Kollmorgen TBM(S) Motor Selection Guide.

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1 Kollmorgen TBM(S) Motor Selection Guide

K O L L M O R G E N T B M ( S ) M O T O R S E L E C T I O N G U I D E Table of Contents u TBM Series Frameless Motor 3 u TBM(S) 60 Series Motor TBM(S) 60 Outline Drawings 4 TBM(S) 60 Performance Data

Motor TBM(S) 129 Outline Drawings 12 TBM(S) 129 Performance Data and Parameters 13 TBM(S) 129 Performance Curves 14 u Communtation & Connection Diagrams 16 u Model Nomenclature 17 u Available TBM(S)

So, we knock them down in three important ways: Integrating Standard and Custom Products The optimal solution is often not clear-cut.

Providing Motion Solutions, Not Just Components As companies reduce their supplier base and have less engineering manpower, they need a total system supplier with a wide range of integrated solutions.

Global Footprint With direct sales, engineering support, manufacturing facilities, and distributors spanning the Americas, Europe, Middle East, and Asia, we re close to OEMs worldwide.

2 K O L L M O R G E N T B M ( S ) M O T O R S E L E C T I O N G U I D E Table of Contents u TBM Series Frameless Motor 3 u TBM(S) 60 Series Motor TBM(S) 60 Outline Drawings 4 TBM(S) 60 Performance Data and Parameters 5 TBM(S) 60 Performance Curves 6 u TBM(S) 76 Series Motor TBM(S) 76 Outline Drawings 8 TBM(S) 76 Performance Data and Parameters 9 TBM(S) 76 Performance Curves 10 u TBM(S) 129 Series Motor TBM(S) 129 Outline Drawings 12 TBM(S) 129 Performance Data and Parameters 13 TBM(S) 129 Performance Curves 14 u Communtation & Connection Diagrams 16 u Model Nomenclature 17 u Available TBM(S) Modifications 17 Removing the Barriers of Design, Sourcing, and Time At Kollmorgen, we know that OEM engineers can achieve a lot more when obstacles aren t in the way. So, we knock them down in three important ways: Integrating Standard and Custom Products The optimal solution is often not clear-cut. Our application expertise allows us to modify standard products or develop totally custom solutions across our whole product portfolio so that designs can take flight. Providing Motion Solutions, Not Just Components As companies reduce their supplier base and have less engineering manpower, they need a total system supplier with a wide range of integrated solutions. Kollmorgen is in full response mode with complete solutions that combine programming software, engineering services and best-in-class motion components. Global Footprint With direct sales, engineering support, manufacturing facilities, and distributors spanning the Americas, Europe, Middle East, and Asia, we re close to OEMs worldwide. Our proximity helps speed delivery and lend support where and when they re needed. global service local application teams engineering expertise global support application knowledge Motion is at our core. experience global development and manufacturing Financial and Operational Stability Kollmorgen is part of Danaher Corporation. A key driver in the growth of all Danaher divisions is the Danaher Business System, which relies on the principle of kaizen or continuous improvement. Using world-class tools, cross-disciplinary teams of exceptional people evaluate processes and develop plans that result in superior performance. financial stability 2 K O L L M O R G E N

3 TBM Series Frameless Motor The TBM frameless motor is a new series of direct drive torque motors designed for applications that require high power in a small compact form factor with minimized weight, and inertia. Typical applications include robotic joints, weapon stations, sensor gimbals, sight systems, UAV propulsion and guidance, as well as many others. T B M F R A M E L E S S M O T O R TBM(S) Product Features 3 frame sizes ranging from 60mm (2.36 inches) up to 129mm (5.08 inches) 3 stacks lengths per frame 2 standard winding options per frame Latching Hall Effects (pre-aligned / factory installed). Low Cogging designs Stainless Steel Yokes for max corrosion protection RoHS Compliant Banded Rotors Laser Marked Armatures For non-standard requests Kollmorgen provides a variety of standard options and configurations. If higher levels of customization are required, contact Kollmorgen to help us understand exactly what you need.

4 TBM 60 Series Outline Drawings T B M 6 0 O U T L I N E D R A W I N G S TBM 60 Ø 59.06[2.325] MAX. 2 PL FLUIDIZE 5.08[.200] MAX. 2 PL Ø [1.550] MIN. 2 PL Ø28.70±.0127 [1.130±.0005] "A" STATOR [2.376] Ø [2.374] Ø [2.275] MAX. 2 PL "B" ROTOR TBMS 60 "A" STATOR 10.16[.400] MAX. 5.08[.200] MAX. Ø [2.325] MAX. 2 PL. FLUIDIZE Ø [1.550] MIN. Ø 28.70±.0127 [1.130±.0005] Ø 57.79[2.275] MAX. 2 PL. Ø 60.35[2.376] 60.30[2.374] "B" ROTOR MOTOR LEADS: #18 AWG, TEFLON COATED, PER MIL-W-22759/11 3 LEADS - 6 INCHES MIN. LONG EACH 1-RED, 1-WHITE, & 1-BLACK SENSOR LEADS: #26 AWG, TYPE "ET", TEFLON COATED, PER MIL-W LEADS 6 INCHES MIN. LONG EACH 1-BLUE, 1-BROWN, 1-GREEN, 1-ORANGE, & 1-YELLOW MODEL NUMBER "A" mm [inch] "B" mm [inch] TBM(S) [0.500] [0.660] TBM(S) [0] [1.160] TBM(S) [0] [2.160] 4 K O L L M O R G E N

5 TBM 60 Series Performance Data TBM(S) 60 Series Performance Data and Motor Parameters Motor Parameter Symbol Units TOL TBM(S)-6013-X TBM(S)-6025-X TBM(S)-6051-X A B A B A B Continuous Stall Torque* Tc N-m oz-in Continuous Current Ic Adc Arms Peak Stall Torque* (25 C winding temp) Peak Current Tp Ip N-m oz-in Adc Arms Rated Cont Power* P Rated Watts Speed at Rated Power N Rated RPM Design Voltage Vbus Vdc Vac Vrms N-m / Adc Torque Sensitivity oz-in / Adc Kt (hot) at Temp* N-m / Arms oz-in / Arms Back EMF at Temp* Kb (hot) Vpk / krpm Vrms / krpm N-m / Adc Torque Sensitivity oz-in / Adc Kt (cold) at 25 C N-m / Arms oz-in / Arms Back EMF Kb (cold) Vpk / krpm Vrms/kRPM Motor Constant Km N-m/ watt oz-in/ watt Resistance at 25 C Rm Ohms +/- 10% Inductance Lm mh +/- 30% Inertia* Jm Kg-m² 1.41E E E-05 oz-in-s² E E E-03 Weight* Wt grams oz Max Static Friction Tf N-m oz-in Cogging Friction N-m Tcog (Peak-to-Peak) oz-in Viscous Damping Fi N-m/ krpm 2.04E E E-02 oz-in / krpm 2.89E E E+00 Thermal Resistance* TPR C / watt Number of Poles P T B M 6 0 P E R F O R M A N C E D A T A A N D P A R A M E T E R S *Notes 1) Continuous Stall Torque and Rated Power assume ambient temperature of 25 C 2) Winding temp = 155 C for Kt and Kb hot 3) Inertia and weight assume max thru-bore 4) TPR assumes motor is housed and mounted to a 3.5 x 3.5 x 0.25 heat sink or equivalent 5) Some Peak Torques may be limited by lead wire gauge 5

6 TBM 60 Series Performance Curves T B M 6 0 P E R F O R M A N C E C U R V E S TBM(S)-6013-A 48 Vdc 6 step TBM(S)-6013-B 24 Vdc 6 step TBM(S)-6025-A 48 Vdc 6 step TBM(S)-6025-B 24 Vdc 6 step K O L L M O R G E N

7 TBM(S)-6051-A 48 Vdc 6 step TBM(S)-6051-B 24 Vdc 6 step T B M 6 0 P E R F O R M A N C E C U R V E S Notes: 7

8 TBM 76 Series Outline Drawings T B M 7 6 O U T L I N E D R A W I N G S TBM 76 Ø [2.940] MAX. 2 PL [.250] MAX. 2 PL Ø [1.850] MIN ±.0127 Ø [1.420±.0005] "A" STATOR Ø 73.41[2.890] MAX. 2 PL. Ø [2.991] [2.989] FLUIDIZE "B" ROTOR TBMS 76 "A" STATOR [.400] MAX [.250] MAX. Ø [1.850] MIN. Ø 73.41[2.890] MAX. 2 PL. Ø [2.940] MAX. 2 PL. FLUIDIZE 36.07±.0127 Ø [1.420±.0005] Ø [2.991] [2.989] "B" ROTOR MOTOR LEADS: #18 AWG, TEFLON COATED, PER MIL-W-22759/11 3 LEADS - 6 INCHES MIN. LONG EACH 1-RED, 1-WHITE, & 1-BLACK SENSOR LEADS: #26 AWG, TYPE "ET", TEFLON COATED, PER MIL-W LEADS 6 INCHES MIN. LONG EACH 1-BLUE, 1-BROWN, 1-GREEN, 1-ORANGE, & 1-YELLOW MODEL NUMBER "A" mm [inch] "B" mm [inch] TBM(S) [0.600] [0.760] TBM(S) [1.210] [1.370] TBM(S) [1.820] [1.980] 8 K O L L M O R G E N

9 TBM 76 Series Performance Data TBM(S) 76 Series Performance Data and Motor Parameters Motor Parameter Symbol Units TOL TBM(S)-7615-X TBM(S)-7631-X TBM(S)-7646-X A B A B A B Continuous Stall Torque* Tc N-m oz-in Continuous Current Ic Adc Arms Peak Stall Torque* (25 C winding temp) Peak Current Tp Ip N-m oz-in Adc Arms Rated Cont Power* P Rated Watts Speed at Rated Power N Rated RPM Design Voltage Vbus Vdc Vac Vrms N-m / Adc Torque Sensitivity oz-in / Adc Kt (hot) at Temp* N-m / Arms oz-in / Arms Back EMF at Temp* Kb (hot) Vpk / krpm Vrms / krpm N-m / Adc Torque Sensitivity oz-in / Adc Kt (cold) at 25 C N-m / Arms oz-in / Arms Back EMF Kb (cold) Vpk / krpm Vrms/kRPM Motor Constant Km N-m/ watt oz-in/ watt Resistance at 25 C Rm Ohms +/- 10% Inductance Lm mh +/- 30% Inertia* Jm Kg-m² 3.04E E E-05 oz-in-s² 4.31E E E-02 Weight* Wt grams oz Max Static Friction Tf N-m oz-in Cogging Friction N-m Tcog (Peak-to-Peak) oz-in Viscous Damping Fi N-m/ krpm 6.65E E E-02 oz-in / krpm 9.46E Thermal Resistance* TPR C / watt Number of Poles P T B M 7 6 P E R F O R M A N C E D A T A A N D P A R A M E T E R S *Notes 1) Continuous Stall Torque and Rated Power assume ambient temperature of 25 C 2) Winding temp = 155 C for Kt and Kb hot 3) Inertia and weight assume max thru-bore 4) TPR assumes motor is housed and mounted to a 7.0 x 7.5 x heat sink or equivalent 5) Peak Torques limited by lead wire gauge 9

10 TBM 76 Series Performance Curves T B M 7 6 P E R F O R M A N C E C U R V E S TBM(S)-7615-A 48 Vdc 6 step TBM(S)-7615-B 24 Vdc 6 step TBM(S)-7631-A 48 Vdc 6 step TBM(S)-7631-B 24 Vdc 6 step K O L L M O R G E N

11 TBM(S)-7646-A 48 Vdc 6 step TBM(S)-7646-B 24 Vdc 6 step T B M 7 6 P E R F O R M A N C E C U R V E S Notes: 11

12 TBM 129 Series Outline Drawings T B M O U T L I N E D R A W I N G S TBM 129 Ø [4.920] MAX. 2 PL. FLUIDIZE [.400] MAX. 2 PL. Ø 77.47[3.050] MIN. 2 PL. Ø 55.88±.0127 [2.200±.0005] "A" STATOR Ø [4.750] MAX. 2 PL. Ø [5.076] [5.074] "B" ROTOR TBMS 129 "A" STATOR [.400] MAX. 8.89[.350] MAX. Ø [3.050] MIN. Ø [4.750] MAX. 2 PL. Ø [4.920] MAX. 2 PL. FLUIDIZE Ø 55.88±.0127 [2.200±.0005] Ø [5.076] [5.074] "B" ROTOR 12.70[.500] MAX. OVER SENSOR BOARD MOTOR LEADS: #16 AWG, TEFLON COATED, PER MIL-W-22759/11 3 LEADS - 6 INCHES MIN. LONG EACH 1-RED, 1-WHITE, & 1-BLACK SENSOR LEADS: #26 AWG, TYPE "ET", TEFLON COATED, PER MIL-W LEADS 6 INCHES MIN. LONG EACH 1-BLUE, 1-BROWN, 1-GREEN, 1-ORANGE, & 1-YELLOW MODEL NUMBER "A" mm [inch] "B" mm [inch] TBM(S) [0.525] [0.685] TBM(S) [1.625] [1.785] TBM(S) [2.150] [2.310] 12 K O L L M O R G E N

13 TBM 129 Series Performance Data TBM(S) 129 Series Performance Data and Motor Parameters Motor Parameter Symbol Units TOL TBM(S) X TBM(S) X TBM(S) X A B A B A B Continuous Stall Torque* Tc N-m Lb-Ft Continuous Current Ic Adc Arms Peak Stall Torque* (25 C winding temp) Peak Current Tp Ip N-m Lb-Ft Adc Arms Rated Cont Power* P Rated Watts Speed at Rated Power N Rated RPM Design Voltage Vbus Vdc Vac Vrms N-m / Adc Torque Sensitivity Lb-Ft / Adc Kt (hot) at Temp* N-m / Arms Lb-Ft / Arms Back EMF at Temp* Kb (hot) Vpk / krpm Vrms / krpm N-m / Adc Torque Sensitivity Lb-Ft / Adc Kt (cold) at 25 C N-m / Arms Lb-Ft / Arms Back EMF Kb (cold) Vpk / krpm Vrms/kRPM Motor Constant Km N-m/ watt Lb-Ft/ watt Resistance at 25 C Rm Ohms +/- 10% Inductance Lm mh +/- 30% Inertia* Jm Kg-m² 2.71E E E-04 Lb-Ft-s² E E E-04 Weight* Wt Kg Lbs Max Static Friction Tf N-m Lb-Ft Cogging Friction N-m Tcog (Peak-to-Peak) Lb-Ft Viscous Damping Fi N-m/ krpm 4.78E E E-01 Lb-Ft / krpm 3.53E Thermal Resistance* TPR C / watt Number of Poles P T B M P E R F O R M A N C E D A T A A N D P A R A M E T E R S *Notes 1) Continuous Stall Torque and Rated Power assume ambient temperature of 25 C 2) Winding temp = 155 C for Kt and Kb hot 3) Inertia and weight assume max thru-bore 4) TPR assumes motor is housed and mounted to a 7.0 x 7.5 x heat sink or equivalent 5) Peak Torques limited by lead wire gauge 13

14 TBM 129 Series Performance Curves T B M P E R F O R M A N C E C U R V E S TBM(S) A 100 Vdc 6 step TBM(S) B 48 Vdc 6 step TBM(S) A 100 Vdc 6 step 3 TBM(S) B 48 Vdc 6 step K O L L M O R G E N

15 TBM(S) A 100 Vdc 6 step TBM(S) B 48 Vdc 6 step T B M P E R F O R M A N C E C U R V E S Notes: 15

Commutation & Connection Diagrams C O M M U T A T I O N & C O N N E C T I O N D I A G R A M S Excitation Sequence Table Sensor Wiring Diagram STEP 1 2 3 4 5 6 Phase A Red CW viewed from lead end R

16 Commutation & Connection Diagrams C O M M U T A T I O N & C O N N E C T I O N D I A G R A M S Excitation Sequence Table Sensor Wiring Diagram STEP Phase A Red CW viewed from lead end R Power Connection Phase B White H AB H BC H CA R Phase C Black R BLUE (+5 TO 24 V DC) BROWN OUTPUT PHASE - AB ORANGE OUTPUT PHASE - BC YELLOW OUTPUT PHASE - CA GREEN (GROUND) Sensor Output CW viewed from lead end 16 K O L L M O R G E N

17 TBM Frameless Motor Nomenclature TBM Frameless Motor Product Family TBM = Frameless motor TBMS = Frameless motor with sensors Motor Frame Size (Armature Outer Diameter) TBM(S) A 00 Sequential Number for Available Modifications Winding Options A, B M O D E L N O M E N C L A T U R E Stack Length Specifier Available TBM(S) Modifications Speed/Torque Changes Winding Gages Stack Lengths Generally Available Capability #00 #48 AWG (includes lead wire change) Dependent on frame size Installation Features Rotor Hub Geometry Mounting Lead Length Lead Colors Thermal Sensor Round, hollow, flanged, keyway, flat Thru bores from 5 mm (0.20 in) up to max published (refer to outline drawing) Bolt hole diameter and circumferential pattern (customer specified) 152 mm (6.00 in) min (base model) 150 mm (5.90 in) to 1200 mm (47.0 in) (customer specified) Red / White / Black (base model) Other colors to be specified by customer KTY or PTC type devices (embedded in motor slot only) 17

18 Other Motion Tech Products

19 Other Motion Tech Products

unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage.

20 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. Application Centers Global Design & Manufacturing Global Manufacturing For assistance with your application needs in North America, contact us at: , support@kollmorgen.com or visit for a global contact list. Säro Stockholm Santa Barbara Tijuana Fond du Lac Marengo Boston Radford Lausanne Ratingen Brno Milan Istanbul Beijing Tianjin Seoul Shanghai Tokyo Nagoya Mumbai Hong Kong São Paulo Kollmorgen 203A West Rock Road Radford, VA USA Phone: Fax: Kollmorgen Europe GmbH Pempelfurtstraße Ratingen Germany Phone: +49 (0) Fax: +49 (0) Kollmorgen Asia China Rm 2205, Scitech Tower 22 Jianguomen Wai Street Phone: Fax: Kollmorgen Aerospace and Defense 501 West Main Street Radford, VA USA Phone: Fax:

Kollmorgen TBM(S) Motor Selection Guide

Kollmorgen TBM(S) Motor Selection Guide Sold & Serviced By: K O L L M O R G E N T B M ( S ) M O T O R S E L E C T I O N G U I D E Table of Contents u TBM Series Frameless Motor 3 u TBM(S) 60 Series Motor