Product Description:

The TBMS-6051-B is a frameless brushless servo motor kit manufactured by Kollmorgen as part of the TBM Frameless Motors series. Supplied as separate rotor and stator components, the unit is intended to be integrated directly into robotic joints, gimbals, and other compact axes where space and weight are constrained. Within an automation cell, it functions as the torque source, converting DC bus power into controlled rotational motion that can be tightly regulated by the paired drive.

The back-electromotive-force constant of 7.81 Vrms/kRPM indicates the voltage the stator generates per 1000 rpm and determines the required inverter voltage margin at speed. A line-to-line inductance of 0.22 mH and a phase resistance of 0.288 ohms at 25 °C set the current ripple and copper losses, guiding current-loop bandwidth and thermal design. The torque constant equals 0.129 N-m/Arms, so every ampere of sinusoidal phase current produces proportional shaft torque. Twelve evenly spaced magnetic poles improve torque density while keeping cogging low for smooth motion. Operation from a 24 VDC bus matches low-voltage mobile platforms. Static friction of 0.056 N-m is minimal, enabling precise low-speed positioning without the need for high dither currents.

Continuous operation is supported at 7.62 Arms, yielding a steady-state torque of 0.925 N-m without exceeding winding temperature limits. For rapid acceleration, the drive may deliver 27.7 Arms briefly, letting the motor reach a peak torque of 3.53 N-m to overcome inertial or load spikes. At its rated speed of 1600 rpm, this torque translates to 135 W of mechanical power, which is suitable for mid-size rotary actuators. A rotor inertia of 0.0000475 kg-m² keeps move profiles responsive, and viscous damping of 0.0114 N-m/kRPM helps the control loop settle quickly after motion commands without external brakes.