Hiwin TMRW Series User manual

series
TMRW
Installation Manual
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Contents
1. INTRODUCTION：..........................................................................................................2
1.1 UNPACKING INSTRUCTIONS .......................................................................................... 2
1.2 SAFETY SYMBOLS ....................................................................................................... 2
1.3 INSTRUCTIONS ............................................................................................................ 3
2. BASIC STRUCTURE OF TMRW TORQUE MOTOR.......................................................4
3. TMRW TORQUE MOTOR INSTALLATION DESIGN.......................................................5
3.1 WATER COOLING CHANNELS POSITION .......................................................................... 5
3.2 WATER COOLING CHANNELS DIMENSION ........................................................................ 6
3.3 O-RING FEATURES: ...................................................................................................... 7
3.4 COOLANT INLET/OUTLET POSITION WHEN MOUNTED HORIZONTALLY ................................. 7
3.5 COOLANT INLET/OUTLET POSITION WHEN MOUNTED VERTICALLY ...................................... 8
3.6 ROTOR INSTALLATION INTRODUCTION ............................................................................ 8
3.7 STATOR INSTALLATION INTRODUCTION ......................................................................... 10
3.8 THE SCREW TIGHTENING TORQUE SPECIFICATION FOR STATOR/ROTOR ........................... 11
4. TMRW MOTOR INSTALLATION PROCEDURE............................................................12
4.1 STATOR/ ROTOR MOUNTED TOGETHER (WITH HIWIN’S FIXTURE) ................................... 12
4.2 STATOR/ ROTOR MOUNT SEPARATELY (THE GAUGE IS DESIGNED BY CUSTOMER) ............. 13
5. MOTOR CABLES ..........................................................................................................15
5.1 POWER CABLE SPECIFICATION: ................................................................................... 15
5.2 TEMPERATURE SENSOR CABLE SPECIFICATION ............................................................. 16
5.3 TEMPERATURE SENSOR FEATURES ............................................................................. 17
6. RADIAL FORCES BETWEEN THE STATOR AND THE ROTOR .................................19
7. SAFETY PRECAUTIONS:.............................................................................................20
7.1 SAFETY INSTRUCTIONS: ............................................................................................. 20
7.2 WIRING INSTRUCTIONS: ............................................................................................. 21
7.3 OPERATION INSTRUCTIONS: ....................................................................................... 21
7.4 MAINTENANCE AND STORAGE INSTRUCTIONS:.............................................................. 21
8. TROUBLESHOOTING:..................................................................................................22
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1.Introduction：
HIWIN TMRW series torque motor is constituted of stator and rotor. A servo-drive
regulation ensures excellent acceleration capabilities and good uniformity of movement.
Due to the hollow shaft design, cable systems or mechanical parts can be fed through
without problems.
1.1 Unpacking instructions
Installation and operation of the motor must be in accordance with the HIWIN
manual. Before using the TMRW, please read these safety instructions and
precautions carefully.
caution
1. Before using the TMRW, please read these safety instructions
and precautions carefully. HIWIN is not responsible for any
damage, accident, or injury caused by incorrect handling.
2. Examine the appearance of the motor for any unusual marks
or damage from shipment.
3. Inspect the wires for any damage.
4. Do not disassemble the motor. Since the design of the
product has been based on structure calculations, computer
simulations, and prototype testing, do not disassemble the
product without the permission of HIWIN engineers.
5. Supervise children when handling this product.
6. People with psychosomatic illness or insufficient experience
should not handle this product, unless under the direct
supervision of managers or product narrators.
If any items are damaged or incorrect item, please contact your distributor or HIWIN
sales representative.
1.2 Safety symbols
symbol
meaning
Warning of dangerous high voltage!
Warning of magnetic fields!
Warning of hot surfaces!
Environmentally hazardous substance!
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1.3 Instructions
(1) The product can only be repaired by HIWIN engineers. Please send the product
back to us if there is any unusual phenomenon.
(2) Do not hold the TMRW by its wire harness.
(3) Do not hit the motor.
(4) Do not apply loads to the motor that are in excess of the specified value.
(5) Do not change the motor parts or disassemble the screws. HIWIN will not be
responsible for any damages, injuries, or accidents that may occur.
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2.Basic structure of TMRW torque motor
HIWIN TMRW series torque motor is constituted solely of stator and rotor, exclusive of
bearing, positioning systems and other relative parts. The main structure is as Fig. 2.1
shows and below is the description:
Stator：With water cooing channels in the outer part, and it is made of aluminum alloys
or steel. The inner part is made of lamination stack and windings covered with
epoxy. Two cable outlets in one side, and that is motor power cable and
temperature sensor cable. Moreover, the stator should be placed on a stiff
foundation of customer’s machine.
Rotor：The main structure is steel ring with attached magnets and rotor should be
installed on the rotating part of customer’s machine. Due to rotor has high
magnetic forces of attraction, it needs to have well protection away from
magnetic objects (steel objects) when installing or shipping.
Fig. 2.1 Motor basic structure
Water cooling channels
Stator
Rotor
O-ring
Magnets
Lamination stack/
Windings
Motor power cable
Temperature sensor cable
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3.TMRW torque motor installation design
TMRW series (As Fig. 3.1) can be cooled by water or air. There is a water cooling
channels in the outer case of stator. And outside of the channels, there is an O-ring
equipped to be leak proof. As for the coolant inlet and outlet, these must be level with
the motor cable outlet to ensure good circulation of water cooling, to reach
cooling mechanisms. The recommended position of coolant inlet/outlet is shown
below:
Fig. 3.1 TMRW series structure
3.1 Water cooling channels position
The recommended position for every series is as below shows:
Table 1 Water cooling channels position
L(mm)
S(mm)
20
40
60
90
140
25
TMRW13(L)
TMRW43(L)
TMRW15(L)
TMRW45(L)
TMRW17(L)
TMRW47(L)
TMRW1A(L)
TMRW4A(L)
TMRW1F(L)
TMRW4F(L)
30
TMRW23(L)
TMRW25(L)
TMRW27(L)
TMRW2A(L)
TMRW2F(L)
35
TMRW73(L)
TMRWA3(L)
TMRW75(L)
TMRWA5(L)
TMRW77(L)
TMRWA7(L)
TMRW7A(L)
TMRWAA(L)
TMRW7F(L)
TMRWAF(L)
43
TMRWD3(L)
TMRWD5(L)
TMRWD7(L)
TMRWDA(L)
TMRWDF(L)
S
L
Coolant inlet and
outlet
Housing
O-ring
Motor cable
outlet
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3.2 Water cooling channels dimension
Fig. 3.2 is the water cooling channel dimension diagram while Table 2 defines the
channel spec. for TMRW series.
Fig. 3.2 Water cooling channel dimension
Table 2 Water cooling channel dimension
Motor Type
X(mm)
Y(mm)
Inlet/outlet
internal
diameter (mm)
Motor Type
X(mm)
Y(mm)
Inlet/outlet
internal
diameter
(mm)
TMRW13(L)
8
5
8
TMRW73(L)
8
5
8
TMRW15(L)
8
5
8
TMRW75(L)
8
5
8
TMRW17(L)
9
5
8
TMRW77(L)
9
5
8
TMRW1A(L)
8
5
8
TMRW7A(L)
8
5
8
TMRW1F(L)
9
5
8
TMRW7F(L)
9
5
8
TMRW23(L)
8
5
8
TMRWA3(L)
8
5
8
TMRW25(L)
8
5
8
TMRWA5(L)
8
5
8
TMRW27(L)
9
5
8
TMRWA7(L)
9
5
8
TMRW2A(L)
8
5
8
TMRWAA(L)
8
5
8
TMRW2F(L)
9
5
8
TMRWAF(L)
9
5
8
TMRW43(L)
8
5
8
TMRWD3(L)
8
5
8
TMRW45(L)
8
5
8
TMRWD5(L)
8
5
8
TMRW47(L)
9
5
8
TMRWD7(L)
9
5
8
TMRW4A(L)
8
5
8
TMRWDA(L)
8
5
8
TMRW4F(L)
9
5
8
TMRWDF(L)
9
5
8
O-ring
O-ring
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3.3 O-ring features:
Table 3 is the O-ring features for TMRW series.
Table 3 O-ring features
Motor
Type
O-ring type
O-ring
thickness(mm)
O-ring internal diameter
(mm)
TMRW1x
VITON
2.62
152.07
TMRW2x
VITON
2.62
190.17
TMRW4x
VITON
2.62
221.92
TMRW7x
VITON
2.5
296
TMRWAx
VITON
4
370
TMRWDx
VITON
4
465
3.4 Coolant inlet/outlet position when mounted horizontally
No matter whether the motor cable output is facing upward or downward, the outlet
should be at the top while the inlet is at the bottom. And that the coolant inlet and
outlet must be level with the motor cable outlet.
Fig. 3.3 Coolant inlet/outlet position when mounted horizontally
Outlet
Inlet
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3.5 Coolant inlet/outlet position when mounted vertically
Directions of inlet/outlet depend on customer but the coolant inlet/outlet must be
level with the motor cable outlet.
Fig. 3.4 Coolant inlet/outlet position when mounted vertically
3.6 Rotor installation introduction
In order to prevent magnet interference and motor’s performance affected, there
should be some space (Fig. 3.5 Φd) between customer’s shaft and rotor magnet.
Table 4 defines the maximum dimension for the shaft external diameter inside the
stator and the flatness specification on rotor mounting level.
Fig. 3.5 Rotor mounting level
Inlet and outlet
ΦD max.
Φd max.
1min.
Rotor
Shaft
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Table 4 Rotor mounting level suggestion
Motor Type
ΦD
(mm)
Φd
(mm)
Flatness A
(mm)
Flatness B
(mm)
TMRW1x
84.5
76
0.05
0.05
TMRW2x
118
110
0.05
0.05
TMRW4x
168
158
0.1
0.1
TMRW7x
232
217
0.1
0.1
TMRWAx
298
284.5
0.1
0.1
TMRWDx
383
370
0.15
0.15
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3.7 Stator installation introduction
The recommended tolerance of housing’s internal diameter (and mounting holes of
stator) is H7 or H8, and the flatness stator mounting level is as defined in
Table 4 (Flatness B); the housing is suggested to be chamfered ( recommended
dimension is as Fig. 3.6 shows ) to ensure the O-ring from being scratched and to
prevent leaks from happening.
Fig. 3.6 Stator mounting level
2min.
15~30˚
Chamfer degree
Stator
Housing
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3.8 The screw tightening torque specification for stator/rotor
The recommended level of the fixed screw to stator/rotor is hardness class 12.9.
Below defines the types of threaded holes, quantity and tightening torque for every
kind of motor.
Table 5 Screw tightening torque
Motor Type
Type of threaded
holes
Quantity of
threaded holes
Nominal
tightening torque
(kgf-cm)
TMRW13(L)
TMRW15(L)
TMRW17(L)
TMRW23(L)
TMRW25(L)
TMRW27(L)
M5x10DP
8
80
TMRW1A(L)
TMRW1F(L)
TMRW2A(L)
TMRW2F(L)
M5x10DP
16
80
TMRW43(L)
TMRW45(L)
TMRW73(L)
TMRW75(L)
TMRW77(L)
M5x10DP
12
80
TMRW47(L)
TMRW4A(L)
TMRW4F(L)
TMRW7A(L)
TMRW7F(L)
M5x10DP
24
80
TMRWA3(L)
TMRWA5(L)
TMRWA7(L)
M6x12DP
12
120
TMRWAA(L)
TMRWAF(L)
M6x12DP
24
120
TMRWD3(L)
TMRWD5(L)
TMRWD7(L)
M8x12DP
12
250
TMRWDA(L)
TMRWDF(L)
M8x12DP
24
250
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4.TMRW motor installation procedure
There are 2 ways to install:
Stator/ Rotor installed together: Install with the fixed fixture and the position can
be either the outlet side or the other side. Customer could consult with HIWIN
sales or engineers to define the position of the fixture and confirm the drawing
before placing an order.
Stator/ Rotor installed separately: Based on the basis of customer’s mechanism,
a guide tool is designed for installing stator and rotor.
The following is the installation procedure:
4.1 Stator/ Rotor mounted together (with HIWIN’s fixture)
Diagram
Step
1. Install the housing, shaft, and
bearing.
2. Install the O-ring on the stator. Mind
that the O-ring cannot be twisted.
3. Place the stator/forcer (with the
fixture) into the housing. Mind that
the motor cable outlet should be
aligned with the coolant
outlet/inlet. Also, the O-ring
cannot be damage to prevent
leaks from happening. (Housing
design please refer section 3.7)
WARNING: Due to rotor has high
magnetic forces, it should be away
from magnetic objects (steel
objects).
1
2
3
Fixed gauge
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4. Fix the rotor on the shaft (please
refer section 3.8 for screw
tightening torque spec.)
5. Loosen the screw of the fixture, and
dismantle the fixture.
6. Install the bottom plate, and fasten
the fixed screw of stator (please
refer section 3.8 for screw
tightening torque spec.)
7. Turn the rotary part. This is to
check if this part is turning
smoothly and there is no
interference.
8. Install the remaining parts, such as
the inlet/outlet connector, lower
supporting bearing, encoder…etc.
4.2 Stator/ Rotor mount separately (the guild tool is designed by customer)
Diagram
Step
1. Install shaft and bearing.
2. Install the rotor on the shaft (please
refer section 3.8 for screw
tightening torque spec.)
3. Install the jig on the shaft.
6
5
2
7
1
2
3
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4. Install O-ring to stator. Mind that the
O-ring cannot be twisted during
installation.
5. Place the stator into the housing,
and fasten the bolt (please refer
section 3.8 for the screw tightening
torque ). Mind that the motor
cable outlet should be aligned
with the coolant outlet/inlet.
Also, the O-ring cannot be
damaged to prevent leaks from
happening. (Housing design
please refer section 3.7)
6. Install the guide tool of the lower
side to the shaft. (If necessary)
7. Install the rotary module to a stiff
foundation of customer’s machine.
Note: The guild tool needs to be
fitted with rotor before
installation to prevent the
dangers of magnetic
attractions between rotor
and stator or any assembly
fitting problems.
8. Fix the bearing and dismantle the
guide tool.
9. Turn the rotary part. This is to
check if this part is turning
smoothly and there is no
interference.
10. Install the remaining parts, such
as the inlet/outlet connector, lower
supporting bearing, encoder…etc.
7
3
5
6
9
8
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5.Motor cables
5.1 Power cable specification:
The standard length of power cable and temperature sensor cable is
2000mm±50mm (as Fig. 5.1), excluding the metal connector of the outlet. Customers
can have the options to choose other lengths. Every extra 1m is the standard length
for other options, with the longest length up to 8m. Table 6 defines the correlation
between the cable color and signal.
Fig. 5.1 Power cable specification
Table 6 Color definition
Color and
number
Signal
Diagram
Black, No.L1/U
PH U
Black,No.L2/V
PH V
Black,No.L3/W
PH W
Yellow with green
grounding
Power cable is designed with IGUS’ Chainflex (CF27), which has UL and CE approval.
Cable size should be selected according to the continuous current of motor, and Table 7
defines the relationship.
Table 7 Relationship between cable size and motor
Cross sectional
area(mm2)
Motor Type
1.5
TMRW13(L)、TMRW15(L)、TMRW17(L)、TMRW1A(L)、TMRW1F、
TMRW23(L)、TMRW25(L)、TMRW27(L)、TMRW2A(L)、TMRW2F、
TMRW43(L)、TMRW45(L)、TMRW47(L)、、TMRW2F
2.5
TMRW4A、TMRW4F、TMRW73、TMRW75、TMRW77、TMRW7A、
TMRW7F、TMRWA3、TMRWA5
4.0
TMRW1FL、TMRW2FL、TMRW4AL、TMRW4FL、TMRW73L、
TMRW75L、TMRW77L、TMRW7AL、TMRW7FL、TMRWA3L、
TMRWA5L、TMRWA7、TMRWAA、TMRWD3、TMRWD5、TMRWD7、
TMRWDA、TMRWG3、TMRWG5、TMRWG7
6.0
TMRWA7L、TMRWAAL、TMRWAF
10.0
TMRWAFL、TMRWD3L、TMRWD5L、TMRWD7L、TMRWDAL、
TMRWDF、TMRWG3L、TMRWG5L、TMRWG7L、TMRWGA、
TMRWGF
16.0
TMRWDFL、TMRWGAL、TMRWGFL
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5.2 Temperature sensor cable specification
Every motor is equipped with a set of SNM100 and a set of SNM 120 temperature
sensor and also one in every phase (there are three sensors each set). KTY84-130
sensor installs in U phase, and with electrostatic discharge protection facility. The
cross sectional area is 0.25mm2 for every cable. Temperature sensor cables are
shown in Fig. 5.2, Fig. 5.3 and Fig. 5.4.
Fig. 5.2 Type A: Color reference diagram for temperature sensor cable
Fig. 5.3 Type B: Color reference diagram for temperature sensor cable
Fig. 5.4 Type C: Color reference diagram for temperature sensor cable
White
Brown
Green
Yellow
Blue
White
Brown
Green
Yellow
White
Yellow
Green
Blue
Pink
Brown
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5.3 Temperature sensor features
KTY84-130 is a type of silicon sensor that can measure the output resistance value
to get the actual temperature. The feature is shown in Table 8, and the resistance
value change against the temperature is shown in Fig. 5.5 .
Table 8 KTY84-130 sensor features
Symbol
Parameter
Requirement
Min.
Standard
Max.
Unit
R100
The resistance value when
100℃
I(out)=2mA
970
-
1030
Ω
R250/R100
Resistance value ratio
T=250℃and 100℃
2.111
2.166
2.221
Ω
R25/R100
Resistance value ratio
T=25℃and 100℃
0.595
0.603
0.611
Ω
Fig. 5.5 KTY84’s resistance value versus temperature
SNM 100 and SNM 120 are thermistors, the output resistance values vary according to
the temperature of motor winding. The value of SNM100 will rise dramatically when
TREF=100℃. And the resistant value of SNM120 will also rise dramatically when
TREF=120℃. The feature is shown in Table 9 and Fig. 5.6.
Table 9 SNM features
Temperature
Resistance value
20℃<T<TREF - 20 K
20Ω~250Ω
T=TREF - 20 K
≦550Ω
T=TREF + 5 K
≧1,330Ω
T=TREF + 15 K
≧4,000Ω
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Fig. 5.6 PTC’s relationship between temperature and resistance value
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6.Radial forces between the stator and the rotor
When the concentricity of the stator and rotor is offset, radial forces will generate like
Fig. 6.1 and Table 10 defines the value of radial force for every motor.
Fig. 6.1 Offset concentricity of the stator and rotor
Table 10 Radial force value
Motor
Radial force f
(N/mm)
TMRW1A
2184
TMRW2A
2590
TMRW4A
2946
TMRW7A
2899
TMRWAA
3574
TMRWDA
4350
Calculation of the radial force (N/mm) is used with the following equation :
100
L
Force  fforceradial
Where L (mm) represents the length of the iron core, Table 11 defines the length of the
iron core.
Table 11 The length of the iron core
Motor Type
L(mm)
TMRW□3
30
TMRW□5
50
TMRW□7
70
TMRW□A
100
TMRW□F
150
Example:
For aTMRW7F, the radial forces value will be equal to:
)mm4348.5(N/=
100
150
×2899=
100
150
×f s'TMRW7A=Force
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