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ELECTROMATE
SERVODISC
CATALOG
ELECTROMATE
A new dimension in
performance
If you are involved with high performance servomotor applications, there is
an important motor technology which
you should know about. Its the technology found in ServoDisc motors from
Kollmorgen.
What separates the ServoDisc motor
from conventional DC servos is its ironless disc armature. As we shall see, this
difference enables ServoDisc motors to
deliver a level of performance, in both
incremental motion and continuous speed
applications, which is not attainable with
conventional ironcore motor designs.
In addition to performance advantages, ServoDisc motors have a unique
compact shape that can be an attractive
alternative when solving tight packaging problems.
ROTATION
Ironcore Motor
ServoDisc Motor
This leads to a very small air gap be tween the magnets, separated only by the thickness of the disc armature - a very clean
and effective design approach. Torque is created when the current flowing radially through the copper conductors interacts
directly with the field of the permanent magnets (Fig. 2). This
configuration is a very efficient way of producing torque.
These different approaches produce dramatically different
motors (Fig. 3).
100
50
Rare Earth
Ironcore
Motor
Conventional
Ironcore
Motor
10
Radians/sec2 (Thousands)
200
+4%
Low cogging
Ironcore +1.5%
+3%
+2%
ServoDisc
"0" cogging
+1%
0
-1%
-2%
-3%
-4%
Conventional
Ironcore + 4%
-5%
Size
Acceleration
Cogging
ELECTROMATE
Faster acceleration
the entire move can be performed in less than 10 milliseconds.
This means shorter cycle times, more moves per second and
higher throughput. For incremental motion applications, this
translates into higher productivity and more profitability.
3000
3000
2500
2500
2000
1.5
Rare Earth
Ironcore
Motor
1500
1000
500
0.5
ServoDisc
Motor
0
Peak Torque
1000
Conventional
Ironcore
ServoDisc
Motor
100
2000
1500
1.0
Continuous Torque
Speed (RPM)
Speed (RPM)
Milliseconds
2.0
Conventional
Ironcore
Motor
ServoDisc
50
High
Performance
Ironcore
Motor
Conventional
Ironcore
Motor
500
50 100 150
Torque (oz-in) (7A)
50 100 150
Torque (oz-in) (7A)
10
Torque-Speed Curves
ELECTROMATE
N-Series ServoDisc
INTRODUCTION
Neodymium magnet technology
Fast Acceleration for higher throughput
Extremely good speed control, zero cogging and low RFI
Long brush life
Flat ServoDisc motors are ideal for many applications:
-- Save space and weight in applications requiring a low
profile motor
-- Large torsional stiffness for precision control of speed
and acceleration
Options:
-- With or without integral tachometer
-- Optical encoder
-- Brake
Compatible Products
KXA Plus Amplifier
EM19 Linear Amplifier
43
ELECTROMATE
N-Series ServoDisc
PERFORMANCE DATA
Performance Specifications
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Electrical Specifications
Rated Terminal Voltage
Rated Continuous Current
Peak Current
Continuous Stall Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
Winding Specifications
Terminal Resistance 10%
Armature Resistance 10%
Back EMF Constant 10%
Rt
Ra
Ke
Kt
Kd
Armature Inductance
Temperature Coefficient of KE
Number of Cummutator Bars
L
C
Z
Peak Torque
Symbol
Tp
Rated Speed
T25
T40
P
Nmax
N9M4
760
537
3000
69
49
63
44
153
6000
69
49
0
N9M4T
692
489
3000
57
40
52
37
126
6000
62
44
0
N9M4LR
729
515
3000
63
44
57
40
140
6000
62
44
0
N9M4LRT
663
468
3000
51
36
46
32
114
6000
56
40
0
N12M4
1598
1128
3000
143
101
131
93
316
6000
147
104
0
N12M4T
1386
979
3000
126
89
112
79
278
6000
128
90
0
N12M4LR N12M4LRT
1522
1320
1075
932
3000
3000
131
115
93
81
117
103
83
73
291
256
6000
6000
136
117
96
83
0
0
30.0
7.80
79
7.5
28.0
7.10
77
7.3
16.0
14.00
151
13.7
14.0
12.90
147
13.3
51.0
8.00
83
8.0
45.0
8.10
83
8.0
26.0
14.80
159
14.7
23.0
15.00
159
14.7
Ohms
0.850
Ohms
0.660
V/KRPM
7.60
oz-in/Amp 10.30
N-cm/Amp
7.27
oz-in/KRPM
1.1
N-cm/KRPM 0.8
H
<0.03
%/C Rise
-0.10
117
0.850
0.660
7.10
9.60
6.78
1.1
0.8
<0.03
-0.10
117
0.370
0.180
3.80
5.10
3.60
1.1
0.8
<0.03
-0.10
117
0.370
0.180
3.60
4.80
3.39
1.1
0.8
<0.03
-0.10
117
0.750
0.610
15.10
20.40
14.41
2.8
2.0
<0.05
-0.10
141
0.750
0.610
13.10
17.80
12.57
2.3
1.6
<0.05
-0.10
141
0.310
0.170
7.60
10.20
7.20
2.7
1.9
<0.05
-0.10
141
0.310
0.170
6.60
8.90
6.28
2.2
1.5
<0.05
-0.10
141
Mechanical Specifications
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.0056
0.40
4.0
2.8
3.1
1.4
4.37
111.0
0.94
23.9
0.0083
0.59
4.5
3.2
3.2
1.5
4.37
111.0
0.95
24.1
0.0056
0.40
4.0
2.8
3.1
1.4
4.37
111.0
0.94
23.9
0.0083
0.59
4.5
3.2
3.2
1.5
4.37
111.0
0.95
24.1
0.0190
1.34
5.5
3.9
5.3
2.4
5.50
139.7
1.07
27.2
0.0260
1.84
5.5
3.9
5.3
2.4
5.50
139.7
1.10
27.9
0.0190
1.34
5.5
3.9
5.3
2.4
5.50
139.7
1.07
27.2
0.0260
1.84
5.5
3.9
5.3
2.4
5.50
139.7
1.10
27.9
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
135.7
4.90
<0.05
6.0
83.3
8.30
<0.05
2.8
130.1
5.20
<0.17
5.0
79.9
8.80
<0.17
2.2
84.1
3.90
<0.07
7.6
53.3
7.10
<0.07
4.3
80.1
4.20
<0.27
6.4
50.8
7.70
<0.27
3.6
RAAR
RAAS
C/Watt
C/Watt
1.50
2.00
1.70
2.10
1.50
2.00
1.70
2.10
1.40
1.90
1.40
1.90
1.40
1.90
1.40
1.90
3.50
3.0
0.06
370
3.50
3.0
0.11
370
5.90
3.0
0.11
494
5.90
3.0
0.11
494
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Mechanical Time Constant
Electrical Time Constant
Continuous Power Rate
Thermal Specifications
Thermal Resistance at Rated Speed
Thermal Resistance at Stall
Tachometer Specifications
Output Voltage
Maximum Ripple Peak to Peak
Linearity of Output Voltage
Minimum Load Resistance
V Volts/KRPM
Vrh
%
LIN
%
Rl
Ohms
Notes:
1. All values are based upon a 150C armature temperature limit and with the motor
mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other
voltages, speeds, and torques, and duty cycles are achievable as long as the max
armature temperature of 150C is not exceeded.
2. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft3).
3. Terminal resistance is measured at 4.0 amps. RT varies as a function of applied current.
4. Unless otherwise noted, all specifications above apply at 25C.
44
5. Peak torque and current is calculated based on max pulse duration of 50 milliseconds and
a 1% duty cycle.
6. The operating voltage can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.
7. The operating voltage can be calculated as: V = KE x (N/1000) + RT x I.
8. Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter
with 3db cut off at 500 Hz.
9. Bidirectional tolerance of tachometer will not exceed 3%.
ELECTROMATE
N-Series ServoDisc
PERFORMANCE DATA
N9M4
N9M4T
E=
E=
E=
2000
E=
24.
18.
12.
1000
E=
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
.0
E=
Shaft
Torque
12
.0
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
4000
E = 48.0
E = 60.0
3000
3000
Speed (rpm)
2000
E = 24.0
2000
E = 24.0
No cooling
No cooling
1000
E = 60.0
E = 36.0
E = 36.0
Speed (rpm)
18
N12M4T
E = 48.0
1000
0
0
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
N9M4LR
E=
E=
3000
E=
2000
Shaft
Torque
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
N9M4LRT
E=
15.0
4000
E=
18.0
3000
12.0
Speed (rpm)
4000
Speed (rpm)
.0
0
0
4000
9.0
No cooling
E=
E=
2000
14.
E=
11.
8.0
1000
17.
No cooling
1000
Shaft
Torque
30
1000
N12M4
Shaft
Torque
.0
2000
0
Shaft
Torque
E=
24
3000
No cooling
E=
No cooling
Speed (rpm)
3000
4000
30.
Speed (rpm)
4000
0
0
25
50
75
100
125
150 oz-in
17.8
35.5
53.3
71.0
88.8
106.5 N-cm
Shaft
Torque
25
50
75
100
125
150 oz-in
17.8
35.5
53.3
71.0
88.8
106.5 N-cm
45
ELECTROMATE
N-Series ServoDisc
DIMENSIONS
N12M4LR
N12M4LRT
4000
4000
E= 31
E= 27
.0
.0
E= 25
E= 22
.0
.0
3000
E= 19
.0
Speed (rpm)
Speed (rpm)
3000
2000
E= 13
.0
.0
2000
.0
No cooling
0
Shaft
Torque
E= 12
1000
No cooling
1000
E= 17
0
0
50
100
150
200
250
300 oz-in
35.5
71.0
106.5
142.0
177.5
213.0 N-cm
Notes:
A. All curves are drawn for a fixed armature temperature of 150C.
B. The motor can be operated at any point on the graph below 4000 RPM.
Higher speeds are possible for some applications. Contact a Kollmorgen
Sales Office for more details.
C. Determine voltage required for a desired combination of speed and
torque by estimating it as a line parallel to one of the constant
terminal voltage (E) lines.
Shaft
Torque
50
100
150
200
250
300 oz-in
35.5
71.0
106.5
142.0
177.5
213.0 N-cm
N9M4/N9M4T
DIA
.4995 +.0000
-.0005
(12.687)
(BOTH ENDS)
35
+.03
1.25 -.03
(31.7)
MOTOR LEADS
NO.18 AWG 18 IN. 1 IN. LONG
45 5
40 5
+.01
FLAT .01 -.00 DP
X .50 LONG
+.000
2.625 -.002 DIA
(66.7)
4.37 (110.9)
DIA
.11 (2.8)
NO. 8-32NC-2B x .17 (4.32) DP
4 HOLES EQUALLY SPACED ON A
3.65 (92.86) DIA B.C.
46
0.75 (19.0)
ELECTROMATE
N-Series ServoDisc
PERFORMANCE DATA
N12M4/N12M4T
DIA
.4995 +.0000
-.0005
(12.687)
(BOTH ENDS)
35
+.03
1.25 -.03
(31.7)
MOTOR LEADS
NO.18 AWG 18 IN. 1 IN. LONG
45 5
40 5
+.01
FLAT .01 -.00 DP
X .50 LONG
+.000
4.500 -.002 DIA
(114.3)
5.50 (139.7)
DIA
0.32 (8.1)
NO. 10-32 NF-2B x .17 (4.32) DP
4 HOLES EQUALLY SPACED ON A
4.875 (123.8) DIA B.C.
0.75 (19.0)
47