Data

Publication
Direct Drive DC
Torque Motors

The Direct Drive DC torque motor is a servo actuator which can be directly attached
to the load it drives. It has a permanent magnet (PM) field and a wound armature
which act together to convert electrical power to torque. This torque can then be
utilized in positioning or speed control systems. In general, torque motors are
deigned for three different types of operation:

• High stall torque (“stand-still” operation) for positioning systems

• High torque at low speeds for speed control systems, and
• Optimum torque at high speed for positioning, rate, or tensioning systems.

Direct drive torque motors are particularly suited for servo system applications
where it is desirable to minimize size, weight, power and response time, and to
maximize rate and position accuracies.

Frameless motors range from 28.7mm (1.13in) OD weighing 1.4 ounces (.0875 lbs)
to a 4067 N-m (3000 lb-ft) unit with a 1067mm (42in) OD and a 660.4mm (26in)
open bore ID. Housed motors range from a one inch cube design with 0.049 N-m
(7 oz-in) peak torque to any of the frameless motors housed to customer specifications
with integral DC tachometers, resolvers, encoders and shaft configurations.
 Direct Drive DC Torque Motors
INTRODUCTION

Advantages of Direct Drive DC Torque Motors

High Torque-to-Inertia Ratio at the Load Reliability and Long Life

A direct drive motor provides the highest practical torque- Basic simplicity and an absolute minimum of moving parts
to-inertia ratio where it counts—at the load. In a geared sys- make a torque motor inherently reliable. Extensive design
tem, reflected output torque is proportional to the gear and production experience have placed Kollmorgen’s
reduction while reflected output inertia is proportional to the motors in critical applications where high performance
square of the gear reduction. Thus, the torque-to-inertia motion control is required for the last three decades. These
ratio in a geared system is less than that of a direct drive sys- include applications in all conditions and environments,
tem by a factor equal to the gear-train ratio. The higher ranging from thousands of feet underwater to years of unat-
torque-to-inertia ratio of direct drive motors makes them tended operation in outer space. Brushes are capable of
ideally suited for high acceleration applications with rapid operating in a hard vacuum with “high altitude” additives.
starts and stops.
High Resolution
High Torque-to-Power Ratio
The direct drive use of torque motors allows them to posi-
Most torque motors are designed with a large number of tion a shaft more precisely than a geared system. With typ-
poles and a high volume of copper to achieve a high torque- ical gearing, the backlash contributes to a “dead zone”
to-power ratio. Thus, input power requirements are usually which falls in the region of the system null point and reduces
low. positional accuracy. In a direct drive system, however, the
positional accuracy is, in practice, limited only by the error-
Low Electrical Time Constant detecting transducer system.
Typical torque motor design features — such as high-level
Compact, Adaptable Design
magnetic saturation of the armature core and the use of a
large number of poles — keep armature inductance at a very Frameless torque motors are built to be “designed-in” as an
low value. Consequently, the electrical time constant (the integral part of a system, thus saving the weight and space
ratio of armature inductance to armature resistance) is very associted with conventional motor frames or housings. This
low, providing excellent command response at all operating frameless design allows the motors to be mounted anywhere
speeds. along the driven shaft. The “pancake” configuration (thin,
compared to diameter) minimizes the volume required for
High Linearity mounting and offers a convenient packaging arrangement
for combinations of torque motors and tachometer genera-
In a DC torque motor, torque increases directly with input
tors.
current at all speeds and angular positions. The theoretical
Kollmorgen also supplies housed motors, complete with
speed-torque characteristic is a set of parallel straight lines
housing, shaft and bearings for use in similar applications.
(Figure 1). This torque linearity is maintained even at low
excitation, assuring no dead-band created by torque non-lin-
earities for all input currents up to the peak rating of the
motor.

Figure 1

2 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Direct Drive DC Torque Motors
INTRODUCTION

System Performance Characteristics Motor Selection

The same features which give torque motors an advantage Frameless or Housed?
over other types of servo actuators also allow the designer to
Both the torque motor section and the servo motor section of
obtain the following system performance characteristics.
this catalog are divided into subsections of frameless motors
and housed motors.
High Servo Stiffness
Housed motors have a traditional configuration including
The direct-drive torque motor is coupled directly to the load, frame, bearings, and shaft. In use, the housed motor shaft is
thus eliminating gears and backlash errors. The resulting coupled to the system element being driven. Housed motors
high coupling stiffness and associated high mechanical res- are ideal for use in harsh environments or other applications
onance frequency yield high servo stiffness. requiring totally closed units.
The frameless motor concept was developed to meet the
Fast Response need for motors with a large hole through the center. This
need is still one of the main reasons that the large diameter,
The low electrical time constant of torque motors allows
narrow width frameless configuration is often selected over
torque to develop very rapidly when voltage is applied. This
the traditional housed configuration. The large rotor bore
fast response is an important aid to servo stiffness.
can be used as a route for lead wires, as a mounting area for
other hardward such as tachometer generators or resolvers,
High Resolution
or as an optical path.
The direct-drive use of torque motors allows them to posi- Frameless motors are built to be “designed in” as an integral
tion a shaft more precisely than a geared system. With typ- part of the system hardware. They are generally supplied as
ical gearing, the backlash contributes to a “dead zone” three separate components: stator (field) assembly, rotor
which falls in the region of the system null point and reduces (armature) assembly and brush ring or brush segment
positional accuracy. In a direct-drive system, however, the assembly (See Figures 2, 3). The frameless motor can be
positional accuracy is, in practice, limited only by the error- integrated into the customer hardware rather than coupling a
detecting transducer system. motor shaft to the element being driven. This allows sig-
nificnt savings in space and weight over housed motors by
Low Speeds with High Accuracy eliminating the motor housings, bearings and shaft. Also,
Because of the high coupling stiffness and high resolution of since the frameless motor can be mounted on the driven
direct-drive torque motors, it is possible to achieve high shaft, the coupling stiffness is improved. The backlash nor-
accuracy at low speeds. An example is a table for testing mally associated with couplings or gear trains is eliminated
rate and integrating gyros. This table has a speed range of from the drive system.
0.017 to 100 rpm with absolute instantaneous accuracy over
this speed range of 0.1 percent. Torque Motor or Servo Motor?
A torque motor is typically described as having a “pancake”
Smooth, Quiet Operation configuration, i.e., a large diameter and a narrow width. This
Torque motors exhibit smooth, quiet operation when they configuration generally has a large number of poles to
are run at low speeds. They typically have a large number increase the torque available in a given volume. This large
of slots per pole to reduce cogging and allow for smooth number of poles, however, also causes more commutation arc-
operation. ing as speed increases than for a motor with few poles. Torque
motors are most commonly used in positioning and slow-
speed rate applications where commutation is not a limitation.
A servo motor is characterized by a long, small diameter
configuration. Lengthening a motor while maintaining a
small diameter allows a significant increase in torque while
minimizing the increase in rotor inertia. The end result is an
improved mechanical time constant and, therefore,
improved motor response. Servo motors are most common-
ly used in running applications where good high-speed com-
mutation is demanded and operation at or near stall is not
required.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 3

 Direct Drive DC Torque Motors
INTRODUCTION

PERMANENT MAGNET
FIELD ASSEMBLY STEPPED SHAFT
ARMATURE MOUNTING
LAMINATION STACK
BRUSH RING
ASSEMBLY

N S

N N S S

S S N N
BRUSHES

S N

KEEPER WINDING
ALNICO DESIGN
RING
COMMUTATOR

Figure 2 - Frameless Alnico torque motor, showing hole for axial-shaft mounting.

ARMATURE ASSEMBLY BRUSH RING

(ROTOR) ASSEMBLY
N
COMMUTATOR

S S

SILVER
GRAPHITE
BRUSHES RARE EARTH DESIGN

FIELD ASSEMBLY
(STATOR) Figure 4
SAMARIUM COBALT Alnico and rare earth
MAGNETS magnet designs

Figure 3 - Frameless rare earth torque motor.

4 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Direct Drive DC Torque Motors
INTRODUCTION

Magnet Material
The motors are manufactured with one of two magnet mate-
rials: Alnico or rare earth (Samarium Cobalt and Rare earth magnet material is more brittle than Alnico, and
Neodymium-Iron-Boron). Model numbers preceded by “T’, care must be exercised to avoid chipping or cracking.
“NT”, or “OT” have Alnico magnets and models preceded Because rare earth motors are designed with the magnets on
by “QT” have rare earth magnets. These magnet materials the inner diameter of the stator assembly facing the arma-
have different characteristics which determine their suitabil- ture, extra care must be taken when inserting the armature
ity for various applications. inot the field assembly. Most rare earth units have larger
radial air gaps than similar size Alnico units. The larger air
Performance: A major advantage of rare earth magnet gap of rare earth units makes rotor-to-stator concentricity
motors is stability of magnetic characteristics in overcurrent less critical (See Figure 4).
conditions. In Alnico magnet motors, exceeding the rated
current Ip to develop more torque may demagnetize the per-
manent magnet field and cause a permanent reduction in
torque per unit current. The degree of demagnetization is
determined by the magnitude of the overload current.
In rare earth magnet units, currents in excess of Ip can be
applied for short duration to develop higher torque without
demagnetization of the PM field. The limits now become
primarily the thermal capacity of the motor and the current
density rating of the brushes.

Rare earth magnet motors that are designed to have compa-

rable resistance to similar Alnico designs will generally
have a lower inductance value than the Alnico design. Thus,
the electrical time constant of rare earth units is normally
lower than Alnico units, allowing more rapid system
response.

Installation: Alnico magnet motors require a keeper ring or

keeper segments to provide a return flux path for the field
when the rotor is not in place. Removing or shifting the
keeper before inserting the armature into the field will cause
significant degradation of performance. In rare earth mag-
net motors the magnet material has much higher intrinsic
coercive force. This feature makes the field assembly
immune to the effects of an open magnetic circuit and there-
fore a keeper is not required. Eliminating the keeper can
simplify installation considerably.

The mounting surfaces for frameless Alnico magnet motors

must be made of non-magnetic material such as aluminum,
brass or non-magnetic stainless steel. The minimum thick-
ness of non-magnetic material required to separate the field
structure from magnetic material is one quarter inch. Rare
earth motors may be mounted in magnetic or non-magnetic
housings.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 5

 Direct Drive DC Torque Motors
FRAMELESS TORQUER SELECTION GUIDE

Peak Torque Motor Theoretical Electrical

Model @ Stall Constant No Load Speed Time Constant
Number Tp Pp Km v NL Te
oz-in N-m Watts oz-in / Watt N-m / Watt rad/sec msec
NT-0786 2.80 0.020 40 0.440 3.1 x 10-3 2000 0.16
QT-0717 3.84 0.027 53 0.530 3.7 x 10-3 1950 0.12
T-0709 6.60 0.047 60 0.850 6.0 x 10-3 1300 0.26
QT-0707 7.70 0.054 50 1.09 7.7 x 10-3 920 0.25
T-2003 9.50 0.067 41 1.48 1.0 x 10-2 610 0.10
NT-0796 10.6 0.075 73 1.24 8.8 x 10-3 990 0.35
QT-1106 11.0 0.078 49 1.57 1.1 x 10-2 636 0.14
QT-1204 11.0 0.078 57 1.46 1.0 x 10-2 732 0.11
QT-0706 12.3 0.087 63 1.55 1.1 x 10-2 725 0.32
T-1218 15.0 0.106 63 1.90 1.3 x 10-2 580 0.31
T-1259 15.0 0.106 40 2.40 1.7 x 10-2 374 0.50
QT-1207 20.0 0.141 82 2.21 1.6 x 10-2 580 0.20
T-1292 20.0 0.141 64 2.51 1.8 x 10-2 450 0.37
T-1352 20.0 0.141 60 3.00 1.8 x 10-2 400 0.34
T-1410 21.0 0.148 49 3.00 2.1 x 10-2 360 0.31
NT-1319 24.0 0.170 64 4.00 2.1 x 10-2 375 0.29
T-1915 24.0 0.170 36 3.40 2.8 x 10-2 209 0.22
T-1242 25.0 0.177 55 3.40 2.4 x 10-2 307 0.68
T-3001 26.5 0.187 9.6 8.55 6.0 x 10-2 51 0.23
NT-1372 30.0 0.212 52 4.15 2.9 x 10-2 245 0.30
QT-2406 30.0 0.212 54 4.10 2.9 x 10-2 250 0.13
T-2413 30.0 0.212 51 4.22 3.0 x 10-2 238 0.20
T-2509 30.0 0.212 48 4.33 3.1 x 10-2 220 0.25
T-2804 30.0 0.212 67 3.66 2.6 x 10-2 320 0.30
NT-1383 32.0 0.226 83 3.50 2.5 x 10-2 368 0.50
T-2157 35.0 0.247 41 5.45 3.8 x 10-2 160 0.60
T-1342 40.0 0.283 97 4.05 2.9 x 10-2 340 0.30
QT-2104 48.0 0.339 39 7.70 5.4 x 10-2 114 0.50
QT-1217 50.0 0.353 165 3.90 2.8 x 10-2 467 0.38
QT-1906 50.0 0.353 115 4.66 3.3 x 10-2 326 0.17
T-2314 54.0 0.381 58 7.13 5.0 x 10-2 150 0.66
QT-1401 55.0 0.388 217 3.74 2.6 x 10-2 557 0.21
T-1911 60.0 0.424 60 7.75 5.5 x 10-2 143 0.40
T-2170 60.0 0.424 34 10.5 7.4 x 10-2 79 0.91
QT-2504 60.0 0.424 55 8.10 5.7 x 10-2 128 0.29
T-2516 60.0 0.424 55 8.10 5.7 x 10-2 127 0.43
QT-1404 65.0 0.459 98 6.55 4.6 x 10-2 214 0.24
QT-2502 68.2 0.482 54 9.25 6.5 x 10-2 113 0.18
QT-2105 75.0 0.529 35 12.8 9.0 x 10-2 65 0.77
T-1421 77.4 0.547 112 7.31 5.2 x 10-2 205 0.55
QT-2202 81.8 0.578 58 8.28 5.8 x 10-2 168 0.84
T-2809 85.0 0.600 103 8.40 5.9 x 10-2 170 0.30
NT-1308 90.0 0.636 255 5.65 4.0 x 10-2 407 0.40
QT-1903 90.0 0.636 107 8.70 6.1 x 10-2 167 0.22
T-2719 97.0 0.685 38 15.8 1.1 x 10-1 54 0.77

Continued on adjacent page.

Note: Metric conversions provided for reference only.

6 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 7

 Direct Drive DC Torque Motors
FRAMELESS TORQUER SELECTION GUIDE

Rotor
Friction Inertia Physical Dimensions Weight
Tf Jm OD ID Length
oz-in N-m oz-in-sec2 Kg-m2 in mm in mm in mm oz g
0.20 0.0014 4.5 x 10-5 3.2 x 10-7 1.13 28.7 0.19 4.83 0.38 9.65 1.4 39.7
0.25 0.0018 4.5 x 10-5 3.2 x 10-7 1.13 28.7 0.19 4.83 0.38 9.65 1.4 39.7
0.25 0.0018 1.1 x 10-4 7.8 x 10-7 1.13 28.7 0.19 4.83 0.56 14.2 1.6 45.4
0.30 0.0021 1.1 x 10-4 7.8 x 10-7 1.13 28.7 0.19 4.83 0.56 14.2 1.6 45.4
0.40 0.0028 1.6 x 10-3 1.1 x 10-5 2.46 62.5 1.50 38.1 0.31 9.65 2.5 70.9
0.40 0.0028 1.6 x 10-4 1.1 x 10-6 1.13 28.7 0.19 4.83 0.75 19.1 2.3 65.2
0.60 0.0042 3.2 x 10-4 2.3 x 10-6 1.38 35.1 0.50 12.7 0.39 9.91 1.5 42.5
0.60 0.0042 4.2 x 10-4 3.0 x 10-6 1.50 38.1 0.63 16.0 0.39 9.91 1.7 48.2
0.40 0.0028 1.6 x 10-4 1.1 x 10-6 1.13 28.7 0.19 4.83 0.76 19.3 2.5 70.9
0.50 0.0035 6.0 x 10-4 4.2 x 10-6 1.50 38.1 0.63 16.0 0.51 13.0 2.3 65.2
0.50 0.0035 5.7 x 10-4 4.0 x 10-6 1.50 38.1 0.46 11.7 0.51 13.0 2.4 68.1
0.70 0.0049 6.0 x 10-4 4.2 x 10-6 1.50 38.1 0.63 16.0 0.51 13.0 2.3 65.2
0.55 0.0039 9.0 x 10-4 6.4 x 10-6 1.75 44.5 0.63 16.0 0.53 13.5 2.8 79.4
0.70 0.0049 8.8 x 10-4 6.2 x 10-6 1.94 49.3 0.63 16.0 0.50 12.7 4.3 122
0.70 0.0049 1.5 x 10-3 1.1 x 10-5 1.94 49.3 0.63 16.0 0.51 13.0 5.0 142
0.80 0.0057 8.8 x 10-4 6.2 x 10-6 1.94 49.3 0.63 16.0 0.50 12.7 4.3 122
1.9 0.013 4.0 x 10-3 2.8 x 10-5 2.47 62.7 1.25 31.8 0.47 11.9 5.0 142
1.1 0.0078 1.5 x 10-3 1.1 x 10-5 1.50 38.1 0.63 16.0 0.96 24.4 5.5 156
2.8 0.020 1.5 x 10-2 1.1 x 10-5 3.62 92.0 2.18 55.4 0.42 10.7 8.0 227
1.8 0.013 9.0 x 10-4 6.4 x 10-6 1.94 49.3 0.63 16.0 0.53 13.5 4.4 125
1.8 0.013 5.4 x 10-3 3.8 x 10-5 2.78 70.6 1.80 45.7 0.45 11.4 3.9 111
1.7 0.012 6.0 x 10-3 4.2 x 10-5 2.78 70.6 1.80 45.7 0.45 11.4 4.0 113
1.0 0.0071 6.0 x 10-3 4.2 x 10-5 3.00 76.2 1.75 44.5 0.37 9.40 4.5 128
1.5 0.011 8.6 x 10-3 6.1 x 10-5 3.38 85.9 2.25 57.2 0.41 10.4 5.1 145
1.0 0.0071 1.1 x 10-3 7.8 x 10-6 1.94 49.3 0.63 16.0 0.67 17.0 6.0 170
1.1 0.0078 6.2 x 10-3 4.4 x 10-5 2.81 71.4 1.00 25.4 0.63 16.0 8.8 250
1.0 0.0071 1.6 x 10-3 1.1 x 10-5 1.94 49.3 0.62 15.7 0.84 21.3 7.6 216
1.8 0.013 6.0 x 10-3 4.2 x 10-5 2.81 71.4 1.00 25.4 0.62 15.7 9.2 261
1.1 0.0078 1.5 x 10-3 1.1 x 10-5 1.50 38.1 0.63 16.0 0.96 24.4 5.5 156
1.0 0.0071 3.4 x 10-3 2.4 x 10-5 2.38 60.5 1.25 31.8 0.50 12.7 5.0 142
1.7 0.012 9.0 x 10-3 6.4 x 10-5 2.88 73.2 1.00 25.4 0.58 14.7 11 312
1.8 0.013 1.3 x 10-3 9.2 x 10-6 1.94 49.3 0.63 16.0 0.54 13.7 4.4 125
2.5 0.018 8.8 x 10-3 6.2 x 10-5 2.34 59.4 1.25 31.8 0.85 21.6 9.5 269
1.5 0.011 1.1 x 10-2 7.8 x 10-5 2.81 71.4 1.00 25.4 1.00 25.4 14 398
2.5 0.018 1.1 x 10-2 7.8 x 10-5 3.00 76.2 1.75 44.5 0.53 13.5 8.0 227
1.8 0.013 1.1 x 10-2 7.8 x 10-5 3.00 76.2 1.75 44.5 0.53 13.5 8.0 227
3.0 0.021 2.6 x 10-3 1.8 x 10-5 1.94 49.3 0.63 16.0 0.84 21.3 8.4 238
2.5 0.018 1.1 x 10-2 7.8 x 10-5 3.00 76.2 1.75 44.5 0.61 15.5 9.0 255
3.0 0.021 1.1 x 10-2 7.8 x 10-5 2.81 71.4 1.00 25.4 1.00 25.4 14 398
2.0 0.014 2.3 x 10-3 1.6 x 10-5 1.94 49.3 0.62 15.7 1.25 31.8 15 425
2.5 0.018 8.5 x 10-3 6.0 x 10-5 2.81 71.4 1.00 25.4 0.62 15.7 11 312
3.5 0.025 2.0 x 10-2 1.4 x 10-4 3.38 85.9 2.25 57.2 0.71 18.0 11 312
3.0 0.021 3.5 x 10-3 2.4 x 10-5 1.94 49.3 0.62 15.7 1.86 47.2 16 456
2.8 0.020 8.8 x 10-3 6.2 x 10-5 2.38 60.5 1.25 31.8 0.85 21.6 9.5 269
4.3 0.030 2.2 x 10-2 1.6 x 10-4 3.38 85.9 1.69 42.9 0.70 17.8 15 425

Note: Metric conversions provided for reference only.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 7

 Direct Drive DC Torque Motors
FRAMELESS TORQUER SELECTION GUIDE

Rotor
Friction Inertia Physical Dimensions Weight
Tf Jm OD ID Length
oz-in N-m oz-in-sec2 Kg-m2 in mm in mm in mm oz g
3.5 0.0247 3.5 x 10-2 2.5 x 10-4 3.73 94.7 1.64 41.7 0.89 22.6 18 511
4.0 0.0283 4.7 x 10-2 3.3 x 10-4 4.59 117 3.33 84.6 0.43 10.9 9.5 269
3.3 0.0233 1.7 x 10-2 1.2 x 10-4 2.81 71.4 1.00 25.4 1.13 28.7 20 567
3.0 0.0212 1.9 x 10-2 1.3 x 10-4 2.81 71.4 1.00 25.4 1.50 38.1 25 709
3.0 0.0212 3.4 x 10-2 2.4 x 10-4 3.63 92.2 2.50 63.5 0.80 20.3 14 397
5.8 0.0410 9.2 x 10-2 6.5 x 10-4 5.13 130 4.00 102 0.58 14.7 13 369
3.5 0.0247 3.7 x 10-3 2.6 x 10-5 1.94 49.3 0.63 16.0 1.11 28.2 12 340
2.5 0.0177 4.4 x 10-2 3.1 x 10-4 3.73 94.7 1.64 41.7 1.09 27.7 24 680
5.0 0.0353 8.3 x 10-2 5.8 x 10-4 5.13 130 4.00 102 0.56 14.2 13 369
3.8 0.0268 6.7 x 10-2 4.8 x 10-4 4.09 104 2.00 50.8 1.09 27.7 26 739
8.1 0.0570 6.5 x 10-2 4.6 x 10-4 4.56 116 2.94 74.7 0.69 17.5 18 511
5.8 0.0407 1.1 x 10-1 7.8 x 10-4 5.13 130 3.50 86.5 0.65 16.5 19 540
5.8 0.0407 6.1 x 10-2 4.3 x 10-4 3.73 94.7 1.64 41.7 1.34 34.0 32 907

Rotor
Friction Inertia Physical Dimensions Weight
Tf Jm OD ID Length
lb-ft N-m lb-ft-sec2 Kg-m2 in mm in mm in mm lb kg
0.02 0.0271 2.9 x 10-4 3.9 x 10-4 3.73 94.7 1.64 41.7 1.34 34.0 2.2 1.0
0.05 0.0678 6.1 x 10-4 8.3 x 10-4 4.56 116 2.94 74.7 0.88 22.4 1.9 0.86
0.04 0.0542 1.4 x 10-4 1.9 x 10-4 2.81 71.4 0.88 22.4 2.51 63.8 3.0 1.4
0.04 0.0542 8.6 x 10-4 1.2 x 10-3 6.13 156 4.50 114 0.67 17.0 1.2 0.54
0.03 0.0407 4.0 x 10-4 5.4 x 10-4 4.09 104 2.00 50.8 1.34 34.0 2.4 1.1
0.04 0.0542 6.2 x 10-4 8.4 x 10-4 5.13 130 3.50 88.9 0.78 19.8 1.5 0.68
0.03 0.0407 3.3 x 10-4 4.5 x 10-4 3.73 94.7 1.64 41.7 1.59 40.4 2.5 1.1
0.04 0.0542 8.7 x 10-4 1.2 x 10-3 5.13 130 2.39 60.7 1.25 31.8 2.9 1.3
0.12 0.163 1.5 x 10-3 2.0 x 10-3 6.13 156 4.50 114 1.17 29.7 3.0 1.4
0.05 0.0678 5.4 x 10-3 7.3 x 10-3 9.69 246 7.94 202 0.81 20.6 4.5 2.0
0.30 0.0407 6.0 x 10-3 8.1 x 10-3 8.50 216 6.88 175 1.30 33.0 7.3 3.3
0.05 0.0678 3.6 x 10-4 4.9 x 10-4 4.50 114 2.67 67.8 0.69 17.5 1.3 0.59
0.05 0.0678 1.6 x 10-4 2.2 x 10-4 3.18 80.8 1.44 36.6 1.55 39.4 1.9 0.86
0.04 0.0542 4.1 x 10-4 5.6 x 10-4 3.73 94.7 1.64 41.7 1.24 31.5 2.0 0.91
0.06 0.0814 2.0 x 10-4 2.7 x 10-4 3.18 80.8 1.00 25.4 1.53 38.9 2.4 1.1
0.06 0.0814 5.7 x 10-4 7.7 x 10-4 3.73 94.7 1.64 41.7 1.70 43.1 3.1 1.4
0.05 0.0678 1.4 x 10-3 1.9 x 10-3 5.13 130 2.39 60.7 1.75 44.5 5.6 2.5
0.10 0.136 9.8 x 10-4 1.3 x 10-3 4.10 104 2.00 50.8 1.80 45.7 4.0 1.8
0.20 0.271 6.3 x 10-3 8.5 x 10-3 7.73 196 5.25 133 0.94 23.9 4.2 1.9
0.16 0.217 6.3 x 10-3 8.5 x 10-3 7.00 178 4.73 120 1.29 32.8 6.3 2.9
0.12 0.163 1.5 x 10-3 2.0 x 10-3 5.13 130 3.25 93.9 1.25 31.8 3.0 1.4
0.10 0.136 7.2 x 10-4 9.8 x 10-4 4.50 114 2.68 68.1 1.07 27.2 2.6 1.2
0.10 0.136 4.0 x 10-4 5.4 x 10-4 3.18 80.8 1.14 29.0 2.35 59.7 3.5 1.6
0.15 0.203 1.9 x 10-3 2.6 x 10-3 6.13 156 4.50 114 1.17 29.7 2.9 1.3
0.20 0.271 6.5 x 10-3 8.8 x 10-3 7.20 183 3.95 100 1.32 33.5 7.0 3.2
0.25 0.339 1.1 x 10-2 1.5 x 10-2 8.69 220 5.94 151 1.26 32.0 7.5 3.4
0.09 0.122 5.0 x 10-3 6.8 x 10-3 7.20 183 3.95 100 1.63 41.4 7.3 3.3

Note: Metric conversions provided for reference only.

8 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Direct Drive DC Torque Motors
FRAMELESS TORQUER SELECTION GUIDE

Peak Torque Motor Theoretical Electrical

Model @ Stall Constant No Load Speed Time Constant
Number Tp Pp Km v NL Te
oz-in N-m Watts oz-in / Watt N-m / Watt rad/sec msec
T-2967 100 0.706 68 12.2 0.086 95 1.2
QT-4101 100 0.706 76 11.5 0.081 107 0.14
T-2215 108 0.763 41 16.9 0.12 54 1.7
T-2171 120 0.847 50 17.0 0.12 57 1.5
QT-3104 150 1.06 97 15.2 0.11 92 0.38
T-4601 154 1.09 200 10.9 0.077 184 0.47
QT-1406 157 1.11 347 8.42 0.059 313 .28
T-2955 163 1.15 77 18.6 0.13 67 1.6
QT-4602 163 1.15 211 11.3 0.080 183 0.27
T-3203 192 1.36 87 20.5 0.14 63 2.3
T-3910 192 1.36 50 26.9 0.19 36 0.84
T-4436 192 1.36 70 23.0 0.16 51 0.70
T-2987 211 1.49 113 20.0 0.14 75 2.1

Peak Torque Motor No Load Electrical

Model @ Stall Constant Speed Time Constant
Number Tp Pp Km v NL Te
lb-ft N-m Watts lb-ft / Watt N-m / Watt rad/sec msec
T-2950 1.2 1.63 79 0.135 0.183 48 2.13
T-3912 1.2 1.63 35 0.201 0.273 22 1.25
NT-2146 1.3 1.76 75 0.150 0.203 42 1.50
T-5403 1.3 1.76 120 0.119 0.161 68 0.67
T-3208 1.5 2.03 113 0.140 0.190 56 3.00
T-4412 1.5 2.03 120 0.139 0.189 58 0.84
T-2959 1.7 2.31 110 0.160 0.217 47 2.50
T-4036 1.8 2.40 88 0.190 0.258 36 1.79
T-5406 2.0 2.71 52 0.280 0.380 19 1.50
T-8902 2.1 2.85 61 0.270 0.366 22 0.40
QT-7602 2.1 2.85 17 0.514 0.697 5.9 0.58
QT-3801 2.4 3.25 187 0.175 0.237 58 0.58
T-2406 2.5 3.39 285 0.150 0.203 84 1.75
QT-3102 2.5 3.39 263 0.154 0.209 77 1.20
QT-2404 3.0 4.07 260 0.190 0.258 64 1.04
QT-3103 3.3 4.47 190 0.240 0.325 39 1.52
T-4076 3.6 4.88 127 0.320 0.434 26 2.70
QT-3403 4.0 5.42 126 0.357 0.484 23 2.10
QT-7004 4.0 5.42 58 0.524 0.710 11 2.00
QT-6302 4.2 5.69 67 0.510 0.692 12 1.44
QT-4402 4.2 5.69 160 0.335 0.454 28 1.10
QT-3802 4.8 6.51 256 0.300 0.407 39 0.84
QT-2603 5.0 6.78 313 0.280 0.380 46 2.10
QT-5404 5.0 6.78 227 0.330 0.447 33 0.60
T-6204 6.0 8.13 103 0.590 0.800 13 2.49
T-7501 6.5 8.81 177 0.490 0.664 20 1.60
T-5730 7.0 9.49 261 0.433 0.587 28 3.13

Continued on adjacent page.

Note: Metric conversions provided for reference only.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 9

 Direct Drive DC Torque Motors
FRAMELESS TORQUER SELECTION GUIDE

Peak Torque Motor Theoretical Electrical

Model @ Stall Constant No Load Speed Time Constant
Number Tp Pp Km v NL Te
lb-ft N-m Watts lb-ft / Watt N-m / Watt rad/sec msec
QT-7201 9.0 12.2 490 0.410 0.560 40 0.79
T-6205 10 13.6 113 0.940 1.27 8.0 2.8
QT-6202 11 14.9 330 0.610 0.830 22 1.8
T-7202 11 14.9 325 0.610 0.830 22 3.2
T-15602 11 14.9 198 0.780 1.06 13 2.2
QT-12901 12 16.3 135 1.05 1.42 8.2 0.37
T-11306 12 16.3 260 0.770 1.04 16 1.0
T-8905 14 19.0 666 0.530 0.720 36 1.4
T-5745 14 19.0 357 0.740 1.00 18 5.3
T-13301 14 19.0 256 0.900 1.22 13 1.0
QT-6301 20 27.1 576 0.830 1.13 21 2.1
QT-9704 20 27.1 235 1.30 1.76 8.6 1.5
T-9901 20 27.1 400 1.00 1.36 15 4.0
T-11308 20 27.1 218 1.35 1.83 8.0 1.4
T-7203 22 29.8 530 0.960 1.30 18 5.7
QT-11302 22 29.8 194 1.58 2.14 6.5 1.1
QT-7802 23 31.2 620 0.920 1.25 20 2.5
QT-6205 25 33.9 627 1.00 1.36 19 2.4
QT-7003 25 33.9 520 1.10 1.49 15 2.4
QT-6401 26 35.3 657 1.01 1.37 19 3.3
T-7250 28 40.0 582 1.14 1.55 15 6.5
T-15603 30 40.7 450 1.41 1.91 11 3.6
T-10036 35 47.5 740 1.28 1.74 16 3.5
QT-6207 40 54.2 655 1.56 2.12 12 3.0
T-9902 40 54.2 512 1.77 2.40 9.5 6.3
QT-7801 46 62.4 800 1.63 2.21 13 3.8
QT-11301 50 67.8 331 2.75 3.73 4.9 1.2
QT-17301 54 73.2 386 2.75 3.73 5.3 1.6
QT-7809 60 81.4 615 2.42 3.28 7.6 4.4
T-9908 70 94.9 720 2.61 3.54 7.8 6.4
T-10020 100 136 942 3.30 4.47 7.0 7.4
T-10035 100 136 1040 3.10 4.20 7.7 5.8
QT-11303 100 136 499 4.50 6.10 3.6 0.76
QT-12506 123 167 794 4.36 5.91 4.8 3.2
T-10071 150 203 1470 3.90 5.29 7.2 6.6
QT-12505 200 271 1100 6.04 8.19 4.0 3.8
T-12008 201 273 2630 3.93 5.33 9.6 8.3
T-18002 300 407 1450 7.85 10.6 3.6 20
QT-23502 700 949 1310 19.0 25.8 1.4 4.8
T-18004 900 1220 3440 15.3 20.7 2.8 25
T-24005 1000 1360 7000 12.0 16.3 5.0 13
T-36010 1500 2030 4940 21.3 28.9 2.4 14
T-18031 1600 2170 5600 21.4 39.0 2.6 23
T-36001 3000 4070 6300 37.8 51.3 1.6 22

Continued on adjacent page.

Note: Metric conversions provided for reference only.

10 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Direct Drive DC Torque Motors
FRAMELESS TORQUER SELECTION GUIDE

Rotor
Friction Inertia Physical Dimensions Weight
Tf Jm OD ID Length
lb-ft N-m lb-ft-sec2 Kg-m2 in mm in mm in mm lb Kg*
0.15 0.203 5.6 x 10-3 7.6 x 10-3 8.20 208 5.94 151 1.09 27.7 4.0 1.8
0.50 0.678 9.0 x 10-3 1.2 x 10-2 7.20 183 3.95 100 1.97 50.0 10 4.5
0.18 0.244 5.8 x 10-3 7.9 x 10-3 7.20 183 3.95 100 1.24 31.5 6.2 2.8
0.15 0.203 1.0 x 10-2 1.4 x 10-2 9.00 229 5.38 137 1.63 41.4 10 4.5
0.25 0.339 8.0 x 10-2 0.11 16.5 419 13.9 353 1.34 34.0 13 5.9
0.40 0.542 2.4 x 10-2 3.3 x 10-2 13.6 345 12.1 307 1.10 27.9 5.0 2.3
0.37 0.502 2.0 x 10-2 2.7 x 10-2 12.0 304 10.3 262 1.00 25.4 7.2 3.3
0.22 0.298 1.5 x 10-2 2.0 x 10-2 9.69 246 7.63 194 1.47 37.3 9.9 4.5
0.15 0.203 8.0 x 10-3 1.1 x 10-2 7.20 183 3.95 100 2.38 60.5 15 6.8
0.40 0.542 3.2 x 10-2 4.3 x 10-2 14.0 356 12.3 312 1.05 26.7 8.5 3.9
0.25 0.339 1.0 x 10-2 1.4 x 10-2 7.00 178 4.73 120 1.99 50.6 9.0 4.1
0.72 0.976 2.5 x 10-2 3.4 x 10-2 11.0 279 8.00 203 1.56 39.6 11 5.0
0.25 0.339 2.5 x 10-2 3.4 x 10-2 12.0 305 8.00 203 1.75 44.5 15 6.8
0.71 0.963 3.0 x 10-2 4.1 x 10-2 12.0 305 10.1 257 1.27 32.3 9.0 4.1
0.25 0.339 1.9 x 10-2 2.6 x 10-2 9.00 229 5.16 131 2.56 65.0 18 8.2
1.0 0.136 3.0 x 10-2 4.1 x 10-2 12.0 305 10.1 257 1.28 32.5 8.7 4.0
0.37 0.502 1.6 x 10-2 2.2 x 10-2 9.00 229 5.37 136 1.65 41.9 10 4.5
0.35 0.475 1.0 x 10-2 1.4 x 10-2 7.20 183 3.95 100 1.99 50.6 12 5.5
0.35 0.475 1.3 x 10-2 1.8 x 10-2 7.73 196 5.25 133 1.94 49.3 10 4.5
0.40 0.542 1.2 x 10-2 1.6 x 10-2 7.75 197 4.25 108 2.10 53.3 13 5.9
0.21 0.285 2.3 x 10-2 3.1 x 10-2 9.00 229 5.16 131 2.94 74.7 23 10
0.35 0.475 0.14 0.19 16.5 419 13.9 35.3 1.84 46.7 22 10
0.50 0.678 6.0 x 10-2 8.1 x 10-2 13.9 348 3.50 88.9 3.80 96.5 53 24
0.60 0.814 2.0 x 10-2 2.7 x 10-2 7.20 183 3.95 100 3.50 88.9 24 11
0.65 0.881 5.0 x 10-2 6.8 x 10-2 12.0 305 8.00 203 2.50 63.5 32 15
0.50 0.678 2.8 x 10-2 3.8 x 10-2 9.00 229 5.16 131 2.40 61.0 20 9.1
1.6 2.17 6.0 x 10-2 8.1 x 10-2 12.0 305 10.1 257 2.40 61.0 18 8.2
1.2 0.163 0.13 0.18 18.3 465 15.8 401 1.30 33.0 18 8.2
0.83 1.13 4.1 x 10-2 5.6 x 10-2 9.00 229 5.16 131 3.40 86.4 31 14
0.60 0.814 0.11 0.15 12.0 305 7.75 197 3.62 92.0 50 23
2.0 2.71 0.18 0.24 13.7 348 3.50 88.9 6.12 155 110 50
1.0 0.114 0.18 0.24 13.3 338 3.38 85.9 5.31 135 96 44
2.5 3.39 0.11 0.15 12.3 312 10.1 257 4.60 117 39 18
1.2 1.63 0.17 0.23 14.0 356 10.5 267 3.00 76.2 42 19
1.8 2.44 0.22 0.30 13.7 348 3.50 88.9 7.45 189 150 68
1.6 2.17 0.27 0.37 14.0 356 10.5 267 4.48 114 67 30
1.0 1.36 0.50 0.68 19.0 483 6.00 152 7.50 191 190 86
3.0 4.07 1.4 1.9 23.7 602 10.4 264 5.94 151 300 140
7.0 9.49 2.9 3.9 25.5 648 20.6 523 6.00 152 230 110
4.0 5.42 3.1 4.2 26.5 673 9.38 238 10.6 269 650 300
5.0 6.78 8.0 11 30.0 762 18.0 457 8.00 203 730 330
10 13.6 15 20 41.8 1060 27.8 706 6.75 172 820 370
6.0 8.14 4.2 5.7 26.5 673 9.38 238 14.8 376 850 390
12 16.3 26 35 45.0 1140 25.7 653 10.3 262 1400 620

*Note: Metric weight expressed in Kg.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 11

 TABLE OF STANDARD OPTIONS
These standard options allow our customers to modify existing catalog motors to achieve the features
as described below. Please consult factory for application information.

Higher Torque
Magnet Materials Alnico
Neodymium-Iron-Boron
Samarium Cobalt
Lamination Materials Silicon Steel
Vanadium Permedur
Magnetic pole Count Up to 2 times the catalog model. Consult factory

Higher Power
Stack Length Increase 0.25 inches to 3 inches
(Magnets & Laminations) (motor length increases the same as the stack length)

Speed/Torque Changes
Winding Wire Gages #20 - 28 AWG (standard)
#00-48 AWG

Installation Features
Shaft Geometry Round (standard)
Hollow, keyway, flat or integral gear
Mounting Bolt hole diameter and circumferential pattern (customer specified)
Lead Length 18 inches (standard)
7 to 48+ inches (customer specified)
Lead Color Red/White/Black (standard)
Colors to be specified by customer

Durability
Varnishes or Encapsulation 115°C (standard)
200°C

Kollmorgen enjoys a reputation of excellence based on constant endeavors

to update products. Information in this brochure is subject to change.

E-mail: servo@[Link]
Internet: [Link]
Fax: 1-540-731-0847 Radford, VA USA • 1-800-77 SERVO
AD3MBHBBO798-1015