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Each moment.Perfect control.

TQ-RoboDriveProduct Catalogue

Content

One-Stop Industrial Drive Solutions | Available components . . . . . . . . . . . . . . . . . 4

ILM Series | Frameless servo kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

RD50/70/85-AKSIM | Absolute position sensors . . . . . . . . . . . . . . . . . . . . . 10

RD50/70/85/115-RSV | Safety brakes . . . . . . . . . . . . . . . . . . . . . . . . . 12

RDU25/38-VW | Solid-shaft servo motors . . . . . . . . . . . . . . . . . . . . . . . 14

RDU50/70/85-VW | Solid-shaft servo motors . . . . . . . . . . . . . . . . . . . . . . 16

RDU25/38-HW | Hollow-shaft servo motors . . . . . . . . . . . . . . . . . . . . . . . 18

RDU50/70/85-HW | Hollow-shaft servo motors . . . . . . . . . . . . . . . . . . . . . 20

RD50/70/85-HD | Servo motors with Harmonic Drive® gears . . . . . . . . . . . . . . . . 22

RD50/70/85-PG | Planetary motor gear units . . . . . . . . . . . . . . . . . . . . . . 24

Driving tomorrow’s technology today | TQ-RoboDrive, a brand of the TQ Group . . . . . . . . 26

Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

One-Stop Industrial Drive Solutions Available components

Solid Shaft Servo MotorWith integrated encoder and safety brake

Servo Kit

Safety Brake

Absolute Encoder

(On Axis)

TQ-RoboDrive high torque density and precision drives for next-generation robotic applications

Excellent torque density: half the size of comparable motors

Lightweight design: half the weight of comparable motors

Extraordinary dynamics

Best positioning accuracy and precise controllability

Excellent overload capability

Freedom of design with hollow shaft and solid shaft

Solutions with ready-to-use motors or single components

4

TQ-ROBODRIVE

Servo Kit

Safety Brake

Absolute Encoder

Hollow Shaft Servo MotorWith integrated encoder and safety brake

(Hollow Shaft)

5

PRODUCT CATALOGUE

ILM SeriesFrameless servo kits

Frameless servo motors with maximum torque density and freedom of design.

The ILM Series of frameless, stator-rotor installation kits from TQ-RoboDrive utilize integrated drive engineering originally developed by the German Aerospace Center (DLR) for applications in extremely demanding environ-ments . The motors deliver market-leading torque density,

HIGHLIGHTS Frameless motors for highest design flexibility

Available with integrated safety brakes and encoders

Hollow-shaft capability

Extra-low voltage 12 V - 48 V

Highest torque density and dynamics due to excellent copper fill factor

Low thermal losses due to concentrated coils

Thermally optimized actuator design

High control quality due to high bandwidth and lowest harmonics

Customer-specific tailoring upon request

BASIC DATAILM25x04

ILM25x08

ILM38x06

ILM38x12

ILM50x08

ILM50x14

ILM70x10

ILM70x18

ILM85x04

ILM85x13

ILM85x23

ILM85x26

ILM115x25

ILM115x50

Max Power [W] 70 80 110 240 210 210 250 270 290 440 460 470 570 618

Rated voltage Ur* [V] 24 24 24 48 48 48 48 48 48 48 48 48 48 48

Rated torque Tr* [Nm] 0 .032 0 .063 0 .102 0 .234 0 .298 0 .54 0 .66 1 .24 0 .3 1 .44 2 .56 2 .9 3 .9 9 .51

Peak torque Tmax at 20% deviation from linearity [Nm]

0 .105 0 .204 0 .32 0 .76 0 .96 1 .75 2 .13 4 .05 0 .99 4 .66 8 .3 9 .4 12 .7 31 .4

max Rotation speed nmax** at Ur [rpm] 24 .000***24 .000***15 .000***15 .000***12 .000***12 .000***10,000 7,340 7,900*** 7,900*** 5,900 5,400 2,400 1,070

Diameter D [mm] 25 25 38 38 50 50 69 69 85 85 85 85 115 115

Length L [mm] 10 .8 15 .2 15 .3 22 .3 16 .4 22 .8 22 .6 30 .5 17 .6 27 .2 37 .2 40 .7 39 68

Weight m [g] 16 25 53 89 87 135 220 330 210 400 620 670 1,070 2,170

Number of pole pairs 7 7 7 7 10 10 10 10 10 10 10 10 15 15

Rotor inertia J [kgcm2] 0 .00147 0 .00231 0 .0101 0 .0203 0 .054 0 .09 0 .196 0 .321 0 .276 0 .61 0 .98 1 .06 3 .93 7 .9

* At nominal current . Thermal behavior is strongly dependent on installation situation . Nominal operational temperature of the stator: -40°C to 125°C .** Theoretical no-load rotation speeds at Ur . Variations can arise from operation with different inverters .*** Max rotatation speed due to mechanical structure

unsurpassed precision and excellent overload capability in an exceptionally compact design . TQ-RoboDrive offers development expertise, engineering services and detailed documentation to assist you in implementing custom-er-specific solutions optimized for size, thermal properties and other requirements . Alternative voltage levels and customized torque-speed characteristics can also be made available upon request .

7

PRODUCT CATALOGUE

ILM SeriesFrameless servo kits

STAR-SERIALILM25x04

ILM25x08

ILM38x06

ILM38x12

ILM50x08

ILM50x14

ILM70x10

ILM70x18

ILM85x04

ILM85x13

ILM85x23

ILM85x26

ILM115x25

ILM115x50

Rated current Ir* [A] 3 .8 4 .3 5 .5 6 .1 5 .1 5 .3 6 .1 6 .7 7 .2 10 .8 11 .3 11 .5 14 .1 15 .1

Copper losses PL,rat Tr and 20°C [W] 5 .6 10 .3 7 .9 13 .7 10 .5 16 13 .1 22 .2 5 .4 19 .3 28 .7 31 .7 20 .9 43 .4

Torque constant kT*

at 20°C [mNm/A] 8 .8 14 .7 18 .2 39 58 103 109 187 43 134 229 253 281 640

Motor constant kMat 20°C [Nm/√W] 0 .0139 0 .0197 0 .0355 0 .064 0 .091 0 .136 1 .184 0 .266 0 .133 0 .33 0 .48 0 .52 0 .87 1 .47

Terminal resistance RTT* at 20°C [mΩ] 530 740 350 490 540 770 470 660 140 220 300 320 140 254

Terminal inductance LTT* [μH] 180 330 280 520 490 850 900 1,460 200 560 930 1,040 600 1,570

No load speed [rpm] 22,650 13,530 10,470 10,190 6,850 3,870 3,650 2,120 7,900** 2,950 1,730 1,560 1,400 620

DELTA SERIALILM50x08

ILM50x14

ILM70x10

ILM70x18

ILM85x04

ILM85x13

ILM85x23

ILM85x26

ILM115x25

ILM115x50

Rated current Ir* [A] 8 .8 9 .2 10 .6 11 .6 12 18 .7 19 .6 19 .9 24 30 .2

Copper losses PL,rat Tr and 20°C [W] 10 .5 16 13 .1 22 .2 5 .4 19 .3 28 .7 31 .7 20 .9 43 .4

Torque constant kT*

at 20°C [mNm/A] 33 59 63 108 25 77 132 146 162 370

Motor constant kMat 20°C [Nm/√W] 0 .091 0 .136 0 .184 0 .266 0 .133 0 .33 0 .48 0 .52 0 .87 1 .47

Terminal resistance RTT

* at 20°C [mΩ] 180 257 157 220 47 73 100 107 47 85

Terminal inductance LTT

* [μH] 163 283 303 487 67 187 310 347 200 523

No load speed [rpm] 11,800 6,700 6,300 3,670 7,900** 5,100 290 2,700 2,400 1,070

STAR PARALLELILM25x04

ILM25x08

ILM38x06

ILM38x12

ILM50x08

ILM50x14

ILM70x10

ILM70x18

ILM85x04

ILM85x13

ILM85x23

ILM85x26

Rated current Ir* [A] 7,5 8,6 11 12,2 10,2 10,6 12,2 13,4 14 21,6 22,6 23

Copper losses PL,rat Tr and 20°C [W] 5,6 10,3 7,9 13,7 10,5 16 13,1 22,2 5,4 21,6 28,7 31,7

Torque constant kT*

at 20°C [mNm/A] 4,4 7,4 9,5 20 29 52 55 94 22 67 115 127

Motor constant kMat 20°C [Nm/√W] 0,0139 0,0197 0,0355 0,064 0,091 0,136 0,184 0,266 0,133 0,33 0,48 0,52


* at 20°C [mΩ] 133 182 88 123 135 193 118 165 35 55 75 80


* [μH] 45 83 70 130 123 213 228 365 50 140 233 260

No load speed [rpm] 24000** 24000** 15000** 15000** 12000** 12000** 10000** 7340 7900** 7900** 5900 5400

8

TQ-ROBODRIVE

DELTA PARALLELILM50x08

ILM50x14

ILM70x10

ILM70x18

ILM85x04

ILM85x13

ILM85x23

ILM85x26

Rated current Ir* [A] 17,7 18,4 21,1 23,2 25 37,4 39,1 39,8

Copper losses PL,rat Tr and 20°C [W] 10,5 16 13,1 22,2 5,4 19,3 28,7 31,7

Torque constant kT*

at 20°C [mNm/A] 17 30 31 54 12 39 66 73

Motor constant kMat 20°C [Nm/√W] 0,091 0,136 0,184 0,266 0,133 0,33 0,48 0,52


* at 20°C [mΩ] 45 64 39 55 12 18 25 27


* [μH] 41 71 76 122 17 47 78 87

No load speed [rpm] 12000** 12000** 10000** 7340 7900** 7900** 5900 5400

L

D G

d

g

l

MOUNTING DIMENSIONSILM25x04

ILM25x08

ILM38x06

ILM38x12

ILM50x08

ILM50x14

ILM70x10

ILM70x18

ILM85x04

ILM85x13

ILM85x23

ILM85x26

ILM115x25

ILM115x50

Stator diameter D js8 [mm] 25 25 38 38 50 50 69 69 85 85 85 85 115 115

PCB diameter G [mm] 23 .8 23 .8 36 .2 36 .2 47 .6 47 .6 66 .8 66 .8 82 .8 82 .8 82 .8 82 .8 111 .8 111 .8

Winding head diameter g [mm] 23 .8 23 .8 36 36 47 .6 47 .6 66 66 81 81 81 81 110 110

Stator length L [mm] 10 .8 15 .2 15 .3 22 .3 16 .4 22 .8 22 .6 30 .5 17 .6 27 .2 37 .2 40 .7 39 .0 68 .4

Hollow-shaft diameter rotor d H7 [mm] 11 .6 11 .6 18 18 30 30 42 42 52 52 52 52 74 74

Rotor length l [mm] 6 .3 9 .7 8 .1 16 .2 9 .9 16 .1 12 .7 20 .7 7 .1 15 .7 25 .1 27 .2 27 .1 54 .2

* At nominal current . Thermal behavior is strongly dependent on installation situation . Nominal operational temperature of the stator: -40°C to 125°C .

** Theoretical no-load rotation speeds at Ur . Variations can arise from operation with different inverters .9

PRODUCT CATALOGUE

RD50/70/85-AKSIMAbsolute position sensors

Magnetic absolute multi-turn encoders with hollow shaft.

Designed for use in TQ-RoboDrive ILM Servo Kits and RD Servo Motors . RD-AKSIM encoders from TQ-RoboDrive provide accurate, high-resolution absolute position data for extremely precise and efficient control of TQ-RoboDrive servo motors . Because they use robust ASIC magnetic sensors rather than optical position sensors, readings are not susceptible to distortion arising from dust and dirt .

HIGHLIGHTS Hollow-shaft capability

Flat off-axis system for space-constrained applications

Singleturn resolution up to 262,144 incs/rev (18 bit)

Multiturn resolution 65,536 revs (16 bit)

Absolute accuracy ±0 .1°, repeatability 0 .002°, no hysteresis

High speed operation up to 10,000 rpm

Differential BiSS-C interface (update rate 28 kHz)

Sampling rate 18 kHz

Dimensions adapted to corresponding TQ- RoboDrive servo kits

BASIC DATA

Multi-turn cycle information is stored electronically and not updated during motion that occurs when the sensor is not supplied with power . Thanks to the hollow-shaft magnet ring, signals, media and fluids, rays and cables may be guided through the sensor . Designed for integration into space-constrained applications, the sensor system has an axial length of less than 10 mm . RD-AKSIM encoders from TQ-RoboDrive are available in several sizes, all designed to geometrically fit corresponding TQ-RoboDrive servo kits and safety brakes and enable the design of entire actuators and joints .

50-AKSIM 70-AKSIM 85-AKSIM

Singleturn resolution [incs/rev] 131,072 (17 bit) 262,144 (18 bit) 262,144 (18 bit)

Multiturn resolution [revs] 65,536 (16 bit) 65,536 (16 bit) 65,536 (16 bit)

Accuracy [deg] ±0 .1 ±0 .1 ±0 .1

Repeatability [deg] 0 .0027 0 .0014 0 .0014

Sampling rate fs [kHz] 18 18 18

Maximum rotation speed nmax [rpm] 10,000 7,000 6,000

Maximum acceleration amax [rad/s²] 80,000 60,000 40,000

Sensor PCB diameter D [mm] 54 74 89

Sensor length L [mm] 9 .2 9 .2 9 .2

Weight m [g] 13 .2 19 .8 26 .0

Inertia J [kgcm²] 0 .022 0 .070 0 .141

Operational temperature range -40°C to +105°C .

10

TQ-ROBODRIVE

ELECTRICAL DATA AND DIGITAL INTERFACE

DIMENSIONS


Supply voltage Udd [V] 5 5 5

Supply current Idd [mA] 150 150 150

Communication interface* BiSS-C differential BiSS-C differential BiSS-C differential

Max. master clock frequency fcl [MHz] 3 3 3

CRC bits number 0…5 0…5 0…5

Warning bit number 6 6 6

Error bit number 7 7 7

Logic of warning and error bit Active low Active low Active low

Position LSB number 8 8 8

Singleturn position data number 8…24 8…25 8…25

Multiturn position data number 25…40 26…41 26…41

Protocol total bits 41 42 42

* SSI, SPI, PWM, I2C, asynchronous serial communication interfaces can be realized on request .


Sensor PCB diameter D [mm] 54 74 89

Sensor length L [mm] 9 .2 9 .2 9 .2

Sensor ring diameter da [mm] 39 53 64

Hollow-shaft diameter di [mm] 20 30 40

Sensor ring length l [mm] 2 2 2

Pitch circle diameter LkS/LkB [mm] 49/25 66/36 80/46

Mounting hole S/B [mm] 2 .1/2 .5 2 .1/3 .1 2 .1/3 .1

LkS

5°

60°

60° 130°

3 x S

D

L

l

di

da

LkB

8 x B

45°

PIN 1

Pin number Signal

1 VDD2 VDD3 GND4 GND567 CLOCK+8 CLOCK-910 DATA+11 DATA-

Molex plug 501568-1107

11

PRODUCT CATALOGUE

RD50/70/85/115-RSVSafety brakes

Lightweight, hollow-shaft safety brakes.

Designed for use in TQ-RoboDrive ILM Servo Kits and RD Servo Motors . The TQ-RoboDrive RD-RSV series of spring-engaged, electromagnetic safety brakes were developed to enable the design of compact, lightweight actuators and robotic joints . The brakes stop reliably and maintain position during voltage supply failure or emergen-cy stop events . Their hollow-shaft design enables signals,

HIGHLIGHTS Hollow-shaft capability

Light-weight design

Low power consumption and heat dissipation

Fail-safe in case of power loss

Narrow braking torque tolerances

Dimensions and braking torques match corresponding TQ-RoboDrive servo kits

BASIC DATA50-RSV50 70-RSV60 85-RSV80 115-RSV100

Nominal braking torque TB,r* [Nm] 0 .30 0 .60 0 .84 1 .44 1 .68 3 .12 6 .8 13 .4

Maximum braking torque TB,max* [Nm] 0 .75 1 .50 2 .10 3 .60 4 .20 7 .80 17 .0 33 .5

Maximum rotation speed nmax [rpm] 10,000 7,000 7,000 4,400 6,000 3,800 1,500 1,000

Brake diameter D [mm] 53 .4 53 .4 72 .4 72 .4 88 .4 88 .4 118 .4 118 .4

Brake length L [mm] 15 .9 15 .9 17 .9 17 .9 17 .9 17 .9 26 26

Weight m [g] 110 110 210 210 300 300 820 820

Inertia J [kgmm2] 2 .10 2 .10 6 .95 6 .95 18 .6 18 .6 98 .6 98 .6

* Braking torque can be adapted on request . Given values for the two standard configurations are valid for a operational temperature range of +5°C to +80°C . Maximum temperature: 130°C .

media, fluids, rays and cables to be passed through the brake . The RD-RSV series is available in four sizes and two braking torques, which correspond to the nominal torque of their respective ILM Servo Kits from TQ-RoboDrive . In ap-plications using gearheads, maximum braking torque levels have been defined to protect gears from overload . Thanks to their low power consumption and minimal heat build-up, the brakes are the perfect complement to the premium performance offered by ILM Servo Kits from TQ-RoboDrive .

12

TQ-ROBODRIVE

LkG

60° 6x

6 x G

30°

L

K

D

LkB

dw

45° 8x8 x B

ELECTRICAL DATA

DIMENSIONS

50-RSV50 70-RSV60 85-RSV80 115-RSV100

Rated voltage UB,r* [V] 8 8 8 8

Rated current IB,r* [A] 0 .31 0 .46 0 .63 1 .20

Thermal losses PB,L at UB,r [W] 2 .6 3 .7 5 .0 9 .8

Overexcitation voltage UB,o* [V] 24 24 24 24

Overexcitation current IB,o* [A] 0 .94 1 .37 1 .90 3 .70

Thermal losses PB,o at UB,o [W] 23 .4 33 .4 45 .0 88 .2

Overecitation time tB,o [ms] 40 40 40 100

Coil resistance RB [Ω] 25 .48 17 .52 12 .70 6 .50

* Adaption of voltage level can be realized on request .

50-RSV50 70-RSV60 85-RSV80 115-RSV100

Brake diameter D [mm] 53 .4 72 .4 88 .4 118 .4

Brake length L [mm] 15 .9 17 .9 17 .9 26 .0

Hollow-shaft diameter dw [mm] 20 30 40 60

Pitch circle diameter LkG/LkB [mm] 49/25 66/36 80/46 108/67

Mounting thread G/Hole B [mm] M2/2 .4 M2 .5/2 .9 M2 .5/2 .9 M3/3 .4

Cable length K [mm] 250 250 250 250

13

PRODUCT CATALOGUE

RDU25/38-VWSolid-shaft servo motors

Housed, solid-shaft drive units with industry-leading torque density.

Solid-shaft RDU25 and RDU38 servo motors use TQ-Robo Drive’s flagship, high-performance stator-rotor sets to de-liver unsurpassed power density at maximum torque range, as well as excellent overload capability . Available as a com-pact, housed unit, the motors are ideally suited for a wide variety of industrial applications, as well as for proof-of-

HIGHLIGHTS Industry-leading power density


Compact design

Absolute Sin-Cos encoder, accuracy ±0 .5°

Prepared for gearheads of Maxon, Gysin and Neugart

BASIC DATA25x04-VW 25x08-VW 38x06-VW 38x12-VW

Power P [W] 70 80 110 240

Rated torque Tr [Nm] 0 .032 0 .063 0 .100 0 .234

Peak torque Tmax [Nm] 0 .105 0 .204 0 .32 0 .76

Rotation speed nmax* at Ur [rpm] 22,650 13,530 10,470 10,190

Motor diameter D [mm] 32 32 45 45

Motor length L [mm] 55 .05 55 .05 60 .1 60 .1

Weight m [g] No Brake | Brake 83 | 115 93 | 125 182 | 243 219 | 280

Inertia J [kgcm2] No Brake | Brake 0 .0023 | 0 .0036 0 .003 | 0 .0044 0 .014 | 0 .02 0 .025 | 0 .031

* Theoretical no-load rotation speeds at Ur = 24 V (RDU38x12-VW Ur = 48 V) . Variations can arise from operation with different inverters . Higher rotation speeds or change of the voltage level can be achieved by adapting the interconnection scheme .

concept prior to the design-in and integration of a frame-less kit . Integrated absolute encoders enable exceptional positioning accuracy and speed stability, while a standard mounting flange allow the motors to be combined with gearheads . Upon request, TQ-RoboDrive can deliver the RDU25 and RDU38 motors with precision products from Gysin, Maxon, Neugart and other leading manufacturers .

14

TQ-ROBODRIVE

ELECTRICAL DATA

DIMENSIONS25x04-VW 25x08-VW 38x06-VW 38x12-VW

Motor diameter D [mm] 32 32 45 45

Motor length L [mm] 35 .7 40 .1 41 48

Shaft diameter dw [mm] 4 h6 4 h6 6 h6 6 h6

Shaft length lw [mm] 20 20 20 20

Centering diameter dz [mm] 16 j6 16 j6 22 j6 22 j6

Centering length lz [mm] 1 .2 1 .2 1 .5 1 .5

Pitch circle Lk [mm] 22 22 32 32

Mounting thread G [metric] M3 4x90° + 3x120° M3 4x90° + 3x120° M3 4x90° M3 4x90°

Shrink hose length kl [mm] 12 .2 12 .2 15 15

25x04-VW 25x08-VW 38x06-VW 38x12-VW

Rated voltage Ur [V] 24 24 24 48

Rated current Ir [A] 3 .8 4 .3 5 .5 6 .1

Copper losses PL,rat Tr and 20°C [W] 5 .6 10 .3 7 .9 13 .7

Torque constant kT [mNm/A] 8 .8 14 .7 18 .9 39 .0

Motor constant kMat 20°C [Nm/√W] 0 .0139 0 .0197 0 .0369 0 .064

Terminal resistance RTT [mΩ] 530 740 350 490

Terminal inductance LTT [µH] 180 330 280 520

Number of pole pairs 7 7 7 7

Sensor type* Magnetic encoder, differential Sin-Cos-signal, signal ampitude 1 Vpp, signal offset Udd/2, accuracy ±0 .5°, supply voltage Udd = 5 V

All data relate to star-serial interconnection at Ur . The voltage level can be changed on request . * SSI, linear voltage, absolute parallel or incremental RS422 communication interface with resolution up to 8,192 inc/rev are available on request .

SAFETY BRAKE DATA25x04-VW 25x08-VW 38x06-VW 38x12-VW

Braking torque TB,r/TB,max [Nm] 0 .03/0 .075 0 .06/0 .15 0 .12/0 .3 0 .24/0 .6

Thermal losses PB,L at UB,r [W] 1 .11 1 .11 1 .83 1 .83

All brakes are operated with a rated voltage of UB,r = 8 V . To open the brake an over-excitation voltage of 24 V is required . Adaptation of voltage level can be realized on request .

RDU25-VW Adapter RDU38-VW Adapter

15

PRODUCT CATALOGUE

RDU50/70/85-VWSolid-shaft servo motors

Housed, solid-shaft drive units with industry-leading torque density.

Solid-shaft RDU50/70/85 use TQ-RoboDrive’s flagship, high-performance stator-rotor sets to deliver unsur-passed power density at maximum torque range, as well as excellent overload capability . Available as a compact, housed unit, the motors are ideally suited for a wide variety of industrial applications, as well as for proof-of-concept



Compact design


Integrated safety brake

Mounting flange based on B5/B14 standard

Customized flange available

Installation space savings by optional gearhead direct mounting

BASIC DATA

prior to the design-in and integration of a frameless kit . An integrated absolute encoder and an integrated safety brake ensure high positioning accuracy, excellent speed stability and dynamic stopping and torque-holding capabilities . Thanks to the standard mounting flange, the RDU50/70/85 motors can also be delivered with precision gearheads from Neugart, Wittenstein, Spinea or Harmonic Drive . Alternative voltage levels, increased speeds and integrated safety brakes are available on request .

50x08-VW 50x14-VW 70x10-VW 70x18-VW 85x13-VW 85x26-VW

Power P [W] 210 210 250 270 440 470

Rated torque Tr [Nm] 0 .298 0 .54 0 .66 1 .24 1 .44 2 .9

Peak torque Tmax [Nm] 0 .96 1 .75 2 .13 4 .05 4 .66 9 .4

Rotation speed nmax* at Ur [rpm] 6,850 3,870 3,650 2,120 2,950 1,560

Motor diameter D [mm] 61 61 80 80 96 96

Motor length L [mm] w/o brake with brake

54 .370 .1

60 .776 .5

63 .581 .4

71 .489 .3

70 .388 .2

83 .7101 .6

Weight m [g] w/o brake with brake

430595

495660

8701,150

9951,280

1,3001,700

1,6302,040

Inertia J [kgcm2] w/o brake with brake

0 .070 .11

0 .110 .15

0 .290 .43

0 .420 .56

0 .821 .15

1 .361 .69

* Theoretical no-load rotation speeds at Ur = 48 V . Variations can arise from operation with different inverters . Higher rotation speeds or change of the voltage level can be achieved by adapting the interconnection scheme .

16

TQ-ROBODRIVE

ELECTRICAL DATA

SAFETY BRAKE DATA

DIMENSIONS


Rated voltage Ur [V] 48 48 48 48 48 48

Rated current Ir [A] 5 .1 5 .3 6 .1 6 .7 10 .8 11 .5

Copper losses PL,rat Tr and 20°C [W] 10 .5 16 .0 13 .1 22 .2 19 .3 31 .7

Torque constant kT [mNm/A] 58 103 109 187 134 253

Motor constant kMat 20°C [Nm/√W] 0 .091 0 .136 0 .184 0 .266 0 .330 0 .52

Terminal resistance RTT [mΩ] 540 770 470 660 220 320

Terminal inductance LTT [µH] 490 850 900 1,460 560 1,040

Number of pole pairs 10 10 10 10 10 10

Sensor type* Magnetic encoder, differential Sin-Cos-signal, signal amplitude 1 VPP, signal offset Udd/2, accuracy ± 0 .5°, supply voltage Udd = 5 V

All data relate to star-serial interconnection at Ur = 48 V . The voltage level can be adapted on request .* SSI, linear voltage, absolute parallel or incremental RS422 communication interface with resolution up to 8,192 inc/rev are available on request .




54 .370 .1

60 .776 .5

63 .581 .4

71 .489 .3

70 .388 .2

83 .7101 .6

Shaft diameter Dw [mm] 8 j6 8 j6 11 j6 11 j6 14 j6 14 j6

Shaft length lw [mm] 22 22 21 21 27 27

Centering diameter dz [mm] 30 j6 30 j6 40 j6 40 j6 70 j6 70 j6

Centering length lz [mm] 2 2 2 2 2 2

Pitch circle LkG/LkB [mm] 40/46 40/46 53/63 53/63 85/85 85/85

Mounting thread G/Hole B [mm] M4/4 .5 M4/4 .5 M5/5 .5 M5/5 .5 M6/6 .6 M6/6 .6

Cable gland length kl [mm] 21 21 25 25 25 25


Braking torque TB,r/TB,max [Nm] 0 .30/0 .75 0 .60/1 .50 0 .84/2 .10 1 .44/3 .60 1 .68/4 .20 3 .12/7 .80

Thermal losses PB,L at UB,r [W] 2 .6 2 .6 3 .7 3 .7 5 .0 5 .0

All brakes are operated with a rated voltage of UB,r = 8 V, to open the brake an over-excitation voltage of 24 V is required . Adaption of voltage level can be realized on request .

4 x G

4 x 90°

4 x 9

0°

LkB

LkG

4 x B /

L

D

dw

lw

dz

lz

kl

17

PRODUCT CATALOGUE

Housed, hollow-shaft drives with industry- leading torque density.

The servo motors of the RDU25/38-HW series utilize TQ-RoboDrive’s flagship, high-performance stator-rotor sets to deliver unsurpassed power density at maximum torque range, as well as excellent overload capability . With external diameters of only 32mm and 45mm and a roomy hollow shaft for passing signals, media, fluids, rays and cables through the drive unit, the RDU25/38 motors are the

RDU25/38-HWHollow-shaft servo motors

HIGHLIGHTS Hollow-shaft

Industry-leading power density


Compact design

Integration of hollow-shaft safety brake possible

Absolute multiturn encoder with high resolution

BASIC DATA25x08-HW 38x12-HW

Power P [W] 80 240

Rated torque Tr [Nm] 0 .063 0 .234

Peak torque Tmax [Nm] 0 .204 0 .76

Rotation speed nmax* at Ur [rpm] 13,530 10,190

Motor diameter D [mm] 32 45

Motor length L [mm] 62 .95 70 .6

Weight m [g] No Brake | Brake 122 | 154 276 | 340

Inertia J [kgcm2] No Brake | Brake 0 .011 | 0 .012 0 .048 | 0 .055

* Theoretical no-load rotation speed at Ur = 24V for 25x08-HW and Ur = 48V for 38x12-HW . Variations can arise from operation with different inverters . Higher rotation speed or change of the voltage level can be achieved by adapting the interconnection scheme .

smallest, dynamic hollow-shaft drives currently available on the market .

An integrated absolute encoder and an integrated safety brake ensure high positioning accuracy, excellent speed stability and dynamic stopping and torque-holding capa-bilities . Additional gear elements, spindle nuts, optics or serial actuators can be integrated to expand the field of application . Alternative voltage levels, increased speed and customized torque adaptations are available on request .

18

TQ-ROBODRIVE

ELECTRICAL DATA

SAFETY BRAKE DATA

DIMENSIONS

25x08-HW 38x12-HW

Rated voltage Ur [V] 24 48

Rated current Ir [A] 4 .3 6 .1

Copper losses PL,rat Tr and 20°C [W] 10 .3 13 .7

Torque constant kT [mNm/A] 14 .7 39 .0

Motor constant kMat 20°C [Nm/√W] 0 .0197 0 .064

Terminal resistance RTT [mΩ] 740 490

Terminal inductance LTT [μH] 330 520

Number of pole pairs 7 7

Sensor type* Magnetic encoder, BiSS-C differential, accuracy ± 0 .1°, supply voltage Udd = 5 V

Resolution singleturn [incs/rev]multiturn [revs]

131 .072 (17 bit)65 .536 (16 bit)

131 .072 (17 bit)65 .536 (16 bit)

All data relate to star-serial interconnection at rated voltage . The voltage level can be adapted on request . * SSI, SPI, PWM, I2C, asynchronous serial communication interfaces can be realized on request .

25x08-HW 38x12-HW

Braking torque TB,r/TB,max [Nm] 0 .06/0 .15 0 .24/0 .6

Thermal losses PB,L at UB,r [W] 1 .11 1 .83

All brakes are operated with a rated voltage of UB,r = 8 V . To open the brake an over-excitation voltage of 24 V is required . Adaptation of voltage level can be realized on request .

25x08-HW 38x12-HW

Motor diameter D [mm] 32 45

Motor length L [mm] including brake 62 .95 70 .6

Hollow-shaft diameter Dw [mm] 17 g6 23 g6

Hollow-shaft diameter Di [mm] 9 H6 14 H6

Hollow-shaft diameter di [mm] 5 .5 8

Shaft length lw [mm] 7 .7 13 .5

Centering diameter dz [mm] 25 .5 g6 36 g6

Centering length lz [mm] 1 .2 6 .5

Di

Dw

dz

D

di

L lw

lz

6x 60°

30°

12x G

6x g Lkw

LK

19

PRODUCT CATALOGUE

RDU50/70/85-HWHollow-shaft servo motors

Housed, hollow-shaft drives with industry- leading torque density.

The servo motors of the RDU50/70/85-HW series utilize TQ-RoboDrive’s flagship, high-performance stator-rotor sets to deliver unsurpassed power density at maximum torque range, as well as excellent overload capability . Their roomy hollow shaft is ideal for passing signals, media, fluids, rays and cables through the drive unit . An integrated




Compact design



BASIC DATA

absolute encoder and an integrated safety brake ensure high positioning accuracy, excellent speed stability and dy-namic stopping and torque-holding capabilities . Additional gear elements, spindle nuts, optics or serial actuators can be integrated to expand the field of application . Alternative voltage levels, increased speed and customized torque adaptations are available on request .

50x08-HW 50x14-HW 70x10-HW 70x18-HW 85x13-HW 85x26-HW

Power P [W] 210 210 250 270 440 470

Rated torque Tr [Nm] 0 .298 0 .54 0 .66 1 .24 1 .44 2 .9

Peak torque Tmax [Nm] 0 .96 1 .75 2 .13 4 .05 4 .66 9 .4

Rotation speed nmax* at Ur [rpm] 6,850 3,870 3,650 2,120 2,950 1,560



57 .8 73 .6

64 .2 80

71 .2 89 .1

79 .1 97

75 .5 93 .4

88 .9 106 .8

Weight m [g] w/o brake with brake

465 620

530 685

820 1,100

960 1,250

1,300 1,690

1,650 2,050

Inertia J [kgcm2] w/o brake with brake

0 .22 0 .25

0 .26 0 .30

0 .78 0 .90

0 .94 1 .06

2 .15 2 .45

2 .76 3 .06


20

TQ-ROBODRIVE

ELECTRICAL DATA

SAFETY BRAKE DATA

DIMENSIONS





Torque constant kT [mNm/A] 58 103 109 187 134 253

Motor constant kMat 20°C [Nm/√W] 0 .091 0 .136 0 .184 0 .266 0 .330 0 .52





Resolution singleturn [incs/rev]/ multiturn [revs]

131,072 (17 bit)/65,536 (16 bit)

131,072 (17 bit)/65,536 (16 bit)

262,144 (18 bit)/65,536 (16 bit)

262,144 (18 bit)/65,536 (16 bit)

262,144 (18 bit)/65,536 (16 bit)

262,144 (18 bit)/65,536 (16 bit)

All data relate to star-serial interconnection at Ur = 48 V . The voltage level can be adapted on request . * SSI, SPI, PWM, I2C, asynchronous serial communication interfaces can be realized on request .




57 .873 .6

64 .280

71 .289 .1

79 .197

75 .593 .4

88 .9106 .8

Shaft diameter Dw [mm] 38 g6 38 g6 50 g6 50 g6 62 g6 62 g6

Hollow-shaft diameter Di [mm] 26 .5 H6 26 .5 H6 37 H6 37 H6 47 .5 H6 47 .5 H6

Hollow-shaft diameter di [mm] 17 17 26 26 35 35

Shaft length lw [mm] 16 .7 16 .7 17 .5 17 .5 19 .7 19 .7

Centering diameter dz [mm] 51 g6 51 g6 63 g6 63 g6 79 g6 79 g6


Braking torque TB,r/TB,max [Nm] 0 .30/0 .75 0 .60/1 .50 0 .84/2 .10 1 .44/3 .60 1 .68/4 .20 3 .12/7 .80



L

D

di

Dw

dz

lw

Di

21

PRODUCT CATALOGUE

RD50/70/85-HDServo motors with Harmonic Drive® gears

Compact actuators with Harmonic Drive gears for industrial and robotic drives.

The RD-HD series of geared motors from TQ-RoboDrive are ideal for low-voltage applications that require high torque, excellent precision and a hollow shaft for passing through signals, cables and other media . The actuators utilize com-pact, lightweight gears from Harmonic Drives with zero backlash . Their extremely low gear elasticity and moment of inertia enable precise control of the powertrain .



Excellent torque density and positioning accuracy


Very compact and lightweight design


BASIC DATA50x08-HD 70x10-HD 85x13-HD

Power P [W] 210 250 440

Rated output torque Tr [Nm] 7 .8 40 .0 67 .0

Peak output torque Tmax [Nm] 28 92 176

Collision torque Tcol [Nm] 54 147 304

Output speed nmax* at Ur [rpm] 55 22 18

Gear ratio ** 1:100 1:160 1:160

Diameter D [mm] 97 128 141

Length L [mm] No Brake | Brake 82 .75 | 100 .75 105 .3 | 124 .8 118 .2 | 137 .8

Weight m [g] No Brake | Brake 1280 | 1415 2593 | 2990 3485 | 4000


** Other gear ratios are available on request .

In combination with TQ-RoboDrive technology, the gears can be operated at their peak performance levels, making them ideal for use in robotics, handling and automation tasks, medical and optical applications . Additional pairings of Harmonic Drive gears with TQ-RoboDrive motors are avail-able on request .

22

TQ-ROBODRIVE

ELECTRICAL DATA

GEAR DATA

DIMENSIONS

50x08-HD 70x10-HD 85x13-HD

Type CPL-14A-100-2A CPL-20A-160-2A CPL-25A-160-2A

Torsional stiffness [Nm/arcmin] 1 .0 8 .4 16 .6

Lost motion [arcmin] < 1 < 1 < 1

Max. tilting torque [Nm] 205 230 277

50x08-HD 70x10-HD 85x13-HD

Diameter D [mm] 97 128 141

Motor length L [mm] No Brake | Brake 82 .75 | 100 .75 105 .3 | 124 .8 118 .2 | 137 .8

Edge length b [mm] 66 89 103 .5

Centering shaft diameter dzi [mm] 35 H6 53 H6 58 H6

Hollow-shaft diameter Di [mm] 10 .5 17 21

Shaft length lw [mm] 4 .2 4 .2 5

Centering diameter dza [mm] 83 h6 108 h6 118 h6

50x08-HD 70x10-HD 85x13-HD

Rated voltage Ur [V] 48 48 48

Rated current Ir [A] 5 .1 6 .1 10 .8

Copper losses PL,rat Tr and 20°C [W] 10 .5 13 .1 19 .3

Terminal resistance RTT [mΩ] 540 470 220

Terminal inductance LTT [µH] 490 910 560

Number of pole pairs 10 10 10


Resolution singleturn [incs/rev]/ multiturn [revs]

131 .072 (17 bit)/65 .536 (16 bit)

262 .144 (18 bit)/ 65 .536 (16 bit)

262 .144 (18 bit)/65 .536 (16 bit)

All data relate to star-serial interconnection at Ur = 48 V . The voltage can be adapted on request . * SSI, SPI, PWM, I2C, asynchronous serial communication interfaces can be realized on request .

b

L

lw

dzi

D

Di

dza

SAFETY BRAKE DATA50x08-HD 70x10-HD 85x13-HD

Braking torque TB,r/TB,max [Nm] 0 .30/0 .75 0 .84/2 .10 1 .68/4 .20

Thermal losses PB,L at UB,r [W] 2 .6 3 .7 5 .0


23

PRODUCT CATALOGUE

RD50/70/85-PGPlanetary motor gear units

Compact drive units with planetary gearing and high power-density.

RD-PG planetary gear motors from TQ-RoboDrive offer a standardized drive solution based on powerful gearheads from Neugart . Depending on the number of stages re-quired, transmission ratios can range from 1:3 to 1:512 . The gear units have a minimal inherent backlash, while TQ- RoboDrive technology allows the performance features of


Compact design


Integrated safety brake optional

Wide range of transmission ratios: i=1:3, . . .,512

Minimum backlash

High output torque

Flexible mounting on gear or housing flange

BASIC DATAGear motor with single stage PLE-gear i = 1:8

50x08-PG 50x14-PG 70x10-PG 70x18-PG 85x13-PG 85x26-PG

Power P [W] 210 210 250 270 440 470

Rated output torque Tr [Nm] 2 .1 3 .9 5 .7 9 .7 11 .1 20 .2

Peak output torque Tmax [Nm] 7 .0 10 .0 17 .8 29 .0 34 .9 64 .0

Output speed nmax* at Ur [rpm] 690 440 440 260 360 190

Gear ratio ** 1:8 1:8 1:8 1:8 1:8 1:8


Total length w/o brake [mm] with brake [mm]

87 .3 103 .1

93 .7109 .5

101 .5119 .4

109 .4127 .3

118 .8136 .7

132 .2150 .1

Weight m w/o brake [g] with brake [g]

645 810

710 875

1,385 1,665

1,510 1,895

2,495 2,895

2,825 3,235


** Other gear ratios are available on request . For gearbox selection . see: http://www .neugart .de/index .php/us/Produkte/Standardgetriebe

the gearheads to be exploited to their full extent in terms of both speed and torque .

Alternative voltage levels, increased speeds and optional integrated safety brakes can be made available on request . TQ-RoboDrive can also integrate planetary gearheads from other well-known manufacturers such as Gysin and Maxon .

24

TQ-ROBODRIVE

ELECTRICAL DATA

DIMENSIONS

SAFETY BRAKE DATA

GEAR DATA








Sensor type* Magnetic encoder, differential Sin-Cos-signal, signal amplitude 1 VPP, signal offset Udd/2, accuracy ± 0 .5°, supply voltage Udd = 5 V

All data relate to star-serial interconnection at Ur = 48 V . The voltage level can be adapted on request . * SSI, linear voltage, absolute parallel or incremental RS422 communication interface with resolution up to 8,192 inc/rev are available on request .




48 .364 .1

54 .770 .5

54 .572 .4

62 .480 .3

58 .876 .7

72 .290 .1

Gearbox diameter d [mm] 40 40 60 60 80 80

Gearbox length LG [mm] 1/2/3 stages

39/52/64 .5 39/52/64 .5 47/59 .5/72 47/59 .5/72 60/77 .5/95 60/77 .5/95

Shaft diameter dw [mm] 10 h7 10 h7 14 h7 14 h7 20 h7 20 h7

Shaft length lw [mm] 26 26 35 35 40 40


Braking torque MB,r /MB,max [Nm] 0 .30/0 .75 0 .60/1 .50 0 .84/2 .10 1 .44/3 .60 1 .68/4 .20 3 .12/7 .80




Type PLE040 PLE040 PLE060 PLE060 PLE080 PLE080

Torsional stiffness [Nm/arcmin] 1 .0 1 .0 2 .3 2 .3 5 .8 5 .8

Backlash [arcmin] 1/2/3 stages <15/<19/<22 <15/<19/<22 <10/<12/<15 <10/<12/<15 <7/<9/<11 <7/<9/<11

lw LG L

D

dw

d

25

PRODUCT CATALOGUE

The TQ Group is one of Germany’s leading providers of electronics solutions and electrical engineering and manufacturing services with over 1,700 employees at 14 offices worldwide .

TQ works with a broad spectrum of businesses, from start-ups to established companies, to enable them to find answers to the technological issues they face . In so doing, we are helping define future growth in industries ranging from energy, medical technology and aerospace to logistics, building automation and robotics .

High-performance servo motors from TQ-RoboDrive boast market-leading torque density, unsurpassed precision and excellent overload capability in an exceptionally compact design . They are ideal for demanding applications in the field of industrial and collaborative robotics .

All TQ-RoboDrive products are available with custom-fitted safety brakes and absolute encoders . In addition, TQ offers development expertise, engineering services and detailed documentation to enable customer-specific solutions optimized for size, thermal properties and other requirements .

Learn more at: tq-group.com/en/products/tq-robodrive/

Driving tomorrow’s technology todayTQ-RoboDrive, a brand of the TQ Group

https://www.tq-group.com/en/products/tq-robodrive/

Contact

TQ-Systems GmbH | TQ-RoboDriveGut Delling l Mühlstraße 2 l 82229 Seefeld l Germany Tel .: +49 8153 9308-0 l Fax: +49 8153 4223info@tq-robodrive .com l www .tq-robodrive .com/en

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each moment. perfect control. - tq-group.com · in an exceptionally compact design . tq-robodrive...

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