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Assembly Instruction

Introduction

Torque Motor

TM-Komponenten-04-0-EN-2108-MA

Page 10 of 84

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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Содержание IM-2-13

Страница 1: ...MW99UE01 2104 Assembly Instruction Torque Motor TM Komponenten 04 0 EN 2108 MA www hiwin de...

Страница 2: ...Phone 49 0 7 81 9 32 78 0 Fax 49 0 7 81 9 32 78 90 info hiwin de www hiwin de All rights reserved Complete or partial reproduction is not permitted without our permission These assembly instructions a...

Страница 3: ...on Revision History Torque Motor TM Komponenten 04 0 EN 2108 MA Page 3 of 84 Revision History Release Date Version Applicable Product Revision Contents August 1st 2021 1 0 Torque Motor Initial creatio...

Страница 4: ...ng 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 o...

Страница 5: ...Assembly Instruction Contents Torque Motor TM Komponenten 04 0 EN 2108 MA Page 5 of 84 10 Technical Terms 78 11 Declaration of Incorporation 82...

Страница 6: ...d 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...

Страница 7: ...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 tha...

Страница 8: ...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...

Страница 9: ...ut 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 Commis...

Страница 10: ...hen 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...

Страница 11: ...must be grounded 4 Do not connect power cable and temperature sensor cable to the same extension cord 5 Power cable and temperature sensor cable contain isolation net The isolation net must be ground...

Страница 12: ...e it according to local laws and regulations 6 Storage conditions must comply with EN 60721 3 1 Refer to Table 1 4 on the next page 7 Motor can be stored for up to two years indoor with the following...

Страница 13: ...d transportation 3 When transporting products containing permanent magnets by air the maximum permissible magnetic field strengths specified by the appropriate IATA Packing Instruction must not be exc...

Страница 14: ...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 wea...

Страница 15: ...el 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 se...

Страница 16: ...Function Characteristic Code TMRW 4 7 L C XX TMRW Type TMRW Torque Motor 4 External diameter of the stator 1 160 mm 2 198 mm 4 230 mm 7 310 mm A 385 mm D 485 mm G 565 mm 7 Rotor Magnet height 3 30 mm...

Страница 17: ...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...

Страница 18: ...yle 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...

Страница 19: ...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...

Страница 20: ...ons 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 cond...

Страница 21: ...ula Basic formula is as below Moment of inertia of a hollow cylinder JL m RL rL 2 S2 Moment of inertia of a rectangular JL m aL bL 12 S2 Determine motion speed and parameters Basic kinematics equation...

Страница 22: ...force or external force In most cases the motions are cyclic point to point movements The equivalent torque of a cyclic motion with a dwell time of t_4 second can be calculated as below Te Ti Tf 2 t1...

Страница 23: ...lassified into air cooling and water cooling If the motor is operated with water cooling the water cooling continuous torque can be taken as the guideline for comparison Note The torque speed curve pr...

Страница 24: ...ated by HIWIN drawing and specification is the maximum peak speed that the motor can reach Under the continuous operation of high speed iron loss must calculate extra heat given to rotor At this time...

Страница 25: ...lent torque Te is less than rated continuous torque Tc steady state temperature of motor coil under various operating conditions can be known by the following formula When operating current is lower t...

Страница 26: ...peak current Ic Ie Ip power off time should be set to cool the motor The thermal time constant mentioned above can be applied to calculate the time for load cycle Refer to Section 3 2 to get steady s...

Страница 27: ...s case the fundamental harmonic of the PWM frequency is directly exciting the resonant frequency of the motor and very high voltages are thus obtained on the neutral point Also as the PWM voltage is a...

Страница 28: ...Assembly Instruction Configuration Torque Motor TM Komponenten 04 0 EN 2108 MA Page 28 of 84 Fig 3 2 Voltage oscillation schematic 600 750 VDC controller...

Страница 29: ...the corresponding coolant flow from the following formulas Pe pc Tc Te 2 Pe 69 7 qe Pe Total loss of motor under equivalent torque W Temperature difference between motor inlet and outlet qe Coolant fl...

Страница 30: ...rence between datasheet parameter and user parameter Parameter under water cooling condition Datasheet User Torque T 1290 Nm 600 Nm Power loss P 8262 W 1787 W Temperature difference between inlet and...

Страница 31: ...the following requirements must be met 1 Chloride and sulfate must be less than 100 ppm 2 The solute of mineral salt must be less than 2000 ppm 3 6 5 pH 9 5 If an anti corrosion agent is added the bas...

Страница 32: ...3 7 Water coolant diagram Pump Flow Indicator Thermometer Flow control Adjustable This section shows simple schematic water cooling diagram 1 Single torque motor 2 Parallel operation 3 Share with oth...

Страница 33: ...Assembly Instruction Configuration Torque Motor TM Komponenten 04 0 EN 2108 MA Page 33 of 84 4 Serial Circuit Never do serial circuit...

Страница 34: ...commended coolant inlet outlet position for each series is given as below Table 4 1 TMRW series coolant inlet outlet position L mm S mm 20 40 60 90 140 25 TMRW13 L TMRW43 L TMRW15 L TMRW45 L TMRW17 L...

Страница 35: ...5 8 TMRWA7 L 9 5 8 TMRW1A L 8 5 8 TMRWAA L 8 5 8 TMRW1F L 9 5 8 TMRWAF L 9 5 8 TMRW23 L 8 5 8 TMRWD3 L 8 5 8 TMRW25 L 8 5 8 TMRWD5 L 8 5 8 TMRW27 L 9 5 8 TMRWD7 L 9 5 8 TMRW2A L 8 5 8 TMRWDA L 8 5 8...

Страница 36: ...8 5 8 M 2 G3 8 5 10 M 2 47 9 5 8 M 2 G5 8 5 10 M 2 4A 8 5 8 M 2 G7 9 5 10 M 2 4F 9 5 8 M 2 GA 8 5 10 M 2 73 8 4 8 M 2 75 8 4 8 M 2 77 9 4 8 M 2 7A 8 4 8 M 2 7F 9 4 8 Note The water cooling inlet and o...

Страница 37: ...ess mm O ring inside diameter mm TMRW1 M 2 1 VITON 70 2 62 152 07 TMRW2 M 2 2 VITON 70 2 62 190 17 TMRW4 M 2 4 VITON 70 2 62 221 92 TMRW7 M 2 7 VITON 70 2 5 296 TMRWA M 2 A VITON 70 4 370 TMRWD M 2 D...

Страница 38: ...ure dimension for each series is given as below The default setting for the shipment of TM 2 IM 2 is to ship the stator and rotor separately Please contact HIWIN if shipment with complete assembled mo...

Страница 39: ...ign Torque Motor TM Komponenten 04 0 EN 2108 MA Page 39 of 84 Table 4 6 Fixture dimension Motor type Fixture maximum length L mm Fixture thickness t mm TMRW1 72 12 TMRW2 151 10 TMRW4 76 10 TMRW7 166 1...

Страница 40: ...ameter D inside diameter d and flatness specification of rotor mounting surface Flatness A is given in Table 4 7 Table 4 8 Fig 4 6 Rotor mounting interface TMRW TM 2 Table 4 7 Mounting interface sugge...

Страница 41: ...f 84 Fig 4 7 Rotor mounting interface IM 2 Table 4 8 Mounting interface suggestion IM 2 Type D mm Flatness A mm Flatness B mm Type A Type B Type C IM 2 2 61 5 86 118 0 05 0 05 IM 2 4 140 0 N A 168 0 1...

Страница 42: ...diameter and stator s mounting holes is H7 or H8 and the recommended flatness specification of stator mounting level Flatness B is given in Table 4 7 Housing is suggested to be chamfered deburred and...

Страница 43: ...le 4 9 to Table 4 11 the motor will not be interfered during rotation Fig 4 10 Air gap and assembly concentricity diagram Table 4 9 TMRW series air gap and assembly concentricity dimension Motor type...

Страница 44: ...Motor TM Komponenten 04 0 EN 2108 MA Page 44 of 84 Table 4 11 IM 2 series air gap and assembly concentricity dimension Motor type Air gap mm Assembly concentricity C mm IM 2 2 0 55 0 1 IM 2 4 0 45 0...

Страница 45: ...force Type Radial force Type Radial force TMRW1A 2 184 TM 2 1A 2 639 IM 2 2A 6 684 TMRW2A 2 590 TM 2 2A 2 924 IM 2 4A 3 783 TMRW4A 2 946 TM 2 4A 4 285 IM 2 7A 9 700 TMRW7A 2 899 TM 2 7A 4 256 IM 2 AA...

Страница 46: ...or and rotor As Fig 4 12 Max value of axial force for each series is given in Table 4 14 X in Fig 4 12 stands for moving direction Fig 4 12 Axial offset of the stator and rotor Table 4 14 Maximum valu...

Страница 47: ...3 TM 2 15 TM 2 17 TM 2 23 TM 2 25 TM 2 27 M5 0 8 P 10 DP 8 80 7 85 TMRW1A L TMRW1F L TMRW2A L TMRW2F L TM 2 1A TM 2 1F TM 2 2A TM 2 2F M5 0 8 P 10 DP 16 80 7 85 TMRW43 L TMRW45 L TMRW73 L TMRW75 L TMR...

Страница 48: ...Stator M5 0 8 P 10 DP 16 80 7 85 Rotor M6 1 0 P 12 DP 12 120 11 77 IM 2 43 IM 2 45 IM 2 47 IM 2 73 IM 2 75 IM 2 77 Stator M5 0 8 P 10 DP 12 80 7 85 Rotor M6 1 0 P 12 DP 12 120 11 77 IM 2 4A IM 2 4F St...

Страница 49: ...4 0 EN 2108 MA Page 49 of 84 4 7 Direction of rotation If the motor cable is connected according to Table 4 18 The rotor will rotate in clockwise direction view towards the rotor side without cable ou...

Страница 50: ...r cable contains isolation net The isolation net must be grounded Table 4 17 Relationship between wire diameter and motor type Crosssectional area mm Type 1 5 TMRW13 L TMRW15 L TMRW17 L TMRW1A L TMRW1...

Страница 51: ...PF IM 2 G5 SD IM 2 G7 SD IM 2 GA SD IM 2 GF SD 16 0 TM 2 D3 SD TM 2 D5 SD TM 2 D7 SD TM 2 DA SD TM 2 DF SD 25 0 TMRWDFL TMRWGAL TMRWGFL TM 2 GF SH IM 2 AF SF IM 2 GF SH IM 2 7F WD The relationship bet...

Страница 52: ...mponenten 04 0 EN 2108 MA Page 52 of 84 Table 4 19 Temperature sensors used in each Type Type Temperature sensor Remarks Type A PTC120 130 Pt1000 Type B PTC100 PTC120 130 Pt1000 Standard Type C PTC120...

Страница 53: ...le and temperature sensor cable for torque motor is given in the following Table 4 20 Table 4 20 Bending radius of cable Feature Diagram Power cable Temperature sensor cable Olflex servo FD Chainflex...

Страница 54: ...owing points when driving multiple motors in parallel 1 To drive the motors in parallel contact HIWIN Engineering Department 2 The motors performing parallel operation should be the same type 3 The ph...

Страница 55: ...Assembly Instruction Motor Interface Design Torque Motor TM Komponenten 04 0 EN 2108 MA Page 55 of 84 Fig 4 19 Type A Design 1 Fig 4 20 Type A Design 2...

Страница 56: ...Assembly Instruction Motor Interface Design Torque Motor TM Komponenten 04 0 EN 2108 MA Page 56 of 84 Fig 4 21 Type B Design 1 Fig 4 22 Type B Design 2...

Страница 57: ...Assembly Instruction Motor Interface Design Torque Motor TM Komponenten 04 0 EN 2108 MA Page 57 of 84 Fig 4 23 Type C Design 1 Fig 4 24 Type C Design 2...

Страница 58: ...as follows Temperature range 200 0 R R0 1 A B 2 C 100 3 In temperature range 0 850 R R0 1 A B 2 R0 1 000 A 3 9083 10 3 1 B 5 7750 10 7 2 C 4 1830 10 12 4 temperature Fig 4 25 Relationship between resi...

Страница 59: ...he control side ensures reliable motor protection against overload The PTC elements located in every phase winding in HIWIN motors are wired in series they connect via two wires With TMRW TM 2 IM 2 th...

Страница 60: ...be used with HIWIN torque motor It converts three temperature sensor inputs of motor into one analog output and two digital outputs and sends them to controller Real time temperature monitoring is re...

Страница 61: ...orque Motor TM Komponenten 04 0 EN 2108 MA Page 61 of 84 5 2 Wiring of temperature module If the temperature sensor of the motor is Pt1000 it must be used with THPD 1000 120 The wiring structure diagr...

Страница 62: ...stimate 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 insta...

Страница 63: ...mechanical loading Do not pull the cable directly No heavy load or sharp object on motor There are two ways to install the motor Install stator and rotor together They are installed with the fixture...

Страница 64: ...c suction To avoid danger keep it away from magnetic conductors e g iron objects Note Refer to HIWIN approved drawing for the position of motor cable outlet 5 Fix rotor on shaft At this time screw tig...

Страница 65: ...eaking O ring cannot be damaged refer to Chapter 4 for the design of housing Note Refer to HIWIN approved drawing for the position of motor cable outlet 6 Install lower guide tool on shaft if it is ne...

Страница 66: ...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 reac...

Страница 67: ...the cooling liquid and remove the cooling connection Please refer the instructions of the cooling machine Disassemble the motors in order Clean the metal particles on the motor regularly Regularly ch...

Страница 68: ...ller setting Check controller setting Wrong motor parameters setting Check motor parameters setting Abnormal temperature of motor outer casing Speed is too slow Use the stall condition when switching...

Страница 69: ...______________ Factory location Country City ________________________________________________________ 7 2 2 Conditions Motor liquid cooling No Yes Coolant Type Water ___ additive Oil ___ J kg K ___kg...

Страница 70: ...lter EMC filter Other type _______ No B Chokes Reactors Line reactor Commutation choke Other type _______ No C Power supply types _______ D Amplifier types _______ E Chokes Reactors dv dt reactor Moto...

Страница 71: ...No Yes Remark the visual marks on the following figures Flying magnet draw Burn point draw Metal shavings draw Scratch draw Flange wrinkle draw Is the motor oily or greasy No Yes comments ___________...

Страница 72: ...________________________________________________ Contact person ___________________________________________________________________ Email ______________________________________________________________...

Страница 73: ...the approved drawing 8 2 Hypothesis of heat transfer The assumptions of all specifications are based on water cooling and natural air cooling For other heat dissipation conditions individual test need...

Страница 74: ...ot 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...

Страница 75: ...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 m...

Страница 76: ...of it properly 6 Clean the foreign matter debris and dust on the motor 7 Insert the spacer between the gaps of stator and rotor 8 When there are fixation plates of stator and rotor or self designed st...

Страница 77: ...ing agents or residue of paint 9 2 1 Disposal of rotors Rotors with permanent magnets must be disposed after a specific demagnetization treatment to avoid the danger of subsequent disposal It is recom...

Страница 78: ...o line R25 Resistance is defined as resistance measured between lines when the motor operates at the coil temperature 25 Motor constant Km Nm W The motor constant Km is defined as the ratio of square...

Страница 79: ...output torque and input current shows a linear relationship The non linear relationship is due to saturation in the iron core Maximum speed Maximum speed is defined as maximum speed provided under spe...

Страница 80: ...r Considering the temperature rise of the motor the figure can be divided into two operating ranges as shown on next page When the motor is water cooled and the torque is less than Tcw it can run cont...

Страница 81: ...t and outlet under water cooling system with pure water Generally it is defined as 5 If the operating environment is different temperature difference under maximum power loss must be modified by calcu...

Страница 82: ...Directive 2014 35 EU In addition the product is in conformity with the EC Directive 2011 65 EU RoHS and the amendment Directive 2015 863 EC Harmonized standards used 2014 30 EU EMC directive EN 60034...

Страница 83: ...Assembly Instruction Declaration of Incorporation Torque Motor TM Komponenten 04 0 EN 2108 MA Page 83 of 84...

Страница 84: ...Assembly Instruction Declaration of Incorporation Torque Motor TM Komponenten 04 0 EN 2108 MA Page 84 of 84...

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