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KollmorgenNseries Servo Disk

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CATALOG

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

with magnets placed concentrically around the shaft

in such a way as to produce a radial magnetic field.

(Fig. 1) The armature consists of slotted steel laminations wound with coils of wire which interact with

the magnetic field to produce torque. As the motor

rotates a commutator automatically maintains the

correct current flow. A ServoDisc motor uses entirely different physical construction. The motor is designed with the magnetic field aligned axially, parallel to the shaft. (Fig. 2) The conductors in the arma-

the magnetic field (radial to the shaft). This produces

a torque perpendicular to both the magnetic field and

the current (the left-hand rule). This force rotates the

shaft. This construction approach is much more efficient than the radial design of conventional ironcore

motors and eliminates the heavy iron armature and

the electrical losses associated with it. The large

number of commutations possible with

Kollmorgens unique flat armature produce dramatically smoother torque output.

a heavy, laminated ironcore wound with

coils of wire. In a ServoDisc motor, the armature has no iron.

Instead, it is constructed from several layers of copper conductors in a unique flat-disc configuration.

Not only are the armature designs completely different, so is

the shape and internal construction. In a conventional servo,

the permanent magnets are mounted on the motor shell creating a radial magnetic field, perpendicular to the shaft (Fig. 1).

Because the magnet pairs are so far apart, the iron core of the

armature is needed to contain and focus the lines of magnetic

flux. Motors of this type are typically long, thin and heavy.

In a ServoDisc motor, the magnets are mounted on the end

plates creating an axial magnetic field, parallel to the shaft.

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).

The iron-free ServoDisc armature provides some significant

performance advantages for motion control applications.

+5%

ServoDisc

Motor

150

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

than bulky ironcore designs of equivalent output.

than conventional servo motors.

cogging at any speed of operation.

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.

torque-to-inertia ratios. This translates into blazing acceleration

(Fig. 4). A typical ServoDisc motor can accelerate from 0 to

3000 rpm in only 60 degrees of rotation. In some applications,

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

much sooner than with conventional wire-wound motors.

motors solidly outperform conventional motors.

than is available from standard servos.

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

4.37 to 5.5 OD Round Frame

Optional Tachometer and Endcoder Feedback

Ultrathin Compact Size for Easy Design

Integration

Compatible Products

KXA Plus Amplifier

EM19 Linear Amplifier

flat disc armature and high-energy neodymium-iron-boron

magnets resulting in an ultra-thin motor. The ironless, low

inertia armature delivers high acceleration and zero cogging.

43

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

Maximum Recommended Speed

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%.

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

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

I = (Shaft torque + TF + KD x N/1000)/KT.

E. The operating voltage can be calculated as:

V = KE x N/1000 + RT x I.

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

NO. 4-40 UNC-2B X .19 (4.8) DP.

2 HOLES EQUALLY SPACED ON

A 1.812 (46.0) DIA BC

.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

N9M4T: 0.95 (24.1)

0.75 (19.0)

4 PLACES REF

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

NO. 4-40 UNC-2B X .13 (3.3) DP.

2 HOLES EQUALLY SPACED ON

A 1.812 (46.0) DIA BC

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.

N12M4T: 1.11 (28.2)

0.75 (19.0)

4 PLACES REF

47

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