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Summary of Contents for Hiwin TMRW Series
- Page 1 TMRW Series Torque Motor Installation Manual www.hiwinmikro.tw...
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Page 2: Table Of Contents
TMRW Series Torque Motor Installation Manual Table of Contents Table of Contents Introduction ..............................1-1 General precautions ..........................1-2 Safety symbols ............................ 1-2 Safety instructions ..........................1-3 1.3.1 Wiring precautions ......................... 1-3 1.3.2 Operation precautions ......................1-4 1.3.3 Maintenance and storage precautions ................... 1-4 Motor Basic Structure ............................ - Page 3 TMRW Series Torque Motor Installation Manual Table of Contents Table of Contents 4.7.2 Temperature sensor cable specification ................4-14 4.7.3 Bend radius of cable ......................4-16 Parallel operation design ........................4-17 Temperature sensor .......................... 4-21 Thermal Protection Device ..........................5-1 Features ..............................
- Page 4 TMRW Series Torque Motor Installation Manual Table of Contents (This page is intentionally left blank.)
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Page 5: Introduction
1. Introduction Introduction ..............................1-1 General precautions ..........................1-2 Safety symbols ............................ 1-2 Safety instructions ..........................1-3 1.3.1 Wiring precautions ......................... 1-3 1.3.2 Operation precautions ......................1-4 1.3.3 Maintenance and storage precautions ................... 1-4... -
Page 6: General Precautions
TMRW Series Torque Motor Installation Manual Introduction HIWIN TMR(W) series torque motor, with the constitution of a stator and a rotor, can be directly drove without decelerator. With servo drive control, excellent acceleration and good uniformity of movement can be easily achieved. Due to the hollow shaft design, cable systems or mechanical parts can easily feed through the motor. -
Page 7: Safety Instructions
Ensure the product is used with rated load. Do not repair the product by yourself when it malfunctions. The product can only be repaired by qualified technician from HIWIN. HIWIN motor certification test meets the following standards. LVD Safety: EN 60034-1:2010 2014/35/EU reference standard... -
Page 8: Operation Precautions
If the current exceeds the maximum specified current, magnetic components in the motor may be demagnetized. When it happens, please contact HIWIN or local distributors. Do not operate the product in an environment that exceeds its rated load. ... -
Page 9: Motor Basic Structure
2. Motor Basic Structure Motor Basic Structure ............................2-1... - Page 10 Stator Stator in TMR series does not contain water cooling channel, while stator in TMRW series does. The outer casing is made of aluminum alloy or silicon steel, and the inner part is composed of iron core and coils, covered with epoxy. There are two cable outlets on one side, motor power cable and temperature sensor cable.
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Page 11: Motor Sizing
3. Motor Sizing Motor Sizing ..............................3-1 Torque motor selection ........................3-2 Thermal calculation ..........................3-7 3.2.1 Heat loss ..........................3-7 3.2.2 Continuous operating temperature ..................3-8 Thermal time constant......................... 3-9 Water cooling system calculation ...................... 3-10... -
Page 12: Torque Motor Selection
Calculate equivalent torque Motor sizing and T-N curve confirmation Select the appropriate motor from HIWIN’s catalogue in accordance with calculated maximum torque, equivalent torque and speed. Ensure the speed and the corresponding torque under all operating conditions are ... - Page 13 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Sizing Symbol θ Angular displacement (rad) Peak current (A Moving time (sec) Equivalent current (A α Angular acceleration (rad/s Continuous current (A ω Angular velocity (rad/s) ω0 Initial angular velocity (rad/s)
- Page 14 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Sizing Determine motion speed and parameters Basic kinematics equations are described as below. ω = ω + αt θ = ω αt Where ω is angular velocity, α is angular acceleration, t is moving time and θ is angular displacement.
- Page 15 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Sizing STEP 2 Torque calculation = ( J + J ) × α The maximum torque can be calculated by the following equation. Where T is inertia torque, T is the torque caused by friction torque, cutting force or external force.
- Page 16 Users need to consider the ratio of equivalent torque and continuous torque. Generally, the ratio (T ) is recommended to be within 0.7. Continuous torque for TMRW series can be classified into air cooling and water cooling. If the motor is operated with water cooling, the water cooling continuous torque can be taken as the guideline for comparison.
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Page 17: Thermal Calculation
Since rotational speed is directly proportional to frequency, iron loss will be larger at high speed. However, rotational speed for HIWIN torque motor is low, so iron loss is relatively less than copper loss. Rotational speed value indicated by HIWIN drawing and specification is the maximum peak speed that the motor can reach. -
Page 18: Continuous Operating Temperature
TMRW series is available to either water cooling or air cooling. Ensure parameters you use fit the specification, and keep coil temperature from exceeding 120°C. -
Page 19: Thermal Time Constant
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Sizing 3.3 Thermal time constant During the operation of motor, coil temperature is related to thermal time constant. The definition of thermal time constant is the time that the initial temperature reaches 63% of steady state temperature (as Figure 3.3.1 shows). -
Page 20: Water Cooling System Calculation
The time allocation of load cycle during motor operation can be determined by the two formulas above. 3.4 Water cooling system calculation The features of motor indicated in HIWIN water-cooling motor drawing and specification are suitable for water cooling condition, and coolant temperature is 20°C. Taking oil as coolant is also acceptable. Just properly modify the performance of motor based on the features of coolant. - Page 21 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Sizing Δp ) is related to coolant flow (q). Pressure difference between inlet and outlet ( Δp Δp ⋅ Δp = Pressure difference between inlet and outlet [bar] (under equivalent torque) Δp = Pressure difference between inlet and outlet [bar] (under equivalent torque)
- Page 22 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Sizing (This page is intentionally left blank.) 3-12 HIWIN MIKROSYSTEM Corp.
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Page 23: Motor Installation Design
4. Motor Installation Design Motor Installation Design..........................4-1 Water cooling design ........................... 4-2 4.1.1 Water cooling channel position ....................4-2 4.1.2 Water cooling channel dimension ..................4-3 4.1.3 Water cooling channel configuration ..................4-4 4.1.4 O-ring features ........................4-5 4.1.5 Fixture dimension ........................ -
Page 24: Water Cooling Design
4.1 Water cooling design TMRW series can be cooled by water or air. Water cooling channel is designed on the outer case of stator. O-ring is installed outside the water cooling channels as a leak-proof device. To ensure a good circulation of the coolant for cooling, coolant inlet and outlet must be aligned with motor cable outlet. -
Page 25: Water Cooling Channel Dimension
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.1.2 Water cooling channel dimension Water cooling channel dimension for each series is given in the following table. O-ring O-ring Figure 4.1.2.1 Water cooling channel dimension diagram Table 4.1.2.1 Water cooling channel dimension... -
Page 26: Water Cooling Channel Configuration
Customers can decide coolant inlet / outlet direction. Coolant inlet and outlet must be aligned with motor cable outlet (refer to HIWIN approved drawing for motor cable outlet position). Coolant inlet / outlet Figure 4.1.3.2 Coolant inlet / outlet position when mounted vertically... -
Page 27: O-Ring Features
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.1.4 O-ring features O-ring features for each series are given in the following table. Table 4.1.4.1 O-ring features O-ring thickness O-ring inside diameter Motor type O-ring type (mm) (mm) TMRW1□... - Page 28 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design TMRW7 series TMRWA series TMRWD series TMRWG series Figure 4.1.5.1 Fixture diagram Table 4.1.5.1 Fixture dimension Fixture maximum length: L Fixture thickness: t Motor type (mm) (mm) TMRW1□ TMRW2□ TMRW4□...
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Page 29: Rotor Installation Design
The recommended maximum dimension of outside diameter (ΦD), inside diameter (Φd) and flatness specification of rotor mounting surface (Flatness A) is given in Table 4.2.1. Note: Refer to HIWIN approved drawing for TMR series. ΦD Φd Shaft Min. -
Page 30: Stator Installation Design
(Flatness B) is given in Table 4.2.1. Housing is suggested to be chamfered (the recommended dimension is shown in Figure 4.3.1) to avoid scratching O-ring and causing water leaking. Note: Refer to HIWIN approved drawing for TMR series. Housing Min. 2 mm Stator Chamfer degree: 15~30˚... -
Page 31: Air Gap And Assembly Concentricity
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.4 Air gap and assembly concentricity Air gap, existing between stator and rotor, prevents the motor from any damage during rotation. As long as you follow the standard value of air gap and the requirement of assembly concentricity established in Table 4.4.1, the motor will not be interfered during rotation. -
Page 32: Force Between Stator And Rotor
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.5 Force between stator and rotor 4.5.1 Radial force When the concentricity of stator and rotor is offset, a radial force is generated between stator and rotor. Value of radial force for each series is given in Table 4.5.1.1. -
Page 33: Axial Force
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design Table 4.5.1.2 Length of iron core Motor type L (mm) TMRW□3 TMRW□5 TMRW□7 TMRW□A TMRW□F TMRW□J TMRW□L Example Radial force of TMRW7F: Force TMRW7A × 2899 × 4348.5 4.5.2 Axial force When rotor moves toward stator, an axial force is generated between stator and rotor. -
Page 34: Screw Tightening Torque
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.6 Screw tightening torque Screws with a strength class of 12.9 are recommended for fixed screws of stator and rotor. Specification of threaded holes, quantity of threaded holes and screw tightening torque for each series are given in Table 4.6.1. -
Page 35: Motor Cable
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.7 Motor cable The standard length of power cable and temperature sensor cable is 2000mm±50mm (as Figure 4.7.1 shows), excluding the metal connector of the outlet. Customers can choose other lengths. 1 m is taken as a unit, up to 8 m. -
Page 36: Temperature Sensor Cable Specification
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design The relationship between power cable color and signal is given in Table 4.7.1.2. Table 4.7.1.2 Relationship between power cable color and signal Color & Number Signal Diagram Black, No. L1/U Black, No. - Page 37 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design White Brown Green Yellow Blue Figure 4.7.2.2 Type B White Blue Pink Brown Green Figure 4.7.2.3 Type C HIWIN MIKROSYSTEM Corp. 4-15...
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Page 38: Bend Radius Of Cable
TMRW Series Torque Motor Installation Manual Motor Installation Design 4.7.3 Bend radius of cable The minimum bend radius of power cable and temperature sensor cable for TMRW series is given in the following table. Table 4.7.3.1 Bend radius of cable... -
Page 39: Parallel Operation Design
Power cable and temperature sensor cable contain isolation net. The isolation net must be grounded. To get the parallel information of TMR series, contact HIWIN Engineering Department. Outlet position Outlet position... - Page 40 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design Figure 4.8.2 Type A (Condition 1) Figure 4.8.3 Type A (Condition 2) 4-18 HIWIN MIKROSYSTEM Corp.
- Page 41 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design Figure 4.8.4 Type B (Condition 1) Figure 4.8.5 Type B (Condition 2) HIWIN MIKROSYSTEM Corp. 4-19...
- Page 42 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design Figure 4.8.6 Type C (Condition 1) Figure 4.8.7 Type C (Condition 2) 4-20 HIWIN MIKROSYSTEM Corp.
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Page 43: Temperature Sensor
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design 4.9 Temperature sensor KTY84-130, a type of silicon temperature sensor, can measure output resistance to get the actual temperature. Its features are given in Table 4.9.1, and the relationship between resistance and temperature is shown in Figure 4.9.1. - Page 44 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation Design Standard Minimum Maximum Temperature (°C) Figure 4.9.2 Relationship between resistance and temperature (Pt1000) SNM100 and SNM120 are thermistors. Their output resistance changes according to coil temperature. Resistance of SNM100 rises drastically when T = 100°C, while resistance of SNM120 rises drastically...
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Page 45: Thermal Protection Device
5. Thermal Protection Device Thermal Protection Device ..........................5-1 Features .............................. 5-2 Wiring of temperature module ......................5-3... -
Page 46: Features
Refer to operation manual MT99UE01 for specification, wiring and related description of THPD (thermal protection device). Figure 5.1 Thermal protection device 5.1 Features THPD must be used with HIWIN TMRW / TMRI series motor. It converts three temperature sensor inputs of motor into one analog output and two digital outputs ... -
Page 47: Wiring Of Temperature Module
MR01UE01-1904 TMRW Series Torque Motor Installation Manual Thermal Protection Device 5.2 Wiring of temperature module Match temperature sensor KTY84-130 with THPD-130-120. Match temperature sensor Pt1000 with THPD- 1000-120. The wiring diagrams are as below. Figure 5.2.1 KTY84-130 wiring diagram Figure 5.2.2 Pt1000 wiring diagram... - Page 48 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Thermal Protection Device (This page is intentionally left blank.) HIWIN MIKROSYSTEM Corp.
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Page 49: Motor Installation
6. Motor Installation Motor Installation .............................. 6-1 Install stator and rotor together ......................6-2 Install stator and rotor separately ......................6-4... -
Page 50: Install Stator And Rotor Together
Install stator and rotor together They are installed with the fixture provided by HIWIN, and the fixture position can be either the outlet side or the other side. Before placing an order, customers can consult with HIWIN sales or engineers about the definition of the fixture position. - Page 51 Pay attention to rotor’s strong magnetic suction. To avoid danger, keep it away from magnetic conductors (e.g. iron objects). Note: Refer to HIWIN approved drawing for the position of motor cable outlet. 5. Fix rotor on shaft. At this time, screw tightening torque is 80 percent of the specification (refer to Section 4.6 for screw tightening torque).
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Page 52: Install Stator And Rotor Separately
To avoid water leaking, O-ring cannot be damaged (refer to Chapter 4 for the design of housing). Note: Refer to HIWIN approved drawing for the position of motor cable outlet. 6. Install lower guide tool on shaft if it is necessary. - Page 53 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation 8. Fix the bearing and dismantle the guide tool. 9. Rotate rotating part. Ensure that it rotates smoothly and that no interference occurs. 10. Install the remaining parts, such as connector of coolant inlet / outlet, lower supporting bearing and encoder.
- Page 54 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Motor Installation (This page is intentionally left blank.) HIWIN MIKROSYSTEM Corp.
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Page 55: Troubleshooting
7. Troubleshooting Troubleshooting..............................7-1... - Page 56 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Troubleshooting Table 7.1 Troubleshooting Symptom Cause Action Check the cable connected to the Motor cannot rotate at all. Wrong cable wiring controller. Wrong encoder setting Check encoder setting. Wrong rotating direction Interchange the two-phase power cable Wrong motor power cable wiring connected to the controller.
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Page 57: Technical Terms
8. Technical Terms Technical Terms ............................... 8-1... - Page 58 25°C, and the final temperature of coil can’t exceed 100°C (120°C for TMRW series). Under this condition, the motor reaches the rating continuous torque T ; in relation with the continuous current and coil temperature, TMRW series will respond to I for air cooling and I water cooling.
- Page 59 The stall current, I , is the upper limit of current when the motor is at 25°C and in the stall condition. Depending on the heat dissipation, TMRW series will correspond to I for air cooling and I for water cooling.
- Page 60 MR01UE01-1904 TMRW Series Torque Motor Installation Manual Technical Terms Maximum speed Maximum speed is defined as maximum speed provided under specific torque (usually continuous torque). There are three conditions to define the maximum speed of water-cooling motor: maximum speed under air-cooling continuous torque, maximum speed under water-cooling continuous torque and maximum speed under peak torque.
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