Maxon EC frameless DT User manual

«EC frameless DT» | maxon Frameless Drives
Installation Manual
mmag | Edition 2024-01 | DocID rel12019
Dynamic Torque
Installation Manual

Table of Contents
«EC frameless DT» Installation Manual
A-2 mmag | 2024-01 | rel12019
1 GENERAL INFORMATION 5
1.1 About this document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 About the device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 About the safety precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 SPECIFICATIONS 9
2.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 INSTALLATION 13
3.1 General Rules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2 Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.4 Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4 MAINTENANCE 21
DECLARATION OF INCORPORATION 23
LIST OF FIGURES 24
LIST OF TABLES 25
TABLE OF CONTENTS
READ THIS FIRST
BY PRINCIPLE, THE «EC FRAMELESS DT» COMPRISES PARTS THAT PRODUCE STRONG MAGNETIC FIELDS. IT IS
THEREFORE MOST IMPORTANT THAT YOU ARE AWARE OF THE CONSEQUENCES OF THESE MAGNETIC FORCES,
THAT YOU TAKE THE APPROPRIATE PRECAUTIONARY MEASURES, AND THAT YOU COMMUNICATE THIS FACT TO
PERSONS IN YOUR VICINITY!
These instructions are intended for qualified technical personnel. Prior commencing with any activities…
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
The «EC frameless DT» is considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2, Clause
(g) and is intended to be incorporated into or assembled with other machinery or other partly completed machinery or
equipment.
Therefore, you must not put the device into service,…
• unless you have made completely sure that the other machinery fully complies with the EU directive’s requirements!
• unless the other machinery fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the herein stated requirements!

Table of Contents
«EC frameless DT» Installation Manual
mmag | 2024-01 | rel12019 A-3
INDEX 26
APPENDIX 27

Table of Contents
«EC frameless DT» Installation Manual
A-4 mmag | 2024-01 | rel12019

General Information
About this document
«EC frameless DT» Installation Manual
mmag | 2024-01 | rel12019 1-5
1 GENERAL INFORMATION
1.1 About this document
1.1.1 Intended purpose
The purpose of the present document is to familiarize you with the direct drive «EC frameless DT». It will highlight the
tasks for safe and adequate installation and/or commissioning. Follow the described instructions …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum,
• to increase reliability and service life of the described equipment.
1.1.2 Target audience
The present document is intended for trained and skilled personnel. It conveys information on how to understand and
fulfill the respective work and duties.
1.1.3 How to use
Throughout the document, the following notations and codes will be used.
Table 1-1 Notation used
1.1.4 Symbols & signs
In the course of the present document, the following symbols and signs will be used.
Notation Meaning
(n) refers to an item (such as part number, list item, etc.)
denotes “see”, “see also”, “take note of” or “go to”
Color coding find information on the colors used on page 13
Type Symbol Meaning
Safety alert
DANGER
Indicates an imminent hazardous situation. If not avoided, it will result in death
or serious injury.
WARNING Indicates a potential hazardous situation. If not avoided, it can result in death
or serious injury.
CAUTION Indicates a probable hazardous situation or calls the attention to unsafe
practices. If not avoided, it may result in injury.
Prohibited
action
(typical)
Indicates a dangerous action. Hence, you must not!
Mandatory
action
(typical)
Indicates a mandatory action. Hence, you must!

General Information
About the device
«EC frameless DT» Installation Manual
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Table 1-2 Symbols and signs
1.1.5 Trademarks and brand names
For easier legibility, registered brand names are listed below and will not be further tagged with their respective trade-
mark. It must be understood that the brands (the list below is not necessarily concluding) are protected by copyright
and/or other intellectual property rights even if their legal trademarks are omitted in the later course of this document.
Table 1-3 Brand names and trademark owners
1.1.6 Copyright
© 2024 maxon. All rights reserved. Any use, in particular reproduction, editing, translation, and copying, without prior
written approval is not permitted (contact: maxon international ltd., Brünigstrasse 220, CH-6072 Sachseln, +41 41 666
15 00, www.maxongroup.com). Infringements will be prosecuted under civil and criminal law. The mentioned trade-
marks belong to their respective owners and are protected under trademark laws. Subject to change without prior
notice.
mmag | «EC frameless DT» Installation Manual | Edition 2024-01 | DocID rel12019
1.2 About the device
The direct drive «EC frameless DT» is a high-performance, high-torque, dynamic brushless DC internal rotor motor
(BLDC motor). It is available in various sizes and is designed to be incorporated into a specially adapted outer body
that serves both as the motor’s supporting structure and as torque-carrying device.
The «EC frameless DT» composes two main parts:
•Stator with electric connections; for installation into a customer-provided outer body (such as housing,
machine structure, or carrier system)
•Magnetic rotor; for on-site assembly with the installed stator and the customer-provided torque-carrying
device
Outer body, motor shaft, and bearings are not part of the «EC frameless DT»’s scope of delivery and are being desig-
ned for a particular case of application by the customer.
Requirement,
Note, Remark
Indicates an activity you must perform prior continuing, or gives information on a
particular item you need to observe.
Best practice Indicates an advice or recommendation on the easiest and best way to further
proceed.
Material
Damage Indicates information particular to possible damage of the equipment.
Brand Name Trademark Owner
DELO-ML® © DELO Industrie Klebstoffe GmbH & Co. KGaA, DE-Windach
EPO-TEK® © Epoxy Technology, Inc., USA-Billerica, MA
Loctite® © Henkel AG & Co. KGaA, DE-Düsseldorf
NORD-LOCK® © Nord-Lock International AB, SE-Malmö
omniFIT® © Henkel AG & Co. KGaA, DE-Düsseldorf
Pico-Clasp © Molex, USA-Lisle, IL
Type Symbol Meaning

General Information
About the safety precautions
«EC frameless DT» Installation Manual
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Important note on the design
The «EC frameless DT» is a sensorless motor and does not feature any Hall sensor signals. As an option, maxon
offers the «TSX MAG» encoder.
1.3 About the safety precautions
Safety first—always!
BY PRINCIPLE, THE «EC FRAMELESS DT» COMPRISES PARTS THAT PRODUCE STRONG MAGNETIC
FIELDS. IT IS THEREFORE MOST IMPORTANT THAT YOU ARE AWARE OF THE CONSEQUENCES OF THESE
MAGNETIC FORCES, THAT YOU TAKE THE APPROPRIATE PRECAUTIONARY MEASURES, AND THAT YOU
COMMUNICATE THIS FACT TO PERSONS IN YOUR VICINITY!
READ THE FOLLOWING INSTRUCTIONS CAREFULLY BEFORE YOU ENGAGE WITH ANY WORK AND FOL-
LOW THE INSTRUCTIONS GIVEN AT ALL TIMES!
• Make sure that you have read and understood the note “READ THIS FIRST” auf Seite A-2!
• Do not engage with any work unless you possess the stated skills (Kapitel “1.1.2 Target audience” auf
Seite 1-5)!
• Consult Kapitel “1.1.4 Symbols & signs” auf Seite 1-5 to understand the subsequently used indicators!
• You must observe any regulation applicable in the country and/or at the site of implementation with regard to
health and safety/accident prevention and/or environmental protection!
DANGER
High voltage and/or electrical shock
Touching live wires causes death or serious injuries!
• Consider any power cable as connected to live power, unless you have proven the opposite!
• Make sure that neither end of cable is connected to live power!
• Make sure that the power source cannot be engaged while work is in process!
• Obey lock-out/tag-out procedures!
• Make sure to securely lock any power engaging equipment against unintentional engagement and tag it with
your name!
WARNING
Strong magnetic field
High magnetic force can cause serious injuries!
• Keep stator and rotor mechanically blocked at all times! Do so by using a mechanical locking device, a mounting
aid, or non-magnetic spacers!
• Make sure to remove/keep clear any metal parts or metallic items—also such as cardiac pacemakers, implants,
watches, bracelets, credit cards, mobile phones, etc—before you approach the motor!
• Use only non-magnetic tools when you work on the motor or in its vicinity!
• Put up warning signs stating STRONG MAGNETIC FIELDS around the installation area and at the storage loca-
tion!
• Inform persons around of the potential danger. Instruct them accordingly and request them to follow the precau-
tionary measures!

General Information
About the safety precautions
«EC frameless DT» Installation Manual
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Strong magnetic field
The high magnetic forces produced by the device constitute an imminent hazard to persons wearing a cardiac pace-
maker or metal implants.
All persons who possibly may suffer impairment caused by strong magnetic fields must not approach the device and
must stay clear and in a safe distance of at least two (2) meters.
General rules
• Make sure that all associated devices and components are installed according to local regulations.
• Be aware that, by principle, an electronic apparatus cannot be considered fail-safe. Therefore, you must make sure
that any machine/apparatus has been fitted with independent monitoring and safety equipment. If the machine/
apparatus should break down, if it is operated incorrectly, if the control unit breaks down or if the cables break or get
disconnected, etc., the complete drive system must return—and be kept—in a safe operating mode.
• Be aware that you are not entitled to perform any repair on components supplied by maxon motor.
Electrostatic sensitive device (ESD)
• Wear electrically conductive clothing and footwear.
• Observe ESD protective measures.
WARNING
Pinching and shearing risk
Sudden movement and shift of the rotor can cause serious injuries!
To prevent sudden shift during installation you must keep both stator and rotor blocked at all times. Do so by using
a mechanical locking device, a mounting aid, or non-magnetic spacers!

Specifications
Technical Data
«EC frameless DT» Installation Manual
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2 SPECIFICATIONS
In its catalog data sheets maxon specifies the motor data with block commutation (according to «Standard Specifica-
tion no. 101», which you can find in the maxon catalog in chapter “Technology short and to the point”. For detailed
information and values consult the data sheets in the Appendix as of page 27.
The motor data listed below refer to field-oriented control (FOC) and therefore differ from the catalog data based on
block commutation. In connection with FOC maxon recommends using the «TSX MAG» encoder module, which can
generate both incremental and commutation signals (Hall signals).
2.1 Technical Data
Parameter DT38S DT38M DT50S DT50M
Key data
[a]
Nominal voltage [b] VDC 21.6 43.2
Nominal speed rpm 9'160 4'690 5'260 3'480
Nominal torque [c] mNm 110 201 352 442
Nominal current A 6.68 6.25 5.98 4.89
Motor constant [d] 38.4 62.3 91.3 123
Winding NTC @ 25 °C K 5 k ±1%, beta (25…85 °C): 3'490
Inputs and
Outputs
(optional) [e]
Incremental and commutation signals H1, H2, H3
2-channel incremental encoder with own NTC
Dimensions
Weight
Rotor g 12 20 28 40
Stator
Other
g
59 84 95 123
Flange 54 65 95 107
Total 113 149 190 230
Overall weight g 125 169 218 270
Ø outside (ØR1) mm 55 72
Ø stator lamination mm 38 50
Ø inside (ØS2) mm 17 28
Length (LM) mm 19 25 22 27
Environment
Ambient temperature °C −40…+100
Humidity % 5…90 (condensation not permitted)
mNm
W
-------------

Specifications
Technical Data
«EC frameless DT» Installation Manual
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Table 2-4 Technical data (typical)
Parameter DT65S DT65M DT85M DT85L
Key data
[a]
Nominal voltage [b] VDC 43.2
Nominal speed rpm 3440 1930 2'830 1'630
Nominal torque [c] mNm 776 1260 1'900 3'050
Nominal current A 8.43 7.73 15.4 14.1
Motor constant [d] 190 282 364 542
Winding NTC @ 25 °C K 5 k ±1%, beta (25…85 °C): 3'490
Inputs and
Outputs
(optional)
[e]
Incremental and commutation signals
H1, H2, H3
2-channel incremental encoder with own
NTC
Dimensions
Weight
Rotor g 44 71 98 153
Stator
Other
g
182 268 428 621
Flange 151 185 215 266
Total 333 453 643 887
Overall weight g 377 524 741 1'040
Ø outside (ØR1) mm 88 108
Ø stator lamination mm 65 85
Ø inside (ØS2) mm 35.5 47
Length (LM) mm 25 33 33 43
Environment
Ambient temperature °C −40…+100
Humidity % 5…90 (condensation not permitted)
[a] The values refer to field-oriented control (FOC).
[b] The nominal voltage is based on the assumptive supply voltage of 24 or 48 VDC for a positioning controller
with a maximum output voltage of 90% of the supply voltage (0.9 x VCC).
[c] If the stator is mounted in a metallic, thermally conductive housing, heat transfer is usually improved (typically
by 50%) and operation with higher nominal torques is possible.
[d] The motor constant indicates the electrodynamic torque (without friction, etc.), which occurs with current heat
losses of 1 W. It is an important parameter for the strength of a motor.
[e] Choice between multiple functions.
mNm
W
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