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KollmorgenNseries Servo Disk

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the magnets are mounted on the end plates creating an axial magnetic field.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. In a ServoDisc motor. in both incremental motion and continuous speed applications. What separates the ServoDisc motor from conventional DC servos is its ironless disc armature. In addition to performance advantages. 1) The armature consists of slotted steel laminations wound with coils of wire which interact with the magnetic field to produce torque. the permanent magnets are mounted on the motor shell creating a radial magnetic field. Torque is created when the current flowing radially through the copper conductors interacts directly with the field of the permanent magnets (Fig. In a conventional slot-wound servomotor. The ironless ServoDisc armature has absolutely no cogging at any speed of operation. 3). (Fig. separated only by the thickness of the disc armature . (Fig. This force rotates the shaft. This produces a torque perpendicular to both the magnetic field and the current (the left-hand rule). The large number of commutations possible with Kollmorgen’s unique flat armature produce dramatically smoother torque output. it is constructed from several layers of copper conductors in a unique flat-disc configuration. It’s the technology found in ServoDisc motors from Kollmorgen. Unique ironless design S N S N 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.a very clean and effective design approach. A ServoDisc motor uses entirely different physical construction. which is not attainable with conventional ironcore motor designs. ServoDisc motors have a unique compact shape that can be an attractive alternative when solving tight packaging problems. laminated ironcore wound with coils of wire. 1). 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. As we shall see. ServoDisc motors accelerate up to 10 times faster than conventional servo motors. this difference enables ServoDisc motors to deliver a level of performance. As the motor rotates a commutator automatically maintains the correct current flow. Not only are the armature designs completely different. Instead. Motors of this type are typically long. parallel to the shaft. perpendicular to the shaft (Fig. These different approaches produce dramatically different motors (Fig. In a ServoDisc motor. the iron core of the armature is needed to contain and focus the lines of magnetic flux. so is the shape and internal construction. This leads to a very small air gap be tween the magnets. there is an important motor technology which you should know about.A new dimension in performance If you are involved with high performance servomotor applications. 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 armature is constructed from a heavy. parallel to the shaft. Because the magnet pairs are so far apart. . thin and heavy. the armature has no iron. The motor is designed with the magnetic field aligned axially. In a conventional servo. 2). 2) The conductors in the arma- ture have a current flow which is perpendlcular to the magnetic field (radial to the shaft). Outdistances other DC servos The iron-free ServoDisc armature provides some significant performance advantages for motion control applications. This configuration is a very efficient way of producing torque.

ServoDisc motors solidly outperform conventional motors. The thin. . low-inertia armature design leads to exceptional torque-to-inertia ratios. This means shorter cycle times.Faster acceleration the entire move can be performed in less than 10 milliseconds. 4).0 Conventional Ironcore Motor ServoDisc 50 High Performance Ironcore Motor Conventional Ironcore Motor 500 0 0 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. This translates into blazing acceleration (Fig.5 ServoDisc Motor 0 Peak Torque 1000 Conventional Ironcore ServoDisc Motor 100 2000 1500 1. 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. High peak torque capability means more throughput than is available from standard servos.0 Continuous Torque Speed (RPM) Speed (RPM) Milliseconds 2. For incremental motion applications. more moves per second and higher throughput.5 Rare Earth Ironcore Motor 1500 1000 500 0. With full torque from 0 to full speed. this translates into higher productivity and more profitability.

Brake • 69 to 143 oz-in (36-101 N-cm) Continuous Torque • 4. New York • 1-800-77 SERVO 43 .N-Series ServoDisc INTRODUCTION • Neodymium magnet technology • Fast Acceleration for higher throughput • Extremely good speed control.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.With or without integral tachometer -. Kollmorgen Motion Technologies Group • Commack. low inertia armature delivers high acceleration and zero cogging.Save space and weight in applications requiring a low profile motor -. The ironless. zero cogging and low RFI • Long brush life • Flat ServoDisc motors are ideal for many applications: -.Large torsional stiffness for precision control of speed and acceleration • Options: -.37 to 5.Optical encoder -.

1 N-cm/KRPM 0.05 -0.7 1.4 4.90 <0.7 1.10 141 0.3 2.20 <0.0 0.78 1.8 2.80 5.20 7.10 27.05 -0.3 80.9 5.10 <0.10 9. Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter with 3db cut off at 500 Hz.00 159 14.750 0.8 µH <0.0 14.0 15.30 <0.00 83 8. 7.10 1.5 <0.50 139.1 0.3 2.6 <0.50 3.2 1. RT varies as a function of applied current.59 4.2 1.750 0.1 0.0 45.1 5.4 5.95 24.0 83. New York • 1-800-77 SERVO . 3. 44 5.40 1.03 %/°C Rise -0.90 <0.40 1.4 5.0 7.0 12.10 20.9 0.1 1.0056 0. Kollmorgen Motion Technologies Group • Commack. Unless otherwise noted.90 1.05 2.03 -0.9 0.5 4.3 51.660 V/KRPM 7.84 5. Terminal resistance is measured at 4.07 7.4 4.17 2.0 8.1 0.10 83 8.07 4.94 23.10 17. 8.7 14.6 53.17 5.0 14.10 27.8 <0.0 0.10 77 7.9 Ap Tm Te Pc kRad/s2 ms ms kW/sec 135.5 3.0 0.8 3.0 <0.7 4.27 3.0083 0.00 151 13. The operating voltage can be calculated as: V = KE x (N/1000) + RT x I.5 28.7 1.40 4.40 1. 4.1 0.180 3.0 2.0056 0.70 2.80 3.170 6.5 3.57 2.0 0.8 130.0083 0. The operating voltage can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.27 6.05 6.70 2.8 <0.610 15.59 4.70 <0.8 3. and duty cycles are achievable as long as the max armature temperature of 150°C is not exceeded.610 13.5 3.80 79 7.37 111.60 oz-in/Amp 10.07 27.40 1.20 2.5 3.34 5.27 oz-in/KRPM 1.3 8.11 494 Moment of Inertia Jm Static Friction Torque Tf Weight W Diameter D 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: 1.10 3.0 2.50 2.40 14.3 1.90 6.850 0. Bidirectional tolerance of tachometer will not exceed 3%.06 370 — — — — 3.3 2.9 5.8 7.00 1.90 1.2 3.3 7. Peak torque and current is calculated based on max pulse duration of 50 milliseconds and a 1% duty cycle.1 3.0 7.41 2.50 139. All values are based upon a 150°C armature temperature limit and with the motor mounted on an 8” x 16” x 3/8” aluminum heatsink with no forced air cooling.03 -0.03 -0.0 0.9 5.37 111.80 159 14.0 79.10 117 0.80 12.05 -0.50 139.0260 1.10 117 0.20 <0. 2.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 N Rated Continous Torque @ 25°C T25 Rated Continuous Torque @ 40°C 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 0.9 5.94 23.95 24.90 3.2 84.90 147 13.60 8.7 1.1 0.7 1.50 3.50 2.10 117 0.180 3.310 0.10 1.84 5.9 <0.07 27.0190 1.6 RAAR RAAS °C/Watt °C/Watt 1.2 1. and torques.34 5.0 8. Other voltages.9 8.60 1.7 23.90 1. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft3).660 7.90 3.05 -0.2 3.37 111.80 <0.10 141 Mechanical Specifications oz-in-sec2 kg-cm2 oz-in N-cm lbs kg in mm in mm 0.2 0.8 <0.5 3.90 — — — — 3.60 6.0 0.10 117 0.00 1.0190 1.11 494 — — — — 5.1 4.370 0.0260 1.9 0.39 1.370 0.28 2.0 0.30 N-cm/Amp 7.2 0.5 3. speeds.0 26.40 4.10 141 0.3 2.3 16.50 139.4 50.310 0. all specifications above apply at 25°C.5 4.60 10. 6.1 1.0 amps.60 4.4 5. 9.850 Ohms 0.170 7.11 370 — — — — 5.37 111.10 141 0.7 Ohms 0.4 5.

New York • 1-800-77 SERVO 45 .0 88.0 0 40 80 120 160 200 oz-in 0 28.0 N-cm .4 56.0 1000 0 0 0 40 80 120 160 200 oz-in 0 28.4 56.3 71.0 N-cm N9M4LRT E= 15.0 N-cm N9M4LR E= E= 3000 E= 2000 Shaft Torque 0 40 80 120 160 200 oz-in 0 28.N-Series ServoDisc PERFORMANCE DATA N9M4 N9M4T E= E= E= 2000 E= 24.0 E= Shaft Torque 12 .8 35.0 E = 36.2 113.4 56.8 35.0 2000 E = 24.0 88.0 3000 3000 Speed (rpm) 2000 E = 24.2 113. 0 E= 0 11.4 56. 18.0 N-cm 4000 E = 48.0 Speed (rpm) 4000 Speed (rpm) .5 53. 0 1000 E= 40 80 120 160 200 oz-in 0 28.2 113.8 85.5 53.0 0 0 4000 9.6 142.8 85.8 106.0 E = 36. Speed (rpm) 4000 0 0 25 50 75 100 125 150 oz-in 0 17.3 71.0 No cooling E= E= 2000 14.0 2000 0 Shaft Torque E= 24 3000 0 No cooling E= 0 No cooling Speed (rpm) 3000 4000 30.0 Speed (rpm) 18 N12M4T E = 48.5 N-cm Kollmorgen Motion Technologies Group • Commack.8 85.6 142.8 106.0 4000 E= 18. 0 12.0 No cooling No cooling 1000 E = 60.6 142.8 85.2 113.5 N-cm Shaft Torque 0 25 50 75 100 125 150 oz-in 0 17.0 3000 12. 0 8. No cooling 1000 Shaft Torque 30 1000 N12M4 Shaft Torque .6 142.0 1000 0 17.0 E = 60.

5 71. The motor can be operated at any point on the graph below 4000 RPM.03 (0.4995 +.0) NO.5 71.0 106.5 213. Higher speeds are possible for some applications.0 106.7) 4.11 (2.03 (31. Contact a Kollmorgen Sales Office for more details. New York • 1-800-77 SERVO .0) DIA BC .0 .812 (46.0 . The operating current can be calculated as: I = (Shaft torque + TF + KD x N/1000)/KT. LONG 45° –5° 40° –5° +. E.00 DP X . 2 HOLES EQUALLY SPACED ON A 1.8) DP.0 No cooling 0 Shaft Torque E= 12 1000 No cooling 1000 E= 17 0 0 50 100 150 200 250 300 oz-in 0 35.0 .50 LONG +. C.0 3000 E= 19 . 4-40 UNC-2B X .000 2.0 2000 .5 142.95 (24. B.625 -.0 N-cm Notes: A.03 1.17 (4. The operating voltage can be calculated as: V = KE x N/1000 + RT x I.002 DIA (66.5 142.37 (110.N-Series ServoDisc DIMENSIONS N12M4LR N12M4LRT 4000 4000 E= 31 E= 27 . 8-32NC-2B x .86) DIA B. 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. –1 IN.6-32 THRU BOLT 4 PLACES REF Kollmorgen Motion Technologies Group • Commack.19 (4.94 (23.687) (BOTH ENDS) 35° +.7) MOTOR LEADS NO.18 AWG 18 IN. 46 N9M4: 0.8) NO.0000 -.0 E= 25 E= 22 . N9M4/N9M4T DIA .76) x 45° NO.0 177.0 177.01 -.0 Speed (rpm) Speed (rpm) 3000 2000 E= 13 .5 213.0 N-cm D. Shaft Torque 0 50 100 150 200 250 300 oz-in 0 35.01 FLAT .C.32) DP 4 HOLES EQUALLY SPACED ON A 3.65 (92.9) DIA CHAMFER . All curves are drawn for a fixed armature temperature of 150°C.0005 (12.75 (19.1) 0.25 -.9) N9M4T: 0.

11 (28.1) NO.687) (BOTH ENDS) 35° +.812 (46.00 DP X .875 (123.0000 -.3) DP.500 -. New York • 1-800-77 SERVO NO.C.3) 5.03 (31.03 (0.N-Series ServoDisc PERFORMANCE DATA N12M4/N12M4T DIA .03 1. 10-32 NF-2B x .7) MOTOR LEADS NO.7) DIA CHAMFER .0) DIA BC 0.0) Kollmorgen Motion Technologies Group • Commack.25 -.32) DP 4 HOLES EQUALLY SPACED ON A 4.000 4.76) x 45° NO.6-32 THRU BOLT 4 PLACES REF 47 .13 (3.06 (26.50 (139.0005 (12.002 DIA (114. N12M4: 1. 4-40 UNC-2B X .17 (4.01 FLAT .2) 0.32 (8.18 AWG 18 IN.9) N12M4T: 1. 2 HOLES EQUALLY SPACED ON A 1. –1 IN.4995 +. LONG 45° –5° 40° –5° +.01 -.8) DIA B.50 LONG +.75 (19.

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