Idam RDDM de en

RDDM
Rotary Direct Drive Motors
1
The Perfect Drive for Every Application.
INA - Drives & Mechatronics AG & Co. KG, Directly linking the motor and the mov- Models and simulations are integrated
a member of the Schaeffler Group, is a ing mass increases the dynamic and into the development process for direct
specialist for linear and rotary direct static rigidity, enabling high-perform- drives and positioning systems, making
drives. To complement these products, ance positioning movements. the process more efficient.
we also offer directly driven positioning Direct drives are low wearing, which
systems and all the necessary controllers reduces maintenance and operating IDAM has a cutting-edge quality manage-
and mechatronic assemblies. costs while also increasing availability. ment system. At IDAM, quality manage-
In addition to standard products, IDAM For more than 20 years, teams at IDAM ment is a dynamic process that is
also develops and produces customised have been producing direct drives and checked daily and continuously
drive solutions. complex drive systems for the following improved. IDAM is certified to
In modern machines and equipment, sectors: machine tools and production DIN EN ISO 9001:2008.
direct drives are increasingly replacing machinery, automation, productronics/
standard drive solutions because of semicon, metrology and medical engi-
ever-stricter requirements for dynamics, neering.
precision and cost-effectiveness.
The layout of the magnetic circuit and the magnetic simulation form the basis of
the design work. Specially developed tools are also used to develop and design
the motors and systems, including tools for mechanical and thermal simulation.
IDAM customers can access the results of these simulations to improve their adja-
cent constructions.
jerk acceleration velocity position
Motion profile with higher-order FEM model CAD model

polynomial
2
Contents
Technical Basics
Benefits of Rotary Direct Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Characteristics of Rotary Direct Drive Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General Motor Values – Efficiency Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Winding Designs and Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Torque-Speed Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Torque-Current Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Thermal Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Electrical Connection Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Dielectric Strength . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Cooling and Cooling Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Dependency on the Nominal Data of the Flow Temperature and the Cooling Medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Operating Several Motors in Parallel on One Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Selection of Direct Drives for Rotary Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Product Range
RI Torque Motors: Features, Benefits, Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
RE Torque Motors: Features, Benefits, Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Type Designation: RI and RE Series, Primary Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Type Designation: RI and RE Series, Secondary Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Technical Data: RI Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Technical Data: RE Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
RKI Torque Motors: Features, Benefits, Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
RMK/RMF Torque Motors: Features, Benefits, Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
HSRV/SRV Torque Motors: Features, Benefits, Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Segment Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Motors in Special Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
General Information
Checklist for Your Enquiry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Technical Information and Advice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
IDAM Worldwide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Overview of Publications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
At a Glance: Torque Ranges of the RI/RE Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
3
Benefits of Rotary Direct Drives
Performance Operating costs Design
1. No transformation of the movement 1. No additional moving parts 1. Hollow shaft

pattern This reduces the effort of installing, The hollow shaft with a large diameter
There is no elasticity, no play, little fric- adjusting and maintaining the drive makes integration or lead-through of
tion and no hysteresis in the drive train assembly. other assemblies possible (shafts, rotary
resulting from transmission or coupling distributors, supply lines etc.). Bearing
elements. 2. Minimal wear in the drive train level, generation of force and effective
The drive train has a very long service working area may be very close to one
2. Multi-pole motor life, even if subjected to extreme alter- another.
Very high torques are produced owing to nating loads. This reduces machine
the multi-pole design. These can be downtime. 2. Installation of primary part
used from a speed > 0 up to the nominal The ring for the primary part can be easi-
speed. 3. High availability ly integrated in the machine design
In addition to the longer service life and owing to the small space requirement
3. Thin, ring-shaped rotor reduced wear, the sturdiness of the (thin ring).
The motor has low inertia owning to the torque motors increases their availabili-
thin, ring-shaped design with a large, ty. 3. Small height
free internal diameter. This is the basis A very compact and axially small design
for fast acceleration. with a high torque is produced in combi-
nation with the large, free internal diam-
4. External rotor construction eter (hollow shaft).
With the external rotor, the torque is
increased in comparison to the internal 4. Few parts
rotor for the same motor size. The well-engineered design makes it
easier to integrate the motor parts into
5. Direct position measurement the machine concept.
Direct position measurement and the There are only a few, very sturdy parts,
rigid mechanical structure enable highly which reduces the fail rate (high MTBF*).
precise, dynamic positioning operations.
* MTBF: Mean time between failures
Active elements
Storage / Measuring system
Stator (primary part)
Rotor (secondary part)
Maximum internal diameter for all types of lead-throughs
4
Characteristics of Rotary Direct Drive Motors
Rotary direct drive motors comprise a A suitable guide system for the preser- The design of the rotary direct drive
primary and a secondary part. The pri- vation of the air gap between the prima- motors differs depending on whether
mary part contains an active coil system ry and secondary part is just as neces- the construction is slotted, slotless or
and the secondary part a permanent sary as an angle measuring system for ironless.
magnetic system. recording the rotor position in order to The motors generate a consistently high
In a concentric arrangement, the rotor operate the motor. The selection for the torque via a broad speed range. The
can either be the inner or the outer ring system components is based on many torque is determined by an active air
(internal rotor motor or external rotor years of IDAM application experience. gap area between the primary and sec-
motor). ondary part. These assemblies must be
If the primary part (coil system) is sup- Depending on the type of motor, there chosen by the design engineer accord-
plied with power, a torque for the are differences in the design of the pri- ing to the performance requirements. As
respective secondary part will develop mary and secondary part depending on opposed to conventional motors, direct
as a result of the electromagnetic force. the physical and constructional arrays. drive motors are classified according to
the required torque and not according to
the performance.
Motor types Features Construction
Slotted motors Type: Internal rotor
RI/RE series Internal rotor/ external rotor | high torque up to ∅ 1030 mm |

Tp up to 15000 Nm, on request up to 100000 Nm | low cogging
RKI series High-performance internal rotor | up to 30% more torque | Type: External rotor
up to 4-times higher speeds in comparison to standard
motors | customised
HSRV/SRV types Internal rotor | high speed, up to 50 m/s peripheral speed |

for spindle applications | customised | low cogging
Slotless motors Type: RMK
RMK/RMF types Customised or integrated motors | cogging-free on any diam-

eters up to 2500 mm | for peripheral speeds up to 15 m/s
Type: RMF
Ironless motors Type: UPR
UPR types Highly developed and low cost | for pc board connection |
customised | dynamic | precise | highly efficient
5
General Motor Values – Efficiency Criteria
With certain motor sizes, the torques and power loss generated or heating speed increases, there will also be fre-
and the resulting power losses (copper and applies exactly to the linear modula- quency-dependent losses caused by
losses) for various operating points in tion range when the motor is stationary changes in magnetisation and eddy cur-
part 1 of the technical parameters are (and at lower speeds) as well as at room rent losses (in addition to the copper
fixed, regardless of the winding design. temperature. losses Pl) which are not recorded in
Since torque motors can generate a high When the motor heats up, its efficiency motor constant km, but are relevant in
torque when stationary but do not deliv- becomes reduced due to the increase in the limiting speed range and must be
er any mechanical power, an efficiency the winding resistance (see figure). If the noted. The motor constant km only
specification is not practical here. relates to the linear range of the torque-
However, the motor constant km can be 2 Pl - Copper loss current characteristic.
used for comparing efficiency levels. It
Pl = ( kT )m T - Torque
conveys the ratio between the torque
The motor constant km depends on the

ohmic resistance and thus on the wind- 110
Applied motor constant km [%]
ing temperature of a motor. In the motor

105
data sheets, km is given for 25 °C. The
diagram shows the motor constant relat- 100
ed to the data sheet value depending on 95

the temperature.
90
85
80
0 10 20 30 40 50 60 70 80 90 100 110 120
Temperature ϑ [°C]
Motor constant vs. temperature
6
Winding Designs and Dependencies
The attainable final limit speed of each smaller the voltage constants ku caused DC link voltage UDCL.
torque motor mainly depends on the by the winding, the higher the attainable With low DC link voltages, the limiting
winding design and the DC link voltage limiting speeds are. Since voltage and speed is reduced nearly proportionally.
UDCL. Voltage drops inside the motor torque constants correlate, the power The torque develops in various operating
increase the voltage requirement as the requirement increases the higher the points from the torque-current character-
speed gets faster. speed demands are when the torques istic. The torque-speed characteristics
With the limiting speeds indicated in the are equal. represent the correlation between the
data sheets, the voltage requirement for In part 2 of the technical parameters torque and speed in various operating
field-oriented control corresponds with (winding data), two standard windings points.
the DC link voltage of the servo convert- WL and WM per motor size were prede-
er. After that, the speed quickly drops. fined for varying limiting speeds and
The higher the DC link voltage and the requirements on dynamics with a fixed
7
Torque-Speed Characteristic
The speed limits nlp, nlw, nlc are only cal- At high speeds and torques, additional Controlled motor movements require
culated in relation to the winding-specif- frequency-dependent heat losses arise sufficient distance (0.8 times the rele-
ic parameters. If the motor is not operat- in the motor (caused by eddy currents vant maximum speed) for possible oper-
ed in field weakening, then the motor and change in magnetisation). ating points from the sloping range of
can be operated using the torques Tp, Taking these thermal losses into the T-n characteristic.
Tcw, Tc and the corresponding speed lim- account, a further speed limit is pro- The peak torque Tp must only be used in
its nlp, nlw, nlc. In the end, the motor duced in the ncr range during continuous short time operation. The maximum per-
speed drops to zero depending on the operation. missible heat power loss Plw for water
voltage. cooling and Plc in uncooled operation
must not be exceeded.
Torque T
Tp
Tcw
Tc
nlp nlw nlc
Speed n
Torque vs. speed
The winding-specific speed limits are

somewhat proportional to UDCL. The con-
tinuous operation of these motors is lim-
ited to the limiting speed for continuous
operation ncr since additional frequency-
dependent losses occur (see glossary).
A reduction in the duty cycle or the cur-
rent is required depending on these
additional losses.
8
Torque-Current Characteristic
The linear range of the characteristic The non-linearity of the T-I characteristic The motor can briefly (in seconds) be
curve from the origin (0.0) up to the for large currents is formed as a conse- operated up to operating point (Tp, Ip).
point (Tpl, Ipl) is characterised by the quence of saturation in the magnetic cir- This operating point must be used as a
torque constant kT. The operating points cuits of a motor. The naturally curved maximum for acceleration phases.
of the motor are found here for uncooled range of the characteristic curve is The limit point (Tu, Iu) may never – not
operation (Tc, Ic) and cooled operation described in the data sheet and in the even for a short period of time – be
(Tcw, Icw). diagram by the torque-current points exceeded due to risk of demagnetisation
(Tp, Ip) and (Tu, Iu). of the permanent magnets.
It has a changeable and substantially
lower rise than kT.
Torque T
Tu
Tp
Tpl
Tcw
Tc
Ic Icw Ipl Ip Iu
Motor current I
Torque vs. motor current
All parameters are explained in the glossary.
9
Thermal Motor Protection
Monitoring circuits I and II
Direct drives are often operated to their thermal performance limit. In addition to
this, unpredictable overloads could arise in the process. This involves an additional
current load above the permissible continuous motor current. This is why the power
electronics for motors should generally have overload protection for monitoring the
motor current. At the same time, the effective value (root-mean-square I2t) of the
motor current may only exceed the permissible continuous motor current for a short
period of time. This type of indirect temperature monitoring is both very fast and
reliable.
IDAM motors also have as standard further thermal motor protection by means of
PTC and KTY sensors.
Monitoring circuit I
There are three PTC sensors wired in A PTC is a resistor. Its thermal time con- Up to a few degrees deviation, the
series on the three phase windings to stant when integrated lies under 5 s. In excess temperature of each winding is
protect the motor. Furthermore, a contrast to the KTY, its resistance thus recorded.
KTY84-130 is included on one phase in increases very steeply when the nomi- The tripping unit also reacts to a too low
the motor. nal response temperature Tn is exceed- resistance in the PTC circuit, which nor-
ed and will increase to several times its mally indicates a defect in the monitor-
cold value. ing circuit. Moreover, it provides for reli-
Resistance R [Ω]
When the three PTC elements are series able galvanic isolation of the control
4000 connected, this behaviour generates a system from the PTC sensors in the
clear change in the overall resistance motor. The motor protection tripping
1330
even if only one of the elements unit is not included in the scope of
550
250 exceeds the response temperature Tn. delivery.
The use of the three PTC sensors guar- PTC sensors are not suitable for temper-
antees reliable shutdown even when ature measurements. If required, the
the motor is at standstill with an asym- KTY must be used.
Tn -20 Tn +15 metric phase load. Typically, a down- At the customer's request, further moni-
Tn -5 Tn +5
stream standard motor protection trip- toring sensors can be integrated.
Tn ping unit triggers between 1.5 to
Temperature ϑ [K] 3.5 kOhm.
PTC temperature characteristic
The PTC sensors must always be evaluated for temperature protection.
10
W


PTC
U

+ KTY+
 KTY-
PTC
Standard wiring of PTC and KTY
Monitoring circuit II
The KTY84-130 is a semiconductor resis- To protect the motor from excess tem- When the motor is at standstill, con-
tor with a positive temperature coeffi- peratures, you must define a switch-off stant currents flow through the wind-
cient. The measurement is performed limit in the control system. The sensor ings whose size depends on the respec-
with delay depending on the type of can only measure in one phase. tive pole position. This is why the motor
motor. is not heated up homogeneously, which
may lead to the overheating of non-
1500 monitored windings.
Resistance R [Ω]
The PTC and KTY sensors have a basic

1250
insulation for the motor. They are not
1000 suitable for the direct connection to
PELV/SELV circuits acc. to DIN EN 50178.
750
500
Imax = 2 mA
250
0
-40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140
Temperature ϑ [°C]
KTY temperature characteristic
11
Electrical Connection Technology
The standard cable connections for the The motor cables are available from Characteristics of the lines
IDAM motors are designed axially. Their 4G0.75 mm². The sensor cable allows
relative position to the cooling connec- you to monitor the temperature using • Shielded
tions is defined in the drawings. PTC and KTY. The design of the wire ends • Oil-resistant and coolant-resistant
The cable length from the motor outlet is is open with wire end ferrules. (PUR outer sheath)
1.0 m or according to the customer's In the technical data (page 28ff), the • Flame-retardant
request. The cross-section of the power cable outlets are shown axially, radially • UL/CSA certified
connection cable depends on the con- and tangentially. This must be defined • Suitable for cable carriers
tinuous motor current and is document- specifically when ordering. As from
ed in the catalogue drawing. By default, motor currents above 70 A, the cable
dimensioning is carried out to continu- outlets are adjusted to match the appli-
ous current Icw at Plw (cooled). cation.
Continuous current Line Diameter Bending radius Bending radius Weight

(cooled) cross-section (± 10%) moved dynamically laid statically
Icw in A A in mm² d in mm rd in mm rs in mm m in g/m

Sensor 4x0.14 5.1 40
M 10 4G0.75 7.6 110
M 16 4G1.5 9.0 150
M 22 4G2.5 11.0 230
min. 10x d min. 5x d
M 30 4G4 12.5 310
M 37 4G6 14.5 440
M 52 4G10 18.0 700
M 70 4G16 21.5 1050
Pin assignments Positive rotating direction of motor
Motor The electrically positive rotating direction

1/U Phase U matches a clockwise rotating field for all
2/V Phase V three-phase motors, i.e. the phase voltag-
3/W Phase W es are induced in the order U, V, W. Internal rotor
GNYE PE IDAM motors have this positive rotating Rotating direction for cable outlet, top
direction in the rotor movement

Sensor • Clockwise when looking at the side
WH PTC facing away from the cable outlet
BN PTC • Anticlockwise when looking
GN + KTY at the side of the cable outlet.
External rotor
YE - KTY Rotating direction for cable outlet, bottom
12
Commutation
Synchronous motors are preferably run

commutated. IDAM torque motors have
no Hall sensors by default. IDAM recom-
mends the measuring system related
commutation, because it is supported
by modern servo converters and control
systems.
Dielectric Strength
Dielectric strength for DC link voltages Overvoltages on the motor terminals in converter operation
up to 600 VDC
IDAM motors are tested by sophisticated Due to extremely fast switching power measurement of the voltage present on
high-voltage test methods prior to deliv- semiconductors, which produce high the motor (PWM) is always required in
ery and potted under vacuum. dU/dt loads, considerably higher voltage the specific configuration above the
IDAM motors comply therefore with levels may appear on the motor termi- winding and to PE. The voltage peaks
EU Directive 2006/95/EC and standards nals than the actual converter voltage, present should not be much more than
EN 60034, EN 60204. particularly in conjunction with longer 1 kV. From approximately 2 kV, gradual
It is vital that you observe the type relat- connecting cables (from approx. 5 m) damage of the insulation can be expect-
ed voltages used for running the motors. between the motor and converter. This ed.
Higher DC link voltages are possible subjects the motor insulation to very To reduce the overvoltage peaks and
upon request. high loads. The dU/dt values of the PWM dU/dt loads, IDAM recommends using
modules should not be higher than motor filters.
8 kV/μs. Keep the connecting cables for IDAM engineers will support you in
the motors short if possible. determining when voltages are too high
To protect the motors, an oscillographic and in the selection of motor filters.
Observe the recommendations and project advice of the control system manufacturer.
13
Cooling and Cooling Circuit
Power loss and heat loss

In addition to the power loss which is described by the motor constant km, frequen-
cy-dependent losses in the motor are also produced - particularly with higher con-
trol frequencies (in a range between 150 – 200 Hz). These losses together contribute
to the heating up of the motor assemblies and system assemblies.
With low control frequencies in the motors, the following applies: Motors with a
higher km produce less power loss in comparison to motors with a lesser km.
IDAM offers extensive thermal simulations for an unrestricted view of the motor
assemblies, bearing assemblies and system assemblies in a thermal sense.
The power loss produced during motor In high-performance production The cooling system for the motors is
operation is transmitted to the machine machines or highly dynamic devices with designed as jacket cooling, which must
through the motor assemblies. This heat the associated higher bearing load, it is be connected up to the cooling circuit for
distribution through convection, conduc- preferable that operations are run using a a cooling unit by the user. The cooling
tion and radiation can be specifically cooling system. jacket is supplied as a component of the
influenced and controlled by means of a If a complete thermal decoupling of the motor as an option, or is already an inte-
constructive design for the overall system. motor and machine is required (e.g. for gral component of the machine construc-
The continuous torques for the motors preventing thermal distortion in the tion of the customer.
are approx. 50% higher with liquid cool- machine construction in precision The cooling medium gets into the cooling
ing than in uncooled operation. The machines), then precision cooling is ribs via openings over various levels from
motors must be designed and incorpo- required in addition. The actual cooling the inlet to the outlet. The inlet and outlet
rated in the machine construction system is then described as the main can be assigned to both connections as
according to the installation space avail- cooling system or performance cooling. desired. The flow range is sealed from the
able, precision requirements and cool- outside via O-rings.
ing requirements.
Air gap Description Order When using water as a coolant, use addi-
diameter of O-ring number tives which prevent corrosion and biologi-
cal deposits from building up in the cool-
89 150x2 NBR 90 212043
ing circuit.
168 225x2 NBR 70 01684
250 295x3 NBR 90 212099
298 375x3 NBR 90 212100
Cooling grooves 384 470x4 NBR 90 212101
460 530x4 NBR 90 212102
O-ring grooves
690 785x5 NBR 70 105935
Cooling connections 920 1005x6 NBR 70 212103
Cooling O-ring types for cooled RI motors
14
Dependency on the Nominal Data of the Flow Temperature
and the Cooling Medium
The continuous current Icw given in the

data sheet for cooled operation relates 120
Ratio Ic red / Icw [%]

to the nominal flow temperature ϑnV of
the cooling water. 100
Higher flow temperatures ϑV lead to a
reduction in the cooling performance 80
and thus the continuous current, too.

60
The reduced continuous current Ic red
can be calculated using the following
40
quadratic correlations:
20
Ic red ϑmax - ϑV
√
0
= 10 20 30 40 50 60 70
Icw ϑmax - ϑnV
Flow temperature ϑV [°C]
Ic red Reduced continuous current [A] Relative continuous current Ic red / Icw vs. flow temperature ϑV (ϑnV = 25 °C)
Icw Continuous current, cooled
ϑnV [A] The use of customer-specific cooling media results in changes to the liquid-cooled
ϑV Current flow temperature [°C] continuous torque. The affect caused by the cooling medium used can be determined
ϑnV Nominal flow temperature [°C] when the substance properties are identified by the IDAM engineer.
ϑmax Maximum permissible winding
temperature [°C]
(applies to constant motor current)
15
Operating Several Motors in Parallel on One Axis
In some applications, it makes practical

sense to drive one axis with two or more
synchronous motors at the same time.
Such applications could be, for example,
swing bridges in 5-axis machining cen-
tres, fork milling heads or tool spindles
for gear hobbing applications.
Structurally identical motors can be
operated and be connected in parallel
using the same converter.
Turning and milling on 5-axis machining centre GS 1400/5-FDT – Productivity through

hybrid machining in one setting (source: ALZMETALL)
Arrangement of the motors
Zero axis
Rotor mark
Zero axis and rotor mark in alignment
A distinction is made between the true The zero axis for aligning the stators is
parallel tandem arrangement and the located normally in a central position
antiparallel (mirror-image) Janus between the bores of the cable clamp.
arrangement of the stators. Exceptions are the RI11-3P-89xH and
Please observe that the rotors must be RI11-3P-920xH series, special windings
arranged on a common axis such that and special housings. In any case, you
the rotor mark, and thus the poles of the should notify us if using applications in
magnet, are equally in alignment. parallel mode.
16
Tandem arrangement
U
V
W
U1 V1 W1 U2 V2 W2
M M
The cable outlets point in the same lon- The zero axes of the stators are also aligned with the cable outlets. When the cable
gitudinal direction. outlets are aligned, you simply bring the bolt patterns into line and combine the
phase connections equally.
Janus arrangement
U
V
W
U1 V1 W1 U2 V2 W2
M M
The cable outlets point in the opposite The zero axes also have to match up in the mirror-image arrangement. Offsetting the
longitudinal direction. bolt patterns may be necessary depending on the position of the zero axis.
Mirror-arranged motors must operate in the opposite direction of rotation. To do so,
you interchange the phases V and W, only phase U is now mutually shared.
17
Operating Several Motors in Parallel on One Axis
Shifting of cable outlet
In all arrangements, the stators and thus The grid is equal to one pole pair and
the cable outlets may be twisted against must be multiplied by any integer factor,
each other in a certain grid. A shorter allowing the twisting angle to be calcu-
overall axis may be constructed by twist- lated as follows:
ing the stators, particularly in the Janus
arrangement with inner cable outlets.
In some series, a favourable twisting

360° angle is also possible in the bolt pat- 360°
Twisting angle = °n Twisting angle = ° 11 = 180°
Number of tern, e.g. RI11-3P-250xH: 22
pole pairs
Setting for the phase coincidence
A check must always be made as to To adjust the phases, the respective of the interconnected motors can be
whether the parallel motors are aligned reverse voltage in the motors is meas- ensured. An electrical phase displace-
in phase to one another. If the phases ured with a dual-channel oscilloscope ment between the motors can be can-
do not match up, the torque constant during simultaneous rotation of the con- celled by mechanical adjustment of one
and efficiency are reduced depending on nected rotors. The phase displacement rotor or stator respectively.
the speed owing to induced short-circuit of the two curves should not be greater
currents. than ±5°, so that good static functioning
The following applies:

Phase displacement
Mechanical angular displacement =
Number of pole pairs
With professional installation, play in

the bolt-pattern screwing connection
(acc. to mean tolerance class EN20273)
normally suffices for a fine adjustment.
If more than two motors are connected
in parallel, you should define one of
them as the master, which is used as
the reference point for the alignment of Ch1 20V/div
all the other motors. Ch2 20V/div
22.5° phase displacement between the reverse voltages
18
Evaluation of temperature sensor systems
Thermal overload in a motor could be To prevent premature tripping of the The temperature can be observed individ-
caused in the event of faulty or inaccurate motor protection, we recommend several ually using the KTY or via a KTY evaluation
alignment of the motors to one another. or multi-channel motor protection trip- unit for several motors as well. Unused
The integrated PTC sensors must be used ping units in the event of three or more connections must be securely isolated.
for protecting the motors. PTC monitoring circuits.
To do this, the PTC sensors for each
motor in the arrangement are connected
in series and evaluated via a motor pro-
tection tripping unit.
n.c.
PTC
PTC
 
M M
+ +
KTY
KTY
PTC
PTC
   
PTC
PTC
 
Connection of temperature sensors for several motors
Resulting motor data
When the structurally identical single • The number of pole pairs, torque constants, voltage constants, time constants as
motors are connected in parallel this well as speeds remain unchanged.
produces for the converter new electrical • Currents, torques and the damping constant multiply according to the number of
data for the replacement motor now single motors.
available. They can be easily determined • Resistance and inductance are divided through the number of single motors.
from the data for the single motors:
19
Selection of Direct Drives for Rotary Applications
Cyclic applications
Cyclic operation consists of consecutive Simple positioning takes place as a pos- The maximum angular speed ωmax is
positioning movements with movement itively accelerated movement and subse- reached at the end of an acceleration
pauses in between. quent braking (negative acceleration is phase.
mostly of the same amount - in that
case, acceleration time = braking time
applies).
A cycle is described in the ω(t) diagram

(ω: angular speed, t: time). The figure
Angular speed
ωmax shows a forwards-backwards rotation

with pauses
(tM: movement time, tP: pause time).
tP tM/2 tM tM/2 tP
tM/2 tM tM/2
-ωmax
Time t
ω-t diagram for cyclic operation
This produces the following α(t) diagram (α: angular acceleration) and the course of
the torque required for the movement: T = J x α
(T: torque in Nm, J: mass moment of inertia in kgm2, α: angular acceleration in rad/s²).
The motor is selected according to three

criteria in accordance with the torque
Torque T
Angular acceleration
α, T curve for a required cycle:

T1 T3 T5 • Maximum torque in cycle ≤ TP acc. to
data sheet
tM/2 tM/2 tP tM/2 tM/2 tP
• Effective torque in cycle ≤ Tc (motor not
cooled) or Tcw (water cooling) acc. to
data sheet
T2 T4 T6
-α, -T -ωmax • Maximum speed in cycle ≤ nlp acc. to
data sheet
Time t
α-t diagram for cyclic operation
20
The effective torque is equal to the root-
√
2 2 2
mean-square of the torque curve (six T1 ° t1 + T2 ° t2 + ... + T6 ° t6
Trms =
torque cycles) in the cycle. t1 + t2 + ... + t6
The safety factor 1.4 in the calculation example (pages 22 and 23) takes into consid-
eration, among other things, the motor operation in the non-linear range of the
torque-current characteristic where the calculation equation for Trms only approxi-
mately applies.
The torques T1 = T; T2 = -T; T3 = 0;
√
T4 = -T; T5 = T; T6 = 0 and times tM
Trms = T °
t1 = tM/2; t2 = tM/2; t3 = tP; t4 = tM/2; tM + tP
t5 =tM/2; t6 = tP are used to calculate the
effective torque.
√
tM
Trms = J ° α °
tM + tP
This equation then applies to the effective torque only if torques of the same amount
have an effect in the cycle (mass moment of inertia and angular accelerations are
constant). At the same time, “the sum of the movement times divided by the sum of
the movement times plus pause times” is put underneath the root.
Therefore the cycle time is in the denominator.
Angular acceleration, maximum angular ϕ Movement angle

speed and maximum speed of a posi- 4°ϕ (positioning angle) in rad
α = 2
tioning movement is calculated using: tM
tM Movement time in s
2°ϕ
ωmax = α Angular acceleration in rad/s²
tM
ωmax Maximum angular speed in rad/s

30 ° ω
nmax = max
π
nmax Maximum speed in rpm
The described positioning movement runs (theoretically) with an infinite jerk. If jerk
limitation is programmed in the servo converter, then the positioning times are
extended correspondingly. Constant positioning times in this case require greater
accelerations.
21
Selection of Direct Drives for Rotary Applications
Example: Cyclic applications
Specified values:
Movement angle ϕ in ° 180 Mass moment of inertia J in kgm2 2.5

Movement time tM in s 0.5 Friction torque TF in Nm 8
Cycle time tM + tP in s 1.35 Safety factor SF 1.4
Calculation:
π
ϕ = ° 180 rad = 3.142 rad
Conversion of movement angle in rad: 180
2°ϕ 2 . 3.142
ωmax = = rad/s = 12.57 rad/s
Maximum angular speed: tB 0.5
30 ° ω 30 .
nmax = max = 12.57 1/s = 120.0 rpm
Maximum speed: π π
4°ϕ 4 . 3.142
α = = rad/s2 = 50.27 rad/s2
Angular acceleration: 2
tM 0.52
Resulting in consideration of friction

Tmax = (J . α) + TF = (2.5 . 50.27) + 8 = 133.68 Nm
torque TF is a maximum torque:
√ ) + T = ( 2.5 ° 50.27 . √ 1.35

tM
Effective torque in accordance with fric-
tion torque TF:
(
Trms = J ° α °
tM + tP F
0.5
) + 8 = 84.48 Nm
In accordance with friction torque TF and the safety factor, you select the motor with the requirements
1.4 ° Tmax M Tp | 1.4 ° Trms M Tcw | 1.4 ° nmax M nlp
The motor RI17-3P-168x75-WM, with water cooling, has the calculated parameters.
22
NC rotary table applications
The speed n, the mass moment of iner- The machining times, which means the the optimal motor can be selected and to
tia J, the machining torque TM (in motion) action times of the torques, often prevent the maximum permissible wind-
and Ts (standstill) and the angular accel- change. Nevertheless, it is necessary to ing temperature from being exceeded.
erations α (S1 mode) and αmax (S6 mode) determine the effective torque as the All load torques produced in motor oper-
are mostly known for rotary table applica- continuous torque and the maximum ation are included in the torque calcula-
tions. torque as precisely as possible so that tion.
Example: Rotary table applications
Specified values:
Speed n in rpm 70 Angular acceleration (S1) αS1 in °/s2 9000

Mass moment of inertia J in kgm2 4 Max. angular acceleration (S6. 3 s)
Machining torque TM in Nm 300 αmax in °/s2 20000
Friction torque TF in Nm 50 Safety factor SF 1.4
Weight force (additional torque) TZ in Nm 0
Calculation:
π π
Conversion of the accelerations in αS1 = . α [°/s2] = . 9000 = 157 rad/s2
180 S1 180
rad/s2:
π π
αmax = .α 2 . 2
180 max [°/s ] = 180 20000 = 349 rad/s
The motor is selected with safety factor Tsw = (TM + TF + TZ) . 1.4 = 490 Nm (with water cooling)
(stable control) in accordance with stall
Tcw = (J . α + TM + TF + TZ) . 1.4 = 1369 Nm (with water cooling)
torque Ts and in accordance with the
torques in motion for S1 and S6 mode Tc Tp = (J . α + TM + TF + TZ) . 1.4 = 2444 Nm
and Tp:
If speed n is to be attained at the end of the accelerated movement with a defined speed-time function (exact ramp), then the
motor must be selected in accordance with the speed for torque Tp (with safety factor):
Calculation of the speed: nlp = 1.4 . n = 98 rpm
The motor RI13-3P-690x50-WM, with water cooling, meets these requirements.
23
RI Torque Motors
Features, benefits, applications
Features
RI torque motors are slotted, permanent The usable torque is linearly available
magnet excited AC synchronous motors over a very large range. The definition of
with an internal rotor. the torque characteristics using distinc-
The coils for the primary part are insert- tive operating points allows a conceptu-
ed in grooves of the laminated iron core. al design based on our dimensioning
The secondary part is an iron ring with examples.
permanent magnets fastened to it. This The low torque fluctuations allow the
motor series is optimised to maximum motors to be used for precision applica-
efficiency, which means: tions.
Maximum torque in the available instal-
lation space at nominal speed and lower
power loss.
RI (internal rotor) motors are offered in different categories:

• with 8 fixed diameters from 160 to 1030 mm outer diameter
• with stators at 6 different heights in 25 mm steps
• with 2 standard windings for low and medium speeds
Benefits Applications
• Speed manipulating range 0 - 100% of • Reduced heat dissipation in the • Automation technology
nominal speed machine bed • Printing and packaging machinery
• Compact design • Higher accelerating and stopping • Presses
• Highly dynamic and high rigidity capability owing to a more favourable • As the CNC axis in machine tools
• Higher speeds possible ratio between torque and moment of • NC indexing tables
• Higher torque compared to DC motors inertia • Other exact radial tracking systems
with the same dimensions • Practical zero maintenance
• Completely protected design always • No limitation of motor diameter
possible owing to external cooling • Good synchronisation characteristics
24
RE Torque Motors
Features
RE torque motors are slotted, permanent The system is cooled at the interior sta-
magnet excited AC synchronous motors tor housing. The magnetic circuits for the
with an external rotor. motors are designed and optimised
The permanent magnets are arranged in according to the latest findings.
an externally rotating drum (rotor). Cogging and load pulsation have been
RE motors can often be integrated more reduced practically to values that are no
favourably into corresponding rotary sys- longer relevant.
tems and have somewhat higher torques RE motors are mainly used in mechani-
than the RI motors with the same instal- cal engineering as direct turntable drives
lation spaces. The structure of the mag- or in swivel axes.
netic circuits is, however, the same in
principle.
RE (external rotor) motors are offered in different categories:

• with stators at 6 different heights in 25 mm steps
• with 2 standard windings for low and medium speeds
• Maximum power density in the small- • Practical zero maintenance • Grinding machines
est installation spaces owing to coor- • Adapted speeds and windings • Milling machines
dinated single components • Higher torques in comparison to the • Machining centres
• Compact design RI series for the same motor size • HSC machines
• Highly dynamic and high rigidity • Tool changers
• Highly efficient cooling • Milling heads
• Top values in synchronisation owing • Swivel axes
to its optimised design • Rotary tables
25
Type Designation
RI and RE series, primary part
XXXX - 3P - DxH - X - X - X - X - PRIM
Short designation of motor type

RI RI series, internal running motor (internal rotor)
RE RE series, external running motor (external rotor)
Model code
Number of motor phases

3P 3-phase
Dimensions
Effective diameter in the air gap x package size (mm)
Winding types
WL Low speed, low current requirement
WM Medium speed
Other winding designs on request.
Temperature monitoring
O Standard (3x PTC in series and 1x KTY84-130)
S Special design on request
Commutation type
O Without sensors, measuring-system commutated
Other designs on request.
Model variant
O Built-in set (motor is integrated in customer's system)
M Complete motor (parts are manufactured by IDAM)
K With cooling in the ring (additional ring is provided by IDAM)
Motor part
PRIM Primary part
The six-digit IDAM article number in the order confirmation is binding for the unequivocal designation of the motor.
26
Type Designation
RI and RE series, secondary part
XXXX - 3P - DxH - X - SEK
Short designation of motor type

RI RI series, internal running motor (internal rotor)
RE RE series, external running motor (external rotor)
Model code
Number of motor phases

3P 3-phase
Dimensions
Effective diameter in the air gap x package size (mm)
Model variant
O Built-in set (motor is integrated in customer's system)
M Complete motor (parts are manufactured by IDAM)
Motor part
SEK Secondary part
27
Technical Data: Series RI11-3P-89xH
Drawing
ca. 36
Motor cable Sensor cable 10
33
50
Ø160 f8 19
Ø60 H8
H1
Ø141
Ø150
Ø89
Ø70
45°
M5 x 10 (nx)* M5 x 10 (nx)* 2
H2
M5 x 10 (nx)* M5 x 10 (nx)*
Ø70
Ø150 A-A
*Note: The number (n) of fastening threads depends on the height.
Fastening threads RI11-3P- RI11-3P-
89x25 • 89x50 • 89x75 89x100 • 89x125 • 89x150
Fastening thread of rotor M5 x 10, 8 x (45°) M5 x 10, 16 x (22.5°)
Fastening thread of stator – cable side M5 x 10, 7 x (45°) M5 x 10, 13 x (22.5°)
Fastening thread of stator M5 x 10, 8 x (45°) M5 x 10, 16 x (22.5°)
Standard: Cable outlet – axial Option: Cable outlet – tangential Option: Cable outlet – radial
28
Winding-independent data
Technical data Symbol Unit RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P-
89x25 89x50 89x75 89x100 89x125 89x150
Number of pole pairs P 11 11 11 11 11 11
Maximum operating voltage U V 600 600 600 600 600 600
Ultimate torque (1 s) at Iu Tu Nm 32.4 64.9 97.3 130 162 195
Peak torque (saturation range) at Ip Tp Nm 23.5 46.9 70.4 94 117 141
Peak torque (linear range) at Ipl Tpl Nm 17.2 34.5 51.7 69 86 103
Continuous torque cooled at Icw Tcw Nm 12.6 29.2 46.7 64 82 100
Continuous torque not cooled at Ic Tc Nm 4.9 11.0 17.1 23 28 33
Stall torque cooled at Isw Tsw Nm 8.9 20.8 33.2 46 59 71
Stall torque not cooled at Is Ts Nm 3.4 7.8 12.2 16 20 24
Ripple torque (typical cogging) at I = 0 Tr Nm 0.07 0.14 0.21 0.3 0.4 0.4
Power loss at Tp (25 °C) Plp W 1130 1669 2207 2745 3283 3821
Power loss at Tpl (25 °C) Plpl W 442 652 862 1072 1283 1493
Power loss at Tcw Plw W 304 609 913 1218 1522 1826
Power loss at Tc (25 °C) Plc W 35 66 94 120 140 155
Thermical resistance with water cooling Rth K/W 0.329 0.164 0.110 0.082 0.066 0.055
Motor constant (25 °C) km Nm/√W 0.82 1.35 1.76 2.11 2.41 2.68
Cooling water flow rate of main cooling system dV/dt l/min 0.87 1.74 2.61 3.48 4.35 5.22
Temperature difference of cooling water ∆ϑ K 5.00 5.00 5.00 5.00 5.00 5.00
Mechanical data Symbol Unit RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P-
89x25 89x50 89x75 89x100 89x125 89x150
Height of rotor H1 mm 26.0 51.0 76.0 101.0 126.0 151.0
Height of stator H2 mm 70.0 90.0 110.0 140.0 165.0 190.0
Rotor mass m1 kg 0.5 1.1 1.6 2.2 2.7 3.2
Stator mass m2 kg 5.1 7.2 9.3 11.8 14.1 16.3
Moment of inertia of rotor J kgm2 0.00075 0.0015 0.00225 0.0030 0.00375 0.0045
Axial attraction Fa kN 0.1 0.1 0.1 0.1 0.1 0.1
Radial attraction/eccentricity Fr kN/mm 0.5 1.0 1.5 2.0 2.4 2.9

Subject to changes without advance notification, according to technical progress. • Tolerance range of values: ±5% • Tolerance range of value for “power loss”: ±10%
Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout.
29
Winding-dependent data
Winding data Symbol Unit RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P-
89x25- 89x25- 89x50- 89x50- 89x75- 89x75-
WLZ WMZ WLZ WMZ WLZ WMZ
Torque constant k T Nm/Arms 2.43 1.22 4.86 2.43 7.30 3.65
Back EMF constant, phase to phase ku V/(rad/s) 1.99 0.99 3.98 1.99 5.97 2.98
Limiting speed at Ip and UDCL nlp rpm 1207 2512 578 1233 367 807
Limiting speed at Icw and UDCL nlw rpm 2023 4149 911 1901 568 1208
Limiting speed at Ic and UDCL nlc rpm 2621 5303 1272 2595 831 1708
Limiting speed for continuous operation at Icw* ncr rpm 818 818 818 818 818 818
Electrical resistance, phase to phase (25 °C) R25 Ω 5.85 1.46 8.64 2.16 11.43 2.86
Inductance, phase to phase L mH 22.9 5.7 45.9 11.5 68.8 17.2
Ultimate current (1 s) Iu Arms 19.1 38.1 19.1 38.1 19.1 38.1
Peak current (saturation range) Ip Arms 11.3 22.7 11.3 22.7 11.3 22.7
Peak current (linear range) Ipl Arms 7.1 14.2 7.1 14.2 7.1 14.2
Continuous current at Plw (cooled) Icw Arms 5.2 10.3 6.0 12.0 6.4 12.8
Continuous current at Plc (not cooled) Ic Arms 2.0 4.0 2.3 4.5 2.3 4.7
Stall current at n = 0 (cooled) Isw Arms 3.7 7.3 4.3 8.5 4.5 9.1
Stall current at n = 0 (not cooled) Is Arms 1.4 2.8 1.6 3.2 1.7 3.3
Permissible winding temperature ϑ °C 130 130 130 130 130 130
Switch-off threshold of thermal sensor ϑ °C 100 100 100 100 100 100
DC link voltage (max. 600 VDC) UDCL V 600 600 600 600 600 600
*See glossary • Subject to changes without advance notification, according to technical progress.
Tolerance range of values: ±5% • Tolerance range of value for “electrical resistance”: ±10% • Tolerance range of value for “inductance”: ±15%
30
RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P- RI11-3P- Symbol
89x100- 89x100- 89x125- 89x125- 89x150- 89x150-
9.73 4.86 12.16 6.08 14.59 7.30 kT

7.96 3.98 9.95 4.97 11.94 5.97 ku
260 593 195 464 151 377 nlp

403 875 307 680 243 553 nlw
614 1270 486 1012 401 841 nlc
818 818 818 818 818 818 ncr
14.21 3.55 17.00 4.25 19.79 4.95 R25

91.7 22.9 114.6 28.7 137.6 34.4 L
19.1 38.1 19.1 38.1 19.1 38.1 Iu

11.3 22.7 11.3 22.7 11.3 22.7 Ip
7.1 14.2 7.1 14.2 7.1 14.2 Ipl
6.6 13.3 6.8 13.6 6.9 13.8 Icw
2.4 4.7 2.3 4.7 2.3 4.6 Ic
4.7 9.4 4.8 9.6 4.9 9.8 Isw
1.7 3.4 1.7 3.3 1.6 3.2 Is
130 130 130 130 130 130 ϑ

100 100 100 100 100 100 ϑ
600 600 600 600 600 600 UDCL
1.0 RI11-89x25
Pressure loss p [bar]
RI11-89x50
0.8
RI11-89x75
RI11-89x100
0.6
RI11-89x125
RI11-89x150
0.4
0.2
0 1.0 2.0 3.0 4.0 5.0 6.0

Volumetric flow rate [l/min]
Pressure losses: RI11-3P-89xH, water (20 °C)
31
Drawing
A
ca. 36
29.5
50
Ø140 H8
Ø230 f8
Ø211
Ø220
Ø168
Ø150
19
H1
30°
M5 x 10 (nx)* M5 x 10 (nx)* 2
H2
M5 x 10 (nx)* M5 x 10 (nx)*
Ø150
Ø220 A-A
168x25 • 168x50 • 168x75 168x100 • 168x125 • 168x150 • 168x175
Fastening thread of rotor M5 x 10, 12 x (30°) M5 x 10, 24 x (15°)
Fastening thread of stator – cable side M5 x 10, 11 x (30°) M5 x 10, 21 x (15°)
Fastening thread of stator M5 x 10, 12 x (30°) M5 x 10, 24 x (15°)
32
Technical data Symbol Unit RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P-
168x25 168x50 168x75 168x100 168x125 168x150 168x175
Number of pole pairs P 17 17 17 17 17 17 17
Maximum operating voltage U V 600 600 600 600 600 600 600
Ultimate torque (1 s) at Iu Tu Nm 110 220 327 436 539 647 755
Peak torque (saturation range) at Ip Tp Nm 93 186 276 369 456 547 639
Peak torque (linear range) at Ipl Tpl Nm 65 129 192 256 317 380 443
Continuous torque cooled at Icw Tcw Nm 36 85 135 187 238 290 343
Continuous torque not cooled at Ic Tc Nm 16 36 56 75 92 108 124
Stall torque cooled at Isw Tsw Nm 25 60 96 133 169 206 243
Stall torque not cooled at Is Ts Nm 11 25 39 53 65 77 88
Ripple torque (typical cogging) at I = 0 Tr Nm 0.3 0.6 0.8 1.1 1.4 1.6 1.9
Power loss at Tp (25 °C) Plp W 2909 4173 5438 6702 7967 9232 10496
Power loss at Tpl (25 °C) Plpl W 1136 1630 2124 2618 3112 3606 4100
Power loss at Tcw Plw W 455 911 1366 1822 2277 2733 3188
Power loss at Tc (25 °C) Plc W 66 124 178 227 264 293 323
Thermical resistance with water cooling Rth K/W 0.220 0.110 0.073 0.055 0.044 0.037 0.031
Motor constant (25 °C) km Nm/√W 1.92 3.20 4.17 5.00 5.68 6.33 6.92
Cooling water flow rate of main cooling system dV/dt l/min 1.30 2.60 3.90 5.21 6.51 7.81 9.11
Temperature difference of cooling water ∆ϑ K 5.00 5.00 5.00 5.00 5.00 5.00 5.00
Mechanical data Symbol Unit RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P-
168x25 168x50 168x75 168x100 168x125 168x150 168x175
Height of rotor H1 mm 26.0 51.0 76.0 101.0 126.0 151.0 176.0
Height of stator H2 mm 70.0 90.0 115.0 140.0 165.0 190.0 215.0
Rotor mass m1 kg 1.2 2.4 3.6 4.8 6.0 7.2 8.4
Stator mass m2 kg 7.2 10.1 13.3 16.5 19.8 23.0 26.2
Moment of inertia of rotor J kgm2 0.007 0.014 0.021 0.028 0.035 0.042 0.049
Axial attraction Fa kN 0.28 0.28 0.28 0.28 0.28 0.28 0.28
Radial attraction/eccentricity Fr kN/mm 1.0 2.0 3.0 3.9 4.9 5.9 6.8
33
168x25- 168x25- 168x50- 168x50- 168x75- 168x75-
WL WM WL WM WL WM
34
RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- RI17-3P- Symbol
168x100- 168x100- 168x125- 168x125- 168x150- 168x150- 168x175- 168x175-
WL WM WL WM WL WM WL WM
26.67 13.33 33.00 16.50 39.60 19.80 46.20 23.10 kT

21.81 10.91 26.99 13.50 32.39 16.19 37.79 18.89 ku
74 221 46 168 25 131 8 105 nlp

159 369 118 286 90 230 70 190 nlw
221 469 175 376 143 311 120 264 nlc
529 529 529 529 529 529 529 529 ncr
18.95 4.74 22.52 5.63 26.09 6.52 29.67 7.42 R25

99.4 24.8 124.2 31.1 149.1 37.3 173.9 43.5 L
19.5 38.9 19.5 38.9 19.5 38.9 19.5 38.9 Iu

15.4 30.7 15.4 30.7 15.4 30.7 15.4 30.7 Ip
9.6 19.2 9.6 19.2 9.6 19.2 9.6 19.2 Ipl
7.0 14.0 7.2 14.4 7.3 14.7 7.4 14.8 Icw
2.8 5.7 2.8 5.6 2.7 5.5 2.7 5.4 Ic
5.0 10.0 5.1 10.2 5.2 10.4 5.3 10.5 Isw
2.0 4.0 2.0 4.0 1.9 3.9 1.9 3.8 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
1.6 RI17-168x25
RI17-168x50
1.2 RI17-168x75
RI17-168x100
RI17-168x125
0.8
RI17-168x150
RI17-168x175
0.4
0 2.0 4.0 6.0 8.0 10.0

35
Drawing
Motor cable Sensor cable ca. 36

10
29.5
50
Ø220 H8
Ø310 f8
Ø291
Ø300
Ø232
Ø250 19
H1
15°
M5 x 10 (nx)* M5 x 10 (nx)* 2
M5 x 10 (nx)* H2
M5 x 10 (nx)*
Ø232
Ø300 A-A
250x25 • 250x50 • 250x75 250x100 • 250x125 • 250x150 • 250x175
36
250x25 250x50 250x75 250x100 250x125 250x150 250x175
250x25 250x50 250x75 250x100 250x125 250x150 250x175
Rotor mass m1 kg 1.9 3.8 5.7 7.6 9.6 11.5 13.4
Stator mass m2 kg 9.9 13.7 18.1 22.4 26.7 31.1 35.4
37
250x25- 250x25- 250x50- 250x50- 250x75- 250x75-
WL WM WL WM WL WM
38
250x100- 250x100- 250x125- 250x125- 250x150- 250x150- 250x175- 250x175-
33.42 26.85 41.35 33.23 49.62 39.87 57.89 46.52 kT

27.33 21.97 33.82 27.18 40.59 32.62 47.35 38.05 ku
83 116 59 86 42 65 30 50 nlp
140 182 106 140 83 111 66 91 nlw
181 230 144 183 118 151 100 128 nlc
409 409 409 409 409 409 409 409 ncr
8.83 5.69 10.46 6.74 12.09 7.80 13.73 8.85 R25

49.5 32.0 61.9 39.9 74.2 47.9 86.6 55.9 L
31.2 38.9 31.2 38.9 31.2 38.9 31.2 38.9 Iu

24.3 30.3 24.3 30.3 24.3 30.3 24.3 30.3 Ip
13.5 16.8 13.5 16.8 13.5 16.8 13.5 16.8 Ipl
12.1 15.0 12.4 15.5 12.6 15.7 12.8 16.0 Icw
5.0 6.3 5.0 6.2 4.9 6.1 4.8 6.0 Ic
8.6 10.7 8.8 11.0 9.0 11.2 9.1 11.3 Isw
3.6 4.5 3.6 4.4 3.5 4.3 3.4 4.3 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
3.0 RI11-250x25
RI11-250x50
2.5
RI11-250x75
2.0 RI11-250x100
RI11-250x125
1.5
RI11-250x150
1.0 RI11-250x175
0.5
0 2.0 4.0 6.0 8.0 10.0 12.0 14.0

39
Drawing
A
ca. 40
42
70
Ø265 H8
Ø385 f8
Ø361
Ø277
Ø370
Ø298
29
H1
15°
M6 x 12 (nx)* M6 x 12 (nx)*
2
H2
M6 x 12 (nx)* M6 x 12 (nx)*
Ø277
Ø370 A-A
298x25 • 298x50 • 298x75 298x100 • 298x125 • 298x150 • 298x175
40
298x25 298x50 298x75 298x100 298x125 298x150 298x175
298x25 298x50 298x75 298x100 298x125 298x150 298x175
Rotor mass m1 kg 2.6 5.1 7.7 10.2 12.8 15.3 17.9
Stator mass m2 kg 20.9 28.2 35.2 44.2 51.9 59.7 67.6
41
298x25- 298x25- 298x50- 298x50- 298x75- 298x75-
WL WM WL WM WL WM
Torque constant kT Nm/Arms 9.8 4.9 19.5 9.8 29.0 14.5
42
298x100- 298x100- 298x125- 298x125- 298x150- 298x150- 298x175- 298x175-
38.7 19.4 47.9 24.0 57.5 28.7 67.1 33.5 kT

31.7 15.8 39.2 19.6 47.0 23.5 54.9 27.4 ku
74 164 57 130 45 106 37 89 nlp

106 227 81 178 65 144 53 121 nlw
152 315 122 253 101 210 85 180 nlc
346 346 346 346 346 346 346 346 ncr
4.23 1.06 4.98 1.25 5.76 1.44 6.54 1.63 R25

50.2 12.6 62.8 15.7 75.3 18.8 87.9 22.0 L
48.8 97.5 48.8 97.5 48.8 97.5 48.8 97.5 Iu

31.2 62.4 31.2 62.4 31.2 62.4 31.2 62.4 Ip
19.5 39.0 19.5 39.0 19.5 39.0 19.5 39.0 Ipl
19.4 38.9 20.0 40.1 20.4 40.8 20.7 41.4 Icw
8.0 15.9 7.9 15.8 7.8 15.5 7.6 15.3 Ic
13.8 27.6 14.2 28.4 14.5 29.0 14.7 29.4 Isw
5.7 11.3 5.6 11.2 5.5 11.0 5.4 10.9 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
3.0 RI13-298x25
RI13-298x50
2.5
RI13-298x75
2.0 RI13-298x100
RI13-298x125
1.5
RI13-298x150
1.0 RI13-298x175
0.5
0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0

43
Drawing
A
10
48
70
Ø345 H8
Ø485 f8
Ø384
Ø360
Ø468
Ø453 21
H1
30°
M8 x 16 (nx)* M8 x 16 (nx)* 2.5

M8 x 16 (nx)*
H2
M8 x 16 (nx)*
Ø360
Ø468 A-A
384x25 • 384x50 • 384x75 384x100 • 384x125 • 384x150 • 384x175
44
384x25 384x50 384x75 384x100 384x125 384x150 384x175
384x25 384x50 384x75 384x100 384x125 384x150 384x175
Rotor mass m1 kg 4.0 8.0 12.0 16.0 20.0 24.0 28.0
Stator mass m2 kg 30.3 41.0 52.0 65.7 78.6 91.4 104.1
45
384x25- 384x25- 384x50- 384x50- 384x75- 384x75-
WL WM WL WM WL WM
46
384x100- 384x100- 384x125- 384x125- 384x150- 384x150- 384x175- 384x175-
71.5 42.8 88.9 53.2 106.7 63.8 123.9 74.1 kT

58.5 35.0 72.7 43.5 87.3 52.2 101.3 60.6 ku
26 56 17 43 11 33 6 26 nlp
55 102 41 78 32 63 25 52 nlw
82 142 64 113 52 92 44 78 nlc
273 273 273 273 273 273 273 273 ncr
7.62 2.71 9.04 3.22 10.46 3.72 11.89 4.23 R25

79.2 28.3 98.9 35.4 118.7 42.5 138.5 49.6 L
43.6 72.9 43.6 72.9 43.6 72.9 43.6 72.9 Iu

34.9 58.4 34.9 58.4 34.9 58.4 34.9 58.4 Ip
17.7 29.6 17.7 29.6 17.7 29.6 17.7 29.6 Ipl
16.2 27.2 16.6 27.9 16.9 28.4 17.2 28.8 Icw
6.2 10.5 6.4 10.8 6.5 10.9 6.6 11.1 Ic
11.5 19.3 11.8 19.8 12.0 20.2 12.2 20.4 Isw
4.4 7.4 4.6 7.6 4.6 7.8 4.7 7.9 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
3.0 RI13-384x25
RI13-384x50
2.5
RI13-384x75
2.0 RI13-384x100
RI13-384x125
1.5
RI13-384x150
1.0 RI13-384x175
0.5
0 5.0 10.0 15.0 20.0

47
Drawing
A
10
50
70
Ø420 H8
Ø565 f8
Ø531
Ø435
Ø548
Ø460 29
H1
30°
M8 x 16 (nx)* M8 x 16 (nx)* 5
M8 x 16 (nx)*
H2
M8 x 16 (nx)*
Ø435
Ø548 A-A
460x25 • 460x50 • 460x75 460x100 • 460x125 • 460x150 • 460x175
48
460x25 460x50 460x75 460x100 460x125 460x150 460x175
460x25 460x50 460x75 460x100 460x125 460x150 460x175
Rotor mass m1 kg 4.9 9.8 14.6 19.5 24.4 29.3 34.2
Stator mass m2 kg 37.6 50.4 63.4 79.1 93.5 107.8 122.1
49
460x25- 460x25- 460x50- 460x50- 460x75- 460x75-
WL WM WL WM WL WM
50
460x100- 460x100- 460x125- 460x125- 460x150- 460x150- 460x175- 460x175-
148.2 74.1 183.4 91.7 220.1 110.1 256.8 128.4 kT

121.2 60.6 150.0 75.0 180.0 90.0 210.0 105.0 ku
10 34 5 25 1 19 0 15 nlp
21 53 15 40 10 32 7 26 nlw
35 77 28 62 22 51 19 43 nlc
237 237 237 237 237 237 237 237 ncr
17.07 4.27 20.23 5.06 23.39 5.85 26.55 6.64 R25

225.3 56.3 281.6 70.4 337.9 84.5 394.2 98.6 L
31.5 63.0 31.5 63.0 31.5 63.0 31.5 63.0 Iu

20.2 40.3 20.2 40.3 20.2 40.3 20.2 40.3 Ip
12.6 25.2 12.6 25.2 12.6 25.2 12.6 25.2 Ipl
11.7 23.5 12.1 24.1 12.3 24.6 12.4 24.9 Icw
4.9 9.9 4.9 9.8 4.8 9.6 4.7 9.4 Ic
8.3 16.7 8.6 17.1 8.7 17.4 8.8 17.7 Isw
3.5 7.0 3.5 6.9 3.4 6.8 3.3 6.7 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
3.5 RI19-460x25
3.0 RI19-460x50
RI19-460x75
2.5
RI19-460x100
2.0 RI19-460x125
RI19-460x150
1.5
RI19-460x175
1.0
0.5
0 5.0 10.0 15.0 20.0

51
Drawing
A
Motor cable Sensor cable
ca. 40
10
50
70
Ø650 H8
Ø795 f8
Ø778
Ø761
Ø665
Ø690
39
.5°
22 H1
M8 x 16 (nx)* M8 x 16 (nx)* 5
M8 x 16 (nx)*
H2
M8 x 16 (nx)*
Ø665
Ø778 A-A
690x25 • 690x50 • 690x75 690x100 • 690x125 • 690x150 • 690x175
Fastening thread of rotor M8 x 16, 16 x (22.5°) M8 x 16, 32 x (11.25°)
Fastening thread of stator – cable side M8 x 16, 15 x (22.5°) M8 x 16, 31 x (11.25°)
Fastening thread of stator M8 x 16, 16 x (22.5°) M8 x 16, 32 x (11.25°)
52
690x25 690x50 690x75 690x100 690x125 690x150 690x175
690x25 690x50 690x75 690x100 690x125 690x150 690x175
Rotor mass m1 kg 7.6 15.2 22.8 30.4 38.0 45.6 53.2
Stator mass m2 kg 62.9 81.6 99.8 122.9 143.2 163.7 184.1
53
690x25- 690x25- 690x50- 690x50- 690x75- 690x75-
WL WM WL WM WL WM
54
690x100- 690x100- 690x125- 690x125- 690x150- 690x150- 690x175- 690x175-
142.2 98.8 175.9 122.3 211.1 146.7 246.3 171.2 kT

116.3 80.8 143.9 100.0 172.7 120.0 201.5 140.0 ku
14 24 10 18 7 14 5 11 nlp
26 40 19 30 15 24 12 20 nlw
39 58 31 46 25 38 21 32 nlc
138 138 138 138 138 138 138 138 ncr
4.87 2.36 5.77 2.80 6.68 3.24 7.58 3.67 R25

58.2 28.1 72.7 35.1 87.3 42.2 101.8 49.2 L
75.3 108.4 75.3 108.4 75.3 108.4 75.3 108.4 Iu

48.2 69.3 48.2 69.3 48.2 69.3 48.2 69.3 Ip
30.1 43.3 30.1 43.3 30.1 43.3 30.1 43.3 Ipl
26.3 37.8 27.0 38.8 27.5 39.5 27.9 40.1 Icw
11.3 16.2 11.2 16.1 11.0 15.7 10.8 15.5 Ic
18.7 26.8 19.2 27.5 19.5 28.1 19.8 28.4 Isw
8.0 11.5 7.9 11.4 7.8 11.2 7.7 11.0 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
5.0 RI13-690x25
RI13-690x50
4.0 RI13-690x75
RI13-690x100
3.0
RI13-690x125
RI13-690x150
2.0
RI13-690x175
1.0
0 5.0 10.0 15.0 20.0 25.0

55
Drawing
A
Motor cable Sensor cable
ca. 40
10
50
70
Ø1030 f8
Ø858 H8
Ø1010
Ø991
Ø882
Ø920
39
H1
15°
M10 x 20 (nx)* M10 x 20 (nx)* 5

H2
M10 x 20 (nx)* M10 x 20 (nx)*
Ø882
Ø1010 A-A
920x25 • 920x50 • 920x75 920x100 • 920x125 • 920x150 • 920x175
56
920x25 920x50 920x75 920x100 920x125 920x150 920x175
920x25 920x50 920x75 920x100 920x125 920x150 920x175
Rotor mass m1 kg 15.6 31.1 46.7 62.3 77.8 93.4 109.0
Stator mass m2 kg 89.7 115.7 141.1 172.6 201.0 229.5 257.9
57
920x25- 920x25- 920x50- 920x50- 920x75- 920x75-
58
920x100- 920x100- 920x125- 920x125- 920x150- 920x150- 920x175- 920x175-
WLZ WMZ WLZ WMZ WLZ WMZ WLZ WMZ
236.6 144.2 295.8 180.2 354.9 216.3 414.1 252.3 kT

193.5 117.9 241.9 147.4 290.3 176.9 338.7 206.4 ku
6 18 3 13 0 9 0 7 nlp
17 33 13 25 9 20 7 16 nlw
24 42 19 33 15 27 13 23 nlc
136 136 136 136 136 136 136 136 ncr
5.6 2.1 6.6 2.4 7.7 2.8 8.7 3.2 R25

50.2 18.7 62.8 23.3 75.3 28.0 87.9 32.6 L
79.8 130.9 79.8 130.9 79.8 130.9 79.8 130.9 Iu

63.8 104.7 63.8 104.7 63.8 104.7 63.8 104.7 Ip
31.9 52.4 31.9 52.4 31.9 52.4 31.9 52.4 Ipl
28.0 46.2 28.7 47.4 29.3 48.3 29.7 49.0 Icw
12.2 20.1 12.0 19.9 11.8 19.5 11.6 19.2 Ic
19.9 32.8 20.4 33.7 20.8 34.3 21.1 34.8 Isw
8.6 14.2 8.5 14.1 8.4 13.8 8.3 13.6 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
5.0 RI11-920x25
RI11-920x50
4.0 RI11-920x75
RI11-920x100
3.0
RI11-920x125
RI11-920x150
2.0
RI11-920x175
1.0
0 5.0 10.0 15.0 20.0 25.0

59
Technical Data: Series RE19-3P-205xH
Drawing
48 H1
A ca. 37.5
Sensor cable Motor cable DIN74 - Km5
M6 x 12 (nx)*
32
12 10
30
°
Ø15
Ø176 H7
0
Ø140 H7
Ø230
Ø150
Ø192
Ø205
M6 x 12 (nx)*
15
A H2
A-A
Fastening threads RE19-3P- RE19-3P-
205x25 • 205x50 • 205x75 205x100 • 205x125 • 205x150 • 205x175
Fastening thread of rotor Km5, 12 x (30°) Km5, 24 x (15°)
60
Technical data Symbol Unit RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P-
205x25 205x50 205x75 205x100 205x125 205x150 205x175
Mechanical data Symbol Unit RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P-
205x25 205x50 205x75 205x100 205x125 205x150 205x175
Rotor mass m1 kg 4.0 5.5 6.9 8.4 9.8 11.3 12.7
Stator mass m2 kg 6.2 9.3 12.3 15.4 18.5 21.6 24.7
61
Winding data Symbol Unit RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P-
205x25- 205x25- 205x50- 205x50- 205x75- 205x75-
WL WM WL WM WL WM
62
RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- RE19-3P- Symbol
205x100- 205x100- 205x125- 205x125- 205x150- 205x150- 205x175- 205x175-
30.65 15.32 38.31 19.15 45.97 22.98 53.63 26.81 kT

25.07 12.53 31.33 15.67 37.60 18.80 43.87 21.93 ku
69 203 43 153 24 120 9 96 nlp

155 349 116 271 90 219 72 182 nlw
191 407 150 323 122 267 103 227 nlc
155 349 116 271 90 219 72 182 ncr
17.00 4.25 20.33 5.08 23.66 5.92 26.99 6.75 R25

88.4 22.1 110.5 27.6 132.6 33.1 154.7 38.7 L
20.6 41.2 20.6 41.2 20.6 41.2 20.6 41.2 Iu

16.5 32.9 16.5 32.9 16.5 32.9 16.5 32.9 Ip
10.3 20.6 10.3 20.6 10.3 20.6 10.3 20.6 Ipl
6.5 13.0 6.6 13.2 6.7 13.4 6.8 13.6 Icw
3.3 6.6 3.2 6.5 3.2 6.3 3.1 6.2 Ic
4.6 9.2 4.7 9.4 4.8 9.5 4.8 9.7 Isw
2.3 4.7 2.3 4.6 2.3 4.5 2.2 4.4 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
63
Drawing
50 H1
A ca. 37.5
M6 x 12 (nx)*
34
15 10
30
°
Ø1
75
Ø220 H7
Ø165 H7
Ø250
Ø236
Ø175
Ø279
M6 x 12 (nx)*
18
H2
A A-A
250x25 • 250x50 • 250x75 250x100 • 250x125 • 250x150 • 250x175
Fastening thread of stator M6 x 12,12 x (30°) M6 x 12, 24 x (15°)
64
250x25 250x50 250x75 250x100 250x125 250x150 250x175
250x25 250x50 250x75 250x100 250x125 250x150 250x175
Rotor mass m1 kg 6.2 8.3 10.4 12.4 14.5 16.6 18.7
Stator mass m2 kg 9.3 14.1 18.9 23.7 28.5 33.4 38.2
65
250x25- 250x25- 250x50- 250x50- 250x75- 250x75-
WL WM WL WM WL WM
66
250x100- 250x100- 250x125- 250x125- 250x150- 250x150- 250x175- 250x175-
49.52 24.76 61.28 30.64 73.54 36.77 85.79 42.90 kT

40.50 20.25 50.13 25.06 60.15 30.08 70.18 35.09 ku
47 132 31 101 19 80 10 64 nlp

94 214 71 167 55 135 44 112 nlw
117 250 92 200 75 165 63 140 nlc
94 214 71 167 55 135 44 112 ncr
15.71 3.93 18.68 4.67 21.64 5.41 24.61 6.15 R25

114.1 28.5 142.6 35.7 171.1 42.8 199.7 49.9 L
26.2 52.3 26.2 52.3 26.2 52.3 26.2 52.3 Iu

16.7 33.5 16.7 33.5 16.7 33.5 16.7 33.5 Ip
10.5 20.9 10.5 20.9 10.5 20.9 10.5 20.9 Ipl
7.2 14.5 7.4 14.8 7.6 15.1 7.7 15.3 Icw
3.8 7.6 3.7 7.5 3.7 7.3 3.6 7.2 Ic
5.1 10.3 5.3 10.5 5.4 10.7 5.4 10.9 Isw
2.7 5.4 2.7 5.3 2.6 5.2 2.6 5.1 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
67
Drawing
56 H1
ca. 39.5
A
M6 x 12 (nx)*
40
10
15° 12
Ø
22
8
Ø271 H7
Ø216 H7
Ø286
Ø300
Ø228
Ø329
M6 x 12 (nx)*
15
A H2
A-A
300x25 • 300x50 • 300x75 300x100 • 300x125 • 300x150 • 300x175
Fastening thread of rotor Km5, 24 x (15°) Km5, 48 x (7.5°)
68
300x25 300x50 300x75 300x100 300x125 300x150 300x175
300x25 300x50 300x75 300x100 300x125 300x150 300x175
Rotor mass m1 kg 6.7 9.2 11.6 14.1 16.5 19.0 21.4
Stator mass m2 kg 11.6 17.6 23.5 29.4 35.3 41.2 47.1
69
300x25- 300x25- 300x50- 300x50- 300x75- 300x75-
WL WM WL WM WL WM
70
300x100- 300x100- 300x125- 300x125- 300x150- 300x150- 300x175- 300x175-
54.42 27.21 67.34 33.67 80.81 40.41 93.32 46.66 kT

44.52 22.26 55.08 27.54 66.10 33.05 76.33 38.17 ku
41 111 28 85 19 68 12 55 nlp
82 184 62 143 48 116 39 97 nlw
105 224 83 179 68 148 58 127 nlc
82 184 62 143 48 116 39 97 ncr
11.98 2.99 14.20 3.55 16.41 4.10 18.63 4.66 R25

99.6 24.9 124.5 31.1 149.4 37.4 174.3 43.6 L
28.8 57.5 28.8 57.5 28.8 57.5 28.8 57.5 Iu

20.9 41.8 20.9 41.8 20.9 41.8 20.9 41.8 Ip
11.5 23.0 11.5 23.0 11.5 23.0 11.5 23.0 Ipl
9.4 18.8 9.7 19.3 9.9 19.7 10.0 20.0 Icw
4.7 9.5 4.7 9.4 4.6 9.2 4.5 9.1 Ic
6.7 13.4 6.9 13.7 7.0 14.0 7.1 14.2 Isw
3.4 6.7 3.3 6.7 3.3 6.5 3.2 6.5 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
71
Drawing
56 H1
A ca. 39.5
M6 x 12 (nx)*
38.5
10
15° 15
Ø2
80
Ø268 H7
Ø320 H7
Ø280
Ø360
Ø389
Ø340
M6 x 12 (nx)*
18
A H2
A-A
360x25 • 360x50 • 360x75 360x100 • 360x125 • 360x150 • 360x175
72
360x25 360x50 360x75 360x100 360x125 360x150 360x175
360x25 360x50 360x75 360x100 360x125 360x150 360x175
Rotor mass m1 kg 9.5 12.4 15.4 18.4 21.3 24.3 27.2
Stator mass m2 kg 15.3 23.3 31.2 39.1 47.1 55.0 62.9
73
360x25- 360x25- 360x50- 360x50- 360x75- 360x75-
WL WM WL WM WL WM
74
360x100- 360x100- 360x125- 360x125- 360x150- 360x150- 360x175- 360x175-
48.41 32.27 59.89 39.93 71.87 47.91 83.85 55.90 kT

39.60 26.40 48.99 32.66 58.79 39.19 68.59 45.72 ku
51 86 37 66 28 53 21 43 nlp
100 158 77 123 62 100 51 83 nlw
124 191 99 153 81 127 69 108 nlc
100 158 77 123 62 100 51 83 ncr
4.45 1.98 5.29 2.35 6.13 2.72 6.96 3.10 R25

38.0 16.9 47.5 21.1 57.0 25.3 66.5 29.6 L
54.0 80.9 54.0 80.9 54.0 80.9 54.0 80.9 Iu

43.2 64.8 43.2 64.8 43.2 64.8 43.2 64.8 Ip
21.6 32.4 21.6 32.4 21.6 32.4 21.6 32.4 Ipl
17.1 25.6 17.5 26.2 17.8 26.7 18.0 27.0 Icw
8.5 12.8 8.4 12.7 8.3 12.4 8.1 12.2 Ic
12.1 18.2 12.4 18.6 12.6 19.0 12.8 19.2 Isw
6.1 9.1 6.0 9.0 5.9 8.8 5.8 8.7 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
75
Drawing
60 H1
A ca. 39.5
M8 x 16 (nx)*
38.5
10
30 15
Ø3 °
24
Ø365 H7
Ø310 H7
Ø439
Ø324
Ø386
Ø410
M8 x 16 (nx)*
18
A H2
A-A
410x25 • 410x50 • 410x75 410x100 • 410x125 • 410x150 • 410x175
76
410x25 410x50 410x75 410x100 410x125 410x150 410x175
410x25 410x50 410x75 410x100 410x125 410x150 410x175
Rotor mass m1 kg 11.0 14.3 17.6 20.8 24.1 27.3 30.6
Stator mass m2 kg 19.3 29.3 39.3 49.2 59.1 69.1 79.0
77
410x25- 410x25- 410x50- 410x50- 410x75- 410x75-
WL WM WL WM WL WM
78
410x100- 410x100- 410x125- 410x125- 410x150- 410x150- 410x175- 410x175-
67.12 44.75 83.04 55.36 99.65 66.43 116.25 77.50 kT

54.90 36.60 67.92 45.28 81.51 54.34 95.09 63.39 ku
44 74 33 57 25 46 19 37 nlp
69 110 53 86 42 69 34 57 nlw
88 136 70 109 57 90 48 76 nlc
69 110 53 86 42 69 34 57 ncr
5.41 2.41 6.44 2.86 7.46 3.31 8.48 3.77 R25

56.3 25.0 70.4 31.3 84.5 37.6 98.6 43.8 L
49.4 74.1 49.4 74.1 49.4 74.1 49.4 74.1 Iu

31.6 47.4 31.6 47.4 31.6 47.4 31.6 47.4 Ip
19.8 29.6 19.8 29.6 19.8 29.6 19.8 29.6 Ipl
16.6 24.9 17.1 25.6 17.4 26.0 17.6 26.4 Icw
8.3 12.4 8.2 12.2 8.0 12.0 7.9 11.8 Ic
11.8 17.7 12.1 18.2 12.3 18.5 12.5 18.7 Isw
5.9 8.8 5.8 8.7 5.7 8.5 5.6 8.4 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
79
Drawing
60 H1
A ca. 42
M8 x 16 (nx)*
10
46
15°
18
Ø4
40
Ø476 H7
Ø424 H7
Ø530
Ø560
Ø440
Ø500
M8 x 16 (nx)*
A 20
H2
A-A
530x25 • 530x50 • 530x75 530x100 • 530x125 • 530x150 • 530x175
80
530x25 530x50 530x75 530x100 530x125 530x150 530x175
530x25 530x50 530x75 530x100 530x125 530x150 530x175
Rotor mass m1 kg 16.8 21.2 25.5 29.9 34.3 38.7 43.1
Stator mass m2 kg 27.7 42.0 56.2 70.3 84.4 99.9 114.1
81
530x25- 530x25- 530x50- 530x50- 530x75- 530x75-
WL WM WL WM WL WM
82
530x100- 530x100- 530x125- 530x125- 530x150- 530x150- 530x175- 530x175-
97.97 48.99 122.46 61.23 145.49 72.74 169.73 84.87 kT

80.14 40.07 100.17 50.09 119.00 59.50 138.84 69.42 ku
22 60 15 46 9 37 5 30 nlp
46 104 35 81 27 66 22 55 nlw
60 126 47 100 39 84 32 71 nlc
46 104 35 81 27 66 22 55 ncr
6.04 1.51 7.16 1.79 8.28 2.07 9.40 2.35 R25

51.9 13.0 64.9 16.2 77.8 19.5 90.8 22.7 L
66.3 132.6 66.3 132.6 66.3 132.6 66.3 132.6 Iu

43.4 86.8 43.4 86.8 43.4 86.8 43.4 86.8 Ip
26.5 53.0 26.5 53.0 26.5 53.0 26.5 53.0 Ipl
18.3 36.6 18.8 37.6 19.2 38.3 19.4 38.9 Icw
8.9 17.8 8.8 17.6 8.6 17.2 8.5 17.0 Ic
13.0 26.0 13.4 26.7 13.6 27.2 13.8 27.6 Isw
6.3 12.6 6.2 12.5 6.1 12.2 6.0 12.1 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
83
Drawing
62 H1
ca. 42
A
M8 x 16 (nx)*
10
47.5
15°
18
Ø6
09
Ø645 H7
Ø590 H7
Ø700
Ø734
Ø670
Ø609
M8 x 16 (nx)* 21
A
H2
A-A
700x25 • 700x50 • 700x75 700x100 • 700x125 • 700x150 • 700x175
84
700x25 700x50 700x75 700x100 700x125 700x150 700x175
700x25 700x50 700x75 700x100 700x125 700x150 700x175
Rotor mass m1 kg 25.1 31.9 38.7 45.4 52.2 59.0 65.7
Stator mass m2 kg 43.8 63.9 83.5 103.3 122.9 142.5 162.1
85
700x25- 700x25- 700x50- 700x50- 700x75- 700x75-
WL WM WL WM WL WM
86
700x100- 700x100- 700x125- 700x125- 700x150- 700x150- 700x175- 700x175-
99.14 79.09 123.92 98.86 148.71 118.63 173.49 138.41 kT

81.09 64.69 101.37 80.87 121.64 97.04 141.91 113.21 ku
32 42 24 32 19 26 15 21 nlp
45 58 34 45 27 36 22 30 nlw
59 75 47 60 39 49 33 42 nlc
45 58 34 45 27 36 22 30 ncr
2.29 1.46 2.73 1.74 3.16 2.02 3.59 2.29 R25

24.3 15.5 30.4 19.3 36.4 23.2 42.5 27.0 L
89.6 112.4 89.6 112.4 89.6 112.4 89.6 112.4 Iu

57.4 71.9 57.4 71.9 57.4 71.9 57.4 71.9 Ip
35.9 45.0 35.9 45.0 35.9 45.0 35.9 45.0 Ipl
34.8 43.6 35.7 44.7 36.3 45.5 36.8 46.1 Icw
16.6 20.7 16.4 20.5 16.0 20.1 15.8 19.8 Ic
24.7 30.9 25.4 31.7 25.8 32.3 26.1 32.7 Isw
11.8 14.7 11.6 14.6 11.4 14.3 11.2 14.0 Is
130 130 130 130 130 130 130 130 ϑ

100 100 100 100 100 100 100 100 ϑ
600 600 600 600 600 600 600 600 UDCL
87
RKI Torque Motors
Features
RKI motors are slotted, high-perform- magnets in the rotor are arranged such
ance internal rotors. The internal design that the magnetic flux is maximised. The
was completely revised for this series. innovative design and the bundling of
While the rotor is still a homogenous the magnetic field linked to it makes
steel element in the RI drive, for the RKI higher torques possible. The energy effi-
series it consists of one assembly whose ciency is improved and the operating
core forms a laminated magnet carrier. costs are reduced significantly owing to
The eddy current losses can thus be less cooling.
reduced to a minimum. The rotor is heat- A variation in the magnetic material
ed up less and is no longer the limiting means that it is possible to offer motors
factor for the performance of the motor. with an optimised cost-benefit ratio.
This is why considerably higher speeds
are possible. In addition, the permanent
RKI (internal rotor) motors are offered:

• with stators at different heights in 25 mm steps
• with 2 standard windings for high torque and high speeds
• with 3 magnet versions R10 (high speed or Eco version), R12 (moderate speed
and torque), R22 (high torque, maximum torque density in the installation space)
In comparison to RI internal rotor stand- • In the rotary tables industry and fast
ard motors, you can achieve rotating rotary axes
• +30% more torque* • In swivel axes
• +400% more speed • In workpiece spindles
• +400% more mechanical performance • Automation technology
• -40% less heat loss depending on the • Printing and packaging machinery
motor optimisation. • Presses
• As the CNC axis in machine tools
• High-precision positioning applica-
tions
* When using magnetic material of the highest
quality class
88
Max. peak torque Tp [Nm]
Max. continuous torque Tcw1 | Max. continuous torque Tcw2 [Nm]
20
200
2000
20000
88 - 404
Tp
35 - 230 Torque ranges
Tcw1
26 - 173
Tcw2
RKI11-168xH
RKI Torque Motors
151 - 716
Tp
84 - 557
Tcw1
63 - 417
RKI5-230xH
Tcw2
524 - 1879
Tp
302 - 1321
Tcw1
226 - 991
Tcw2
RKI11-298xH
717 - 2561
510 - 2225
Tp Tcw1
383 - 1669
RKI5-384xH
Tcw2
1340 - 4587
Tp T
705 - 3194
529 - 2396
cw1 Tcw2
RKI11-460xH
3092 - 11214
Tp
1512 - 6693
Tcw1
1134 - 5020
Tcw2
RKI11-690xH
4948 - 17670
Tp
2721 - 11864
Tcw1
2040 - 8898
Tcw2
RKI11-920xH
Series
89
RMK/RMF Torque Motors
Features
RMK/RMF integrated motors are slotless, These motors offer the following features
iron-core permanent magnet excited AC for the application owing to coreless
synchronous motors. In slotless motors, windings and the larger air gap:
the coil windings are arranged in an air • Very small electrical time constant
gap between the magnetic ring and pri- • Highly dynamic in controlled operation
mary part ring. • Medium final speed
Slotless motors do not generate any cog- • Relatively low attraction forces
ging forces. This excellent characteristic • Power generation of approx. 2.5 to
in the motor series guarantees very 3 N/cm² per active air gap area
smooth motion. • High level of flexibility in the construc-
tion and in the size of the diameter
RMK/RMF motors can be built as a disk rotor blade variant or as a coaxial construc-
tion with an internal or external rotor. These customised motors are characterised
by the following parameters listed.
• Diameter range: 70 mm to 2500 mm
• Torque range: 2 Nm to 15000 Nm
• Speed range: up to 15 m/s peripheral speed
Benefits RMF Benefits RMK Applications
• Flat design • Coaxial design • In rotary axes

• Medium torque requirements in • Medium torque requirements in • In grinding machines
machines with little or no forces in machines with little or no forces in • In measuring machines
the direction of movement the direction of movement • In high-precision positioning axes
• Can be used in high-precision appli- • Can be used in high-precision appli-
cations cations
• Optimum synchronisation • Optimum synchronisation
90
HSRV/SRV Torque Motors
Features
HSRV/SRV motors are designed in a sim- These motors reach high peripheral
ilar way to the motors in the RI series. speeds (up to 50 m/s) with a simultane-
They are designed for high-speed appli- ously high available torque and an
cations owing to a specially developed extremely low noise level.
structuring of the coil system. HSRV/SRV motors are designed custom-
er-specifically and in accordance with
the respective requirement.
HSRV/SRV motors are developed and produced customer-specifically.

• Diameter range: 100 mm to 2500 mm
• Torque range: 2 Nm to 6000 Nm
• Maximum peripheral speeds with • In the medical industry

high torque available simultaneously • In spindles
• Low vibration and low noise level • In honing heads
• Special winding structures • In fast rotating rotary tables
• No cogging effects
91
Segment Motors
The IDAM integrated motors in all series • A redundant setup of torque motors This design offers the following bene-
can also be designed customer-specifi- in a segmental construction is there- fits:
cally in a segmental construction. fore possible. • Cost-effective segmental construction
Unlike the continuous rings in the • Secondary parts can be segmented • Variation in the number of segments
motors, the primary part and/or the sec- for movements less than 180°. • Feasibility of large motors
ondary part is designed as a segment in • Very suitable in small drives to reduce • Redundant design possible
these motors. This design offers special the moving masses. • Reduction in expenditure for service
benefits in motors with diameters above and maintenance
1260 mm or for special geometrical In combination with HSR magnet sys- • Reduction in mass
requirements. tems, large segment motors are suitable
• Motor segments (primary parts) are for high-speed motors with large diame-
easy to produce. ters.
• The torque can be scaled using the
number of segments.
• Very large diameters are economically
viable.
92
Motors in Special Design
Besides designing the motors as inte- All technical data and dimensions can
grated motors, a functional integration be referred to in the standard data
of machine parts and motor parts can be sheets. Our engineers can provide you
implemented for customer-specific solu- with intensive technical advice to sup-
tions. This gives the user the option for port you in the successful implementa-
optimal integration in his machine. tion of your system.
The electromagnetic system for the pri- The increased design outlay is economi-
mary part can be integrated in the hous- cally viable even for small batch sizes. In
ing of a rotary table or in a machine any case, the advantages of the direct
assembly without losing installation drive can be implemented extensively
space. for the benefit of the performance.
The magnetic system for the secondary
part can be directly applied to the shaft
to be driven.
Housing with
Rotor shaft with magnets cooling option
Primary part with

motor winding
93
Checklist for Your Enquiry
By fax to: +49 3681 7574-30
This checklist can also be found on our website at www.idam.de in the download centre.
Company Contact person Industry/project name
Telephone Fax E-mail
Short description
Motor System Axis in multi-axis system
Spatial position of rotary axis

Type of weight counterbalance:
Installation conditions for drive

(if necessary, sketch or drawing)
Max. installation dimensions [mm]:
(length/width/height)
Mechanical interface:
Required cable length from motor [m]:
Ambient conditions
Temperature [K]:
Contamination:
Protection class (IP):
Movement parameters
Angle of rotation ϕ [degrees]:
Moment of inertia for additional mass [kgm2]: Sketch
ϕ
Disturbance torque [Nm]:
Maximum rotary speed [rpm]:
Flutter [%] at rotary speed:
Shortest acceleration or
deceleration time [ms]:
t
Overshoot in position [degrees]:
Settling time [ms]:
Typical cycle per time period (diagram):
Service life/operating hours [h]:
94
Required accuracy
(if necessary, sketch or drawing)
For diameter [mm]:
Radial accuracy [µm]:
Axial accuracy [µm]:
Cooling
Cooling permissible?
Yes No
Oil Water Air
Max. permissible heating of
Primary part [K]:
Secondary part [K]:
Controller
Available? Yes No
DC link voltage [VDC]:
Controller type:
Components: Servo controller only
Complete controller
Positioning: point-to-point control
path control Sketch
Total cable length from motor to controller [m]:

Interfaces:
Options:
General information
Accessories:
Unique piece Series Prototype for series
Expected annual need:
Planned series-production start: Technical documentation
Price suggestion or Medium: Paper CD
costs of previous solution: Language:
Desired date of quotation:
Further processing by: Date:

Created by: Date:
Feasibility checked by: Date:
95
Technical Information and Advice
IDAM offers you cutting-edge technology Automation/medical engineering INA/FAG bearings by Schaeffler for produc-
and expert advice. E-mail: idam.automation@schaeffler. tion machinery
The IDAM application technicians will be com E-mail:
happy to help you select the perfect info.machine-tools@schaeffler.com
drive for your application. Productronic/measuring technology Web:
E-mail: idam.productronic@schaeffler. www.schaeffler.com/machine-tools
Get in contact with us. com
Phone: +49 3681 7574-0
Production machinery/heavy
industries
E-mail: idam.pm@schaeffler.com
Automotive
TPI 120: High precision
E-mail: idam.automotive@schaeffler.
bearings for combined
com loads
96
IDAM Worldwide
Austria Japan Spain/Portugal

Phone: +43 2672 2023332 Phone: +81 45 274 8302 Phone: +34 93 4803679
E-mail: idam.austria@schaeffler.com E-mail: idam.japan@schaeffler.com E-mail: idam.iberia@schaeffler.com
Canada Korea Switzerland

Phone: +780 980 3016 Phone: +82 2 311 3096 Phone: +41 71 4666312
E-mail: idam.canada@schaeffler.com E-mail: idam.korea@schaeffler.com E-mail: idam.schweiz@schaeffler.com
China Netherlands Taiwan

Phone: +86 21 39576465 Phone: +31 342 403208 E-mail: idam.taiwan@schaeffler.com
E-mail: idam.china@schaeffler.com E-mail: idam.nederland@schaeffler.com
United Kingdom
Finland Russia E-mail: idam.uk@schaeffler.com
Phone: +358 207 366238 Phone: +7 495 7377660
E-mail: idam.finland@schaeffler.com E-mail: idam.russia@schaeffler.com USA
Phone: +1 704 5167517
Israel Singapore E-mail: idam.usa@schaeffler.com
E-mail: idam.israel@schaeffler.com Phone: +65 6540 8683
E-mail: idam.singapore@schaeffler.com Other countries:
Italy E-mail: idam.sales@schaeffler.com
Phone: +39 0321 929267
E-mail: idam.italia@schaeffler.com
97
Glossary
Winding-independent parameters
Saturation behaviour
Torque T
Tu
The torque initially increases linearly the Tp
more the effective current rises, goes
Tpl
into a curvature range and then increas-
Tcw
es more in a flatter linear way again.
The curve is produced from the magnetic
saturation of the overall magnetic cir-
Tc
cuit.
Ic Icw Ipl Ip Iu
Motor current I
Torque curve depending on the current
Symbol Meaning Unit Explanation
Tu Ultimate torque Nm Ultimate torque with high saturation in the magnetic circuit. When this is exceed-
ed, there is a risk of demagnetisation posed for the heated up motor (magnet
temperature 80 °C) or thermal destruction within a very short period of time.
It should not be used as a dimensioning size, but must be observed in the case
of short-circuit braking.
Tp Peak torque Nm Briefly (in seconds) producible peak torque at Ip which is reliably attained in the
saturation range and at all operating temperatures.
With magnet temperatures up to 60 °C and in pulsed mode, Tp can be increased
up to the value of Tu.
Tpl Peak torque, Nm Briefly (a few seconds) producible motor torque which is attained at the end of
linear range the linear modulation range at I . k .
pl T
Tc Continuous Nm Continuous motor torque at continuous current Ic at which the motor can be used
torque, not for thermally stable running without cooling, but is heated up in doing so.
cooled
Tcw Continuous Nm Motor torque at Icw which is available as a continuous torque in nominal opera-
torque, cooled tion with water cooling and where a temperature gradient of approx. 100 K is set
between the winding and cooling.
98
Ts Stall torque Nm Stall torque when the motor is stationary and with a control frequency up to
approx. 1 Hz which is produced with the respective stall current owing to the
uneven power distribution in the individual motor phases.
Pl Power loss W The thermal output produced in the motor winding which leads to a time-
dependent increase in temperature depending on the operational mode (current)
and the ambient conditions (cooling). In the upper modulation range (at Tp), Pl is
especially high because of the quadratic dependence on the current, while in the
continuous current range, only relatively low heating occurs. Pl is calculated with
the help of the motor constant km for one movement section using the required
torque T: P = (T/k )2
l m
Plp Power loss W Peak power loss at Ip
Plpl Power loss W Peak power loss at Ipl
Plc Power loss W Power loss at Ic
Plw Power loss W Power loss at Icw
ϑ Winding °C Permissible winding temperature recorded by sensors with a specified offset.

temperature The motor surface temperature being set depends on
• The specific installation conditions (dimensions of machine construction)
• Heat dissipation conditions
• Operational mode and thus on the mean power used
and can only be determined when this fact is known.
Rth Thermical K/W Thermical resistance which is used to be able to determine the temperature
resistance difference between winding and housing, or the cooling basis for specific power
loss.
τel Electrical time ms Electrical time constant which describes the L/R ratio. The ratio is approximately
constant constant, irrespective of the winding design. The effective time constant in terms
of the control technology is less, depending on the degree of excess voltage.
99
km Motor constant Nm/√W The motor constant which conveys the relation between generated torque and
power loss, thus the efficiency. It depends on the temperature and is only com-
pletely accurate during static operation as well as in the linear modulation range
of the motor, e.g. in positioning procedures at low speeds.
At a winding temperature of 130 °C, it goes back to about 0.85 of the value.
Tr Ripple torque Nm Ripple torque as the sum of torques caused by reluctance (cogging) which is
effective in the direction of rotation when the de-energised motor is moving and
operates as the ripple-torque during operation.
Thermal behaviour
A temperature rise means that the wind-

Motor constant km
ing resistance increases, which entails a

reduction in the km.
km25
At 130 °C, the motor constant goes back
to about 0.85 of the value (see diagram).
km130 (≈ 0.85 . km25)
When the current or torque is constant,
then an increased power loss is generat-
ed in the already heated up motor in
comparison to a motor that is still cold.
10 20 30 40 50 60 70 80 90 100 This leads to an even higher motor tem-
25 °C 130 °C
∆ϑ perature.
km25 depending on the temperature
• km is a motor constant which conveys the relation between the generated torque
and power loss.
• It depends on the temperature.
100
Glossary
Winding-dependent parameters
kT Torque constant Nm/Arms Torque constant, which, when multiplied by the current, produces a resulting
motor torque in the linear modulation range: T = I . k
c c T
ku Back EMF V/(rad/s) Voltage constant, which (in generator operation), when multiplied by the speed,
constant produces the armature countervoltage resulting at the motor terminals:
UEMF=k .nu
nlp Limiting speed rpm Winding-dependent speed limit without taking the dynamic heat losses into
account when the peak current Ip and no field weakening are used. The torque
for the motor drops after this point.
nlw Limiting speed rpm Winding-dependent speed limit without taking the dynamic heat losses into
account when the water-cooled continuous current Icw and no field weakening
are used. The torque for the motor drops after this point.
nlc Limiting speed rpm Winding-dependent speed limit without taking the dynamic heat losses into
account when the air-cooled continuous current Ic and no field weakening are
used. The torque for the motor drops after this point.
ncr Limiting speed rpm Speed limit under consideration of the additional frequency-dependent heat
losses (caused by eddy currents and change in magnetisation losses).
Continuous, water-cooled operation at speed ncr is possible if the permissible
current is approx. 45% of the water-cooled continuous current Icw.
The speed ncr at current Icw is possible for a duty cycle of approx. 20%. To attain
a duty cycle of 100% with current Icw, a speed reduction to approx. 0.2 x ncr is
required.
The torque (current) or the duty cycle for speed ncr can be increased by using a
special winding variant (Z winding).
UDCL DC link voltage V Direct current link voltage or supply voltage of the power controlling elements.
The higher the speed and associated increasing countervoltage and frequency-
dependent losses are, the greater this voltage has to be.
R25 Winding Ω Winding resistance at 25 °C.

resistance At 130 °C, it increases to approx. 1.4 times this value.
101
Iu Ultimate current Arms Ultimate current at which the magnetic circuit has high saturation. It is deter-
mined either by the maximum current density in the winding or by the incipient
risk of demagnetisation at a magnet temperature of 80 °C (see also Tu).
Ip Peak current Arms Peak effective current in the iron saturation range and should be used as the
dimensioning size (see also Tp). When the rotor is only moderately warm (magnet
temperature max. 60 °C) and for pulsed mode (max. 1 s), Ip can be increased to
the limit value Iu.
Ipl Peak current, Arms Effective peak current up to which an approximately proportional torque curve
linear range occurs.
Ic Continuous Arms Effective continuous current at which the associated power loss leads to relative-
current, not ly low heating of the motor without forced cooling, depending on the size of the
cooled fastening base.
Icw Continuous Arms Effective continuous current which is permissible during continuous operation
current, cooled with water cooling.
Is Stall current Arms Effective stall current when the motor is stationary and with control frequencies
up to approx. 1 Hz. Owing to the varying power distribution in the motor phases,
the motor current must be reduced to this value to prevent local overheating, if
no noticeable movement takes place across a pole pair.
102
Overview of Publications
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LDDM LDDM LDDM

Linear Direct Drive Motors Linear Direct Drive Motors Linear Direct Drive Motors
L1 Series L2U Series UPL Series
LDDM – Linear direct LDDM – Linear direct LDDM – Linear direct

drive motors: L1 series drive motors: L2U series drive motors: UPL series
RDDM RDDM RDDS Direct Drive Technology

Rotary Direct Drive Motors Rotary Direct Drive Motors Rotary Direct Drive Systems The right product for every application.
RKI Series RDDS1 Matrix

RDDS2 Matrix
1 1 1
RDDM – Rotary RDDM – Rotary RDDS – Rotary Image brochure

direct drive motors direct drive motors: direct drive systems IDAM direct drive
RKI series technology
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Contact: idam@schaeffler.com
You can find all the publications on our website (www.idam.de) in the download centre.
103
At a Glance: Torque Ranges of the RI/RE Motors
RI-3P series
Peak torque Tp at Ip | Continuous torque Tcw cooled at Icw [Nm]
Tp
20000
2323 – 23258
Tp Tcw
Tcw
1471 – 10091
1249 – 12361
Tp
Tp T Tcw
cw
2000 Tp
708 – 6871
642 – 4403
485 – 3330
Tcw
323 – 3197
220 – 2126
Tp
262 – 1800
142 – 1387
Tcw
176 – 1211
Tp
Tcw
93 – 639
200
76 – 743
Tp
36 – 343
Tcw
23 – 141
13 – 100
20
RI11-3P- RI17-3P- RI11-3P- RI13-3P- RI11-3P- RI19-3P- RI13-3P- RI19-3P-

89xH 168xH 250xH 298xH 384xH 460xH 690xH 920xH
(Page 28) (Page 32) (Page 36) (Page 40) (Page 44) (Page 48) (Page 52) (Page 56)
Series
RE-3P series
10000
Tp
Tcw
1178 – 8162
Tp
870 – 5969
Tcw
662 – 6387
Tp Tp
Tp Tp Tcw Tcw
1000 Tcw
437 – 2968
439 – 3013
340 – 3299
206 – 2043
244 – 1658
Tp
178 – 1221
160 – 1511
Tcw
97 – 932
114 – 751
Tcw
69 – 657
100
39 – 365
10
RE19-3P- RE11-3P- RE13-3P- RE11-3P- RE11-3P- RE11-3P- RI13-3P-

205xH 250xH 300xH 360xH 410xH 530xH 700xH
(Page 60) (Page 64) (Page 68) (Page 72) (Page 76) (Page 80) (Page 84)
Series
104
At a Glance: Torque Ranges of the RI/RE Motors
To facilitate the selection of the rotary

motor best suited for your application,
you can see the peak torques and con-
tinuous torques for all RI and RE motors
at a glance.
To do this, please open up this page.
Technical Data: Series RI17-3P-168xH Technical Data: Series RI17-3P-168xH At a Glance: Torque Ranges of the RI/RE Motors
Drawing Winding-independent data
A RI-3P series
168x25 168x50 168x75 168x100 168x125 168x150 168x175
ca.�36 Tp
Motor�cable Sensor�cable 10 20000
2323 – 23258
29.5
Number of pole pairs P 17 17 17 17 17 17 17 Tp Tcw
Tcw
1471 – 10091
1249 – 12361
Tp
50 Tp T
cw
Tcw
2000 Tp
708 – 6871
642 – 4403
485 – 3330
110 220 327 436 539 647 755 Tcw
323 – 3197
Ultimate torque (1 s) at Iu Tu Nm
220 – 2126
Ø140��H8
Tp
Ø230��f8
262 – 1800
Ø211
Ø220
Ø168
Ø150
19 Peak torque (saturation range) at Ip Tp Nm 93 186 276 369 456 547 639
142 – 1387
Tcw
176 – 1211
Tp
H1 Peak torque (linear range) at Ipl Tpl Nm 65 129 192 256 317 380 443 Tcw
93 – 639
30° 200
76 – 743
Tp
36 – 343

Tcw
23 – 141

13 – 100
M5�x�10�(nx)* M5�x�10�(nx)* 2 Stall torque not cooled at Is Ts Nm 11 25 39 53 65 77 88

20
H2
M5�x�10�(nx)* M5�x�10�(nx)* Ripple torque (typical cogging) at I = 0 Tr Nm 0.3 0.6 0.8 1.1 1.4 1.6 1.9
Ø150
Ø220 A-A
A
RI11-3P- RI17-3P- RI11-3P- RI13-3P- RI11-3P- RI19-3P- RI13-3P- RI19-3P-
Power loss at Tcw Plw W 455 911 1366 1822 2277 2733 3188 89xH 168xH 250xH 298xH 384xH 460xH 690xH 920xH
*Note: The number (n) of fastening threads depends on the height. (Page 28) (Page 32) (Page 36) (Page 40) (Page 44) (Page 48) (Page 52) (Page 56)
Series
Fastening threads RI17-3P- RI17-3P- Thermical resistance with water cooling Rth K/W 0.220 0.110 0.073 0.055 0.044 0.037 0.031
168x25 • 168x50 • 168x75 168x100 • 168x125 • 168x150 • 168x175 RE-3P series

10000
Motor constant (25 °C) km Nm/√W 1.92 3.20 4.17 5.00 5.68 6.33 6.92 Tp
Tcw
1178 – 8162
Fastening thread of rotor M5 x 10, 12 x (30°) M5 x 10, 24 x (15°) Tp

870 – 5969
Fastening thread of stator – cable side M5 x 10, 11 x (30°) M5 x 10, 21 x (15°) Cooling water flow rate of main cooling system dV/dt l/min 1.30 2.60 3.90 5.21 6.51 7.81 9.11 Tcw
662 – 6387
Tp Tp
Tp Tp Tcw Tcw
Fastening thread of stator M5 x 10, 12 x (30°) M5 x 10, 24 x (15°) Temperature difference of cooling water ∆ϑ K 5.00 5.00 5.00 5.00 5.00 5.00 5.00
Tcw
1000
437 – 2968
439 – 3013
340 – 3299
206 – 2043
244 – 1658
Tp
178 – 1221
160 – 1511
Tcw
97 – 932
114 – 751
Tcw
168x25 168x50 168x75 168x100 168x125 168x150 168x175
69 – 657
100
39 – 365
Rotor mass m1 kg 1.2 2.4 3.6 4.8 6.0 7.2 8.4

10
Stator mass m2 kg 7.2 10.1 13.3 16.5 19.8 23.0 26.2
Standard: Cable outlet – axial Option: Cable outlet – tangential Option: Cable outlet – radial RE19-3P- RE11-3P- RE13-3P- RE11-3P- RE11-3P- RE11-3P- RI13-3P-
Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 205xH 250xH 300xH 360xH 410xH 530xH 700xH
(Page 60) (Page 64) (Page 68) (Page 72) (Page 76) (Page 80) (Page 84)
Series
32 33 104
105
INA – Drives & Mechatronics AG & Co. KG
Mittelbergstrasse 2
98527 Suhl, Germany
Phone +49 3681 I 7574-0

Fax +49 3681 I 7574-30
E-mail idam@schaeffler.com
Web www.idam.de
Issue: May 2013 I Subject to changes without advance notification, according to technical progress. I Photos: IDAM AG & Co. KG

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RDDM

Rotary Direct Drive Motors

jerk acceleration velocity position

Motion profile with higher-order FEM model CAD model

Performance Operating costs Design

1. No transformation of the movement 1. No additional moving parts 1. Hollow shaft

Maximum internal diameter for all types of lead-throughs

Motor types Features Construction

Slotted motors Type: Internal rotor

RI/RE series Internal rotor/ external rotor | high torque up to ∅ 1030 mm |

HSRV/SRV types Internal rotor | high speed, up to 50 m/s peripheral speed |

Slotless motors Type: RMK

RMK/RMF types Customised or integrated motors | cogging-free on any diam-

Ironless motors Type: UPR

conveys the ratio between the torque

The motor constant km depends on the

ing temperature of a motor. In the motor

ed to the data sheet value depending on 95

Motor constant vs. temperature

nlp nlw nlc

Torque vs. speed

The winding-specific speed limits are

Torque vs. motor current

All parameters are explained in the glossary.

The PTC sensors must always be evaluated for temperature protection.

Standard wiring of PTC and KTY

The PTC and KTY sensors have a basic

KTY temperature characteristic

Continuous current Line Diameter Bending radius Bending radius Weight

Pin assignments Positive rotating direction of motor

Motor The electrically positive rotating direction

direction in the rotor movement

Synchronous motors are preferably run

Power loss and heat loss

Cooling O-ring types for cooled RI motors

The continuous current Icw given in the

Ratio Ic red / Icw [%]

and thus the continuous current, too.

In some applications, it makes practical

Turning and milling on 5-axis machining centre GS 1400/5-FDT – Productivity through

Arrangement of the motors

Zero axis and rotor mark in alignment

Shifting of cable outlet

In some series, a favourable twisting

Setting for the phase coincidence

The following applies:

With professional installation, play in

Connection of temperature sensors for several motors

Resulting motor data

A cycle is described in the ω(t) diagram

ωmax shows a forwards-backwards rotation

The motor is selected according to three

α, T curve for a required cycle:

Angular acceleration, maximum angular ϕ Movement angle

ωmax Maximum angular speed in rad/s

Example: Cyclic applications

Movement angle ϕ in ° 180 Mass moment of inertia J in kgm2 2.5

Resulting in consideration of friction

√ ) + T = ( 2.5 ° 50.27 . √ 1.35

Example: Rotary table applications

Speed n in rpm 70 Angular acceleration (S1) αS1 in °/s2 9000

Calculation of the speed: nlp = 1.4 . n = 98 rpm

The motor RI13-3P-690x50-WM, with water cooling, meets these requirements.

1. No transformation of the movement 1. No additional moving parts 1. Hollow shaft

Angular acceleration, maximum angular ϕ Movement angle

ωmax Maximum angular speed in rad/s