Mitsubishi TM-RFM006C20, TM-RFM002C20, TM-RFM006E20, TM-RFM012E20, TM-RFM018E20 User Manual
...
Direct Drive Motor
Mitsubishi Electric AC Servo System
User's Manual
-TM-RFM
-TM-RG2M
-TM-RU2M
SAFETY INSTRUCTIONS
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in
medium or slight injury.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
(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 manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full
knowledge of the equipment, safety information and instructions.
In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on 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.
In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into
"POINT".
After reading this guide, keep it accessible to the operator.
[Installation/wiring]
WARNING
● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring
and/or inspection.
● To prevent an electric shock, ground the direct drive motor securely.
● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
● To prevent an electric shock, do not attempt to wire the direct drive motor until it has been installed.
● To prevent an electric shock, do not touch the conductive parts.
[Installation/wiring]
CAUTION
● To prevent injury, do not touch the rotor of the direct drive motor during operation.
● To prevent injury, transport the products correctly according to their mass.
[Maintenance]
WARNING
● To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
1
DISPOSAL OF WASTE
Please dispose this product and other options according to your local laws and regulations.
CABLES USED FOR WIRING
The wiring cables mentioned in this User's Manual are selected based on the ambient temperature of 40 °C.
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
-4
Moment of inertia 1 [(× 10
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
kg•m2)] 5.4675 [oz•inch2]
2
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
CABLES USED FOR WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
CHAPTER 1 INTRODUCTION 5
1.1 Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Instructions on storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Design Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.6 Instructions on maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
CHAPTER 2 INSTALLATION 7
2.1 Equipment configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Mounting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Load mounting/dismounting precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Permissible load for the rotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 Protection from oil and water. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.7 Parts having life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.8 Machine accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.9 Flange size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.10 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m . . . . . . . . . . . . . . . 12
2.11 Magnetic shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
CONTENTS
CHAPTER 3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING 13
3.1 Selection of connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Wiring connectors (connector configurations A/B/C/D/E). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CHAPTER 4 CONNECTOR DIMENSIONS 16
CHAPTER 5 CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR 21
5.1 Precautions for wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2 Direct drive motor power cable wiring diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.3 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CHAPTER 6 Wiring option 24
6.1 Connector set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Combinations of connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Connector list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 Encoder connector set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Combinations of encoder cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Fabrication of the encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Shield procedure of CN2, CN2A, CN2B, and CN2C side connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.3 Absolute position storage unit MR-BTAS01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3
CHAPTER 7 TM-RFM SERIES 37
7.1 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.2 Combinations of servo amplifier and direct drive motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
1-axis servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Multi-axis servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.3 Specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
TM-RFM series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.4 Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
TM-RFM002C20, TM-RFM004C20, TM-RFM006C20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
TM-RFM006E20, TM-RFM012E20, TM-RFM018E20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
TM-RFM012G20, TM-RFM048G20, TM-RFM072G20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
TM-RFM040J10, TM-RFM120J10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
CHAPTER 8 TM-RG2M SERIES/TM-RU2M SERIES 47
8.1 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
8.2 Combinations of servo amplifier and direct drive motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
1-axis servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Multi-axis servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8.3 Specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
TM-RG2M series/RU2M series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.4 Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.5 Installation method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.6 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
TM-RG2M002C30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
TM-RG2M004E30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
TM-RG2M009G30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
TM-RU2M002C30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
TM-RU2M004E30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
TM-RU2M009G30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
CHAPTER 9 COMPLIANCE WITH EACH REGION 55
9.1 Compliance with CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
For compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2 Compliance with UL/CSA standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
CHAPTER 10 APPENDIX 58
10.1 Fabrication of the encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
4
1 INTRODUCTION
Precautions
*2
*1
Induced voltage constant, IP rating, serial number
Model
Input power, rated torque, mass
Insulation class, rated speed, maximum ambient temperature
Country of origin
Manufacturer
• Use direct drive motors manufactured after June 2019.
• MR-J5-_G_-RJ and MR-J5-_A_-RJ will be available in the future.
1.1 Rating plate
The following shows an example of the rating plate for explanation of each item.
*1 Production year and month of the direct drive motor are indicated in a serial number on the rating plate.
The year and month of manufacture 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. would be "SER. _ _ _ _ _ _ _ _ _ 121".
*2 Certified products by the Authorized Bodies are marked.
The mark depends on the related Authorized Bodies.
1
1.2 Environment
Operation Storage/transportation
Ambient
temperature
Ambient humidity 10 %RH to 80 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing)
Ambience
Altitude 2000 m or less
Vibration
resistance
*1 Do not use in an environment where there is exposure to oil mist, oil, and water.
*2 Refer to the following for restrictions on using this product at an altitude exceeding 1000 m and up to 2000 m.
*3 Do not place the direct drive motor near magnetic sources, such as a magnet. If it is unavoidable, block the magnetic force by installing
*1*3
Page 12 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m
a shielding plate or others.
0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
*2
Refer to the following.
Page 39 Specification list
Page 49 Specification list
1 INTRODUCTION
1.1 Rating plate
5
1.3 Parts identification
Precautions
Precautions
Precautions
Rotor (output shaft)
Encoder connector
Power connector
Power supply (U/V/W)
Grounding ( )
Z-phase mark
1.4 Instructions on storage
Note the following when storing the direct drive motor for an extended period of time (guideline: three months or longer).
• Always store the linear servo motor indoors, in a clean and dry place.
• When storing in a dusty and humid area, take measures such as covering the whole product.
• If the insulation resistance of the winding decreases, check how to store the equipment.
• Although the servo motor has been given rust prevention treatment with paint and preventive oil before shipment, rust may
still appear depending on the storage period and conditions. If the servo motor is to be stored for longer than six months,
apply rust prevention oil again, especially on the machine surfaces of the rotating parts and others.
• Before using the product after an extended storage, hand-turn the rotor (output shaft) of the direct drive motor, and check to
ensure that there is no abnormality.
• When the product has been stored for an extended period of time, contact your local sales office.
1.5 Design Instructions
• If a hazardous condition is suspected at the time of stoppage and product malfunction, provide an external braking system
as a prevention.
1.6 Instructions on maintenance
• For repair and parts replacement, contact your local sales office.
6
1 INTRODUCTION
1.3 Parts identification
2 INSTALLATION
Precautions
• The cables should not be damaged, stressed, loaded, or pinched.
• Install the direct drive motor on incombustible material. Installing them directly or close to combustibles will lead to smoke
or a fire.
• Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from
entering the direct drive motor.
• Direct drive motor may be hot depending on the operating method. Take safety measures such as providing covers.
• Stacking in excess of the specified number of product packages is not allowed.
• Do not hold the cables, connectors, rotor, or encoder when carrying the direct drive motor. Otherwise, it may drop.
• Install the direct drive motor in a load-bearing place in accordance with the user’s manual.
• The equipment must be installed in the specified direction.
• Use the product within the specified environment. For the environment, refer to the specifications of the direct drive motor.
• Securely fix the direct drive motor to the machine. If attached insecurely, the motor may come off during operation.
• Do not install or operate a direct drive motor, which has been damaged or has any parts missing.
• To prevent a malfunction on the encoder, do not apply shocks, e.g. hit with a hammer, when coupling the rotor of the direct
drive motor.
• To prevent the rotor from being damaged, do not subject the rotor of the direct drive motor to more than the permissible
load.
• To prevent a connection failure, malfunction, or others, do not strike the connector.
• Be sure to measure the vibration level with the direct drive motor mounted on the machine. A great vibration may cause
early damage to a bearing and encoder. The great vibration may also cause the poor connector connection or screw
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
early damage to the direct drive motor.
• To illustrate details, the equipment in the diagrams of this 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 user’s manual.
• To prevent the vibration during direct drive motor operation, or the cause of the damage to the bearings and encoder, the
balance level of the load needs to be as even as possible. To prevent malfunction, do not use the direct drive motor where
the shaft-through portion may be subject to pressure (e.g. compressed air).
• Take safety measures such as providing covers to avoid accidentally touching the rotor of direct drive motor during
operation.
• Do not get on or put heavy load on the equipment.
• Do not drop or strike the direct drive motor.
• To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and
wire the linear servo motor in accordance with the user’s manual.
• To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or
modified products are not covered under warranty.
• 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.
2
2 INSTALLATION
7
2.1 Equipment configuration
Z-phase pulse is on
(Z-phase mark passing)
when the Z-phase mark
on the rotor end of the
direct drive motor is in
the connector area.
Rotor (output shaft)
Encoder connector
Connector mounting part
Power connector
Z-phase mark
The following shows the configuration of a direct drive motor. When using the direct drive motor, note the following.
Minimum oscillation angle
For a direct drive motor that performs a rotating oscillating motion within 70 °, rotate the motor more than 90 ° at least once a
day to keep the bearings lubricated.
Z-phase position
Z-phase pulse is on (Z-phase mark passing) when the Z-phase mark on the rotor end of the direct drive motor is in the
connector area. Keep the Z-phase position visible even after the direct drive motor is installed to a machine.
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 or more, install the direct drive motor in a position where the Z-phase mark
can pass over the connector area.
In order to turn the Z-phase pulse, Z phase mark needs to be rotated ±15° or more with respect to the center of the connector
mounting part.
For 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 poles detection is not
required.
8
2 INSTALLATION
2.1 Equipment configuration
2.2 Mounting direction
The mounting direction of the direct drive motor is shown in the following table.
Direct drive motor series Mounting direction
TM-RFM
TM-RG2M
TM-RU2M
All directions
2.3 Load mounting/dismounting precautions
• To prevent a malfunction on the encoder, the rotor must not be hammered during assembling.
• The direction of the encoder on the direct drive motor cannot be changed.
• When mounting the direct drive motor, use spring washers and others, and fully tighten the screws so that they do not
become loose due to vibration.
2
2.4 Permissible load for the rotor
Do not use rigid coupling, as it may damage the rotor.
For the permissible rotor load specific to the direct drive motor, refer to the following.
Page 39 Specification list
• When coupling a load to the direct drive motor, the load applied to the rotor must be within the permissible load.
• The load, which exceeds the permissible load, can cause the bearing life to reduce and the rotor to break.
• 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 INSTALLATION
2.2 Mounting direction
9
2.5 Protection from oil and water
Precautions
Cover
Oil/water pool
Capillary action
Direct drive motor
Lubricating oil
Rotary table or others
Direct drive motor
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.
• Do not use the rotary servo motor with its cable soaked in oil or water.
• Provide measures so that the direct drive motor is not exposed to oil and water entering from the machine side, rotating
table, etc.
• If liquid such as cutting oil drops on the direct drive motor, the sealant, packing, cable and others may be affected
depending on the liquid type.
• 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 dust proof and waterproof measures on the machine side.
2.6 Inspection items
• To prevent malfunction, do not perform insulation resistance test on the direct drive motor.
• Do not disassemble and/or repair the equipment on customer side.
Periodic inspection
Perform the following inspections.
• Check the bearings and the like for unusual noise.
• Check the cables and the like for scratches or cracks. Especially when the junction cable is movable, perform periodic
inspection according to operating conditions.
• Check the power connector and encoder connector connections for looseness.
10
2 INSTALLATION
2.5 Protection from oil and water
2.7 Parts having life
d
A
c
bA
a
A
φ_
φ_
The life of the following parts is listed below. If any fault is found in the parts, replace them immediately because their life
varies. For parts replacement, contact your local sales office.
Part name Guideline of life Remark
Bearings 20,000 hours to 30,000 hours The Guideline of Life field gives the reference time.
Encoder 20,000 hours to 30,000 hours
Absolute position storage unit (option) 20,000 hours to 30,000 hours
When the motor is run at rated speed and at rated load, bearings should be changed in 20,000 to 30,000 hours as a guideline.
As this differs depending on the operating conditions, the bearings must also be changed if unusual noise or vibration occurs
during inspection.
If any fault is found before this time is reached, the part must be
changed.
2.8 Machine accuracy
The following table indicates the machine accuracy of the rotor (output shaft) and the mounting area of the direct drive motor
(except special products).
Item Measuring position Accuracy [mm]
Runout of mounting surface to rotor (output shaft) a 0.05
Runout of fitting outer diameter of mounting surface b 0.07
Runout of rotor (output shaft) c 0.04
Runout of rotor (output shaft) end d 0.02
2
Reference diagram
2 INSTALLATION
2.7 Parts having life
11
2.9 Flange size
0
20001000
95
100
0
[%]
[m]
Altitude
Derating rate
The rated torque of the direct drive motor is the continuous permissible torque value that can be generated when the direct
drive motor is mounted on the flange specified in this table, made of aluminum, and used in the environment of 0 ˚C to 40 ˚C
ambient temperature.
Flange size [mm] Direct drive motor
400 × 400 × 20 TM-RG2M002C30
TM-RU2M002C30
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
550 × 550 × 35 TM-RG2M004E30
TM-RU2M004E30
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
650 × 650 × 35 TM-RG2M009G30
TM-RU2M009G30
TM-RFM012G20
TM-RFM048G20
TM-RFM072G20
750 × 750 × 45 TM-RFM040J10
TM-RFM120J10
2.10 Restrictions when using this product at altitude
exceeding 1000 m and up to 2000 m
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.
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 or others.
12
2 INSTALLATION
2.9 Flange size
3 CONNECTORS USED FOR DIRECT DRIVE
Precautions
MR-BTAS01
Power connector
Encoder connector
Absolute position storage unit
Servo amplifier-side
connector
Encoder-side
connector
MOTOR WIRING
• 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 varies, 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 the following for the compatible connector configuration products.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
3
Direct drive motor Wiring connector
For power supply For encoder Absolute position storage unit (option)
Servo amplifier side Encoder side
TM-RFM_C20 Connector configuration B Connector configuration A Connector configuration A Connector configuration E
TM-RFM_E20
TM-RFM_G20 Connector configuration C
TM-RFM040J10 Connector configuration D
TM-RFM120J10
TM-RG2M002C30 Connector configuration B
TM-RU2M002C30
TM-RG2M004E30
TM-RU2M004E30
TM-RG2M009G30
TM-RU2M009G30
*1 Used in the absolute position detection system
*1
3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING
3.1 Selection of connectors
13
3.2 Wiring connectors (connector configurations A/B/
Plug Cord clamp
Plug
Cable clamp
C/D/E)
Connector
configuration
Feature Plug (Hirose Electric) Recommended cable (Bando
Densen)
Typ e Plug Cord clamp Model Cable OD
A IP67 Straight RM15WTPZK-12S JR13WCCA-8(72) 20276
VSVPAWG#23×6P
KB-0492
*1 The connector to be mated.
*2 Supplier: Toa Electric Industrial
Connector
configuration
Feature Plug (DDK) Cable clamp Direct drive motor
Typ e Model Cable OD [mm]
(reference)
BIP67
EN
compliant
General
environment
*1
Straight CE05-6A14S-2SD-D
Applicable wire size: AWG 22 to 16
D/MS3106B14S-2S
Applicable wire size: AWG 22 to 16
4 to 8 ACS-08RL-MS14F
8 to 12 ACS-12RL-MS14F
5 to 8.3 YSO14-5 to 8
8.3 to 11.3 YSO14-9 to 11
7.9 or less
(Bushing ID)
*2
Direct drive motor
encoder connector or
absolute position
[mm]
(reference)
8.2 RM15WTRZB-12P(72)
Model
(Nippon Flex)
(Nippon Flex)
(Daiwa Dengyo)
(Daiwa Dengyo)
D/MS3057-6A
storage unit
connector (servo
amplifier side)
power supply
connector
CE05-2A14S-2PD-D
*1
*2
*1 Not comply with EN.
*2 The connector to be mated.
14
3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING
3.2 Wiring connectors (connector configurations A/B/C/D/E)
Connector
Plug Cable clamp
Plug Cable clamp
Plug Cord clamp
configuration
CIP67
Feature Plug (DDK) Cable clamp (DDK) Direct drive motor
Typ e Model Cable OD [mm]
EN
compliant
General
environment
*1
Straight CE05-6A18-10SD-D-BSS
*1 Not comply with EN.
*2 The connector to be mated.
Applicable wire size: AWG 14 to 12
D/MS3106B18-10S
Applicable wire size: AWG 14 to 12
Model
(reference)
8.5 to 11 CE3057-10A-2-D CE05-2A18-10PD-D
10.5 to 14.1 CE3057-10A-1-D
14.3 or less
(Bushing ID)
D/MS3057-10A
power supply
connector
*2
3
Connector
configuration
Feature Plug (DDK) Cable clamp (DDK) Direct drive motor
Typ e Model Cable OD [mm]
(reference)
DIP67
EN
compliant
General
environment
*1
Straight CE05-6A22-22SD-D-BSS
Applicable wire size: AWG 10 to 8
D/MS3106B22-22S
Applicable wire size: AWG 10 to 8
9.5 to 13 CE3057-12A-2-D CE05-2A22-22PD-D
12.5 to 16 CE3057-12A-1-D
15.9 or less
(Bushing ID)
*1 Not comply with EN.
*2 The connector to be mated.
Connector
configuration
Feature Plug (Hirose Electric) Recommended cable (Bando
Densen)
Typ e Plug Cord clamp Model Cable OD
E IP67 Straight RM15WTPZ-12P(72) JR13WCCA-8(72) 20276
VSVPAWG#23×6P
KB-0492
*1 The connector to be mated.
*2 Supplier: Toa Electric Industrial
*2
Model
D/MS3057-12A
power supply
connector
Absolute position
storage unit
connector (encoder
*1
[mm]
side)
(reference)
8.2 RM15WTRZB-12S(72)
*2
3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING
3.2 Wiring connectors (connector configurations A/B/C/D/E)
15
4 CONNECTOR DIMENSIONS
M19 × 1
M16 × 0.75
36.3
φ21.5
φ15.2
Spanner hook gap dimension: 18
[Unit: mm]
7.5
φ20
M16 × 0.75
8
Spanner hook gap dimension: 17
[Unit: mm]
The following shows the dimensions of the connectors used for wiring the direct drive motor.
Hirose Electric
■RM15WTPZK-12S/RM15WTPZ-12P(72)
Model Connector configuration
RM15WTPZK-12S A
RM15WTPZ-12P(72) F
*1 Refer to the following for the connector configuration.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
■JR13WCCA-8(72)
Refer to the following connector configuration A and F for the connector configuration.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
*1
16
4 CONNECTOR DIMENSIONS
DDK
24.0 ± 1
8.46 ± 0.5
5.6 ± 0.1
7/8-20UNEF-2B
(13.2)
3/4-20UNEF-2A
φ28.57
0
-0.38
φ17.0 ± 0.25
[Unit: mm]
Positioning key
φC
φB
ADW
Positioning key
[Unit: mm]
+0
-0.38
B
■CE05-6A14S-2SD-D
Refer to the following connector configuration B for the connector configuration.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
■CE05-6A18-10SD-D-BSS, CE05-6A22-22SD-D-BSS, CE05-6A32-17SD-D-BSS
4
Model A C ± 0.8 D or less W Connector
configuration
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
*1 Refer to the following for the connector configuration.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
*1
4 CONNECTOR DIMENSIONS
17
■CE3057-10A-1-D, CE3057-10A-2-D, CE3057-12A-1-D, CE3057-12A-2-D, CE3057-20A-1-D
φE
φB
φF
(D)
C
1.5
A ± 0.7
G ± 0.7
(Bushing OD)
V-thread
[Unit: mm]
(Bushing ID)
φQ
0
-0.38
A
V
J ± 0.12
L or shorter
W or longer
Y or shorter
[Unit: mm]
Model Applicable
shell size
CE3057-10A-1-D18 23.8 30.1 10.3 (41.3) 15.9 14.1 31.7 1-20UNEF-2BCE3420-10-1 10.5 to 14.1 C
CE3057-10A-2D
CE3057-12A-1-D22 23.8 35 10.3 (41.3) 19 16.0 37.3 1 3/16-
CE3057-12A-2D
CE3057-20A-1-D32 27.8 51.6 11.9 (43.0) 32.0 23.8 51.6 1 3/4-
A B C (D) E F G V Enclosed
bushing
model
11.0 CE3420-10-2 8.5 to 11
CE342012-1 12.5 to 16 D
18UNEF-2B
13.0 CE342012-2 9.5 to 13
CE3420-20-1 22.0 to 23.8 E
18UNS-2B
Applicable
cable OD
(reference)
*1 Refer to the following for the connector configuration.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
■D/MS3106B14S-2S, D/MS3106B18-10S, D/MS3106B22-22S, D/MS3106B32-17S
Connector
configuration
*1
18
Model A J L Q V W Y Connector
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
*1 Refer to the following for the connector configuration.
Page 14 Wiring connectors (connector configurations A/B/C/D/E)
4 CONNECTOR DIMENSIONS
configuration
*1
Loading...