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Kollmorgen D101B-93-1210-014

Product Introduction:
The D101B-93-1210-014 is a frameless direct-drive torque motor from Kollmorgen’s D101B product line. This motor features a hollow rotor design with no shaft, no bearings, and no housing — it mounts directly into the customer’s mechanical structure. The model code breakdown: “D101B” = D101B series, “93” = 93 mm outer diameter, “1210” = 121 mm stack length, “014” = winding code (014 = highest torque variant in this frame).

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Detailed content

Model Series: D101B Series

Technical Specifications:

Parameter Value
Motor Type Direct-Drive Frameless Torque Motor (Hollow Rotor)
Outer Diameter (Stator) 93 mm
Inner Diameter (Rotor Bore) 40 mm
Stack Length 121 mm
Continuous Torque 4.5 Nm
Peak Torque 13.5 Nm
Continuous Speed 2000 RPM
Max Speed 4000 RPM
Rated Power (Continuous) 0.94 kW
Peak Power 2.8 kW
Rated Voltage (DC Bus) 325 VDC
Phase Current (RMS, Continuous) 5.2 A
Phase Current (Peak) 15.6 A
Winding Inductance 1.5 mH
Winding Resistance 1.2 Ω
Rotor Inertia 0.0012 kg·m²
Weight (Stator + Rotor) 2.1 kg
Encoder Option Resolver (standard), EnDat 2.2 (optional)
Cooling Conduction through customer structure
IP Rating N/A (frameless — protection determined by integration)

Structural Features:

  • Hollow cylindrical design — stator mounts to machine, rotor mounts to load
  • No shaft, no bearings, no housing — fully frameless
  • Stator has mounting flange with bolt pattern for direct integration
  • Rotor is a smooth cylinder with magnet array on outer surface
  • Precision-balanced rotor for high-speed operation
  • Available with resolver or absolute encoder feedback

Material Composition:

  • Stator Core: Silicon steel laminations (0.2 mm, high-grade electrical steel)
  • Rotor Magnets: Samarium Cobalt (Sm2Co17) for high-temperature stability
  • Stator Windings: Class H insulation (180°C), copper wire, vacuum-impregnated (VPI)
  • Resolver/Encoder: Stainless steel housing, hermetically sealed
  • Bonding: Epoxy potting for environmental sealing

Working Principle:
The motor operates as a frameless permanent magnet synchronous torque motor. The stator is bonded/bolted to the machine frame. The rotor (with SmCo magnets) is mounted on the output shaft of the mechanism. When three-phase currents are applied to the stator windings by a servo drive, a magnetic field is generated that interacts with the rotor magnets, producing torque directly on the load — no gearbox, no coupling, no backlash. The resolver provides sinusoidal feedback (sin/cos) for commutation and velocity control.

Functional Features:

  • Zero-backlash direct drive — no mechanical transmission
  • Hollow rotor allows cable routing through motor center
  • High torque density for frame size
  • SmCo magnets maintain performance at elevated temperatures (up to 150°C)
  • Resolver feedback provides robust operation in high-vibration and high-temperature environments

Advantages:

  • Zero backlash — ideal for precision pointing and scanning
  • Hollow bore (40 mm) allows wiring and cooling through the motor
  • No bearings to fail — customer provides bearing support
  • SmCo magnets — superior to NdFeB at temperatures above 100°C
  • Compact form factor — 93 mm OD × 121 mm length

Applicable Industries:

  • Satellite antenna pointing (azimuth/elevation)
  • Direct-drive robot joints (collaborative robots)
  • Gimbal systems (camera, sensor)
  • Semiconductor wafer stage positioning
  • Telescope and radar antenna drives
  • Medical imaging (CT/MRI gantry)

Installation Requirements:

  • Stator must be precision-mounted to machine structure (concentricity < 0.025 mm)
  • Rotor must be dynamically balanced (G2.5 or better per ISO 1940)
  • Customer provides bearing support on both ends of rotor
  • Air gap between stator and rotor: 0.3 mm ± 0.05 mm
  • Connect resolver cable (6-wire shielded) to drive — max 15 m
  • Apply thermal interface compound between stator and mounting surface

Usage Notes:

  • Customer is responsible for all bearing selection and lubrication
  • Do not exceed 4000 RPM continuous speed
  • Monitor rotor temperature via resolver thermal model or external sensor
  • Air gap must be maintained precisely — mechanical contact will destroy magnets
  • SmCo magnets are brittle — handle rotor with care, no impact

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