Product Description:

The TBM-6013-A is a frameless permanent-magnet motor built by Kollmorgen and supplied as part of the TBM Frameless Motors series. Because the stator and rotor are delivered without an outer housing, the unit is designed to be integrated directly into compact axes, gimbals, or robotic joints where minimizing package size and eliminating belt transmissions are priorities in industrial automation. This arrangement lets the motor become part of the machine structure instead of adding a separate housed assembly.

This motor operates from a supply of 48 V DC and reaches a rated mechanical speed of 4000 RPM. At that operating point it delivers 114 W of shaft power while generating a back electromotive force of 5.86 Vrms/kRPM, which helps the drive maintain the required voltage margin for field-oriented control. The stator phase inductance is 0.39 mH, and the line-to-line resistance at 25 °C is 0.804 ohms; together these values influence the electrical time constant and current loop response. Twelve magnet poles allow finer commutation steps than lower-pole motors of similar size. Continuous stall current is 4.5 Arms, and peak stall current is 15.5 Arms for short load transients. The torque constant of 0.097 N-m/Arms shows how much torque is produced per ampere, and viscous damping is 0.00204 N-m/kRPM, indicating minimal speed-dependent drag.

Under sustained load the motor can hold 0.415 N-m without exceeding its thermal rating, and it tolerates a momentary load of 1.39 N-m during acceleration or shock events. The rotor’s mass moment of inertia is only 0.0000141 kg-m², so the axis reacts quickly to speed commands, which is useful in pick-and-place heads or exoskeleton joints that demand high dynamic agility. Overall motor weight is 0.221 kg, keeping moving mass low in airborne or wearable systems, and the 12-pole construction helps maintain smooth torque at very low speeds.