Mitsubishi Electric TM-RFM, Instruction Manual

Page 1: ...otice This Instruction Manual uses recycled paper MODEL MODEL CODE DIRECT DRIVE MOTOR INSTRUCTION MANUAL H General Purpose AC Servo MODEL TM RFM TM RG2M TM RU2M DIRECT DRIVE MOTOR INSTRUCTION MANUAL 1CW948 DIRECT DRIVEMOTOR INSTRUCTIONMANUAL H HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 ...

Page 2: ...e injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by...

Page 3: ...erminals 2 To prevent fire note the following CAUTION Install the servo amplifier direct drive motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to a fire or smoke generation Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier and direct drive...

Page 4: ...orage 15 C to 70 C non freezing Ambient humidity Operation 10 RH to 80 RH non condensing Storage 10 RH to 90 RH non condensing Ambience Indoors no direct sunlight no corrosive gas inflammable gas oil mist dust and dirt Altitude TM RFM_J10 TM RFM_C20 TM RFM_E20 TM RFM_G20 TM RG2M_C30 TM RG2M_E30 TM RG2M_G30 TM RU2M_C30 TM RU2M_E30 TM RU2M_G30 Max 2000 m above sea level Note Vibration resistance TM ...

Page 5: ...revent a fire or injury in case of an earthquake or other natural disasters securely install mount and wire the servo motor in accordance with the Instruction Manual 2 Wiring CAUTION Wire the equipment correctly and securely Otherwise the direct drive motor may operate unexpectedly Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism Otherwise the cab...

Page 6: ...nty Use the direct drive motor with the specified servo amplifier Wire options and peripheral equipment etc correctly in the specified combination Otherwise it may cause an electric shock fire injury etc If the dynamic brake is activated at power off alarm occurrence etc do not rotate the servo motor by an external force Otherwise it may cause a fire 5 Corrective actions CAUTION When it is assumed...

Page 7: ...act your local sales office 7 General instruction To illustrate details the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with this Specifications and Instruction Manual DISPOSAL OF WASTE Please dispose a di...

Page 8: ...3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING 3 1 to 3 4 3 1 Selection of connectors 3 1 3 2 Wiring connectors connector configurations A B C D E F 3 2 4 CONNECTOR DIMENSIONS 4 1 to 4 4 5 CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR 5 1 to 5 8 5 1 Connection instructions 5 2 5 2 Direct drive motor power cable wiring diagram 5 2 5 3 Selection example of wires 5 3 5 4 Servo amplifier termi...

Page 9: ...esignation 8 1 8 2 Combinations of servo amplifier and direct drive motor 8 2 8 3 Specification list 8 3 8 4 Torque characteristics 8 5 8 5 Mounting method 8 5 8 6 Dimensions 8 6 APPENDIX App 1 to App 7 App 1 Selection example of direct drive motor App 1 App 2 Manufacturer list App 3 App 3 Crimping connector for CNP3_ App 3 App 4 Fabrication of the encoder cable App 4 App 5 Compliance with the CE ...

Page 10: ...try of origin Note 1 Production year and month of the direct drive motor are indicated in a serial number on the rating plate The year and month are indicated by the last two digits of the year and one digit of the month 1 to 9 X 10 Y 11 and Z 12 For January 2012 the Serial No is like SER _ _ _ _ _ _ _ _ _ 121 2 Products approved by Certification Bodies are marked The marks depends on the Certific...

Page 11: ...1 INTRODUCTION 1 2 MEMO ...

Page 12: ...e motor make sure to align and center the load on the motor flange rabbet Particularly when a rigid coupling is used even a slight center deviation may reduce position accuracy or damage the rotor Balance the load to the extent possible Not doing so can cause vibration during direct drive motor operation or damage the bearings and encoder Take safety measures e g provide covers to prevent accident...

Page 13: ...full rotation install the direct drive motor in a position where the Z phase mark can pass over the connector area 4 Vertical axis lift For the system where the unbalanced torque occurs such as a vertical axis system lift use the direct drive motor in the absolute position detection system In the absolute position detection system the absolute position is established when the Z phase mark passes t...

Page 14: ...that they do not become loose due to vibration 2 4 Permissible load for the rotor CAUTION Because the rigid coupling may damage the rotor make sure to align and center the load on the rotor For the permissible rotor load specific to the direct drive motor refer to section 7 3 1 When coupling a load to the direct drive motor the load applied to the rotor must be within the permissible load 2 The lo...

Page 15: ...drive motor Provide measures so that the direct drive motor is not exposed to oil and water entering from the machine side rotating table etc Lubricating oil Rotary table etc Direct drive motor 3 If liquid such as coolant drops on the direct drive motor the sealant packing cable and others may be affected depending on the liquid type 4 In the environment where the direct drive motor is exposed to ...

Page 16: ...r scratches or cracks Especially when the junction cable is movable perform periodic inspection according to operating conditions 3 Check the power connector and encoder connector connections for looseness 2 7 Parts having service life Service life of the following parts is listed below However the service life varies depending on operation and environment If any fault is found in the parts they m...

Page 17: ...rence diagram a A A A d b c _ _ 2 9 Flange size The rated torque of the direct drive motor indicates the continuous permissible torque value that can be generated when the motor is mounted on the aluminum flange specified in this table and used in the environment of 0 C to 40 C ambient temperature Flange size mm Direct drive motor TM RG2M002C30 TM RU2M002C30 400 400 20 TM RFM002C20 TM RFM004C20 TM...

Page 18: ...crease in air density use the product within the effective load ratio and regenerative load ratio shown in the following figure 0 2000 1000 Altitude 95 100 0 Regenerative load ratio Effective load ratio m 2 11 Magnetic shielding Do not place the direct drive motor near magnetic sources such as a magnet If it is unavoidable block the magnetic force by installing a shielding plate etc ...

Page 19: ...2 INSTALLATION 2 8 MEMO ...

Page 20: ...tion with the direct drive motor Refer to section 3 2 for the compatible connector configuration products Power supply connector Encoder connector Absolute position storage unit MR BTAS01 Servo amplifier side connector Encoder side connector Direct drive motor Wiring connector For power supply For encoder Absolute position storage unit option Note Servo amplifier side Encoder side TM RFM_C20 Conne...

Page 21: ...ZB 12P 72 Note 1 The connector to be mated 2 Purchase from Toa Electric Industrial Co Ltd Nagoya Branch Plug Cable clamp Connector configuration Feature Plug DDK Cable clamp Direct drive motor power connector Note 2 Type Model Cable OD mm reference Model B Straight 4 to 8 ACS 08RL MS14F Nippon Flex CE05 2A14S 2PD D IP67 EN compliant CE05 6A14S 2SD D Applicable wire size AWG 22 to 16 8 to 12 ACS 12...

Page 22: ...ower connector Note 2 Type Model Cable OD mm reference Model D IP67 EN compliant Straight CE05 6A22 22SD D BSS 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 General environment Note 1 D MS3106B22 22S Applicable wire size AWG 10 to 8 15 9 or less bushing ID D MS3057 12A Note 1 Not comply with EN 2 The connector to be mated Cable clamp Plug Conn...

Page 23: ...nded cable Bando Densen Absolute position storage unit connector encoder side Note 1 Type Plug Cord clamp Model Cable OD mm reference F IP67 Straight RM15WTPZ 12P 72 JR13WCCA 8 72 20276 VSVPAWG 23 6P KB 0492 Note 2 8 2 RM15WTRZB 12S 72 Note 1 The connector to be mated 2 Purchase from Toa Electric Industrial Co Ltd Nagoya Branch ...

Page 24: ...2 for the connector configuration Unit mm Spanner hook gap dimension 18 M16 0 75 36 3 M19 1 φ21 5 φ15 2 b JR13WCCA 8 72 Refer to the connector configurations A and F of section 3 2 for the connector configuration Unit mm 8 φ20 7 5 M16 0 75 Spanner hook gap dimension 17 2 DDK a CE05 6A14S 2SD D Refer to the connector configuration B of section 3 2 for the connector configuration Unit mm 7 8 20UNEF ...

Page 25: ...3057 10A 2 D CE3057 12A 1 D CE3057 12A 2 D CE3057 20A 1 D Unit mm φE φF D φB C 1 5 A 0 7 G 0 7 Bushing ID Bushing OD V thread Model Applicable shell size A B C D E F G V Enclosed bushing model Applicable cable OD reference Connector configuration Note CE3057 10A 1 D 18 23 8 30 1 10 3 41 3 15 9 14 1 31 7 1 20UNEF 2B CE3420 10 1 10 5 to 14 1 C CE3057 10A 2 D 11 0 CE3420 10 2 8 5 to 11 CE3057 12A 1 D...

Page 26: ...1 92 56 33 1 3 4 18UNS 11 13 66 E Note Refer to section 3 2 for the connector configuration e D MS3057 6A D MS3057 10A D MS3057 12A D MS3057 20A Unit mm Effective thread length C 1 6 φD Bushing OD V φE Bushing ID A 0 12 φB 0 7 G 0 7 Model Shell size A B C D E G V Bushing Connector configuration Note D MS3057 6A 14S 22 2 24 6 10 3 11 2 7 9 27 0 3 4 20UNEF AN3420 6 B D MS3057 10A 18 23 8 30 1 10 3 1...

Page 27: ... section 3 2 for the connector configuration 4 Nippon Flex Unit mm Screw C E F G A 15 E G F φd Note 1 L 1 2 Note 1 L1 Model Screw C Applicable cable OD A φd Tightening nut Nipple body L L1 Connector configuration Note 2 E Two face width F Width across corners G Number of corners E Two face width F Width across corners G Number of corners ACS 08RL MS14F 3 4 20UNEF 2B 4 0 to 8 0 7 15 0 20 22 0 6 22 ...

Page 28: ...ables to the correct terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur Do not install a power capacitor surge killer or radio noise filter FR BIF option on the power line of the direct drive motor Do not modify the equipment Connect the servo amplifier power output U V W to the direct drive motor power input U V W directly Do no...

Page 29: ...connect the grounding lead wire from the direct drive motor to the protective earth PE terminal of the servo amplifier and then connect the wire from the servo amplifier to the ground via the protective earth of the cabinet Do not connect the wire directly to the protective earth of the cabinet Servo amplifier Cabinet Direct drive motor PE terminal Note Note The number of PE terminals of the servo...

Page 30: ...ted wire HIV wire 1 TM RFM series Direct drive motor Wire mm2 U V W TM RFM002C20 TM RFM004C20 TM RFM006C20 TM RFM006E20 1 25 AWG 16 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM048G20 3 5 AWG 12 TM RFM072G20 TM RFM040J10 1 25 AWG 16 TM RFM120J10 3 5 AWG 12 TM RFM240J10 5 5 AWG 10 Note Note Refer to each servo amplifier instruction manual for crimp terminals used for connection with the servo ampli...

Page 31: ...ble indicate the symbol filling the underline _ in the servo amplifier model For details of the connectors refer to 1 in this section For wiring refer to 2 in this section Servo amplifier Rated output 10 20 40 60 70 100 200 350 500 700 11K 15K 22K MR J4 _A MR J4 _A RJ MR J4 _B MR J4 _B RJ MR J4 _GF MR J4 _GF RJ Connector A Connector B None Terminal box Note Note For details on the terminal block r...

Page 32: ...Manufac turer Wire size Insulator OD CNP3 03JFAT SAXGDK H7 5 AWG 18 to 14 3 9 mm or shorter 9 J FAT OT N or J FAT OT JST b Connector B MR J4 200_ RJ Servo amplifier CNP3 CNP3 MR J4 350_ RJ Servo amplifier Table 5 2 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufac turer Wire size Insulator OD CNP3 03JFAT SAXGFK XL AWG 16 to 10 4 7 mm o...

Page 33: ...ol Manufacturer CNP3A CNP3B CNP3C 04JFAT SAGG G KK AWG 18 to 14 9 J FAT OT EXL JST 2 Cable connection procedure a Fabrication on cable insulator Refer to tables 5 1 to 5 3 for stripped length of cable insulator The appropriate stripped length of cables depends on their type etc Set the length considering their fabrication status Insulator Core Stripped length Twist strands lightly and straighten t...

Page 34: ...le insulator will not be caught by the spring and that the conductive part of the stripped wire will not be exposed Release the open tool to fix the wire Pull the wire lightly to confirm that the wire is surely connected In addition make sure that no conductor wire sticks out of the connector The following shows a connection example of the CNP3 connector for 2 kW and 3 5 kW of MR J4 1 axis servo a...

Page 35: ...5 CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR 5 8 MEMO ...

Page 36: ...HIV wires to wire the servo amplifiers direct drive motors options and peripheral equipment Therefore recommended wire sizes may different from those of the used wires for the previous direct drive motors 6 1 Connector set POINT The IP rating indicated is the connector s protection against ingress of dust and water when the connector is connected to a servo amplifier direct drive motor or absolute...

Page 37: ...tem Absolute position storage unit MR BTAS01 Note 2 5 6 1 2 3 4 CNP3 CN2 Note 1 CN2C Note 3 or MR J4 multi axis servo amplifier MR J4 1 axis servo amplifier Note 1 Connectors for 3 5 kW or less For 5 kW or more it is a terminal block 2 Always make connection for use in an absolute position detection system Refer to section 6 3 3 This connection is for the MR J4 3 axis servo amplifier 4 Refer to Ap...

Page 38: ...EN compliant 3 Power connector set MR PWCNS5 Plug CE05 6A22 22SD D BSS Cable clamp CE3057 12A 1 D DDK Applicable cable Applicable wire size 5 5 mm2 AWG 10 to 8 mm2 AWG 8 Cable outer diameter 12 5 mm to 16 mm For TM RFM040J10 For TM RFM120J10 IP67 EN compliant 4 Power connector set MR PWCNS3 Plug CE05 6A32 17SD D BSS Cable clamp CE3057 20A 1 D DDK Applicable cable Applicable wire size 14 mm2 AWG 6 ...

Page 39: ...detection system refer to each servo amplifier instruction manual For CN2 CN2A CN2B and CN2C side connectors securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Screw Cable Ground plate 6 2 1 MR J3DDCNS This connector set is used to fabricate an encoder cable for the incremental system or the absolute position detection system between...

Page 40: ...B CN2A Note 2 CN2 CN2C or MR J4 multi axis servo amplifier MR J4 1 axis servo amplifier 50 m or shorter 1 2 Direct drive motor TM RFM TM RG2M TM RU2M Note 1 Encoder cable A Note 1 Refer to section 6 2 4 1 for details 2 This connection is for the MR J4 3 axis servo amplifier 2 For absolute position detection system CN2B CN2A Note 3 CN2 CN2C or MR J4 multi axis servo amplifier MR J4 1 axis servo amp...

Page 41: ...side Note 1 THM2 THM1 Note 1 Do not connect anything to the pins shown as Especially the pin 10 is for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Referring to POINT of section 6 2 securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell 2 Do not connect anything to the pins sho...

Page 42: ...ed for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Referring to POINT of section 6 2 securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell 2 Do not connect anything to the pins shown as 3 Purchase from Toa Electric Industrial Co Ltd Nagoya Branch b Cable internal wiring diagr...

Page 43: ... 6 12 THM1 9 8 P5 10 11 FG THM2 VB View seen from the wiring side Note 1 Note 1 Do not connect anything to the pins shown as 2 Purchase from Toa Electric Industrial Co Ltd Nagoya Branch b Cable internal wiring diagram When the distance between the servo amplifier and the direct drive motor is within 20 m Note 5 Absolute position storage unit side connector 6 Encoder side connector P5 LG 9 10 MR MR...

Page 44: ...er side 2 φ6 mounting hole 20 45 2 6 R3 5 5 30 22 69 8 5 5 79 8 6 R 3 15 19 19 16 20 45 2 Note When mounting the unit outside the cabinet fix the mounting surface A with four screws When mounting the unit inside the cabinet you can also fix the mounting surface B with two screws 3 Environment The following table indicates the environment for the absolute position storage unit Item Environment Ambi...

Page 45: ...6 WIRING OPTION 6 10 MEMO ...

Page 46: ...dition to this chapter 7 1 Model code definition The following describes what each block of a model name indicates Note that not all the combinations of the symbols exist Outer appearance Rated speed Symbol Rated speed r min 10 100 Motor OD Frame OD Symbol Dimensions mm C φ130 E φ180 G φ230 J φ330 Symbol 002 2 004 4 006 6 012 12 Rated torque 018 18 040 40 048 48 072 72 120 120 240 240 Series Z pha...

Page 47: ... RJ MR J4 60GF MR J4 60GF RJ MR J4W2 77B MR J4W2 1010B TM RFM006E20 TM RFM012E20 MR J4 70A MR J4 70A RJ MR J4 70B MR J4 70B RJ MR J4 70GF MR J4 70GF RJ MR J4W2 77B MR J4W2 1010B TM RFM018E20 MR J4 100A MR J4 100A RJ MR J4 100B MR J4 100B RJ MR J4 100GF MR J4 100GF RJ MR J4W2 1010B TM RFM012G20 MR J4 70A MR J4 70A RJ MR J4 70B MR J4 70B RJ MR J4 70GF MR J4 70GF RJ MR J4W2 77B MR J4W2 1010B TM RFM04...

Page 48: ...ended load to motor inertia ratio Note 2 50 times or less Absolute accuracy Note 9 s 15 12 5 Speed position detector Note 3 20 bit encoder common to absolute position and incremental detection systems resolution per direct drive motor revolution 1048576 pulses rev Thermistor Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP42 Note 4 Environment Note 5 Ambient ...

Page 49: ...to motor inertia ratio Note 2 50 times or less Absolute accuracy Note 9 s 12 5 10 Speed position detector Note 3 20 bit encoder common to absolute position and incremental detection systems resolution per direct drive motor revolution 1048576 pulses rev Thermistor Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP42 Note 4 Environment Note 5 Ambient temperature...

Page 50: ...t drive motor stops fretting is likely to occur at the bearing Therefore suppress the vibration to about the half the permissible value X Y 7 V10 indicates that the amplitude of a direct drive motor alone is 10 μm or less The following figure shows the direct drive motor installation position for measurement and the measuring position Measuring position 8 Axial and moment loads which are applied t...

Page 51: ...range Torque N m TM RFM006C20 0 100 200 300 400 500 Speed r min 0 6 12 18 24 Torque N m Continuous running range Short duration running range TM RFM006E20 0 100 200 300 400 500 Speed r min Torque N m 0 12 18 24 6 Continuous running range Short duration running range TM RFM012E20 0 100 200 300 400 500 Speed r min 0 10 20 30 40 Torque N m Continuous running range Short duration running range TM RFM0...

Page 52: ... connector RM15WTRZB 12P 72 Power supply connector CE05 2A14S 2PD D Z phase mark Top Caution plate Top Bottom 4 φ9 mounting hole Use hexagon socket head cap screw Motor plate Bottom BC36496A C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RFM004C20 84 16 6 6 8 Unit mm BC36497A RM15WTRZB 12P 72 PE Encoder connector Power supply connector CE05 2A14S 2PD D 16 62 16 Arrow B 15 B φ 1 7...

Page 53: ...pth 8 60 45 φ 1 5 0 φ 5 0 0 1 Top Bottom Z phase mark Motor plate Power connector Output shaft side 130 C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RFM006E20 126 74 0 11 Unit mm 16 Arrow B 16 62 15 Power supply connector CE05 2A14S 2PD D B 136 5 141 9 φ 2 3 5 5 29 18 3 5 3 62 φ178h7 φ47 φ100h7 φ124 φ180 Caution plate Top Bottom W V U 17 BC36498A Encoder connector RM15WTRZB 12P...

Page 54: ...ttom W V U 4 φ14 mounting hole Use hexagon socket head cap screw Power connector Output shaft side 180 C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RFM018E20 377 149 18 Unit mm BC35508C 16 62 15 Encoder connector RM15WTRZB 12P 72 Power supply connector CE05 2A14S 2PD D B 136 5 141 9 φ 2 3 5 5 29 18 3 5 3 104 φ178h7 φ47 φ100h7 φ124 φ180 17 Caution plate Top Bottom W V U PE 16 Ar...

Page 55: ... 5 29 20 4 3 69 φ206h7 φ62 115 φ130h7 φ164 φ230 14 5 Top Bottom Power connector Output shaft side 230 C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RFM048G20 1005 615 36 Unit mm 6 M6 screw hole depth 10 60 45 φ 2 6 0 φ 1 2 0 0 1 B 166 5 177 5 φ 2 9 0 2 2 M10 screw hole depth 19 5 BC36503A PE 16 Arrow B 21 5 70 15 Encoder connector RM15WTRZB 12P 72 Power supply connector CE05 2A1...

Page 56: ...RM15WTRZB 12P 72 Power supply connector CE05 2A18 10PD D Bottom Top Power connector Output shaft side 230 C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RFM040J10 838 1694 53 Unit mm 5 34 25 7 5 88 5 φ328h7 φ104 φ200h7 φ251 φ330 160 Top Bottom 17 31 Caution plate W V U 4 φ18 mounting hole Use hexagon socket head cap screw 6 M8 screw hole depth 13 60 45 φ 3 7 0 φ 1 8 0 0 1 BC36505...

Page 57: ...nector RM15WTRZB 12P 72 Power supply connector CE05 2A22 22PD D Power connector Output shaft side 330 C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RFM240J10 5027 6303 146 Unit mm B 240 254 8 6 M8 screw hole depth 13 60 45 φ 3 7 0 φ 1 8 0 0 1 φ 4 1 0 2 2 M12 screw hole depth 25 5 5 34 25 7 5 273 5 φ328h7 φ104 φ200h7 φ251 φ330 160 17 31 Caution plate Top Bottom W V U Z phase mark...

Page 58: ...esignation The following describes model designation Not all combinations of the symbols are available 1 Flange type Appearance Rated speed Rated speed r min 30 300 Motor OD frame OD Dimensions mm E φ180 C φ130 G φ230 Symbol Symbol Symbol 004 4 5 002 2 2 009 9 Rated torque Series Z phase mark Rated torque N m 0 4 E 3 0 M T M RG2 0 2 Table type 30 300 E φ180 C φ130 G φ230 004 4 5 002 2 2 009 9 0 4 ...

Page 59: ... MR J4 20B MR J4 20B RJ MR J4 20B1 MR J4 20B1 RJ MR J4W2 22B MR J4W2 44B MR J4W3 222B MR J4W3 444B TM RG2M004E30 TM RU2M004E30 MR J4 20A MR J4 20A RJ MR J4 20A1 MR J4 20A1 RJ MR J4 20B MR J4 20B RJ MR J4 20B1 MR J4 20B1 RJ MR J4 40A MR J4 40A RJ MR J4 40A1 MR J4 40A1 RJ MR J4 40B MR J4 40B RJ MR J4 40B1 MR J4 40B1 RJ MR J4W2 22B MR J4W2 44B MR J4W3 222B MR J4W3 444B TM RG2M009G30 TM RU2M009G30 MR ...

Page 60: ...inertia ratio Note 2 50 times or less 20 times or less Absolute accuracy Note 11 s 15 12 5 Speed position detector Note 3 Common to absolute position incremental systems 21 bit encoder 22 bit encoder Resolution per direct drive motor revolution 2097152 pulses rev 4194304 pulses rev Thermistor Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP40 Note 4 Environme...

Page 61: ... bearing Therefore suppress the vibration to about the half of the permissible value X Y 7 V10 indicates that the amplitude of a direct drive motor alone is 10 μm or less The following figure shows the direct drive motor mounting position for measurement and the measuring position Measuring position 8 Axial and moment loads which are applied to the direct drive motor s rotor output shaft during op...

Page 62: ...efer to section 8 2 for the combinations 8 5 Mounting method Direct drive motor TM RG2M series Direct drive motor TM RU2M series Use the pilot to mount the direct drive motor on the mounting surface Use positioning pins to mount the direct drive motor on the mounting surface Flange type pilot Table type positioning pin hole Mounting screw Load Mounting surface Mounting screw Load Mounting surface ...

Page 63: ...2 7 Unit mm 112 62 15 16 130 16 14 51 3 4 26 φ20 φ72h7 φ77 5 φ130 17 6 0 45 117 6 φ170 φ128h7 5 φ150 φ50 0 1 Corporate logo letter height 0 5 Power connector CE05 2A14S 2PD D Encoder connector RM15WTRZB 12P 72 W V U 4 φ9 mounting hole Use hexagon socket head cap screw 6 M5 screw depth 8 Z phase mark Motor plate View A Caution plate Caution plate Global standard plate View B B A BC61784A Top Bottom...

Page 64: ...7 5 φ130 22 6 0 45 117 6 φ150 φ50 0 1 Corporate logo letter height 0 5 Power connector CE05 2A14S 2PD D Encoder connector RM15WTRZB 12P 72 W V U 4 φ9 mounting hole Use hexagon socket head cap screw 6 M5 screw depth 8 Z phase mark Motor plate View A Caution plate Caution plate Global standard plate View B B A BC61785A 130 Top Bottom Top Bottom Top Bottom Top Bottom Power connector Output shaft side...

Page 65: ...26 φ180 17 φ178 h7 5 24 14 51 4 3 137 142 7 16 15 62 Power connector CE05 2A14S 2PD D Encoder connector RM15WTRZB 12P 72 View A Corporate logo letter height 0 5 Motor plate Z phase mark 6 M5 screw hole depth 8 6 0 45 4 φ14 mounting hole Use hexagon socket head cap screw U V W Caution plate Caution plate Global standard plate 16 A φ 2 3 5 PE Top Bottom Top Bottom Top Bottom Top Bottom 180 Power con...

Page 66: ...connector CE05 2A14S 2PD D A 21 View A U V W 137 φ 2 3 5 142 7 2 φ6H 7 depth 8 P C D 205 0 03 3 5 29 19 56 4 3 22 φ47 φ115 h7 φ126 φ180 φ205 φ 8 6 0 1 6 0 45 BC61740B PE 6 M5 screw hole depth 8 Corporate logo letter height 0 5 Motor plate Z phase mark Top Bottom Caution plate Caution plate Top Bottom Top Bottom Top Bottom 4 φ14 mounting hole Use hexagon socket head cap screw 180 Global standard pl...

Page 67: ...n socket head cap screw Top Bottom 230 Global standard plate Power connector Output shaft side C D B A Model Output W Moment of inertia J 10 4 kg m2 Mass kg TM RU2M009G30 283 147 8 3 Unit mm 22 54 19 26 3 4 3 5 21 φ260 上 下 上 下 上 下 2 φ6H 7 depth 8 P C D 260 0 03 View A BC61741B φ62 φ230 163 168 7 62 1615 φ155 h7 φ164 6 0 45 φ 2 9 0 φ147 0 1 Power connector CE05 2A14S 2PD D Encoder connector RM15WTR...

Page 68: ...d tf TL 19 kg 300 mm 270 degree 0 45 s or less 0 125 s 2 0 s 0 N m 2 Direct drive motor speed No θ 360 60 t0 tp ts 270 360 60 0 45 0 125 0 1 200 r min ts Settling time Here this is assumed to be 0 1 s 3 Operation pattern Time s 0 1 200 0 125 tpsa 0 125 tpsd tS t0 0 45 1 cycle tf 2 0 Speed r min App 1 2 Selection of direct drive motor 1 Load moment of inertia JL 1 8 DT 2 W 1 8 300 10 3 2 19 0 214 k...

Page 69: ...t of inertia 149 10 4 kg m2 4 Acceleration deceleration torque Torque necessary for acceleration TMa JL JM No 9 55 tpsa 38 3 N m JM Moment of inertia of DD motor Torque necessary for deceleration TMd JL JM No 9 55 tpsd 38 3 N m The torque required for acceleration deceleration must be lower than the DD motor s maximum torque 5 Continuous effective load torque Trms TMa2 tpsa TL 2 tc TMd 2 tpsd tf 1...

Page 70: ... Daiwa Dengyo Co Ltd Nippon Flex Nippon Flex Co Ltd JST J S T Mfg Co Ltd 3M 3M Molex Molex Hirose Electric Hirose Electric Co Ltd App 3 Crimping connector for CNP3_ CNP3B CNP3C Note CNP3A 1 2 MR J4W_ Servo amplifier Note This figure shows the 3 axis servo amplifier No Name Model Description Application 1 Connector set MR J3WCNP3 D2L For CNP3A CNP3B CNP3C Receptacle housing F35FDC 04V K Receptacle ...

Page 71: ... guide of the connector manufacturer to connect the connector properly Check internal wiring described in chapter 6 to connect it properly Perform a shielding process on the encoder cable properly Do not connect anything to unused pins For CN2 CN2A CN2B and CN2C side connectors connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell For the direct...

Page 72: ...to the direct drive motor alone The direct drive motor is designed to comply with the low voltage directive 3 Machinery directive The direct drive motor as a single unit does not comply with the Machinery directive due to correspondence with article1 2 k However machines and equipment incorporating direct drive motors will be complied Please check your machines and equipment as a whole if they are...

Page 73: ...e of the direct drive motor under the UL CSA standard indicates the continuous permissible torque value that can be generated when the motor is mounted on the flange specified in this table and used in the environment of 0 C to 40 C ambient temperature Therefore to conform to the UL CSA standard mount the direct drive motor on a flange with a heat radiating effect equivalent to that of this flange...

Page 74: ...006E20 16 Note 2 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM048G20 12 TM RFM072G20 TM RFM040J10 16 Note 2 TM RFM120J10 12 TM RFM240J10 10 Note 1 Note 1 Refer to each servo amplifier instruction manual for crimp terminals used for connection with the servo amplifier 2 To comply with UL 508A and NFPA 79 AWG 14 or more is required b TM RG2M series and TM RU2M series Direct drive motor Wire AWG U V ...

Page 75: ...he sentences are added The part of diagram is changed Sep 2015 SH NA 030112ENG E Torque characteristic at 1 phase 200 V AC input is added 2 To prevent fire note the following 4 Additional instructions Section 1 1 Section 1 2 Section 6 1 1 Section 6 2 4 Section 7 4 App 2 App 4 Partially added Partially added The diagram is changed Partially changed Partially added Partially changed Partially added ...

Page 76: ...artially changed Section 5 3 TM RG2M002C30 TM RU2M002C30 are added Section 6 1 2 TM RG2M002C30 TM RU2M002C30 are added Chapter 8 TM RG2M002C30 TM RU2M002C30 are added App 6 Partially changed This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving in...

Page 77: ...MEMO ...

Page 78: ...a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies ...

Page 79: ...ct from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please ...

Page 80: ...otice This Instruction Manual uses recycled paper MODEL MODEL CODE DIRECT DRIVE MOTOR INSTRUCTION MANUAL H General Purpose AC Servo MODEL TM RFM TM RG2M TM RU2M DIRECT DRIVE MOTOR INSTRUCTION MANUAL 1CW948 DIRECT DRIVEMOTOR INSTRUCTIONMANUAL H HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 ...