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SERVODISC

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.

Unique ironless design

ROTATION

Ironcore Motor

ServoDisc Motor

A conventional ironcore motor uses a radial design


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-

ture have a current flow which is perpendlcular to


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.

In a conventional slot-wound servomotor, the armature is constructed from


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).

Outdistances other DC servos


The iron-free ServoDisc armature provides some significant
performance advantages for motion control applications.

COMPARISON OF PERFORMANCE FEATURES


+5%
ServoDisc
Motor
150

100

50

Rare Earth
Ironcore
Motor
Conventional
Ironcore
Motor

10

Percentage of Full Torque

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

The ServoDisc armature is much smaller and lighter


than bulky ironcore designs of equivalent output.

ServoDisc motors accelerate up to 10 times faster


than conventional servo motors.

The ironless ServoDisc armature has absolutely no


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.

The thin, low-inertia armature design leads to exceptional


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

Electrical Time Constant

Torque-Speed Curves

Peak Torque Capability

A very low electrical time constant results in torque


much sooner than with conventional wire-wound motors.

With full torque from 0 to full speed, ServoDisc


motors solidly outperform conventional motors.

High peak torque capability means more throughput


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

69 to 143 oz-in (36-101 N-cm) Continuous Torque


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

N-Series ServoDisc motors employ the unique Kollmorgen


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.

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

43

N-Series ServoDisc
PERFORMANCE DATA
Performance Specifications

Continous Stall Torque

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

Torque Constant 10%

Kt

Viscous Damping Constant

Kd

Armature Inductance
Temperature Coefficient of KE
Number of Cummutator Bars

L
C
Z

Peak Torque

Symbol
Tp

Rated Speed

Rated Continous Torque @ 25C

T25

Rated Continuous Torque @ 40C

T40

Rated Power Output


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

Static Friction Torque

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.

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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%.

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

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

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

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

D. The operating current can be calculated as:


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

CHAMFER .03 (0.76) x 45


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

N9M4: 0.94 (23.9)


N9M4T: 0.95 (24.1)

0.75 (19.0)

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Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

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

CHAMFER .03 (0.76) x 45


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.

N12M4: 1.06 (26.9)


N12M4T: 1.11 (28.2)

0.75 (19.0)

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

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