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
Terminal resistance RTT
* at 20°C [mΩ] 133 182 88 123 135 193 118 165 35 55 75 80
Terminal inductance LTT
* [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
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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
Terminal resistance RTT
* at 20°C [mΩ] 45 64 39 55 12 18 25 27
Terminal inductance LTT
* [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 .
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TQ-ROBODRIVE
ELECTRICAL DATA AND DIGITAL INTERFACE
DIMENSIONS
50-AKSIM 70-AKSIM 85-AKSIM
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 .
50-AKSIM 70-AKSIM 85-AKSIM
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 .
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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
Excellent overload capability
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 .
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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
HIGHLIGHTS Industry-leading power density
Excellent overload capability
Compact design
Absolute Sin-Cos encoder, accuracy ±0 .5°
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 .
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TQ-ROBODRIVE
ELECTRICAL DATA
SAFETY BRAKE DATA
DIMENSIONS
50x08-VW 50x14-VW 70x10-VW 70x18-VW 85x13-VW 85x26-VW
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 .
50x08-VW 50x14-VW 70x10-VW 70x18-VW 85x13-VW 85x26-VW
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
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
50x08-VW 50x14-VW 70x10-VW 70x18-VW 85x13-VW 85x26-VW
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
Excellent overload capability
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
HIGHLIGHTS Hollow-shaft
Industry-leading power density
Excellent overload capability
Compact design
Absolute multiturn encoder with high resolution
Integration of hollow-shaft safety brake possible
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
Motor diameter D [mm] 61 61 80 80 96 96
Motor length L [mm] w/o brake with brake
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
* 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 .
20
TQ-ROBODRIVE
ELECTRICAL DATA
SAFETY BRAKE DATA
DIMENSIONS
50x08-HW 50x14-HW 70x10-HW 70x18-HW 85x13-HW 85x26-HW
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, 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)
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 .
50x08-HW 50x14-HW 70x10-HW 70x18-HW 85x13-HW 85x26-HW
Motor diameter D [mm] 61 61 80 80 96 96
Motor length L [mm] w/o brake with brake
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
50x08-HW 50x14-HW 70x10-HW 70x18-HW 85x13-HW 85x26-HW
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 .
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 .
HIGHLIGHTS Hollow-shaft
Industry-leading power density
Excellent torque density and positioning accuracy
Absolute multiturn encoder with high resolution
Very compact and lightweight design
Integration of hollow-shaft safety brake possible
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
* 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 .
** 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
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)
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
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 .
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
HIGHLIGHTS Industry-leading power density
Compact design
Absolute Sin-Cos encoder, accuracy ±0 .5°
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
Motor diameter D [mm] 61 61 80 80 96 96
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
* 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 .
** 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
50x08-PG 50x14-PG 70x10-PG 70x18-PG 85x13-PG 85x26-PG
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
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 .
50x08-PG 50x14-PG 70x10-PG 70x18-PG 85x13-PG 85x26-PG
Motor diameter D [mm] 61 61 80 80 96 96
Motor length L [mm] w/o brake with brake
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
50x08-PG 50x14-PG 70x10-PG 70x18-PG 85x13-PG 85x26-PG
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
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 .
50x08-PG 50x14-PG 70x10-PG 70x18-PG 85x13-PG 85x26-PG
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
Notes
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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