Product Description:

The TBMS-6013-A is a frameless torque motor manufactured by Kollmorgen within the TBM Frameless Motors series. Supplied as separate stator and rotor components, it is intended for direct integration into machine joints, gimbals, or compact rotary axes where eliminating a housing saves space and inertia. In industrial automation, this design allows the electromagnetic core to be mounted directly into the mechanical structure, producing servo-class torque without belts, gears, or additional bearings. The frameless layout is useful when the machine already provides the surrounding support structure and needs the motor to fit into a tight envelope. This format also helps keep moving mass low in compact rotary systems.

The motor can sustain a continuous output of 4.5 Arms while holding a shaft load of 0.415 N-m at stall, which marks its continuous thermal limit. A rated speed of 4000 RPM combines with the 0.097 N-m/Arms torque constant to yield 114 W of mechanical power from a 48 VDC supply. The 12-pole construction improves torque density while keeping electrical time constants short. A phase-to-phase inductance of 0.39 mH and a line-to-line resistance of 0.804 ohms help moderate current ripple during precision motion. That electrical combination supports smooth current control in precision motion applications. At only 0.221 kg, the lightweight stator minimizes structural load and simplifies mounting inside small robotic joints or pan-tilt stages.

For transient moves such as rapid indexing or overcoming static friction, the winding can accept 15.5 Arms and momentarily develop 1.39 N-m of stall torque before thermal limits intervene. The back-electromotive-force constant of 5.86 Vrms/kRPM provides predictable voltage feedback for drive commutation and assists the controller in regulating deceleration energy. Dynamic response is further enhanced by the rotor’s low inertia of 0.0000141 kg-m², allowing quick acceleration with minimal drive effort. Low rotor inertia is especially useful in axes that need quick speed changes and short settling times.