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Kollmorgen TTR-4500-4201-B
Product Overview:
The TTR-4500-4201-B is a high-torque-density frameless brushless DC torque motor designed for direct-drive rotary motion applications. It eliminates the need for gearboxes, couplings, and bearings by integrating the motor directly into the customer’s mechanical structure. This model is part of Kollmorgen’s TTR product line, engineered for precision motion control in space-constrained, high-performance environments.
Detailed content
Key Specifications:
| Parameter | Value |
|---|---|
| Continuous Torque | 4.5 Nm (401 in-lb) |
| Peak Torque | 13.5 Nm (1200 in-lb) |
| Rated Speed | 3000 RPM (max) |
| Outer Diameter | 98 mm (3.86 in) |
| Inner Diameter (Bore) | 42 mm (1.65 in) |
| Stack Length | 47 mm (1.85 in) |
| Weight | Approximately 1.6 kg (3.53 lb) |
| Winding Configuration | 4201 |
| Variant Code | B |
| Voltage Rating | 48 VDC (nominal) |
| Thermal Resistance (Rth) | 4.2 °C/W (winding to case) |
| Insulation Class | Class H (180°C) |
Construction & Materials:
- Stator: High-grade silicon steel laminations with epoxy encapsulation
- Rotor: Samarium Cobalt (SmCo) or Neodymium Iron Boron (NdFeB) permanent magnets, depending on variant
- Housing: Non-magnetic stainless steel or aluminum alloy
- Windings: Copper wire, Class H insulated, vacuum impregnated with epoxy resin
- Bearings: Not included — designed for customer-supplied or integrated bearing system
Functional Features:
- Direct-drive architecture — zero backlash, zero mechanical transmission loss
- Hollow shaft design — allows pass-through of cables, cooling lines, or structural shafts
- High torque-to-inertia ratio — enables rapid acceleration and deceleration
- Cogging-free operation — smooth torque output at low speeds
- Integrated Hall-effect sensors — 3-phase commutation feedback (standard on 4201 winding)
Performance Parameters:
| Parameter | Value |
|---|---|
| Torque Constant (Kt) | 0.14 Nm/A |
| Voltage Constant (Ke) | 14.2 V/krpm |
| Terminal Resistance (R) | 1.8 Ω (phase-to-phase, 25°C) |
| Terminal Inductance (L) | 3.2 mH (phase-to-phase) |
| Max Continuous Current | 32 A (peak) |
| Rotor Inertia | 0.00012 kg·m² |
| Mechanical Time Constant (τm) | 2.8 ms |
| Electrical Time Constant (τe) | 1.8 ms |
Advantages:
- Zero backlash — eliminates mechanical play inherent in geared systems
- High dynamic response — bandwidth exceeding 100 Hz in closed-loop operation
- Compact form factor — ideal for robotic joints, gimbal systems, and medical devices
- Customizable — bore size, stack length, winding, and sensor options are configurable
Applicable Industries:
- Robotics — collaborative robots, surgical robots, humanoid joints
- Aerospace & Defense — gimbal systems, antenna positioning, UAV actuation
- Medical Devices — CT scanners, surgical tables, patient positioning systems
- Semiconductor Manufacturing — wafer handling, precision stage control
- Optical Systems — telescope tracking, camera gimbals, LIDAR scanning
Installation Requirements:
- Must be mechanically integrated into customer structure with precision-machined mounting features
- Requires external bearing support (front and rear) rated for radial and axial loads
- Thermal management via conduction to mounting structure or forced air/liquid cooling
- Hall sensor cables must be routed through hollow bore or external channel
Usage Notes:
- Do not exceed rated continuous torque — thermal derating applies above 40°C ambient
- Ensure proper phasing of Hall sensors during installation
- Recommended mounting torque: per engineering drawing specification
- Variant B denotes specific winding/magnet configuration — verify compatibility with drive electronics
