Hiwin TMRW13 User manual

MW99UE01-2104
Assembly Instruction
Torque Motor
TM-Komponenten-04-0-EN-2108-MA
www.hiwin.de

Assembly Instruction Imprint
Torque Motor TM-Komponenten-04-0-EN-2108-MA Page 2of 84
Imprint
HIWIN GmbH
Brücklesbünd 1
D-77654 Offenburg, Germany
Phone [phone] - 0
Fax [phone] - 90
[e-mail]
www.hiwin.de
All rights reserved.
Complete or partial reproduction is not permitted without our permission.
These assembly instructions are protected by copyright. Any reproduction, publication in whole or in part,
modification or abridgement requires the written approval of HIWIN GmbH.

Assembly Instruction Revision History
Torque Motor TM-Komponenten-04-0-EN-2108-MA Page 3of 84
Revision History
Release Date
Version
Applicable Product
Revision Contents
August 1st, 2021 1.0 Torque Motor Initial creation of this document

Assembly Instruction Contents
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Contents
1Introduction.......................................................................... 6
1.1 General precautions ...................................................................... 6
1.2 Warning notice system .................................................................... 7
1.3 Basic safety notices ...................................................................... 8
2Basic Structure of Motor............................................................... 15
2.1 General view ............................................................................15
2.2 Product code............................................................................16
2.3 Logistics Content ........................................................................19
3Configuration ....................................................................... 20
3.1 Torque motor selection ....................................................................20
3.2 Thermal calculation ......................................................................24
3.3 Thermal time constant ....................................................................26
3.4 Power supply and controller selection ........................................................27
3.5 Water cooling system calculation............................................................29
3.6 Coolant selection ........................................................................31
3.7 Water coolant diagram ....................................................................32
4Motor Interface Design ................................................................ 34
4.1 Water cooling design .....................................................................34
4.2 Rotor interface design.....................................................................40
4.3 Stator interface design ....................................................................42
4.4 Air gap and assembly concentricity ..........................................................43
4.5 Force between stator and rotor..............................................................45
4.6 Screw tightening torque ...................................................................47
4.7 Direction of rotation ......................................................................49
4.8 Motor cable.............................................................................50
4.9 Setting of parallel operation................................................................54
4.10 Temperature sensor ......................................................................58
5Thermal Protection Device ............................................................. 60
5.1 Features ...............................................................................60
5.2 Wiring of temperature module ..............................................................61
6Motor Installation .................................................................... 62
6.1 Install stator and rotor together .............................................................64
6.2 Install stator and rotor separately ...........................................................65
7Maintenance and Troubleshooting ....................................................... 66
7.1 Troubleshooting .........................................................................68
7.2 HIWIN Torque motor trouble shooting form ....................................................69
8Tolerances and Hypotheses of Motor Specifications ......................................... 73
8.1 Tolerances .............................................................................73
8.2 Hypothesis of heat transfer................................................................. 73
9Decommissioning and disposal ......................................................... 74
9.1 Decommissioning ........................................................................76
9.2 Disposal ...............................................................................77

Assembly Instruction Contents
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10 Technical Terms ..................................................................... 78
11 Declaration of Incorporation............................................................ 82

Assembly Instruction Introduction
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1Introduction
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 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.

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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.
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 mm) 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
1.3.1 Intended use
The torque motors are electrical components and are intended exclusively for installation in machines in
commercial and industrial areas.
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.

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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.
1.3.5 Personnel requirements
Only trained personnel or trained specialist personnel 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 (Fig. 1.1); and additional electromagnetic fields are
generated during motion.
Fig. 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.
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!

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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).
1.3.8 Wiring precautions
1Before 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.
2Check if the wiring is correct. Incorrect wiring may make the motor operate abnormally, or even cause
permanent damage to the motor.
3Select extension cord with isolation net. The isolation net must be grounded.
4Do not connect power cable and temperature sensor cable to the same extension cord.
5Power cable and temperature sensor cable contain isolation net. The isolation net must be grounded.
1.3.9 Operation precautions
1Avoid excessive friction when the motor is running.
2Ensure there is no object in the motion range of the system.
3Before starting the motor, ensure the water cooling system works properly.
4Before starting the motor, ensure the main switch is on.
5Before transmitting electricity, ensure at least one ground wire is connected to all electrical products.
6Do not directly touch motor parts after motor is assembled.
7If the current exceeds the maximum specified current, magnetic components in the motor may be
demagnetized. When it happens, please contact HIWIN or local distributors.
8Do not operate the product in an environment that exceeds its rated load.
9When 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).

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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 (g/m)1 ~ 25
Rate of change of temperature 1) (/min)0,5
Air pressure 2) (kPa)78,4 ~ 106
Solar radiation (w/m)700
Movement of surrounding air 3) (m/s) 1
Condensation - Not allowed
Formation of ice - Not allowed
1) Averaged over a period of time of 5 min.
2) Conditions in mines are not considered. Severity value is different from Class 3k3. (up to 78,4 kPa) (altitudes up to
2000 m).
3) Uncontrollable air flow may affect cooling systems based on natural convection.
Mechanically active substances Class 3S1
Mechanical conditions Class 3M3
1.3.10 Maintenance and storage precautions
1Do not store the product in an inflammable environment or with chemical agents.
2Store the product in a place without humidity, dust, harmful gases or liquids.
3Install the product in location with less vibration.
4The way to clean the product: wipe with alcohol (70 %)
5The way to discard the damaged product: recycle it according to local laws and regulations.
6Storage conditions must comply with EN 60721-3-1(Refer to Table 1.4 on the next page)
7Motor can be stored for up to two years indoor with the following conditions:
nicht verwenden Dry
nicht verwenden Dust-free
nicht verwenden No vibration
nicht verwenden Good ventilation
nicht verwenden Resistance to extreme weather
nicht verwenden Indoor air does not contain corrosive gas
nicht verwenden Prevent motor vibration and moisture
8If no dry storage environment is available, the following measures need to be taken:
nicht verwenden Wrap the motor with moisture-absorbing material, and then seal the motor.
nicht verwenden Put desiccant in the sealed package; the desiccant needs to be checked and replaced if
necessary.
nicht verwenden Check the motor regularly.
9After 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 Mafter 60 seconds at 1000 V. 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:

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nicht verwenden 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.
nicht verwenden Measure the insulation resistance, if it does not reach 100 M, 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).
Table 1.4: Storage conditions
Environmental parameter
Unit
Value
Air temperature ()-5 ~ 40
Relative humidity (%)5 ~ 85
Absolute humidity (g/m)1 ~ 25
Rate of change of temperature (/min)0,5
Air pressure (kPa)70 ~ 106
Solar radiation (w/m)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
1.3.11 Transport precautions
1Permanent magnets are listed as Dangerous Goods (Magnetized material: UN2807) according to
International Air Transport Association (IATA).
2For products containing permanent magnets, no additional measures on packaging are required to resist the
magnetic field in sea freight and inland transportation.
3When transporting products containing permanent magnets by air, the maximum permissible magnetic field
strengths specified by the appropriate IATA Packing 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.)
nicht verwenden Products whose highest field strength exceeds 0,418 A/m (0,525 T) or 2° of compass
deviation, as determined at a distance of 4,6 m 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.
nicht verwenden When shipping products whose highest field strength is equal to or greater than 0.418
A/m (0,525 T) or 2° of compass deviation, as determined at a distance of 2,1 m from the product,
shipment is conducted with regulation of Dangerous Goods Transportation.
nicht verwenden When shipping products whose highest field strength is less than 0.418 A/m (0,525 T),
as determined at a distance of 2,1 m from the product, you do not have to notify the relevant authorities
and you do not have to label the product.
4Shipping originally packed motor components neither has to be disclosed nor marked.
5Transport conditions must comply with EN 60721-3-2 (Please refer Table 1.5).

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Table 1.5: Transport conditions
Environmental parameter
Unit
Value
Air temperature ()-5 ~ 40
Relative humidity (%) 5 ~ 85
Rate of change of temperature (/min)0,5
Condensation Not allowed
Formation of ice Not allowed
Transport condition Class 2K2
Transport the motor in an environment with good weather protection (indoor/factory)
Biological conditions Class 2B1
Chemically active substances Class 2C1
Mechanically active substances Class 2S2
Mechanical conditions Class 2M2

Assembly Instruction Basic Structure of Motor
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2Basic Structure of Motor
2.1 General view
HIWIN torque motor can get its best performance through water cooling. Bearing, position feedback device and
other related parts are excluded from shipment. Basic structure of motor is shown in Fig. 2.1.
Stator
Stator in TMRW/TM-2/IM-2 series does contain water cooling channel. The outer casing is made of
aluminum alloy or steel, and the inner part is composed of iron core, 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 evenly 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).
Fig. 2.1: Basic structure of torque motor

Assembly Instruction Basic Structure of Motor
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2.2 Product code
2.2.1 TMRW Series codification
Motor specification
Function
Characteristic
Code
TMRW
4
7
L
C
XX
TMRW Type:
TMRW: Torque Motor
4 External diameter of the stator:
1: Ø160 mm
2: Ø198 mm
4: Ø230 mm
7: Ø310 mm
A: Ø385 mm
D: Ø485 mm
G: Ø565 mm
7 Rotor (Magnet) height:
3: 30 mm
5: 50 mm
7: 70 mm
A: 100 mm
F: 150 mm
L Winding code:
:Standard
L:Low Back emf
C Optional:
: Standard
C: Customized
XX Reserved:
: Standard
XX: Characteristics Code
See motor datasheet

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2.2.2 TM-2/IM-2 Series codification
Motor specification
Sensor
Cable output
Reserved
Code
TM2
7
5
SD0
0
20
V
XX
TM2 Type:
TM-2: Torque motor
IM-2: IM motor
7 External diameter of the stator:
1: Ø160 mm
2: Ø198 mm
4: Ø230 mm
7: Ø310 mm
A: Ø385 mm
D: Ø485 mm
G: Ø565 mm
5 Rotor (Magnet) height:
3: 30 mm
5: 50 mm
7: 70 mm
A: 100 mm
F: 150 mm
SD0 Torque/Speed Characteristics Code
See motor datasheet
0 Temperature sensor configuration:
0: PTC130+PTC100+Pt1000 (Standard)
1: PTC130+PTC100+Pt1000x3
20 Cable length:
20: 2,0 m (Standard)
05: 0,5 m
10: 1,0 m
V Cable output style1):
S: Straight output
V: Straight output with cable clamp
A: Straight output with cable gland
H: 90° output in tangent direction with cable clamp (temp. cable straight output)
P: All cable separate with cable clamp (straight output)
XX Reserved:
00: Standard(without bridge)
03: Bridge on cable side
1) Cable output style schematics refer to Fig. 2.2.

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Fig. 2.2: Cable output style
S
: Straight output
V
: Straight output with cable clamp
A
: Straight output with cable gland
H
: 90° output in tangent direction with cable clamp (temp.
cable straight output)
P: All cable separate with cable clamp (straight output)
Note:
The style shown above is schematic diagram, and the
shape may be modified in case of design purpose.

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2.3 Logistics Content
Each rotor and stator has the specific mark. 2 name labels and 3 simple labels and 2 O-rings are delivered in the
package. And have one magnetic warning sign on the rotor. Here is an example of these labels:
Name label
Simple label
Stator mark
Rotor label
①
: Motor type
②
: Serial number
③
: Article number
④
: Drawing number
⑤
: Laser engraving trademark
Magnetic warning sign

Assembly Instruction Configuration
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3Configuration
3.1 Torque motor selection
The way to select a suitable motor based on speed, moving distance, and loading inertia is described in the
following contents. The basic process for sizing a motor is as below.
Requirement
Operating environment
Installation (horizontal or vertical)
Driving method
Load conditions (loading inertia, friction and cutting force)
Speed condition (maximum acceleration and velocity)
Duty cycle
Torque calculation
Calculate the torque corresponding to the speed under each operation condition
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 within the range of torque-speed
curve of the motor.
Confirm the equivalent torque is within the continuous torque of the motor.