Mitsubishi Electric TM-RFM User manual

SH(NA)030112ENG-H(1710)MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
DIRECT DRIVE MOTOR INSTRUCTION MANUAL H
General-Purpose AC Servo
MODEL
TM-RFM
TM-RG2M
TM-RU2M
DIRECT DRIVE MOTOR INSTRUCTION MANUAL
1CW948
DIRECT DRIVEMOTOR
INSTRUCTIONMANUAL
H
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain or inspect the equipment until you
have read through this Instruction Manual and appended documents carefully. Do not use the equipment
until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp
is off or not, always confirm it from the front of the servo amplifier. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester and others.
Ground the servo amplifier and direct drive motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and direct drive motor until they have been installed.
Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, direct drive motor, and regenerative resistor on incombustible material.
Installing them directly or close to combustibles will lead to a fire or smoke generation.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and direct drive motor.
3. To prevent injury, note the following
CAUTION
Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise,
it may cause an electric shock, fire, injury, etc.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, direct drive motor, etc. may be hot while power is on
or for some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally
touching the parts (cables, etc.) by hand.
During operation, never touch the rotor of the direct drive motor. Otherwise, it may cause injury.

A - 3
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the cables, rotor, encoder, or connector when carrying the direct drive motor. Otherwise, it
may drop.
Install the servo amplifier and the direct drive motor in a load-bearing place in accordance with the
Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation 0 °C to 40 °C (non-freezing)
Storage -15 °C to 70 °C (non-freezing)
Ambient
humidity
Operation 10 %RH to 80 %RH (non-condensing)
Storage 10 %RH to 90 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust, and dirt
Altitude
TM-RFM_J10
TM-RFM_C20
TM-RFM_E20
TM-RFM_G20
TM-RG2M_C30
TM-RG2M_E30
TM-RG2M_G30
TM-RU2M_C30
TM-RU2M_E30
TM-RU2M_G30
Max. 2000 m above sea level (Note)
Vibration
resistance
TM-RFM_C20
TM-RFM_E20
TM-RFM_G20
TM-RG2M_C30
TM-RG2M_E30
TM-RG2M_G30
TM-RU2M_C30
TM-RU2M_E30
TM-RU2M_G30
X, Y: 49 m/s2
TM-RFM_J10 X, Y: 24.5 m/s2
Note. Contact your local sales office for the altitude for options.
Securely fix the direct drive motor to the machine. If being attached insecurely, the motor may come off
during operation.
Do not install or operate a servo amplifier or direct drive motor, which has been damaged or has any
parts missing.
Do not drop or strike the direct drive motor. Otherwise, it may cause injury, malfunction, etc.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the direct drive
motor during operation.

A - 4
CAUTION
Do not apply shocks, e.g. hit with a hammer, when coupling the rotor of the direct drive motor. Otherwise,
the encoder may malfunction.
Do not subject the rotor of the direct drive motor to more than the permissible load. Otherwise, the rotor
may break.
When the product has been stored for an extended period of time, contact your local sales office.
When handling the direct drive motor, be careful about the edged parts such as corners of the direct
drive motor.
Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
Be sure to check the vibration level with the direct drive motor mounted on the machine. A great vibration
may cause the early damage of a bearing and encoder. The great vibration may also cause the poor
connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform
with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the
vibration may cause the early damage of the direct drive motor.
To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and
wire the servo motor in accordance with the Instruction Manual.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on the power wire of the
direct drive motor.
To avoid a malfunction, connect the power phases (U/V/W) of the servo amplifier and the direct drive
motor correctly.
Connect the servo amplifier power output (U/V/W) to the direct drive motor power input (U/V/W) directly.
Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier Direct drive motor Servo amplifier Direct drive motor
U
M
V
W
U
V
W
U
M
V
W
U
V
W
Do not connect AC power supply directly to the direct drive motor. Otherwise, it may cause a
malfunction.
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.

A - 5
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never make a drastic change to the parameter values as doing so will make the operation unstable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury,
etc. Disassembled, repaired, and/or modified products are not covered under warranty.
Use the direct drive motor with the specified servo amplifier.
Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a stop or product malfunction, use a
motor with an external brake to prevent the condition.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock,
injury, or fire.

A - 6
(6) Storage
CAUTION
Note the followings when storing the direct drive motor for an extended period of time (guideline: three
months or more).
Always store the direct drive motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, check how to store the equipment.
Though the motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period.
If the direct drive is to be stored for longer than six months, apply rust prevention oil again especially to
the machine processing surfaces of the rotor, etc.
Before using the product after storage for an extended period of time, hand-turn the direct drive motor
rotor (output shaft) to confirm that nothing is wrong with the direct drive motor.
When the product has been stored for an extended period of time, contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Specifications and
Instruction Manual.
DISPOSAL OF WASTE
Please dispose a direct drive motor and other options according to your local laws and regulations.
«About the manual»
This Instruction Manual is required if you use this direct drive motor for the first time. Ensure to keep this
manual accessible to use the direct drive motor safely.
«Cables used for wiring»
The wiring cables mentioned in this Instruction Manual are selected based on the ambient temperature of
40 °C.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

1
CONTENTS
1. INTRODUCTION 1 - 1 to 1 - 2
1.1 Rating plate...................................................................................................................................... 1 - 1
1.2 Parts identification............................................................................................................................ 1 - 1
2. INSTALLATION 2 - 1 to 2 - 8
2.1 Equipment configuration .................................................................................................................. 2 - 2
2.2 Mounting direction............................................................................................................................ 2 - 3
2.3 Load mounting/dismounting precautions......................................................................................... 2 - 3
2.4 Permissible load for the rotor........................................................................................................... 2 - 3
2.5 Protection from oil and water ........................................................................................................... 2 - 4
2.6 Inspection items ............................................................................................................................... 2 - 5
2.7 Parts having service life................................................................................................................... 2 - 5
2.8 Machine accuracies ......................................................................................................................... 2 - 6
2.9 Flange size....................................................................................................................................... 2 - 6
2.10 Restrictions when using this product at altitudes exceeding 1000 m and up to 2000 m
above sea level.............................................................................................................................. 2 - 7
2.11 Magnetic shielding ......................................................................................................................... 2 - 7
3. CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING 3 - 1 to 3 - 4
3.1 Selection of connectors ................................................................................................................... 3 - 1
3.2 Wiring connectors (connector configurations A/B/C/D/E/F) ............................................................ 3 - 2
4. CONNECTOR DIMENSIONS 4 - 1 to 4 - 4
5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR 5 - 1 to 5 - 8
5.1 Connection instructions ................................................................................................................... 5 - 2
5.2 Direct drive motor power cable wiring diagram ............................................................................... 5 - 2
5.3 Selection example of wires .............................................................................................................. 5 - 3
5.4 Servo amplifier terminal section....................................................................................................... 5 - 4
6. WIRING OPTION 6 - 1 to 6 -10
6.1 Connector set................................................................................................................................... 6 - 1
6.1.1 Combinations of connector set ................................................................................................. 6 - 2
6.1.2 Connector list ............................................................................................................................ 6 - 3
6.2 Encoder connector set..................................................................................................................... 6 - 4
6.2.1 MR-J3DDCNS........................................................................................................................... 6 - 4
6.2.2 MR-J3DDSPS ........................................................................................................................... 6 - 5
6.2.3 Combinations for the encoder cable ......................................................................................... 6 - 5
6.2.4 Fabrication of the encoder cable............................................................................................... 6 - 6
6.3 Absolute position storage unit MR-BTAS01 .................................................................................... 6 - 9

2
7. TM-RFM SERIES 7 - 1 to 7 -12
7.1 Model code definition....................................................................................................................... 7 - 1
7.2 Combinations of servo amplifier and direct drive motor .................................................................. 7 - 2
7.3 Specification list ............................................................................................................................... 7 - 3
7.4 Torque characteristics ..................................................................................................................... 7 - 6
7.5 Dimensions ...................................................................................................................................... 7 - 7
8. TM-RG2M SERIES/TM-RU2M SERIES 8 - 1 to 8 -10
8.1 Model designation............................................................................................................................ 8 - 1
8.2 Combinations of servo amplifier and direct drive motor .................................................................. 8 - 2
8.3 Specification list ............................................................................................................................... 8 - 3
8.4 Torque characteristics ..................................................................................................................... 8 - 5
8.5 Mounting method ............................................................................................................................. 8 - 5
8.6 Dimensions ...................................................................................................................................... 8 - 6
APPENDIX App. - 1 to App. - 7
App. 1 Selection example of direct drive motor...............................................................................App. - 1
App. 2 Manufacturer list...................................................................................................................App. - 3
App. 3 Crimping connector for CNP3_ ............................................................................................App. - 3
App. 4 Fabrication of the encoder cable..........................................................................................App. - 4
App. 5 Compliance with the CE marking.........................................................................................App. - 5
App. 6 Compliance with UL/CSA standard......................................................................................App. - 6

1. INTRODUCTION
1 - 1
1. INTRODUCTION
1.1 Rating plate
The following shows an example of rating plate for explanation of each item.
Model
Input power, rated torque, and mass
Insulation class, rated speed, and
maximum ambient temperature
Induced voltage constant, IP rating,
and serial number (Note 1)
(Note 2)
Manufacturer
Conforming standards,
and Country of origin
Note 1. Production year and month of the direct drive motor are indicated in a serial number on the rating plate.
The year and month are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and Z
(12)].
For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".
2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.
1.2 Parts identification
Rotor (output shaft)
Encoder connector
Power supply connector
Power supply (U/V/W)
Grounding ( )
Z-phase mark