Product Description:

The TBM-6051-B is a frameless permanent-magnet motor kit manufactured by Kollmorgen in the TBM Frameless Motors series. Designed for direct integration into a host structure, its rotor and stator can be mounted without a separate housing, which minimizes stack height in robotic wrists, pan-tilt modules, and other space-limited axes. This format lets the machine builder place the electromagnetic components directly into the surrounding mechanism instead of relying on a conventional housed motor. By providing torque at the load without intermediate gearing, the motor simplifies drivetrain architecture and supports precise, backlash-free motion in automated equipment.

The motor provides a continuous stall torque of 0.925 N·m, while transient demands can be satisfied with a peak stall torque of 3.53 N·m. Under nominal operating conditions, the shaft rotates at 1600 RPM and delivers up to 135 W of power when supplied from a 24 VDC bus. Twelve magnet poles allow fine commutation steps and reduced cogging. The torque constant is 0.129 N·m/Arms, so drive current can be matched accurately during servo sizing. Static friction is limited to 0.056 N·m, and viscous damping adds only 0.0114 N·m for each kRPM of speed, which helps support smooth low-speed regulation. The active length measures 60.96 mm, and the assembled kit adds 0.571 kg to the host mechanism.

Electrical behavior is characterized by a phase resistance of 0.288 Ω at 25 °C and an inductance of 0.22 mH, enabling rapid current transients without excessive I²R loss. A rotor inertia of 0.0000475 kg·m² supports fast acceleration profiles while limiting stored rotational energy that can affect settling time. When rotated, the windings generate a back electromotive force of 7.81 Vrms/kRPM, a value used by drive electronics for field-oriented control and regenerative voltage estimation. Low inductance helps the current loop respond quickly during dynamic motion, and low rotor inertia reduces the lag between commanded torque and rotor acceleration.