 50 100 150 200 250 300 0 100 200 300 400 500
Stall torque (WC) Tsw Nm 182 182 301 301 420 420 602 602 903 903 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 10.5 21 10.5 21 21 31.5 21 31.5 31.5 42
Peak torque(Within 1s.) Tp Nm 490 490 810 810 11001100 1600 1600 2400 2400
TMRWAA TMRWAAL
TMRWAAL
Peak current(Within 1s.) Ip Arms 40.5 81 40.5 81 81 121.5 81 121.5 121.5 162 1800 1800
15.23 32.63 21.75 32.63 24.45 1600 1600
Electrical time constant Te ms 7.9 10 7.5 7.5 8.4 8.2 8.1 8 8.6 10 1400 1400
Resistance (line to line at 25℃) R25 Ω 4.8 0.89 7.1 1.78 2.2 0.98 2.97 1.32 1.98 1 1200 1200
Torque (Nm)
Torque (Nm)
Inductance (line to line) L mH 38.15 8.93 53.4 13.35 18.58 24.2 10.5 17 10 1000 1000
_
11.3 5.65 18.8 9.42 13.18 8.79 18.83 12.55 18.83 14.12 600 600
Thermal resistance Rth K/W 0.37 0.49 0.25 0.25 0.2 0.2 0.15 0.15 0.1 0.11 200 200
0 50 100 150 200 0 50 100 150 200 250 300
Max. DC BUS VDC 750
TMRWAF TMRWAFL
Max. speed at conti. Torque (WC) rpm 160 340 90 200 135 210 90 140 92 125
2500 2500
Max. speed at max. Torque rpm 65 150 35 80 55 90 35 60 35 50
Rated speed rpm 240 270 140 270 210 270 150 230 150 200 2000 2000
Torque (Nm)
Torque (Nm)
ωn
Mass of stator MS kg 20.1 20.1 26.8 26.8 34.5 34.5 44.9 44.9 63.1 63.1
1000 1000
Height of stator HS mm 90 90 110 110 130 130 160 160 210 210
500 500
Height H mm 10 10 15 15 15 15 15 15 15 15 0
0 50 100 150 200
0
0 50 100 150 200 250 300
1)
2.6 TMRWD Series 2.6.2 TMRWD Series T-N curves

TMRWD3/5/7 TMRWDA/F
TMRWD3 TMRWD3L
800 800
2.6.1 TMRWD Dimensions 700 700
Peak torque
600 Tp@600VDC
600
Torque (Nm)
Torque (Nm)
500 Tp@325VDC
500
27
Hs
43 Thermal cable
TMRWD3/5/7 TMRWDA/F 400 400 Continuous torque (WC)
10 26 Motor cable X 300 300 Tc@600VDC
X
200 200 Tc@325VDC
100 100
Continuous torque
H 0 0
30
H 0 100 200 300 400 0 200 400 600 800
°TY
P
Tc@325VDC
15°TYP
15°
TMRWD5 TMRWD5L
Ø384min.
Ø345H8
Ø485f9
1400 1400
HR ±0.2 1200 1200
37.5±0.2
1000 1000
Torque (Nm)
Torque (Nm)
800 800
600 600
24-M8x1.25Px12DP 400 400
12-M8x1.25Px12DP PCD 360 (Both sides)
X PCD 360 (Both sides) 200 200
TMRW Torque Motor

24-M8x1.25Px12DP
0 0
Section X-X PCD 468 (Both sides)
0 50 100 150 200 250 0 100 200 300 400 500
TMRWD7 TMRWD7L
2000 2000
Table 2.6 TMRWD Specifications 1800 1800
1600 1600
Symbol Unit TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWDA TMRWDAL TMRWDF TMRWDFL 1400 1400
Torque (Nm)
Torque (Nm)
1200 1200
Continuous torque Tc Nm 185 185 310 310 430 430 619 619 925 925
1000 1000
Continuous current Ic Arms 12 24 12 24 12 24 12 24 24 48 800 800
Continuous torque (WC) Tcw Nm 400 400 660 660 930 930 1340 1340 2000 2000 600 600
Continuous current (WC) Icw Arms 30 60 30 60 30 60 30 60 60 120 400 400
Stall torque Ts Nm 130 130 217 217 301 301 433 433 648 648 200 200
0 50 100 150 200 0 50 100 150 200 250 300 350
Stall torque (WC) Tsw Nm 280 280 462 462 651 651 938 938 1400 1400 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 21 42 21 42 21 42 21 42 42 84
Peak torque(Within 1s.) Tp Nm 750 750 1230 1230 1760 1760 2470 2470 3600 3600
TMRWDA TMRWDAL
Peak current(Within 1s.) Ip Arms 81 162 81 162 81 162 81 162 162 324 3000 3000
Torque constant Kt Nm/ Arms 15.48 7.74 25.8 12.9 36.11 18.1 51.6 25.8 38.7 19.35
2500 2500
Electrical time constant Te ms 7.1 7.1 7.1 8.1 7.1 7.1 7.1 7 8.3 8.5
Resistance (line to line at 25℃) R25 Ω 1.57 0.39 2.31 0.59 3.04 0.76 4.14 1.04 1.35 0.33 2000 2000
Torque (Nm)
Torque (Nm)
Inductance (line to line) L mH 11.13 2.78 16.3 4.78 21.5 5.38 29.3 7.33 11.2 2.8
1500 1500
_
8.94 4.47 14.9 7.45 20.85 10.43 29.8 14.9 22.35 11.18 1000 1000
0 0
Thermal resistance ( WC) Rthw K/W 0.045 0.045 0.030 0.030 0.023 0.023 0.017 0.017 0.013 0.013 0 20 40 60 80 100 120 0 50 100 150 200 250
Max. DC BUS VDC 750
TMRWDF TMRWDFL
Max. speed at conti. Torque (WC) rpm 200 420 120 250 85 190 60 133 80 190 3500 3500
Rated speed rpm 200 200 190 200 130 200 90 190 120 200
Torque (Nm)
Torque (Nm)
ωn 2500 2500
Mass of rotor Mr kg 5.5 5.5 9.2 9.2 12.8 12.8 18.3 18.3 22 22 2000 2000
Mass of stator MS kg 22.8 22.8 38 38 53.2 53.2 76 76 90 90 1500 1500
Height H mm 10 10 15 15 15 15 15 15 15 15 0
0 50 100 150 200
0
0 50 100 150 200 250 300 350
1)
2.7 TMRWG Series 2.7.2 TMRWG Series T-N curves
2.7.1 TMRWG Dimensions TMRWG7 TMRWG7L

2500 2500
Peak
瞬間轉矩 torque
TMRWG7
TMRWG7 TMRWGA/F
TMRWGA/F 2000 2000 Tp@600VDC
Torque (Nm)
Torque (Nm)
Tp@325VDC
(2000) (2000) 1500 1500
51 max.
51 max.
Hs Hs 65 max.
35 35 Thermal
溫度開關線 cable 35 35 Thermal
溫度開關線 cable
65 max.
18 18 Motor
馬達電源線 cable 18 18 Motor
馬達電源線cable X Continuous
連續轉矩(水冷) torque(WC)
X 1000 1000
Tc@600VDC
500 500 Tc@325VDC
30
H H
°TY
H H
0 0 Continuous torque(WC)
P
0 20 40 60 80 100 120 連續轉矩(空冷)
(Free air convection)
0 50 100 150 200 250
15°TYP
Tc@325VDC
15°
Ø420H8
Ø420H8
Ø459min.
Ø459min.
Ø565f9
Ø565f9
HR ±0.2 HR ±0.2 TMRWGA TMRWGAL
29.5±0.2 29.5±0.2 4000 4000
3500 3500
3000 3000
Torque (Nm)
Torque (Nm)
24-M8x1.25Px12DP
PCD 548
2500 2500
24-M8x1.25Px12DP
12-M8x1.25Px12DP PCD 435 (Both
(兩端 sides)
) 2000 2000
PCD 435 (Both
(兩端sides)
)
X
X 1500 1500
TMRW Torque Motor

Seal(O-ring)
O 型環位置 position
Seal(O-ring)
Oposition
型環位置 23-M8x1.25Px12DP
12-M8x1.25Px12DP PCD 548
X-X 剖面
SectionX-X
PCD 548 (Both
(兩端 sides)
)
X-X 剖面
SectionX-X 1000 1000
500 500
0 0
0 20 40 60 80 100 120 140 160 0 50 100 150 200 250 300 350
Table 2.7 TMRWG Specifications

TMRWGF TMRWGFL
6000 6000
Symbol Unit TMRWG7 TMRWG7L TMRWGA TMRWGAL TMRWGF TMRWGFL
Continuous torque Tc Nm 582 582 810 810 1200 1200 5000 5000
Torque (Nm)
Torque (Nm)
Continuous current Ic Arms 10.5 21 21 42 21 42 4000 4000
Continuous torque (WC) Tcw Nm 1255 1255 1810 1810 2720 2720
3000 3000
Continuous current (WC) Icw Arms 26.3 52.5 52.5 105 52.5 105
Stall torque Ts Nm 407 407 567 567 840 840 2000 2000
Stall current Is Arms 7.4 14.7 14.7 29.4 14.7 29.4 1000 1000
Stall torque (WC) Tsw Nm 879 879 1267 1267 1904 1904
Stall current (WC) Isw Arms 18.4 36.8 36.8 73.5 36.8 73.5 0 0
0 20 40 60 80 100 120 0 50 100 150 200 250
Peak torque(for 1s) Tp Nm 2360 2360 3340 3340 5020 5020 Speed (rpm) Speed (rpm)
Peak current(for 1s) Ip Arms 71 142 142 284 142 284
Torque constant Kt Nm/Arms 55.4 27.7 38.8 19.4 57 28.5
Electrical time constant Te ms 7.8 7.2 8 8.3 8.9 8.8
Resistance (line to line at 25℃) R25 Ω 3.3 0.83 1.06 0.27 1.46 0.37
Inductance (line to line) L mH 25.7 6 8.5 2.23 13 3.25
_
32 16 22.4 11.2 33.6 16.8
Motor constant (at 25℃) Km Nm/√W 24.91 24.84 30.59 30.3 38.61 38.35
Thermal resistance Rth K/W 0.17 0.17 0.14 0.13 0.1 0.1
Thermal resistance ( WC) Rthw K/W 0.028 0.028 0.022 0.021 0.016 0.016
Thermal sensor PTC SNM100+SNM120+Pt1000
Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.619 0.619 0.904 0.904 1.38 1.38
Max. speed at conti. Torque rpm 90 190 130 280 90 180
Max. speed at conti. Torque (WC) rpm 70 150 100 220 60 140
Max. speed at max. Torque rpm 30 80 50 110 30 70
Rated speed ωn rpm 90 190 130 200 90 180
Mass of rotor Mr kg 13.3 13.3 19 19 28.3 28.3
Mass of stator MS kg 61.1 61.1 75 75 107.5 107.5
Height of stator HS mm 130 130 160 160 210 210
Height of rotor HR mm 71 71 101 101 151 151
Height H mm 15 15 15 15 15 15
1)
3. Drives and Accessories

DC24V
Option
6
Main Power
2 1
Drive
CN1 CN2
CN3
CN2
3
4
5
Pulse signal etc. PC
Motion
Controller
Part name Model Connector Description
For Incremental feedback types
D1-36-S2
1 Drive For absolute feedback types
D1-36-S4
Drives and Accessories

U
V
W
T -
T+
For Direct Drive motors
Free leads
Motor U
2 Motor Power Cable

V
LMACSF Connects
W
(U,V,W) Intercontec
Model:BSTA880FR0886201A000
FMK3G
3.1 Pin Assignment
Part name Model Connector Description
For incremental feedback types
LMACE□□AA LMACE□□AM
8-10-0090 Color SCSI 20 8-10-0090 Color SCSI 20
Function Signal Function Signal
LMACEAA (Female) (051400300069) (Male) (Female) (051400300069) (Male)
Intercontec Drive Connector(3M) 4 5V Blue 3 4 5V Blue 3
Model : ASTA876FR1085200A000 Model : 10120-3000VE
Power 5 5V Blue - Power 5 5V Blue -
6 0V White 2 6 0V White 2
For incremental feedback types with hall sensor 2 U 2- Red 19 2 U2- Red 19
FMK3G
Incremental 3 U 1- Brown 17 Incremental 3 U1- Brown 17
FMK3G
3 Position Signal Cable LMACEAM CN3 Signal 9 U2+ Black 18 Signal 9 U2+ Black 18
Intercontec 10 U1+ Green 16 10 U1+ Green 16

Drive Connector(3M)
Model : ASTA876FR1085200A000 Model : 10120-3000VE 1 U 0- Pink 9 1 U0- Pink 9
Reference
Reference 8 U0+ Grey 8 8 U0+ Grey 8
Mark
For absolute feedback types Mark 6 0V Inner Shield 20 Case Shield Outer Shield 1
Case Shield Outer Shield 1 Temperature 11 T+ Purple 14
LMACEAU 11 T+ Purple 14 Switch 12 T- Yellow 15

Temperature
Switch 13 Vcc Blue 3
Intercontec Drive Connector(3M)
12 T- Yellow 15
Model : ASTA876FR1085200A000 Model : 10120-3000VE 14 Hall A Brown/Green 11
Hall Sensor 15 Hall B White/Yellow 12
To PC (about 2m long for mega-fabs drive) 16 Hall C White/Green 13
17 GND Whtie 10
D-SUB 9 Female
4 RS-232 Cable LMACR21D Drive RS-232
RJ-11
To motion controller (about 3m long)

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

16 COS- Pink 7
□□ 03 04 05 06 07 08 09 10
Inner
12 Inner shield 15
Cable Length (m) 3 4 5 6 7 8 9 10 shield
Note: User must prepare one 24 VDC power supply for each drive. Outer
Case Outer shield 1/Case
shield
Temperature 11 T+ Brown/Green 14
Switch 12 T- White/Green 15
Appendix A: Motor Sizing STEP1 Requirement

In order to select the motor that meet user’s needs, the following formula of load inertia motion must be
understood prior to the selection.
Start Motor Sizing
Calculation of loading inertia
The following contents describe how to choose proper motor according to speed, moving distance, and Loading inertia can be determined by 3D drawing software or according to the formula. The basic loading
loading inertia. The basic process for sizing a motor is: formula is as follows:
moment of inertia of a hollow cylinder
Requirement R2 + r2 2
r r
S S
J= m ( 2 +S )
 Operating environment R 2+ r2 2 S S
J= m ( +S )
 Installation (horizontal or vertical ) 2 b b
moment aof inertia
2
+ b of2a rectangular
2
 Driving method J= m ( 2 +S ) R R
 Load conditions (loading inertia, friction and cutting force) a 12+ b2

J= m ( + S2 ) m m
 Speed condition (maximum acceleration and velocity) 12 m m
a a
 Duty cycle ω = ω0 + αt
ω = ω0 + αt
θ = ω0t + 1 αt 2
2 2
θ = ω0t +2 1 αt
R +2 r2 2
J= m ( +S )
2 θ 旋轉中心 Rotary
旋轉中心 center Rotary center 旋轉中心
旋轉中心
Torque calculation ωmax = 2 × 或 ωmax = α × θ
θt
ω = 2 × 2 或 ω
2
max a the
Determine + btmotion max = α×θ
 Calculate the torque corresponding to the speed under each J= m ( 4θ + S 2 ) speed and parameters
Motion 12
operation condition α max =equation
t2
r 4θ
Basic kinematics ω(rad/s)
equations are ω(rad/s)
described as follows: ω(rad/s) ω(rad/s)
 Calculate equivalent torque α max = t 2 S ω max
ω = ω0 + αt ω max ω max
S
ω max
T max = ( J +1Jm )2 × αmax + Tf = Ti + Tf

θ = ω t + αt
T max =0 ( J +2Jm ) × αmax + Tf = Ti + Tf b
R
Where ω ( Tisi +angular
Tf ) 2 × t 1 + Tf ×αtis
velocity,2 angular acceleration,
2
2 + ( Ti − Tf ) × t 3
t t(sec)
is movingt(sec)
time and θ is angular displacement.t(sec) t(sec)
Motor sizing and T-N curve confirmation T

User m θ two
e = can choose 2
ωmax =( T2i ×+ Tf )或× ω of the four
2 parameters
t/2 (ω,
++ Tt=f2 +× αtt32×++θt(4Ti − Tf ) × t 3
t 1max
m
t/2 t andθ)t/2as user’s designed t1
2 t/2 α, parameters,
t2 t1 t3then
t2t4 the t3
left t4
t
Te =parameters can be calculated by above equations.
two a
 Select the appropriate motor from the HIWIN’s catalogue t1 + t 2 + t 3 + t 4
in accordance with calculated maximum torque, equivalent 4θ
T max profile
α max==
Motion
I max velocity
torque and speed.
t2
The motion TK t profiles for torque motor are usually classified as “Trapezoid Profile” and “Triangle
max
Symbol : I max =
 Ensure the speed and the corresponding torque under all Profile”,Kwhere the Trapezoid Profile is frequently used for scan. The motion profiles are divided as
θ: Angular displacement (rad) Te t
operating conditions are within the range of torque-speed I emax
T = = ( J + Jconstant
acceleration, ) velocity and deceleration. The maximum angular acceleration can be determined
m × αmax + Tf = Ti + Tf
t: Moving time(sec) Tet
K
curve of the motor.
α: Angular acceleration(rad/s2 )
by = basic kinematics equations 旋轉中心
I e the 旋轉中心
above-mentioned; the Trapezoid Profile is usually used in point-to-point
 Confirm the equivalent torque is within the continuous torque
Kt The motion profiles are divided as acceleration and deceleration, where the motion profile and
application.
ω: Angular velocity (rad/s) 2 2 2
of the motor. formula (can
RT2Ri 2+
+be r)2 × t21 + as
+rT2fsimplified Tf follows:
× t0.25
2 + (2 T+i −
0 2Tf ) 2× t 3
J: Load inertia (kgm2) J1e ==mm( (
T
J= + S ) ) = 12 (
+ 2S + 0 ) = 0.375kgm2
Jm: Rotor inertia (kgm2) R 22 2+ r2 t21 + t 2 + t0.253 + t224 + 0 2
= m(
J1ω(rad/s) + S ) = 12 ( + 0 2 ) = 0.375kgm
ω(rad/s)
2
T-N curve
Tp: Peak torque (Nm) 2 2
a2max
a+2 b2 2 2
+ b+ S )2 0.1 2 + 0.05 2
Torque (Nm) Tc: Continuous torque (Nm)
J mm( T
J=ω=max + S = 1 2 ω max 2
2 =
I max ( 12 ) ( 2 2 + 0.15 ) = 0.0235 kgm
Ti: Inertia torque (Nm) a 2 12 2
+ b 0.1 +
12 0.05
J2 = m ( K t
Tp
(Peak Torque) + S2 ) = 1 ( + 0.15 2 ) = 0.0235 kgm2
Kt: Torque constant (Nm/Arms) 12 12
Ip: Peak current (Arms) Te
I e = J1ω+0 +
J=
ω 8 ×αtJ2 = 0.375 + 8 × 0.0235 = 0.563kgm2
Tcw
(Continuous Ie: Equivalent current (Arms) K
J= J1 +t 8 ×1 J2 =2 0.375 + 8 × 0.0235 t(sec)= 0.563kgm2 t(sec)
torque for
Ic: Continuous current (Arms) θ = ω0t + 45 αt
t/2 × π
θ = 45° = 2
water cooling)
t/2 t1 t2 t3 t4
ω0: Initial angular velocity (rad/s) = 0.7854 rad
2 45180×π 2
2 2 2
m ( =R + r + S ( 0.25 + 0 + 0 2 ) = 0.375kgm2
Tc
(Continuous m: Loading Mass (kg) θ
J1== 45° ) = 12rad
= 0.7854
torque for air 2θ180 2
cooling)
R: External diameter of loading Mass (m) ω = 2 × θ 或 ω0.7854 = α × θ
ω max = 2 × t = 2 ×
max max = 5.236rad /s = 50rpm
Speed (rpm) r: Internal diameter of loading Mass (m) t
θ 0.3
0.7854 2
ω max = 2a2× + b=2 2 ×2 + 0.05 2/s = 50rpm
=0.15.236rad
a, b: Side length of loading Mass (m) J 2 = m ( 4θ t + S ) 0.3 = 1( + 0.15 2 ) = 0.0235 kgm2
S: Distance from gravity center to rotary center (m) α max = 4θ 12 4 × 0.7854 12
α max = t22 = 2
= 34.91rad/s 2
t
4θ 4 ×0.3
0.7854
α max = 2 = = 34.91rad/s 2
2 + 8 × 0.0235 = 0.563kgm2
J= J1 + t8 × J2 = 0.3 0.375
T max = ( J + Jm ) × αmax + Tf = Ti + Tf
12 θ max
ω = ω=0t 2+ × αt 或 ωmax
或 max =
α
α××θ
θ
max
2 tt
θ = ω0t + 1 αt 2
2 R4θ
2
4θ + r2
ω = ω0 + αt α
J= m (=
α max = t 22 θ + S2 )
38 MR99TE05-1910
max
ωmax = 2t 2× 或 ωmax =
t α×θ Torque Motor & Direct Drive Motor 39
θ = ω=0t 2+ ×1 θ
ω αt 2
max 2 t 或 ωmaxS = α×θ a2 + b2
J=
T m (
= (4θ
J + J +) S×2 )α + T = T + T
T
α max
max =
max = ( 12
J + Jm ) × αmax
m max + Tff = Tii + Tff
4θ
b
2t
STEP
α
ωmax = 2 2Torque
max = 2t×
θ
或 ωcalculation
max = α×θ Example of motor sizing
t ω = ω0( +Ti αt 2 2 2
((Ti ++ TTff ))) 2 ×
× tt 11 +
+ T
Tff × × tt 22 +
+ (( T
Tii −
−TTff )) ×× tt 33
2 2
m
The maximum torque can be calculated by the following equation T =
Loading
Teemax J 1+ Jm × αmax
= = requirement: + Tf = Ti +disc
An aluminum Tf with φ500mm and 15mm thick without offset and weight is 12kg.
a 4θ θ = ωare
0t +eight
2
αtjigs with t + t + t
t11 +100x50x50mm + t
t 22 + t33 + t 44 on the aluminum disc at an interval of 45˚. Each jig weighs 1 kg. The
α
T max = ( J2 + J ) × α
max = There 2
t m max + Tf = Ti + Tf
distance from the 2jig gravity center
2
to the rotary2 center is 150mm, and the mechanical friction force is 2Nm.
(
T Ti +
T maxθ Tf
Speed requirement:
max ) ×Each position 45˚( T
t 1 + Tf × t 2 + − Tf ) × t 3in 0.3 seconds, and rests for 1 second.
isi completed
Where Ti is inertia torque, Tf is the torque which is cause by friction torque, cutting force or external force. e ==
IITmax
ω =
max = 2K×t ω 1 +=t 2 +α t×3θ+ t 4
K t t 或 tmax
2 2 2 max
InT max
most= (cases,
(TJi + )) ××motions
+ JTmfthe αtmax
1 + +Tf T × t 2Ti++( TTpoint-to-point
are
f = cyclic fi
− Tf ) × t 3 movements. Assuming a cyclic motion shown in the
Te = profile with at1dwell
following + t 2 time
+ t3 of+ tt44second, the effective force can be calculated as follows: STEP1 Te Requirement confirmation
I e = T=e 4θ
= K Ttmax
I emax
α 2
心
( Ti + Tf ) 2 × t 1 + Tf × t 2旋轉中心
2
+ ( Ti − Tf ) × t 3
2 I max =Ktt
Te = T max CalculationK tof loading inertia
I max = t1 + t 2 + t 3 + t 4 Inertia of disc
Kt Te +22 J+ )r22× α 2 + T = T0.25 2 2
T
IJ = = (( JR
Je11max
= R +m r + i + T2f +
f ( 0.25 + 0
02 + 0 22 )) = 2
= mm
Kt( 2
+S 2 ) = 12
Smax) = 12 ( 2
+ 0 = 0.375kgm
0.375kgm2
TeT max 2 2
IIω(rad/s)
e= =
max K
t K
t Inertia of( Tjig+ T ) 2 × t + T × t + ( T − T ) 2 × t
2
i 2 f 2 1 f 2 2 i f2 3
ω max Te = a
a22 +
R ++ b
br2 + St 22 )+ =t 1
2 0.1
0.1 +2
+2 0.05
0.052 + 0.15
+ ((t(3 0.25
+ t 4 + 0 ++
2 2
Te J
J122 = m ( 12 + 1 ) =2 1 12 2
00.15 =
= 0.0235
0.02352kgm
) =2 )) 0.375kgm kgm2
Ie = 2 2 2 2 2
12 122
12
Kt( R + r + S 2 ) = 12 ( 0.25 + 0 + 0 2 ) = 0.375kgm2
J1 = m Total inertia
2 2 T max2× J =2 0.375 + 8 × 0.0235 2
IJ=
J= J=11 +
maxJ + 88a× +J2b= 0.375 + 8 ×0.1 2 =
= 0.563kgm
+ 0.05
0.0235 2
0.563kgm 2
c) t(sec) J2 = m (K t 2 + S2 ) = 1 ( + 0.15 2 ) = 0.0235 kgm2
R2 2 2 2 + 0 22
0.25
a2 ++ br2 + S 22 ) = 12 0.1 + 0.05 + 0 2 ) =2 0.375kgm2 12 12
J = m (
J 2 = mt1( ( + 0.15 ) = 0.0235 kgm2
2 t2 + S t3) =t41 (
1 45 ×
×ππ
2 MotionTeprofile45
12 12 Iθe =
== 45°
45° =
= = 0.7854
0.7854 rad
rad
Itθ is a K 180
point-to-point
J= J1 +t 8 × 180
=
application.
J2 = 0.375 The maximum
+ 8 × 0.0235 angular
= 0.563kgm 2 velocity and the maximum angular acceleration are
a2× +J b=2 0.375 0.1 2

+ 0.05 2
2
calculated as follows:
J=
J = Jm +( 8 + S 2
) +
= 8
1 (× 0.0235 = 0.563kgm
+ 0.15 2 ) = 0.0235 kgm2 θ
θ =2 2 × 0.7854
0.7854 = 5.236rad
2 1
STEP 3 Motor 12
2
sizing and12T-N curve confirmation ω max
ω = 2
max = R2=2×
×45
+ tr= π2 =×2 0.7854
× =0.25 + 0 2 + /s
5.236rad
2 /s 2=
= 50rpm
50rpm
θ = 45°
J1 = m ( t180+ S ) =0.3 12 ( rad
0.3 0 ) = 0.375kgm2
With the help45of ×HIWIN’s
π motor specification, users can select the appropriate motor from peak torque and 2 2
θ
J== J45° = × J = 0.375
= 0.7854
+ 8 ×rad 4θ
4θ 4 4×× 0.7854
2
1 +
equivalent8 torque,
180
2 and ensure 0.0235
the speed =and
0.563kgm
torque under all operating conditions is within the range of the 0.7854 = 34.91rad/s 2
α max =
α max = ta222 +=
=θb2 0.3 220.7854 = 0.1
34.91rad/s
2 2
T-N curve 2for the motor. ω max = t2 × = 2
0.3×2 = + 0.05 2 /s = 50rpm
5.236rad
J2 = m ( + S ) =0.31( + 0.15 2 ) = 0.0235 kgm2
12t
2
R +θ r
J=
ω m (= 2 ×45 ×+ πS2 ) 0.7854 = 5.236rad /s = 50rpm 12
θ =max45° =2 t = 2 =× 0.7854
0.3 rad
180 T-N curve 4θ 4 × 0.7854 2
α max
J= J1 =+ 8t 2× =J2 = 0.375 = 34.91rad/s 2
2
Torque (Nm)a + bθ4 × 0.78542 0.3 2 + 8 × 0.0235 = 0.563kgm
m =(= 4θ
2 2 2 2
J= = =+ S
2 0.7854 (( T
Tii + Tff ) ×
+ T ) 22
× tt 11 +
+ Tff ×T 22
× tt 22 + (( T
Tii −
−TTff )) ×
2
× tt 33 = (( 20.4
20.4 +
2
2) ×
+ 2) × 0.15
0.15 +
+ 2
2
2 × × 0
0++ (( 20.4
20.4 −
−2
2
2 )) ×× 0.15
×) 2 0.15
2
α
ωmax 212
2× 20.3 = 34.91rad/s
= 5.236rad /s = 50rpm + =
maxTp
t t 0.3 T
Tee =
= 45 × π tt1 + t + t + tt 44 = 0.15 + 0 + 0.15 + 1 = 9.9Nm
9.9Nm
1 + t 2rad
+ t3 + 0.15 + 0 + 0.15 + 1
(Peak Torque)
2 3
θ = 45° = = 0.7854
4θ 4 × 0.7854 Tmax STEP 2 Torque
180 calculation
ω =Tcwω
α max = 0 +2 αt
= = 34.91rad/s 2 ( Ti + Tf ) 2 × t 1 + Tf 2 × t 2 + ( Ti − Tf ) × t 3
2 2 2
( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15
2
(Continuous t 0.3 2 Tis
Itω θ
=recommended 0.7854ratio loading inertia (J) over
= motor rotator inertia (Jm) be less than 50. It can be = 9.9Nm
e max = 2 × = 2 that
× t the
+ t 2 =+ 5.236rad
t3 + t 4 /s = 50rpm
ω0(tT+i +1 αt
2 2 2 2
0.15 + 0 + 0.15 + 1
torque for
θwater
= cooling) Tf )22 × t 1 + Tf 2 × t 2 + ( Ti − Tf ) × t 3 ( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15 t 1 0.3
roughly estimated 30 in motor sizing. Since J/30=0.563/30=0.019kgm², user can select the DMS34 (Jm=0.02
Te = 2 Te = = 9.9Nm
Tc t1 + t 2 + t 3 + t 4 0.15 + 0 + 0.15 + 1 kgm²)
(Continuous 4θ 4 × 0.7854
torque for air α max = 2 = = 34.91rad/s 2
2 2 2 2 2 2 Tmax = (J+J
t m ) ×α 2
0.3max + Tf = Ti + Tf = (0.563 + 0.02) × 34.91 + 2 = 20.4 + 2 = 22.1Nm
( Ti + θTf ) × t 1 + Tf × t 2 + ( Ti − Tf ) × t 3
cooling)
ω ( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15
= = 2 × t 或 ωmax = αSpeed
Temax × θ(rpm) = = 9.9Nm
t1 + t 2 + t 3 + t 4 0.15 + 0 + 0.15 + 1
Where Ti=20.4Nm, Tf=2Nm
4θ
α max = 2 2 2 2
The motort 2sizing is determined as follows: ( Ti + Tf ) 2 × t 1 + Tf 2 × t 2 + ( Ti − Tf ) × t 3 ( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15
Tmax <Tp Te = = = 9.9Nm
t1 + t 2 + t 3 + t 4 0.15 + 0 + 0.15 + 1
Te < Tc
T max
The user J + Jm )to×consider
= (needs αmax + Tthe f = ratio
Ti + ofTf equivalent torque and continuous torque. Usually the ratio (Te/Tc) Torque (Nm)
70
is recommended within 0.7; continuous torque for TMRW series can be classified as air cooling and water STEP 3 Motor sizing and T-N curve 60
cooling. If the motor is operated with water cooling, the comparison of equivalent torque can be based on
( Ti + Tf ) 2
× t 1 + Tf
2
× t 2 + ( T i − T
water cooling continuous torque when selecting the motor.f )
2
× t 3 confirmation 50
Te =
The peak current Imaxt1and + teffective
2 + t 3 + current
t4 Ie can be calculated by bringing motor torque constant into the 40
Finally, DMS34G can be selected according to the Tmax
following equation (For Kt, please refer to Appendix B) 30
Tmax
and Te. The peak torque Tp=60Nm, the continuous torque
T max Tc=20Nm, the torque constant Kt=6.6 Nm/Arms, and the
20
I max = 10
Kt speed and torque under all operating conditions are within Te
0
the range of T-N curve for DMS34G. 0 50 100 150 200 250 300 350 400 450
Te
Ie = Speed (rpm)
Kt
R2 + r2 2 0.25 2 + 0 2 2 2
Appendix B: Glossary 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/TMRI series will correspond to Is for air cooling and Isw for
V rms water cooling.
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 12. Stall torque: Ts/Tsw(Nm)
(rad/s) when the magnet is at 25℃. It is created at the movement of the coil in the magnetic field of
The stall current, Ts, is the upper limit of torque when the motor is at 25℃ and in the stall condition;
permanent magnets.
Depending on the heat dissipation, TMRW/TMRI series will correspond to Ts for air cooling and Tsw for
water cooling.
2. Continuous current: Ic/Icw (Arms)
The continuous current, Ic, is the current that can be continuously supplied to the motor coils at the 13. Thermal resistance: Rth/Rthw (K/W)
ambient temperature 25℃, and the final temperature of coil can’t exceed 100℃ (120℃ for TMRW
The thermal resistance, Rth, is defined as the resistance suffered heat from motor coil to dissipate the
series). Under this condition, the motor reaches the rating continuous torque Tc; in relation with the
environment (consider the natural convection and radiation for air cooling when ambient temperature
continuous current and coil temperature, TMRW/TMRI series will respond to Ic for air cooling and Icw
is at 25℃, and the force water cooling for water cooling when the water is at 25℃); Higher thermal
for water cooling.
resistance represents the larger temperature difference between the coil and environment under the
same heat source.
3. Continuous torque: Tc/Tcw (Nm)
The continuous torque, Tc, is the maximum torque the motor is able to generate continuously at the 14. Torque constant: Kt (Nm/Arms)
ambient temperature 25℃ and the final temperature of coil can’t exceed 100℃ (120℃ for TMRW
The torque constant, Kt, is ratio between as the motor’s output torque per RMS current.
series).This continuous torque corresponds to Ic/Icw supplied to the motor; in relation with the
Except for TMRW/TMRI series, output torque and input current shows a linear relationship. The non-
continuous current and coil temperature, TMRW/TMRI series will respond to Tc for air cooling and Tcw
linear relationship is due to saturation in the lamination stack.
for water cooling.
Torque
4. Inductance (line-to-line): L (mH)
Tp
Inductance is defined as inductance measured between lines when the motor operates in continuous
current Ic/Icw.
Tc
5. Resistance at 25°C (line-to-line): R25 (Ω) Kt
Resistance is defined as resistance measured between lines when the motor operates at the coil
temperature 25℃. Ic Ip Current
Nm
6. Motor constant: Km （ √W ） - 15. Maximum speed (RPM)
The motor constant, Km, is defined as the ratio of square root of motor output torque to consumption Maximum speed is defined as maximum speed provided under specific torque (usually continuous
power when the coils and magnets are at 25℃. The larger motor constant represents the lower power torque); if there is a bearing installed inside the motor, the maximum speed will be limited by the
loss when the motor outputs at the specific torque. bearing’s DN value; there are three conditions to define the maximum speed of water-cooling motor:
maximum speed under air-cooling continuous torque, maximum speed under water-cooling continuous
7. Number of poles: 2p torque and maximum speed under peak torque.
2p represents the number of poles of the rotor, where p is the number of poles pair.
16. Rated speed: ωn(RPM)
8. Peak current: Ip (Arms) The rated speed is defined as the speed at which when the motor is running continuously without break,
The peak current, Ip, is the current corresponding to maximum torque output of the motor, and the the rotor does not suffer from excessive rotor temperature (>80 °C) due to iron loss; if the speed is
motor temperature reached by current can’t demagnetize magnet; generally speaking, peak current exceeded, the duty cycle must be reduced or an additional rotor heat dissipation design must be done.
can be granted to supply 1 second when the motor is operating in the normal condition, and then need Please refer to 17. T-N curve for details regarding motor operation range.
to ensure it reaches the normal temperature to supply peak current.
9. Peak torque: Tp (Nm)

The peak torque, Tp, is the maximum torque that the motor output less than 1 second. Peak current
corresponding to the torque can’t demagnetize magnet.
10. Rotor inertia: J (kgm2)

The rotor inertia, J, is the rotary component resists any changes in its state of motion, including
changes to its speed and direction.It is related with the shape and mass.
17. T-N Curve 23. Loading capacity:

The T-N curve is defined as the comparison chart of the torque and the speed that can be output under The load of motor must be considered when it is operating. The load can be calculated by external
a certain input voltage of the motor. Considering the temperature rise of the motor, the figure can be force and the installation to identify the motor structure tolerates or not. The axial force applied to the
divided into four operating ranges as shown below: motor in the calculation needs be less than the maximum axial load Fi < Fa, and can be used when the
applied torque needs to be less than the maximum torque load Mi < M.
TORQUE
(A) External force=F
Tp
Axial force applied to the motor F1=F+loading weight W
Torque applied to the motor M1=0
4 (B) External force=F
Tcw Torque applied to the motor M2 =FxL
(C) External force=F
2
3
Tc Torque applied to the motor M3 =Fx(L+0.03m)+Wx(L2+0.03m)
1
L
ωn SPEED
L L2
F F F
① When the motor is air-cooled and the torque is less than Tc, it can run continuously below ωn
without break. C.G C.G
W W
①+② When the motor is water-cooled and the torque is less than Tcw, it can run continuously below
C.G
ωn without break.
③ When the motor is air-cooled and the torque is less than Tc or when it is water-cooled and the W
torque is less than Tcw, the speed is greater than ωn, the duty cycle must be reduced or additional
(A) (B) (C)
design on rotor heat dissipation must be provided to avoid overheating of the rotor.
④ When the motor is air-cooled and the torque is greater than Tc or when it is water-cooled and the
torque is greater than Tcw, the duty cycle must be reduced. When Tp is reached, only 1 second output
is allowed to avoid overheating of the stator.
18. Maximum Input Voltage (VDC):

Maximum input voltage is the maximum voltage for the motor operating in the normal environment.
19. Resolution: p/rev

Appendix C: Environment
Resolution is the quantity of the motor feedback system divided in one turn. Temperature +5 to +40℃
Operating Temperature
Humidity 20 to 85% RH (no condensation)
20. Accuracy: arc-sec
Accuracy is the error between the target position and the actual position; in the HIWIN’s definition, the Temperature -10 to +50℃
Storage Temperature
motor is measured clockwise and counterclockwise twice per 22.5° to take the maximum error. Humidity 20 to 85% RH (no condensation)
Atmosphere Under 1000m, no corrosive gas, liquid and powder
21. (Bi-) Repeatability: arc-sec
(Bi-)Repeatability is the repetition when the motor moves to the same angle.
Rr Rr
Ra Ra
Rr Ra
(A) DMS(A)inner
TMS內轉式
rotation type (B) DMN(B) TMN外轉式
outer rotation type (C)outer
(C) DMY TMX/Y外轉式
rotation type
22. Axial runout and radial runout:

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

Date:
Company Name: Contact person:
Email:
Tel: Fax: Title:
Industrial □Horizontal □Laterally
Environment □Normal environment (25℃) (□Upside Down) a A
□Clean room, Class______

Installation
□Pollution environment。
□Other_________________
A
水平安裝側掛安裝軸向偏擺

□ □ □Standard
W
D L
D
W
D L
D
T2
□High Precision
T2
Load Type
T
Run out of output Shaft Surface

T1
T1
□Other_________________ (a)________μm
□Total moment of inertia: ____kgm2 Shaft runout
, Size:____mm a A
□Load1, Number _______

Mass: _____kg or Material: ______
Size: ______________mm A
Offset of C.G. : ______________mm

水平安裝側掛安裝軸向偏擺
□Point to Point □Scan
□Load2, Number _______ Moving Angle: _______。
Load Conditions
Mass: _____kg or Material: ______ Moving Time: _______ sec
Size: ______________mm Dwell Time: _______ sec
Offset of C.G. : ______________mm V(rad/s)
□Load3, Number _______

Application
Mass: _____kg or Material: ______
Size: ______________mm
Offset of C.G. : ______________mm
T(sec)
□ None Moving
運動時間 Time Dwell
休息時間 Time
Force □ Yes: ___ kg,

Offset of C.G.：___ mm V(rad/s)
Repeatability ________ arc-sec Special requirement:

Accuracy ________ arc-sec
□110V □ 220V
Drive voltage
□Other ______ V
T(sec)
□CW/CCW □A/B Moving Time Dwell Time
Pulse format
□STEP/DIR
□None
Brake □Power Off Brake
□Power On Brake
The information below is to be filled out by our authorized agents.
Recommended specification:
Manager: Engineer: Salesperson:

INDUSTRIE 4.0 Best Partner
Linear Motor Stage Linear Motor

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

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

Hospital bed / Automatic window / Home Measurement System
care facility / Riveting /
Cutting machines /
Press-fitting / Surface checks / Bending
Traditional gantry milling machines /
• Servo Actuator-LAA series
Programmable drilling machines
• LAM series
• High Resolution
• LAS series
• Signal Translator
• LAN series
• High-precision Enclosed
• LAC series
• High Efficiency Counter
Multi-Axis Robot
Pick-and-place / Assembly /
Array and packaging / Semiconductor /
Electro-Optical industry /
Automotive industry / Food industry
• Articulated Robot
• Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
Torque Motor & Direct Drive Motor Technical Information

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

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

CHICAGO, U.S.A. SINGAPORE HAIFA, ISRAEL
www.hiwin.com www.hiwin.sg www.mega-fabs.com
[email protected] [email protected] [email protected]
Copyright © HIWIN Mikrosystem Corp. www.hiwinmikro.tw

The specifications in this catalog are subject to change without notification. ©2019 FORM MR99TE05-1910 (PRINTED IN TAIWAN)

Torque Motor&Direct Drive Motor(en)

Uploaded by

Copyright:

Available Formats

Torque Motor&Direct Drive Motor(en)

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Torque Motor&Direct Drive Motor(en)

Uploaded by

Copyright:

Available Formats

Torque Motor &

Direct Drive Motor

Global Sales And Customer Service Site

HIWIN GmbH HIWIN Srl HIWIN KOREA HIWIN MIKROSYSTEM CORP.

HIWIN USA HIWIN SINGAPORE Mega-Fabs Motion Systems, Ltd.

Copyright © HIWIN Mikrosystem Corp. www.hiwinmikro.tw

Linear Motor Stage Linear Motor

Torque Motor & AC Servo Motor & Drive

Linear Actuator Positioning

Torque Motor & Direct Drive Motor Technical Information

Direct Drive Motor

Φ110 ±30 ±3 9 LMACE□□AU

DMY44 DMY48 D1-36-S4

DMS32G DMS34G DMS38G MS3CG

DMS74G DMS76G MS7CG

TMRW Torque motor

External Peak Torque (Nm)

External Peak Torque (Nm)

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

2.TMRW Torque Motor 17

1. Direct Drive Motor

Direct Drive Motor

Table 1.1 Applications

Features and Applications

Assembly machines for

Assembly High-speed assembly

Various assembly robots     

Direct Drive Motor

Model Numbers for DMS Series Ø80

Direct Drive Motor

Ø170.5 PCD 180

Ø110h7 connector 2-Ø6

30° PCD 100 Motor

1.2.4 DMS7 Series 1.2.5 DMS Series T-N curves

DMS7 Dimensions (DC bus voltage=325VDC)

Direct Drive Motor

Ra A 2-Ø8 H7x10DP DMS3CLG DMS7CLG

Ø104H7 180 450

Table 1.5 DMS7 Specifications TYP

1.3 DMY Series 1.3.1 DMY4 Series

Direct Drive Motor

1.3.2 DMY6 Series 1.3.3 DMYA Series

Direct Drive Motor

Table 1.8 DMYA Specifications

1.3.4 DMY Series T-N curves 1.4 DMN Series

Direct Drive Motor

150 Motor specification Function

DMN Dimensions 1.4.1 DMN Incremental Series

Direct Drive Motor

Max. speed rpm 700 600 500

DMN93 Size WxLxH mm 118x118x45 160x160x50 212x212x55

1.4.2 DMN absolute Series

TMRW Torque Motor

2.1 TMRW1 Series 2.1.2 TMRW1 Series T-N curves

TMRW13/5/7 TMRW1A/F Tp@600VDC

TMRW Torque Motor

0 500 1000 1500 0 500 1000 1500 2000 2500

Speed (rpm) Speed (rpm)

0 200 400 600 800 1000 0 500 1000 1500 2000

2.2 TMRW2 Series 2.2.2 TMRW2 Series T-N curves

水平安裝側掛安裝軸向偏擺