Mitsubishi TM-RG2M, TM-RU2M, Tm-rfm User Manual

General-Purpose AC Servo

MODEL

TM-RFM
TM-RG2M
TM-RU2M

DIRECT DRIVE MOTOR INSTRUCTION MANUAL

H

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

CAUTION

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 that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical
damage.

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 - 1

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 - 2

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.

Ambient

temperature

Ambient
humidity

Altitude

Vibration

resistance

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.

Item Environment

Operation 0 °C to 40 °C (non-freezing)

Storage -15 °C to 70 °C (non-freezing)

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

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

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

TM-RFM_J10 X, Y: 24.5 m/s2

Max. 2000 m above sea level (Note)

X, Y: 49 m/s

2

A - 3

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

U

V

W

Direct drive motor

U

V

M

W

Servo amplifier

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.

Direct drive motor

U

V

M

W

A - 4

(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 - 5

(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.

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]

Quantity SI (metric) unit U.S. customary unit

A - 6

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

1

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

2

1. INTRODUCTION

1. INTRODUCTION

1.1 Rating plate

The following shows an example of rating plate for explanation of each item.

Input power, rated torque, and mass

Model

Insulation class, rated speed, and

maximum ambient temperature

Induced voltage constant, IP rating,

and serial number (Note 1)

(Note 2)

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)

Z-phase mark

Conforming standards,
and Country of origin

Manufacturer

Encoder connector

Power supply connector

Power supply (U/V/W)
Grounding ( )

1 - 1

1. INTRODUCTION

MEMO

1 - 2

2. INSTALLATION

2. INSTALLATION

WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

Stacking in excess of the specified number of product packages is not allowed.
Install the direct drive motor on incombustible material. Installing them directly or
close to combustibles will lead to smoke or a fire.
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.
Use the equipment within the specified environment. For the environment, refer to
section 7.3.
Do not drop or strike the direct drive motor as it is precision equipment.
Do not install or operate a direct drive motor, which has been damaged or has
any parts missing.
Do not hold the cables, rotor, encoder, or connector when carrying the direct drive
motor. Otherwise, it may drop.
Securely fix the direct drive motor to the machine. If being attached insecurely,
the motor may come off during operation, leading to injury.
Do not apply shocks, e.g. hit with a hammer, when coupling the rotor of the direct
drive motor. Otherwise, the encoder may malfunction.
When coupling a load to the direct drive motor, make sure to align and center the
load on the motor flange rabbet. Particularly, when a rigid coupling is used, even
a slight center deviation may reduce position accuracy or damage the rotor.
Balance the load to the extent possible. Not doing so can cause vibration during
direct drive motor operation or damage the bearings and encoder.
Take safety measures, e.g. provide covers, to prevent accidental access to the
rotor of the direct drive motor during operation.
Do not subject the rotor of the direct drive motor to more than the permissible
load. Otherwise, the rotor may break, leading to injury.
When the product has been stored for an extended period of time, contact your
local sales office.
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.
Do not use the direct drive motor where the shaft-through portion may be subject
to pressure (e.g. compressed air). Applying air pressure to the inside of the direct
drive motor may cause a malfunction.

2 - 1

2. INSTALLATION

2.1 Equipment configuration

The following shows the configuration of a direct drive motor. When using the direct drive motor, note the
following.

(1) Minimum oscillation angle

If the direct drive motor rotates repeatedly by a small angle (by 70 or less), make the direct drive motor
rotate by 90 or more at least once a day in order to keep the bearing lubricated.

(2) Z-phase position

A Z-phase pulse turns on (Z-phase mark passing) when the Z-phase mark on the rotor end of the direct
drive motor passes over the connector area. Keep the Z-phase position visible even after the direct drive
motor is installed to a machine.

Z-phase mark

Rotor (output shaft)

A Z-phase pulse turns
on when the Z-phase
mark passes over
the connector area.

Encoder connector

Power supply connector

(3) Precautions for Z-phase mark passing

After power on, the Z-phase mark of the direct drive motor must pass the connector area once. In a
system which prevents the direct drive motor from making a full rotation, install the direct drive motor in a
position where the Z-phase mark can pass over the connector area.

(4) Vertical axis (lift)

For the system where the unbalanced torque occurs, such as a vertical axis system (lift), use the direct
drive motor in the absolute position detection system. In the absolute position detection system, the
absolute position is established when the Z-phase mark passes the connector area once. Therefore, at
system startup, make the Z-phase mark pass over the connector area, and switch the servo amplifier's
power supply from off to on.
If the direct drive motor can be rotated manually, make the Z-phase mark pass over the connector area
while only the servo amplifier's control circuit power supply is on. After that, switch the servo amplifier's
power supply from off to on.
If the direct drive motor cannot be rotated manually, detect the magnetic poles while the torque is
balanced, then run the direct drive motor in the test mode to make its Z-phase mark pass over the
connector area. After that, switch the servo amplifier's power supply from off to on. After the Z-phase
mark passes over the connector area once, magnetic pole detection is not required.

2 - 2

2. INSTALLATION

2.2 Mounting direction

The following table indicates the mounting direction of the direct drive motor.

2.3 Load mounting/dismounting precautions

POINT

During assembling, the rotor must not be hammered. Otherwise, the encoder
may malfunction.

Direct drive motor series Mounting direction

TM-RFM
TM-RG2M
TM-RU2M

All directions

(1) The direction of the encoder on the direct drive motor cannot be changed.

(2) When mounting the direct drive motor, use spring washers, etc. and fully tighten the bolts so that they do

not become loose due to vibration.

2.4 Permissible load for the rotor

Because the rigid coupling may damage the rotor, make sure to align and center

CAUTION

the load on the rotor.

For the permissible rotor load specific to the direct drive motor, refer to section 7.3.

(1) When coupling a load to the direct drive motor, the load applied to the rotor must be within the

permissible load.

(2) The load, which exceeds the permissible load, can cause the bearing life to reduce and the rotor to

break.

(3) The load indicated in this section is static load in a single direction and does not include eccentric load.

Make eccentric load as small as possible. Not doing so can cause the direct drive motor to be damaged.

2 - 3

2. INSTALLATION

2.5 Protection from oil and water

Provide adequate protection to prevent foreign matter, such as oil and water, from entering the rotor of the
direct drive motor. When mounting the direct drive motor, consider the items in this section.

(1) Do not use the direct drive motor with its cable soaked in oil or water.

Cover

Direct drive motor

Oil/water pool

Capillary action

Provide measures so that the direct drive motor is not exposed to oil and water entering from the
machine side, rotating table, etc.

Rotary table, etc.

Lubricating oil

Direct drive motor

(3) If liquid such as coolant drops on the direct drive motor, the sealant, packing, cable and others may be

affected depending on the liquid type.

(4) In the environment where the direct drive motor is exposed to oil mist, steam, oil, water, grease, and/or

the like, a standard specification direct drive motor cannot be used. Provide measures to prevent dust
and/or water on the machine side.

2 - 4

2. INSTALLATION

2.6 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester and others. Otherwise, an electric

WARNING

CAUTION

It is recommended that the following points to be periodically checked.

(1) Check the bearings, etc. for unusual noise.

(2) Check the cables and the like for scratches or cracks. Especially when the junction cable is movable,

perform periodic inspection according to operating conditions.

(3) Check the power connector and encoder connector connections for looseness.

2.7 Parts having service life

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.
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair, contact your local sales office.

Do not perform insulation resistance test on the direct drive motor. Otherwise, it
may cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.

Service life of the following parts is listed below. However, the service life varies depending on operation and
environment. If any fault is found in the parts, they must be replaced immediately regardless of their service
life. For parts replacement, contact your local sales office.

Part name Life guideline Remark

Bearings

Encoder

Absolute position

storage unit

(option)

20,000 hours to

30,000 hours

20,000 hours to

30,000 hours

20,000 hours to

30,000 hours

The Guideline of Life field gives the reference
time.

If any fault is found before this time is
reached, the part must be changed.

When the motor is run at rated speed under rated load, bearings should be exchanged in 20,000 to
30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if
unusual noise or vibration is found during inspection.

2 - 5

2. INSTALLATION

2.8 Machine accuracies

The following table indicates the machine accuracies of the rotor (output shaft) and the mounting area of the
direct drive motor (except special products).

Item

Runout of mounting surface to rotor
(output shaft)

Runout of fitting outer diameter of
mounting surface

Runout of rotor (output shaft) c 0.04

Runout of rotor (output shaft) end d 0.02

Reference diagram

a

A

d

A

Measuring

position

a 0.05

b 0.07

Accuracy [mm]

_

_

b

A

c

2.9 Flange size

The rated torque of the direct drive motor indicates the continuous permissible torque value that can be
generated when the motor is mounted on the aluminum flange specified in this table and used in the
environment of 0 °C to 40 °C ambient temperature.

Flange size

[mm]

TM-RG2M002C30

TM-RU2M002C30

400 × 400 × 20 TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RG2M004E30

TM-RU2M004E30

550 × 550 × 35 TM-RFM006E20

TM-RFM012E20

TM-RFM018E20

TM-RG2M009G30

TM-RU2M009G30

650 × 650 × 35 TM-RFM012G20

TM-RFM048G20

TM-RFM072G20

750 × 750 × 45

950 × 950 × 50 TM-RFM240J10

Direct drive motor

TM-RFM040J10

TM-RFM120J10

2 - 6

2. INSTALLATION

2.10 Restrictions when using this product at altitudes exceeding 1000 m and up to 2000 m above sea level

As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the
effective load ratio and regenerative load ratio shown in the following figure.

[%]

100

95

Effective load ratio

0

0

Regenerative load ratio

Altitude

2.11 Magnetic shielding

Do not place the direct drive motor near magnetic sources, such as a magnet. If it is unavoidable, block the
magnetic force by installing a shielding plate, etc.

[m]

20001000

2 - 7

2. INSTALLATION

MEMO

2 - 8

3. CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING

3. CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING

POINT

The IP rating indicated is the connector's protection against ingress of dust and
water when the connector is connected to a servo amplifier, direct drive motor,
or absolute position storage unit.
If the IP rating of the connector, servo amplifier, direct drive motor and absolute
position storage unit vary, the overall IP rating depends on the lowest IP rating of
all components.

3.1 Selection of connectors

Use the connector configuration products given in the table as the connectors for connection with the direct
drive motor. Refer to section 3.2 for the compatible connector configuration products.

Servo amplifier

side connector

Absolute position

Encoder side

connector

storage unit

MR-BTAS01

Power supply connector Encoder connector

Direct drive motor

TM-RFM_C20

TM-RFM_E20

TM-RFM_G20

TM-RFM040J10

TM-RFM120J10

TM-RFM240J10

TM-RG2M002C30

TM-RU2M002C30

TM-RG2M004E30

TM-RU2M004E30

TM-RG2M009G30

TM-RU2M009G30

For power supply For encoder

Wiring connector

Absolute position storage unit (option) (Note)

Servo amplifier side Encoder side

Connector

configuration B

Connector

configuration C

Connector

configuration D

Connector

configuration E

Connector

configuration B

Connector

configuration A

Connector

configuration A

Connector

configuration F

Note. Used in the absolute position detection system

3 - 1

3. CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING

3.2 Wiring connectors (connector configurations A/B/C/D/E/F)

Cord

Plug

clamp

Plug (Hirose Electric)

Connector

configuration

Feature

Type Plug Cord clamp Model

A IP67 Straight RM15WTPZK-12S JR13WCCA-8(72)

Note 1. The connector to be mated.

2. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

Cable

Plug

clamp

Plug (DDK) Cable clamp

Connector

configuration

B

Feature

IP67

EN compliant

8.3 to 11.3

General environment

(Note 1)

Type Model

4 to 8

CE05-6A14S-2SD-D

Straight

Applicable wire size: AWG 22 to 16

D/MS3106B14S-2S
Applicable wire size: AWG 22 to 16

Note 1. Not comply with EN.

2. The connector to be mated.

Recommended cable

(Bando Densen)

20276
VSVPAWG#23×6P

KB-0492 (Note 2)

Cable OD

[mm]

(reference)

8 to 12

5 to 8.3

7.9 or less
(bushing ID)

Cable OD

[mm]

(reference)

8.2 RM15WTRZB-12P(72)

Model

ACS-08RL-MS14F
(Nippon Flex)

ACS-12RL-MS14F
(Nippon Flex)

YSO14-5 to 8
(Daiwa Dengyo)

YSO14-9 to 11
(Daiwa Dengyo)

D/MS3057-6A

Direct drive motor encoder

connector

or

Absolute position storage

unit connector

(servo amplifier side)

(Note 1)

Direct drive motor power

connector (Note 2)

CE05-2A14S-2PD-D

3 - 2

3. CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING

Connector

configuration

C

Feature

IP67
EN compliant

General environment
(Note 1)

Note 1. Not comply with EN.

2. The connector to be mated.

Connector

configuration

D

Feature

IP67
EN compliant

General environment
(Note 1)

Note 1. Not comply with EN.

2. The connector to be mated.

Plug

Cable clamp

Plug (DDK) Cable clamp (DDK)

Type Model

CE05-6A18-10SD-D-BSS

Straight

Applicable wire size: AWG 14 to 12

D/MS3106B18-10S
Applicable wire size: AWG 14 to 12

Cable clampPlug

Plug (DDK) Cable clamp (DDK)

Type Model

CE05-6A22-22SD-D-BSS

Straight

Applicable wire size: AWG 10 to 8

D/MS3106B22-22S
Applicable wire size: AWG 10 to 8

Cable clampPlug

Cable OD

[mm]

(reference)

8.5 to 11 CE3057-10A-2-D

10.5 to 14.1 CE3057-10A-1-D

14.3 or less
(bushing ID)

Cable OD

[mm]

(reference)

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

15.9 or less
(bushing ID)

Model

D/MS3057-10A

Model

D/MS3057-12A

Direct drive motor power

connector (Note 2)

CE05-2A18-10PD-D

Direct drive motor power

connector (Note 2)

CE05-2A22-22PD-D

Connector

configuration

E

Feature

IP67
EN compliant

General environment
(Note 1)

Note 1. Not comply with EN.

2. The connector to be mated.

Plug (DDK) Cable clamp (DDK)

Type Model

CE05-6A32-17SD-D-BSS

Straight

Applicable wire size: AWG 6 to 4

D/MS3106B32-17S
Applicable wire size: AWG 6 to 4

Cable OD

[mm]

(reference)

22 to 23.8 CE3057-20A-1-D

23.8 or less
(bushing ID)

Model

D/MS3057-20A

Direct drive motor power

connector (Note 2)

CE05-2A32-17PD-D

3 - 3

3. CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING

Plug

Cord

clamp

Plug (Hirose Electric) Recommended cable (Bando Densen)

Connector

configuration

Feature

F IP67 Straight RM15WTPZ-12P(72) JR13WCCA-8(72)

Type Plug Cord clamp Model

Note 1. The connector to be mated.

2. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

20276
VSVPAWG#23×6P

KB-0492 (Note 2)

Cable OD

[mm]

(reference)

8.2 RM15WTRZB-12S(72)

Absolute position storage

unit connector

(encoder side) (Note 1)

3 - 4

4. CONNECTOR DIMENSIONS

4. CONNECTOR DIMENSIONS

The following shows the dimensions of the connectors used for wiring the direct drive motor.

(1) Hirose Electric

(a) RM15WTPZK-12S/RM15WTPZ-12P(72)

Model

RM15WTPZK-12S A

RM15WTPZ-12P(72) F

Note. Refer to section 3.2 for the connector configuration.

Spanner hook gap dimension: 18

M19 × 1

φ15.2

φ21.5

Connector

configuration (Note)

[Unit: mm]

M16 × 0.75

(b) JR13WCCA-8(72)

Refer to the connector configurations A and F of section 3.2 for the connector configuration.

(2) DDK

(a) CE05-6A14S-2SD-D

Refer to the connector configuration B of section 3.2 for the connector configuration.

36.3

Spanner hook gap dimension: 17

8

Positioning key

7/8-20UNEF-2B

+ 0

- 0.38

[Unit: mm]

M16 × 0.75

φ20

7.5

(13.2)

[Unit: mm]

3/4-20UNEF-2A

φ28.57

φ17.0 ± 0.25

24.0 ± 1

5.6 ± 0.1

8.46 ± 0.5

4 - 1

4. CONNECTOR DIMENSIONS

(b) CE05-6A18-10SD-D-BSS

CE05-6A22-22SD-D-BSS
CE05-6A32-17SD-D-BSS

Positioning key

[Unit: mm]

A

D

W

CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A C

CE05-6A22-22SD-D-BSS 1 3/8-18UNEF-2B 40.48 38.3 61 1 3/16-18UNEF-2A D

CE05-6A32-17SD-D-BSS 2-18UNS-2B 56.33 54.2 79 1 3/4-18UNS-2A E

Note. Refer to section 3.2 for the connector configuration.

(c) CE3057-10A-1-D

CE3057-10A-2-D
CE3057-12A-1-D
CE3057-12A-2-D
CE3057-20A-1-D

Model A B

A ± 0.7

V-thread

1.5

C

+0

-0.38

(D)

φB

C ± 0.8 D or less W

φC

Connector

configuration

(Note)

[Unit: mm]

φF

φB

Model

CE3057-10A­1-D

CE3057-10A­2-D

CE3057-12A­1-D

CE3057-12A­2-D

CE3057-20A­1-D

Applicable

shell size

18 23.8 30.1 10.3 (41.3) 15.9

22 23.8 35 10.3 (41.3) 19

32 27.8 51.6 11.9 (43.0) 32.0 23.8 51.6 1 3/4-18UNS-2B CE3420-20-1 22.0 to 23.8 E

A B C (D) E F G V

Note. Refer to section 3.2 for the connector configuration.

G ± 0.7

(Bushing ID)

Enclosed

bushing

model

14.1

31.7 1-20UNEF-2B

11.0 CE3420-10-2 8.5 to 11

16.0

13.0 CE342012-2 9.5 to 13

1 3/16-18UNEF-

37.3
2B

CE3420-10-1 10.5 to 14.1

CE342012-1 12.5 to 16

φE

(Bushing OD)

Applicable

cable OD

(reference)

Connector

configuration

(Note)

C

D

4 - 2

4. CONNECTOR DIMENSIONS

(d) D/MS3106B14S-2S

D/MS3106B18-10S
D/MS3106B22-22S
D/MS3106B32-17S

W or more

Y or less

Model A J L Q V W Y

D/MS3106B14S-2S 7/8-20UNEF 13.49 42.88 28.57 3/4-20UNEF 8.00 30 B

D/MS3106B18-10S 1 1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42 C

D/MS3106B22-22S 1 3/8-18UNEF 18.26 56.57 40.48 1 3/16-18UNEF 9.53 50 D

D/MS3106B32-17S 2-18UNS 18.26 61.92 56.33 1 3/4-18UNS 11.13 66 E

Note. Refer to section 3.2 for the connector configuration.

(e) D/MS3057-6A

D/MS3057-10A
D/MS3057-12A
D/MS3057-20A

Effective thread length C

L or less

V

1.6

J ± 0.12

A

0

φQ

A ± 0.12

V

-0.35

φE (Bushing ID)

G ± 0.7

[Unit: mm]

Connector

configuration

(Note)

[Unit: mm]

φD (Bushing OD)

φB ± 0.7

Connector

Model Shell size A B C D E G V Bushing

D/MS3057-6A 14S 22.2 24.6 10.3 11.2 7.9 27.0 3/4-20UNEF AN3420-6 B

D/MS3057-10A 18 23.8 30.1 10.3 15.9 14.3 31.7 1-20UNEF AN3420-10 C

D/MS3057-12A 22 23.8 35.0 10.3 19.0 15.9 37.3 1 3/16-18UNEF-2A AN3420-12 D

D/MS3057-20A 32 27.8 51.6 11.9 31.7 23.8 51.6 1 3/4-18UNS AN3420-20 E

configuration

Note. Refer to section 3.2 for the connector configuration.

4 - 3

(Note)

4. CONNECTOR DIMENSIONS

(3) Daiwa Dengyo

[Unit: mm]

YSO14-5 to 8 4 to 8.3

YSO14-9 to

Note. Refer to the connector configuration B of section 3.2 for the connector configuration.

(4) Nippon Flex

Model

11

Applicable

cable OD

7 to 11.3

Hexagonal width
across flats D

O-ring

Hexagonal width
across flats φD2

Hexagonal width

across corners φD3

A

Hexagonal width

across corners φD1

A

L

Length before

tightening

L

Width

across

flats

D

Width

across

corners

D1

Width

across

flats

D2

Width

across

corners

D3

configuration

3/4-20UNEF-2B 44 23 25 26 28 B

(Note 1) L

(Note 1) L1

A15

(1)

(2)

E

G

Connector

(Note)

[Unit: mm]

Model Screw C

ACS-08RL­MS14F

ACS-12RL­MS14F

3/4-20UNEF-2B 4.0 to 8.0 7 15.0 20 22.0 6 22 24.2 6 46 41

3/4-20UNEF-2B

Applicable

cable OD

8.0 to

12.0

φd

E' × F' × G'

Screw C

Tightening nut Nipple body

A φd

7 15.0 24 26.4 6 36 28.6 6 46 41

E

Two-

face

width

F

Width

across

corners

G

Number

of

corners

E'

Two-

face

width

F'

Width

across

corners

G'

Number

of

corners

F

L L

configuration

1

Note 1. (1) indicates the reference dimension before assembling, and (2) indicates the reference dimension after assembling.

2. Refer to the connector configuration B of section 3.2 for the connector configuration.

Connector

(Note 2)

B

4 - 4

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

Any person who is involved in wiring should be fully competent to do the work.
Ground the direct drive motor securely.
Do not attempt to wire the direct drive motor until it has been installed. Otherwise,

WARNING

CAUTION

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 connection areas of the power supply
terminals.

Wire the equipment correctly and securely. Otherwise, the direct drive motor may
operate unexpectedly, resulting in injury.
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.
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option)
on the power line of the direct drive motor.
Do not modify the equipment.
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 Servo amplifier

U

V

W

Direct drive

U

V

W

motor

M

U

V

W

Direct drive

U

V

W

motor

M

Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

POINT

We recommend using HIV wires to connect the servo amplifier to the direct drive
motor. Therefore, recommended wire sizes may different from those of the used
wires for the previous direct drive motors.

5 - 1

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

5.1 Connection instructions

To avoid a malfunction, connect the power supply phases (U/V/W) of the servo

CAUTION

This section explains the connection of the direct drive motor power (U/V/W). Use of the optional connector
is recommended for connection between the servo amplifier and direct drive motor. Refer to chapter 6 for
details of the options.
For grounding, connect the grounding lead wire from the direct drive motor to the protective earth (PE)
terminal of the servo amplifier, and then connect the wire from the servo amplifier to the ground via the
protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.

amplifier and the direct drive motor correctly.
Do not connect AC power supply directly to the direct drive motor. Otherwise, it
may cause a malfunction.

POINT

Refer to chapter 6 for the encoder cable.

Cabinet

Servo

amplifier

PE terminal

Note. The number of PE terminals of the servo amplifier differs depending on the amplifier

type.

(Note)

5.2 Direct drive motor power cable wiring diagram

Fabricate a cable as shown below.
Refer to section 5.3 for the wires used for the cable.

U

V

W

(Note)

Direct drive motor

30 m or less

Direct drive motorServo amplifier

U
V

M

W

Note. This grounding is for the MR-J4 1-axis servo amplifier. For the MR-J4 multi-axis

servo amplifier, connect the grounding lead wire to the connector for CNP3_.

5 - 2

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

5.3 Selection example of wires

POINT

Wires indicated in this section are separated wires.
Selection condition of wire size is as follows.
Construction condition: Single wire set in midair.
Wire length: 30 m or less

The following shows examples for using the 600 V Grade heat-resistant polyvinyl chloride insulated wire
(HIV wire).

(1) TM-RFM series

(2) TM-RG2M series/TM-RU2M series

2

Direct drive motor

TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RFM006E20 1.25 (AWG 16)

TM-RFM012E20

TM-RFM018E20

TM-RFM012G20

TM-RFM048G20

TM-RFM072G20

TM-RFM040J10 1.25 (AWG 16)

TM-RFM120J10 3.5 (AWG 12)

TM-RFM240J10 5.5 (AWG 10) (Note)

Note. Refer to each servo amplifier instruction manual for crimp terminals used for

connection with the servo amplifier.

Direct drive motor

TM-RG2M002C30

TM-RU2M002C30

TM-RG2M004E30

TM-RU2M004E30

TM-RG2M009G30

TM-RU2M009G30

Wire [mm

U/V/W/

3.5 (AWG 12)

Wire [mm

U/V/W/

0.75 (AWG 18)

]

2

]

5 - 3

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

5.4 Servo amplifier terminal section

POINT

For the sizes of wires used for wiring, refer to section 5.3.
When wiring, remove the power connectors from the servo amplifier.
Insert only one wire or ferrule to each wire insertion hole.

To wire to the servo amplifier, use connectors packed with the servo amplifier or optional connectors.
The following table shows the connectors to be connected to the servo amplifiers. The numbers in the rated
output field of the table indicate the symbol filling the underline "_" in the servo amplifier model. For details of
the connectors, refer to (1) in this section. For wiring, refer to (2) in this section.

Servo amplifier

MR-J4-_A
MR-J4-_A-RJ
MR-J4-_B
MR-J4-_B-RJ
MR-J4-_GF
MR-J4-_GF-RJ

10 20 40 60 70 100 200 350 500 700 11K 15K 22K

Note. For details on the terminal block, refer to each servo amplifier instruction manual.

Servo amplifier

MR-J4-_A1
MR-J4-_A1-RJ
MR-J4-_B1
MR-J4-_B1-RJ

Rated output

10 20 40

Connector A

Servo amplifier

MR-J4W2-_B Connector C

MR-J4W3-_B Connector C

22 (222) 44 (444) 77 1010

Note. The numbers in parentheses are for the MR-J4 3-axis servo amplifier.

Rated output

Connector A Connector B None (Terminal box) (Note)

Rated output (Note)

5 - 4

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

r

(1) Connector details

(a) Connector A

Servo amplifie

CNP3

Table 5.1 Connector and applicable wire

Connector Receptacle assembly

CNP3 03JFAT-SAXGDK-H7.5 AWG 18 to 14 3.9 mm or shorter 9

(b) Connector B

MR-J4-200_(-RJ)

Servo amplifier

Applicable wire

Wire size Insulator OD

Stripped

length [mm]

MR-J4-350_(-RJ)

Servo amplifier

Open tool

J-FAT-OT (N)

or

J-FAT-OT

Manufac-

turer

JST

CNP3

Connector Receptacle assembly

CNP3 03JFAT-SAXGFK-XL AWG 16 to 10 4.7 mm or shorter 11.5 J-FAT-OT-EXL JST

CNP3

Table 5.2 Connector and applicable wire

Applicable wire

Wire size Insulator OD

Stripped

length [mm]

Open tool

Manufac-

turer

5 - 5

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

(c) MR-J4W_ - _B

Servo amplifier

CNP3A

CNP3B

CNP3C

(Note)

Note. For the 3-axis servo amplifier.

Table 5.3 Connector and applicable wire

Connector Receptacle assembly

CNP3A
CNP3B
CNP3C

04JFAT-SAGG-G-KK AWG 18 to 14 9 J-FAT-OT-EXL JST

(2) Cable connection procedure

(a) Fabrication on cable insulator

Refer to tables 5.1 to 5.3 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their fabrication status.

Applicable wire

size

Insulator

Stripped length

[mm]

Core

Open tool Manufacturer

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent cores Twist and straighten

the cores.

5 - 6

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

(b) Inserting wire

Insert the open tool as follows and push down it to open the spring.
While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the
wire insertion depth, and make sure that the cable insulator will not be caught by the spring and that
the conductive part of the stripped wire will not be exposed.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
In addition, make sure that no conductor wire sticks out of the connector.
The following shows a connection example of the CNP3 connector for 2 kW and 3.5 kW of MR-J4 1­axis servo amplifier.

1) Push down the open tool.

3) Release the open tool to fix the wire.

2) Insert the wire.

5 - 7

5. CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR

MEMO

5 - 8

6. WIRING OPTION

6. WIRING OPTION

Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the

WARNING

CAUTION

6.1 Connector set

voltage between P+ and N- is safe with a voltage tester and others. 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.

Use specified auxiliary equipment and options. Otherwise, it may cause a
malfunction or fire.

POINT

We recommend using HIV wires to wire the servo amplifiers, direct drive motors,
options, and peripheral equipment. Therefore, recommended wire sizes may
different from those of the used wires for the previous direct drive motors.

POINT

The IP rating indicated is the connector's protection against ingress of dust and
water when the connector is connected to a servo amplifier, direct drive motor,
or absolute position storage unit. If the IP rating of the connector, servo
amplifier, direct drive motor, and absolute position storage unit vary, the overall
IP rating depends on the lowest IP rating of all components.

For the connectors used with this direct drive motor, purchase the options indicated in this section. When
fabricating an encoder cable, refer to app. 4.

6 - 1

6. WIRING OPTION

A

6.1.1 Combinations of connector set

MR-J4 1-axis

servo amplifier

1)

2) 3)

CNP3

(Note 1)

MR-J4 multi-axis

CNP3A

CNP3B

CNP3C

(Note 4)

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2.

3. This connection is for the MR-J4 3-axis servo amplifier.

4. Refer to Appendix 3 for the crimp connector for CNP3_.

(Note 3)

lways make connection for use in an absolute position detection system. (Refer to section 6.3.)

CN2

or

servo amplifier

CN2A
CN2B

CN2C

(Note 3)

For incremental system

For absolute position detection system

Absolute position storage
unit MR-BTAS01 (Note 2)

4)

5)

5) 6)

Encoder

connector

Direct drive motor

Power supply

TM-RFM
TM-RG2M
TM-RU2M

connector

6 - 2

6. WIRING OPTION

6.1.2 Connector list

No. Product Model Description Remark

1) Power connector
set

2) Power connector
set

3) Power connector
set

4) Power connector
set

5) Encoder
connector set

6) Encoder
connector set

MR-PWCNF Plug: CE05-6A14S-2SD-D (DDK)

Cable clamp: YSO14-9 to 11 (Daiwa Dengyo)
Applicable cable
Applicable wire size: 0.3 mm

2

mm

(AWG 16)

Cable outer diameter: 8.3 mm to 11.3 mm

MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS

Cable clamp: CE3057-10A-1-D
(DDK)

Applicable cable
Applicable wire size: 2 mm

(AWG 12)
Cable outer diameter: 10.5 mm to 14.1 mm

MR-PWCNS5 Plug: CE05-6A22-22SD-D-BSS

Cable clamp: CE3057-12A-1-D
(DDK)

Applicable cable
Applicable wire size: 5.5 mm

(AWG 8)
Cable outer diameter: 12.5 mm to 16 mm

MR-PWCNS3 Plug: CE05-6A32-17SD-D-BSS

Cable clamp: CE3057-20A-1-D
(DDK)

Applicable cable
Applicable wire size: 14 mm

(AWG 4)
Cable outer diameter: 22 mm to 23.8 mm

MR-J3DDCNS

For connection between servo amplifier and direct drive motor.
For connection between servo amplifier and absolute position storage unit.
Refer to section 6.2 for details.

MR-J3DDSPS

For connection between absolute position storage unit and direct drive motor.
Refer to section 6.2 for details.

2

(AWG 22) to 1.25

2

(AWG 14) to 3.5 mm2

2

(AWG 10) to 8 mm2

2

(AWG 6) to 22 mm2

For TM-RFM_C20
For TM-RFM_E20
For TM-RG2M_C30
For TM-RG2M_E30
For TM-RG2M_G30
For TM-RU2M_C30
For TM-RU2M_E30
For TM-RU2M_G30

For TM-RFM_G20

For TM-RFM040J10
For TM-RFM120J10

For TM-RFM240J10

IP67
EN

compliant

IP67
EN

compliant

IP67
EN

compliant

IP67
EN

compliant

IP67

IP67

6 - 3

6. WIRING OPTION

6.2 Encoder connector set

POINT

The encoder cable should be fabricated by the customer. Fabricate the encoder
cable according to section 6.2.1 to section 6.2.3 and the wiring diagram in
section 6.2.4.
Fabricate the encoder cable to be 50 m or shorter between the servo amplifier
and the direct drive motor.
To configure the absolute position detection system, always connect the battery
and absolute position storage unit to the servo amplifier. For details of the
battery, refer to each servo amplifier instruction manual. Refer to section 6.3 for
details of the absolute position storage unit.
For absolute position detection system, refer to each servo amplifier instruction
manual.
For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the
external conductor of the shielded cable to the ground plate and fix it to the
connector shell.

Cable

Ground plate

Screw

6.2.1 MR-J3DDCNS

This connector set is used to fabricate an encoder cable for the incremental system or the absolute position
detection system (between the servo amplifier and the absolute position storage unit).

Parts Description

Connector set MR-J3DDCNS

Servo amplifier side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)

or
Connector set: 54599-1019
(Molex)

Applicable wire size: 0.25 mm2 (AWG 23) to 0.5 mm2 (AWG 20)

Encoder-side or absolute position storage
unit-side connector (connected from the
servo amplifier)

Plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

6 - 4

6. WIRING OPTION

6.2.2 MR-J3DDSPS

This connector set is used to fabricate an encoder cable for the absolute position detection system (between
the absolute position storage unit and the direct drive motor).

6.2.3 Combinations for the encoder cable

(1) For incremental system

Parts Description

Connector set MR-J3DDSPS

Absolute position storage unit-side
connector

Plug: RM15WTPZ-12P(72)
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

Applicable wire size: 0.25 mm2 (AWG 23) to 0.5 mm2 (AWG 20)

MR-J4 1-axis

servo amplifier

CN2

50 m or shorter

Encoder-side connector
Plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

or

MR-J4 multi-axis

servo amplifier

CN2A
CN2B

CN2C

Note 1. Refer to section 6.2.4 (1) for details.

2. This connection is for the MR-J4 3-axis servo amplifier.

(2) For absolute position detection system

MR-J4 1-axis

servo amplifier

CN2

(Note 1) Encoder cable B

or

MR-J4 multi-axis

servo amplifier

3)

(Note 1) Encoder cable A

1)

(Note 2)

20 m or shorter (Note 4)

4)

2)

(Note 2) Encoder cable C

5) 6)

Direct drive motor
TM-RFM
TM-RG2M
TM-RU2M

Direct drive motor
TM-RFM
TM-RG2M
TM-RU2M

CN2A
CN2B
CN2C

Note 1. Refer to section 6.2.4 (2) for details.

2. Refer to section 6.2.4 (3) for details.

3. This connection is for the MR-J4 3-axis servo amplifier.

4. For cable of 20 m or more, contact your local sales office.

(Note 3)

Absolute position

storage unit

MR-BTAS01

6 - 5

6. WIRING OPTION

6.2.4 Fabrication of the encoder cable

(1) Encoder cable A

(a) Connector details

Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)

2

LG 8

1

P5

View seen from the wiring side.
(Note 1)

1) CN2, CN2A, CN2B, and CN2C side connector 2) Encoder-side connector

4

MRR

3

6

THM2

5

THM1

10

9

7

MR

Connector set: 54599-1019
(Molex)

4

2

or

LG

1P53

View seen from the wiring side.
(Note 1)

MRR

MR

THM2

5

THM1

86 10

7 9

Straight plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

Recommended cable:
20276 VSVPAWG#23×6P KB-0492

(Note 3)
(Bando Densen)

1

9 8

MRR

P5

12

10

2

LG

3

11

THM2

FG

MR

6

THM1

54

7

Note 1. Do not connect anything to the pins shown as . Especially, the pin 10 is for manufacturer adjustment. If it is

connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT of section 6.2,

securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

2. Do not connect anything to the pins shown as

3. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

(b) Cable internal wiring diagram

1) CN2, CN2A, CN2B, and
CN2C side connector

P5
LG

1
2

MR
MRR34

5

Plate

.

2) Encoder-side
connector

9

10

7
8
6

116 THM2THM2

5

View seen from the wiring side. (Note 2)

P5
LG

MR
MRR
THM1THM1

FGSD

Refer to the following table for the required wires to fabricate the encoder cable.

Core size [mm2]

0.25 63.6 or less 8.2

Conductor resistance of

one core [Ω/km]

Cable OD [mm]

6 - 6

6. WIRING OPTION

(2) Encoder cable B

(a) Connector details

3) CN2, CN2A, CN2B, and CN2C side connector

Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)

2

LG 8

1

P5

View seen from the wiring side.
(Note 1)

4

MRR

3

MR

6

THM2

5

4) Absolute position storage unit-side
connector

Connector set: 54599-1019
(Molex)

Straight plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

Recommended cable:

10

9

BATTHM1

7

or

4

2

MRR

LG

1P53

MR

View seen from the wiring side.
(Note 1)

THM2

5

THM1

86 10

7 9

BAT

20276 VSVPAWG#23×6P KB-0492
(Note 3)

(Bando Densen)

1

9 8

MRR

P5

12

10

2

BAT

LG

3

11

THM2

FG

MR

6

THM1

54

7

Note 1. Do not connect anything to the pins shown as . Especially, the pin 10 is provided for manufacturer

adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT

of section 6.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the

connector shell.

2. Do not connect anything to the pins shown as

3. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

(b) Cable internal wiring diagram

View seen from the wiring side. (Note 2)

.

When the distance between the servo amplifier and the

direct drive motor is within 20 m (Note)

3) CN2, CN2A, CN2B, and
CN2C side connector

P5
LG

1
2

MR
MRR34

5

BAT

9

PlateSD

4) Absolute position storage
unit-side connector

9

P5
LG

10

MR

7

MRR

8
6

THM1THM1

116

THM2THM2

2 BAT

5FG

Note. For the cable of 20 m or longer, contact your local sales office.

Refer to the following table for the required wires to fabricate the encoder cable.

Core size [mm2]

0.25 63.6 or less 8.2

Conductor resistance of

one core [Ω/km]

Cable OD [mm]

6 - 7

6. WIRING OPTION

(3) Encoder cable C

(a) Connector details

5) Absolute position storage unit-side
connector

Straight plug: RM15WTPZ-12P(72)
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

Recommended cable:
20276 VSVPAWG#23×6P KB-0492 (Note 2)
(Bando Densen)

1

98

MRR

P5

VB

10

7612

MR

THM1

11

THM2

5LG4

FG

2

BAT

3

6) Encoder-side connector

Straight plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)

Recommended cable:
20276 VSVPAWG#23×6P KB-0492 (Note 2)
(Bando Densen)

1

9 8

MRR

P5

VB

10

BAT

2

LG

3

11

THM2

4

FG

7

12

MR

6

THM1

5

(b) Cable internal wiring diagram

View seen from the wiring side. (Note 1)

View seen from the wiring side. (Note 1)

Note 1. Do not connect anything to the pins shown as .

2. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

When the distance between the servo amplifier and

the direct drive motor is within 20 m (Note)

5) Absolute position storage
unit-side connector

P5
LG

9

10

6) Encoder-side
connector

P5

9

10

LG

MR
MRR78

BAT
FG 5 FG5

6

2

MR

7

MRR

8

THM1THM1

6

1111 THM2THM2

11VBVB

BAT

2

Note. For the cable of 20 m or longer, contact your local sales office.

Refer to the following table for the wires required to fabricate the encoder cable.

Core size [mm2]

0.25 63.6 or less 8.2

Conductor resistance of

one core [Ω/km]

Cable OD [mm]

6 - 8

6. WIRING OPTION

6.3 Absolute position storage unit MR-BTAS01

POINT

Replacing the MR-BTAS01 absolute position storage unit will erase the absolute
position. Start up the direct drive motor again and perform home positioning
according to each servo amplifier instruction manual.
For absolute position detection system, refer to each servo amplifier instruction
manual.
[AL. 25 Absolute position erased] will occur if the encoder cable is disconnected.

(1) Connection method with the encoder cable

Refer to section 6.2.3 (2).

(2) Dimensions

RM15WTRZB-12P (72)
(servo amplifier side)

19 19

RM15WTRZB-12S (72)
(encoder side)

[Unit: mm]

16

2-φ6 mounting hole

63

30

5

45.2
20

22

69.855

79.8

81

Note. When mounting the unit outside the cabinet, fix the mounting surface A with four screws. When mounting the unit

inside the cabinet, you can also fix the mounting surface B with two screws.

3

R

6

5

45.2

20

Mounting surface B (Note)

15

6

R

3

(3) Environment

The following table indicates the environment for the absolute position storage unit.

Item Environment

Ambient
temperature

Ambient
humidity

Ambience

Altitude Max. 2000 m above sea level

Vibration resistance

Operation 0 ˚C to 55 ˚C (non-freezing)

Storage -20 ˚C to 65 ˚C (non-freezing)

Operation 10 %RH to 90 %RH (non-condensing)

Storage 10 %RH to 90 %RH (non-condensing)

Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, oil and water.

When the mounting surface A is fixed: 49 m/s

When the mounting surface B is fixed: 5.9 m/s

Mounting screw size: M5

Mounting surface A (Note)

Mass: 0.26 kg

2

(directions of X, Y, and Z axes)

2

(directions of X, Y, and Z axes)

6 - 9

6. WIRING OPTION

MEMO

6 - 10

7. TM-RFM SERIES

7. TM-RFM SERIES

This chapter provides information on the direct drive motor specifications and characteristics. When using
the TM-RFM series direct drive motor, always read the Safety Instructions in the beginning of this manual in
addition to this chapter.

7.1 Model code definition

The following describes what each block of a model name indicates. Note that not all the combinations of the
symbols exist.

Rated torque

Symbol

002 2
004 4
006 6
012 12
018 18
040 40
048 48

072 72
120 120
240 240

Series

C20TM-RFM 020

Rated speed

Symbol

Motor OD (Frame OD)

Symbol

Rated speed [r/min]

10 100
20 200Rated torque [N•m]

Dimensions [mm]

C φ130
E

G φ230

J φ330

φ180

Outer appearance

Z-phase mark

7 - 1

7. TM-RFM SERIES

7.2 Combinations of servo amplifier and direct drive motor

Direct drive motor

TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RFM006E20

TM-RFM012E20

TM-RFM018E20

TM-RFM012G20

TM-RFM048G20

TM-RFM072G20

TM-RFM040J10

TM-RFM120J10

TM-RFM240J10

200 V class 100 V class

MR-J4-20A
MR-J4-20A-RJ
MR-J4-20B
MR-J4-20B-RJ
MR-J4-20GF
MR-J4-20GF-RJ
MR-J4-40A
MR-J4-40A-RJ
MR-J4-40B
MR-J4-40B-RJ
MR-J4-40GF
MR-J4-40GF-RJ
MR-J4-60A
MR-J4-60A-RJ
MR-J4-60B
MR-J4-60B-RJ
MR-J4-60GF
MR-J4-60GF-RJ
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70GF
MR-J4-70GF-RJ
MR-J4-100A
MR-J4-100A-RJ
MR-J4-100B
MR-J4-100B-RJ
MR-J4-100GF
MR-J4-100GF-RJ
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70GF
MR-J4-70GF-RJ
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350GF
MR-J4-350GF-RJ
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70GF
MR-J4-70GF-RJ
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350GF
MR-J4-350GF-RJ
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500GF
MR-J4-500GF-RJ

1-axis

MR-J4-20A1
MR-J4-20A1-RJ
MR-J4-20B1
MR-J4-20B1-RJ

MR-J4-40A1
MR-J4-40A1-RJ
MR-J4-40B1
MR-J4-40B1-RJ

Servo amplifier

MR-J4W2-22B
MR-J4W2-44B

MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B

MR-J4W2-77B
MR-J4W2-1010B

MR-J4W2-77B
MR-J4W2-1010B

MR-J4W2-1010B

MR-J4W2-77B
MR-J4W2-1010B

MR-J4W2-77B
MR-J4W2-1010B

2-axis 3-axis

MR-J4W3-222B
MR-J4W3-444B

MR-J4W3-444B

7 - 2

7. TM-RFM SERIES

7.3 Specification list

Direct drive motor

Item

Motor OD (frame OD) [mm] φ130 φ180

Power supply capacity

Continuous running
duty (Note 1)

Maximum torque [N•m] 6 12 18 18 36 54

Rated speed (Note 1) [r/min] 200

Maximum speed [r/min] 500

Instantaneous permissible speed [r/min] 575

Power rate at continuous rated torque [kW/s] 3.7 9.6 16.1 4.9 12.9 21.8

Rated current [A] 1.3 2.2 3.2 3.0 3.8 6.0

Maximum current [A] 3.9 6.6 9.6 9.0 12 18

Moment of inertia J [× 10-4 kg•m2] 10.9 16.6 22.4 74.0 111 149

Recommended load to motor inertia ratio
(Note 2)

Absolute accuracy (Note 9) [s] ±15 ±12.5

Speed/position detector (Note 3)

Thermistor Built-in

Insulation class 155 (F)

Structure Totally enclosed, natural cooling (IP rating: IP42 (Note 4))

Environment
(Note 5)

Vibration rank (Note 7) V10

Rotor permissible
load (Note 8)

Mass [kg] 5.2 6.8 8.4 11 15 18

Rated output [W] 42 84 126 126 251 377

Rated torque [N•m] 2 4 6 6 12 18

Ambient
temperature

Ambient
humidity

Ambience

Altitude Max. 2000 m above sea level (Note 10)

Vibration resistance
(Note 6)

Moment load [N•m] 22.5 70

Axial load [N] 1100 3300

Operation 0 ˚C to 40 ˚C (non-freezing)

Storage -15 ˚C to 70 ˚C (non-freezing)

Operation 10 %RH to 80 %RH (non-condensing)

Storage 10 %RH to 90 %RH (non-condensing)

TM-RFM series

002C20 004C20 006C20 006E20 012E20 018E20

Refer to "USING A DIRECT DRIVE MOTOR" of each servo amplifier instruction

manual.

50 times or less

20-bit encoder common to absolute position and incremental detection systems

(resolution per direct drive motor revolution: 1048576 pulses/rev)

Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, oil and water.

X: 49 m/s

2

Y: 49 m/s2

7 - 3

7. TM-RFM SERIES

Direct drive motor

Item

Motor OD (frame OD) [mm] φ230 φ330

Power supply capacity

Continuous running
duty (Note 1)

Maximum torque [N•m] 36 144 216 120 360 720

Rated speed (Note 1) [r/min] 200 100

Maximum speed [r/min] 500 200

Instantaneous permissible speed [r/min] 575 230

Power rate at continuous rated torque [kW/s] 6.0 37.5 59.3 9.4 40.9 91.4

Rated current [A] 3.6 11 16 4.3 11 19

Maximum current [A] 11 33 48 13 33 57

Moment of inertia J [× 10-4 kg•m2] 238 615 875 1694 3519 6303

Recommended load to motor inertia ratio
(Note 2)

Absolute accuracy (Note 9) [s] ±12.5 ±10

Speed/position detector (Note 3)

Thermistor Built-in

Insulation class 155 (F)

Structure Totally enclosed, natural cooling (IP rating: IP42 (Note 4))

Environment
(Note 5)

Vibration rank (Note 7) V10

Rotor permissible
load (Note 8)

Mass [kg] 17 36 52 53 91 146

Rated output [W] 251 1005 1508 419 1257 2513

Rated torque [N•m] 12 48 72 40 120 240

Ambient
temperature

Ambient
humidity

Ambience

Altitude Max. 2000 m above sea level (Note 10)

Vibration resistance
(Note 6)

Moment load [N•m] 93 350

Axial load [N] 5500 16000

Operation 0 ˚C to 40 ˚C (non-freezing)

Storage -15 ˚C to 70 ˚C (non-freezing)

Operation 10 %RH to 80 %RH (non-condensing)

Storage 10 %RH to 90 %RH (non-condensing)

TM-RFM series

012G20 048G20 072G20 040J10 120J10 240J10

Refer to "USING A DIRECT DRIVE MOTOR" of each servo amplifier instruction

manual.

50 times or less

20-bit encoder common to absolute position and incremental detection systems

(resolution per direct drive motor revolution: 1048576 pulses/rev)

Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, oil and water.

X: 49 m/s

2

Y: 49 m/s2 X: 24.5 m/s2 Y: 24.5 m/s2

7 - 4

7. TM-RFM SERIES

A

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.

2. If the load inertia moment ratio exceeds the indicated value, contact your local sales office.

3. To configure the absolute position detection system, always connect the battery and absolute position storage unit to the servo

amplifier. For details of the battery, refer to each servo amplifier instruction manual. Refer to section 6.3 for details of the

absolute position storage unit.

4. Shaft-through portion of the rotor and the connector area are excluded. IP classifies the degrees of protection provided against

the intrusion of solid objects and water in electrical enclosures.

5. In the environment where the direct drive motor is exposed to oil mist, oil, and water, a standard specification direct drive

motor cannot be used. Provide measures to prevent dust and/or water on the machine side.

6. The following figure shows the vibration direction. The indicated values are the maximum values. When the direct drive motor

stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about the half the permissible value.

Y

X

7. V10 indicates that the amplitude of a direct drive motor alone is 10 μm or less. The following figure shows the direct drive

motor installation position for measurement and the measuring position.

Measuring position

8. Axial and moment loads, which are applied to the direct drive motor's rotor (output shaft) during operation, can be calculated

as below. The axial and moment loads must be maintained to be equal to or below the permissible value.

F (Outer force)

xial load

= F + load mass

F (Outer force)

L

Axial load

= F + load mass

Moment load

= F × L

F (Outer force)

Bearing

Axial load

= Load mass

Moment load

= F × (L + A)

Direct drive motor

L

TM-RFM002C20

A

TM-RFM004C20
TM-RFM006C20

TM-RFM006E20
TM-RFM012E20
TM-RFM018E20

TM-RFM012G20
TM-RFM048G20
TM-RFM072G20

TM-RFM040J10
TM-RFM120J10
TM-RFM240J10

Motor OD

[mm]

φ130 19.1

φ180 20.2

φ230 24.4

φ330 32.5

Dimension

A

[mm]

9. Absolute accuracy changes depending on the mounting condition of the load and the surrounding environment.

10. Follow the restrictions in section 2.10 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

7 - 5

7. TM-RFM SERIES

7.4 Torque characteristics

POINT

For the machine where the unbalanced torque occurs, such as a vertical axis
system (lift), use the absolute position detection system. (Refer to section 2.1
(4).) The unbalanced torque of the machine should be kept at 70% or lower of
the motor's rated torque.

Bold lines indicate the torque characteristics with the 3-phase 200 V AC power supply input or 1-phase 230
V AC power supply input to the servo amplifier. For the 1-phase 200 V AC power supply input, part of the
torque characteristic is indicated by thin lines. The 1-phase power supply input is available for: TM­RFM002C20, TM-RFM004C20, TM-RFM006C20, TM-RFM006E20, TM-RFM012E20, TM-RFM018E20, TM­RFM012G20, and TM-RFM040J10. For the 1-phase 100 V AC power supply, part of the torque
characteristic is indicated by the broken line.

[TM-RFM002C20]

8

[TM-RFM004C20]

16

[TM-RFM006C20]

24

[TM-RFM006E20]

24

6

4

Short-duration

Torque [N•m]

running range

2

Continuous
running range

0

100 200 300 400 5000

Speed [r/min]

[TM-RFM012E20]

40

30

Short-duration

20

running range

Torque [N•m]

10

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

[TM-RFM072G20]

240

180

12

8

Short-duration
running range

Torque [N•m]

4

Continuous
running range

0

100 200 300 400 5000

Speed [r/min]

[TM-RFM018E20]

60

40

Short-duration

running range

20

Torque [N•m]

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

[TM-RFM040J10]

140

120

18

Short-duration

12

running range

Torque [N•m]

6

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

[TM-RFM012G20]

40

30

Short-duration

20

running range

Torque [N•m]

10

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

[TM-RFM120J10]

400

300

18

Short-duration

12

running range

Torque [N•m]

6

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

[TM-RFM048G20]

160

120

Short-duration
running range

80

Torque [N•m]

40

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

[TM-RFM240J10]

800

600

Short-duration
running range

120

Torque [N•m]

60

Continuous
running range

0

0 100 200 300 400 500

Speed [r/min]

80

Short-duration

running range

Torque [N•m]

40

Continuous
running range

0

0 100 200

Speed [r/min]

Short-duration

running range

200

Torque [N•m]

100

Continuous
running range

0

0 100 200

Speed [r/min]

Short-duration
running range

400

Torque [N•m]

200

Continuous
running range

0

0 100 200

Speed [r/min]

7 - 6

7. TM-RFM SERIES

7.5 Dimensions

The actual dimensions may be 1 mm to 3 mm larger. Design the machine side with some allowances.
Apply general tolerances for the dimensions without tolerances.

Model

TM-RFM002C20 42 10.9 5.2

Output

130

φ

170

58.5

529123.5

4-φ9 mounting hole
Use hexagon socket
head cap screw

3

[W]

45°

φ

1

5

0

Moment of inertia J

-4

kg•m2]

[× 10

1

.

60°

0

±

0

5

φ

Mass

[kg]

[Unit: mm]

6-M5 screw
hole depth 8

Encoder connector
RM15WTRZB-12P (72)

111.5

16

Arrow B

φ128h7

Top

116.9

B

Power supply connector

16 15

62

15

CE05-2A14S-2PD-D

W

V

Bottom

17

CD

BA

φ20

Caution plate

(PE)

Power connector
Output shaft side

U

φ60h7

φ77.5

φ130

Z-phase mark

Top

Bottom

Motor plate

BC36496A

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

TM-RFM004C20 84 16.6 6.8

Mass

[kg]

[Unit: mm]

130

529

75.5

12

4-φ9 mounting hole
Use hexagon socket

3.5

head cap screw

3

45°

φ

1

5

0

0

±

0

5

φ

6-M5 screw
hole depth 8

1

.

60°

111.5

B

Encoder connector

RM15WTRZB-12P(72)

16

Arrow B

φ

1

7

0

φ128h7

Top

17

CD

BA

Bottom

(PE)

Power connector
Output shaft side

U

116.9

15

Power supply connector
CE05-2A14S-2PD-D

W

V

16

62

φ20

Caution plate

φ60h7

φ130

φ77.5

Z-phase mark

Top

Bottom

Motor plate

BC36497A

7 - 7

7. TM-RFM SERIES

130

φ170

529

12

92.5

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

Mass

TM-RFM006C20 126 22.4 8.4

[Unit: mm]

6-M5 screw

3.5
3

4-φ9 mounting hole
Use hexagon socket
head cap screw

45°

φ

1

5

0

φ

hole depth 8

1

.

60°

0

±

0
5

[kg]

111.5

Arrow B

B

Encoder connector
RM15WTRZB-12P (72)

16

166215

116.9

Power supply connector
CE05-2A14S-2PD-D

φ128h7

W

V

17

CD

BA

Top

Bottom

Caution plate

(PE)

Power connector
Output shaft side

U

φ20

φ60h7

φ77.5

Model

φ130

Z-phase mark

Output

[W]

Top

Bottom

Motor plate

Moment of inertia J

-4

kg•m2]

[× 10

BC35566B

Mass

[kg]

TM-RFM006E20 126 74.0 11

[Unit: mm]

180

62

529

18

4-φ14 mounting hole
Use hexagon socket

3.5

head cap screw

3

45°

1

.

0

φ

2

0

5

±

0

9

φ

60°

6-M5 screw
hole depth 8

φ

2

3

5

φ47

φ124

φ178h7

φ100h7

φ180

136.5

16

Arrow B

B

Encoder connector
RM15WTRZB-12P (72)

166215

Power supply connector
CE05-2A14S-2PD-D

141.9

Top

Bottom

Caution plate

17

W

CD

BA

V

(PE)

Power connector
Output shaft side

U

Top

Bottom

Motor plate

Z-phase mark

BC36498A

7 - 8

7. TM-RFM SERIES

180

φ235

136.5

B

141.9

529

18

φ178h7

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

Mass

[kg]

TM-RFM012E20 251 111 15

[Unit: mm]

83

4-φ14 mounting hole
Use hexagon socket

3.5

head cap screw

3

φ47

φ124

φ180

φ100h7

45°

1

.

0

φ

2

0

5

±

0

9

φ

60°

6-M5 screw

hole depth 8

Top

Bottom

Caution plate

Top

Bottom

Z-phase mark

Motor plate

Moment of inertia J

-4

kg•m2]

[× 10

BC36499A

Mass

[kg]

16

Arrow B

166215

Encoder connector
RM15WTRZB-12P (72)

Power supply connector
CE05-2A14S-2PD-D

17

W

V

CD

BA

(PE)

Power connector
Output shaft side

U

Model

Output

[W]

TM-RFM018E20 377 149 18

[Unit: mm]

4-φ14 mounting hole

φ23

Use hexagon socket

180

5

529

φ178h7

104

18

head cap screw

3.5
3

φ47

φ124

φ100h7

φ180

1

.

0

±

φ

2

0

5

0

9

φ

60°45°

6-M5 screw
hole depth 8

136.5

16

Arrow B

B

Encoder connector
RM15WTRZB-12P (72)

166215

Power supply connector
CE05-2A14S-2PD-D

141.9

17

W

CD

BA

VU

Top

Bottom

Caution plate

(PE)

Power connector
Output shaft side

Top

Bottom

Motor plate

Z-phase mark

BC35508C

7 - 9

7. TM-RFM SERIES

230

φ

2

9

0

2 × 2-M10 screw hole depth 19.5

69

529204

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

TM-RFM012G20 251 238 17

4-φ14 mounting hole
Use hexagon socket
head cap screw

3

45°

φ

2

6

0

1

.
0

±

0

2

1

φ

[Unit: mm]

6-M6 screw
hole depth 10

60°

Mass

[kg]

166.5

B

Arrow B

15

70

Encoder connector
RM15WTRZB-12P (72)

16

Power supply connector
CE05-2A18-10PD-D

21.5

177.5

115

φ206h7

14.5

19.5

W

CD

BA

VU

φ62

Top

Bottom

Caution plate

(PE)

Power connector
Output shaft side

φ130h7

φ164

φ230

Model

Output

[W]

Top

Bottom

Z-phase mark

Motor plate

Moment of inertia J

-4

kg•m2]

[× 10

BC36599*

Mass

[kg]

TM-RFM048G20 1005 615 36

[Unit: mm]

4-φ14 mounting hole
Use hexagon socket

2 × 2-M10 screw hole depth 19.5

230

529

20

144

head cap screw

4

3

1

.

0

±

φ

2

6

0

0

2

1

φ

60°45°

6-M6 screw

hole depth 10

φ

2

9

0

φ62

φ164

φ130h7

φ230

Top

Bottom

Motor plate

Z-phase mark

BC36503A

166.5

Arrow B

B

16

Power supply connector
CE05-2A18-10PD-D

21.5

15

70

Encoder connector
RM15WTRZB-12P (72)

177.5

φ206h7

14.5

V

115

Top

Bottom

Caution plate

19.5

CD

BA

(PE)

Power connector
Output shaft side

U

W

7 - 10

7. TM-RFM SERIES

2 × 2-M10 screw hole depth 19.5

230

φ

2

9

0

166.5

B

21.5

15

70

Encoder connector
RM15WTRZB-12P (72)

16

Arrow B

φ206h7

177.5

Power supply connector
CE05-2A18-10PD-D

194

529

20

115

14.5

Bottom

19.5

W

VU

CD

BA

(PE)

Power connector
Output shaft side

Top

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

Mass

TM-RFM072G20 1508 875 52

[Unit: mm]

4-φ14 mounting hole
Use hexagon socket
head cap screw

4

3

φ62

φ130h7

Caution plate

φ164

φ230

0

φ

2

6

0

±

0

2

1

φ

Top

Bottom

Motor plate

60°45°

1

.

6-M6 screw

hole depth 10

Z-phase mark

BC35567A

[kg]

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

Mass

[kg]

TM-RFM040J10 838 1694 53

[Unit: mm]

88.5

6-M8 screw

hole depth 13

60°

Z-phase mark

BC36505*

240

Arrow B

φ

4

1

0

B

Encoder connector
RM15WTRZB-12P (72)

16.5

330

179532.5

2 × 2-M12 screw hole depth 25.5

254

Power supply connector
CE05-2A22-22PD-D

534257

160

φ328h7

17

W

V

Top

Bottom

31

(PE)

CD

Power connector

BA

Output shaft side

U

4-φ18 mounting hole
Use hexagon socket

5

head cap screw

φ104

φ200h7

Caution plate

φ251

φ330

45°

φ

3

7

0

±

0

8

1

φ

Top

Bottom

Motor plate

1

.

0

7 - 11

7. TM-RFM SERIES

2 × 2-M12 screw hole depth 25.5

330

φ

4

1

0

5

φ328h7

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

Mass

[kg]

TM-RFM120J10 2513 3519 91

[Unit: mm]

162.5

60°

6-M8 screw

hole depth 13

4-φ18 mounting hole

34

25

160

7

Use hexagon socket

5

head cap screw

φ104

φ251

φ200h7

φ330

1

45°

φ

3

7

0

.

0

±

0

8

1

φ

Mass

[kg]

240

Arrow B

17

254

B

Power supply connector

32.5

17

Encoder connector
RM15WTRZB-12P (72)

16.5

95

CE05-2A22-22PD-D

W

V

31

CD

BA

Top

Bottom

Caution plate

(PE)

Power connector
Output shaft side

U

Top

Bottom

Motor plate

Z-phase mark

BC36507*

Model

Output

[W]

Moment of inertia J

-4

kg•m2]

[× 10

TM-RFM240J10 5027 6303 146

[Unit: mm]

273.5

0

.1

6-M8 screw

hole depth 13

60°

7

2 × 2-M12 screw hole depth 25.5

330

φ

4

1

0

534

25

4-φ18 mounting hole
Use hexagon socket

5

head cap screw

45°

φ

3

7

0

±

0

8

1

φ

φ104

φ251

φ200h7

φ330

Top

Bottom

Motor plate

Z-phase mark

BC36705*

240

B

Arrow B

179532.5

Encoder connector
RM15WTRZB-12P (72)

16.5

φ328h7

254.8

Power supply connector
CE05-2A32-17PD-D

160

17

Top

Bottom

31

CD

BA

(PE)

Power connector
Output shaft side

W

VU

Caution plate

7 - 12

8. TM-RG2M SERIES/TM-RU2M SERIES

8. TM-RG2M SERIES/TM-RU2M SERIES

This chapter provides information on the direct drive motor specifications and characteristics. When using
the TM-RG2M series or TM-RU2M series direct drive motor, always read the Safety Instructions in the
beginning of this manual in addition to this chapter.

8.1 Model designation

The following describes model designation. Not all combinations of the symbols are available.

(1) Flange type

04E30MTM-RG2 0

Appearance

Rated torque

Symbol

Rated torque [N•m]
002 2.2
004 4.5
009 9

Series

Rated speed

Symbol

Motor OD (frame OD)

Symbol

Rated speed [r/min]

30 300

Dimensions [mm]

C φ130
E φ180
G φ230

(2) Table type

Rated torque

Symbol

Rated torque [N•m]
002 2.2
004 4.5
009 9

Series

Z-phase mark

04E30MTM-RU2 0

Rated speed

Symbol

Rated speed [r/min]

30 300

Motor OD (frame OD)

Symbol

Dimensions [mm]

C φ130
E φ180
G φ230

8 - 1

8. TM-RG2M SERIES/TM-RU2M SERIES

8.2 Combinations of servo amplifier and direct drive motor

Servo amplifier

1-axis 2-axis 3-axis

Direct drive motor

TM-RG2M002C30
TM-RU2M002C30

TM-RG2M004E30
TM-RU2M004E30

TM-RG2M009G30
TM-RU2M009G30

Standard

MR-J4-20A
MR-J4-20A-RJ
MR-J4-20A1
MR-J4-20A1-RJ
MR-J4-20B
MR-J4-20B-RJ
MR-J4-20B1
MR-J4-20B1-RJ
MR-J4-20A
MR-J4-20A-RJ
MR-J4-20A1
MR-J4-20A1-RJ
MR-J4-20B
MR-J4-20B-RJ
MR-J4-20B1
MR-J4-20B1-RJ
MR-J4-40A
MR-J4-40A-RJ
MR-J4-40A1
MR-J4-40A1-RJ
MR-J4-40B
MR-J4-40B-RJ
MR-J4-40B1
MR-J4-40B1-RJ

For increasing

the rated

torque/maximum

torque (Note)

MR-J4-40A
MR-J4-40A-RJ
MR-J4-40A1
MR-J4-40A1-RJ
MR-J4-40B
MR-J4-40B-RJ
MR-J4-40B1
MR-J4-40B1-RJ

MR-J4W2-44B MR-J4W3-444B

Standard

MR-J4W2-22B
MR-J4W2-44B

MR-J4W2-22B MR-J4W2-44B MR-J4W3-222B MR-J4W3-444B

Note. The rated torque and the maximum torque can be increased by changing the servo amplifier.

For increasing

the rated

torque/maximum

torque (Note)

Standard

MR-J4W3-222B
MR-J4W3-444B

For increasing

the rated

torque/maximum

torque (Note)

8 - 2

8. TM-RG2M SERIES/TM-RU2M SERIES

8.3 Specification list

Direct drive motor

Item

Motor OD (frame OD) [mm] φ130 φ180 φ230

Power supply capacity

Rated output
Continuous running
duty (Note 1)

Maximum torque (Note 9) [N•m] 8.8 13.5 (18) 27

Rated speed (Note 1) [r/min] 300

Maximum speed [r/min] 600

Instantaneous permissible speed [r/min] 690

Power rate at continuous rated torque
(Note 9)

Rated current (Note 9) [A] 1.2 1.3 (1.7) 2.2

Maximum current (Note 9) [A] 4.9 4.0 (5.3) 6.7

Moment of inertia J [× 10-4 kg•m2] 7.88 60.2 147

Recommended load to motor inertia ratio
(Note 2)

Absolute accuracy (Note 11) [s] ±15 ±12.5

Speed/position
detector (Note 3)

Thermistor Built-in

Insulation class 155 (F)

Structure Totally-enclosed, natural-cooling (IP rating: IP40 (Note 4))

Environment
(Note 5)

Vibration rank (Note 7) V10

Rotor permissible
load (Note 8)

Mass [kg] 2.7 5.5 8.3

(Note 9)

Rated torque

(Note 9)

Common to absolute

position/incremental

systems

Resolution per direct

drive motor revolution

Ambient

temperature

Ambient

humidity

Ambience

Altitude 2000 m or less above sea level (Note 10)

Vibration resistance

(Note 6)

Moment load [N•m] 15 49 65

Axial load [N] 770 2300 3800

[W] 69 141 (188) 283

[N•m] 2.2 4.5 (6) 9

[kW/s] 6.1 3.4 (6.0) 5.5

Operation 0 ˚C to 40 ˚C (non-freezing)

Storage -15 ˚C to 70 ˚C (non-freezing)

Operation 10 %RH to 80 %RH (non-condensing)

Storage 10 %RH to 90 %RH (non-condensing)

TM-RG2M/RU2M series

002C30 004E30 009G30

Refer to "USING A DIRECT DRIVE MOTOR" of each servo amplifier instruction

manual.

50 times or less 20 times or less

21-bit encoder 22-bit encoder

2097152 pulses/rev 4194304 pulses/rev

Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, oil and water.

X: 49 m/s

2

Y: 49 m/s2

8 - 3

8. TM-RG2M SERIES/TM-RU2M SERIES

n

A

A

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.

2. If the load inertia moment ratio exceeds the indicated value, contact your local sales office.

3. To configure the absolute position detection system, always connect the battery and absolute position storage unit to the servo

amplifier. For details of the battery, refer to each servo amplifier instruction manual. For details of the absolute position storage

unit, refer to section 6.3.

4. Shaft-through portion of the rotor and the connector area are excluded. IP classifies the degrees of protection provided against

the intrusion of solid objects and water in electrical enclosures.

5. In the environment where the direct drive motor is exposed to oil mist, oil, and water, a standard specification direct drive

motor cannot be used. Provide measures to prevent dust and/or water on the machine side.

6. The vibration direction is as shown below. The indicated values are the maximum values. When the direct drive motor stops,

fretting is likely to occur at the bearing. Therefore, suppress the vibration to about the half of the permissible value.

Y

X

7. V10 indicates that the amplitude of a direct drive motor alone is 10 μm or less. The following figure shows the direct drive

motor mounting position for measurement and the measuring position.

Measuring positio

8. Axial and moment loads, which are applied to the direct drive motor's rotor (output shaft) during operation, can be calculated

as below. The axial and moment loads must be maintained to be equal to or below the permissible value.

F (external force)

xial load

= F + load mass

F (external force)

L

Axial load

= F + load mass

Moment load

= F × L

F (external force)

Bearings

Axial load

= Load mass

Moment load

= F × (L + A)

Direct drive motor

L

TM-RG2M002C30

A

TM-RU2M002C30

TM-RG2M004E30
TM-RU2M004E30

TM-RG2M009G30
TM-RU2M009G30

Motor OD

[mm]

φ130 20.6

φ180 20.7

φ230 18.0

Dimension

A

[mm]

9. The value inside ( ) applies when the torque is increased. The rated torque and the maximum torque can be increased by

changing the servo amplifier.

Refer to section 8.2 for the combinations.

10. Follow the restrictions in section 2.10 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

11.

bsolute accuracy changes depending on the mounting condition of the load and the surrounding environment.

8 - 4

8. TM-RG2M SERIES/TM-RU2M SERIES

8.4 Torque characteristics

POINT

For the machine where the unbalanced torque occurs, such as a vertical axis
system (lift), use the absolute position detection system. (Refer to section 2.1
(4).) The unbalanced torque should be kept at 70% or less of the rated torque.

When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque
characteristic is indicated by the heavy line. For the 1-phase 100 V AC power supply, part of the torque
characteristic is indicated by the broken line.

[TM-RG2M002C30]
[TM-RU2M002C30]

12

8

Short-duration

running range

4

Torque [N•m]

Continuous

running range

0

0

400 600

200

Speed [r/min]

[TM-RG2M004E30]
[TM-RU2M004E30]

24

(Note)

16

Short-duration
running range

8

Torque [N•m]

(Note)

0

0

Continuous
running range

200

Speed [r/min]

400 600

[TM-RG2M009G30]
[TM-RU2M009G30]

30

20

Short-durat ion
running range

10

Torque [N•m]

0

0

Continuous
running range

200

Speed [r/min]

400 600

Note. The rated torque and the maximum torque can be increased by changing the servo amplifier.

Refer to section 8.2 for the combinations.

8.5 Mounting method

Direct drive motor
TM-RG2M series

Flange type (pilot) Table type (positioning pin hole)

Use the pilot to mount the
direct drive motor on the
mounting surface.

Load

Mounting screw

Mounting surface

Direct drive motor
TM-RU2M series

Load

Mounting screw

Mounting surface

Use positioning pins to mount
the direct drive motor on the
mounting surface.

Mounting precautions

If the mounting surface has low rigidity, machine resonance may occur. Securely mount the direct drive
motor on the mounting surface having high rigidity.
To ensure sufficient rigidity, fully tighten the mounting screws for the direct drive motor and rotary table.
To ensure the accuracy and heat dissipation of the direct drive motor, closely mount the motor on the
mounting surface having a sufficient heat dissipation area and high rigidity. Do not leave a gap between
the mounting surface and the bottom of the direct drive motor.
The mounting accuracy of the flange type is higher than that of the table type. If the direct drive motor
needs to be mounted with high accuracy, select the flange type.
For the machine accuracies of each direct drive motor, refer to section 2.8. For the dimension tolerance,
refer to section 8.6.

8 - 5

8. TM-RG2M SERIES/TM-RU2M SERIES

8.6 Dimensions

The actual dimensions may be 1 mm to 3 mm larger. Design the machine side with some allowances. The
dimensions without tolerances are general tolerance.

112

Encoder connector
RM15WTRZB-12P(72)

View A

Model Output [W]

TM-RG2M002C30 69 7.88 2.7

51

130

φ

1

7

0

117.6

A

Power connector

1516

62

16

CE05-2A14S-2PD-D

26

5

14

φ128h7

17

W

VU

CD

4

3

φ20

(PE)

BA

Power connector
Output shaft side

φ72h7

φ77.5

4-φ9 mounting hole
Use hexagon socket
head cap screw.

φ130

Global standard plate

0

5

1

φ

Z-phase mark

Caution plate

Caution plate

Moment of inertia J

-4

kg•m2]

[× 10

4

5

°

Top

Bottom

Corporate logo letter height: 0.5

Motor plate

Top Bottom

Top Bottom

Top Bottom

View B

Mass [kg]

[Unit: mm]

6

0

°

6-M5 screw
depth 8

φ

5

0

±

0

.

1

BC61784A

B

8 - 6

8. TM-RG2M SERIES/TM-RU2M SERIES

Model Output [W]

TM-RU2M002C30 69 7.88 2.7

56

130

2-φ6H7 screw depth 8
P.C.D.150 ± 0.03

31

19

4

3

4-φ9 mounting hole
Use hexagon socket
head cap screw.

Moment of inertia J

-4

kg•m2]

[× 10

4

5

°

Mass [kg]

[Unit: mm]

112

Encoder connector
RM15WTRZB-12P(72)

View A

3

7

φ

1

7

0

A

Power connector

1516

62

21

CE05-2A14S-2PD-D

°

117.6

φ20

φ130

φ77.5

φ72h7

22

W

CD

BA

VU

(PE)

Power connector
Output shaft side

0

5

1

φ

Z-phase mark

Global standard plate

Caution plate

Caution plate

Top

Bottom

Motor plate

Top Bottom

Top Bottom

Top Bottom

View B

6

0

°

B

6-M5 screw
depth 8

φ

5

0

±

0

.

1

Corporate logo letter height: 0.5

BC61785A

8 - 7

8. TM-RG2M SERIES/TM-RU2M SERIES

Model

524

180

φ

2

3

5

φ178 h7

TM-RG2M004E30 141 (188) 60.2 5.5

Note. The value inside ( ) applies when the torque is increased.

51

4

14

3

4-φ14 mounting hole
Use hexagon socket
head cap screw.

φ47

φ126

φ115 h7

Output [W]

(Note)

φ

2

0

5

φ180

Moment of inertia J

°

5

4

[× 10

-4

kg•m2]

6
8

φ

Mass [kg]

[Unit: mm]

1

.

0

±

6

0

°

6-M5 screw
hole depth 8

137

Encoder connector
RM15WTRZB-12P(72)

16

View A

142.7

Z-phase mark

A

16 15

62

Power connector
CE05-2A14S-2PD-D

17

W

CD

BA

V

(PE)

U

Power connector
Output shaft side

TopBottom

Caution plate

Caution plate

TopBottom

Global standard plate

TopBottom

Top

Corporate logo letter height: 0.5

Bottom

Motor plate

BC45323B

8 - 8

8. TM-RG2M SERIES/TM-RU2M SERIES

Model

2-φ6H 7 depth 8

180

φ

2

3

5

P.C.D.205 ± 0.03

3
5

°

TM-RU2M004E30 141 (188) 60.2 5.5

Note. The value inside ( ) applies when the torque is increased.

56

4

29

19

3

Output [W]

(Note)

4-φ14 mounting hole
Use hexagon socket
head cap screw.

φ

2

0

5

Moment of inertia J

°

5

4

[× 10

-4

kg•m2]

Mass [kg]

[Unit: mm]

1

.

0

±

6

8

φ

6

0

°

137

Encoder connector
RM15WTRZB-12P(72)

A

View A

φ115 h7

φ126

φ180

Z-phase mark

Top

Corporate logo letter height: 0.5

Bottom

Motor plate

6-M5 screw
hole depth 8

BC61740B

φ47

142.7

16 15

62

21

Power connector
CE05-2A14S-2PD-D

22

W

CD

BA

V

(PE)

U

Power connector
Output shaft side

TopBottom

Caution plate

Caution plate

TopBottom

Global standard plate

TopBottom

8 - 9

8. TM-RG2M SERIES/TM-RU2M SERIES

TM-RG2M009G30 283 147 8.3

49

21

4

230

φ

2

90

5

φ206 h7

14

3

φ62

φ164

φ155 h7

Model

φ230

Output

[W]

4-φ14 mounting hole
Use hexagon socket
head cap screw.

°

5

4

φ

2

6

0

Moment of inertia J

-4

kg•m2]

[× 10

6-M5 screw
hole depth 8

Mass [kg]

[Unit: mm]

6

0

°

φ

1

4

7

±

0

.

1

Encoder connector
RM15WTRZB-12P(72)

163

View A

168.7

Top

A

Power connector

16 15

CE05-2A14S-2PD-D

62

16

17

W

CD

BA

V U

TopBottom

TopBottom

TopBottom

(PE)

Power connector
Output shaft side

Caution plate

Caution plate

Global standard plate

Model

Z-phase mark

Output

[W]

Moment of inertia J

[× 10

Corporate logo letter height: 0.5

Bottom

Motor plate

-4

kg•m2]

BC45324B

Mass [kg]

TM-RU2M009G30 283 147 8.3

[Unit: mm]

6-M5 screw
hole depth 8

6

0

°

φ

1

4

7

±

0

.

1

φ230

4-φ14 mounting hole
Use hexagon socket
head cap screw.

φ

2

°

5

4

6

0

54

2634

230

φ

2

90

2-φ6H 7 depth 8
P.C.D.260 ± 0.03

3

5
°

19

φ62

φ164

φ155 h7

Encoder connector
RM15WTRZB-12P(72)

163

A

View A

168.7

Top

Z-phase mark

Power connector

16 15

CE05-2A14S-2PD-D

62

21

22

W

CD

VU

BA

TopBottom

上下

Caution plate

Caution plate

TopBottom

上下

Global standard plate

TopBottom

上下

(PE)

Power connector
Output shaft side

Corporate logo letter height: 0.5

Bottom

Motor plate

BC61741B

8 - 10

APPENDIX

)

2

APPENDIX

App. 1 Selection example of direct drive motor

App. 1.1 Selection conditions

(1) Machine configuration

DT

Direct drive motor

(DD motor)

(2) Direct drive motor speed

θ

N

=

o

×

360

270

=

360

t

: Settling time (Here, this is assumed to be 0.1 s.)

s

60

(t

- tp - ts)

0

×

(0.45 - 0.125 - 0.1

60

(3) Operation pattern

= 200 [r/min]

Speed
[r/min]

Table mass
Rotary table diameter
Rotation angle per cycle
Positioning time
Acceleration/deceleration time
Operation cycle
Load torque

W
D
θ
t

0

t

p

t

f

T

T

= t

L

= 19 [kg]
= 300 [mm]
= 270 [degree]
= 0.45 [s] or less
= 0.125 [s]

= t

psd

psa

= 2.0 [s]
= 0 [N•m]

00

0.125
t

psa

App. 1.2 Selection of direct drive motor

(1) Load moment of inertia

1

J

=

L

8

1

=

8

2

× D

× W

T

× (300 × 10-3)2 × 19 = 0.214 [kg•m2]

(2) Acceleration/deceleration torques of load

T

= JL × 2π ×

a

JL× N

=

60

2π

0.214 × 200

=

9.55 × 0.125

= 35.9 [N•m]

No / 60

o

t

×

p

t

p

0.125

t0 0.45

0.1

t

psdtS

1 cycle tf 2.0

Time [s]

App. - 1

APPENDIX

(3) Temporary selection of direct drive motor

Selection conditions

Acceleration/deceleration torques of load < maximum torque of DD motor
Load moment of inertia < J

J

: Recommended load to motor inertia ratio

R

From the above, the following direct drive motor is temporarily selected.
TM-RFM018E20 (rated torque: 18 [N•m], maximum torque: 54 [N•m], moment of inertia: 149 × 10

2

[kg•m

])

(4) Acceleration/deceleration torque

Torque necessary for acceleration

T

=

Ma

(JL + JM) × N

9.55 × t

: Moment of inertia of DD motor

J

M

o

= 38.3 [N•m]

psa

Torque necessary for deceleration

Md

= -

(JL + JM) × N

9.55 × t

T

o

= - 38.3 [N•m]

psd

The torque required for acceleration/deceleration must be lower than the DD motor's maximum torque.

(5) Continuous effective load torque

Tr

ms

=

TMa2 × t

psa

+ T

: t0 - ts - t

t

c

psa

- t

psd

The continuous effective load torque must be lower than the DD motor's rated torque.

(6) Torque pattern

× moment of inertia of DD motor

R

2

× tc + T

L

t

f

2

× t

Md

Torque

[N•m]

psd

= 13.5 [N•m]

-4

38.3

0

0.125 0.125

-38.3

0.10.1

2.0

Time [s]

App. - 2

APPENDIX

(7) Selection results

The following direct drive motor and servo amplifier are selected as the result of the calculation.
Direct drive motor
Servo amplifier

App. 2 Manufacturer list

Names given in the table are as of October 2017.
For information, such as the delivery time, price, and specifications of the recommended products, contact
each manufacturer.

App. 3 Crimping connector for CNP3_

TM-RFM018E20
MR-J4-100B

Manufacturer Contact information

DDK DDK Ltd.

Daiwa Dengyo Daiwa Dengyo Co., Ltd.

Nippon Flex Nippon Flex Co., Ltd.

JST J.S.T. Mfg. Co., Ltd.

3M 3M

Molex Molex

Hirose Electric Hirose Electric Co., Ltd.

MR-J4W_

Servo amplifier

CNP3A

1) 2)

Note. This figure shows the 3-axis servo amplifier.

CNP3B

CNP3C
(Note)

No. Name Model Description Application

1) Connector set MR-J3WCNP3­D2L

2) Connector set MR-J3WCNP3­D2L-20P

For CNP3A/CNP3B/CNP3C
Receptacle housing: F35FDC-04V-K
Receptacle contact: BF3F-71GF-P2.0
(JST)

Applicable wire
Wire size: 1.25 mm
Insulator OD: 2.4 mm to 3.4 mm
The crimping tool (YRF-1070) is required.

2

(AWG 6) to 2.0 mm2 (AWG 14)

Quantity: 1
For thick

wires

Quantity:
20

For thick
wires

App. - 3

APPENDIX

App. 4 Fabrication of the encoder cable

POINT

Use recommended encoder cable connectors indicated in chapter 3 and chapter

4.

When you fabricate an encoder cable, the descriptions in this appendix should be noted to ensure reliability
of communication.

Cable fabrication

Connector selection

(1) Selection of connectors

Check the cable clamp size to select a connector indicated in chapter 3 and chapter

4.
Obtain the specification and wiring guide of the connector from the manufacturer.
Purchase an assembly jig or others as necessary.

Cable selection

(2) Selection of cables

Select a shielded twisted pair cable.
Select a cable having a diameter suitable to clamp to the connector cable clamp.
Select a cable whose length, diameter, and bending life are appropriate.

Cable assembly

(3) Assembly of the cable

Check the wiring guide of the connector manufacturer to connect the connector
properly.
Check internal wiring described in chapter 6 to connect it properly.
Perform a shielding process on the encoder cable properly.
Do not connect anything to unused pins.
For CN2, CN2A, CN2B, and CN2C side connectors, connect the external conductor
of the shielded cable to the ground plate and fix it to the connector shell.
For the direct drive motor-side connector, connect the external conductor of the
shielded cable to the SHD terminal.
Check if the pin arrangement is correct.
Connect the twisted pair cable in correct combination.
Check if the number of pairs of P5/LG wirings connected in parallel is correct.
Fix the cable to the connector with a proper clamping torque.

Inspection

(4) Inspection

After assembly, perform conduction, insulation, and other inspections to check if the
connection is correct.
Check the surface for scratches and contamination.
Check the connector pins for a distortion, bending, dent, etc.
Check the connector pins for foreign matter adhesion, contamination, and
discoloration.

Completion

App. - 4

APPENDIX

App. 5 Compliance with the CE marking

App. 5.1 What is CE marking?

The CE marking is mandatory and must be affixed to specific products placed on the European Union. When
a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking
also applies to machines and equipment incorporating servos.
A manual is available in different languages. For details, contact your local sales office.

(1) EMC directive

The EMC directive applies to the direct drive motor alone. Therefore direct drive motor is designed to
comply with the EMC directive. The EMC directive also applies to machines and equipment
incorporating direct drive motors. TM-RFM, TM-RG2M, TM-RU2M series comply with EN61800-3
Category 3. They are not intended to be used on a low-voltage public network which supplies domestic
premises; radio frequency interference is expected if it is used on such a network. The installer shall
provide a guide for installation and use, including recommended mitigation devices.

(2) Low voltage directive

The low voltage directive also applies to the direct drive motor alone. The direct drive motor is designed
to comply with the low voltage directive.

(3) Machinery directive

The direct drive motor as a single unit does not comply with the Machinery directive due to
correspondence with article1 2. (k). However, machines and equipment incorporating direct drive motors
will be complied. Please check your machines and equipment as a whole if they are complied.

App. 5.2 For compliance

Be sure to perform an appearance inspection of every unit before installation. In addition, have a final
performance inspection on the entire machine/system, and keep the inspection record.

(1) Wiring

Use wirings which complies with EN for the direct drive motor power. Complying EN products are
available as options. Refer to chapter 6 for details of the options.

(2) Performing EMC tests

When EMC tests are run on a machine and device into which the direct drive motor and direct drive
motor have been installed, it must conform to the electromagnetic compatibility (immunity/emission)
standards after it has satisfied the operating environment and electrical equipment specifications.
For EMC directive conforming methods about servo amplifiers and direct drive motors, refer to "EMC
Installation Guidelines" and each Servo Amplifier Instruction Manual.

App. - 5

APPENDIX

App. 6 Compliance with UL/CSA standard

Use the UL/CSA standard-compliant direct drive motor. For the latest information of compliance, contact
your local sales office.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/CSA standard­compliant models are the same as those of the standard models.

(1) Flange size

The direct drive motor is compliant with the UL/CSA standard when the motor is mounted on the
aluminum flange of the same size as indicated in the following table.
The rated torque of the direct drive motor under the UL/CSA standard indicates the continuous
permissible torque value that can be generated when the motor is mounted on the flange specified in
this table and used in the environment of 0 °C to 40 °C ambient temperature. Therefore, to conform to
the UL/CSA standard, mount the direct drive motor on a flange with a heat radiating effect equivalent to
that of this flange.

Flange size

[mm]

TM-RG2M002C30

TM-RU2M002C30

400 × 400 × 20 TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RG2M004E30

TM-RU2M004E30

550 × 550 × 35 TM-RFM006E20

TM-RFM012E20

TM-RFM018E20

TM-RG2M009G30

TM-RU2M009G30

650 × 650 × 35 TM-RFM012G20

TM-RFM048G20

TM-RFM072G20

750 × 750 × 45

950 × 950 × 50 TM-RFM240J10

Direct drive motor

TM-RFM040J10

TM-RFM120J10

App. - 6

APPENDIX

(2) Selection example of wires

To comply with UL 1004-1 and CSA-C22.2 No. 100, use UL-approved copper wires rated at 75 °C for
wiring.
The following table shows the wire size [AWG] rated at 75 °C, which is used for wiring of TM-RFM, TM­RG2M and TM-RU2M series.

(a) TM-RFM series

Note 1. Refer to each servo amplifier instruction manual for crimp terminals used for

2. To comply with UL 508A and NFPA 79, AWG 14 or more is required.

(b) TM-RG2M series and TM-RU2M series

Note. To comply with UL 508A and NFPA 79, AWG 14 or more is required.

Direct drive motor

TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RFM006E20 16 (Note 2)

TM-RFM012E20

TM-RFM018E20

TM-RFM012G20

TM-RFM048G20

TM-RFM072G20

TM-RFM040J10 16 (Note 2)

TM-RFM120J10 12

TM-RFM240J10 10 (Note 1)

connection with the servo amplifier.

Direct drive motor

TM-RG2M002C30

TM-RU2M002C30

TM-RG2M004E30

TM-RU2M004E30

TM-RG2M009G30

TM-RU2M009G30

Wire [AWG]

U/V/W/

12

Wire [AWG]

U/V/W/

18 (Note)

App. - 7

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision Date * Manual Number Revision

Mar. 2012 SH(NA)030112ENG-A First edition

May 2012 SH(NA)030112ENG-B Chapter 4 (3) The part of diagram is changed.

Feb. 2013 SH(NA)030112ENG-C Section 1.1

Section 2.1 (2)

Section 2.9

Chapter 5

Section 5.4

Chapter 6

Section 6.2.4 (1) to (2)

Section 7.2

Section 7.5

Jan. 2015 SH(NA)030112ENG-D 1-phase 100 V AC of servo amplifier power supply input is added to torque characteristics of

the direct drive motor.

Section 1.1

Section 5.4

Section 6.2.4 (1) to (2)

Section 7.2

Section 7.3

Section 7.4

Sep. 2015 SH(NA)030112ENG-E Torque characteristic at 1-phase 200 V AC input is added.

2. To prevent fire, note the

following

4. Additional instructions

Section 1.1

Section 1.2

Section 6.1.1

Section 6.2.4

Section 7.4

App. 2

App. 4

Feb. 2016 SH(NA)030112ENG-F Model names MR-J4-_GF of servo amplifiers are added.

Section 5.4

Section 7.2

Section 7.3

App. 2

Mar. 2017 SH(NA)030112ENG-G TM-RG2M/TM-RU2M series direct drive motors are added.

4. Additional instructions Partially changed.

Section 1.1 Changed.

Chapter 2 CAUTION is added.

Section 2.2 TM-RG2M/TM-RU2M are added.

Section 2.6 Partially changed.

Section 2.7 Partially changed.

Section 2.9 Partially changed.

Section 2.10 Added.

Section 3.1 TM-RG2M/TM-RU2M are added.

Section 5.3 TM-RG2M/TM-RU2M are added.

Section 6.1 TM-RG2M/TM-RU2M are added.

Section 6.2 POINT is changed.

Section 6.2.3 TM-RG2M/TM-RU2M are added.

Section 6.3 Partially changed.

The part of diagram is changed.

The part of sentences are changed.

The part of sentences are changed.

POINT is added.

A part is newly added, construction of sentences is changed.

POINT is added.

The part of diagram is changed.

The part of table is changed.

The part of diagram is changed.

The diagram is changed.

The table is added.

Note 1 is changed.

The part of table is changed.

Note 4 is changed.

POINT is changed. The sentences are added. The part of

diagram is changed.

Partially added.

Partially added.

The diagram is changed.

Partially changed.

Partially added.

Partially changed.

Partially added and partially changed.

Partially changed.

Added.

Model names are added.

Partially changed.

Model names are added.

Partially added.

Partially changed.

Revision Date *Manual Number Revision

Mar. 2017 SH(NA)030112ENG-G Section 7.3 Partially changed.

Chapter 8 Added.

App. 2 Partially changed.

App. 5 Added.

App. 6 Added.

Oct. 2017 SH(NA)030112ENG-H TM-RG2M002C30/TM-RU2M002C30 direct drive motors are added.

4. Additional instructions Partially changed.

Section 2.9 Partially changed.

Section 3.1 Partially changed.

Section 5.3 TM-RG2M002C30/TM-RU2M002C30 are added.

Section 6.1.2 TM-RG2M002C30/TM-RU2M002C30 are added.

Chapter 8 TM-RG2M002C30/TM-RU2M002C30 are added.

App. 6 Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.

2012 MITSUBISHI ELECTRIC CORPORATION



MEMO

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"

arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

4. Exclusion of loss in opportunity and secondary loss from warranty liability

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

SH(NA)030112ENG-H

hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a

safety device required by applicable laws and has any function or structure considered to be indispensable according to a
common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly

maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment

of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

announcement of the stop of production for each model can be seen in our Sales and Service, etc.

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

damages to products other than Mitsubishi products.

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,

railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.

MODEL

DIRECT DRIVEMOTOR
INSTRUCTIONMANUAL

MODEL
CODE

This Instruction Manual uses recycled paper.
SH(NA)030112ENG-H(1710)MEE Printed in Japan Specifications are subject to change without notice.

1CW948

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310