Torque Motor Rotary Tables

Torque Motor (Direct Drive Motor)
HIWIN MIKROSYSTEM CORP.

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Technical Information
The specifications in this catalog are subject to change without notification.
©2017 FORM MR99TE02-1703

(PRINTED IN TAIWAN)
INDUSTRIE 4.0 Best Partner
Linear Motor Stage Linear Motor

Automated transport / AOI application / Machine tool / Touch panel industry /
Precision / Semiconductor Semiconductor industry /
• With Iron-core Laser manufacturing machine /
• Coreless Type Glass cutting machine
• Linear Turbo LMT • Ironcore linear motor-LMFA series,
• Planar Servo Motor LMSA series, LMSC series
• Air Bearing Platform • Ironless linear motor-LMC series,
• X-Y Stage LMT series
• Gantry Systems
Torque Motor AC Servo Motor & Drive

(Direct Drive Motor) Semiconductor / Packaging machine /
SMT / Food industry / LCD
Inspection / Testing equipment /
• Drives-D1, D1-N, D2
Machine tools / Robot
• Motors-50W~2000W
• Rotary Tables-TMS,TMY,TMN
• TMRW Series
• TMRI Series
Linear Actuator Positioning

Hospital bed / Automatic window / Measurement System
Home care facility / Riveting /
Cutting machines /
Press-fitting / Surface checks / Bending
Traditional gantry milling machines /
• Servo Actuator-LAA series
Programmable drilling machines
• LAM series
• High Resolution
• LAI series
• Signal Translator
• LAS series
• High-precision Enclosed
• LAN series
• High Efficiency Counter
• LAC series
Multi Axis Robot

Pick-and-place / Assembly /
Array and packaging / Semiconductor /
Electro-Optical industry /
Automotive industry / Food industry
• Articulated Robot
• Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
Torque Motor (Direct Drive Motor) Technical Information

Single Axis Robot Medical Equipment Publication Date：October 2015, first edition
Precision / Semiconductor / Hospital / Rehabilitation centers /
Medical / FPD Nursing homes
Print Date：March 2017, 2nd edition
• KK, SK • Robotic Gait Training System
• KS, KA • Hygiene System
• KU, KE, KC • Robotic Endoscope Holder
1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. Please avoid buying the counterfeit
goods that are from unknown sources to protect your rights.
2. Actual products may be different from the specifications and photos in this catalog, and the
differences in appearances or specifications may be caused by, among other things, product
improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Act" and relevant regulations. Any export of restricted products should be approved by competent
Ballscrew Linear Guideway
authorities in accordance with relevant laws, and shall not be used to manufacture or develop the
Precision Ground / Rolled Automation / Semiconductor / Medical
• Super S series • Ball Type--HG, EG, WE, MG, CG nuclear, biochemical, missile and other military weapons.
• Super T series • Quiet Type--QH, QE, QW, QR
• Mini Roller • Other--RG, E2, PG, SE, RC
• Ecological & Economical
lubrication Module E2
Copyright © HIWIN Mikrosystem Corp.
• Rotating Nut (R1)
• Energy-Saving & Thermal-
Controlling (C1)
• Heavy Load Series (RD)
• Ball Spline
Contents Torque Motor
1.Torque Motor Rotary Tables 01 3.TMRI Torque Motor 33

1.1 Product Overview and Applications....................................... 1
3.1 TMRIA Series .......................................................................34
1.2 TMS Rotary Tables................................................................. 2
3.2 TMRIG Series .......................................................................36
1.2.1 TMS0 Series................................................................ 3
1.2.2 TMS1 Series................................................................ 4
1.2.3 TMS3 Series................................................................ 5
1.2.4 TMS7 Series................................................................ 6
1.2.5 TMS Series T-N curves............................................... 7 4.Drive and Accessories 39
1.3 TMY Rotary Tables................................................................. 8
4.1 Pin Assignment ....................................................................41
1.3.1 TMY4 Series................................................................ 9
1.3.2 TMY6 Series...............................................................10
1.3.3 TMYA Series...............................................................11
1.3.4 TMY Series T-N curves..............................................12
1.4 TMN Rotary Tables...............................................................13
1.4.1 TMN Incremental Series............................................15
5.Appendix 42
1.4.2 TMN absolute Series.................................................16
A：Motor Sizing .........................................................................42
1.4.3 TMN Series T-N curves.............................................16
B：Glossary ...............................................................................46
C：Environment ........................................................................48
2.TMRW Torque Motor 17 D：Torque Motor Inquiry Form .................................................49
2.1 TMRW1 Series......................................................................18

2.2 TMRW2 Series......................................................................20
2.3 TMRW4 Series......................................................................22
2.4 TMRW7 Series......................................................................24
2.5 TMRWA Series .....................................................................26
2.6 TMRWD Series .....................................................................28
2.7 TMRWG Series .....................................................................30
Torque Motor (Direct Drive Motor) 1
1. Torque Motor Rotary Tables

1.1 Product Over view and Applications
An extremely rigid connection between motor and load, and a servo-drive regulation ensures excellent
acceleration capabilities and good uniformity of movement. HIWIN rotary tables and torque motors are
Torque Motor Rotary Tables

especially well suited for tasks in automation due to the hollow shaft design. Media, cable systems or
mechanical parts can be fed through without problems.
　No backlash
　Drive free of clearance
　Hollow shaft
　No gear transmission losses
　Maintenance free and compact
　Brush-free drive Short and compact:
　Extremely rigid support with cross-roller bearing HIWIN rotary tables are
optimized for high torques
　IP65 available for TMS Series and robust dynamics.
　Integrated brake is available as an option
　Hall sensor is available as an option
Table 1.1 Applications of Rotary Tables
Features and Applications

Classification Application Maintenance
Accuracy Speed Rigidity Compactness Cleanliness
Free
CVD, wafer cleaning, ion
implantation
   
Production
equipment Semi-conductor transport,
inspection/processing
   
Assembly machines for

electric components
    
Assembly High-speed assembly

machines machines for     
electronic components
Various assembly machines     
Machine Tool changers   
tools C axis    
Machine part inspection   
Inspection of electric
components
  
Inspection/
Inspection of optical
testing   
components
equipment
Chemical analysis of liquids   
Various Inspection/testing
equipment
  
Various assembly robots     

Various transport robots    
Robots
Inpsection/Transport robots
in clean rooms
    
2 MR99TE02-1703 Torque Motor (Direct Drive Motor) 3
TMS0
1.2 TMS Rotar y Tables 1.2.1 TMS0 Series
The TMS series is designed with an integrated, high resolution incremental optical encoder optimized to TMS0 Dimensions
achieve high dynamic motion, high torque and high precision. The TMS series is a perfect fit for industries
that require high precision. 2-Ø9H7x2.1DP
PCD 60
Encoder Encoder
60°
connector connect
　Inner rotating structure
TY

P
　Integrated optical rotary encoder with resolution 4,320,000 p/rev
30°
　High dynamic, torque and precision
　Maximum torque: 9.3~450Nm 2-Ø5H7x7DP
PCD 60
　Meets IP65 enclosure standards as an option Motor Motor
connector 6-M5x0.8Px10DP connec
　Integrated brake is available as an option PCD 60
　Hall sensor is available as an option 12 (Rotor fixture)
0°
Ø80
0.07 A
Model Numbers for TMS Series Ø24H7
Rr A Ra A
2-Ø5H7x7DP
PCD 90
60
Motor specification Function
°T
10
YP
45°
TM S 3 2 L H B P C
H±0.3
Series
TM：Torque Motor
0°
12
2-Ø9 H7 x2.1DP
Type PCD 90
S：Complete rotary table 6-M6x1Px9DP

Ø110 View X PCD 90
Size A (Stator fixture)
X
0：External diameterΦ110mm
3：External diameterΦ200mm Table 1.2 TMS0 Specifications
Symbol Unit TMS03 TMS07
Rotor height Continuous torque Tc Nm 3.1 6.2
2：20mm Continuous current Ic Arms 2 2
3：30mm Peak torque (Within 1s.) Tp Nm 9.3 18.6
4：40mm Peak current (Within 1s.) Ip Arms 6 6
6：60mm Torque constant Kt Nm/Arms 1.55 3.1
Electrical time constant Te ms 1.9 2.1
8：80mm
Resistance (line to line at 25℃) R25 Ω 7.1 11.1
C：120mm Inductance (line to line) L mH 13.8 23
Number of poles 2p 10 10
Wiring Code
Back emf constant (line to line) Kv Vrms/(rad/s) 0.82 1.7
S：Standard Motor constant (line to line at 25℃) Km Nm/√W
_
0.5 0.8
L：Low Back emf Thermal resistance Rth K/W 1.76 1.13
Temperature sensor PTC SNM100
Hall sensor
Nominal input voltage VDC 500(6002))
H：Without Hall sensor Inertia of rotating parts J kgm2 0.003 0.006
H：With Hall sensor Mass of motor Mm kg 4 7
Max. axial load Fa N 3700 3700
Brake Max. moment load M Nm 40 40
B：Without brake Max. speed rpm 700 700
B：With power-on brake (TMS1, TMS3, TMS7 Series) Resolution p/rev 4,325,376 (Incremental rotary encoder, sin/cos 1Vpp)
Repeatability arc-sec ±3
International Protection Standard Accuracy arc-sec ±45/±101)
S：IP40(Standard) Axial runout Ra mm 0.03(0.0052)) Resolver
connector
P：IP65 Radial runout Rr mm 0.03(0.0152))
Height H mm 117.5 150
Optional Specifications Note：1) After error mapping
S：Standard 2)
Optional
C：Customized *All the specifications in the table are in ±10％ of tolerance except dimensions.
Motor
connector
4 5
MR99TE02-1703
TMS3 Torque Motor (Direct Drive Motor)
TMS1 TMS3
TMS0 8-M8x1.25Px1
TMS1
PCD
1.2.2 TMS1 Series 1.2.3 TMS3 Series (Rotor fixt
2-Ø12H7x2.6DP
TMS1 Dimensions 2-Ø5H7x7DP
TMS3 Dimensions PCD 190
PCD 48
45
2-Ø5H7x7DP 2-Ø9H7x2.1DP
°T
YP
PCD 48 PCD 60
45
2-Ø9H7x2.1DP
°T
60
5°
Encoder
Y
PCD 60 Encoder
°T
P
60°
13
connector connector
YP
T
60
YP
5°
Encoder Encoder Encoder
22.5°
°T
13
connector connector

connector
30°
YP
22.5°
2-Ø5H7x7DP
6-M6x1Px9DP
PCD 60 8-M6x1Px12DP
PCD 60
Motor (Rotor fixture) Motor PCD 120
6-M5x0.8Px10DP 6-M6x1Px9DP connector connector (Rotor fixture)
PCD 60 8-M6x1Px12DP
PCD 60 PCD 120
(Rotor fixture) Motor (Rotor fixture) Motor Motor
connector connector (Rotor fixture) connector
12
0°
2-Ø12H7x2.1DP 67
.5°
12 2-Ø5H7x7DP PCD 120 2-Ø12 H7 x2.1DP
2-Ø5H7x7DP 0° 2-Ø6H7x8DP
Rr A Ra A Ø99 PCD 142 67 2-Ø6H7x8DP PCD 180
PCD 90 2-Ø12H7x2.1DP .5° 10° PCD 120 15°
Ø35H7
2-Ø5H7x7DP 2-Ø12 H7 x2.1DP PCD 180
Rr A Ra A PCD 120 2-Ø6H7x8DP
Ø99 PCD 142 2-Ø6H7x8DP PCD 180
45
0.07 A 10° PCD 120 15°
60
PCD 180
°T
Ø35H7
1
Ø170.5
YP
°T
Rr A Ra A 0.07 A
10
YP
45
Ø60H7
1
45°
°T
Rr A
30
Ø170.5 Ra A
YP
°T
10
°T
YP
22.5°
YP
H±0.3
Ø60H7
1
Rr A
30
Ra A
H±0.3
10
0°
°T
0.5
15
0°
22.5°
YP
10
12
Ø230
H±0.3
15°
2-Ø9 H7 x2.1DP
0°
0.5
15
PCD 90 Ø
13
10
5°
Ø203 max.
15°
Ø9 H7 x2.1DP
H±0.4
CD 90 6-M6x1Px9DP
13
View X PCD 90 Ø150 2-Ø9 H7 x2.1DP

5°
H±0.4
9DP (Stator fixture) A PCD 110
A
Ø150 X 2-Ø9 H7 x2.1DP 35° 8-M6x1Px12DP
ure) A PCD 110 PCD 142
X 35° 8-M6x1Px12DP View X (Stator fixture)
10-M6x1Px12DP
PCD 142
(Stator fixture) PCD 180
View X Ø200 10-M6x1Px12DP (Stator fixture)
A PCD 180 7.5°
Ø200 X (Stator fixture)
A 7.5° View X
X
View X
Table 1.3 TMS1 Specifications Table 1.4 TMS3 Specifications
Symbol Unit TMS12 TMS14 TMS16 TMS18 Symbol Unit TMS32 TMS34 TMS34L TMS38 TMS38L TMS3C TMS3CL Ø300
Continuous torque Tc Nm 5 10 15 20 Continuous torque Tc Nm 10 20 20 40 40 60 60
Continuous current Ic Arms 4 4 4 4 Continuous current Ic Arms 3 3 3 6 6 3 6
Peak torque (Within 1s.) Tp Nm 15 30 45 60 Peak torque (Within 1s.) Tp Nm 30 60 60
120 120 180 180
Peak current (Within 1s.) Ip Arms 12 12 12 12 Peak current (Within 1s.) Ip Arms 9 9 9 18 18 9 18
Torque constant Kt Nm/Arms 1.25 2.5 3.75 5 Torque constant Kt Nm/Arms 3.3 6.6 3.3
13.3 6.65 20 10
Electrical time constant Te ms 3.2 3.6 3.8 4 Electrical time constant Te ms 4.7 4.8 4.4
5.3 4.5 5.9 5
Resistance (line to line at 25℃) R25 Ω 2.6 3.9 5.2 6.5 Resistance (line to line at 25℃) R25 Ω 5.8 8.4 1.7
13.6 2.9 18.8 3.9
Inductance (line to line) L mH 8.2 14 20 26 Inductance (line to line) L mH 27 40 7.5
71.5 13 111 19.5
Number of poles 2p 22 22 22 22 Number of poles 2p 22 22 2222 22 22 22
Back emf constant (line to line) Kv Vrms/(rad/s) 0.6 1.2 1.8 2.4 Back emf constant (line to line) Kv Vrms/(rad/s) 1.6 3.2 1.6
6.4 3.2 9.6 4.8
Motor constant (line to line at 25℃) Km Nm/√W
_
0.6 1 1.3 1.6 Motor constant (line to line at 25℃) Km Nm/√W
_
1.1 1.9 TMX62.1
2.9 3.2 3.8 4.1
Thermal resistance Rth K/W 1.2 0.8 0.6 0.48 TMX4 Thermal resistance
TMX6 Rth K/W 0.96 0.66 0.82
0.41 0.48 0.3 0.36
Temperature sensor
Nominal input voltage VDC
TMX4
PTC SNM100
500(600 2)
)
6-M5x0.8Px10DP
Temperature sensor
Nominal input voltage
4-M6x1Px9DP
PCD 160
VDC
PTC SNM100
500(6002))
2
Inertia of rotating parts J kgm 0.006 0.0065 PCD 100
0.007 0.0075 4-M6x1Px9DP Inertia of rotating parts J kgm2
(Rotor fixture) 0.014 0.02 0.02 0.026 0.026 0.035 0.035
6-M5x0.8Px10DP (Rotor fixture) PCD 160
Mass of motor Mm PCDkg100 7.2
Resolver
connector
8.5 9.8 11 Mass of motor
(Rotor fixture) Mm kg 14 17 17 22.5 22.5 28.5 28.5
(Rotor fixture)
Max. axialResolver
load Fa N 3700 3700 3700 3700 Max. axial load Fa N 8000 8000 8000 8000 8000 8000 8000
connector Resolver
Max. moment load M Nm 60 60 60 60 Max. moment load M Nm 240 240 240 240 240 240 240
30°
connector
45°
Max. speed rpm 600 600 600 500 Resolver Max. speed rpm 600 400 600 200 450 120 300
30°
connector
45°
Resolution p/rev 4,320,000 (Incremental rotary encoder, sin/cos 1Vpp) Resolution p/rev 4,320,000 (Incremental rotary encoder, sin/cos 1Vpp)
30°
Repeatability arc-sec Motor

±3 Repeatability arc-sec ±2.5
30°
Accuracy arc-sec connector ±45/±10 1)

Accuracy arc-sec ±25/±101)
Motor 2-Ø5 H9x5DP
2)
Axial runout connector Ra mm 30° 0.03(0.005
PCD 100 ) Axial runout
Motor Ra mm 0.03(0.0052))
45°
2-Ø5 H9x5DP connector
Radial runout 3 Rr
0 ° mm
PCD 100 0.03(0.0152)) Motor Radial runout Rr mm 0.03(0.0152))
45°
connector 2-Ø6 H9x4DP

Height H mm 100 120
Ø110h7 140 Rr A 160 Height H mm 130 150 150 190 190 230 230
PCD 160
Ø35 2-Ø6 H9x4DP
Note：1) After error mapping Ø110h7 Rr A Ra A 2-Ø5 H9x4DP Note：1) After error mapping
PCD 160 2-Ø6 H9x8DP
Ø35 PCD 95 2)
2)
Optional Ra A 2-Ø5 H9x4DP Optional PCD 160
2-Ø6 H9x8DP
*All the specifications in the table are in ±10％ of tolerance except
PCD 95 dimensions. PCD 160 *All the specifications in the table are in ±10％ of tolerance except dimensions.
Ø170h7
10
Rr A
Ø45
Ø170h7 Ra A
45°
10
Rr A
45°
Ø45
H±0.4
Ra A
45°
Ø110
45°
±0.4
Ø110
10
TMS7
1.2.4 TMS7 Series 1.2.5 TMS Series T-N curves

TMS7
TMS7 Dimensions (DC bus voltage=325VDC)

8-M8x1.25Px16DP
PCD 190
8-M8x1.25Px16DP
(Rotor fixture) PCD 190
2-Ø12H7x2.6DP (Rotor fixture)
PCD 190 2-Ø12H7x2.6DP TMS0 TMS1
PCD 190
20 70
45
°T
45
TMS07 TMS18
18
°T
YP
YP
TMS03 60 TMS16
16

50 TMS14
14
Torque (Nm)
Torque (Nm)
Encoder TMS12
Encoder 12
connector connector 40
22.5°
10
22.5°
8 30
6
157.5°
20
157.5°
Motor
connector 4
Motor 10
35°
connector 2
35°
0 0
0 200 400 600 800 0 200 400 600 800
2-Ø8H7x10DP Speed (rpm) Speed (rpm)
PCD 190
2-Ø8H7x10DP
11.25° PCD 190 2-Ø12 H7 x2.6DP
Ø230 PCD 280
11.25° Ø104H7 Ra A 2-Ø8 H7x10DP
Rr A PCD 280 H7 x2.6DP
2-Ø12
0.07 A PCD 280
TMS3 TMS7
Ø230
Ra A 2-Ø8 H7x10DP 200 500
1
Ø104H7
10
Rr A PCD 280 180

TMS3CL
450
TMS7CL
35°
TMS3C TMS7C
160 400
1
H±0.4
TMS38L TMS76L
10
140 350
Torque (Nm)
Torque (Nm)
TMS38 TMS76
120 300
35°
TMS34L TMS74L
Ø303 max. 100 250
H±0.4
0°
TMS34 TMS74
80 200
16
9-M8x1.25Px20DP
Ø300 PCD 280 TMS32
A 60 150
(Stator fixture)
X
40 100
0°
20 50
16
9-M8x1.25Px20DP
Ø300 TYP PCD 280 0 0
20° 40°
A (Stator fixture) 0 100 200 300 400 500 600 700 0 50 100 150 200 250 300
X View X
Speed (rpm) Speed (rpm)
Table 1.5 TMS7 Specifications

TYP
20° 40°
Symbol Unit TMS74 TMS74L TMS76 TMS76L
View X TMS7C TMS7CL
Continuous torque Tc Nm 50 50 75 75 150 150
Continuous current Ic Arms 3 3 6 6 3 6
Peak torque (Within 1s.) Tp Nm 150 225150 225 450 450
Peak current (Within 1s.) Ip Arms 9 9 18 18 9 18
Torque constant Kt Nm/Arms 16.7 25 8.35 12.5 50 25
Electrical time constant Te ms 5 5.15 5 5.4 6
Resistance (line to line at 25℃) R25 Ω 14 19 3.5 4.8 32.5 8.5
Inductance (line to line) L mH 70 17.5
96.5 24.1 176 50.6
Number of poles 2p 44 44 44 44 44 44
Back emf constant (line to line) Kv Vrms/(rad/s)
_
10.8 5.4
16.2 8.1 32.4 16.2
Motor constant (line to line at 25℃) Km Nm/√W 3.6 4.73.6 4.7 7.2 7.0
Thermal resistance Rth K/W 0.4 0.4
0.29 0.29 0.17 0.16
Inertia of rotating parts J kgm2 0.152 0.152 0.174 0.174 0.241 0.241
Mass of motor Mm kg 36 36 41 41 57 57
Max. axial load Fa N 8000 8000 8000 8000 8000 8000
Max. moment load M Nm 360 360 360 360 360 360
Max. speed rpm 120 250 72 170 24 80
Resolution p/rev 4,320,000 (Incremental rotary encoder, sin/cos 1Vpp)
Repeatability arc-sec ±2.5
Accuracy arc-sec ±25/±101)
Axial runout Ra mm 0.03(0.0052))
Radial runout Rr mm 0.03(0.0152))
Height H mm 160 160 180 180 240 240
Note：1) After error mapping
2)
Optional
*All the specifications in the table are in ±10％ of tolerance except dimensions.
1.3 TMY Rotar y Tables 1.3.1 TMY4 Series
The TMY series is designed with an integrated, high resolution absolute resolver which is optimized to TMY4 Dimensions
achieve high dynamic motion, high torque and high precision. The TMY series is a perfect fit for industries TMX4 TMX4
that require high precision.
6-M5x0.8Px10DP 6-M5x0.8Px10DP
PCD 100 PCD 100
(Rotor fixture) (Rotor fixture)
　Outer rotating structure Resolver Resolver

connector connector
　Integrated absolute resolver with resolution 920,000 p/rev Resolver Resolver
30°
30°
connector connecto
　Time sparing for homing procedure with absolute resolver integrated
　High dynamic, torque and precision
30°
30°
　Maximum torque: 12~300 Nm
Motor Motor
　Compatible with special environments connector connector
2-Ø5 H9x5DP 2-Ø5 H9x5DP
30° PCD 100 30° PCD 100 Motor Motor
connector connect
Ø110h7 Ø110h7
Rr A Rr A0.07 A
Ø35 Ø35
Ra A 2-Ø5 H9x4DP Ra A 2-Ø5 H9x4DP 2-Ø6 H9
PCD 95 PCD 95 PCD 160
Ø170h7
10
10
Ø45
45°
45°
H±0.4
H±0.4
Ø110 Ø110
45°
45°
Ø170 Ø
Model Numbers for TMY Series
4-M5x0.8Px10DP 4-M5x0.8Px10DP
X A X View X A PCD 95 View X PCD 95
(Stator fixture) (Stator fixture)
Motor specification Function
TM Y 6 3 C X
Series
TM：Torque Motor Table 1.6 TMY4 Specifications
Type Symbol Unit TMY44 TMY48
Y：Absolute resolver type Continuous torque Tc Nm 4 8
Continuous current Ic Arms 2.6 2.6
Size
Peak torque (Within 1s.) Tp Nm 12 24
4：External diameterΦ110mm Peak current (Within 1s.) Ip Arms 7.8 7.8
6：External diameterΦ170mm Torque constant Kt Nm/Arms 1.56 3.12
A：External diameterΦ270mm Electrical time constant Te ms 5.2 5.4
Rotor height Inductance (line to line) L mH 13.27 24.42
3：30mm Number of poles 2p 14 14
4：40mm Back emf constant (line to line) Kv Vrms/(rad/s)
_
0.9 1.8
5：50mm Motor constant (line to line at 25℃) Km Nm/√W 0.8 1.2
Thermal resistance Rth K/W 2.9 1.6
8：80mm
A：100mm Nominal input voltage VDC 500(6002))
Inertia of rotating parts J kgm2 0.0065 0.0085
Optional Specifications
Mass of motor Mm kg 5 7.5
S：Standard Max. axial load Fa N 1000 1000
C：Customized Max. moment load M Nm 30 30
Max. speed rpm 300 300
Resolution p/rev 920,000 (Absolute Resolver 1))
Repeatability arc-sec ±3
Accuracy arc-sec ±30
Height H mm 123 163
Note：1) The motor should be matched with corresponding HIWIN drive.
2)
Optional
X
Ø300
A
10 MR99TE02-1703 20°
X
40°
TYP
View X
1.3.2 TMY6 Series 1.3.3 TMYA Series
TMY6 Dimensions
TMX6 TMYA Dimensions
TMX6
4-M6x1Px9DP
6-M8x1.25Px16DP
PCD 160
TMX4
P.C.D 255
(Rotor fixture) (Rotor fixture)
YP 127.5±0.03
°T
60
4-M6x1Px9DP

Resolver
6-M5x0.8Px10DP
connector PCD 160
45°
PCD 100 (Rotor fixture) Ø8H7x10DP
(Rotor fixture)
4-M10x1.25Px15DP
Motor P.C.D 260
connector 90° TYP (Stator fixture)
Resolver
Resolver
30°
connector
45°
connector 45°
Motor
45°
connector
30°
2-Ø6 H9x4DP
PCD 160 (27)
2-Ø5 H9x5DP Ø10H7x12DP
30° PCD 100 2-Ø6 H9x8DP Motor
45°
PCD 160 connector
(50)
Ø270 Rr A
Ø110h7 Ø170h7 2-Ø6 H9x4DP
Rr A Rr A0.07 A PCD 160 A
0.07
Ø35 Ø45 Ø160h7
Ra A 2-Ø5 H9x4DP Ra A Ra A
45°
2-Ø6 H9x8DP Ø60
PCD 95 PCD 160
Ø170h7
10
10
Rr A
7
Ø45 130±0.03
Ra A
45°
45°
H±0.4
Ø170
H±0.4
View X
H±0.4
45°
10
Hb
45°
H±0.4
Ø170 4-M6x1Px12DP Ø280 A
45°
PCD 160
View X x
4-M5x0.8Px10DPA (Stator fixture)
X
X A View X PCD 95
(Stator fixture)
4-M6x1Px12DP
View X Table 1.8 TMYA Specifications
PCD 160
A (Stator fixture)
X
Table 1.7 TMY6 Specifications Symbol Unit TMYA5 TMYAA
Symbol Unit TMY63 TMY65 TMY68 Continuous torque Tc Nm 50 100
Continuous current Ic Arms 2.2 4.4
Continuous torque Tc Nm 8 16 24
Peak torque (Within 1s.) Tp Nm 150 300
Continuous current Ic Arms 3.8 3.8 3.8 Peak current (Within 1s.) Ip Arms 6.6 13.2
Peak torque (Within 1s.) Tp Nm 24 48 72 Torque constant Kt Nm/Arms 22.5 22.5
Peak current (Within 1s.) Ip Arms 12 12 12
Electrical time constant Te ms 13.2 13.3
Torque constant Kt Nm/Arms 2.13 4.26 6.39
Electrical time constant Te ms 5.7 6.3 6.5
Inductance (line to line) L mH 170 77
Resistance (line to line at 25℃) R25 Ω 2 3.1 4.38
Inductance (line to line) L mH 11.4 19.4 28.26
Back emf constant (line to line) Kv Vrms/(rad/s) 13 13
Number of poles 2p 16 16 16 _
Motor constant (line to line at 25℃) Km Nm/√W 5 7.6
Back emf constant (line to line) Kv Vrms/(rad/s) 1.2 2.5 3.7
_ Thermal resistance Rth K/W 0.8 0.4
Motor constant (line to line at 25℃) Km Nm/√W 1.2 2 2.5
Thermal resistance Rth K/W 1.7 1.1 0.8
Mass of motor Mm kg 54 71
Inertia of rotating parts J kgm2 0.019 0.026 0.033
Mass of motor Mm kg 7.7 10.7 14.7
Max. moment load M Nm 240 240
Max. axial load Fa N 3700 3700 3700
Max. moment load M Nm 60 60 60 Max. speed rpm 100 100
Max. speed rpm 300 300 300 Resolution p/rev 920,000 (Absolute Resolver 1))
Resolution p/rev 920,000 (Absolute Resolver 1)) Repeatability arc-sec ±3
Repeatability arc-sec ±3 Accuracy arc-sec ±30
Accuracy arc-sec ±30 Axial runout Ra mm 0.03(0.0052))
Axial runout Ra mm 0.03(0.0052)) Radial runout Rr mm 0.03(0.0152))
Radial runout Rr mm 0.03(0.0152)) Height H mm 145 200
Height H mm 109.5 134.5 159.5 Height of base Hb mm 31
Note：1) The motor should be matched with corresponding HIWIN drive. Note：1) The motor should be matched with corresponding HIWIN drive.
2)
2)
Optional Optional
*All the specifications in the table are in ±10％ of tolerance except dimensions. *All the specifications in the table are in ±10％ of tolerance except dimensions.
1.3.4 TMY Series T-N curves 1.4 TMN Rotary Tables

(DC bus voltage=325VDC)
The TMN series is designed with an extremely low profile and a high resolution resolver/ optical encoder
TMY4 TMY6
30 80 optimized to achieve high dynamic motion, high torque and high precision. The TMN series is a perfect fit for
TMY48 TMY68
25 TMY44
70
TMY65
industries that require high precision but less force.
60 TMY63
Torque (Nm)
Torque (Nm)
20
50
　Outer rotating structure

15 40
　Space saving with Low profile design
30
10 　High resolution optical encoder/ resolver selectable
20
5 　Maximum torque: 4.2~39.6 Nm
10
0 0
0 100 200 300 400 0 100 200 300 400
TMYA
350
TMYAA
Model Numbers for TMN Series
300 TMYA5
250
Torque (Nm)
200 Motor specification Function

150
TM N 7 1 E H C
100
Series
50
TM：Torque Motor
0
0 20 40 60 80 100 120
Type
Speed (rpm)
N：Low profile type
Size
Rotor height
1：10mm
2：20mm
3：30mm
Feedback system
E：Encoder
A：Absolute resolver
Hall sensor
E：Without hall sensor
H：With Hall sensor(Encoder Type)
E：Standard
C：Customized
7.5°
X
View X
TMN Dimensions 1.4.1 TMN Incremental Series

Table 1.9 TMN Specifications
TMN42 TMN71 Symbol Unit TMN42E TMN71E TMN93E
Continuous torque Tc Nm 1.4 3.7 13.2
TMX6
4-Ø6.6THRU, □160
□118 Ø11x11DP 4-Ø 6.6THRU, Continuous current Ic Arms 1.5 3.4 3.4
TMX4
(Stator fixture) 146 Ø11x7DP
108
(Stator fixture) Peak torque (Within 1s.) Tp Nm 4.2 11.1 39.6

2-Ø5 +0.02 THRU 140
92 0
2-Ø6H7 THRU Peak current (Within 1s.) Ip Arms 4.5 10.2 10.2
Ø35 THRU
Ø12THRU Ø5+0.02
0 x7DP
Ø5H7x7DP Torque constant Kt Nm/Arms 0.97 1.09 3.9
4-M6x1Px9DP
PCD 75 6-M5x0.8Px10DP
PCD 160
Electrical time constant Te ms PCD 160
1.8 4.1 5.4
Encoder Encoder PCD 100
connector (Rotor fixture)
connector (Rotor fixture) Resistance (line to line at 25℃) R25 Ω 4.59 2.22 4.3
Resolver
connector Inductance (line to line) L mH 8.18 9.02 23.2
Number of poles Resolver 2p 16 16 22
30°
connector
92
78
45°
Back emf constant (line to line) Kv Vrms/(rad/s) 0.56 0.63 2.25
140
120
_
Motor constant(line to line at 25℃) Km Nm/√W 0.4 0.6 1.5
Motor
30°
connector Motor
connector
Thermal resistance Rth K/W 4.84 1.95 1.01
Motor Temperature sensor PTC SNM100
6-M5x0.8Px8DP connector
PCD 75 2-Ø5 H9x5DP
(Rotor fixture)
6-M5x0.8Px8DP
PCD 100PCD 160
Nominal input voltage Motor
VDC 500(6002))
30°
45°
(145.5) 0.07 A (212.5) (Rotor fixture) Inertia of rotating parts
connector J kgm2 0.003 0.008 0.012
Ra A (Ø180) 0.07 A Mass of motor Mm kg 2 3.5 7.5
Ø86 h7 Ø110h7 Ra A 2-Ø6 H9x4DP
Rr A Ø150h7 Rr A
Rr A Max. axial load Fa N 600 1000 PCD 160 1000
Ø35
Ra A 2-Ø5 H9x4DP
Max. moment load M Nm 30
2-Ø6 H9x8DP 50 50
10 45±0.3
PCD 95
45±0.3
PCD 160
50
Max. speed rpm 700 600 500
2.7
Ø170h7 4,325,376 Rr A 4,320,000

Resolution p/rev
Ø45
A (Incremental rotary
Ra A encoder, sin/cos 1Vpp)
45°
45°
A
Repeatability arc-sec ±2.5 ±2.5 ±2.5
H±0.4
Ø110
Accuracy arc-sec ±45/±101) ±45/±101) ±45/±101)
10
45°
H±0.4
Ø170
45°
Size WxLxH mm 118x118x45 160x160x50 212x212x55
TMN93 4-M5x0.8Px10DP
X A View X PCD 95 Note： 1) After error mapping
(Stator fixture) 2)
Optional 4-M6x1Px12DP
□212
4-Ø9THRU,
*All the specifications in the table are in ±10％ of tolerance except dimensions. PCD 160
200 View X (Stator fixture)
Ø15x14DP A
X
180 (Stator fixture)
Ø35THRU 2-Ø8H7 THRU
Ø5H7x7DP
PCD 150
Encoder
connector
150
180
Motor
connector
8-M5x0.8Px8DP
PCD 150
(Rotor fixture)
(257.5)
(Ø230)
0.07 A
Ø160h7 Ra A
Rr A
55±0.3
3.5
A
1.4.2 TMN absolute Series

2. TMRW Torque Motor
Table 1.10 TMN Specifications
Symbol Unit TMN71A TMN93A The combination of a high torque stator and rotor meets the most
Continuous torque Tc Nm 3.7 13.2 demanding specifications in high precision industry. By using a water
Continuous current Ic Arms 3.4 3.4 cooled design, high torque can be achieved.
Peak torque (Within 1s.) Tp Nm 11.1 39.6
Peak current (Within 1s.) Ip Arms 10.2 10.2
Torque constant Kt Nm/Arms 1.09 3.9 　Water cooled
Electrical time constant Te ms 4.1 5.4 　Large hollow shaft
Resistance (line to line at 25℃) R25 Ω 2.22 4.3 　Maximum torque up to 5020 Nm
Inductance (line to line) L mH 9.02 23.2 　The concentricity of the stator and rotor will be calibrated before shipment
_
0.63 2.25
Motor constant(line to line at 25℃) Km Nm/√W 0.6 1.5
Thermal resistance Rth K/W 1.95 1.01 Example：Index table
Mass of motor Mm kg 3.5 7.5
Max. moment load M Nm 50 50
Max. speed rpm 300 300
920,000 (Absolute Resolver 1))
Resolution p/rev
Model Numbers for TMRW Series
TMRW Torque Motor

Repeatability arc-sec ±2.5 ±2.5
Accuracy arc-sec ±30 ±30
Axial runout Ra mm 0.03(0.0052)) Motor specification Function Winding Code
Size WxLxH mm 160x160x50 212x212x55 TM RW 4 7 L C - XX
1)
Note： The motor should be matched with corresponding HIWIN drive.
2)
Optional Series
TM：Torque Motor
Type
RW：Water cooling type
External diameter of the stator’s lamination stack
1：Φ140mm
1.5.3 TMN Series T-N curves 2：Φ175mm
(DC bus voltage=325VDC) 4：Φ210mm
7：Φ291mm
45
40
TMN42E A：Φ360mm
TMN71E
35 D：Φ450mm
TMN71A
30 TMN93E G：Φ530mm
Torque (Nm)
25 TMN93A
Rotor height
20
15
3：30mm
10 5：50mm
5 7：70mm
0 A：100mm
0 100 200 300 400 500 600 700 800
Speed (rpm) F：150mm
Winding code
S：Standard
L：Low Back emf
S：Standard
C：Customized
：Standard
XX：Winding code
2.1 TMRW1 Series 2.1.2 TMRW1 Series T-N curves

TMRW13 TMRW13L
40 40
2.1.1 TMRW1 Dimensions 35TMRW73/5/7 TMRW7A/F 35 Peak torque
TMRW13/5/7 TMRW1A/F Tp@600VDC

30 30
Torque (Nm)
Torque (Nm)
Tp@325VDC
25 25
20 20
Continuous torque (WC)
Hs
15 15 Tc@600VDC
25 35 Thermal cable
Hs TMRW13/5/7 TMRW1A/F 12.5 17.5
Motor cable X
25 25 X 10 10 Tc@325VDC
Thermal cable
10 10
Motor cable
X 5 5
X 0 0 Continuous torque
( Free air convection)
30
45
H 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000
°T
°TY
Tc@600VDC
YP
H Speed (rpm) Speed (rpm)
P
Tc@325VDC
15°
Ø234min.
TMRW15 TMRW15L
Ø200H8
22.5°
H
Ø310f9
Ø85.5min.
H 70 70
Ø60H8
Ø160f9
15°TYP
HR ±0.2
60 60
22.5°TYP
HR ±0.2 19.5±0.2
29.5±0.2 50 50
Torque (Nm)
Torque (Nm)
40 40
16-M5x0.8Px10DP
8-M5x0.8Px10DP 30 30
PCD 70 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP
PCD 70 (Both sides)
PCD 210 (Both sides)
X 8-M5x0.8Px10DP
16-M5x0.8Px10DP X 20 PCD 210 (Both sides) 20
Seal (O-ring) position PCD 150 (Both sides)
X PCD 150 (Both sides) Seal (O-ring) position
12-M5x0.8Px10DP X 24-M5x0.8Px10DP
10 PCD 300 (Both sides) PCD
10300 (Both sides)
Section X-X Section X-X
0 0
TMRW Torque Motor

0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000
TMRW17 TMRW17L
90 90
Table 2.1 TMRW1 Specifications 80 80
70 70
Symbol Unit TMRW13 TMRW13L TMRW15 TMRW15L TMRW17 TMRW17L TMRW1A TMRW1AL TMRW1F TMRW1FL
Torque (Nm)
Torque (Nm)
60 60
TMRW23/5/7 TMRW2A/F
Continuous torque Tc Nm 7.5 7.5 12.4 12.4 17.4 17.4 24.9 24.9 37.3 37.3 50 50
Continuous current Ic Arms 4 5.7 4 5.7 5.7 44 5.7 5.7 11.4 40 40
Continuous torque (WC) Tcw Nm 18.8 18.8 31.3 31.3 43.8 43.8
62.5 62.5 93.8 93.8 30 30
Hs
Continuous current
30 (WC)30 Icw Arms 10 14.4 10 14.4 14.4 10
10 14.4 14.4 28.8 20 20
12.5
Stall torque 12.5 TThermal
s
cable
Nm 5 5 9 9 12 X 12
17 17 26 26 10 10
Motor cable
Stall current Is Arms X 2.8 4 2.8 4 4 2.8
2.8 4 4 8 0 0
45
0 500 1000 1500 0 500 1000 1500 2000 2500

Stall torque (WC) Tsw Nm 13 13 22 22 31 31
44 44 66 66
°T
Y

P
Stall current (WC) Isw Arms 7 10.1 7 10.1 10.1 77 10.1 10.1 20.2
Peak torque(Within
H
1s.) H Tp Nm 35.6 35.6 59.4 59.4 83.1 83.1
118.8 118.8 178.1 178.1
TMRW1A TMRW1AL
22.5°
Peak current(Within 1s.) Ip Arms 27 38.9 27 38.9 38.9 27

27 38.9 38.9 77.8
Ø119min.
140 140
Ø90H8
Ø198f9
Torque constant Kt Nm/ Arms 1.87 1.32 3.1 2.18 3.06 4.36
6.23 4.36 6.55 3.27
120 120
Electrical
HR ±0.2time constant Te ms 3.2 3.2 3.6 3.4 4.1 43.6 4.1 3.9 4.3
22.5°TYP
24.5±0.2
Resistance (line to line at 25℃) R25 Ω 3.3 1.6 4.5 2.36 2.9 6.2
7.7 3.8 5.5 1.37 100 100
Inductance (line to line) L mH 10.5 5.1 16 8 11.9 22.5

31 15.5 21.7 5.9
Torque (Nm)
Torque (Nm)
80 80
Number of poles 2p 22 16-M5x0.8Px10DP 60 60
8-M5x0.8Px10DP
_ X
1.08 0.76 1.8PCD 100
1.26 2.52
(Both sides) 1.76 3.6 2.52 3.78 sides)1.89
PCD 100 (Both
40 40
Motor constant (at 25℃) Km Nm/√W 0.84 8-M5x0.8Px10DP
0.85 1.19 1.16 1.43 1.46
X 1.83 1.83
16-M5x0.8Px10DP 2.28 2.28
Seal (O-ring) position PCD 185 (Both sides) 20 20
Thermal resistance Rth K/W 1.2 PCD1.22
185 (Both0.88
sides) 0.83 0.64 0.67 0.51 0.51 0.35 0.36
Section X-X TMRWA3/5/7 TMRWAA/F
Thermal resistance ( WC) Rthw K/W 0.192 0.191 0.141 0.129 0.102 0.105 0.082 0.08 0.056 0.056 0 0
0 200 400 600 800 1000 0 500 1000 1500
Thermal sensor PTC SNM100+SNM120+KTY84 Speed (rpm) Speed (rpm)
Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.001 0.001 0.0016 0.0016 0.0023 0.0023 0.0033 0.0033 0.0049 0.0049
Hs TMRW1F TMRW1FL
Max. speed at conti. Torque rpm 2800 4000 1600 2400 1150 1700 800 1170 760 1600 200 200
35 35 Thermal cable
Max. speed at conti. Torque (WC) rpm 2200 TMRW43/5
3200 1200 1750 830 1300 580 870
TMRW47/A/F 540 1200 8.5 8.5
180 Motor cable 180 X
X 2
Max. speed at max. Torque rpm 1000 1600 600 830 400 610 230 390 210 560 160 160
1
140 140
Mass of rotor Hs Mr kg 0.6 0.6 1 1 1.4 1.4 2 2 3 3
Torque (Nm)
Torque (Nm)
25 25 120 120
Mass of10stator MS
Thermal kg
cable 3.7 3.7 5.1 5.1 6.2 6.2 8.6 8.6 12.2 12.2 H 100 100
30
10
Motor cable X H
°TY
Height of stator HS mm 70X 70 90 90 110 110 140 140 190 190 80 80
P
60 60
Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151
40 40
15°TYP
Height H mm 10 10 15 15 15 15 15 15 15 15
15°
30
20 20
Ø299min.
°TY
H
Ø265H8
Ø385f9
Note： WC：water
H cooled 0 0
P
0 200 400 600 800 1000 0 500 1000 1500 2000

*All the specifications in the table are in ±10% of tolerance except dimensions.
HR ±0.2 Speed (rpm) Speed (rpm)
HR ±0
15°
Ø169min.
Ø140H8
Ø230f9
29.5±0.2 37.5±
15°TYP
HR ±0.2 19.5±0.2
°TYP
29.5±0.2
16-M5x0.8Px10DP
8-M5x0.8Px10DP
PCD 70 (Both sides) 12-M5x0.8Px10DP 24-M5x0.8Px10DP
20 21
PCD 70 (Both sides)
MR99TE02-1703 X 8-M5x0.8Px10DP
16-M5x0.8Px10DP X PCD 210 (Both sides) Torque Motor (Direct Drive Motor)
Seal (O-ring) position PCD 150 (Both sides)
X PCD 150 (Both sides) Seal (O-ring) position
12-M5x0.8Px10DP X 24-M5x0.8Px10DP
PCD 300 (Both sides) PCD 300 (Both sides)
Section X-X Section X-X

TMRW23 TMRW23L
70 70
2.2.1 TMRW2 Dimensions 60 60
Peak torque
Tp@600VDC
50 50
Torque (Nm)
Torque (Nm)
TMRW23/5/7 TMRW2A/F Tp@325VDC
40 40
30 30
Hs TMRW23/5/7 TMRW2A/F 20 20
Tc@600VDC
30 30 Tc@325VDC
Thermal cable
12.5 12.5
Motor cable X 10 10
X
Continuous torque
0 0
45
°T
0 500 1000 1500 0 500 1000 1500 2000 2500
YP
Speed (rpm) Speed (rpm) Tc@600VDC
Tc@325VDC
H
H
22.5°
TMRW25 TMRW25L
Ø119min.
Ø90H8
Ø198f9
120 120
22.5°TYP
HR ±0.2 24.5±0.2 100 100
80 80
Torque (Nm)
Torque (Nm)
16-M5x0.8Px10DP 60 60
8-M5x0.8Px10DP
X 16-M5x0.8Px10DP
40 40
Seal (O-ring) position 8-M5x0.8Px10DP X PCD 185 (Both sides)
PCD 185 (Both sides) 20 20
Section X-X TMRWA3/5/7 TMRWAA/F
0 0
TMRW Torque Motor

0 200 400 600 800 1000 0 500 1000 1500
Hs TMRW27 TMRW27L
35 35 180 Thermal cable 180
Table 2.2 TMRW2 Specifications TMRW43/5 TMRW47/A/F 8.5 8.5
Motor cable
X
160 X 160
140 140
Hs
Torque (Nm)
Torque (Nm)
120 120
25 25
Continuous10torque Tc ThermalNm
cable 14.2 14.2 23.6 23.6 33 33 47.3 47.3 71 71 H
100 100
30
10
Motor cable X H
°TY
Continuous current Ic Arms 3.3 X 4.9 3.3 4.9 3.3 4.9 3.3 4.9 4.9 9.9 80 80
P
Continuous torque (WC) Tcw Nm 35 35 59 59 82.5 82.5 117.5 117.5 176 176 60 60
Continuous current (WC) Icw Arms 8.3 12.3 8.3 12.3 8.3 12.3 8.3 12.3 12.3 24.6 40 40
15°TYP
15°
30
Stall torque H Ts Nm 10 10 17 17 23 23 33 33 50 50
Ø299min.
20 20
°TY
Ø265H8
Ø385f9
H
P
Stall current Is Arms 2.3 3.4 2.3 3.4 2.3 3.4 2.3 3.4 3.4 6.9 0 0
0 200 400 600 800 0 200 400 600 800 1000
Stall torque (WC) Tsw Nm 25 25 41 41 58 58 82 82 123 123 HR ±0.2
Speed (rpm) Speed (rpm) H
15°
Stall current (WC) Isw Arms 5.8 8.6 5.8 8.6 5.8 8.6 5.8 8.6 8.6 17.2
Ø169min.
Ø140H8
Ø230f9
29.5±0.2 37
Peak torque(Within 1s.) Tp Nm 66.5 66.5 112 112 156 156 223 223 334.5 334.5
TMRW2A TMRW2AL
15°TYP
HR ±0.2 19.5±0.2
Peak current(Within 1s.) Ip Arms 22.3 33.2 22.3 33.2 22.3 33.2 22.3 33.2 33.2 66.4 250 250
Torque constant Kt Nm/ Arms 4.29 2.8 7.16 4.8 10.03 6.72 14.32 9.6 14.39 7.2
Electrical time constant Te ms 5.8 6.1 6.8 6.5 6.5 6.5 7.4 6.5 7.2 6.9 200 12-M6x1Px12DP
200 24-M6x1Px12DP
Resistance (line to line at 25℃) R25 Ω 4.3 1.9 5.7 2.5 7.8 3.5 9.6 5 6 1.5 X
Seal 24-M6x1Px12DP
Inductance (line to line) L mH 24.95 11.5 39 16.23 50.7 22.72 70.8 32.46 43 10.4 150 (O-ring) position 12-M6x1Px12DP 150 X
Torque (Nm)
Torque (Nm)
12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides) PCD 370 (Both sides)
PCD 150 (Both sides) Section X-X
Number of poles 2p 22
100 100
Back emf constant (line toSeal
line)(O-ring)
Kv positionVrms/(rad/s)
_
2.48 X 1.6 12-M5x0.8Px10DP
4.13 2.77 5.79 3.88 8.27 X 5.54 24-M5x0.8Px10DP
8.31 4.15
Motor constant (at 25℃) Km Nm/√W 1.68 1.72 2.45 2.49 2.92 2.94 3.78 3.52 4.83 4.78 50 50
Section X-X
Thermal resistance Rth K/W 1.35 1.39 1.02 1.06 0.75 0.75 0.61 0.53 0.44 0.43
0 100 200 300 400 500 0 200 400 600 800
Max. DC BUS VDC 750
TMRW2F TMRW2FL
Max. speed at conti. Torque (WC) rpm 1060 1600 610 950 420 660 280 440 275 610 350 350
Mass of rotor Mr kg 0.95 0.95 1.6 1.6 2.2 2.2 3.2 3.2 4.8 4.8
Torque (Nm)
Torque (Nm)
250 250
Mass of stator MS kg 6.1 6.1 8.4 8.4 10.2 10.2 14.2 14.2 20.1 20.1 200 200
Height of stator HS mm 80 80 100 100 120 120 150 150 200 200 150 150
Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 100 100
Height H mm 10 10 15 15 15 15 15 15 15 15 50 50
Note： WC：water cooled 0 0

0 100 200 300 400 500 0 200 400 600 800 1000
Ø198
Ø90
Ø119
22.5°TYP
HR ±0.2 24.5±0.2
22 MR99TE02-1703
16-M5x0.8Px10DP
8-M5x0.8Px10DP
X 16-M5x0.8Px10DP
Section X-X
2.3 TMRW4Series
TMRWA3/5/7 TMRWAA/F
2.3.2 TMRW4 Series T-N curves
TMRW43 TMRW43L
2.3.1 TMRW4 Dimensions

140 140
Hs Peak torque
35 35 120 120
Thermal cable
TMRW43/5 TMRW47/A/F 8.5 8.5
Motor cable
X Tp@600VDC
Torque (Nm)
Torque (Nm)
100 X 100
Tp@325VDC 27
10
80 80
Hs
25 25 TMRW43/5 TMRW47/A/F 60 60
Thermal cable H Tc@600VDC
30
10 10
Motor cable X H
°TY
X 40 40
Tc@325VDC H
P
20 20
Continuous torque
15°TYP
0 0 ( Free air convection)
15°
30
0 200 400 600 800 1000 0 500 1000 1500 2000
Ø299min.
°TY
H
Ø265H8
Ø385f9
H Speed (rpm) Speed (rpm) Tc@600VDC
P
Tc@325VDC
HR ±0.2
HR ±0.2
TMRW45 TMRW45L
15°
Ø169min.
Ø140H8
Ø230f9
29.5±0.2 250 250 37.5±0.2
15°TYP
HR ±0.2 19.5±0.2
200 200
Torque (Nm)
Torque (Nm)
150 12-M6x1Px12DP 150 24-M6x1Px12DP
X 24-M6x1Px12DP
Seal (O-ring) position 12-M6x1Px12DP
100 100 X PCD 370 (Both sides)
12-M5x0.8Px10DP 24-M5x0.8Px10DP PCD 370 (Both sides)
PCD 150 (Both sides) PCD 150 (Both sides) Section X-X
50 50 Se
Seal (O-ring) position
X 12-M5x0.8Px10DP 24-M5x0.8Px10DP
PCD 220 (Both sides) X PCD 220 (Both sides)
Section X-X 0 0
TMRW Torque Motor

0 100 200 300 400 500 600 0 200 400 600 800 1000 1200
TMRW47 TMRW47L
300 300
Table 2.3 TMRW4 Specifications
250 250
Torque (Nm)
Torque (Nm)
200 200
Continuous torque Tc Nm 28.2 28.2 47 47 65 65 91 91 136 136
Continuous current Ic Arms 4 8 4 8 48 8 12 8 12 150 150
Continuous torque (WC) Tcw Nm 63.5 63.5 106 106 148

148 205 205 307 307 100 100
Continuous current (WC) Icw Arms 9 18 9 18 918 18 27 18 27
50 50
Stall torque Ts Nm 20 20 33 33 46
46 64 64 95 95
Stall current Is Arms 2.8 5.6 2.8 5.6 2.8
5.6 5.6 8.4 5.6 8.4 0 0
0 100 200 300 400 0 200 400 600 800
Stall torque (WC) Tsw Nm 44 44 74 74 104
104 144 144 215 215
Stall current (WC) Isw Arms 6.3 12.6 6.3 12.6 6.3
12.6 12.6 18.9 12.6 18.9
Peak torque(Within 1s.) Tp Nm 120 120 203 203 280
280 390 390 583 583
Peak current(Within 1s.) Ip Arms 24.3 48.6 24.3 48.6 24.3
48.6 48.6 72.9 48.6 72.9 TMRW4A TMRW4AL
450 450
Torque constant Kt Nm/ Arms 7.06 3.53 11.76 5.88 16.47
8.23 11.76 7.61 17.65 11.42
400 400
Electrical time constant Te ms 4.1 4.1 4.3 4.3 4.7
4.7 4.8 4.3 5.2 4.4 350 350
Resistance (line to line at 25℃) R25 Ω 4.38 1.1 6.01 1.5 7.63
1.9 2.5 1.06 3.66 1.58 300 300
Inductance (line to line) L mH 17.9 4.5 26 6.38 35.7
8.93 12.1 4.57 19.13 6.9
Torque (Nm)
Torque (Nm)
250 250
Number of poles 2p 22 200 200
_
4.08 2.04 6.8 3.4 9.5 4.75 6.79 4.39 10.19 6.59 150 150
Thermal resistance Rth K/W 0.9 0.9 0.66 0.66 0.52 0.52 0.4 0.41 0.27 0.28 50 50
0 100 200 300 400 500 600 0 200 400 600 800 1000
Max. DC BUS VDC 750
Max. speed at conti. Torque rpm 770 1600 450 950 320 670 460 730 300 470 TMRW4F TMRW4FL
700 700
Max. speed at conti. Torque (WC) rpm 710 1500 410 890 290 620 420 680 260 440
600 600
Max. speed at max. Torque rpm 500 1100 270 660 180 450 300 500 160 300
500 500
Mass of rotor Mr kg 1.4 1.4 2.4 2.4 3.3 3.3 4.7 4.7 7.1 7.1
Torque (Nm)
Torque (Nm)
Height H mm 10 10 15 15 15 15 15 15 15 15 100 100

0 100 200 300 400 0 100 200 300 400 500 600

TMRW73 TMRW73L
300 300
2.4.1 TMRW7 Dimensions 250 250

Peak torque
Tp@600VDC
Torque (Nm)
Torque (Nm)
TMRW73/5/7 TMRW7A/F 200 200 Tp@325VDC
150 150 Continuous torque (WC)
100 100 Tc@600VDC

Hs
TMRW73/5/7 TMRW7A/F
Tc@325VDC
25 35 Thermal cable 50 50
12.5 17.5 X
Motor cable X Continuous torque
0 0
0 200 400 600 800 0 500 1000 1500 ( Free air convection)
30
H Tc@325VDC
°TY
H
P
TMRW75 TMRW75L
500 500
15°
Ø234min.
Ø200H8
Ø310f9
450 450
400 400
15°TYP
HR ±0.2
350 350
Torque (Nm)
Torque (Nm)
300 300
29.5±0.2
250 250
200 200
150 150
12-M5x0.8Px10DP 24-M5x0.8Px10DP
PCD 210 (Both sides) 100 100
X PCD 210 (Both sides)
50 50
Seal (O-ring) position X 24-M5x0.8Px10DP
12-M5x0.8Px10DP 0 0
Section X-X 0 100 200 300 400 0 200 400 600 800
TMRW Torque Motor

TMRW77 TMRW77L
700 700
Table 2.4 TMRW7 Specifications 600 600
Symbol Unit TMRW73 TMRW73L TMRW75 TMRW75L TMRW77 TMRW77L TMRW7A TMRW7AL TMRW7F TMRW7FL 500 500
Torque (Nm)
Torque (Nm)
Continuous torque Tc Nm 58 58 98 98 137 137 195 195 293 293 400 400
Continuous current Ic Arms 6 12 6 12 6

12 6 12 6 12 300 300
Continuous torque (WC) Tcw Nm 145 145 240 240 335

335 480 480 720 720 200 200
Continuous current (WC) Icw Arms 15 30 15 30 15
30 15 30 15 30 100 100
Stall torque Ts Nm 41 41 69 69 96
96 137 137 205 205
0 0
Stall current Is Arms 4.2 8.4 4.2 8.4 4.2
8.4 4.2 8.4 4.2 8.4 0 50 100 150 200 250 300 0 100 200 300 400 500 600
Stall torque (WC) Tsw Nm 102 102 168 168 235
235 336 336 504 504 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 10.5 21 10.5 21 10.5
21 10.5 21 10.5 21
Peak torque(Within 1s.) Tp Nm 275 275 456 456 640
640 910 910 1360 1360 TMRW7A TMRW7AL
Peak current(Within 1s.) Ip Arms 40.5 81 40.5 81 40.5
81 40.5 81 40.5 81 1000 1000
11.4 32.56 16.28 48.85 24.45 900 900
800 800
Electrical time constant Te ms 5 4.9 5.6 5.6 5.6
5.6 5.6 5.6 5.6 5.8
700 700
Resistance (line to line at 25℃) R25 Ω 3 0.81 4.19 1.05 5.52
1.38 7.52 1.88 10.84 2.5 600 600
Torque (Nm)
Torque (Nm)
Inductance (line to line) L mH 15 4 23.45 5.86 30.9
7.73 42.07 10.52 60.68 14.6 500 500
_
5.64 2.82 9.4 4.7 13.2 6.6 18.8 9.4 28.2 14.1 300 300
100 100
0 0
Thermal resistance ( WC) Rthw K/W 0.094 0.087 0.067 0.067 0.051 0.051 0.037 0.037 0.026 0.028 0 50 100 150 200 0 100 200 300 400
TMRWA3/5/7 TMRWAA/F TMRWD3/5/7 TMRWDA/F
Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.023 0.023 0.039 0.039 0.059 0.059 0.079 0.079 0.11 0.11 TMRW7F TMRW7FL
Max. speed at conti. Torque (WC) Hrpm
s 470 890 270 580 180 400 115 275 72 170 1400 1400
35 35 Thermal cable
Max. speed at max. Torque 8.5 rpm 8.5 270 460 150 340 90 230 50 150 13 85X 1200 Hs 1200
Motor cable
X 27 1000 43 Thermal cable
Torque (Nm)
Torque (Nm)
Mass of rotor Mr kg 2.5 2.5 4.1 4.1 5.7 5.7 8.1 8.1 12.1 12.1 1000
10 26 Motor cable
X X
Height of stator HSH mm H 80 80 100 100 120 120 150 150 200 200 600 600
30
°TY
Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151 H400 400

P
30
H
°TY
200 200
Height H mm 10 10 15 15 15 15 15 15 15 15
P
0 0
15°TYP
Note： WC：water cooled

15°
0 20 40 60 80 100 120 140 0 50 100 150 200 250 300

Ø299min.
15°TYP
Ø265H8
Ø385f9
*All the specifications in the table are in ±10% of tolerance except dimensions. Speed (rpm) Speed (rpm)
15°
Ø384min.
Ø345H8
Ø485f9
HR ±0.2
HR ±0.2
29.5±0.2 37.5±0.2
15°T
2.5 TMRWASeries 2.5.2 TMRWA Series T-N curves

TMRWA3 TMRWA3L
TMRWA3/5/7 TMRWAA/F 600 TMRWD3/5/7 TMRWDA/F
600
2.5.1 TMRWA Dimensions 500 500
Peak torque
Tp@600VDC
Torque (Nm)
Torque (Nm)
400 400 Tp@325VDC
Hs TMRWA3/5/7 TMRWAA/F 300 300 Continuous torque (WC)

35 35 Thermal cable
8.5 8.5
Motor cable
X Hs 200 200 Tc@600VDC
X 27 43 Thermal cable
Tc@325VDC
10 26 Motor cable
100 X 100
X
Continuous torque
H 0 0
30
H 0 100 200 300 400 0 200 400 600 800
°TY
H Speed (rpm) Speed (rpm) Tc@600VDC
30
H
°TY
Tc@325VDC
P
15°TYP
TMRWA5 TMRWA5L
15°
Ø299min.
15°TYP
Ø265H8
900
Ø385f9
900
15°
Ø384min.
Ø345H8
800 800
Ø485f9
HR ±0.2 700 700
HR ±0.2
600 600
Torque (Nm)
Torque (Nm)
29.5±0.2 37.5±0.2
500 500
400 400
300 300
12-M6x1Px12DP 24-M6x1Px12DP 200 200
PCD 277 (Both sides) PCD 277 (Both sides) 24-M8x1.25Px12DP
100 12-M8x1.25Px12DP 100 PCD 360 (Both sides)
X 24-M6x1Px12DP
Seal (O-ring) position 12-M6x1Px12DP X PCD 370 (Both sides) 0 X PCD 360 (Both sides) 0 24-M8x1.25Px12DP
PCD 370 (Both sides) Seal (O-ring) position 0 50 100 150 200 X0 100 200 300 400
TMRW Torque Motor

Section X-X 12-M8x1.25Px12DP PCD 468 (Both sides)
Section X-X PCD 468 Speed (rpm)
(Both sides) Speed (rpm)
TMRWA7 TMRWA7L
1200 1200
Table 2.5 TMRWA Specifications
1000 1000
Symbol Unit TMRWA3 TMRWA3L TMRWA5 TMRWA5L TMRWA7 TMRWA7L TMRWAA TMRWAAL TMRWAF TMRWAFL
Torque (Nm)
Torque (Nm)
800 800
Continuous torque Tc Nm 117 117 195 195 274 274 390 390 585 585
600 600
Continuous current Ic Arms 6 12 6 12 12 18 12 18 18 24
Continuous torque (WC) Tcw Nm 260 260 430 430 600 600 860 860 1290 1290 400 400
Continuous current (WC) Icw Arms 15 30 15 30 30 45 30 45 45 60 200 200
Stall torque Ts Nm 82 82 137 137 192 192 273 273 410 410
0 50 100 150 200 250 300 0 100 200 300 400 500
Stall torque (WC) Tsw Nm 182 182 301 301 420 420 602 602 903 903 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 10.5 21 10.5 21 21 31.5 21 31.5 31.5 42
Peak torque(Within 1s.) Tp Nm 490 490 810 810 11001100 1600 1600 2400 2400
TMRWAA TMRWAAL
TMRWAAL
Peak current(Within 1s.) Ip Arms 40.5 81 40.5 81 81 121.5 81 121.5 121.5 162 1800 1800
15.23 32.63 21.75 32.63 24.45 1600 1600
Electrical time constant Te ms 10 10 7.5 7.5 8.4 8.2 8.1 8 8.6 7.7 1400 1400
Resistance (line to line at 25℃) R25 Ω 3.57 0.89 7.1 1.78 2.2 0.98 2.97 1.32 1.98 1 1200 1200
Torque (Nm)
Torque (Nm)
Inductance (line to line) L mH 35.7 8.93 53.4 13.35 18.58 24.2 10.5 17 10 1000 1000
_
11.3 5.65 18.8 9.42 13.18 8.79 18.83 12.55 18.83 14.12 600 600
Thermal resistance Rth K/W 0.49 0.49 0.25 0.25 0.2 0.2 0.15 0.15 0.1 0.1 200 200
0 50 100 150 200 0 50 100 150 200 250 300
Max. DC BUS VDC 750
TMRWAF TMRWAFL
Max. speed at conti. Torque (WC) rpm 160 340 90 200 135 210 90 140 92 125
2500 2500
Max. speed at max. Torque rpm 65 150 35 80 55 90 35 60 35 50
Mass of rotor Mr kg 3.1 3.1 5.1 5.1 7.1 7.1 10.2 10.2 15.3 15.3 2000 2000
Torque (Nm)
Torque (Nm)
Height of stator HS mm 90 90 110 110 130 130 160 160 210 210
1000 1000
Height of rotor HR mm 31 31 51 51 71 71 101 101 151 151
500 500
Height H mm 10 10 15 15 15 15 15 15 15 15
0 50 100 150 200 0 50 100 150 200 250 300
2.6 TMRWD Series 2.6.2 TMRWD Series T-N curves

TMRWD3/5/7 TMRWDA/F
TMRWD3 TMRWD3L
800 800
2.6.1 TMRWD Dimensions 700 700
Peak torque
600 Tp@600VDC
600
Torque (Nm)
Torque (Nm)
500 Tp@325VDC
500
27
Hs
43 Thermal cable
TMRWD3/5/7 TMRWDA/F 400 400 Continuous torque (WC)
10 26 Motor cable X 300 300 Tc@600VDC
X
200 200 Tc@325VDC
100 100
Continuous torque
H 0 0
30
H 0 100 200 300 400 0 200 400 600 800
°TY
P
Tc@325VDC
15°TYP
15°
TMRWD5 TMRWD5L
Ø384min.
Ø345H8
Ø485f9
1400 1400
HR ±0.2 1200 1200
37.5±0.2
1000 1000
Torque (Nm)
Torque (Nm)
800 800
600 600
24-M8x1.25Px12DP 400 400
12-M8x1.25Px12DP PCD 360 (Both sides)
X PCD 360 (Both sides)
24-M8x1.25Px12DP 200 200
0 0
Section X-X PCD 468 (Both sides)
0 50 100 150 200 250 0 100 200 300 400 500
TMRW Torque Motor

TMRWD7 TMRWD7L
2000 2000
Table 2.6 TMRWD Specifications 1800 1800
1600 1600
Symbol Unit TMRWD3 TMRWD3L TMRWD5 TMRWD5L TMRWD7 TMRWD7L TMRWDA TMRWDAL TMRWDF TMRWDFL 1400 1400
Torque (Nm)
Torque (Nm)
1200 1200
Continuous torque Tc Nm 185 185 310 310 430 430 619 619 925 925
1000 1000
Continuous current Ic Arms 12 24 12 24 12 24 12 24 24 48 800 800
Continuous torque (WC) Tcw Nm 400 400 660 660 930 930 1340 1340 2000 2000 600 600
Continuous current (WC) Icw Arms 30 60 30 60 30 60 30 60 60 120 400 400
Stall torque Ts Nm 130 130 217 217 301 301 433 433 648 648 200 200
0 50 100 150 200 0 50 100 150 200 250 300 350
Stall torque (WC) Tsw Nm 280 280 462 462 651 651 938 938 1400 1400 Speed (rpm) Speed (rpm)
Stall current (WC) Isw Arms 21 42 21 42 21 42 21 42 42 84
Peak torque(Within 1s.) Tp Nm 750 750 1230 1230 1760 1760 2470 2470 3600 3600
TMRWDA TMRWDAL
Peak current(Within 1s.) Ip Arms 81 162 81 162 81 162 81 162 162 324 3000 3000
Torque constant Kt Nm/ Arms 15.48 7.74 25.8 12.9 36.11 18.1 51.6 25.8 38.7 19.35
2500 2500
Electrical time constant Te ms 7.1 7.1 7.1 8.1 7.1 7.1 7.1 7 7.3 7.9
Resistance (line to line at 25℃) R25 Ω 1.57 0.39 2.31 0.59 3.04 0.76 4.14 1.04 1.35 0.33 2000 2000
Torque (Nm)
Torque (Nm)
Inductance (line to line) L mH 11.13 2.78 16.3 4.78 21.5 5.38 29.3 7.33 9.9 2.6
1500 1500
_
8.94 4.47 14.9 7.45 20.85 10.43 29.8 14.9 22.35 11.18 1000 1000
0 0
Thermal resistance ( WC) Rthw K/W 0.045 0.045 0.030 0.030 0.023 0.023 0.017 0.017 0.013 0.013 0 20 40 60 80 100 120 0 50 100 150 200 250
Max. DC BUS VDC 750
TMRWDF TMRWDFL
Max. speed at conti. Torque (WC) rpm 200 420 120 250 85 190 60 133 80 190 3500 3500
Mass of rotor Mr kg 5.5 5.5 9.2 9.2 12.8 12.8 18.3 18.3 22 22
Torque (Nm)
Torque (Nm)
2500 2500
Mass of stator MS kg 22.8 22.8 38 38 53.2 53.2 76 76 90 90 2000 2000
Height H mm 10 10 15 15 15 15 15 15 15 15 500 500
0 0
Note： WC：water cooled 0 50 100 150 200 0 50 100 150 200 250 300 350
2.7 TMRWG Series 2.7.2 TMRWG Series T-N curves
2.7.1 TMRWG Dimensions TMRWG7 TMRWGAL

2500 4000
Peak
瞬間轉矩 torque
3500
TMRWG7
TMRWG7 TMRWGA/F
TMRWGA/F 2000
3000
Tp@600VDC
Torque (Nm)
Torque (Nm)
Tp@325VDC
(2000) (2000) 1500 2500
51 max.
51 max.
Hs Hs 65 max.
35 35 Thermal
溫度開關線 cable 35 35 Thermal
溫度開關線 cable
65 max.
X 2000 Continuous torque(WC)
18 18 Motor
馬達電源線 cable
X
18 18 Motor
馬達電源線cable 連續轉矩(水冷)
1000
1500 Tc@600VDC
500 1000 Tc@325VDC

500
30
H H
°TY
H H
0 Continuous torque(WC)
P
0 連續轉矩(空冷)
0 20 40 60 80 100 120 0 50 100 150 200 250 300 350 (Free air convection)
15°TYP
15°
Tc@325VDC
Ø420H8
Ø420H8
Ø459min.
Ø459min.
Ø565f9
Ø565f9
HR ±0.2 HR ±0.2 TMRWG7L TMRWGF
29.5±0.2 29.5±0.2 2500 6000
2000 5000
Torque (Nm)
Torque (Nm)
24-M8x1.25Px12DP 4000
PCD 548 24-M8x1.25Px12DP
1500
PCD 435 (Both
(兩端 sides)
12-M8x1.25Px12DP )
3000
PCD 435 (Both
(兩端sides)
)
X 1000
Seal(O-ring)
型環位置 position
Seal(O-ring) 23-M8x1.25Px12DP X
O 12-M8x1.25Px12DP Oposition
型環位置
PCD 548 2000
PCD 548 (Both
(兩端 sides)
)
X-X 剖面
SectionX-X X-X 剖面
SectionX-X 500
1000
TMRW Torque Motor

0 0
0 50 100 150 200 250 0 20 40 60 80 100 120
Table 2.7 TMRWG Specifications

TMRWGA TMRWGFL
4000 6000
Symbol Unit TMRWG7 TMRWG7L TMRWGA TMRWGAL TMRWGF TMRWGFL
3500
Continuous torque Tc Nm 582 582 810 810 1200 1200 5000
3000
Torque (Nm)
Torque (Nm)
Continuous current Ic Arms 10.5 21 21 42 21 42 4000
2500
Continuous torque (WC) Tcw Nm 1255 1255 1810 1810 2720 2720
2000 3000
Continuous current (WC) Icw Arms 26.3 52.5 52.5 105 52.5 105
1500
Stall torque Ts Nm 407 407 567 567 840 840 2000
Stall current Is Arms 7.4 14.7 14.7 29.4 14.7 29.4 1000
500 1000
Stall torque (WC) Tsw Nm 879 879 1267 1267 1904 1904
Stall current (WC) Isw Arms 18.4 36.8 36.8 73.5 36.8 73.5 0 0
0 20 40 60 80 100 120 140 160 0 50 100 150 200 250
Peak torque(for 1s) Tp Nm 2360 2360 3340 3340 5020 5020 Speed (rpm) Speed (rpm)
Peak current(for 1s) Ip Arms 71 142 142 284 142 284
Torque constant Kt Nm/Arms 55.4 27.7 38.8 19.4 57 28.5
Electrical time constant Te ms 7.8 7.2 8 8.3 8.9 8.8
Resistance (line to line at 25℃) R25 Ω 3.3 0.83 1.06 0.27 1.46 0.37
Inductance (line to line) L mH 25.7 6 8.5 2.23 13 3.25
_
32 16 22.4 11.2 33.6 16.8
Motor constant (at 25℃) Km Nm/√W 24.91 24.84 30.59 30.3 38.61 38.35
Thermal resistance Rth K/W 0.17 0.17 0.14 0.13 0.1 0.1
Thermal resistance ( WC) Rthw K/W 0.028 0.028 0.022 0.021 0.016 0.016
Thermal sensor PTC SNM100+SNM120+KTY84
Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.619 0.619 0.904 0.904 1.38 1.38
Max. speed at conti. Torque rpm 90 190 130 280 90 180
Max. speed at conti. Torque (WC) rpm 70 150 100 220 60 140
Max. speed at max. Torque rpm 30 80 50 110 30 70
Mass of rotor Mr kg 13.3 13.3 19 19 28.3 28.3
Mass of stator MS kg 61.1 61.1 75 75 107.5 107.5
Height of stator HS mm 130 130 160 160 210 210
Height of rotor HR mm 71 71 101 101 151 151
Height H mm 15 15 15 15 15 15
3. TMRI Torque Motor

Special rotor design, can be used with field weakening to achieve high speed requirements. The combination
of a high torque stator and rotor meets the most demanding specifications in high precision industry. By
using a water cooled design, high torque can be achieved.
　Water cooled
　Large hollow shaft
　Maximum torque up to 5300 NM
　The concentricity of the stator and rotor will be calibrated before shipment
　With field weakening to achieve high speed requirements
Example：Machine tool,Rotary table
Model Numbers for TMRI Series
Motor specification Function Winding Code

TM RI A 5 C - XX
Series
TM：Torque Motor
Type
RI：High speed type
External diameter of the stator’s lamination stack
TMRI Torque Motor

A：Φ360mm
G：Φ530mm
Rotor height
5：50mm
7：70mm
A：100mm
F：150mm
S：Standard
C：Customized
：Standard
XX：Winding code
3.1 TMRIA Series 3.1.2 TMRIA Series T-N curves
3.1.1 TMRIA Dimensions TMRIA5-WA TMRIA5-WB

900 900
800 800 Peak
瞬間轉矩 torque
700 700 Tp@600VDC
Torque (Nm)
Torque (Nm)
TMRIA5/7
TMRIA5/7 TMRIAA/F
TMRIAA/F 600 600 Tp@325VDC
Hs 500 500
35 35 Motor cable x4 90 max. 400 400 Continuous torque(WC)
40 max.
8.5 8.5 Motor cable x4
馬達電源線x4 連續轉矩(水冷)
X 300 300
(10) X Thermal cable Tc@600VDC
Thermal
溫度開關線 cable 200 200 (Field weakening)
100 100
Tc@600VDC
0
0 200 400 600 800 1000 0
0 300 600 900 1200 1500 1800
Continuous torque
連續轉矩(空冷)
(Free air convection)
Tc@600VDC
TMRIA7-SC TMRIA7-WC
Ø299 min.
Ø238 min.
Ø216H8
Ø264g8
Tc@325VDC
Ø385f9
1200 900
HR ±0.2
800
1000
10 12±0.2 700
20 20 800
Torque (Nm)
Torque (Nm)
600
500
600
400
400 300
12-M6x1Px12DP 24-M6x1Px12DP
P.C.D 228
288 (Both
（兩端） sides) 200
30
°T P.C.D 228(Both
（兩端） sides) 200
YP 24-M6x1Px12DP 100
O-ring slot
Seal(O-ring) X 12-M6x1Px12DP X
position
O型環槽 15° (Both sides)
15° TYP P.C.D 370（兩端）
(Both sides) 0 0
P.C.D 370（兩端） 0 200 400 600 800 1000 0 300 600 900 1200 1500 1800
X-X 剖面
SectionX-X Speed (rpm) Speed (rpm)
TMRIAA-SC TMRIAA-WC
1800 1800
Table 3.1 TMRIA Specifications 1600 1600

1400 1400
TMRIG5/7 TMRIGA/F 1200 1200
Torque (Nm)
Torque (Nm)
35
Hs
Symbol Unit
35
TMRIA5-WA TMRIA5-WB TMRIA7-SC TMRIA7-WC TMRIAA-SC TMRIAA-WC TMRIAF-WC TMRIAF-WF
90 max. 90 max. 1000 1000
Tc 18(10) Nm
40 max.
Continuous torque 240 240 330馬達電源線x4 330 480 480 720 720
40 max.
18 馬達電源線x4
X 800 800
溫度開關線溫度開關線
Continuous current Ic Arms 11.2 X
22.4 18 33.6 18 33.6 33.6 67.2 600 600
Continuous torque (WC) Tcw Nm 540 540 750 750 1080 1080 1600 1600 400 400
Continuous current(WC) Icw Arms 27.9 55.8 45 83.7 45 83.7 83.7 167.4 200 200
Stall torque Ts 18±0.2 Nm 168 168 231 231 336 336 504 504 0
0 100 200 300 400 500 600 700 800
0
0 300 600 900 1200 1500
TMRI Torque Motor

Stall current Is Arms 7.8 15.7 10.6 23.5 10.6 23.5 23.5 47 Speed (rpm) Speed (rpm)
Stall torque(WC) Tsw Nm 378 378 525 525 756 756 1120 1120
Stall current(WC) Isw Arms 19.5 39.1 30.1 58.6 30.1 58.6 58.6 117.2
Peak torque (Within 1s.) Tp Nm 830 830 1100 1100 1660 1660 2490 2490 TMRIAF-WC TMRIAF-WF
Ø459 min.
Ø360 H8
Ø420 h9
Ø565 f9
Ø392
1800 3000
Peak current (Within 1s.) Ip Arms 75.3 150.6 121.5 225.9 121.5 225.9 225.9 451.8
H ±0.2 1600
Torque constant Kt R
Nm/ Arms 23.76 11.88 20.18 11.08 28.39 15.59 23.75 11.86 1400
2500
Electrical time constant Te ms 7.60 7.60 7.76 8.03 7.95 8.05 8.06 8.15 1200 2000
Torque (Nm)
Torque (Nm)
20 20
Resistance (Line to line at 25℃) R25 Ω 2 0.5 0.98 0.29 1.32 0.38 0.53 0.13 1000
1500
Inductance (line to line) L mH 15.2 3.8 7.6 2.33 10.5 3.06 4.27 1.06 800
400
_
13.72 6.86 11.65 6.4 16.39 9 13.71 6.85 500
200
Motor constant (at 25℃) Km Nm/√W 12.37 12.37 15.12 12-M8x1.25Px12DP 18.95
14.89 18.92 24.03 24.26 24-M8x1.25Px12DP
O-ring slot 30 0 0
O型環槽 Rth K/W P.C.D 376 （兩端） P.C.D 376 （兩端）
Thermal resistance 0.25
°T
YP X 0.25 0.2 0.19 0.15 0.15 0.11 0.11 0 300 600 900 1200 1500 0 300 600 900 1200 1500 1800
12-M8x1.25P x12DP X 24-M8x1.25P x12DP
Thermal resistance (WC) X-X 剖面
Rthw K/W 0.041 0.041
15° 0.032 0.031
P.C.D 548（兩端） 0.024 0.024 0.01715° TYP 0.017 P.C.D 548（兩端） Speed (rpm) Speed (rpm)

Max. DC BUS VDC 750
Inertia of rotor J kgm2 0.27 0.27 0.35 0.35 0.46 0.46 0.69 0.69
Max. speed (conti. torque(WC)) rpm 160 350 200 380 140 270 180 380
Max. speed (Field Weakening ) rpm 1000 1850 1100 1850 800 1500 1000 1850
Mass of rotor Mr kg 15.5 15.5 20.5 20.5 27 27 40.5 40.5
Mass of stator MS kg 26.8 26.8 34.5 34.5 44.9 44.9 63.1 63.1
Height of stator HS mm 110 110 130 130 160 160 210 210
Height of rotor HR mm 81 81 101 101 131 131 181 181
Ø385
Ø264
Ø216
Ø299
Ø238
HR ±0.2
10 12±0.2
20 20

12-M6x1Px12DP 24-M6x1Px12DP
30 P.C.D 288 （兩端）
°T P.C.D 228 （兩端）
YP 24-M6x1Px12DP
O-ring slot
3.2 TMRIG Series

X 12-M6x1Px12DP
3.2.2 TMRIG Series T-N curves
X
O型環槽 15° 15° TYP P.C.D 370（兩端）
P.C.D 370（兩端）
X-X 剖面
TMRIG5-SB TMRIG5-WD
2000
3.2.1 TMRIG Dimensions
2000
1800 1800 Peak torque
瞬間轉矩
1600 1600
Tp@600VDC
Torque (Nm)
Torque (Nm)
1400 1400
1200 1200 Tp@325VDC
Hs
TMRIG5/7
TMRIG5/7 TMRIGA/F
TMRIGA/F 1000 1000
800 800 Continuous
連續轉矩(水冷) torque(WC)
35 35 90 max. 90 max.
Motor cable x4 Motor cable x4 600 600
40 max.
40 max.
18 18 馬達電源線x4 馬達電源線x4
X Tc@600VDC
(10)
Thermal
溫度開關線cable Thermal
溫度開關線cable
400 400
X (Field weakening)
200 200
0 0 Tc@600VDC
0 100 200 300 400 500 600 0 200 400 600 800 1000 1200 1400
18±0.2
TMRIG5-WH TMRIG7-SB Continuous torque
2000 3000 連續轉矩(空冷)
(Free air convection)
1800 Tc@600VDC
1600 2500
Tc@325VDC
1400
Torque (Nm)
Torque (Nm)
2000
Ø459 min.
1200
Ø360 H8
Ø420 h9
Ø565 f9
Ø392
1000 1500
HR ±0.2 800
600 1000
400 500
20 20
200
0 0
0 200 400 600 800 1000 1200 1400 0 50 100 150 200 250 300 350 400 450
TMRIG7-WD TMRIG7-WH
3000 3000
12-M8x1.25Px12DP 24-M8x1.25Px12DP
Seal(O-ring)
O-ring slot 30 P.C.D 376 (Both
（兩端） sides) P.C.D 376(Both
（兩端） sides)
2500
position
O型環槽
°T
YP X 2500
12-M8x1.25P x12DP X 24-M8x1.25P x12DP
(Both sides) 15° TYP (Both sides)
Torque (Nm)
Torque (Nm)
P.C.D 548（兩端） P.C.D 548（兩端） 2000
SectionX-X
X-X 剖面 15° 2000
1500 1500
1000 1000
Table 3.2 TMRIG Specifications 500 500
0 0
Symbol Unit TMRIG5-SB TMRIG5-WD TMRIG5-WH TMRIG7-SB TMRIG7-WD TMRIG7-WH TMRIGA-SB TMRIGA-WD TMRIGA-WH TMRIGF-SB TMRIGF-WD TMRIGF-WH 0 200 400 600 800 1000 1200 0 200 400 600 800 1000 1200 1400
Continuous torque Tc Nm 530 530 530 745 745 745

1060 1060 1060 1590 1590 1590 Speed (rpm) Speed (rpm)
Continuous current Ic Arms 10.5 39 78 10.5 39 78

10.5 39 78 10.5 39 78 TMRIGA-SB TMRIGA-WD
4000 4000
Continuous torque (WC) Tcw Nm 1140 1140 1140 1597 1597 1597
2280 2280 2280 3400 3400 3400
3500 3500
Continuous current(WC) Icw Arms 26.3 95 190 26.3 95 190
26.3 95 190 26.3 95 190 3000 3000
Stall torque Ts Nm 371 371 371 522 522 742522 742 742 1113 1113 1113
Torque (Nm)
Torque (Nm)
2500 2500
TMRI Torque Motor

Stall current Is Arms 7.4 27.3 54.6 7.4 27.3 7.454.627.3 54.6 7.4 27.3 54.6 2000 2000
Stall torque(WC) Tsw Nm 798 798 798 1118 1118 1118
1596 1596 1596 2380 2380 2380 1500 1500
Stall current(WC) Isw Arms 18.4 66.5 133 18.4 66.5 133
18.4 66.5 133 18.4 66.5 133 1000 1000
Peak torque (Within 1s.) Tp Nm 1770 1770 1770 2480 2480 2480
3500 3500 3500 5300 5300 5300 500 500
Peak current (Within 1s.) Ip Arms 71 239 478 71 239 71 478 239 478 71 239 478 0
0 50 100 150 200 250 300
0
0 100 200 300 400 500 600 700 800 900
Torque constant Kt Nm/ Arms 50.70 14.00 6.90 71.00 19.40 9.90
101.30 28.40 14.00 152.10 42.10 21.10 Speed (rpm) Speed (rpm)
Electrical time constant Te ms 7.4 7.4 8.3 7.3 7.3 7.37.3 7.5 7.5 7.4 7.6 7.9
TMRIGA-WH TMRIGF-SB
Resistance (Line to line at 25℃) R25 Ω 2.4 0.18 0.04 3.2 0.24 4.40.060.32 0.08 6.5 0.46 0.11 4000 6000
Inductance (line to line) L mH 17.8 1.33 0.33 23.5 1.76 0.44
32.2 2.4 0.6 48.1 3.48 0.87 3500
5000
Torque (Nm)
Torque (Nm)
4000
Back emf constant (line to line) Kv Vrms/(rad/s) 29.3 8.1 4 41 11.2 5.7 58.5 16.4 8.1 87.8 24.3 12.2 2500
_
2000 3000
Motor constant (at 25℃) Km Nm/√W 26.6 26.15 27.74 32.39 31.84 31.84 39.3 39.23 39.23 48.5 49.08 50.18
1500
Thermal resistance Rth K/W 0.24 0.23 0.26 0.18 0.17 0.17 0.13 0.13 0.13 0.09 0.09 0.09 2000
1000
Thermal resistance (WC) Rthw K/W 0.038 0.039 0.044 0.029 0.029 0.029 0.021 0.022 0.022 0.014 0.015 0.016 1000
500
0 0
Max. DC BUS VDC 750 0 200 400 600 800 1000 1200 1400 0 50 100 150 200
Inertia of rotor J kgm2 1.16 1.16 1.16 1.63 1.63 1.63 2.32 2.32 2.32 3.48 3.48 3.48 Speed (rpm) Speed (rpm)
Max. speed (conti. torque(WC)) rpm 80 340 710 60 250 500 30 170 350 20 110 230 TMRIGF-WD TMRIGF-WH
6000 6000
Max. speed (Field Weakening ) rpm 600 1360 1360 450 1200 1360 300 900 1360 200 650 1200
Mass of rotor Mr kg 27.3 27.3 27.3 38.3 38.3 38.3 54.7 54.7 54.7 82 82 82 5000 5000
Mass of stator MS kg 48 48 48 61.1 61.1 61.1 75 75 75 107.5 107.5 107.5 4000 4000
Torque (Nm)
Torque (Nm)
3000 3000
2000 2000
*All the specifications in the table are in ±10% of tolerance except dimensions. 1000 1000
0 0
0 100 200 300 400 500 600 700 0 200 400 600 800 1000 1200
4. Drives and Accessories

DC24V
Option
6
Main Power
2 1
Drive
CN1 CN2
CN3
CN2
3
4
5
Pulse signal etc. PC
Motion
Controller
Part name Model Connector Description
For TMS, TMNxxE Standard Series
D1-18-S2
For TMS3xL, TMS7xL Series
D1-36-S2
1 Drive
For TMY, TMNxxA Series
Drives and Accessories

D1-36-S4
U
V
W
T -
T+
For Torque Motor
Motor Free leads

2 Motor Power Cable LMACSF Connects U
V
W
(U,V,W)
Intercontec
Model:BSTA880FR0886201A000
4.1 Pin Assignment

Part name Model Connector Description
For TMS, TMNxxE Series
LMACE□□AA LMACE□□AM
8-10-0090 Color SCSI 20 8-10-0090 Color SCSI 20
Function Signal Function Signal
LMACEAA (Female) (051400300069) (Male) (Female) (051400300069) (Male)
Intercontec Drive Connector(3M) 4 5V Blue 3 4 5V Blue 3
Model : ASTA876FR1085200A000 Model : 10120-3000VE
Power 5 5V Blue - Power 5 5V Blue -
6 0V White 2 6 0V White 2
For TMS, TMNxxE with Hall sensor Series 2 U 2- Red 19 2 U2- Red 19
FMK3G
Incremental 3 U 1- Brown 17 Incremental 3 U1- Brown 17
FMK3G
Signal 9 U2+ Black 18 Signal 9 U2+ Black 18
3 Position Signal Cable LMACEAM CN3
Intercontec 10 U1+ Green 16 10 U1+ Green 16
Drive Connector(3M)
Model : ASTA876FR1085200A000 Model : 10120-3000VE 1 U 0- Pink 9 1 U0- Pink 9
Reference
Reference 8 U0+ Grey 8 8 U0+ Grey 8
Mark
For TMY, TMNxxA Series Mark 6 0V Inner Shield 20 Case Shield Outer Shield 1
Case Shield Outer Shield 1 Temperature 11 T+ Purple 14
11 T+ Purple 14 Switch 12 T- Yellow 15
LMACEAU Temperature
Switch 13 Vcc Blue 3
Intercontec Drive Connector(3M)
12 T- Yellow 15
Model : ASTA876FR1085200A000 Model : 10120-3000VE 14 Hall A Brown/Green 11
Hall Sensor 15 Hall B White/Yellow 12
To PC (about 2m long for mega-fabs drive) 16 Hall C White/Green 13
17 GND Whtie 10
D-SUB 9 Female
4 RS-232 Cable LMACR21D Drive RS-232
RJ-11
To motion controller (about 3m long)

LMACE□□AU
Controller Pulse 8-10-0090 Color SCSI 20
5 LMACK30R CN2 Function Signal
Cable (Female) (051400300069) (Male)
Drive Connector(3M)
Model : 10126-3000VE
1 VREF+ Brown 11
4 White/Yellow
6 Regen Resistor 050100700001 Rated 100W, Peak 500W
7 VREF- White 3
D1-CK1 All Connector (Not Include CN3)
D1 Drive Accessory Resolver 1 8 Yellow/Brown
D1-CK2 All Connector (Include CN3)
(20/115) 2 SIN+ Green 16
D1-EMC1 Used in Single Phase AC Power
EMC Accessory 3 SIN- Yellow 17
D1-EMC2 Used in Three Phase AC Power
9 COS+ Blue 18
D1-H1 Standard
Heat Sink 10 COS- Red 19
D1-H2 Low Profile
13 SIN+ Black 4
Resolver 2 14 SIN- Purple 5
(24/114) 15 COS+ Grey 6
16 COS- Pink 7
03 04 05 06 07 08 09 10
Drives and Accessories

□□
Inner
12 Inner shield 15
Cable Length (m) 3 4 5 6 7 8 9 10 shield
Note: User must prepare one 24 VDC power supply for each drive. Outer
Case Outer shield 1/Case
shield
Temperature 11 T+ Brown/Green 14
Switch 12 T- White/Green 15
Appendix A: Motor Sizing STEP1 Requirement

In order to select the motor that meet user’s needs, the following formula of load inertia motion must be
understood prior to the selection.
Start Motor Sizing
Calculation of loading inertia
The following contents describe how to choose proper motor according to speed, moving distance, and Loading inertia can be determined by 3D drawing software or according to the formula. The basic loading
loading inertia. The basic process for sizing a motor is: formula is as follows:
moment of inertia of a hollow cylinder
Requirement R2 + r2 2
r r
S S
J= m ( 2 +S )
 Operating environment R 2+ r2 2 S S
J= m ( +S )
 Installation (horizontal or vertical ) 2 b b
moment aof inertia
2
+ b of2a rectangular
2
 Driving method J= m ( 2 +S ) R R
 Load conditions (loading inertia, friction and cutting force) a 12+ b2

J= m ( + S2 ) m m
 Speed condition (maximum acceleration and velocity) 12 m m
a a
 Duty cycle ω = ω0 + αt
ω = ω0 + αt
θ = ω0t + 1 αt 2
2 2
θ = ω0t +2 1 αt
R +2 r2 2
J= m ( +S )
2 θ 旋轉中心 Rotary
旋轉中心 center Rotary center 旋轉中心
旋轉中心
Torque calculation ωmax = 2 × 或 ωmax = α × θ
θt
ω = 2 × 2 或 ω
2
max a the
Determine + btmotion max = α×θ
 Calculate the torque corresponding to the speed under each J= m ( 4θ + S 2 ) speed and parameters
Motion 12
operation condition α max =equation
t2
r 4θ
Basic kinematics ω(rad/s)
equations are ω(rad/s)
described as follows: ω(rad/s) ω(rad/s)
 Calculate equivalent torque α max = t 2 S ω max
ω = ω0 + αt ω max ω max
S
ω max
T max = ( J +1Jm )2 × αmax + Tf = Ti + Tf

θ = ω t + αt
T max =0 ( J +2Jm ) × αmax + Tf = Ti + Tf b
R
Where ω ( Tisi +angular
Tf ) 2 × t 1 + Tf ×αtis
velocity,2 angular acceleration,
2
2 + ( Ti − Tf ) × t 3
t t(sec)
is movingt(sec)
time and θ is angular displacement.t(sec) t(sec)
Motor sizing and T-N curve confirmation T

User m θ two
e = can choose 2
ωmax =( T2i ×+ Tf )或× ω of the four
2 parameters
t/2 (ω,
++ Tt=f2 +× αtt32×++θt(4Ti − Tf ) × t 3
t 1max
m
t/2 t andθ)t/2as user’s designed t1
2 t/2 α, parameters,
t2 t1 t3then
t2t4 the t3
left t4
t
Te =parameters can be calculated by above equations.
two a
 Select the appropriate motor from the HIWIN’s catalogue t1 + t 2 + t 3 + t 4
in accordance with calculated maximum torque, equivalent 4θ
T max profile
α max==
Motion
I max velocity
torque and speed.
t2
The motion TK t profiles for torque motor are usually classified as “Trapezoid Profile” and “Triangle
max
Symbol : I max =
 Ensure the speed and the corresponding torque under all Profile”,Kwhere the Trapezoid Profile is frequently used for scan. The motion profiles are divided as
θ: Angular displacement (rad) Te t
operating conditions are within the range of torque-speed I emax
T = = ( J + Jconstant
acceleration, ) velocity and deceleration. The maximum angular acceleration can be determined
m × αmax + Tf = Ti + Tf
t: Moving time(sec) Tet
K
curve of the motor.
α: Angular acceleration(rad/s2 )
by = basic kinematics equations 旋轉中心
I e the 旋轉中心
above-mentioned; the Trapezoid Profile is usually used in point-to-point
 Confirm the equivalent torque is within the continuous torque
Kt The motion profiles are divided as acceleration and deceleration, where the motion profile and
application.
ω: Angular velocity (rad/s) 2 2 2
of the motor. formula (can
RT2Ri 2+
+be r)2 × t21 + as
+rT2fsimplified Tf follows:
× t0.25
2 + (2 T+i −
0 2Tf ) 2× t 3
J: Load inertia (kgm2) J1e ==mm( (
T
J= + S ) ) = 12 (
+ 2S + 0 ) = 0.375kgm2
Jm: Rotor inertia (kgm2) R 22 2+ r2 t21 + t 2 + t0.253 + t224 + 0 2
= m(
J1ω(rad/s) + S ) = 12 ( + 0 2 ) = 0.375kgm
ω(rad/s)
2
Torque Motor
Tp: Peak torque (Nm) 2 2
T-N curve a2max
a+2 b2 2 2
+ b+ S )2 0.1 2 + 0.05 2
Torque (Nm) Tc: Continuous torque (Nm)
J mm( T
J=ω=max + S = 1 2 ω max 2
2 =
I max ( 12 ) ( 2 2 + 0.15 ) = 0.0235 kgm
Ti: Inertia torque (Nm) a 2 12 2
+ b 0.1 +
12 0.05
J2 = m ( K t
Tp
(Peak Torque) + S2 ) = 1 ( + 0.15 2 ) = 0.0235 kgm2
Kt: Torque constant (Nm/Arms) 12 12
Ip: Peak current (Arms) Te
I e = J1ω+0 +
J=
ω 8 ×αtJ2 = 0.375 + 8 × 0.0235 = 0.563kgm2
Tcw
(Continuous Ie: Equivalent current (Arms) K
J= J1 +t 8 ×1 J2 =2 0.375 + 8 × 0.0235 t(sec)= 0.563kgm2 t(sec)
torque for
Ic: Continuous current (Arms) θ = ω0t + 45 αt
t/2 × π
θ = 45° = 2
water cooling)
t/2 t1 t2 t3 t4
ω0: Initial angular velocity (rad/s) = 0.7854 rad
2 45180×π 2
2 2 2
m ( =R + r + S ( 0.25 + 0 + 0 2 ) = 0.375kgm2
Tc
(Continuous m: Loading Mass (kg) θ
J1== 45° ) = 12rad
= 0.7854
torque for air 2θ180 2
cooling)
R: External diameter of loading Mass (m) ω = 2 × θ 或 ω0.7854 = α × θ
ω max = 2 × t = 2 ×
max max = 5.236rad /s = 50rpm
Speed (rpm) r: Internal diameter of loading Mass (m) t
θ 0.3
0.7854 2
ω max = 2a2× + b=2 2 ×2 + 0.05 2/s = 50rpm
=0.15.236rad
a, b: Side length of loading Mass (m) J 2 = m ( 4θ t + S ) 0.3 = 1( + 0.15 2 ) = 0.0235 kgm2
S: Distance from gravity center to rotary center (m) α max = 4θ 12 4 × 0.7854 12
α max = t22 = 2
= 34.91rad/s 2
t
4θ 4 ×0.3
0.7854
α max = 2 = = 34.91rad/s 2
2 + 8 × 0.0235 = 0.563kgm2
J= J1 + t8 × J2 = 0.3 0.375
T max = ( J + Jm ) × αmax + Tf = Ti + Tf
12 θ max
ω = ω=0t 2+ × αt 或 ωmax
或 max =
α
α××θ
θ
max
2 tt
θ = ω0t + 1 αt 2
2 R4θ
2
4θ + r2
ω = ω0 + αt α
J= m (=
α max = t 22 θ + S2 )
44 MR99TE02-1703
max
ωmax = 2t 2× 或 ωmax =
t α×θ Torque Motor (Direct Drive Motor) 45
θ = ω=0t 2+ ×1 θ
ω αt 2
max 2 t 或 ωmaxS = α×θ a2 + b2
J=
T m (
= (4θ
J + J +) S×2 )α + T = T + T
T
α max
max =
max = ( 12
J + Jm ) × αmax
m max + Tff = Tii + Tff
4θ
b
2t
STEP
α
ωmax = 2 2Torque
max = 2t×
θ
或 ωcalculation
max = α×θ Example of motor sizing
t ω = ω0( +Ti αt 2 2 2
((Ti ++ TTff ))) 2 ×
× tt 11 +
+ T
Tff × × tt 22 +
+ (( T
Tii −
−TTff )) ×× tt 33
2 2
m
The maximum torque can be calculated by the following equation T =
Loading
Teemax J 1+ Jm × αmax
= = requirement: + Tf = Ti +disc
An aluminum Tf with φ500mm and 15mm thick without offset and weight is 12kg.
a 4θ θ = ωare
0t +eight
2
αtjigs with t + t + t
t11 +100x50x50mm + t
t 22 + t33 + t 44 on the aluminum disc at an interval of 45˚. Each jig weighs 1 kg. The
α
T max = ( J2 + J ) × α
max = There 2
t m max + Tf = Ti + Tf
distance from the 2jig gravity center
2
to the rotary2 center is 150mm, and the mechanical friction force is 2Nm.
(
T Ti +
T maxθ Tf
Speed requirement:
max ) ×Each position 45˚( T
t 1 + Tf × t 2 + − Tf ) × t 3in 0.3 seconds, and rests for 1 second.
isi completed
Where Ti is inertia torque, Tf is the torque which is cause by friction torque, cutting force or external force. e ==
IITmax
ω =
max = 2K×t ω 1 +=t 2 +α t×3θ+ t 4
K t t 或 tmax
2 2 2 max
InT max
most= (cases,
(TJi + )) ××motions
+ JTmfthe αtmax
1 + +Tf T × t 2Ti++( TTpoint-to-point
are
f = cyclic fi
− Tf ) × t 3 movements. Assuming a cyclic motion shown in the
Te = profile with at1dwell
following + t 2 time
+ t3 of+ tt44second, the effective force can be calculated as follows: STEP1 Te Requirement confirmation
I e = T=e 4θ
= K Ttmax
I emax
α 2
心
( Ti + Tf ) 2 × t 1 + Tf × t 2旋轉中心
2
+ ( Ti − Tf ) × t 3
2 I max =Ktt
Te = T max CalculationK tof loading inertia
I max = t1 + t 2 + t 3 + t 4 Inertia of disc
Kt Te +22 J+ )r22× α 2 + T = T0.25 2 2
T
IJ = = (( JR
Je11max
= R +m r + i + T2f +
f ( 0.25 + 0
02 + 0 22 )) = 2
= mm
Kt( 2
+S 2 ) = 12
Smax) = 12 ( 2
+ 0 = 0.375kgm
0.375kgm2
TeT max 2 2
IIω(rad/s)
e= =
max K
t K
t Inertia of( Tjig+ T ) 2 × t + T × t + ( T − T ) 2 × t
2
i 2 f 2 1 f 2 2 i f2 3
ω max Te = a
a22 +
R ++ b
br2 + St 22 )+ =t 1
2 0.1
0.1 +2
+2 0.05
0.052 + 0.15
+ ((t(3 0.25
+ t 4 + 0 ++
2 2
Te J
J122 = m ( 12 + 1 ) =2 1 12 2
00.15 =
= 0.0235
0.02352kgm
) =2 )) 0.375kgm kgm2
Ie = 2 2 2 2 2
12 122
12
Kt( R + r + S 2 ) = 12 ( 0.25 + 0 + 0 2 ) = 0.375kgm2
J1 = m Total inertia
2 2 T max2× J =2 0.375 + 8 × 0.0235 2
IJ=
J= J=11 +
maxJ + 88a× +J2b= 0.375 + 8 ×0.1 2 =
= 0.563kgm
+ 0.05
0.0235 2
0.563kgm 2
c) t(sec) J2 = m (K t 2 + S2 ) = 1 ( + 0.15 2 ) = 0.0235 kgm2
R2 2 2 2 + 0 22
0.25
a2 ++ br2 + S 22 ) = 12 0.1 + 0.05 + 0 2 ) =2 0.375kgm2 12 12
J = m (
J 2 = mt1( ( + 0.15 ) = 0.0235 kgm2
2 t2 + S t3) =t41 (
1 45 ×
×ππ
2 MotionTeprofile45
12 12 Iθe =
== 45°
45° =
= = 0.7854
0.7854 rad
rad
Itθ is a K 180
point-to-point
J= J1 +t 8 × 180
=
application.
J2 = 0.375 The maximum
+ 8 × 0.0235 angular
= 0.563kgm 2 velocity and the maximum angular acceleration are
a2× +J b=2 0.375 0.1 2

+ 0.05 2
2
calculated as follows:
J=
J = Jm +( 8 + S 2
) +
= 8
1 (× 0.0235 = 0.563kgm
+ 0.15 2 ) = 0.0235 kgm2 θ
θ =2 2 × 0.7854
0.7854 = 5.236rad
2 1
STEP 3 Motor 12
2
sizing and12T-N curve confirmation ω max
ω = 2
max = R2=2×
×45
+ tr= π2 =×2 0.7854
× =0.25 + 0 2 + /s
5.236rad
2 /s 2=
= 50rpm
50rpm
θ = 45°
J1 = m ( t180+ S ) =0.3 12 ( rad
0.3 0 ) = 0.375kgm2
With the help45of ×HIWIN’s
π motor specification, users can select the appropriate motor from peak torque and 2 2
θ
J== J45° = × J = 0.375
= 0.7854
+ 8 ×rad 4θ
4θ 4 4×× 0.7854
2
1 +
equivalent8 torque,
180
2 and ensure 0.0235
the speed =and
0.563kgm
torque under all operating conditions is within the range of the 0.7854 = 34.91rad/s 2
α max =
α max = ta222 +=
=θb2 0.3 220.7854 = 0.1
34.91rad/s
2 2
T-N curve 2for the motor. ω max = t2 × = 2
0.3×2 = + 0.05 2 /s = 50rpm
5.236rad
J2 = m ( + S ) =0.31( + 0.15 2 ) = 0.0235 kgm2
12t
2
R +θ r
J=
ω m (= 2 ×45 ×+ πS2 ) 0.7854 = 5.236rad /s = 50rpm 12
θ =max45° =2 t = 2 =× 0.7854 rad
180 Torque0.3 Motor 4θ 4 × 0.7854 2
α max
J= J1 =+ 8t 2× =J2 = 0.375 = 34.91rad/s 2
2
Torque (Nm)a + bθ4 × 0.78542 T-N curve
0.3 2 + 8 × 0.0235 = 0.563kgm
m =(= 4θ
2 2 2 2
J= = =+ S
2 0.7854 (( T
Tii + Tff ) ×
+ T ) 22
× tt 11 +
+ Tff ×T 22
× tt 22 + (( T
Tii −
−TTff )) ×
2
× tt 33 = (( 20.4
20.4 +
2
2) ×
+ 2) × 0.15
0.15 +
+ 2
2
2 × × 0
0++ (( 20.4
20.4 −
−2
2
2 )) ×× 0.15
×) 2 0.15
2
α
ωmax 212
2× 20.3 = 34.91rad/s
= 5.236rad /s = 50rpm + =
maxTp
t t 0.3 T
Tee =
= 45 × π tt1 + t + t + tt 44 = 0.15 + 0 + 0.15 + 1 = 9.9Nm
9.9Nm
1 + t 2rad
+ t3 + 0.15 + 0 + 0.15 + 1
(Peak Torque)
2 3
θ = 45° = = 0.7854
4θ 4 × 0.7854 Tmax STEP 2 Torque
180 calculation
ω =Tcwω
α max = 0 +2 αt
= = 34.91rad/s 2 ( Ti + Tf ) 2 × t 1 + Tf 2 × t 2 + ( Ti − Tf ) × t 3
2 2 2
( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15
2
(Continuous t 0.3 2 Tis
Itω θ
=recommended 0.7854ratio loading inertia (J) over
= motor rotator inertia (Jm) be less than 50. It can be = 9.9Nm
e max = 2 × = 2 that
× t the
+ t 2 =+ 5.236rad
t3 + t 4 /s = 50rpm
ω0(tT+i +1 αt
2 2 2 2
0.15 + 0 + 0.15 + 1
torque for
θwater
= cooling) Tf )22 × t 1 + Tf 2 × t 2 + ( Ti − Tf ) × t 3 ( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15 t 1 0.3
roughly estimated 30 in motor sizing. Since J/30=0.563/30=0.019kgm², user can select the TMS34 (Jm=0.02
Te = 2 Te = = 9.9Nm
Tc t1 + t 2 + t 3 + t 4 0.15 + 0 + 0.15 + 1 kgm²)
(Continuous 4θ 4 × 0.7854
torque for air α max = 2 = = 34.91rad/s 2
2 2 2 2 2 2 Tmax = (J+J
t m ) ×α 2
0.3max + Tf = Ti + Tf = (0.563 + 0.02) × 34.91 + 2 = 20.4 + 2 = 22.1Nm
( Ti + θTf ) × t 1 + Tf × t 2 + ( Ti − Tf ) × t 3
cooling)
ω ( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15
= = 2 × t 或 ωmax = αSpeed
Temax × θ(rpm) = = 9.9Nm
t1 + t 2 + t 3 + t 4 0.15 + 0 + 0.15 + 1
Where Ti=20.4Nm, Tf=2Nm
4θ
α max = 2 2 2 2
The motort 2sizing is determined as follows: ( Ti + Tf ) 2 × t 1 + Tf 2 × t 2 + ( Ti − Tf ) × t 3 ( 20.4 + 2) × 0.15 + 2 × 0 + ( 20.4 − 2 ) × 0.15
Tmax <Tp Te = = = 9.9Nm
t1 + t 2 + t 3 + t 4 0.15 + 0 + 0.15 + 1
Te < Tc
T max
The user J + Jm )to×consider
= (needs αmax + Tthe f = ratio
Ti + ofTf equivalent torque and continuous torque. Usually the ratio (Te/Tc) Torque (Nm)
70
is recommended within 0.7; continuous torque for TMRW series can be classified as air cooling and water STEP 3 Motor sizing and T-N curve 60
cooling. If the motor is operated with water cooling, the comparison of equivalent torque can be based on
( Ti + Tf ) 2
× t 1 + Tf
2
× t 2 + ( T i − T
water cooling continuous torque when selecting the motor.f )
2
× t 3 confirmation 50
Te =
The peak current Imaxt1and + teffective
2 + t 3 + current
t4 Ie can be calculated by bringing motor torque constant into the 40
Finally, TMS34 can be selected according to the Tmax
following equation (For Kt, please refer to Appendix B) 30
Tmax
and Te. The peak torque Tp=60Nm, the continuous torque
T max Tc=20Nm, the torque constant Kt=6.6 Nm/Arms, and the
20
I max = 10
Kt speed and torque under all operating conditions are within Te
0
the range of T-N curve for TMS34. 0 50 100 150 200 250 300 350 400 450
Te
Ie = Speed (rpm)
Kt
R2 + r2 2 0.25 2 + 0 2 2 2
Appendix B: Glossary 11. Stall current: Is/Isw (Arms)

The stall current, is the upper limit of current when the motor is at 25℃ and in the stall condition;
Depending on the heat dissipation, TMRW series will correspond to Is for air cooling and Isw for water
V rms
1. Back EMF constant(Line to Line): Kv rad/s （　） cooling.
The back EMF constant, Kv, is the ratio of the back emf voltage (Vrms) to the motor rotational speed 12. Stall torque: Ts/Tsw(Nm)
(rad/s) when the magnet is at 25℃. It is created at the movement of the coil in the magnetic field of
The stall current, Ts, is the upper limit of torque when the motor is at 25℃ and in the stall condition;
permanent magnets.
Depending on the heat dissipation, TMRW series will correspond to Ts for air cooling and Tsw for water
cooling.
2. Continuous current: Ic/Icw (Arms)
The continuous current, Ic, is the current that can be continuously supplied to the motor coils at the 13. Thermal resistance: Rth/Rthw (K/W)
ambient temperature 25℃, and the final temperature of coil can’t exceed 100℃ (120℃ for TMRW
The thermal resistance, Rth, is defined as the resistance suffered heat from motor coil to dissipate the
series). Under this condition, the motor reaches the rating continuous torque Tc; in relation with the
environment (consider the natural convection and radiation for air cooling when ambient temperature
continuous current and coil temperature, TMRW series will respond to Ic for air cooling and Icw for
is at 25℃, and the force water cooling for water cooling when the water is at 25℃); Higher thermal
water cooling.
resistance represents the larger temperature difference between the coil and environment under the
same heat source.
3. Continuous torque: Tc/Tcw (Nm)
The continuous torque, Tc, is the maximum torque the motor is able to generate continuously at the 14. Torque constant: Kt (Nm/Arms)
ambient temperature 25℃ and the final temperature of coil can’t exceed 100℃ (120℃ for TMRW
The torque constant, Kt, is ratio between as the motor’s output torque per RMS current.
series).This continuous torque corresponds to Ic/Icw supplied to the motor; in relation with the
Except for TMRW series, output torque and input current shows a linear relationship. The non-linear
continuous current and coil temperature, TMRW series will respond to Tc for air cooling and Tcw for
relationship is due to saturation in the lamination stack.
water cooling.
Torque
4. Inductance (line-to-line): L (mH)
Tp
Inductance is defined as inductance measured between lines when the motor operates in continuous
current Ic/Icw.
Tc
5. Resistance at 25°C (line-to-line): R25 (Ω) Kt
Resistance is defined as resistance measured between lines when the motor operates at the coil
temperature 25℃. Ic Ip Current
Nm
6. Motor constant: Km （　
√W ）
- 15. Maximum speed
The motor constant, Km, is defined as the ratio of square root of motor output torque to consumption Maximum speed is defined as maximum speed provided under specific torque (usually continuous
power when the coils and magnets are at 25℃. The larger motor constant represents the lower power torque); if there is a bearing installed inside the motor, the maximum speed will be limited by the
loss when the motor outputs at the specific torque. bearing’s DN value; there are three conditions to define the maximum speed of water-cooling motor:
maximum speed under air-cooling continuous torque, maximum speed under water-cooling continuous
7. Number of poles: 2p torque and maximum speed under peak torque.
2p represents the number of poles of the rotor, where p is the number of poles pair.
16. Maximum Input Voltage (VDC):
8. Peak current: Ip (Arms) Maximum input voltage is the maximum voltage for the motor operating in the normal environment.
The peak current, Ip, is the current corresponding to maximum torque output of the motor, and the
motor temperature reached by current can’t demagnetize magnet; generally speaking, peak current 17. Resolution: p/rev
can be granted to supply 1 second when the motor is operating in the normal condition, and then need Resolution is the quantity of the motor feedback system divided in one turn.
to ensure it reaches the normal temperature to supply peak current.
18. Accuracy: arc-sec
9. Peak torque: Tp (Nm) Accuracy is the error between the target position and the actual position; in the HIWIN’s definition, the
The peak torque, Tp, is the maximum torque that the motor output less than 1 second. Peak current motor is measured clockwise and counterclockwise twice per 22.5° to take the maximum error.
corresponding to the torque can’t demagnetize magnet.
19. (Bi-) Repeatability: arc-sec
2
10. Rotor inertia: J (kgm ) (Bi-)Repeatability is the repetition when the motor moves to the same angle.
The rotor inertia, J, is the rotary component resists any changes in its state of motion, including
changes to its speed and direction.It is related with the shape and mass.
20. Axial runout and radial runout:

Axial runout is the runout Ra by measuring the parallel direction between the installation end and
Appendix D : Torque Motor Inquiry Form
rotary axis when the motor rotates; radial runout is defined as runout Rr by measuring the vertical Date:
direction between the installation end and the rotary axis when the motor rotates. Due to different
Company Name: Contact person:
types of motor, refer to the figure below for the measurement criteria.
Rr
Email:
Rr Ra
Ra
Tel:　　　 Fax: Title:
Rr Ra
Industrial □Horizontal □Laterally
Environment □Normal environment (25℃) (□Upside Down) a
□Clean room, Class______

(C)outer
TMX/Y外轉式
Installation
(A) TMS(A) TMS內轉式
inner rotation type (B) TMN (B) TMN外轉式
outer rotation type (C) TMY rotation type □Pollution environment。
□Other_________________
21. Loading capacity:
水平安裝側掛安裝軸向偏擺
The load of motor must be considered when it is operating. The load can be calculated by external □ □ □Standard
W
D L
D
W
D L
D
force and the installation to identify the motor structure tolerates or not. The axial force applied to the
T2
□High Precision
T2
motor in the calculation needs be less than the maximum axial load Fi < Fa, and can be used when the Load Type
T
Run out of output Shaft Surface
T1
T1
applied torque needs to be less than the maximum torque load Mi < M.
□Other_________________ (a)________μm
(A) External force=F
□Total moment of inertia: ____kgm2 Shaft runout
Axial force applied to the motor F1=F+loading weight W
Torque applied to the motor M1=0 , Size:____mm a A
(B) External force=F □Load1, Number _______

Axial force applied to the motor F2=F+loading weight W Mass: _____kg or Material: ______
Torque applied to the motor M2 =FxL Size: ______________mm A
(C) External force=F Offset of C.G. : ______________mm

水平安裝側掛安裝軸向偏擺
□Point to Point □Scan
Axial force applied to the motor F3=F+loading weight W
□Load2, Number _______ Moving Angle: _______。
Torque applied to the motor M3 =Fx(L+0.03m)+Wx(L2+0.03m) Load Conditions
Mass: _____kg or Material: ______ Moving Time: _______ sec
L
Size: ______________mm Dwell Time: _______ sec
L L2
Offset of C.G. : ______________mm V(rad/s)
F F F
□Load3, Number _______
C.G C.G Application
W W Mass: _____kg or Material: ______
C.G Size: ______________mm
Offset of C.G. : ______________mm
W
T(sec)
□ None Moving
運動時間 Time Dwell
休息時間 Time
(A) (B) (C)
Force □ Yes: ___ kg,
Offset of C.G.：___ mm V(rad/s)
Repeatability ________ arc-sec Special requirement:

Accuracy ________ arc-sec
Appendix C: Environment Drive voltage
□110V □ 220V
□Other ______ V
T(sec)
Temperature +5 to +40℃ □CW/CCW □A/B Moving Time Dwell Time
Operating Temperature Pulse format
□STEP/DIR
Humidity 20 to 85% RH (no condensation)
□None
Temperature -10 to +50℃
Storage Temperature Brake □Power Off Brake
Humidity 20 to 85% RH (no condensation) □Power On Brake
Atmosphere Under 1000m, no corrosive gas, liquid and powder The information below is to be filled out by our authorized agents.
Recommended specification:
Manager:　　　　　　　　　　Engineer:　　　　　　　　　　Salesperson:
MEMO MEMO
MEMO
Torque Motor Rotary Table

Size Peak Torque (Nm) Accuracy Repeatability Drive Motor Power Cable Encoder Cable
Type Page Features Applictions
(mm) 4.2 9 12 18 24 30 40 45 60 75 90 120 150 180 225 300 450 (arcsec) (arcsec) Type Page Type Page Type Page
118x118
TMN42E
LMACE□□AA
180x180 ±10/±45 ± 2.5 15
LMACE□□AM ．LED inspection/
TMN71E
(With Hall sensor)
processing
D1-18-S2 ．Low profile ．Semi-conductor
TMN 230x230 ．Hollow shaft transport, inspection/
TMN93E ．External rotary table porcessing
．Each kind of Assembly
machines
180x180
TMN71A
±30 ± 2.5 16 LMACE□□AU
230x230
D1-36-S4
TMN93A
Torque Motor Rotary Table
Φ110 9
TMY44 TMY48 ．P&P
31 LMACS□□F 31 32 ．Turntable
．Resolver
．Inspection machine
TMY Φ170 ±30 ±3 10 LMACE□□AU ．External rotary table
．Automatic assembly
TMY63 TMY65 TMY68 ．High speed
machine
D1-36-S4 ．CD/DVD Mfg. system
Φ270 11
TMYA5 TMYAA
Φ110 3
TMS03 TMS07
．P&P
Φ150 4 ．Turntable
LMACE□□AA ．Large torque ．Index table
TMS12 TMS14 TMS16 TMS18
TMS ±10/±25 ±3 ．High precision ．High-speed placement
LMACE□□AM
(With Hall sensor) ．Optical encoder machine
Φ200 5 D1-18-S2 ．Automatic assembly
TMS32 TMS34 TMS38 TMS3C machine
Φ300 6
TMS74 TMS76 TMS7C
TMRW Torque motor

External Peak Torque (Nm)
diameter Page
(mm) 36 60 66 83 112 120 119 156 178 203 223 280 335 390 583
160 18
TMRW13 TMRW15 TMRW17 TMRW1A TMRW1F
TMRW13L TMRW15L TMRW17L TMRW1AL TMRW1FL
Torque motor
198 20
230 22

diameter Page
(mm) 275 456 490 640 750 810 910 1100 1230 1360 1600 1760 2400 2470 3600
310 24
Torque motor
385 26
TMRWA3 TMRWA5 TMRWA7 TMRWAA TMRWAF
TMRWA3L TMRWA5L TMRWA7L TMRWAAL TMRWAFL
485 28
TMRWD3 TMRWD5 TMRWD7 TMRWDA TMRWDF
TMRWD3L TMRWD5L TMRWD7L TMRWDAL TMRWDFL

diameter Page
(mm) 2360 3340 5020
Torque motor
565 30
TMRWG7 TMRWGA TMRWGF
TMRWG7L TMRWGAL TMRWGFL
INDUSTRIE 4.0 Best Partner
Linear Motor Stage Linear Motor

Automated transport / AOI application / Machine tool / Touch panel industry /
Precision / Semiconductor Semiconductor industry /
• With Iron-core Laser manufacturing machine /
• Coreless Type Glass cutting machine
• Linear Turbo LMT • Ironcore linear motor-LMFA series,
• Planar Servo Motor LMSA series, LMSC series
• Air Bearing Platform • Ironless linear motor-LMC series,
• X-Y Stage LMT series
• Gantry Systems
Torque Motor AC Servo Motor & Drive

(Direct Drive Motor) Semiconductor / Packaging machine /
SMT / Food industry / LCD
Inspection / Testing equipment /
• Drives-D1, D1-N, D2
Machine tools / Robot
• Motors-50W~2000W
• Rotary Tables-TMS,TMY,TMN
• TMRW Series
• TMRI Series
Linear Actuator Positioning

Hospital bed / Automatic window / Measurement System
Home care facility / Riveting /
Cutting machines /
Press-fitting / Surface checks / Bending
Traditional gantry milling machines /
• Servo Actuator-LAA series
Programmable drilling machines
• LAM series
• High Resolution
• LAI series
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• LAS series
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• LAN series
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• LAC series
Multi Axis Robot

Pick-and-place / Assembly /
Array and packaging / Semiconductor /
Electro-Optical industry /
Automotive industry / Food industry
• Articulated Robot
• Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
Torque Motor (Direct Drive Motor) Technical Information

Single Axis Robot Medical Equipment Publication Date：October 2015, first edition
Precision / Semiconductor / Hospital / Rehabilitation centers /
Medical / FPD Nursing homes
Print Date：March 2017, 2nd edition
• KK, SK • Robotic Gait Training System
• KS, KA • Hygiene System
• KU, KE, KC • Robotic Endoscope Holder
1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. Please avoid buying the counterfeit
goods that are from unknown sources to protect your rights.
2. Actual products may be different from the specifications and photos in this catalog, and the
differences in appearances or specifications may be caused by, among other things, product
improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Act" and relevant regulations. Any export of restricted products should be approved by competent
Ballscrew Linear Guideway
authorities in accordance with relevant laws, and shall not be used to manufacture or develop the
Precision Ground / Rolled Automation / Semiconductor / Medical
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• Super T series • Quiet Type--QH, QE, QW, QR
• Mini Roller • Other--RG, E2, PG, SE, RC
• Ecological & Economical
lubrication Module E2
Copyright © HIWIN Mikrosystem Corp.
• Rotating Nut (R1)
• Energy-Saving & Thermal-
Controlling (C1)
• Heavy Load Series (RD)
• Ball Spline
HIWIN MIKROSYSTEM CORP.

No.6, Jingke Central Rd.,
Taichung Precision Machinery Park,
Taichung 40852, Taiwan
Tel: +886-4-23550110
Fax: +886-4-23550123
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Subsidiaries & R&D Centers
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info@hiwin.co.jp
HIWIN USA HIWIN s.r.o. Mega-Fabs Motion System, Ltd.

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Technical Information
The specifications in this catalog are subject to change without notification.
©2017 FORM MR99TE02-1703

(PRINTED IN TAIWAN)

Torque Motor Rotary Tables

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Torque Motor (Direct Drive Motor)

HIWIN MIKROSYSTEM CORP.

Subsidiaries & R&D Centers

HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA

HIWIN JAPAN HIWIN FRANCE HIWIN CHINA

HIWIN USA HIWIN s.r.o. Mega-Fabs Motion System, Ltd.

HIWIN Srl HIWIN SINGAPORE

The specifications in this catalog are subject to change without notification.

©2017 FORM MR99TE02-1703

Linear Motor Stage Linear Motor

Torque Motor AC Servo Motor & Drive

Linear Actuator Positioning

Multi Axis Robot

Torque Motor (Direct Drive Motor) Technical Information

1.Torque Motor Rotary Tables 01 3.TMRI Torque Motor 33

2.1 TMRW1 Series......................................................................18

1. Torque Motor Rotary Tables