Hiwin TM-2 Series User manual

Installation Manual
www.hiwinmikro.tw
Torque Motor
MW99UE01-2104

Table of Contents
Table of Contents.........................................................................................................................1
0. Revision History.................................................................................................................0-1
1. Introduction........................................................................................................................1-1
1.1 General precautions........................................................................................................... 1-2
1.2 Warning notice system....................................................................................................... 1-2
1.3 Basic safety notices............................................................................................................ 1-4
1.3.1 Intended use............................................................................................................ 1-5
1.3.2 Reasonably foreseeable misuse .......................................................................... 1-5
1.3.3 Conversions and modifications............................................................................. 1-5
1.3.4 Residual risks .......................................................................................................... 1-5
1.3.5 Personnel requirements......................................................................................... 1-6
1.3.6 Protective equipment.............................................................................................. 1-6
1.3.7 The danger of strong magnetic fields .................................................................. 1-7
1.3.8 Wiring precautions.................................................................................................. 1-9
1.3.9 Operation precautions............................................................................................ 1-9
1.3.10 Maintenance and storage precautions .............................................................. 1-11
1.3.11 Transport precautions........................................................................................... 1-13
2. Basic Structure of Motor ....................................................................................................2-1
2.1 General view........................................................................................................................ 2-2
2.2 Product code........................................................................................................................ 2-3
2.2.1 TMRW Series codification ..................................................................................... 2-3
2.2.2 TM-2/IM-2 Series codification............................................................................... 2-4
2.3 Logistics Content................................................................................................................. 2-6
3. Configuration .....................................................................................................................3-1
3.1 Torque motor selection....................................................................................................... 3-2
3.2 Thermal calculation............................................................................................................. 3-6
3.2.1 Heat loss................................................................................................................... 3-6
3.2.2 Continuous operating temperature....................................................................... 3-7
3.3 Thermal time constant........................................................................................................ 3-7
3.4 Power supply and controller selection............................................................................. 3-9
3.5 Water cooling system calculation................................................................................... 3-10
3.6 Coolant selection............................................................................................................... 3-12
3.7 Water coolant diagram..................................................................................................... 3-13
4. Motor Interface Design.......................................................................................................4-1
4.1 Water cooling design.......................................................................................................... 4-2
4.1.1 Water cooling channel position............................................................................. 4-3
4.1.2 Water cooling channel dimension......................................................................... 4-4
4.1.3 Water cooling channel configuration.................................................................... 4-6
4.1.4 O-ring features......................................................................................................... 4-7
4.1.5 Fixture dimension.................................................................................................... 4-8

Torque Motor Installation Manual Table of Contents
4.2 Rotor interface design...................................................................................................... 4-10
4.3 Stator interface design..................................................................................................... 4-13
4.4 Air gap and assembly concentricity................................................................................ 4-14
4.5 Force between stator and rotor....................................................................................... 4-16
4.5.1 Radial force............................................................................................................ 4-16
4.5.2 Axial force............................................................................................................... 4-17
4.6 Screw tightening torque................................................................................................... 4-18
4.7 Direction of rotation........................................................................................................... 4-21
4.8 Motor cable ........................................................................................................................ 4-22
4.8.1 Power cable specification.................................................................................... 4-22
4.8.2 Temperature sensor cable specification............................................................ 4-23
4.8.3 Bending radius of cable ....................................................................................... 4-25
4.9Setting of parallel operation............................................................................................. 4-26
4.10 Temperature sensor.......................................................................................................... 4-31
4.10.1 Temperature monitoring and motor protection................................................. 4-32
4.10.2 Connection to the drive amplifier........................................................................ 4-33
5. Thermal Protection Device.................................................................................................5-1
5.1 Features................................................................................................................................ 5-2
5.2 Wiring of temperature module........................................................................................... 5-3
6. Motor Installation ...............................................................................................................6-1
6.1 Install stator and rotor together......................................................................................... 6-4
6.2 Install stator and rotor separately..................................................................................... 6-6
7. Maintenance and Troubleshooting.....................................................................................7-1
7.1 Troubleshooting................................................................................................................... 7-5
7.2 HIWIN Torque motor trouble shooting form.................................................................... 7-7
7.2.1 Identification of Motor and machine..................................................................... 7-7
7.2.2 Conditions ................................................................................................................ 7-7
7.2.3 Failure situation....................................................................................................... 7-7
7.2.4 NC parameters........................................................................................................ 7-8
7.2.5 Electrical troubleshooting....................................................................................... 7-9
7.2.6 Visual inspection..................................................................................................... 7-9
7.2.7 Appendix................................................................................................................. 7-10
7.2.8 Contact information............................................................................................... 7-10
8. Tolerances and Hypotheses of Motor Specifications .........................................................8-1
8.1 Tolerances............................................................................................................................ 8-2
8.2 Hypothesis of heat transfer................................................................................................ 8-2
9. Decommissioning and disposal .........................................................................................9-1
9.1 Decommissioning................................................................................................................ 9-3
9.2 Disposal................................................................................................................................ 9-4
9.2.1 Disposal of rotors.................................................................................................... 9-4

Torque Motor Installation Manual Table of Contents
9.2.2 Disposal of packaging............................................................................................ 9-5
10. Technical Terms...............................................................................................................10-1

Torque Motor Installation Manual Revision History
0. Revision History
Revision History
Version
Date
Revision Contents
M01UC01-1403
2014/03
First version
MR01UC01-1705
2017/05
1. Add motor sizing configurator
2. Add interface design contents
3. Add thermal protection device
4. Add technical terms
MR01UC01-1904
2019/04
1. Move safety instructions to the first chapter
2. Edit cooling contents
3. Edit motor interface design contents
MW99UE01-2104
2021/04
1. Add TM-2/IM-2
2. Add intended use
3. Add product code and logistics content
4. Edit axial force
5. Add power supply and controller sizing
6. Edit symbols
7. Add Tolerances and Hypotheses
8. Add technical terms
9. Add Maintenance and Troubleshooting
form
10 Add Decommissioning and disposal

Torque Motor Installation Manual Revision History
0-2 HIWIN MIKROSYSTEM Corp.
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(This page is intentionally left blank.)

Torque Motor Installation Manual Introduction
1. Introduction
1. Introduction........................................................................................................................1-1
1.1 General precautions................................................................................................1-2
1.2 Warning notice system............................................................................................1-2
1.3 Basic safety notices ................................................................................................1-4
1.3.1 Intended use.................................................................................................1-5
1.3.2 Reasonably foreseeable misuse ..................................................................1-5
1.3.3 Conversions and modifications.....................................................................1-5
1.3.4 Residual risks...............................................................................................1-5
1.3.5 Personnel requirements ...............................................................................1-6
1.3.6 Protective equipment....................................................................................1-6
1.3.7 The danger of strong magnetic fields ...........................................................1-7
1.3.8 Wiring precautions........................................................................................1-9
1.3.9 Operation precautions..................................................................................1-9
1.3.10 Maintenance and storage precautions........................................................1-11
1.3.11 Transport precautions.................................................................................1-13

Torque Motor Installation Manual Introduction
1-2 HIWIN MIKROSYSTEM Corp.
MW99UE01-2104
HIWIN torque motor, with the constitution of a stator and a rotor, can be directly driven 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.
1.1 General precautions
Before using the product, please carefully read through this manual. HIWIN MIKROSYSTEM(HIWIN) is
not responsible for any damage, accident or injury caused by failure in following the installation
instructions and operating instructions stated in this manual.
Before installing or using the product, ensure there is no damage on its appearance. If any damage
is found after inspection, please contact HIWIN or local distributors.
Ensure the wiring is not damaged and can be normally connected.
Do not disassemble or modify the product. The design of the product has been verified by structural
calculation, computer simulation and actual testing. HIWIN is not responsible for any damage,
accident or injury caused by disassembly or modification done by users.
Keep children away from the product.
People with psychosomatic illness or insufficient experience should not use the product alone. The
supervision of managers or product docents is definitely needed.
If the login information does not match your order, please contact HIWIN or local distributors.
1.2 Warning notice system
Safety notices are always indicated using a signal word and sometimes also a symbol for the specific risk.
Different safety alert symbols refer to different types of dangers. Please be aware of personal safety while
handling the goods with warning labels on it.

Torque Motor Installation Manual Introduction
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DANGER!
Imminent danger!
Indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
Potentially dangerous situation!
Indicates that death or severe personal injury may result if proper precautions are not taken.
ATTENTION!
Potentially dangerous situation!
Indicates that property damage or environmental pollution can result if proper precautions are not taken.
Warning symbols
No access for people with active
implanted cardia devices.
Substance hazardous to the
environment!
Warning!
Warning of crushing of hands!
Warning of electricity!
Warning of hot surface!
Warning of magnetic field!
Mandatory signs
Wear head protection!
Refer to user manual!
Wear protective gloves!
Disconnect before carrying out
maintenance or repair.
Wear safety footwear!
Lifting point

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1.3 Basic safety notices
DANGER!
Danger from strong magnetic fields!
Strong magnetic fields around torque motor systems pose a health risk to persons with
implants (e.g. cardiac pacemakers) that are affected by magnetic fields.
 Persons with implants that are affected by magnetic fields should maintain a safe
distance of at least 300 mm from torque motor systems.
ATTENTION!
Risk of physical damage to watches and magnetic storage media.
Strong magnetic forces may destroy watches and magnetisable data storage media near to
the torque motor system!。
 Do not bring watches or magnetisable data storage media into the vicinity
(<300 ) of the torque motor systems!
When taking or placing the product, do not just pull the cable and drag it.
Do not subject the product to shock.
Ensure the product is used with rated load.
According to IEC 60034-5 standard, all HIWIN torque motors have the following class of protection:
IP20 for the stator and IP00 for the rotor.
HIWIN torque motors have a insulation class F (TM-2 / IM-2 series) and class B (TMRW series)
according to IEC 60085 standard.
HIWIN torque motor certification test meets the following standards.
CE
LVD Safety:
2014/35/EU reference standard
EN 60034-1:2010
EMC (Including EMI+EMS):
2014/30/EU reference standard
EN 61000-6-4:2007+A1:2011
EN 61000-6-2:2005
EN 61000-4-2:2009
EN 61000-4-3:2006
EN 61000-4-3:2008
EN 61000-4-3:2010
EN 61000-4-8:2010
UL
Rotating Electrical Machines reference standard 1004-1

Torque Motor Installation Manual Introduction
HIWIN MIKROSYSTEM Corp. 1-5
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1.3.1 Intended use
Torque motors are components of a rotary drive system for the precise positioning in terms of
time and location of fixed mounted loads, e.g. system components, within an automated system.
Torque motors are designed for installation and operation in any position. The loads being
moved must be solidly mounted to the rotor.
Torque motor components must not be used outdoors or in potentially explosive atmospheres.
Torque motor components may only be used for the intended purpose as described.
Torque motors must be operated within their specified performance limits.
For the safe operation of torque motors, suitable safety precautions must be taken to protect
the motor against overload.
Proper use of the torque motors includes observing the assembly instructions and following
the maintenance and repair specifications.
Use of the torque motor components for any other purpose shall be considered improper
use.
Use only genuine spare parts from HIWIN.
1.3.2 Reasonably foreseeable misuse
Torque motors must not be operated:
Outdoors
In potentially explosive atmospheres.
1.3.3 Conversions and modifications
Conversions or modifications to the torque motors are not permitted.
1.3.4 Residual risks
During normal operation, there are no residual risks associated with the torque motor
components. Warnings about risks that may arise during commissioning, maintenance and
repair work are provided in the relevant sections.

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1.3.5 Personnel requirements
Only authorized and competent persons may carry out work on the torque motor components.
They must be familiar with the safety equipment and regulations before starting work (See Table
1.1) Table 1.1 Personnel requirements
Activity
Qualification
Commissioning
Trained specialist personnel of the operator or manufacturer
Normal operation
Trained personnel
Cleaning
Trained personnel
Maintenance
Trained specialist personnel of the operator or manufacturer
Repairs
Trained specialist personnel of the operator or manufacturer
1.3.6 Protective equipment
Table 1.2 Personal protective equipment
Operating phase
Personal protective equipment
Commissioning
When in the vicinity of the torque motor components, the
following personal protective equipment is required:
Safety shoes
Normal operation
When in the vicinity of the torque motor components, the
following personal protective equipment is required:
Safety shoes
Cleaning
When cleaning the torque motor components, the following
personal protective equipment is required:
Safety shoes
Maintenance
When carrying out maintenance and repairs, the following
personal protective equipment is required:
Safety shoes
Repairs

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1.3.7 The danger of strong magnetic fields
The permanent magnet in the torque motor rotor has a very strong magnetic field. When there is
no input current, the strong magnetism of the motor comes from the permanent magnets on the
rotor, and the magnetic field strength is inversely proportional to the distance (Figure 1.1); and
additional electromagnetic fields are generated during motion.
Figure 1.1 Schematic representation of the static magnetic field of a rotor
DANGER!
Electrical shock hazard!
When the rotor rotates inside the stator, an induced voltage is generated.
You may suffer from electrodes if you use a defective cable connector.
 Do not touch the cable connector.
 Connect the stator power cable or isolated the power cable correctly.

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DANGER!
Risk of death as a result of strong magnetic fields!
Strong magnetic fields around torque motor systems represents a danger for people with active
medical implants, who come close to the motors. This is also the case when the motor is switched
off.
 If you are affected, stay a minimum distance of 300 mm from the permanent magnets
DANGER!
Risk of crushing from strong forces of attraction!
There is a risk of crushing from the strong forces of attraction emitted by the rotors and stators,
as they are assembled with opposing polarity!
 Assemble the rotors and stators carefully!
 Do not place fingers or objects between the rotors and stators!
 The rotor and magnetizable objects may accidentally attract each other and collide!
 Two rotors may accidentally attract each other and collide!
 The magnetic force of the rotor acting on the object may be as high as several kN, which may
cause a certain part of the body to be clamped.
 Do not underestimate the attraction force and operate carefully.
 Wear safety gloves when necessary.
 At least two people are required to cooperate during operation.
 If the assembly steps have not yet reached the installation of the rotor, please place the rotor in
a safe and proper place first.
 Never take multiple rotors at once.
 Never place two rotors directly together without any protection.
 Do not bring any magnetizable materials close to the rotor! If the tool must be magnetized,
please hold it firmly with both hands and slowly approach the rotor!
 It is recommended to install the rotor immediately after unpacking!
 When installing the stator and rotor, an installation auxiliary device is required to assemble the
stator and rotor individually. Please follow the correct method.
 Keep the following tools at hand at any time to release body parts (hands, fingers, feet, etc.)
clamped by magnetic force.
Hammer made of non-magnetized solid material (about 3Kg)
Two wedge blocks composed of non-magnetized materials (wedge-shaped sharp angle
10°~15°, minimum height 50mm).

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1.3.8 Wiring precautions
1. Before using the product, carefully read through the specification noted on product label, and ensure
the product is used with power supply specified in product requirement.
2. Check if the wiring is correct. Incorrect wiring may make the motor operate abnormally, or even
cause permanent damage to the motor.
3. Select extension cord with isolation net. The isolation net must be grounded.
4. Do not connect power cable and temperature sensor cable to the same extension cord.
5. Power cable and temperature sensor cable contain isolation net. The isolation net must be
grounded.
1.3.9 Operation precautions
1. Avoid excessive friction when the motor is running.
2. Ensure there is no object in the motion range of the system.
3. Before starting the motor, ensure the water cooling system works properly.
4. Before starting the motor, ensure the main switch is on.
5. Before transmitting electricity, ensure at least one ground wire is connected to all electrical products.
6. Do not directly touch motor parts after motor is assembled.
7. 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.
8. Do not operate the product in an environment that exceeds its rated load.
9. When the motor is running, its temperature must be within the specification.
10. If any abnormal odor, noise, smoke, temperature rise or vibration is detected, stop the motor and turn
off the power immediately.
11. Fixed operation environment conditions must comply with EN 60721-3-3 (Please refer Table 1.3 on
the next page)

Torque Motor Installation Manual Introduction
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Table 1.3 Operation environment conditions Class 3K3
Environmental parameter
Unit
Value
Air temperature
󰇛󰇜
+5~+40
Relative humidity
󰇛󰇜
5~85
Absolute humidity
󰇛󰇜
1~25
Rate of change of temperature 1)
󰇛󰇜
0.5
Air pressure 2)
󰇛󰇜
78.4~106
Solar radiation
󰇛󰇜
700
Movement of surrounding air 3)
󰇛󰇜
1
Condensation
-
Not allowed
Formation of ice
-
Not allowed
1) Averaged over a period of time of 5 .
2) Conditions in mines are not considered. Severity value is different from Class 3k3. (up to 78.4󰇜
(altitudes up to 2000).
3) Uncontrollable air flow may affect cooling systems based on natural convection.
Mechanically active substances
Class 3S1
Mechanical conditions
Class 3M3

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1.3.10 Maintenance and storage precautions
1. Do not store the product in an inflammable environment or with chemical agents.
2. Store the product in a place without humidity, dust, harmful gases or liquids.
3. Install the product in location with less vibration.
4. The way to clean the product: wipe with alcohol (70)
5. The way to discard the damaged product: recycle it according to local laws and regulations.
6. Storage conditions must comply with EN 60721-3-1(Refer Table 1.4 on the next page)
7. Motor can be stored for up to two years indoor with the following conditions:
i. Dry
ii. Dust-free
iii. No vibration
iv. Good ventilation
v. Resistance to extreme weather
vi. Indoor air does not contain corrosive gas
vii. Prevent motor vibration and moisture
8. If no dry storage environment is available, the following measures need to be taken:
i. Wrap the motor with moisture-absorbing material, and then seal the motor.
ii. Put desiccant in the sealed package; the desiccant needs to be checked and replaced if
necessary.
iii. Check the motor regularly.
9. After long-term storage and removal of the motor, the insulation resistance value may be reduced
due to moisture. Before installing the machine, confirm the insulation resistance state of the motor.
Use an inspection instrument that meets EN61557. The test must reach 100 after 60 seconds at
1000. If it does not meet the specifications, the motor may be damp. If it is used directly, it may
cause insulation damage. You can dehumidify the motor by yourself. The steps are as follows or
please contact HIWIN:
i. Put the motor in the oven, set the temperature to 70(the maximum temperature should not
exceed 80), take it out after four hours, and put it at room temperature.
ii. Measure the insulation resistance, if it does not reach 100, repeat the process i (at this time,
pay attention to whether the insulation resistance has gradually increased, if it cannot be
improved, please contact HIWIN).

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Table 1.4 Storage conditions
Environmental parameter
Unit
Value
Air temperature
󰇛󰇜
-5~40
Relative humidity
󰇛󰇜
5~85
Absolute humidity
󰇛󰇜
1~25
Rate of change of temperature
󰇛󰇜
0.5
Air pressure
󰇛󰇜
70~106
Solar radiation
󰇛󰇜
700
Condensation
Not allowed
Formation of ice
Not allowed
Long-term storage conditions
Refer Class 1K3
Store the motor in an environment with good weather protection. (indoor/factory)
Biological conditions
Class 1B1
Chemically active substances
Class 1C1
Mechanically active substances
Class 1S2
Mechanical conditions
Class 1M2

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1.3.11 Transport precautions
1. Permanent magnets are listed as Dangerous Goods (Magnetized material: UN2807) according to
International Air Transport Association (IATA).
2. For products containing permanent magnets, no additional measures on packaging are required to
resist the magnetic field in sea freight and inland transportation.
3. When transporting products containing permanent magnets by air, the maximum permissible
magnetic field strengths specified by the appropriate IATAPacking Instruction must not be exceeded.
Special measures may be required so that these products can be shipped. Above a certain magnetic
field strength, such shipments must be labelled in accordance with Packing Instruction 953 from
IATA (Please refer below or the latest regulation from IATA.)
i. Products whose highest field strength exceeds 0.418  
(0.525 ) or 2° of compass
deviation, as determined at a distance of 4.6 from the product, require shipping
authorization from the responsible national body of the country from where the product is being
shipped (country of origin) and the country where the airfreight company is based. Special
measures need to be taken to enable the product to be shipped.
ii. When shipping products whose highest field strength is equal to or greater than 0.418  

(0.525 ) or 2°of compass deviation, as determined at a distance of 2.1 from the product,
shipment is conducted with regulation of Dangerous Goods Transportation.
iii. When shipping products whose highest field strength is less than 0.418  
(0.525 ), as
determined at a distance of 2.1 from the product, you do not have to notify the relevant
authorities and you do not have to label the product.
4. Shipping originally packed motor components neither has to be disclosed nor marked.
5. Transport conditions must comply with EN 60721-3-2 (Please refer Table 1.5 on the next page).