MODEL 60

DC BRUSHLESS ROTARY ACTUATAOR

• Rotary actuator with right angle drive for lower profile in space critical applications.
• 200-600w rotary actuator develops 60 ft-lb (81 Nm) of torque.
• Continuous 360° rotation, reversible, and continuously variable speed.
• Powerful, high speed DC brushless gear motor for reliability, efficiency and lightweight.
• 12 output speeds ranging from 0.25rpm to 25rpm with 8 input voltages of 24vdc to 300vdcv.
• Available with +/-5v analog speed control or RS232/RS485 position control.
• Rated to full ocean depth with an oil filled, pressure balanced motor / gear housing and
remote electronics in a 1-atmosphere housing or to 50m with a 1-atmosphere housing and
self-contained electronics.
• Available with hard anodized aluminum, Type 316 stainless steel or 6Al4V titanium housings.
• Available with motors for 24vdc, 48vdc, 70vdc, 85vdc, 100vdc, 150vdc, 200vdc, 250vdc and
300vdc. Other voltages optional.

Output Speed Input Weight Depth Rating

12 output speeds from 200-600 W at volt- 6-12 lbs (2.7-5.4 kg) Full ocean depth
0.25rpm to 25rpm with ages of 24 - 300vdc, in air, when oil filled with
a torque rating of 60 +/-5v analog speed 4.6-9.2 lbs (2.1 - 4.2 remote electronics,
ft-lb (81 Nm). control or full digital kg) in water, depend- 150ft (50m) with 1 atm
servo speed, torque ing on configuration. housings.
(specifications subject to change
or position control. without notice)

03/25/14 1
 MODEL 60
DESCRIPTION

Introduction Tygon tubing for the cabling. Alternately, the Model

The Model 60 is one of Tecnadyne’s right angle 60 can have 1-atmosphere housings and internal
drive rotary actuators. With continuous, variable electronics and is then rated to 150 fsw (50 msw).
speed CW and CCW rotation, the Model 60 is Voltages Supported
perfectly suited for applications on AUV’s, ROV’s, The Model 60 is available for voltages of 24vdc,
manned sub’s and subsea tooling packages. 48vdc, 70vdc, 85vdc, 100vdc, 150vdc, 200vdc,
Performance Characteristics 250vdc and 300vdc. Alternate voltages are possible.
As with all of Tecnadyne’s rotary actuators, the Mod- DC power must be supplied by a well filtered battery
el 60 has multiple gearing stages. The first stage bank, rectified and filtered AC or a regulated DC
is a 7/1 ratio planetary gearset and for the low- power supply with less than 10% voltage ripple.
estspeeds 2 planetary stages are used. The in- Speed & Position Control
termediate gearing stage is a 3/1 bevel gear. The oil filled configuration of the Model 60
The final stage is a harmonic drive in ratios from is available with several remote control-
30/1 to 160/1. Using different combinations of ra- lers depending upon the customer ’s oper-
tios, Tecnadyne is able to supply Model 60’s with ating requirements and the available space
12output speeds ranging from 0.25rpm to 25rpm. in the customer ’s 1-atmosphere housing (or
The maximum output torque of 60 ft-lbs (81 Nm) Tecnadyne can supply a suitable housing).
can be acheived at all speeds of operation. The most compact remote electronics option
DC Brushless Motor (HPFX & HPRX) is an open loop speed mode
Employing a 3-phase DC brushless motor that has controller which accepts a +/-5v analog
been optimized for high efficiency and low noise, speed control signal. Alternately, Tecnadyne
the Model 60 delivers exceptional reliability and can supply an Advanced Motion Controls
high power in an extremely compact, lightweight servo drive in two voltage ranges (AMCR &
and easy to maintain package. As with all Tecna- AMCE), that operate in current, velocity or
dyne thrusters and actuators, the Model 60 motors position mode. The 50m depth rated, 1-at-
are manufactured in the U.S. to the ISO 9001:2008 mosphere version of the Model 60 can be
quality standard. supplied with an internal controller. This is
an open loop speed mode controller accept-
Position Feedback Option ing a +/-5v analog command signal.
The Model 60 can be fitted with an optional rotary
Electro-magnetic Brake Option
position sensor, either a potentiometer or an opti-
cal encoder. This configuration is called a Model 61. The holding or backdrive torque of an unpowered
One potentiometer option is offered and 12 encoder actuator is 25%-50% of the rated torque, depending
resolutions, from 100ppr to 2500ppr, are offered, in on gearing ratio. If higher holding torque is required,
either line driver or open collector fomat. an optional electro-magnetic brake can be installed.

Depth Rating Options Other Options

The standard Model 60 configuration utilizes an oil Optional configurations include: housings made
filled housing for the DC brushless motor and gear- from hard anodized aluminum (standard), Type 316
ing units, thus requiring that the electronics mod- stainless steel or 6Al4V titanium; several bulkhead
ule be installed in a remote, 1-atmosphere housing type or cable end subsea connectors.
(customer supplied). This configuration is rated to
Please note that these specifications are subject to
full ocean depth and is compensated using flexible
change without notice.

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03/25/14 2
 MODEL 60
REPRESENTATIVE CONFIGURATIONS

MODEL 60 1-ATMOSPHERE, 1-STAGE GEARBOX VERSION

(Rated to 150 ft [50 m] Depth)

6.36 [161.6]
1.40 [35.6]
OIL FILLED, 1-STAGE GEARBOX
VERSION
(Rated to Full Ocean Depth)
4.25 [108.0]
Ø1.68 [42.5]

Oil filled electrical Tygon 0.13 [3.2]

tubing to customer's length
4.19 [106.4]
1/4-28 UNF - 2B  0.25
4X ON 3.50 [88.9] PCD

SCALE 1:4

1/4-28 UNF - 2B  0.50

4X ON 0.75 [19.1] PCD 1.06 [27.0]

Download STP solid model of this rotary actuator here:

[Link]

MODEL 60
6.82 [173.2]

WITH INTERNAL BRAKE OPTION

(Available with 1-Atmosphere &
Oil Filled Options)

7.86 [199.7]

W/ 2-STAGE GEARBOX OPTION

(Output Speeds of 0.5 to 3 rpm)
(Available with 1-Atmosphere &
Oil Filled Options)

SCALE 1:4

Download STP solid model of this rotary actuator here:

[Link]

03/25/14 3
 MODEL 61
REPRESENTATIVE CONFIGURATIONS

MODEL 61 1-ATMOSPHERE, 1-STAGE GEARBOX VERSION

(Rated to 150 ft [50 m] Depth)
0.94 [23.8]

OIL FILLED, 1-STAGE GEARBOX VERSION

(Rated to Full Ocean Depth) 2.38 [60.3]
1.40 [35.6]

6.36 [161.6]

4.25 [108.0]
Ø1.68 [42.5]
0.13 [3.2]

4.19 [106.4]
1/4-28 UNF - 2B  0.25
Oil filled electrical Tygon 4X ON 3.50 [88.9] PCD
tubing to customer's length

SCALE 1:4
1/4-28 UNF - 2B  0.50
4X ON 0.75 [19.1] PCD
1.06 [27.0]

Download STP solid model of this rotary actuator here:

[Link]

MODEL 61 6.82 [173.2]

WITH INTERNAL BRAKE OPTION

(Available with 1-Atmosphere &
Oil Filled Options)

7.86 [199.7]

W/ 2-STAGE GEARBOX OPTION

(Output Speeds of 0.5 to 3 rpm)
(Available with 1-Atmosphere &
Oil Filled Options) SCALE 1:4

Download STP solid model of this rotary actuator here:

[Link]

03/25/14 4
 MODEL 60
REMOTE ELECTRONICS OPTIONS

REMOTE ELECTRONICS MODULE, HPFX CONFIG

USED IN THE HPFX CONFIGURATION & INSTALLED IN CUSTOMER FURNISHED
PRESSURE VESSEL. 1.68 [42.7]
To Motor Hall Sensors

0.14 THRU 2X
FOR MOUNTING USING
2.25 [57.1] SOCKET HEAD SCREWS
0.36 [9.0]

0.20 [5.0] 2.625 [66.68]

To Motor Phases Control Signal Input
Black, Phase A White, +/-5v Analog Control Signal
Red, Phase B Blue, Isolated Control Signal Return
White, Phase C (#20, 0.5m length)
(#16, 0.5m length) Optional Feedback Signal
Purple, Digital Speed Feedback Signal
Power Input
Red, + Power
Black, Return
(#16, 0.5m length)
2.87 [72.8] SCALE 1:2

Download STP solid model of this electronics module here:

[Link]

REMOTE ELECTRONICS MODULE, HPRX CONFIG

USED IN THE HPRX CONFIGURATION & INSTALLED IN CUSTOMER FURNISHED
PRESSURE VESSEL.

0.25 [6.4] To Motor Phases

Black, Phase A
0.25 [6.4] Red, Phase B
White, Phase C
Power Input (#16, 0.5m length)
Red, + Power
Black, Return
(#16, 0.5m length)
To Motor Hall Sensors

Control Signal Input

White, +/-5v Analog Control Signal
Blue, Isolated Control Signal Return
2.370 [60.20] (#20, 0.5m length)
Must be fitted into 2.25 [57.1] Optional Feedback Signal
cylindrical pressure Purple, Digital Speed Feedback Signal
vessel with I.D. shown.
Thermal heat transfer
compund must be used. SCALE 1:2

Download STP solid model of this electronics module here:

[Link]

03/25/14 5
 MODEL 60
REMOTE ELECTRONICS OPTIONS

REMOTE ELECTRONICS MODULE, AMCR CONFIG

ADVANCED MOTION CONTROLS DPRALTE-060B080E.

REFER TO THE ADVANCED MOTION

CONTROLS WEBSITE FOR
ADDITIONAL TECHNICAL
4.40 [111.8]
INFORMATION ABOUT THIS
CONTROLLER --
[Link] 3.45 [87.7]

Input Voltage Range

20vdc - 80vdc
0.42 [10.6] 7.50 [190.5]
Input Control Signals
+/-10 analog, RS232 /
RS485

1.41 [35.9]
SCALE 1:2 0.83 [21.1]
0.19 [4.8]

Download STP solid model of this electronics module here:

[Link]

REMOTE ELECTRONICS MODULE, AMCE CONFIG

ADVANCED MOTION CONTROLS DPRANIE-030A400E.
2.74 [69.5]
6.11 [155.2]
1.48 [37.5]
0.19 [4.8]

REFER TO THE ADVANCED MOTION

CONTROLS WEBSITE FOR
ADDITIONAL TECHNICAL
INFORMATION ABOUT THIS
CONTROLLER --
[Link]

7.96 [202.1] 7.65 [194.2]

Input Voltage Range

127vdc - 373vdc
Input Control Signals
+/-10 analog, RS232 /
RS485

SCALE 1:2
4.19 [106.4] 0.87 [22.1]

Download STP solid model of this electronics module here:

[Link]

03/25/14 6
 MODEL 60
CONFIGURATIONS & PART NUMBERING

60 - AAA - BB - CCCCC - XX - DD - EEEE - Y

AAA - Buss Voltage Option (Consult factory for other voltages)
24 - 24vdc 85 - 85vdc 200 - 200vdc
48 - 48vdc 100 - 100vdc 250 - 250vdc
70 - 70vdc 150 - 150vdc 300 - 300vdc

BB - Output Speed Option (Consult factory for other speeds)

0.25 - 0.25rpm, 200W, 2-stage 3 - 3rpm, 250W 8 - 8rpm, 275W
0.5 - 0.5rpm, 200W, 2-stage 4 - 4rpm, 275W 10 - 10rpm, 350W
1 - 1rpm, 200W, 2-stage 5 - 5rpm, 300W 15 - 15rpm, 400W
2 - 2rpm, 225W, 2-stage 6 - 6rpm, 325W 25 - 25rpm, 600W

CCCCC - Motor Subsea Connector Option (Consult factory for other connectors)
MCPBOF8M - Subconn MCPBOF8M, oil filled tubing, for oil filled, remote electronics only
MHDG8CCP - Impulse MHDG-8-CCPOF, oil filled tubing, for oil filled, remote electronics only
MCBH5M - SeaCon MCBH5M, bulkhead mount, no speed feedback signal, 50m 1-atmosphere only
MCBH6M - SeaCon MCBH6M, bulkhead mount, digital or analog speed signal, 50m 1-atm. only
MCIL5M - SeaCon MCIL5M, cable end, no speed feedback signal, 50m 1-atmosphere only
MCIL6M - SeaCon MCIL6M, cable end, digital or analog speed feedback signal, 50m 1-atm. only
for technical details on the referenced connectors please go to [Link], [Link] & [Link]

XX - Cable Length Option (Does not apply to MCBH style connectors)

XX - Cable Length in X.X meters - leave as XX if no cable installed

DD - Material of All Wetted Metallic Surfaces Option

AL - 6061-T6 Aluminum, Hard Anodized Black
SS - Type 316 Stainless Steel, Passivated
TI - 6Al4V Titanium

EEEE - Remote Electronics Option (oil filled, full ocean depth) or Internal Electronics (50m depth)
HPFX - Remote Electronics, Flat mount in customer 1-Atm. Housing, Oil filled full ocean depth actuator
HPRX - Remote Elec., Round mount in customer 1-Atm. Housing, Oil filled full ocean depth actuator
AMCR - Remote Elec., 20-80vdc, AMC DPRALTE in 1-Atm. Housing, Oil filled full ocean depth actuator
AMCE - Remote Elec., 127-373dc, AMC DPRANIE in 1-Atm. Housing, Oil filled full ocean depth actuator
INTX - Internal Electronics, 1-Atmosphere actuator, 150 fsw (50m) max. depth, +/-5v analog contol only
for technical details on the referenced AMC controllers, please go to [Link]

Y - Brake Option
Y - No brake B - Electro-magnetic brake installed

03/25/14 7
 MODEL 61
CONFIGURATIONS & PART NUMBERING
61 - AAA - BB - CCCCC - XX - DD - EEEE - Y - FFFFF - GG - ZZZZ
AAA - Buss Voltage Option (Consult factory for other voltages)
24 - 24vdc 85 - 85vdc 200 - 200vdc
48 - 48vdc 100 - 100vdc 250 - 250vdc
70 - 70vdc 150 - 150vdc 300 - 300vdc
BB - Output Speed Option (Consult factory for other speeds)
0.25 - 0.25rpm, 200W, 2-stage 3 - 3rpm, 250W 8 - 8rpm, 275W
0.5 - 0.5rpm, 200W, 2-stage 4 - 4rpm, 275W 10 - 10rpm, 350W
1 - 1rpm, 200W, 2-stage 5 - 5rpm, 300W 15 - 15rpm, 400W
2 - 2rpm, 225W, 2-stage 6 - 6rpm, 325W 25 - 25rpm, 600W
CCCCC - Motor Subsea Connector Option (Consult factory for other connectors)
MCPBOF8M - Subconn MCPBOF8M, oil filled tubing, for oil filled, remote electronics only
MHDG8CCP - Impulse MHDG-8-CCPOF, oil filled tubing, for oil filled, remote electronics only
MCBH5M - SeaCon MCBH5M, bulkhead mount, no speed feedback signal, 50m 1-atmosphere only
MCBH6M - SeaCon MCBH6M, bulkhead mount, digital or analog speed signal, 50m 1-atm. only
MCIL5M - SeaCon MCIL5M, cable end, no speed feedback signal, 50m 1-atmosphere only
MCIL6M - SeaCon MCIL6M, cable end, digital or analog speed feedback signal, 50m 1-atm. only
XX - Cable Length Option (Does not apply to MCBH style connectors)
XX - Cable Length in X.X meters - leave as XX if no cable installed
DD - Material of All Wetted Metallic Surfaces Option
AL - 6061-T6 Aluminum, Hard Anodized Black TI - 6Al4V Titanium
SS - Type 316 Stainless Steel, Passivated
EEEE - Remote Electronics Option (oil filled, full ocean depth) or Internal Electronics (50m depth)
HPFX - Remote Electronics, Flat mount in customer 1-Atm. Housing, Oil filled full ocean depth actuator
HPRX - Remote Elec., Round mount in customer 1-Atm. Housing, Oil filled full ocean depth actuator
AMCR - Remote Elec., 20-80vdc, AMC DPRALTE in 1-Atm. Housing, Oil filled full ocean depth actuator
AMCE - Remote Elec., 127-373vdc, AMC DPRANIE in 1-Atm. Housing, Oil filled full ocean depth actuator
INTX - Internal Electronics, 1-Atmosphere actuator, 150 fsw (50m) max. depth, +/-5v analog contol only
Y - Brake Option
Y - No brake B - Electro-magnetic brake installed
FFFFF - Position Sensor Subsea Connector Option (Consult factory for other connectors)
MCBHRA3M - Subconn MCBHRA3M, for use with potentiometer sensors only
MCBHRA5M - Subconn MCBHRA5M, for use with potentiometer and open collector encoder only
MCBHRA8M - Subconn MCBHRA8M, for use with line driver encoder
FAWL-3P-BC-R/A - SeaCon FAWL-3P-BC-R/A, for use with potentiometer sensors only
FAWL-5P-BC-R/A - SeaCon FAWL-5P-BC-R/A, for use with potentiometer & open collector encoder
FAWM-8P-BC-R/A - SeaCon FAWM-8P-BC-R/A, for use with line driver encoder
GG - Position Sensor Option
POT - Potentiometer OC - Open Collector Encoder LD - Line Driver Encoder
ZZZZ - Encoder Resolution Option (leave blank if encoder not fitted)
100 - 100ppr 360 - 360ppr 600 - 600ppr 1024 - 1024ppr
200 - 200ppr 400 - 400ppr 800 - 800ppr 2000 - 2000ppr
300 - 300ppr 500 - 500ppr 1000 - 1000ppr 2500 - 2500ppr

03/25/14 8
 WHAT WERE YOU DOING 30 YEARS AGO?
In 1985 Tecnadyne delivered its first thrusters, six Model 1020’s that were installed on the original RTV-500 built by Mitsui Engi-
neering & Shipbuilding (MES) of Tokyo. Since that time, we have manufactured and delivered over 6,000 thrusters, including more
than 600 of the Model 1020. And even though the Model 1020 that we build today incorporates over 32 design revisions to improve
reliability, efficiency and maintainability – that thruster is still 100% compatible with the Model 1020 that was installed on that first
RTV-500 system more than 30 years ago. This means that, after 30+ years, MES (or any of our customers) can still purchase or re-
pair a Model 1020 thruster to keep its fleet of ROV’s working. And in those 30 years, the Model 1020 thruster has powered vehicles
to the Titanic, that discovered JFK’s PT-109 in the Pacific, that participated in record depth wellhead completions off the coast of
West Africa, that discovered lost cities in the Black Sea, that have scoured the world’s oceans for mines, and that have successfully
completed thousands of routine subsea missions. And the Model 1020 thruster is still being installed on new ROV and AUV systems
worldwide.
And, like the Model 1020, Tecnadyne’s twenty-one other thruster models have also served the offshore community with reliability,
high performance and cost effectiveness – but none for quite as long as the Model 1020’s 30 years. Tecnadyne is constantly devel-
oping and releasing new thruster models, with 4 new models released in 2010 and 4 models being released in 2013.
It is Tecnadyne’s commitment to its customers and to the subsea community that no vehicle system, be it an ROV, an AUV, a
manned submersible or any other subsea system, will ever be made obsolete because the Tecnadyne thrusters installed on that
system are no longer available for a reasonable and competitive price.
So, for your next ROV, AUV or manned submersible build or purchase, be sure to specify only genuine Tecnadyne thrusters. You,
your operators, your technicians and your customers will be glad you did – for the next 30 years.

QUALITY ASSURANCE
Tecnadyne operates under a Quality Plan that is fully ISO 9001:2008 compliant. All electrical soldering is performed
by technicians certified to the IPC J-STD-009 & IPC-A-610 standards.

FINAL TEST & INSPECTION

All Tecnadyne products undergo a rigorous set of final test procedures. Each thruster is operated at reduced power
and full power in both directions for extended time periods. Each thruster is pressure tested and then subjected to
an insulation breakdown test to identify leaks or other problems. Prior to shipment to the customer, each thruster is
certified to perform correctly and to factory specifications.

EXPRESS LIMITED WARRANTY

Subsea thruster motors manufactured by Tecnadyne are warranted to the original Purchaser for a period of one
year from the date of shipment from the factory to conform to Tecnadyne’s specifications at the time of purchase
and to be free of mechanical, electrical and physical defects in material and workmanship if the products have been
installed, electrically connected, operated and serviced in accordance with Tecnadyne’s instructions as listed in the
Operations & Maintenance Manual accompanying the thrusters.

Except for the express warranty set forth herein, Tecnadyne makes no other warranties or guarantees, express,
oral, implied or statutory, regarding its subsea thruster products. All such warranties are expressly disclaimed to the
extent allowable by law.

BUILT WITH PRIDE IN THE U.S.A.

9770 Carroll Centre Road, Suite C

San Diego, CA 92126, USA
Voice & Fax: 1-858-586-9660
Ext 101 for Sales, Ext 104 for Service, Ext 113 for Deliveries

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[Link] [Link]/tecnadyne @tecnadyne [Link] company/tecnadyne

03/25/14