Hiwin TMRW Series User manual

TMRW Series Torque Motor
Installation Manual
www.hiwinmikro.tw

TMRW Series Torque Motor Installation Manual Table of Contents
Table of Contents
1. Introduction ...................................................................................................................................................... 1-1
1.1 General precautions............................................................................................................................ 1-2
1.2 Safety symbols.................................................................................................................................... 1-2
1.3 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
2. Motor Basic Structure....................................................................................................................................... 2-1
3. Motor Sizing ..................................................................................................................................................... 3-1
3.1 Torque motor selection........................................................................................................................ 3-2
3.2 Thermal calculation ............................................................................................................................. 3-7
3.2.1 Heat loss ................................................................................................................................ 3-7
3.2.2 Continuous operating temperature ........................................................................................ 3-8
3.3 Thermal time constant......................................................................................................................... 3-9
3.4 Water cooling system calculation...................................................................................................... 3-10
4. Motor Installation Design.................................................................................................................................. 4-1
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................................................................................................................... 4-5
4.2 Rotor installation design...................................................................................................................... 4-7
4.3 Stator installation design..................................................................................................................... 4-8
4.4 Air gap and assembly concentricity .................................................................................................... 4-9
4.5 Force between stator and rotor......................................................................................................... 4-10
4.5.1 Radial force .......................................................................................................................... 4-10
4.5.2 Axial force .............................................................................................................................4-11
4.6 Screw tightening torque .................................................................................................................... 4-12
4.7 Motor cable ....................................................................................................................................... 4-13
4.7.1 Power cable specification .................................................................................................... 4-13

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
4.8 Parallel operation design .................................................................................................................. 4-17
4.9 Temperature sensor .......................................................................................................................... 4-21
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 ........................................................................................................... 6-2
6.2 Install stator and rotor separately........................................................................................................ 6-4
7. Troubleshooting................................................................................................................................................ 7-1
8. Technical Term s ............................................................................................................................................... 8-1

TMRW Series Torque Motor Installation Manual Table of Contents
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1. Introduction
1. Introduction ...................................................................................................................................................... 1-1
1.1 General precautions............................................................................................................................ 1-2
1.2 Safety symbols.................................................................................................................................... 1-2
1.3 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

TMRW Series Torque Motor Installation Manual Introduction
1-2 HIWIN MIKROSYSTEM Corp.
MR01UE01-1904
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.
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 Safety symbols
Symbol Meaning
Warning of dangerous high voltage!
Warning of magnetic fields!
Warning of hot surfaces!
Environmentally hazardous substance!

TMRW Series Torque Motor Installation Manual Introduction
HIWIN MIKROSYSTEM Corp. 1-3
MR01UE01-1904
1.3 Safety instructions
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.
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.
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
1.3.1 Wiring precautions
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.
Check if the wiring is correct. Incorrect wiring may make the motor operate abnormally, or even cause
permanent damage to the motor.
Select extension cord with isolation net. The isolation net must be grounded.
Do not connect power cable and temperature sensor cable to the same extension cord.
Power cable and temperature sensor cable contain isolation net. The isolation net must be grounded.

TMRW Series Torque Motor Installation Manual Introduction
1-4 HIWIN MIKROSYSTEM Corp.
MR01UE01-1904
1.3.2 Operation precautions
Avoid excessive friction when the motor is running.
Ensure there is no object in the motion range of the system.
Before starting the motor, ensure the water cooling system works properly.
Before starting the motor, ensure the main switch is on.
Before transmitting electricity, ensure at least one ground wire is connected to all electrical products.
Do not directly touch motor parts as the motor stops operating.
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.
When the motor is running, its temperature must be within the specification.
If any abnormal odor, noise, smoke, temperature rise or vibration is detected, stop the motor and turn
off the power immediately.
Ambient temperature: +5°C ~ +40°C
1.3.3 Maintenance and storage precautions
Do not store the product in an inflammable environment or with chemical agents.
Store the product in a place without humidity, dust, harmful gases or liquids.
Install the product in location with less vibration.
The storage and transportation temperature of the product: -10°C ~ +50°C
The way to clean the product: wipe with alcohol (70%)
The way to discard the damaged product: recycle it according to local laws and regulations

2. Motor Basic Structure
2. Motor Basic Structure....................................................................................................................................... 2-1

TMRW Series Torque Motor Installation Manual Motor Basic Structure
2-2 HIWIN MIKROSYSTEM Corp.
MR01UE01-1904
TMRW series can get its best performance through water cooling. Bearing, position feedback device and
other related parts are excluded from shipment. Motor basic structure is shown in Figure 2.1.
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. Stator should be installed on the fixed part of customer’s machine.
Rotor
The main structure is a steel ring with attached magnets. Rotor should be installed on the rotating
part of customer’s machine. Due to its strong magnetic suction, well protection is needed during
assembly and handling. To avoid danger, keep it away from magnetic conductors (e.g. iron objects).
Figure 2.1 Motor basic structure for TMRW series
Rotor
Stator
Magnet
O-ring
Motor power cable
Temperature sensor cable
Water cooling channel
Iron core & Coil