Specifications

2
 Direct drive motor specifications
Direct drive motor model TM-RFM 002C20 004C20 006C20 006E20 012E20 018E20
Compatible servo amplifier model
MR-J3--RJ080W
20B 40B 60B 60B 70B 100B
Motor outer diameter
(Frame dimensions)
(mm) ø130 ø180
Power supply capacity (Note 1) (kVA) 0.25 0.38 0.53 0.46 0.81 1.3
Rated output (W) 42 84 126 126 251 377
Continuous
running duty
Rated torque (N·m [oz·in]) 2 (283) 4 (566) 6 (850) 6 (850) 12 (1700) 18 (2550)
Maximum torque (N·m [oz·in]) 6 (850) 12 (1700) 18 (2550) 18 (2550) 36 (5100) 54 (7650)
Rated speed (r/min)
200
Maximum speed (r/min)
500
Permissible instantaneous speed (r/min)
575
Power rate at continuous rated
torque
(kW/s) 3.7 9.6 16.1 4.9 12.9 21.8
Rated current (A) 1.3 2.1 3.1 3.1 3.8 5.9
Maximum current (A) 3.9 6.3 9.3 9.3 12 18
Regenerative braking
frequency (Note 2)
(times/min)
No limit
4600 2600 510 560 400
Moment of inertia
J (X10
-4
kg·m
2
)
[J (oz·in
2
)]
10.9
(59.6)
16.6
(90.8)
22.4
(122)
74.0
(405)
111
(607)
149
(815)
Recommended load
to motor inertia moment ratio (Note 3)
Maximum of 50 times
Absolute accuracy (s)
±15 ±12.5
Encoder resolution
1048576p/rev (Absolute/incremental encoder)
(Note 4)
Insulation class
Class F
Structure
Totally enclosed non ventilated (IP rating: IP42)
(Note 5)
Moment load (N·m [oz·in])
22.5 (3190) 70 (9910)
Rotor
permissible
load (Note 8)
Axial load (N)
1100 3300
Ambient temperature
0 to 40°C (32 to 104°F) (non freezing), storage: -15 to 70°C (5 to 158°F) (non freezing)
Ambient humidity
80% RH maximum (non condensing), storage: 90% RH maximum (non condensing)
Atmosphere
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust or
splash of oil or water
Elevation
1000m or less above sea level
Environment
(Note 7)
Vibration (Note 6)
X: 49m/s
2
Y: 49m/s
2
Mass (kg [lb])
5.2 (12) 6.8 (15) 8.4 (19) 11 (25) 15 (33) 18 (40)
Notes: 1. The power supply capacity varies depending on the power supply’s impedance.
2. The regenerative braking frequency shows the permissible frequency when the motor, without a load and optional regeneration unit,
decelerates from the rated speed to a stop. When a load is connected; however, the value will be the table value/(m+1), where m=the
load inertia moment/the motor inertia moment. When the operating speed exceeds the rated speed, the regenerative braking frequency is
inversely proportional to the square of (operating speed/rated speed). If the operating speed changes frequently or when the regeneration
is constant (as with vertical feeds), find the regenerative heating value (W) in operation. Provisions must be made to keep this heating
value below the tolerable regenerative power (W). Optimal regenerative resistor varies for each system. Select the most suitable
regenerative resistor by using the Servo Support software. Refer to the section "Options zOptional regeneration unit" in this catalog for
details on the tolerable regenerative power (W).
3. Contact your local sales office if the load to motor inertia moment ratio exceeds the value in the table.
4. Optional absolute position storage unit (MR-BTAS01) and battery (MR-J3BAT) are required for absolute position detecting system. Refer
to "MR-J3-B-RJ080W INSTRUCTION MANUAL" for details.
5. Connectors and gap between rotor and stator are excluded.
6. The vibration direction is shown in the diagram to the right. The numeric value indicates the maximum value of the
component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when
the motor stops, so maintain vibration to approximately one-half of the allowable value.
7. In the environment where the direct drive motor is exposed to oil mist, oil and/or water, a standard specification direct drive motor may not
be usable. Contact your local sales office for more details.
8. The following is calculation examples of axial and moment loads to the rotor (output shaft). The axial and moment loads must be
maintained equal to or below the permissible value.
Axial load
= F + load mass
Axial load
= F + load mass
Moment load
= F x L
Axial load = load mass
Moment load = F x (L + A)
Motor outer diameter (mm)
(Frame dimensions)
Dimension A
(mm)
Ø130 19.1
Ø180 20.2