Torque Motors

Innovative Motion Control

ABOUT ETEL TORQUE MOTORS

Over the last 30 years, direct drive torque motors have provided significant performance What is a torque motor?
improvements in numerous applications covering a wide range of high-tech industries. Today,
Torque motors are a special class of brushless permanent-magnet synchronous motors. Since
direct drive technology is recognized as a leading solution towards meeting the requirements of
the payload is directly connected to the rotor without the use of transmission elements, torque
high productivity, improved accuracy, and increased dynamics of modern machinery.
motors are classified as direct drives.

Direct drive essentially means the load and motor are directly connected without any
Depending on your perspective, a torque motor is either a rolled-up linear motor or a classic
intermediate gear train. Significant improvement to stiffness and a more compact solution
servodrive with a large number of poles. It is the large number of poles that enables conventional
are among the benefits of this technology. In addition to providing high dynamic performance,
torque motors to attain high torque at moderate speeds. Another attractive feature is their
torque motors reduce cost of ownership, simplify the design of the machine and eliminate wear
compact design which includes a narrow lamination stack and a large hollow shaft or bore.
and maintenance.
As with linear motors, torque motors are a type of “frameless” motor. This means that the
Since its founding in 1974, ETEL has been exclusively dedicated to the development of direct
motor does not include a housing, bearings, or feedback device. These components can be
drive technology. Through numerous innovations and patented designs, ETEL continues to
selected by the machine builder and optimized according to the required performance, or
provide unmatched torque efficiency for the most optimized designs.
purchased as part of an assembly.

Torque motors produce high torque at moderate speeds and even when stationary. Contrary
to traditional drives, the sizing and selection of a torque motor is purely based on torque,
not power. Fundamentally, the peak torque determines the maximum torque that the motor
Torque motor advantages physically produces and the continuous torque defines the amount of torque the motor can
Key benefits inherent to the adoption of torque motor techno­logy include: continuously supply. The duty cycle of the application will define the dependency on peak or
Water cooling channel
continuous torque.
• High dynamics Cables output
• High accuracy
• Optimal speed control Rotor ring
• Very compact design
• Outstanding MTBF Magnets Stator
• Low maintenance
Windings
These advantages are further explained in the following pages.

O-ring sealings

INDUSTRY SECTORS
Below are some examples of industry sectors where torque motors are successfully used, providing our customers in these areas with a distinct competitive advantage.

Machining Finishing / grinding Tables / milling heads Stamping / laser cutting Electronics Semiconductor Packaging Printing / scanning Telescopes Robotics

2 | Torque Motors Torque Motors | 3

 Innovative Motion Control

WHY ADOPT TORQUE MOTORS? WHY CHOOSE ETEL?

Reduced cost of ownership Technology expertise
Direct coupling of the payload to the rotor eliminates the need for mechanical transmission Direct drive ETEL’s know-how in ironcore design provides the industry’s most efficient direct drive
elements such as gearboxes, timing belts, speed reducers and worm gear drives. And unlike torque motors.
brushed rotary motors, there is no contact between rotor and stator; therefore there is no
mechanical wear resulting in excellent reliability and long lifetimes. Fewer mechanical parts also
minimizes maintenance and reduces the system cost. The direct drive technology intrinsic to a Unmatched performance
torque motor system results in an efficient and effective gearless assembly.
ETEL’s design is well known in the worldwide direct drive market as a high performance product.
For many years, the most high-end applications in the field have been driven by ETEL’s motors.
A continuous development effort maintains ETEL’s leading position in the market.
Easy integration
ETEL’s torque motors are available in a wide range of sizes and can be easily adapted to
most applications. ETEL’s unmatched standard product offering includes motors with external Direct drive expertise
diameters from 140 mm to 1290 mm. The use of magnets and limited air gap results in a
ETEL has been working strictly on direct drive technologies for more than 35 years. In addition
large hollow shaft or bore for easy integration of cables, cooling tubes, or other application
to the motor technology know-how, through the years, ETEL has developed valuable knowledge
related equipment. The ring-like configuration of a torque motor minimizes the volume required
about motion control by developing control electronics and fully integrated motion systems. Our
for mounting. This gives the machine designer great flexibility in locating the motor to work with
deep understanding of the overall motion system helps us find the appropriate solution for our
bearings, feedback devices, and payload.
Gear train Worm gear
customers’ needs.

Dynamic performance High quality

Dynamic performance is drastically improved by using direct drive due to the very high control
High product quality is guaranteed by ETEL’s use of modern development tools and thorough
loop bandwidth that can be achieved on the overall system. The direct coupling of the load and
qualification procedures. All ETEL motors are manufactured in Switzerland according to highest
position feedback to the motor has the advantage of eliminating all phenomena that limit the
quality standards.
dynamic performance on non direct driven machines. Eliminating long-time drift, elasticity, and
backlash is a huge advantage for machine performance and lifetime.
Ease of integration
Torque motor applications have a wide range of dynamic performance requirements. Depending Timing belt Reducer

on the specifics of a system’s duty cycle, the peak torque, continuous torque, or both will drive Compatibility of ETEL’s torque motors with a wide range of control electronics results in easy
the selection of a motor. An application with a light duty cycle that requires high peak torque Torque
Torque [Nm] integration of a direct drive solution.
for a short period of time will typically utilize an air cooled motor like ETEL’s TML and TMM 9000
9000

series. As the continuous torque requirement increases so will the temperature of the motor.
The integrated liquid-cooling capability of the ETEL TMB+ and TMK motors provides an efficient 8000
8000 Product range
Tc, TMB+0760-100 noFW
means of temperature control ensuring high dynamic performance that can be maintained even With standard motors from 140 to 1290 mm in diameter and 38 to 42900 Nm of peak torque,
7000
7000 Tp, TMB+0760-100 noFW
for the most demanding applications. ETEL offers the largest ­selection of torque motors on the market.
Tc, TMB+0760-100 FW
6000
6000
Tp, TMB+0760-100 FW The majority of ETEL torque motors can be ordered with or without water cooling channels.
Wide torque-speed range 5000
5000 Tc, TMK0761-100 Furthermore, different winding types are available to best fit our customers’ applications.
Direct drive torque motors deliver high torque over a wide range of speed, from a standstill or Tp, TMK0761-100
4000
4000
low speed condition to high angular velocities. While torque motors can achieve high velocities
(up to 5450 rpm), there is a trade-off in torque as the motor becomes limited by speed
3000
3000
dependent losses increase. The performance of a torque motor over its velocity range is
illustrated in its torque/speed curve. An example is shown opposite. 2000
2000

The torque motor is part of a complete direct drive solution which includes a position controller. 1000
1000

High-end digital controllers like the ETEL position controllers, which have been designed
specifically for direct drive applications provide excellent control loop quality ensuring optimum 00
00 100
100 200
200 300
300 400
400 500
500 600
600 700
700 800
800
stiffness, smooth motion, and excellent velocity control with low torque ripple.
Speed
Speed [rpm]
[rpm]

4 | Torque Motors Torque Motors | 5

 Innovative Motion Control

TORQUE MOTORS
ETEL offers the most comprehensive standard torque motor range in the industry. With more Torque motors range
than 100 models to choose from, almost any requirement can be successfully fulfilled. ETEL also
ETEL offers the most comprehensive standard torque motor range in the industry. With more
excels in developing custom motors to meet a specific application need.
than 100 models to choose from, almost any requirement can be successfully fulfilled.

The TM series of ETEL are the industry’s most popular ironcore frameless torque motors.
Powerful magnets are used to maximize torque and acceleration while minimizing the size of Continuous torque [Nm]
the motor. The performance of ETEL’s torque motors has been further increased by the use of 30000
“buried magnet” technology on the latest TMK family. 1221-200
0991-150
10000 0990-150
The TMB+ motor series is today’s industry preferred torque motor solution. This renowned
family is designed with a precision stator and has been optimized to achieve very high continuous 0760-100 0761-100
torque while minimizing the dissipated heat when liquid cooling is used. For more demanding
applications, the TMK family can achieve more torque and significantly faster speeds than TMB+ 0530-100 0530-100

motors thanks to its unique rotor design. In addition, the TML family can be used to reach 0450-100
1000 0360-070
high performance at a lower price in less demanding applications. All families of torque motors
0360-070
benefit from ETEL’s know-how in ironcore design that provides unmatched torque efficiency and
0291-050
low torque ripple. 0291-050
0210-050

100
0175-050
CHARACTERISTICS TYPE HIGHLIGHTS APPLICATIONS
0175-050

0140-030
• External diameter up to 1290 mm • More than 60 standard sizes available
• Large hollow shaft up to 1070 mm • 600 VDC bus voltage 10
• Active length up to 200 mm • Very high continuous torque 100 1000 10000
TMB+
PERMANENT MAGNETS SYNCHRONOUS TORQUE MOTORS

• Peak torque up to 42900 Nm • Very high peak torque

TMB+ Series TMB+TMK Series
CONVENTIONAL TORQUE MOTORS

Series TMK Series Maximum speed [rpm]

• Maximum rated speed up to 4590 rpm
• Four different windings per diameter
• Open or closed cooling variants
• Flux weakening compliant
• Low torque ripple
• Designed for the most demanding applications
• High speed milling / turning tables
• High precision machining centers
• Grinding / finishing machines
• Boring / drilling / tapping machines
Milling heads
TMB+ closed cooling
•

• External diameter up to 581 mm
• Large hollow shaft up to 420 mm
• Peak torque up to 4990 Nm
• Maximum rated speed up to 2600 rpm
• No liquid cooling option
• Cageless motor
HIGH SPEED TORQUE MOTORS
• Transfer lines
• EDM All TMB+ variants are available with an optional cooling
• Two fixing methods (TML and TMM)
• Laser / ultrasonic cutting machines jacket. It consist of a precisely mounted metal jacket that
• 600 VDC bus voltage
TML • Stamping machines ensures water tightness and guarantee the same motor
• Very high peak torque
TMM • Lathes
• Low torque ripple performance as with the conventional “open cooling”
• Indexing tables
• Light weight mounting. There are two different cooling jacket types to
• Electronic chip testing equipment
fit any machine design: radial or axial water inlet / outlet.
• Pick-and-place machinery
• High-end printing / scanning machines
• Packaging equipment This new cooling concept
Powerful high speed ironcore torque motor brings the known added

• External diameter up to 1050 mm
• Large hollow shaft up to 800 mm
• Peak torque up to 20800 Nm
• Maximum rated speed up to 5450 rpm
• Liquid cooling channels
• • Handling equipment
• TMK stator (up to Ø530 mm) compatible with the
mechanical interface of the TMB+ series
• 600 VDC bus voltage
TMK • Continuous torque increased by up to 30% vs TMB+
• Very high peak torque
• Up to 5 times speed increase vs TMB+
• Flux weakening compliant
• Low torque ripple
• Composite materials manufacturing value of direct drive TMB + axial closed cooling
• Telescopes torque motors to more
applications with minimal efforts and within a more compact
space allowing a shorter time to market and lower costs.
The easy “wall mounting” of the TMB+ with cooling jacket will
ease the replacement of conventional servo drives and thus
TMB + radial closed cooling increase the performance of your motion axes.

6 | Torque Motors Torque Motors | 7

 Innovative Motion Control

DIRECT DRIVE SOLUTION

To achieve optimum performance from a direct drive motor, it must be built to the necessary ETEL experience with the test equipment for MEMS Sensors applications
standards of precision and stiffness as part of a complete direct drive solution. In addition to
ETEL is present in most of the critical stages of Integrated Circuit manufacturing processes. An
the motor, the main key components of a direct drive system are the controllers, encoders,
interesting development of the IC is Micro Electro-Mechanical Systems (MEMS). MEMS devices
bearings and machine structure.
are typically miniature IC devices that consist of a central processing unit and mechanical
components that interact with the surroundings. MEMS devices generally range in size from 20
micrometers to a millimeter (0.02 to 1.0 mm). Examples of MEMS devices include microphones,
Controllers accelerometers, gyroscopes and pressure sensors.
The best torque motor performance is achieved when integrated with a fully digital controller
with extremely high bandwidth capability like the ETEL AccurET position controllers family.

In a direct drive system, the controller can benefit from a very precise position feedback due to
the fact that there is no transmission in between the feedback device and the load. Because of
this high quality feedback signal, a high-end controller (such as ETEL’s AccurET) can compute
advanced control algorithms at a very high frequency. Ultimately, the precision and the dynamics
of the axis are drastically increased.

Some key factors to be taken into account when selecting a controller are listed below:
ETEL’s AccurET/UltimET controller family is specially designed for a variety electronics and
semiconductor related applications, where extremely high precision is needed without any
• High frequency control loops (current, speed, and position loops).
compromise on throughput. They can provide:
• High current and position loop bandwidths (typically >2 kHz and >100 Hz respectively). For more
• High encoder interpolation factor to ensure adequate speed and position resolution. information,
• High position accuracy refer to our
• Advanced control algorithms (PID with feed-forward, state space regulators, observers, Motion
• Close to zero settling time
notch filters, etc). Control
• High dynamics catalog.
• Advanced features: ability to compensate for cogging torque, stick slip, and other system
• Multi-axis interpolation
repeatable phenomena. Test equipment for MEMS Sensors with integration of 2 torque motors
• Real-time communication bus
• And much more...
ETEL’s torque motors have been successfully integrated with most major brands of servo
controllers and CNC including: HEIDENHAIN, Siemens, Fanuc, Bosch, B&R, Kollmorgen, and Num.

Encoders In addition to the standard inspection of ICs such as visual and electronic testing, MEMS devices
Direct drives place rigorous demands on position-signal quality. Optimum measuring signals also require a stimulus of the mechanical component(s) with extra consideration required when
increase the quality of the machined workpiece surface, reduce vibration in the machine frame, handling due to the fragile nature of the mechanical parts and the positional accuracy of the
stop excessive noise exposure from velocity-dependent motor sounds, and prevent additional motors which must be greater than the accuracy tolerance of the components.
heat generation in the motor.
ETEL provides the best suited direct drive motors and controls that fulfill highly demanding
Generally, ETEL recommends the use of encoders with optical scanning methods that provide MEMS stimulus unit applications helping our customers reach outstanding levels of machine
benefits in the accuracy, speed stability, and thermal behavior of direct drive axes. Since there performance with ETEL products such as:
is no mechanical transmission between the encoder and the feed unit, the position encoder must
have a correspondingly high resolution for precise velocity control at slow traversing speed. • Torque motors and controllers that generate accurate reference motion profiles (constant
speed / sine profile) for MEMS calibration.
A rough estimate to achieve good • Torque motors and rotary tables that provide high speed indexing of components for optical
performance is 100 lines per pole. To testing.
achieve very high accuracy this value • Linear motors and controllers that allow monitoring and control of acceleration for pick and
must be increased. Very high speed place of extremely fragile MEMS devices.
applications may require a lower • Linear motors that generate high accelerations of up to 25 g for shock and high-g testing.
line count to limit signal frequency.
When combined with the interpolation By using ETEL direct drive motors and controllers that are providing the most advanced
capability of the electronics, resolutions features currently available on the motion control market, our customers can reach extreme
Pictures courtesy of Dr J. HEIDENHAIN GmbH
of less than 1 arcsec can be achieved. Picture courtesy of Dr J. HEIDENHAIN GmbH precision levels without compromise of the machine throughput.

8 | Torque Motors Torque Motors | 9

 Innovative Motion Control

TORQUE MOTOR SELECTION

Many factors must be taken into consideration when choosing a torque motor to ensure Motor constant
outstanding system performance. This brochure provides a basic overview of some of the key
The motor constant, Km, is one of the key parameters for comparing permanent magnet
selection factors that should be taken into account when choosing a torque motor. For detailed
synchronous motors. It shows the relationship between torque produced and resulting power
Standard

TORQUE MOTOR TMK0991-150

calculation and sizing information, please refer to the ETEL torque motors integration manual, 3UPN
losses. A motor with a higher value of Km is a more efficient generator of torque.
Winding codes

PERFORMANCE UNIT FREE AIR CONVECTION WATER COOLING

CONVENTIONAL TORQUE MOTOR TMB+0140-150
or ask an ETEL application and support engineer for assistance. Tp
Tc
Ts
Peak torque
Continuous torque
Stall torque
Nm
Nm
Nm
19900
4940
3790
19900
10900
8770
nr Rated speed
Winding codes RA rpm TA 78.1 SB UB 50.2
MOTOR PERFORMANCE
nm Maximum speed at 600 V UNIT rpm
WATER COOLING WATER COOLING
Standard 90.7 COOLING
WATER WATER COOLING 90.7

Km is determined by the design and construction of the motor. This parameter is related to the
Tp Peak torque Kt Torque constant Nm 199Nm/Arms 198
75 4 198
75.4 198
75 4
75.4
Ti
TORQUE
Ku Back EMF cMOTOR
Intermittent torque onstant (*) Nm Vrms/(rad/sTMM0175-070
166 ) 163 43.6 164 158 43.6
Tc Continuous torque Km Motor constant Nm 121 Nm/√W 118 107 119 114 107
Ts Standstill torque R20 Electrical resistance at 20°C (*)
Nm 96.2 Ohm 94.0 0.333 94.6 89.9 0.333
Winding codes 3TAN 3UBS

internal design of the motor (copper filling factor, electromagnetic design, etc). Therefore, it is
L1 Electrical inductance (*) 13.2 mH
4.03 4.01
PERFORMANCEIp Peak current UNIT
Peak cFREE
urrentAIR CONVECTIONArms
Arms
(with glued stator)
22.2
FREE AIR CONVECTION (with glued stator)
34.4 60.9

Motor sizing
Ii Ip
Intermittent current 10.3 Arms 16.9 579 26.4 44.0 579
Tp Peak torque Ic Continuous currentIcm Continuous current
N 158 Arms 6.52 Arms 158 10.7 67.7 16.7 27.8 168
Tc Continuous torque Is Ism Stall current
Standstill currentN 32.4 Arms 4.94 Arms 32.88.09 51.3 12.6 21.1 128

a better indicator of motor performance than the torque constant, Kt (Nm/Arms), which relates
Ts Stall torque Pc
Nm Max. continuous power dissipation
24.5 W 24.8 3270 20300
ns Rated low speed rpm 0.90 0.91 0.91 0.94
Kt Torque constant nm Maximum speedNmwithout
/Arms flux weakening 8.35 rpm 315 3.38 531 824 1460
Standard
Ku Back EMF constant (*) nm,FW Maximum speed Vrmswith
/(radflux
/s) weakening 4.83 rpm 719 1.951040 1460 2300
M t TORQUE
SPECIFICATIONS UNIT
K
Km Motor constant
t t MOTORτon,p N /√W
Nm/√W
Maximum ON time for peak cycle TML0360-050 2 48 s
2.48 5.74 2 515.74
2.51 5.74 6.68

The first step in a torque motor sizing is to define the torque and speed requirements for the R20
L1
Ip
Electrical resistance at 20°C (*)
Electrical inductance (*)
Winding codes
Peak current
τon,i
Pp 3VAN
Pi
Maximum ON time Ohm
Udc
m@
Power dissipation th
ARth
Power dissipation rm
put voltage 7.56 s
Nominal incycle
for intermittent
H Ip Thermal time constant 51.8 W
@sIi Thermal resistance
3XBS
27.1 W
2.44 VDC
8290 s
6590 K/W
1.212.16
8.47
8710
66.96520
600 2.45
5130 8560
0.03366510
2.17
9520
6360
600
186
0.00530
torque output to the supplied current. In ETEL motors, Kt can be easily adjusted by changing
PERFORMANCE Ic ContinUNIT
uous current FREE AIR CONVECTION
Pc A2p
Power dissipation rm FREE AIR CONVECTION
@sIc Number of poles 4.13 W 2640 - 10.32610 176 2600 2540 176

application. The torque required for each move within the cycle can then be used to determine 3.13 7.83
the winding type. Kt is useful for matching a motor to a servo amplifier, but it does not provide
2
Is Stall current AJrms Rotor inertia
Tp Peak torque Nm Td 70Max.
7 detent torque (average to peak) 707 Nm 0.98 kg.m 0.98 38.2 0.98 0.98 38.2
Pc Max. continuous power dissipation W
Mr Rotor mass 274 kg 274 206 206
Tc Continuous torque Nm 161 164
Ts Stall torque Nm 123 Ms Stator mass 125 kg 292 292
MOTOR Td SETTING Max. detent torque
UNIT
42 42
9.6(average to peak) Nm

the continuous torque. When calculating the continuous torque it is important to consider information about the motor’s efficiency.
Kt Torque constant Nm/Arms 29.7 4
SPECIFICATIONS Kt
UNIT
Torque constant ns Stall speed 21.9 rpm
Nm/Arms 13.0 4.73 0.0013 8.39 0.037
Ku Back EMF constant (*) Vrms/(rad/s) 17.1 5.57
Ku Back EMF constant w (*) 12.6 K
Vrms/(rad/s) 7.47 2.72 N/A 4.81 10
K
Km M t constant
Motor t t Udc NomNm/√W
Nina/√W
l input voltage 9 51
9.51 VDC Water temperature difference
9 68
9.68 600 for Pc 600
3.28
th ThermOhmal time constant
Km Motor constant
qws Minimum water flow
0.66for
0 1850w
Nm/√W
l/min 1840
3.20 3.07
N/A 3.23 29
R20 Electrical resistance at 20°C (*) R20 6.4Electrical
8 resistance at 20°C (*) Ohm29.8 11.0 1.58 4.50
pw Max. pressure dro4p.8a2t q0.385
w bar N/A 3.0

all factors such as friction, machining torque, static force due to an offset load, and external
L1 Electrical inductance (*) Rth Thermm alHresistance
Ld/Lq 45.6
Electrical inductance (*) K/W mH 234 / 201 0.385
82.4 / 71.4 34.2 / 29.6 10.9 / 9.62
Ip Peak current 2p NumbAerrmosf poles Isc .9 Standard
37Maximum - current
short-circuit 117 22 Arms 5.65 22 9.51 14.8 26.1
2
Ic Continuous current J RotorAinertia
rms 3 speed kg.m
5.5Base 17.3 0.00636rpm 0.00636
TORQUE MOTOR TMK0991-150
nb
4.1Base
Notes:
9 speed at intermittent
(*) terminal to terminal. 175 Ambient 419temperature = 20 °C.713 Max. coil temperature =1360
130 °C. Inlet water temperature = 20 °C.
Is Stall current Mr RotorAmrmass nb,i kg duty cycle and13tolerances
Hypothesis .1 2.33 arerpmin ETEL's Handbook.38.9 2.33 316
Stator 613 of 1.80 m² and rotor1220
connected to a total surface to a total surface of 0.580 m².

perturbations.
Pc Max. continuous power dissipation Ms Stator m Wass nb,p 41Base 3 speed at peak Any use of the 4motor
kg duty cycle
Caution: 13 beyond
7.10 rpm lead to hazardous7.13
42.4
speed/torque limit could voltage
200 and serious injuries.399Customer is responsible790
for setting safeties/limitations that will
Winding codes Td Max. detent3UPN
torque (average tonnpeak) Rated speed Nm keep the motor in its safe
1.3operating area. ETEL cannot be held responsible
1.3 if369
the motor is used in an improper way.
rpm 119 651 1280
ns Stall speed Tn COOLING Rated torque rpm 0.030 Nm 110 0.03068.9 54.8 36.3
PERFORMANCE UNIT FREE AIR CONVECTION WATER

Thermal considerations
SPECIFICATIONS UNIT In Rated current Arms 6.02 5.96 7.45 9.05
Tp Peak torque Nm 19900 τth 1990600Thermal
0 time constant Torque6=00f(speed)sfor 3UPN 60.3 59.6 59.7 58.3
Udc Nominal input voltage Notes:
VDC
Tc Continuous torque Nm 4940 (*) terminal to terminal. Rth10900 Thermal resistance Ambient temperature = 20 °C.K/W Max. coil temperature = 130 °C.
0.0365 0.0367 0.0369 0.0374
th Thermal time constant s
Hypothesis and tolerances are 2820Handbook. 2820
Ts Stall torque Nm 3790 2pin8ETEL's
770 Number of poles 20000 Stator connected to a total surface
- of 0.12 m² and rotor22to a total surface of 0.049
22 m² 22 22
Rth Thermal resistance C ti
Caution: AK/W
Any use off th
the motor d/f0.239lilimitit could
t bbeyondd speed/force ld lleadd tto hhazardous
d voltage
lt 0.239
andd serious
i iinjuries.
j i C Customer
t iis responsible
ibl ffor setting
0.00506
tti safeties/limitations
f ti /li it ti th
thatt will
ill
nr Rated speed rpm 78.1 J 50.2 Rotor inertia 18000 kg·m² 0.00506 0.00506 0.00506 Peak torque
keep the motor in its safe operating area. ETEL cannot be held responsible if the motor66 is used in an improper way.
2p Number of poles - mr 90.766 Rotor mass 16000 kg 3.61 3.61 3.61 3.61

Power dissipation of the motor is estimated calculating the continuous torque. The amount
nm Maximum speed at 600 V rpm 90.7 2 Tp @ 600 VDC
J Rotor inertia kg.m ms 0.109
Stator mass 14000 0.109 kg 15.1 15.1 15.1 14.9
Kt Torque constant Nm/Arms 75 4
75.4 75 4
75.4

Like all servo motors, torque motors generate heat in operation. In order to reduce thermal

Torque [[Nm]
Mr Rotor mass kg 5.50 12000 5.50
Ku Back EMF constant (*) Vrms/(rad/s) 43.6 43.6
Ms Stator mass kg Force = f(speed) for 3TAN 14.2 Force 14.2
= f(speed) for 3UBS Continuous torque
Km Motor constant Nm/√W 107 107 MOTOR ENVIRONMENT 10000 UNIT
Td Max. detent torque (average to peak) Nm 4.4 4.4 Free air convection:

of heat produced by motor power dissipation will determine the temperature increase of the
Udc0.333 Nominal DC bus voltage160
8000
R20 Electrical resistance at 20°C (*) Ohm 0.333 160 VDC 600 600 600 600
ns Stall speed rpm 0.0065 0.0065 Tc @ 600 VDC
L1 Electrical inductance (*) mH 4.03 Di 4.01 Intermittent duty cycle 140
6000

expansion of the machine, this heat has to be removed as efficiently as possible. ETEL TMB+s
140 % 40 Peak40torque 40 40
Ip Peak current Arms 579 Dp 579 Peak duty cycle 4000
% 5 5
Tp @ 600 VDC
5 5
120 120
Ic Continuous current Arms 67.7 Sr 168 Rotor exchange surface2000 m² 0.063 Tp0.063
@ 300 VDC 0.063 0.063 Water cooling:
Notes: (*) terminal to terminal. Ambient temperature = 20 °C. Max. coil temperature = 130 °C.

Torque [Nm]
θamb a totalAmbient
surface oftemperature 1000to a total surface of 0.110 m² °C 20 20 20 20

structure and if liquid cooling is required.

Is Stall current Arms and tolerances are in ETEL's51.3 to 128

Torque[Nm]
Hypothesis Handbook.100 Stator connected 0.17 m² and rotor Tc @ 600 VDC
0 20 40 60 80 100
Pc Max. continuous power dissipation C ti
Caution: A use
Any Woff th
the motor
t bbeyondd speed/force
d/f 3270 lilimitit could
ld 80
lleadd tto hhazardous
d voltage
lt θmax
andd serious
i 20300 j iMaximum
iinjuries. C t coiliis temperature
Customer responsible
ibl 80ffor setting
tti safeties/limitations
f ti /li it ti th °C
that t will
ill 130 130
Continuous torque 130 130
CONVENTIONAL TORQUEkeep
MOTOR TMB+0140-150
and TMKs torque motors provide optimized cooling channel design to ensure a maximum heat
the motor in its safe operating area. ETEL cannot be held responsible if the motor
θwis used inInlet
an improper way.
water temperature Speed [rpm]°C 20 20 20 20
Tc @ 600 VDC
60 Δθw Water temperature difference for Pc K 5.0 Tc 5.0 5.0 5.0
60
@ 300 VDC © ETEL S.A. - Subject to modification without previous notice
qw Minimum water flow for Δθw l/min 8.1 8.0 8.0 7.8
SPECIFICATIONS UNIT 40
01.11.2013
40
Δpw Max. pressure drop at qw bar 1.0S.A. Zone Industrielle, 1.0
ETEL 1.0
CH-2112 Môtiers, Switzerland 1.0 O121
Winding codes RA Force
TA = f(speed) forSB
3VAN 20 UB Force = f(speed) for 3XBSVer 2.2 20 T +41 (0)32 862 01 00 • F +41 (0)32 862 01 01 • etel@etel.ch • www.etel.ch V2.1
Udc Nominal input voltage 600 600

evacuation through the coolant. Keeping the machine structure cool is mandatory to reach high
VDC
MOTOR PERFORMANCE th Thermal time coUNIT
nstant WATER COOLING800 WATERs COOLING 5130
WATER COOLING 0
WATER
0
COOLING
200800 400 600
186800 1000
0
0 500 1000 1500 2000 2500
Rth Thermal resistanNm ce 199 K/W 0.0336 Speed [rpm]
0.00530 Speed [rpm] © ETEL S.A. - Subject to modification without previous notice
Tp Peak torque 198 198 198 Peak torque

Under static conditions with an applied load, one motor phase can get disproportionately hot,
700 700
Ti Intermittent torque 2p Number of polesNm 166 - 163 164 176 158 176
2
28.06.2016 TpETEL
@ 600S.A.
VDCZone Industrielle, CH-2112 Môtiers, Switzerland
600
kg.m

precision and repeatability levels.

Tc Continuous torque J Rotor inertia Nm 121 118 119 38.2 114
600
38.2 T +41 (0)32 862 01 00 • F +41 (0)32 862 01 01 • etel@etel.ch • www.etel.ch
Tp @ 300 VDC TU8A-ANcJ-ywYB-IAEA

Torque [Nm]
Mr 206 206

Torque[Nm]
Ts Standstill torque Rotor mass Nm 96.2 500 kg94.0 94.6 89.9 500

Ms Stator mass Arms kg22.2 292 292 Continuous torque

Ip Peak current 13.2 400 34.4 60.9 400

because the power dissipation is not shared equally among all three phases. To ensure safe Ii
Ic
Is
Intermittent current
Continuous current
Standstill current
Td
ns
Max. detent
Stall speed
torque
Arms
Arms
w Water temperature
(average to peak)10.3
6.52
Armsdifference for Pc 4.94
300

200
Nm
rpm
16.9
10.7
K8.09
26.4
16.7
12.6
42
0.0013
N/A
44.0
27.8
21.1
300

200
42
0.037
10
Tc @ 600 VDC
Tc @ 300 VDC
© ETEL S.A. - Subject to modification without previous notice

ns Rated low speed qw Minimum water flow rpm for w 0.90

100 l/min
0.91 0.91
N/A
01.11.2013
0.94
100 29 ETEL S.A. Zone Industrielle, CH-2112 Môtiers, Switzerland O121

operation under these conditions a stall torque calculation should be performed. pw Max. pressure drpm
rop at qw ba531
r NVer
/A 2.2 3.0 T +41 (0)32 862 01 00 • F +41 (0)32 862 01 01 • etel@etel.ch • www.etel.ch V3.1
nm Maximum speed without flux weakening 315 0 824 1460 0
0 50 100 150 200 250

Torque motors can be cooled either by free air convection or with a liquid coolant. Liquid cooling
0 200 400 600 800
nm,FW Maximum speed with flux weakening rpm 719 1040 1460 2300
Speed [rpm] Speed [rpm]
τon,p Maximum ON time for peak cycle s 5.74 5.74 5.74 = 20 °C. Max. coil6.68
Notes: (*) terminal to terminal. Ambient temperature temperature = 130 °C. Inlet water temperature = 20 °C.
τon,i 2.44 Handbook.
Maximum ON time for intermittent cycle Hypothesis ands tolerances are in ETEL's 2.16
Stator connected2.45 2.17
to a total surface of 1.80 m² and rotor to a total surface of 0.580 m².
Pp Power dissipation @ Ip Caution: Any use of theW
motor beyond speed/torque
8290 limit could lead to8710
hazardous voltage and 8560
serious injuries. Customer is responsible for setting safeties/limitations that will
9520

is recommended for demanding applications where coolant is available. Due to their optimized
keep the motor in its safe operating area. ETEL cannot be held responsible if the motor is used in an improper way.
Pi Power dissipation @ Ii W 6590 6520 6510 6360
Pc Power dissipation @ Ic W 2640 2610 2600 2540

ETEL’s motors are available in several winding configurations. The winding should be chosen to
Td Max. detent torque (average to peak) Nm 0.98 0.98 0.98 0.98
Torque = f(speed) for 3UPN © ETEL S.A. - Subject to modification without previous notice

Kt
MOTOR SETTING
Torque constant
20000

18000
UNIT

Nm/Arms
01.11.2013
Ver 2.2
21.9 13.0 8.39
ETEL S.A. Zone Industrielle, CH-2112 Môtiers, Switzerland
T +41 (0)32 862 01 00 • F +41 (0)32 862 01 01 • etel@etel.ch • www.etel.ch

4.73 Peak torque

O121
V3.1
electromagnetic design, ETEL’s torque motors produce much more torque for the same input
match the speed requirements of the application and the voltage and current specifications of
16000
Ku Back EMF constant (*) Vrms/(rad/s) 12.6 7.47 4.81 2.72 Tp @ 600 VDC

power than competitive products.

Km Motor constant 14000 Nm/√W 3.28 3.20 3.23 3.07

Torque [[Nm]
R20 Electrical resistance at 20°C (*) 12000 Ohm 29.8 11.0 4.50 1.58
Ld/Lq Electrical inductance (*) 10000 mH 234 / 201 82.4 / 71.4 34.2 / 29.6 10.9 / 9.62 Continuous torque

the electronics. Note that the torque/speed characteristics of a motor change with the winding.
Isc Maximum short-circuit current 8000 Arms 5.65 9.51 14.8 26.1 Free air convection:
nb Base speed 6000 rpm 175 419 713 1360 Tc @ 600 VDC
nb,i Base speed at intermittent duty cycle4000 rpm 38.9 316 613 1220
nb,p Base speed at peak duty cycle 2000 rpm 42.4 200 399 790
Water cooling:
nn Rated speed 0 rpm 119 369 651 1280 Tc @ 600 VDC
Tn Rated torque 0 20 Nm 40 60 80
110 100 68.9 54.8 36.3
In
τth
Rth
Rated current
Thermal time constant
Thermal resistance
Speed [rpm]
Arms
s
K/W
6.02
60.3
0.0365
59.6
0.0367
5.96
59.7
0.0369
7.45
58.3
9.05

© ETEL S.A. - Subject to modification without previous notice

0.0374
On any direct drive application, the thermal management is of major importance and closely
01.11.2013 22
2p Number of poles - 22 Industrielle, CH-2112 Môtiers,
ETEL S.A. Zone 22 Switzerland 22 O121

related to the final machine performance. In fact, in a direct drive axis, the motor is located very
J Rotor inertia Ver 2.2 kg·m² 0.00506T +41 (0)32 862 010.00506
00 • F +41 (0)32 862 01 01 • etel@etel.ch • www.etel.ch
0.00506 0.00506 V2.1

Detent effects
mr Rotor mass kg 3.61 3.61 3.61 3.61
ms Stator mass kg 15.1 15.1 15.1 14.9

Udc
Di
MOTOR ENVIRONMENT
Nominal DC bus voltage
Intermittent duty cycle
UNIT

VDC
%
600
40
600
40
600
40
600
40
close to the working point. This is a big advantage in terms of mechanical stiffness and leads
Dp Peak duty cycle % 5 5 5 5

Thanks to our technology know-how, ETEL has the expertise to manufacture ironcore torque Sr
θamb
θmax
Rotor exchange surface
Ambient temperature
Maximum coil temperature
m²
°C
°C
0.063
20
130
0.063
20
130
0.063
20
130
0.063
20
130
to unmatched machine performance. However, the fact that the motor is highly integrated also
θw Inlet water temperature °C 20 20 20 20

motors with very low detent effects. Our design uses an innovative combination of open slots, means that the heat generation is closer to the critical area than in a conventional worm gear
Δθw Water temperature difference for Pc K 5.0 5.0 5.0 5.0
qw Minimum water flow for Δθw l/min 8.1 8.0 8.0 7.8
Δpw Max. pressure drop at qw bar 1.0 1.0 1.0 1.0

orthocyclic windings and fractional pole pitch. This solution significantly reduces detent effects 28.06.2016 ETEL S.A. Zone Industrielle, CH-2112 Môtiers, Switzerland
© ETEL S.A. - Subject to modification without previous notice

T +41 (0)32 862 01 00 • F +41 (0)32 862 01 01 • etel@etel.ch • www.etel.ch TU8A-ANcJ-ywYB-IAEA

system for example.
without any skewing of laminations or magnets which would result in lower torque density.
ETEL has a long experience in torque motor integration and heat management. Do not hesitate
to contact your ETEL representative to get support during machine design.

Data sheets Integration manual ETEL sizing tool

ETEL torque motors information is available For more information on motor selection ETEL has developed a powerful sizing tool
in the corresponding motors data sheets. and integration, ask for the corresponding that can simulate the customers’ machine
They include the specifications, performance ETEL torque motors integration manual operation. It helps in achieving the very best
as well as the torque vs. speed curves through the request form on our website “performance/price” ratio that can be obtained
of each standard ETEL motor. For more or contact your corresponding ETEL on your specific application. Do not hesitate to
information about the torque motors or representative. contact your ETEL representative for technical
to download the data sheets, refer to our support during the machine design phase.
website: www.etel.ch

10 | Torque Motors Torque Motors | 11


CASE STUDIES
ETEL motors in metrology application
Stringent requirements for precise gear measurements for increasingly complex
drive components demand the best measuring technology available from machine and
software optimized for such applications. The drive technology element used in such
measuring machines must offer the highest performance such as that provided by
ETEL. That's why leading gear manufacturers put their trust in precision measuring
centers equipped with ETEL’s direct drives.
At the heart of a precision measuring center is an accurate and durable rotary table
with a torque motor drive from ETEL. ETEL's expertise in torque motor design results
in very low cogging which leads to a very smooth motion, good speed stability and
high position accuracy. In addition to its high efficiency motor design it is well-suited
for thermal-drift sensitive precision machines. Configured as a measuring axis, it
provides concentric seating of the workpieces to be tested.
In combination with the three linear measuring axes equipped with ETEL’s compact
linear motors, the measuring centers trace and inspect the functional surfaces
of gears and general drive components in generator mode. ETEL’s linear motor
designs with the lowest force ripple allows for a very uniform motion and very precise
positioning free of backlash, direct drive technology. This guarantees maximum
measuring accuracy and reproducibility thanks to the high quality of the ETEL products. Picture courtesy of Klingelnberg GmbH
TMB+ in high-end machine tool
To remain more competitive in the market, ETEL constantly improves its products. Some
customers, using the well known TMB motor in the machine tool industry choose to
update their machine with the latest TMB+ torque motor. The advantages of direct drive
technology associated with the outstanding performance and reliability of ETEL products
contribute to our customers’ success.
In some applications such as aerospace or power
generation, precision and quality are a "must" for
component machining. When machining with 5- or
6-axis machines, the key criteria for productivity are
stability, dynamics, and agile contouring capabilities.
Pictures courtesy of Liechti Engineering AG
Meeting the specifications of the machine becomes
even more challenging when the materials to be machined are “difficult-to-cut” materials such as
titanium or super-alloys. In this case, direct drive technology and more precisely ETEL’s TMB+ motors
play a major role in the overall machine performance.
The limited production related to this specific high-end market naturally defines some key factors such
as flexibility, optimal performance and low cost of ownership. With 11 different motor diameters (from
160 mm to 1290 mm) the very wide range of TMB+ perfectly fits these kinds of applications where
flexibility on standard products is needed with absolutely no trade-off of performance and quality.
12 | Torque Motors
Innovative Motion Control
ETEL torque motors in rotary tables for 5-axis simultaneous machining
The leading manufacturers of roundtables have used ETEL torque motors in directly driven
rotary axes since 1996. This can be typical single axis machines or biaxial and multiaxial
combinations of roundtables, as are required in milling centers in the manufacturing of
free-form surfaces.
As milling centers comprise more and more axes, a higher compactness and easier
integration of the rotary motors are needed. ETEL’s direct drive technology torque motor
is an optimal solution. They offer a small form factor and high torque density without any
additional transmission elements like gearboxes and allow an effective and direct integration
below the payload.
Very often, free-form surfaces are required in the aerospace or energy technology
components, where individual blades or whole turbines and compressor wheels are
manufactured. Such niche parts require reliable machines which can be guaranteed with
the high quality of the ETEL torque motors.
Since 2001 ETEL motors have been used in 2-axis rotary tilting tables – also known
as rotation swinging bridge – in particular for the manufacturing of motor vehicle turbo
components such as aluminum or titanium impellers. In some of these swinging bridges two
ETEL motors are used and have to be aligned with each other. This can easily be realized
thanks to ETEL’s precise motor manufacturing as well as additional precise alignment
feature on the motor which leads finally to a higher accuracy and efficiency of the machine. Picture courtesy of Peiseler GMBH & Co. KG
Nickel-based alloys, such as Inconel or state-of-the-art alloys from
titanium aluminide are machined on these machining centers as
components, in aircraft and gas turbines. For this purpose the wide
torque-speed range of ETEL’s torque motors offer the right solution.
These applications have high demands concerning the surface quality
and shape accuracy of the workpieces therefore a good axes design
with the ETEL torque motors must have a high control stiffness
and the highest dynamics. In particular ETEL’s expertise in the design
of very low cogging motors allows for unmatched performance of
the machine.
It is important to bear in mind that even these highly stressed
precision parts are subject to commercial pressure and as a result
manufacturers strive for low unit costs, which is made possible by
the flexible longevity and high processing speeds, when using ETEL
Picture courtesy of Peiseler GMBH & Co. KG
torque motors.
Pictures courtesy of Liechti
Engineering AG
Torque Motors | 13
 Innovative Motion Control

CASE STUDIES
Large TMKs enable milling / turning features ETEL torque motors in 2-axis milling heads
When machining large components, it has always been important ETEL started to develop direct drive motors to serve industry. It took a few years to
to balance the positioning needs requiring high torque with low convince the machine tool industry that direct drive torque motors were the solution
speed and high speed with low torque for the dynamic mode. for their future needs.

The milling/turning machines equipped with ETEL TMK motors ETEL, being the first supplier of torque motors, set what became the standards
constitute a real technical solution to achieve this challenge. These in terms of dimensions and performance. At that time, this very fast evolution of
machines can reduce the cycle time and increase the productivity. direct drives in machine tools was led by the most renowned European machine
For example, parts of last generations motors in the aerospace tool makers.
industry and also lot of mechanical components from the energy
industry have increased demands regarding performance and Today, machine tool makers are present all over the globe and are becoming stronger
safety. The complexity of compenents made with high-quality in Asian countries as well as in the USA for instance. ETEL responded to these
materials require more and more specific manufacturing means. emerging markets by opening offices in these countries to provide the best possible
local support and collaborated in the very early phases of new machine development.
Milling and turning features implemented in the same machine
Picture courtesy of RGI France SAS
allow it to turn 3 dimensional components with continuous 5-axis These 2-axis head machines were developed with ETEL's TMB+ motors which can
thanks to the angular A axis (cradle) and the C axis of the machine. meet the most demanding specifications in diverse applications including aerospace,
die and mold, energy and automotive markets. By using direct drive TMB+ motors in
Thanks to the unique electromagnetic design which has a very robust and reliable rotor, made with encapsulated magnets inserted in the both A and C axes, components can be machined with the highest level of precision
lamination stack, the ETEL TMK motors redefine the torque motor concept. It is able to reach speed levels up to 8 times higher than and surface qualities. In addition, the 2-axis head machines benefit from the quality
typical motors, with the same footprint. With a continuous torque value 30% higher than standard motors, the TMKs do not make any and reliability of ETEL products and can proudly compete with the most advanced
compromises regarding their primary function: providing high torque at low speed. European 2-axis heads. Picture courtesy of Setco Spindles Company Ltd.

ETEL is part of a historic achievement

Addressing new technological challenges that push the limits of the impossible has always The ETEL torque motors that powered Solar
been a source of ETEL’s inspiration and innovation. Today ETEL is proud of its contribution Impulse 1 and 2 are based on the same technology
to the Solar Impulse project that combines the most advanced scientific knowledge in terms as the parts every ETEL customer receives. The
of aeronautics, materials, photovoltaic energy and electrical motors. What used to be a heart of the motor and its magnetic technology
dream is now a great success that will certainly open doors to major steps in aeronautics. is currently ensuring the proper operation of
Flying days and nights without fuel is now proven to be achievable. thousands of machines around the world.

ETEL torque motors powered the ultra-lightweight revolutionary airplane for more than
500 hours of flying around the globe in the most demanding environmental conditions. The
torque motors and all other components had
to work from ground temperatures to extreme
conditions at more than 8000 meters altitude
(~26’000 feet) without any compromise or uncertainty of their performance and reliability.
Alongside the incredible human challenge that the pilots faced during the record-breaking flight
times, ETEL torque motors operated safely ensuring their safety and contributed to the success
of this incredible challenge. © Solar Impulse / Jean Revillard

14 | Torque Motors Torque Motors | 15

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T +41 (0)32 862 01 00

REPRESENTATIVES
F +41 (0)32 862 01 01 ISRAEL • comotech@medital.co.il
etel@etel.ch • www.etel.ch SPAIN • farresa@farresa.es
version 3.0 - 03/19 - subject to modifications without previous notice