Kollmorgen ServoDisc Catalog

SERVODISC
CATALOG
A new dimension in
performance
If you are involved with high performance servomotor applications, there is
an important motor technology which
you should know about. Its the technology found in ServoDisc motors from
Kollmorgen.
What separates the ServoDisc motor
from conventional DC servos is its ironless disc armature. As we shall see, this
difference enables ServoDisc motors to
deliver a level of performance, in both
incremental motion and continuous speed
applications, which is not attainable with
conventional ironcore motor designs.
In addition to performance advantages, ServoDisc motors have a unique
compact shape that can be an attractive
alternative when solving tight packaging problems.
Unique ironless design
ROTATION
Ironcore Motor
ServoDisc Motor
A conventional ironcore motor uses a radial design

with magnets placed concentrically around the shaft
in such a way as to produce a radial magnetic field.
(Fig. 1) The armature consists of slotted steel laminations wound with coils of wire which interact with
the magnetic field to produce torque. As the motor
rotates a commutator automatically maintains the
correct current flow. A ServoDisc motor uses entirely different physical construction. The motor is designed with the magnetic field aligned axially, parallel to the shaft. (Fig. 2) The conductors in the arma-
ture have a current flow which is perpendlcular to

the magnetic field (radial to the shaft). This produces
a torque perpendicular to both the magnetic field and
the current (the left-hand rule). This force rotates the
shaft. This construction approach is much more efficient than the radial design of conventional ironcore
motors and eliminates the heavy iron armature and
the electrical losses associated with it. The large
number of commutations possible with
Kollmorgens unique flat armature produce dramatically smoother torque output.
In a conventional slot-wound servomotor, the armature is constructed from

a heavy, laminated ironcore wound with
coils of wire. In a ServoDisc motor, the armature has no iron.
Instead, it is constructed from several layers of copper conductors in a unique flat-disc configuration.
Not only are the armature designs completely different, so is
the shape and internal construction. In a conventional servo,
the permanent magnets are mounted on the motor shell creating a radial magnetic field, perpendicular to the shaft (Fig. 1).
Because the magnet pairs are so far apart, the iron core of the
armature is needed to contain and focus the lines of magnetic
flux. Motors of this type are typically long, thin and heavy.
In a ServoDisc motor, the magnets are mounted on the end
plates creating an axial magnetic field, parallel to the shaft.
This leads to a very small air gap be tween the magnets, separated only by the thickness of the disc armature - a very clean
and effective design approach. Torque is created when the current flowing radially through the copper conductors interacts
directly with the field of the permanent magnets (Fig. 2). This
configuration is a very efficient way of producing torque.
These different approaches produce dramatically different
motors (Fig. 3).
Outdistances other DC servos

The iron-free ServoDisc armature provides some significant
performance advantages for motion control applications.
COMPARISON OF PERFORMANCE FEATURES

+5%
ServoDisc
Motor
150
100
50
Rare Earth
Ironcore
Motor
Conventional
Ironcore
Motor
10
Percentage of Full Torque
Radians/sec2 (Thousands)
200
+4%
Low cogging
Ironcore +1.5%
+3%
+2%
ServoDisc
"0" cogging
+1%
0
-1%
-2%
-3%
-4%
Conventional
Ironcore + 4%
-5%
Size
Acceleration
Cogging
The ServoDisc armature is much smaller and lighter

than bulky ironcore designs of equivalent output.
ServoDisc motors accelerate up to 10 times faster

than conventional servo motors.
The ironless ServoDisc armature has absolutely no

cogging at any speed of operation.
Faster acceleration
the entire move can be performed in less than 10 milliseconds.
This means shorter cycle times, more moves per second and
higher throughput. For incremental motion applications, this
translates into higher productivity and more profitability.
The thin, low-inertia armature design leads to exceptional

torque-to-inertia ratios. This translates into blazing acceleration
(Fig. 4). A typical ServoDisc motor can accelerate from 0 to
3000 rpm in only 60 degrees of rotation. In some applications,
3000
3000
2500
2500
2000
1.5
Rare Earth
Ironcore
Motor
1500
1000
500
0.5
ServoDisc
Motor
0
Peak Torque
1000
Conventional
Ironcore
ServoDisc
Motor
100
2000
1500
1.0
Continuous Torque
Speed (RPM)
Speed (RPM)
Milliseconds
2.0
Conventional
Ironcore
Motor
ServoDisc
50
High
Performance
Ironcore
Motor
Conventional
Ironcore
Motor
500
50 100 150
Torque (oz-in) (7A)
50 100 150
Torque (oz-in) (7A)
10
Electrical Time Constant
Torque-Speed Curves
Peak Torque Capability
A very low electrical time constant results in torque

much sooner than with conventional wire-wound motors.
With full torque from 0 to full speed, ServoDisc

motors solidly outperform conventional motors.
High peak torque capability means more throughput

than is available from standard servos.
Perfectly smooth rotation
Extra torque on call
If you rotate a conventional motor when it is unpowered,

you will notice that it pulls into certain preferred positions.
This occurs when the iron laminations in the arma ture line up
with the permanent magnets on the stator. This phenomenon
is called cogging. It also occurs when the motor is powered
and shows up as torque disturbances which can be a serious
problem in critical applications. The ServoDisc armature,
being ironless, is not attracted by the magnets and. consequently, has intrinsically zero cogging (Fig. 5). The result is
ultra-smooth rotation at any speed.
For rapid acceleration and deceleration, higher than normal

torque is usually required. To produce this temporary peak
torque, a peak current is applied to the motor. In an iron-core
design, the magnetic field of the armature can interact with
and demagnetize the permanent magnets. Because of this
effect, peak current is generally limited to 2 or 3 times the
continuous current rating. With the non-magnetic ServoDisc
armature and axial magnetic field, this problem is virtually
eliminated. Most ServoDisc motors are rated for peak current
of 10 times the continuous rating (Fig. 8).
Long brush life
Sizes for every application
Because there is no iron, there is nearly no inductance. The

result is no arcing, because there is no stored energy in the
armature to be dissipated during commutation. In an ironcore
motor. a lot of energy is stored in the magnetic field of each
coil. When this field collapses, the energy may be discharged
by arcing to the brushes. Arcing, not friction, is the major
cause of brush wear. The elimination of arcing leads to very
long brush life in most applications. In fact, depending on the
application, it is possible for the brushes to last as long as the
bearings.
ServoDisc motors use a very well behaved technology.

As a result, products have been developed which cover a
wide range of package sizes and power levels. Motors are
presently available with torques from 10 oz-in to 20 lb-ft and
power outputs from 30 watts to 4.5 kilowatts. This means a
product match for nearly every application .
High speed capability

No arcing also means no commutation limits due to speed.
In a conventional motor, arcing increases as speed increases
and eventually causes motor operation to become erratic.
ServoDisc motors do not suffer from this problem and can
run to 4000 rpm and above.
Instantaneous torque
Low inductance provides another advantage...low electrical time constant. This is a measure of how long it takes for
current to flow into the armature. For ServoDisc motors, this
is much less than one millisecond (Fig. 6). This means full
torque almost instantly; a key to fast moves and accurate
tracking.
Full torque from 0 to 4000 rpm

In a conventional motor there are losses associated with
rotating the iron armature in a magnetic field. These losses
increase with speed, so as the motor goes faster, it uses more
and more of its available torque just to keep itself turning.
Consequently, less torque is left to deliver to the output shaft
(Fig. 7A). ServoDisc motors do not have these iron-associated losses and, as a result, deliver more torque over their entire
speed range. In fact, the torque is almost constant from 0 to
4000 rpm (Fig. 7B). Compare this performance with the
torque-speed characteristics of a conventional motor.
When sizing a conventional motor, the torque drop-off with
speed may require you to select the next higher size to get
sufficient torque at high speed. You will never have this problem with a ServoDisc motor.
Easy to design in
The disc armature design leads to a unique flat motor package. This is generally easier to design in than much longer
conventional motors. From a performance standpoint, this
shape provides closer physical coupling and better torsional
stiffness. These key factors can optimize your mechanical
design.
Kollmorgen ServoDisc
TABLE OF CONTENTS
Kollmorgen PLATINUM Series
U-Series
14
S-Series
26
Ferrite Series
31
Ferrite Kit Series
39
N-Series
43
JR-Series
48
Gearmotor Series
56
Accurex Gearmotor Series
57
Revex Gearmotor Series
60
Indurex Gearmotor Series
68
Ferrite Series
70
Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO
U-Series ServoDisc
INTRODUCTION
Options:
-- Integral tachometers
-- External tachometers
-- Optical encoders
-- Fail-safe brakes
Compatible Products
KXA Plus Amplifier
EM19 Linear Amplifier
39 to 402 oz-in (27-284)N-cm continuous torque

Motor Lengths Less Than 2
4.37 to 7.37 OD Round Frame
Optional Tachometer and Encoder Feedback
U-Series ServoDisc motors employ the unique Kollmorgen
flat disc armature. The ironless, low inertia armature delivers
high acceleration and zero cogging in an excpetionally compact package.
Extremely good speed control with zero cogging and low
RFI
Long brush life
Flat ServoDisc motors are ideal for many applications:
-- Save space and weight in applications requiring a low
profile motor
-- Large torsional stiffness for precision control of speed
and acceleration
14
U-Series ServoDisc
PERFORMANCE DATA
Performance Specifications
Symbol
Continous Stall Torque
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Electrical Specifications
Rated Terminal Voltage
Rated Continuous Current
Peak Current
Continuous Stall Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
12.6
15.6
137
12.0
24.1
8.7
72
6.8
26.8
6.8
56
5.3
31.9
8.6
72
6.8
34.7
6.8
56
5.3
40.0
6.8
56
5.3
Winding Specifications
Terminal Resistance 10%
Armature Resistance 10%
Back EMF Constant 10%
Rt
Ra
Ke
Torque Constant 10%
Kt
Viscous Damping Constant
Kd
Armature Inductance
Temperature Coefficient of KE
Number of Cummutator Bars
L
C
Z
Ohms
Ohms
V/KRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
0.365
0.175
2.43
3.29
2.32
0.8
0.5
<25
-0.02
117
0.850
0.660
4.85
6.56
4.63
0.8
0.5
<100
-0.02
117
1.310
1.120
4.85
6.56
4.63
0.7
0.5
<100
-0.02
117
0.850
0.660
7.50
10.15
7.17
1.1
0.8
<100
-0.02
117
1.310
1.120
7.50
10.15
7.17
0.9
0.6
<100
-0.02
117
1.310
1.120
9.24
12.50
8.83
1.0
0.7
<100
-0.02
117
0.0056
0.40
4.0
2.8
4.5
2.0
4.37
111.0
1.84
46.7
0.0056
0.40
4.0
2.8
4.5
2.0
4.37
111.0
1.84
46.7
0.0028
0.20
4.0
2.8
4.5
2.0
4.37
111.0
1.84
46.7
0.0058
0.41
4.0
2.8
5.3
2.4
4.37
111.0
2.39
60.7
0.0029
0.20
4.0
2.8
5.3
2.4
4.37
111.0
2.39
60.7
0.0027
0.19
3.0
2.1
5.8
2.6
4.37
111.0
2.39
60.7
Peak Torque
Tp
Rated Speed
Rated Continous Torque @ 25C
T25
Rated Continuous Torque @ 40C
T40
Rated Power Output

Maximum Recommended Speed
P
Nmax
U9M4LR
447
315
3000
45
32
41
29
101
6000
35
25
0
U9M4
469
331
3000
51
36
46
32
113
6000
41
29
0
U9M4A
360
254
3000
39
27
35
25
86
6000
31
22
0
U9M4H
727
513
3000
81
57
72
51
179
6000
65
46
0
U9M4HA
559
395
3000
62
44
56
40
138
6000
50
35
0
U9M4HA-2
690
488
3000
80
57
74
52
178
6000
63
45
0
Mechanical Specifications
Moment of Inertia
Jm
Static Friction Torque
Tf
Weight
Diameter
Length
LG
oz-in-sec2
kg-m2
oz-in
N-cm
lbs
kg
in
mm
in
mm
Figure of Merit
Peak Acceleration
Mechanical Time Constant
Continuous Power Rate
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
79.7
12.63
<0.14
2.6
83.7
11.97
<0.15
3.3
128.6
10.08
<0.09
3.8
125.3
5.21
<0.15
7.9
192.7
4.41
<0.09
9.4
255.7
2.72
<0.09
16.8
RAAR
RAAS
C/Watt
C/Watt
1.30
2.40
1.30
2.40
1.30
2.40
1.30
2.40
1.30
2.40
1.30
2.40
RAA3
C/Watt
0.28
0.28
0.28
0.32
0.32
0.32
Thermal Specifications
Thermal Resistance at Rated Speed
Thermal Resistance at Stall
Forced Air Thermal Resistance:
with 2.0 lbs/min Forced Air
Notes:
1) All values are based upon a 150C armature temperature limit and with the motor mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced
air cooling. Other voltages, speeds, and torques, and duty cycles are achievable as long as the mzx armature temperature of 150C is not exceeded.
2) Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft3).
3) Terminal resistance is measured at 4.0 amps. RT varies as a function of applied current.
15
U-Series ServoDisc
PERFORMANCE DATA
Symbol
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
22
15.8
160
14.4
43.4
8.8
85
8.1
46.0
7.0
65
6.3
62.7
7.9
84
8.1
65.6
6.5
65
6.3
82.7
11.0
95
9.2
125.7
8.5
101
9.8
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/KRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
0.305
0.165
5.77
7.81
5.52
1.7
1.2
<25
-0.02
141
0.750
0.610
11.55
15.63
11.04
1.8
1.3
<100
-0.02
141
1.170
1.030
11.55
15.63
11.04
1.3
0.9
<100
-0.02
141
0.750
0.610
18.50
25.03
17.68
5.0
3.5
<100
-0.02
141
1.170
1.030
18.50
25.03
17.68
3.26
2.3
<100
-0.02
141
0.880
0.740
23.30
31.53
22.27
6.0
4.3
<100
-0.02
165
0.880
0.740
39.00
52.77
37.26
15.3
10.8
<85
-0.02
165
oz-in-sec2
kg-m2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.021
1.45
5.5
3.9
8.0
3.6
5.50
139.7
2.10
53.3
0.0190
1.34
5.5
3.9
8.0
3.6
5.50
139.7
2.10
53.3
0.0080
0.56
5.5
3.9
8.0
3.6
5.50
139.7
2.10
53.3
0.0210
1.48
5.5
3.9
11.0
5.0
5.50
139.7
2.78
70.6
0.0100
0.71
5.5
3.9
11.0
5.0
5.50
139.7
2.78
70.6
0.0840
5.93
10.5
7.4
18.5
8.4
7.37
187.2
2.55
64.8
0.0840
5.93
10.5
7.4
18.7
8.5
7.37
187.2
2.99
75.9
Peak Torque
Tp
Rated Speed
T25
T40
Rated Power Output

P
Nmax
U12M4LR
1224
864
3000
112
79
102
72
249
6000
106
75
0
U12M4
1316
929
3000
128
91
114
81
284
6000
122
86
0
U12M4A
1014
716
3000
100
71
90
64
223
6000
93
66
0
U12M4H
2076
1465
3000
179
126
158
112
396
6000
195
137
0
U12M4HA
1600
1130
3000
148
104
133
94
329
6000
150
106
0
U16M4
2981
2105
3000
322
227
287
203
704
6000
280
194
0
U16M4H
5242
3702
3000
402
284
341
241
890
6000
501
354
0
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
59.4
7.85
<0.15
4.33
69.2
6.68
<0.16
6.1
126.7
4.75
<0.10
8.9
98.9
2.88
<0.10
10.7
160
2.31
<0.10
15.5
35.5
8.81
<0.14
8.7
62.4
3.15
<0.11
13.6
RAAR
RAAS
C/Watt
C/Watt
1.27
1.90
1.27
1.90
1.27
1.90
1.27
1.90
1.27
1.90
0.65
1.25
0.70
1.10
RAA3
C/Watt
0.23
0.23
0.23
0.23
0.23
0.18
0.18
4)
5)
6)
7)
16
Unless otherwise noted, all specifications above apply at 25C.

Peak torque and current is calculated based on max pulse duration of 50 millisecond and a 1% duty cycle.
The operating current can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.
The operating voltage can be calculated as: V = KE x (N/1000) + RT x I.
U-Series ServoDisc
PERFORMANCE DATA
U9M4LR-STD
4000
E=
U9M4HA-STD
E=
12
.59
E=
3000
4000
E=
15
9.4
3000
E=
2000
E=
Speed (rpm)
Speed (rpm)
0
0
25
50
75
100
125
150 oz-in
17.8
35.5
53.3
71.0
88.8
106.5 N-cm
U9M4H-STD
4000
Shaft
Torque
30
60
90
120
150
180 oz-in
21.3
42.6
63.9
85.2
106.5
127.8 N-cm
U9M4HA-2 STD
4000
E=
E=
31.
94
E=
40
.05
39.
E=
89
96
in
in
E=
20
.02
1000
in
in
No co
in
1000
2000
Air Flow = 2.00 lb/m
15.
E=
50
.06
30
2000
E=
.04
Speed (rpm)
94
3000
23.
E=
in
No cooling
3000
Speed (rpm)
in
1000
in
26
.02
0
Shaft
Torque
43
.36
17
in
No cooling
1000
Air Flow = 2.00 lb/min
No cooling
in
6.3
in
E=
E=
.34
2000
34
.69
.74
oling
0
Shaft
Torque
0
0
40
80
120
160
200
240 oz-in
28.4
56.8
85.2
113.6
142.0
170.4 N-cm
U9M4-STD
Shaft
Torque
40
80
120
160
200
240 oz-in
28.4
56.8
85.2
113.6
142.0
170.4 N-cm
U12M4LR-STD
4000
E=
4000
24
E=
E=
18
.04
3000
E=
E=
11 V
1000
0.80 lb/min
2000
in
in
0
Shaft
Torque
16 V
0.40 lb/min
Speed (rpm)
E=
No cooling
1000
.03
12
E=
2000
26 V
21 V
3000
30
.07
No cooling
Speed (rpm)
E=
2.0 lb/min
.05
0
0
0
25
17.7
50
35.3
75
52.0
100
70.6
125
88.3
150 oz-in
N-cm
Notes:
A. All curves are drawn for a fixed armature temperature of 150C.
B. The motor can be operated at any point on the graph below
4000 RPM. Higher speeds can be obtained for short periods of time.
Contact a Kollmorgen Sales Office for more details.
C. Determine voltage required for a desired combination of speed and
torque by locating it on the appropriate Constant terminal-voltage curve.
Shaft
Torque
60
120
180
240
300
(oz-in)
42
85
127
169
212
(n-cm)
D. Determine the required cooling by locating the desired operating point on the
appropriate Constant cooling curve.
E. The operating current can be calculated as:
I = (Shaft torque + TF + KD x N/1000) / KT.
F. The operating voltage can be calculated as:
V = KE x N/1000 + RT x I.
17
U-Series ServoDisc
PERFORMANCE DATA
U12M4H-STD
U12M4A
4000
4000
E= 77
E= 62
E=
04
E=
33
200
71
141
300
400
212
500
282
353
(oz-in)
Shaft
Torque
(n-cm)
60
120
180
240
300
360 oz-in
42.4
84.7
127.1
169.5
211.8
254.2 N-cm
U16M4H
E= 136
43.
38
E=
3000
E= 125
22
3000
32.
53
= 0.80 lb/m
= 0.40 lb
1000
in
/min
Air Flow
E= 63
No cooling
in
No cooling
1000
E= 94
2000
Air Flow
89
24.
2000
E=
54.
Speed (rpm)
E=
Speed (rpm)
4000
E=
0
0
80
160
240
320
400
480 oz-in
56.5
113.0
169.5
226.0
282.5
339.0 N-cm
U12M4HA-STD
Shaft
Torque
200
400
600
800
1000
1200 oz-in
141.2
282.5
423.7
564.9
706.2
847.4 N-cm
U16M4
4000
4000
E= 101
E= 8
1V
E= 6
E= 81
5V
3000
2000
1000
in
lb/min
E= 41
No cooling
1000
E= 61
0
Air Flow = 0.4
3V
2.00 lb/min
E= 3
0.80 lb/min
2000
0.40 lb/min
9V
No cooling
E= 4
Speed (rpm)
3000
Speed (rpm)
in
100
4000
0
0
80
160
240
320
400
(oz-in)
56
113
169
226
282
(n-cm)
Notes:
Consult a Kollmorgen Sales Office for more details.
18
02
0
0
U12M4-STD
Shaft
Torque
23.
1000
Shaft
Torque
E=
2000
No cooling
1000
2.00 lb/min
0.80 lb/min
in
0.40 lb/m
34.
2000
E= 32
Speed (rpm)
No cooling
Speed (rpm)
E=
E= 47
57.
55
3000
3000
Shaft
Torque
46.
Shaft
Torque
125
250
375
500
625
750 oz-in
88.3
176.5
264.8
353.1
441.3
529.6 N-cm
V = KE x N/1000 + RT x I.
U-Series ServoDisc
DIMENSIONS
U9M4
MOTOR LEADS
NO. 18 AWG
12 IN. 1 IN. LG
SEE NOTE 7 AND 8
45 5
SEE NOTE 7 AND 8

"A" TAP U9 & U12 X .21 (5.334) DP
U16 X .25 DP
4 HOLES EQUALLY
SPACED ON "B" DIA B.C.
+.01
FLAT .01 .00 X .50 LONG
(.254) (12.7)
TYP BOTH ENDS
"C" DIA
BOTH ENDS
.53 DIA TYP

4 PLACES
.19 (4.83) TYP
"E" DIA
"D" DIA
"K" DIA
45
NO. 6 - 32 UNC - 2A THD
2 TERMINALS WITH NUTS
.22 (5.56)
"G"
.50 (12.7)
Dimensions in inches.
"F"
"H"
"J"
Motors designed to English dimensions, note the metric equivalent.

Motor
Types
A
Tap
U9M4LR
8-32
U9M4
B Dia
.005
C Dia
D Dia
+ .0000
- .0005
+ .000
- .0002
E Dia
.01
F
1/32
G
.01
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
4.37 (110.99)
11/4 (31.75)
.06 (1.52)
8-32
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
4.37 (110.99)
11/4 (31.75)
U9M4A
8-32
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
4.37 (110.99)
U9M4H
8-32
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
U9M4HA
8-32
U9M4HA-1
H
1/32
K Dia
Ref
L
< 1/2
127/32 (46.83) 13/16 (30.16)
1.660 (42.16)
261/2
.06 (1.52)
127/32 (46.83) 13/16 (30.16)
1.660 (42.16)
261/2
11/4 (31.75)
.06 (1.52)
127/32 (46.83) 13/16 (30.16)
1.660 (42.16)
261/2
4.37 (110.99)
11/4 (31.75)
.06 (1.52)
213/32 (61.11) 13/16 (30.16)
1.660 (42.16)
261/2
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
4.37 (110.99)
11/4 (31.75)
.06 (1.52)
213/32 (61.11) 13/16 (30.16)
1.660 (42.16)
261/2
8-32
3.656 (92.86) .3745 (9.51)
3.311 (84.09)
4.37 (110.99)
11/4 (31.75)
.06 (1.52)
225/64 (60.72) 13/16 (30.16)
1.660 (42.16)
261/2
U9M4HA-2
8-32
3.656 (92.86) .3745 (9.51)
3.311 (84.09)
4.37 (110.99)
11/4 (31.75)
.06 (1.52)
225/64 (60.72) 13/16 (30.16)
1.660 (42.16)
261/2
U12M4LR
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
11/4 (31.75)
.06 (1.52)
27/64 (53.57)
13/16 (30.16)
2.220 (56.38)
26
U12M4
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
11/4 (31.75)
.06 (1.52)
27/64 (53.57)
13/16 (30.16)
2.220 (56.38)
26
U12M4A
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
11/4 (31.75)
.06 (1.52)
27/64 (53.57)
13/16 (30.16)
2.220 (56.38)
26
U12M4H
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
11/4 (31.75)
.06 (1.52)
225/32 (70.64) 13/16 (30.16)
2.220 (56.38)
26
U12M4HA
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
11/4 (31.75)
.06 (1.52)
225/32 (70.64) 13/16 (30.16)
2.220 (56.38)
26
U16M4
1/4-20
6.625 (168.27) .7496 (19.03) 6.124 (155.54) 7.37 (187.19)
11/4 (31.75)
.09 (2.28)
29/16 (65.08)
2.830 (71.88)
24
U16M4H
1/4-20
6.625 (168.27) .7496 (19.03) 6.124 (155.54) 7.37 (187.19)
11/4 (31.75)
.09 (2.28)
3.81 (76.96) 1.150 (29.21) 2.830 (71.88)
24
J
1/32
15/32 (29.36)
19
U-Series ServoDisc
DIMENSIONS
MECHANICAL SPECIFICATIONS
Notes:
1. Shaft Dia -A- runout not to exceed 0.001 in per in.
2. Pilot Dia -B- concentric to -A- within 0.003 in T.I.R.
3. Mounting surface -S- perpendicular to -A- within:
0.005 for U9M Series
0.010 for U16M4.
4. Shaft end play 0.001 Max under a thrust in the direction shown of:
10 lbs for U9M and U12 Series
15 lbs for U16M4.
5. Max pure radial load, 1 from surface S:
18 lbs for U9HA-1 and -2, 25 lbs for U9M and U12M,
60 lbs for U12H and HA and 85 lbs for U16M @ rated speed.
6. Max pure axial load is 8 lbs for U9HA-1 and -2,
11 lbs for U9M and U12M, 55 lbs for U12H and HA and 75 lbs
for U16M.
7. Radial lead termination optional.
8. For U12M4H and U12M4HA, radial termination is standard.
20
U-Series ServoDisc
PERFORMANCE DATA (with Integral Tachometer)
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
22.9
8.63
72
6.8
29.9
8.51
72
6.8
40.4
8.71
85
8.1
56.5
7.93
85
8.1
77.1
10.78
95
9.2
116.7
8.99
101
9.8
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/KRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/kRPM
H
%/C Rise
0.850
0.660
4.50
6.09
4.30
0.8
0.6
<100
-0.02
117
0.850
0.660
6.87
9.30
6.57
1.3
0.9
<100
-0.02
117
0.750
0.610
10.60
14.34
10.13
2.0
1.4
<100
-0.02
141
0.750
0.610
16.20
21.92
15.48
4.1
2.9
<100
-0.02
141
0.880
0.740
21.50
29.09
20.54
6.5
4.6
<100
-0.02
165
0.880
0.740
35.80
48.44
34.21
13.0
9.2
<85
-0.02
165
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.0083
0.59
4.5
3.2
4.5
2.0
4.37
111.0
1.86
47.2
0.0083
0.59
4.5
3.2
5.3
2.4
4.37
111.0
2.41
61.2
0.0260
1.84
6.0
4.2
8.0
3.6
5.50
139.7
2.11
53.6
0.0270
1.91
7.0
4.9
11.0
5.0
5.50
139.7
2.82
71.6
0.1120
7.91
11.5
8.1
18.5
8.4
7.37
187.2
2.59
65.8
0.1120
7.91
10.5
7.4
18.7
8.5
7.37
187.2
3.03
77.0
Peak Torque
Rated Speed
Symbol
Tp
N
T25
T40
Rated Power Output

P
Nmax
U9M4T
434
306
3000
46
32
41
29
102
6000
37
26
0
U9M4HT
665
470
3000
72
51
64
45
159
6000
59
42
0
U12M4T
1206
852
3000
115
81
104
73
254
6000
111
78
0
U12M4HT
1846
1304
3000
158
111
139
99
350
6000
171
121
0
U16M4T
2748
1941
3000
288
203
256
181
639
6000
257
181
0
U16M4HT
4811
3397
3000
393
278
340
240
872
6000
459
324
0
Moment of Inertia
Jm
Average Friction Torque
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
52.3
20.52
<0.15
1.8
80.1
8.86
<0.15
4.4
46.4
10.84
<0.16
3.6
68.4
4.82
<0.16
6.5
24.5
13.77
<0.14
5.2
43.0
4.98
<0.11
9.7
RAAR
RAAS
C/Watt
C/Watt
1.30
2.40
1.30
2.40
1.27
1.90
1.27
1.90
0.65
1.25
0.70
1.10
RAA3
C/Watt
0.3
0.32
0.25
0.27
0.19
0.18
V
Vrh
LIN
Volts/KRPM
%
%
2.25
3.0
0.06
3.43
3.0
0.06
5.30
3.0
0.11
8.10
3.0
0.11
10.50
3.0
0.11
17.90
3.0
0.11
Tachometer Specifications
Output Voltage
Maximum Ripple Peak to Peak
Linearity of Output Voltage
Notes:
1) All values are based upon a 150C armature temperature limit and with the motor
mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other
voltages, speeds, and torques, and duty cycles are achievable as long as the max
armature temperature of 150C is not exceeded.
2) Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft3).
3) Terminal resistance is measured at 4.0 amps. RT varies as a function of applied current.
4) Unless otherwise noted, all specifications above apply at 25C.
5) Peak torque and current is calculated based on max pulse duration of 50 milliseconds and
a 1% duty cycle.
6) The operating current can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.
7) The operating voltage can be calculated as: V = KE x (N/1000) + RT x I.
8) Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter
with 3db cut off at 500 Hz.
9) Tachometer minimum load resistance of 500 ohms.
21
U-Series ServoDisc
PERFORMANCE DATA (with Integral Tachometer)
U9M4T
U12M4T
4000
4000
E=
22
.8
E=
17
.2
8.6
5
1000
lb/min
0
Shaft
Torque
20.2
in
E=
Air Flow = 0.80
2000
0 lb/min
No cooling
1000
Air Flow = 0.4
.4
30.3
No cooling
Speed (rpm)
2
E=
11
50.5
E=
in
E=
2000
E=
3000
in
Speed (rpm)
3000
40.4
E=
0
0
25
50
75
100
125
150 oz-in
17.8
35.5
53.3
71.0
88.8
106.5 N-cm
U9M4HT
Shaft
Torque
60
120
180
240
300
360 oz-in
42.4
84.7
127.1
169.5
211.8
254.2 N-cm
U12M4HT
4000
4000
E=
29.
93
E=
3000
E=
E= 7
E= 5
0.65
8.52
37.
41
3000
22.
E= 2
8.26
0 lb/min
0.80 lb/min
Shaft
Torque
0.40 lb/min
No cooling
oling
No co
Air Flow = 2.0
Speed (rpm)
2000
1000
in
in
0 lb/min
1000
2.39
Air Flow =
96
E= 4
Air Flow =
14.
E=
2000
Air Flow = 0.4
Speed (rpm)
44
30
60
90
120
150
180 oz-in
21.3
42.6
63.9
85.2
106.5
127.8 N-cm
U16M4HT
Shaft
Torque
100
200
300
400
500
600 oz-in
70.6
141.2
211.8
282.5
353.1
423.7 N-cm
U16M4T
4000
4000
E= 145
E= 95
E= 76
E= 116
E= 87
2000
0.80 lb/min
0 lb/min
0
0
200
400
600
800
1000
1200 oz-in
141.2
282.5
423.7
564.9
706.2
847.4 N-cm
Notes:
Consult a Kollmorgen Sales Office for more details.
22
0.40 lb/min
1000
0
Shaft
Torque
Air Flow =
E= 38
No cooling
Air Flow = 2.0
0 lb/min
/min
No cooling
= 0.40 lb
1000
Air Flow = 0.8
E= 58
E= 57
Air Flow =
2000
Speed (rpm)
3000
Air Flow
Speed (rpm)
3000
Shaft
Torque
100
200
300
400
500
600 oz-in
70.6
141.2
211.8
282.5
353.1
423.7 N-cm
V = KE x N/1000 + RT x I.
U-Series ServoDisc
DIMENSIONS (with Integral Tachometer)
U9M4T
45 5 P
TACH LEADS
NO. 20 AWG
12 (304.8) 1 (25.4)
MOTOR LEADS
NO. 18 AWG
12 (304.8) 1 (25.4)
SEE NOTE 7
"M"
.03 (.79) MAX

"M" RAD
+.01
FLAT .01.00 X .50 LONG
(.254) (12.7)
TYP BOTH ENDS
"C" DIA
BOTH ENDS
.19 (4.83) TYP

SEE NOTE 4
"E" DIA
"D" DIA
.375 (9.5) DIA

2 PL (REF)
"A" TAP X .21 (U9 & U12) DP
.25 DP (U16)
4 HOLES EQL SPACED
ON "B" DIA B.C.
22.5
"G"
NO. 6 - 32 UNC - 2A THD

2 TERMINALS WITH NUTS
SEE NOTE 8
.22 (5.56)
.50 (12.7)
"F"
"H"
"J"
.53 (13.46) DIA TYP

4 PL
"K" DIA
45
Motors designed to English dimensions, note the metric equivalent.

Motor
Types
A
Tap
B Dia
.005
C Dia
D Dia
+ .0000
- .0005
+ .000
- .002
U9M4T
8-32
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
4.37 (110.99) 1.220 (30.98)
.06 (1.52)
155/64 (47.22) 1.200 (30.48) 1.660 (42.16)
261/2
U9M44HT
8-32
3.656 (92.86) .4995 (12.68) 3.311 (84.09)
4.37 (110.99)
1/
.06 (1.52)
213/32 (61.11) 13/16 (46.03)
261/2
U12M4T
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
1.230 (31.24)
.06 (1.52)
27/64 (56.35) 1.195 (30.35) 2.220 (56.38)
26
U12M4HT
10-32
4.875 (123.82) .4995 (12.68) 4.500 (114.3)
5.50 (139.7)
17/32 (30.95)
.06 (1.52)
213/16 (71.43) 113/16 (46.03) 2.220 (56.38)
26
U16M4T
1/-20
6.625 (168.27) .7496 (19.03) 6.124 (155.54) 7.37 (187.19) 1.230 (31.24)
.09 (2.28)
2.98 (78.74) 1.150 (29.21) 2.830 (71.88)
24
U16M4HT
1/-20
6.625 (168.27) .7496 (19.03) 6.124 (155.54) 7.37 (187.19) 1.230 (31.24)
.09 (2.28)
2.98 (78.74) 1.170 (29.21) 2.830 (71.88)
24
Notes:
1. Shaft Dia -A- runout not to exceed 0.001 in per in.
2. Pilot Dia -B- concentric to -A- within 0.003 in T.I.R.
3. Mounting surface -S- perpendicular to -A- within:
0.010 for U16M4.
4. Shaft end play 0.001 Max under a thrust in the direction shown of:
10 lbs for U9M4 and U12M4 Series, and 15 lbs for U16M4.
E Dia
.01
F
1/32
G
.01
H
1/32
J
1/32
K Dia
Ref
1.660 (42.16)
L
< 1/2
5. Max pure radial load, 1 from surface S:

25 lbs for U9 and U12M4T Series, 60 lbs for U12HT
and 85 lbs for U16M4T at rated speed.
6. Max pure axial load is 11 lbs for U9 and U12MT,
55 lbs for U12HT and 75 lbs for U16MT.
7. Radial lead termination optional.
8. For U12M4HT, radial termination is standard. Screw terminals are optional.
23
U-Series ServoDisc
SYSTEM PERFORMANCE (with separate Integral Tachometer)
Add-on tachometers are available mounted directly to the
motor shaft to provide velocity without magnetic coupling
between motor and tachometer.
Type U6T
High Precision Analog Tachometer
Type 9FA4T
Low Cost Analog Tachometer
(Shown in typical mounting to U9M4 motor)
(Shown in typical mounting to U9M4 motor)
TACH LEADS
NO. 22 AWG
18 (457.2) 1
9 FA4T
.69 (17.5)
TACH LEADS
NO. 22 AWG
18 (457.2) 1
3.375 (85.7)
4.38 (111.3)
3.9 (23.0)
U6 TACH
2.19 (55.6)
.69 (17.5)
.36 (9.1)
Dimensions in inches
Characteristics (at 25C)

Output Voltage
Ripple Voltage Max (P-P) (1)
at 1000 RPM
at 500 RPM
at 100 RPM
(rated at 3600 RPM)
Bi-directional Tol
(diff. in output Volts/kRPM)
Output Impedance (resistive)
Temperature Coefficient
Output Voltage
Load Resistance
(recommended Min)
Tachometer Inertia
No of Commutator Bars
Units
Volts/kRPM
Type U6T
1.00
Type 9FA4T
2.50
%
%
%
1.5
1.5
1.5
5.0
5.0
5.0
.05
.06
%
ohms
1.5
2.61
3.0
1.18
%/C Rise
-.02
-.19
ohms
oz-in-sec2
2610
.00025
97
1180
.0024
117
Measured with a resistive load of 1 kohm and a single-pole low pass filter with 3db cut off at 500 Hz. Calculated ripple frequency = ZT x N/60. For encoder
specifications (M23 only), please reference feedback section.
24
U-Series ServoDisc
PLATINUM REFERENCE GUIDE
Kollmorgen also offers the PLATINUM Series motors, a new generation of ServoDisc motors. These motors offer
increased life, reliability and performance, and may be used as a direct replacement for the U-Series motors. This reference
guide shows suggested equivalent PLATINUM and U-Series, S-Series, and N-Series motors currently offered by Kollmorgen.
PLATINUM Series U9D

Motors
Motor Model Number Equivalent PLATINUM
Model Number
U9M4
U9D-A
U9D-B
U9D-C
U9D-D
U9D-E
U9D-F
U9M4H
S9M4H
N9M4
Standard Series Winding

Torque
(oz-in)
50
60
65
80
90
75
Standard Parallel Winding
Ke
V (Volts) I (Amps)
(V/krpm) @3KRPM @3KRPM
5.0
6.0
6.4
8.0
8.8
7.6
23.9
26.7
27.8
32.2
34.6
31.2
8.7
8.6
8.6
8.6
8.5
8.6
Torque
(oz-in)
45
55
60
75
85
70
Ke
V (Volts) I (Amps)
2.5
3.0
3.2
4.0
4.4
3.8
12.5
13.9
14.5
16.7
17.8
16.1
15.5
15.5
15.5
15.4
15.3
15.4
Motors with Integral Tachometers

Model Number
U9M4T
U9DT-A
U9DT-B
U9DT-C
U9DT-D
U9DT-E
U9DT-F
U9M4HT
S9M4HT
N9M4T

Torque
(oz-in)
45
55
60
75
85
70
Ke
V (Volts) I (Amps)
4.6
5.6
5.8
7.4
8.4
7.2
22.7
25.3
25.9
30.5
33.4
30.0
8.6
8.6
8.5
8.5
8.4
8.5
Torque
(oz-in)
40
50
55
70
80
65
Ke
V (Volts) I (Amps)
2.3
2.8
2.9
3.7
4.2
3.6
11.9
13.2
13.5
15.8
17.3
15.5
15.4
15.3
15.3
15.2
15.1
15.2
PLATINUM Series U12D

Motors
Model Number
U12M4
N12M4
JR12
U12M4H
U12D-A
U12D-B
U12D-C
U12D-D
U12D-E
U12D-F

Torque
(oz-in)
130
140
150
165
180
185
Ke
V (Volts) I (Amps)
12.1
13.2
14.5
16.4
18.5
19.1
43.3
46.0
50.0
55.2
61.1
62.6
8.8
8.7
8.6
8.5
8.2
8.1
Torque
(oz-in)
115
125
135
150
160
170
Ke
V (Volts) I (Amps)
6.1
6.6
7.2
8.2
9.3
9.5
22.2
23.7
25.5
28.2
31.0
31.8
15.8
15.5
15.5
15.3
14.7
14.6
Motors with Integral Tachometers

Model Number
U12M4T
U12M4HT
U12M4HT
U12DT-A
U12DT-B
U12DT-C
U12DT-D
U12DT-E
U12DT-F

Torque
(oz-in)
115
125
135
150
160
170
Ke
V (Volts) I (Amps)
11.1
12.3
13.5
15.5
17.2
18.2
40.3
43.7
47.0
52.7
57.1
60.0
8.7
8.6
8.5
8.3
7.9
7.8
Torque
(oz-in)
105
115
125
140
150
160
Ke
V (Volts) I (Amps)
5.5
6.1
6.7
7.8
8.6
9.1
20.7
22.4
24.1
26.9
29.0
30.6
15.8
15.6
15.5
15.3
14.8
14.6
25
S-Series ServoDisc
INTRODUCTION
Options:
-- Tachometers
-- Optical encoders
-- Fail-Safe brakes
-- Rugged housing and mil-type connectors
Compatible Product
KXA Plus Amplifier
21 to 85 oz-in (15-60 N-cm) Continuous Torque

Motor Lengths Less Than 2
Optional Rugged Housing
Optional Tachometer or Encoder Feedback and Failsafe Brakes
S-Series ServoDisc motors employ the unique Kollmorgen
flat disc armature. The ironless, low inertia armature delivers
high acceleration and zero cogging in an exceptionally compact package.
Rugged housings and mil-type connectors added to S-Series
motors protect the motors and optional integral components
such as encoders, tachometers and fail-safe brakes. They
have been designed for harsh industrial evnironments where
protection from damaging elements is essential.
RFI
Long brush life
profile motor
and acceleration
26
S-Series ServoDisc
PERFORMANCE DATA
Symbol
S6M4H
(S6M4HI)
214
151
3000
21
15
19
13
46
6000
20
14
0
S9M4H
(S9M4HI)
921
650
3000
85
60
77
54
187
6000
85
60
0
Continuous Stall Torque
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
17.7
5.20
51
4.8
34.0
7.79
79
7.5
Torque Constant 10%
Rt
Ra
Ke
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/KRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
1.207
0.940
3.15
4.26
3.01
0.2
0.1
<100
-.020
82
0.850
0.660
8.80
11.91
8.41
1.3
0.9
<100
-.020
117
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.00085
0.060
0.9
0.6
2.1, (2.73)
0.95, (1.24)
3.39
86.1
1.61, (4.23)
40.9, (107.4)
0.00560
0.395
4.0
2.8
5.42, (6.7)
2.5, (3.84)
4.37
111.0
2.28, (5.19)
57.9, (131.8)
Peak Torque
Tp
Rated Speed
T25
T40
Rated Power Output

P
Nmax
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figures of Merit
Peak Acceleration
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
251.9
6.16
<0.11
3.53
164.5
3.66
<0.15
9.01
RAAR
RAAS
C/Watt
C/Watt
2.70
3.32
1.50
2.00
V
Vrh
LIN
Rl
Volts/KRPM
%
%
Ohms
0.75
1.5
0.06
1000
3.00
1.5
0.06
1180
Output Voltage
Minimum Load Resistance
27
S-Series ServoDisc
PERFORMANCE DATA
S6M4H & S6M4HI
S9M4H & S9M4HI
4000
4000
E
E=3
17
.78
=1
5.03
=2
2.2
3.3
3000
3000
E=2
Speed (rpm)
1000
0
0
10
20
30
40
oz-in
7.1
14.1
21.2
28.3
N-cm
Notes:
1. All curves are drawn for a fixed armature temperature of
150C.
2. The motor can be operated at any point on the graph below
4000 RPM. Higher speeds are possible for some applications. Contact a Kollmorgen Sales Office for more details.
28
7.52
0
Shaft
Torque
E=1
lb/min
1000
2000
No cooling
.89
0.40
Air Flow =
=8
2000
No cooling
Speed (rpm)
6.27
Shaft
Torque
40
80
120
160
oz-in
28.3
56.8
85.2
113.6
N-cm
3. Determine voltage required for a desired combination of

speed and torque by estimating it as a line parallel to one of
the constant terminal voltage (E) lines.
4. The operating current can be calculated as:
I = (Shaft torque + KD 3 N/1000) / KT.
5. The operating voltage can be calculated as:
V = KE 3 N/1000 + RT 3 I.
S-Series ServoDisc
DIMENSIONS
S6M4H
MOTOR LEADS
.56 (14.2)
NO.4-40 UNC-2B TAP x.18 (4.6) DEEP

2 HOLES EQ.SP. ON fl 1.812 (46.0) B.C.
30 5
LABEL, COMPUTER PRINT
fl .3147 +.0000
-.0005
(8.0)
fl .3149 +.0000
-.0002
(8.0)
fl 3.39
(86.1)
fl 1.749 +.000
(44.4) -.002
+.000
fl3.240 -.001
(82.3)
NAMEPLATE
CHAMFER
.02 (0.51) x 45
15
NO.8-32 UNC-2B TAPx.17 (4.3) DEEP

A
B
Without
Encoder
With
Encoder
inch
mm
inch
mm
Motor
1.61
40.9
2.42
61.5
45
.080 +.001
(2.0) -.000
.06 (1.5)
(70.9)
1.06 +.00
.02
1.61 (40.9)
Motor/
Tachometer
2.56
65.1
3.37
85.6
TYP

3/4
Motor/
Brake
3.03
77.0
3.84
97.5
Motor/Brake
Tachometer
3.96
101.0
4.79
122.0
Shaft Loading - S6M4H & S6M4HI - Radial 10 lbs @ 7/8 from -S- - Axial 7.5 lbs any direction
4.5 kg 22.2
3.4 kg
S6M4HI
MOTOR LEADS
.56 (14.2)
30 5

fl .3147 +.0000
-.0005
(8.0)
fl .3149 +.0000
-.0002
(8.0)
fl 3.39
(86.1)
fl1.749 +.000
(44.4) -.002
+.000
fl3.240 -.001
(82.3)
15
CHAMFER
.02 (0.51) x 45
.06 (1.5)
(70.9)
1.06 +.00
02
NO 8 32 UNC 2B TAP 17 DEEP
A
A
Without
Encoder
With
Encoder
.080 +.001
(2.0) -.000

4 HOLES EQ SP ON fl 3 014 (76 6) B C
inch
mm
inch
mm
Motor
4.23
107.4
4.23
107.4
Motor/
Tachometer
5.19
131.8
5.19
131.8
Motor/
Brake
4.41
112.0
5.66
143.7
Motor/Brake
Tachometer
6.61
167.9
6.61
167.9
Motor Connector - Amphenol/Bendix PT 02A-12-8P Encoder Connector - Amphenol/Bendix PT 02A-12-10P
29
S-Series ServoDisc
DIMENSIONS
S9M4H
MOTOR LEADS
fl .4995 +.0000
-.0005
(12.7)
FLAT .01 (0.25) DEEP

X .50 (12.7) LONG
.750 (19.0) REAR SHAFT
fl .4995 +.0000
-.0005
(12.7)
fl 4.37
(111.0)
fl 3.311 +.000
(84.1) -.002
CHAMFER
.02 (0.51) x 45
+.000
fl 4.124 -.001
(104.7)
.06 (1.5)
.06 (1.5)
1.25 +.00
.02
(31.8)
NO.8-32 UNC-2B TAPx.21 (5.3) DEEP

NO.4-40 UNC-2B TAP x .25 (6.3) DEEP

A
B
A
B
Without
Encoder
With
Encoder
inch
mm
inch
mm
Motor
2.28
57.9
3.09
78.5
Motor/
Tachometer
3.25
82.6
4.06
103.0
Motor/
Brake
3.7
94.0
4.5
114.0
Motor/Brake
Tachometer
4.7
119.0
5.5
140.0
Shaft Loading - S9M4H & S9M4HI - Radial 25 lbs @ 1 from -S- - Axial 25 lbs any direction
11.4 kg 25.4
11.4 kg
S9M4HI
fl .3147 +.0000
-.0005
(8.0)
fl 3.39
(86.1)
fl1.749 +.000
(44.4) -.002
15
CHAMFER
.02 (0.51) x 45
.06 (1.5)
1.06 +.00
.02
NO.8-32 UNC-2B TAPx.17 DEEP

A
A
Without
Encoder
With
Encoder
inch
mm
inch
mm
Motor
5.19
131.8
5.19
131.8
Motor/
Tachometer
6.17
157.0
6.17
157.0
Motor/
Brake
5.44
138.0
6.6
167.6
Motor/Brake
Tachometer
6.42
163.0
7.6
193.0
Motor Connector - MS3102A16S-IP Encoder Connector - MS3102A18-1P
30
Ferrite Series ServoDisc

INTRODUCTION
Options:
-- Tachometers
-- Encoders
-- Fail-safe brakes
Compatible Products
KXA Plus Amplifier

Ultrathin Pancake Motor
Ferrite Series ServoDisc motors employ the unique
Kollmorgen flat disc armature and ultraflat package to create
a low cost ServoDisc motor.
RFI
Very long brush life
profile motor
and acceleration
Low inertia, DC servomotor
Low axial profile
High-pulse torque capability
No cogging even at low operating speeds
31

PERFORMANCE DATA
9F/9FS
198
140
3000
17
12
15
10.6
37
6000
16
11
0
9FST
189
133
3000
15
11
13
9
33
6000
15
11
0
12FLR/12FLRB/
12FLRS
393
278
3000
31
22
29
20
68
6000
31
22
0
12F/12FB/
12FS
478
338
3000
40
28
36
26
88
6000
41
29
0
12FV/12FVB/
12FVS
549
388
3000
44
31
39
27
96
6000
46
32
0
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
14.6
6.8
70
6.3
14.4
6.60
70
6.2
11.7
12.10
136
11.9
21.6
7.5
81
7.4
16.5
10.3
116
10.3
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/kRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
0.950
0.640
2.39
3.23
2.28
0.3
0.2
<0.03
-0.19
117
0.950
0.640
2.30
3.11
2.20
0.3
0.2
<0.10
-0.19
117
0.400
0.210
2.45
3.32
2.34
0.6
0.4
<0.03
-0.19
141
0.860
0.610
5.00
6.77
4.78
0.7
0.5
<0.05
-0.19
141
0.48
0.29
4.00
5.41
3.82
1.0
0.7
<0.03
-0.19
105
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.0052
0.37
2.5
1.8
1.2
0.5
4.72
119.9
0.75
19.1
0.0080
0.56
2.5
1.8
1.2
0.5
4.72
119.9
1.36
34.5
0.0190
1.34
3.5
2.5
2.2
1.0
5.98
151.9
0.80
20.3
0.0190
1.34
3.0
2.1
2.2
1.0
5.98
151.9
0.80
20.3
0.0220
1.62
3.5
2.5
2.2
1.0
5.98
151.9
0.80
20.3
Peak Torque
Rated Speed
Symbol
Tp
N
T25
T40
Rated Power Output

P
Nmax
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
38.1
44.00
<0.05
0.3
23.6
72.80
<0.16
0.2
21.0
50.70
<0.12
0.3
25.1
35.40
<0.07
0.6
25.0
30.4
0.34
0.6
RAAR
RAAS
C/Watt
C/Watt
2.00
2.52
2.00
2.52
1.70
2.03
1.70
2.03
1.70
2.03
V
Vrh
LIN
Volts/KRPM
%
%
1.10
5.0
0.14
Output Voltage
Notes:
1. All values are based upon a 150C armature temperature limit and with the motor
2. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft3).
3. Terminal resistance is measured at 4.0 amps. RT varies as a function of applied
current.
4. Unless otherwise noted, all specifications above apply at 25C.
32
5. Peak torque and current is calculated based on max pulse duration of 50 milliseconds and
a 1% duty cycle.
6. The operating current can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.
7. The operating voltage can be calculated as: V = KE x (N/1000) + RT x I.
8. Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter
9. Tachometer minimum measured with a resistance of 370 ohms.
10. Bidirectional tolerance of tachometer will not exceed 3%.

PERFORMANCE DATA
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
15.2
7.26
78
6.9
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/KRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
0.78
0.51
2.9
3.92
2.77
0.5
0.35
<0.03
-0.19
117
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.0064
452
3.0
2.1
1.3
0.59
4.96
126
0.76
19
Peak Torque
Rated Speed
Symbol
Tp
N
T25
T40
Rated Power Output

P
Nmax
9FHB-44
267
188
3000
21
15
19
13
47
21
15
0
Moment of Inertia
Jm
Tf
Weight
Diameter
OD
Length
LG
Figure of Merit
Peak Acceleration
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
41.8
29.4
<0.06
0.50
RAAR
RAAS
C/Watt
C/Watt
2.0
2.52
V
Vrh
LIN
Volts/KRPM
%
%
Output Voltage
Notes:
1. These are based upon the least of the demagnetization limit, the structural limit and
the thermal limit. It is calculated for max. pulse duration of 50 millisec and 1%
duty cycle. (For thermal limit).
2. All values are based upon 150C armature temperature and with the motor mounted
on an aluminum plate (8 x 16 x 3/8) with no forced cooling. Other voltages,
speeds and torques are achievalbe as long as armature temp. is kept below 150C.
Continuous operation above 4000 RPM is possible for some applications. Contact
a Kollmorgen Sales Office for more details.
3. Measured at 4.0 Amps. It varies slightly with current due to variations in brush contact
drop.
4. Maximum Permissible Dissipation = (150 - Amb. Temp. C)/RAA.
Total Motor Losses = RT x I2 + 0.74 (TF + TD) x N/1000where TD = KD x N/1000.
5. Peak Acceleration with Load = (TP - Reflected Load Frict.)/(JM + Reflected Load Inertia).
6. 3000 RPM is for reference purposes only. Motor can be run at higher speeds.
33
Ferrite Series
PERFORMANCE DATA
9F/9FS
12F/12FB/12FS
4000
4000
E
E=
E=
12
.0
=1
4.6
2000
=6
E=
2000
15.
12.
No cooling
No cooling
Speed (rpm)
.0
E=
3000
=9
Speed (rpm)
3000
21.
18.
.0
1000
1000
0
Shaft
Torque
0
0
10
20
30 oz-in
7.1
14.1
21.2 N-cm
9FST/9FGT/9FGHDT
Shaft
Torque
20
40
60
14.2
28.4
42.6
E=
E=
11.
E=
.4
E=
14
12
E=
3000
9V
No cooling
E=
2000
E=
6.0
6V
1000
0
0
Shaft
Torque
13
20
14
26
18
32
23
(oz-in)
Shaft
Torque
(n-cm)
12FV/12FVB/12FVS
20
40
60 oz-in
14.2
28.4
42.6 N-cm
9FHB-44
4000
4000
E=
E=
16
.5
14
E=
VV
3000
V
2000
Speed (rpm)
Speed (rpm)
=9
E=
2000
1000
No cooling
No cooling
12
1000
9V
=6
0
0
20
40
60
80
100
(oz-in)
14
28
42
56
71
(n-cm)
Notes:
B. The motor can be operated at any point on the graph below 4000 RPM.
Higher speeds are possible for some applications. Contact a Kollmorgen
Sales Office for more details.
C. Determine voltage required for a desired combination of speed and torque
by estimating it as a line parallel to one of the constant terminal voltage
(E) lines.
34
=1
5.2
12
3000
E=
Shaft
Torque
13.
9.0
E=
1000
oz-in
No cooling
Speed (rpm)
3000
2000
80
56.8 N-cm
12FLR/12FLRB/12FLRS
4000
4000
Speed (rpm)
0
0
Shaft
Torque
16
24
32
40
(oz-in)
11
17
23
28
(n-cm)
D. The operating current can be calculated as:

I = (Shaft torque + TF + KD x N/1000)/KT.
E. The operating voltage can be calculated as:
V = KE x N/1000 + RT x I.

PERFORMANCE DATA
12FLRHS-2
E=
9.0
2000
E=
4000
6.0
1000
3000
E=
2000
E=
24.0
18.0
E=
28.0
12.0
1000
0
Shaft
Torque
E=
15.0
No cooling
E=
12.0
No cooling
Speed (rpm)
3000
12FHS-2
E=
Speed (rpm)
4000
0
0
15
30
45
60
75
90 oz-in
10.7
21.3
32.0
42.6
53.3
63.9 N-cm
Shaft
Torque
15
30
45
60
75
90 oz-in
10.7
21.3
32.0
42.6
53.3
63.9 N-cm
12FVHS-2
4000
E=1
8.0
E=1
5.0
Speed (rpm)
No cooling
3000
E=1
2.0
2000
E=9
.0
1000
0
Shaft
Torque
15
30
45
60
75
90 oz-in
10.7
21.3
32.0
42.6
53.3
63.9 N-cm
Notes:
torque by estimating it as a line parallel to one of the constant
terminal voltage (E) lines.

V = KE x N/1000 + RT x I.
35

DIMENSIONS
Motor Types: 9F, 12F, 12 FLR, 12FV AND 12FB, 12FLRB, 12FVB
MOTOR LEADS
18 AWG, 6 IN.1 IN LONG
I (B.C.)
C
22.5
+.000
.001
+.000 mm
.025
F MAX
9F
12F, 12FLR,
12FV, 12FLRB,
12FVB
K (DIA)
45
135
Units
fl 0.578 (14.7)
2 PLACES ON fl 2.220 (56.4) BC
Motor
Types
+.000
.001
+.000 mm
.025
B
A
(optional)
in
1.19
0.593
.3125
1.03
0.75
4.0
4.72
3.91
4.33
1.98
0.22
0.81
mm
30.16
15.06
7.94
26.16
19.05
101.6
120.0
99.2
110.0
50.3
5.6
20.64
in
1.69
0.92
0.315
1.17
0.80
5.08
5.98
5.11
5.59
2.12
0.22
1.22
mm
42.9
23.4
8.00
29.8
20.2
129.0
151.9
129.8
142.0
53.8
5.6
31.0
Motor Types: 9FS, 12FS, 12FLRS, 12FVS

MOTOR LEADS
I (B.C.)
22.5
+.000
.001
C
+.000 mm
.025
+.000
.001
+.000 mm
.025
F MAX
9FS
12FS, 12FLRS,
12FVS
36
45
fl 0.578 (14.7)
Units
K (DIA)
135
Motor
Types
B
A
(optional)
in
1.0
0.75
0.250
1.03
0.75
4.0
4.72
3.91
4.33
1.98
0.22
.31
mm
25.4
19.05
6.35
26.16
19.05
101.6
119.9
99.2
110.0
50.3
5.6
7.9
in
1.0
0.75
0.315
1.39
0.80
5.08
5.98
5.11
5.59
2.12
0.22
mm
25.4
19.05
8.0
35.31
20.24
129.03
151.89
129.8
142.0
53.8
5.6

DIMENSIONS
9FHB-44
NO. 18 AWG LEAD WIRES

GREEN AND BLUE12" 1" LONG
.656
(16.7)
.672
(17.1)
1.943
(49.4)
TYP
.094 DIA HOLE

.38 FROM SHAFT END
DO NOT BANK UP
AGAINST "E" RING
.859
(21.8)
30
REF
1.122 TYP
(28.5)
2.244 TYP
(57.0)
1.25 DIA
(31.8)
3.906
(99.2) DIA
.095 (2.4)
.065 (1.6)
.125 (3.2)
4.96
.240
(150)
(6.1)
.3146+.0000 DIA
(8.0) +.0005
1.625
(41.3)
1.031
(26.2)
.275 (7.0) DIA THRU 4 HOLES

LOCATED AS SHOWN
Notes:
1. Shaft diameter A runout not to exceed .001 in. per in. of shaft length.
2. For CCW rotation as viewed from shaft end of motor green lead (+)
positive, blue lead (-) negative.
3. Shaft loading information for either pure radial or pure thrust loads:
A. Maximum recommended radial shaft load 3 lbs. located 1/4
from shaft end.
B. Maximum recommended thrust load on shaft 3 lbs.
12F Series
MOTOR LEADS
I (B.C.)
22.5
+.000
.001
C
+.000 mm
.025
+.000
.001
+.000 mm
.025
F MAX
D
J
K (DIA)
45
135
fl 0.578 (14.7)
B
A
Notes:
1. Shaft runout .001 in. of shaft length A and B.
2. For CW rotation as viewed from MTG end of motor red lead (+) positive, black lead (-) negative.
3. Shaft loading for either pure radial or pure thrust
A. Diameter -A-, max recommended radial shaft load is 7 lbs. located
1 1/8 in. from surface S.
B. Max recommended thrust load on shaft is 10 lbs.
37

DIMENSIONS
Motor with Encoder and Motor Prepared for Encoder

"C"
.73 (18.5)
ENCODER KIT
MOUNTING
SURFACE
"B"
2.25 "A"
(57.0)
Motor Types Units

9FS
in
0.2497 + 0.0000/-0.0005
0.67
1.26 2.07
6.342 + 0.000/-0.013
17.0
32.0 52.6
0.3147 + 0.0000/-0.0005
7.994 + 0.000/-0.013
0.65
16.5
1.38 2.20
35.0 56.0
mm
12FS, 12FLRS, in
12FVS
mm
STD
ENCODER
OUTLINE
.81 (20.5)
.36 (9.1)
"C"
NO. 4-40 UNC-28 TAP THRU

2 PL ON A 1.812 (46.0) DIA B.C.
TO MOUNT ENCODER KIT
Note: Other Windings/Voltages available.
End Play
Under Axial Load
in
mm
Run Out
in per in
of Shaft Length
Motor Types
Radial Load
lbs
kg
Axial Load
lbs
kg
9F
9FS
12F, 12FLR, 12FV
2.5
3
2.5
1.13
1.36
1.13
2.5
3
2.5
1.13
1.36
1.13
0.003
0.001
0.003
0.076
0.025
0.076
0.002
0.001
0.002
7
7
3.18
3.18
10
10
4.54
4.54
0.001
0.001
0.025
0.025
0.001
0.001
12FB, 12FLRB, 12FVB

12FS, 12FLRS, 12FVS
MOTOR SELECTION FOR FERRITE SERIES

Motor Types
Motor Alone
9F, 12F, 12FLR, 12FV
Motor with Rear Shaft
Lowest cost
Front spindle
Ball bearings
Rear spindle
Ball bearings
12FB, 12FLRB, 12FVB

9FS, 12FS, 12FLRS, 12FVS
Motor with Integral

Optical Encoder Type M23
Motor Prep.
for Encoder
(500 lines Max)
YES (option)
NO
NO
YES (option)
NO
NO
YES (option)
YES (option)
YES (option)
FERRITE MOTOR WITH INTEGRAL TACHOMETER

MOTOR LEADS
0.797 (20.24)
NO. 18 AWG.
.31 (7.87)
6"1" LONG
0.188 (4.76)
4.720 (18.26)
.43 (10.92)
45-5
1.03 (26.16)
220 THRU, 4 HOLES
EQUALLY SPACED ON
4.33 DIA B.C.
38
4 MAX
1.50
(38.1)
TACHOMETER LEADS
NO.22 AWG. 6"1" LONG
18-5
.250 +.000
-.001
(12.7)
3.125 (79.38)
.03 X 45
CHAMFER
0.281 (7.14)
2 PL
0.141 (3.57)
0.563 (14.29)
R 0.125 (3.18)
0.36 (9.13) 2 PLCS
0.563 (14.30) 2 PL
ON 2.00 DIA B.C. REF.
AK64BS 'POP' RIVET

2 PL REF.
SURFACE S
FLUSH TO BELOW FLUSH
Ferrite Kit Series ServoDisc

INTRODUCTION
The designer of precision equipment has a low cost yet a technically smart solution to drive it. Coupling costs and alignment problems are eliminated. The total package is compact.
The applications of these motors are wide in range. One of
the key advantages is the compact design, where in many
cases, it is important where space is limited.
An encoder-mount is available for these motors to accept a kit
encoder in order to close a digital control loop. Some typical
applications are listed below:
Use your own high-performance precision spindle
A cost-effective solution to drive high-precision
machines
Zero cogging design, smooth rotation at low speeds
Constant torque over a wide speed range
Direct Drive, No Coupling
Space-Saving Design
Putting Together Your Own High-Performance DC Motor
Compatible Products
KXA Plus Amplifier
Designers who want to save both time and cost can obtain all
these advantages by assembling the kit motor. The inherent
simplicity of design leads to a highly simple mechanical
structure that the user can put together himself or build into
his own drive system.
The motor consists of two components: the flat ServoDisc
armature and the end bell with magnet and brushes. The
armature is available in several types depending on the application. For example, armatures for low voltages or low inertia can be used when required.
The magnet in the stamped end bell is a ring of ceramic ferrite material which has been precharged to produce eight
alternately polarized magentic poles. Unlike Alnico permanent magnetic material, the ferrite is a type of permanent
magnet that retains its magnetism even without a keeper or
flux-return path.
Because of the use of the integral drive shaft rather than a
separate motor shaft and bearings, there is no mechanical
coupling and a minimum of torsional resonance. There is less
bearing friction with increased efficiency and no problems
due to shaft misalignment. In effect, the motor is assembled
onto the drive system.
39

MOTOR PERFORMANCE DATA
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
14.6
6.82
70
6.3
21.6
7.5
81
7.4
16.5
10.3
116
10.3
11.7
12.05
136
11.9
38.6
9.70
94
8.9
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/kRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
0.950
0.640
2.39
3.23
2.28
0.3
0.2
<0.03
-0.19
117
0.860
0.610
5.00
6.77
4.78
0.7
0.5
<0.05
-0.19
141
0.48
0.29
4.00
5.41
3.82
1.0
0.7
<0.03
-0.19
105
0.400
0.210
2.45
3.32
2.34
0.6
0.4
<0.03
-0.19
141
0.990
0.740
10.00
13.53
9.55
1.3
0.9
<0.85
-0.19
165
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.0052
0.37
2.0
1.4
0.9
0.4
4.72
119.9
1.00
25.4
0.0190
1.34
3.0
2.1
1.4
0.6
5.98
151.9
1.20
30.5
0.0220
1.62
3.5
2.5
1.4
0.6
5.98
151.9
1.20
30.5
0.0190
1.34
3.5
2.5
1.4
0.6
5.98
151.9
1.20
30.5
0.0890
6.28
10.0
7.1
5.0
2.27
8.47
215.1
1.30
33.0
kRad/s2
ms
ms
kW/sec
38.1
44.00
<0.05
0.4
25.1
35.40
<0.07
0.6
24.9
30.4
.34
0.6
20.7
50.70
<0.12
0.3
12.5
50.60
<0.11
0.8
C/Watt
C/Watt
2.00
2.52
1.70
2.03
1.70
2.03
1.70
2.03
0.85
1.25
Peak Torque
Symbol
Tp
Rated Speed
T25
T40
Rated Power Output

P
Nmax
9FP
198
140
3000
17
12
15
10.6
37
6000
16
11
0
12FP
478
337
3000
40
28
36
26
90
6000
41
29
0
12FVP
549
388
3000
44
31
39
27
106
6000
46
32
0
12FLRP
393
277
3000
31
22
29
20
68
6000
31
22
0
16FP
1109
783
3000
103
73
92
65
228
6000
96
68
0
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Ap
Tm
Te
Pc
Thermal Resistance at Rated Speed RAAR
RAAS
Notes:
3. Terminal resistance is measured at 4.0 amps. RT varies as a function of applied
current.
40

a 1% duty cycle.
6. The operating voltage can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.

9FP
12FP
4000
4.6
2.0
=1
21
.6
E=
3000
3000
Speed (rpm)
E=
2000
18
No cooling
.0
=9
No cooling
E
E
=6
Speed (rpm)
E=
=1
4000
15
E=
2000
12
.0
1000
1000
0
0
Shaft
Torque
10
20
7.1
30
14.2
40
21.3
oz-in
28.4 N-cm
12FVP
Shaft
Torque
30
45
60
75
21
32
42
53 N-cm
4000
E=
E=
12
E=
3000
9V
2000
E=
13
.0
9.0
No cooling
E=
2000
oz-in
11
.7
5V
No cooling
3000
14
E=
16.
Speed (rpm)
E=
Speed (rpm)
15
11
12FLRP
4000
=6
.0
1000
1000
0
Shaft
Torque
20
40
60
80
100 oz-in
14
28
42
56
71 N-cm
Shaft
Torque
20
40
60
14.2
28.4
42.6
80
oz-in
56.8 N-cm
16FP
4000
E=
E=
Speed (rpm)
3000
E=
36.
E=
39.
30.
24.
2000
No cooling
1000
0
Shaft
Torque
50
100
150
200
250 oz-in
35.5
71.0
106.5
142.0
177.5 N-cm
Notes:
C. Determine voltage required for a desired combination of speed and torque
by estimating it as a line parallel to one of the constant terminal voltage
(E) lines.

V = KE x N/1000 + RT x I.
41

KIT MOTOR DIMENSIONS
PLATE, FLUX RETURN

H
BC
HUB REF
HB
T
C
Models
9FP
12F Series
4.72
5.98
16FP
8.46
3.90
5.11
6.74
1.0
1.25
1.26
BC
H
4.33
.219
5.59
.219
7.875
.287 (8 holes)
HB
T
.375
.090
.375
.125
.500
.125
Dimensions in inches
OPTION: Mounting Surface on End Bell for Optical Encoder
42
N-Series ServoDisc
INTRODUCTION
Neodymium magnet technology
Fast Acceleration for higher throughput
Extremely good speed control, zero cogging and low RFI
Long brush life
profile motor
and acceleration
Options:
-- With or without integral tachometer
-- Optical encoder
-- Brake

Optional Tachometer and Endcoder Feedback
Ultrathin Compact Size for Easy Design
Integration
Compatible Products
KXA Plus Amplifier
N-Series ServoDisc motors employ the unique Kollmorgen

flat disc armature and high-energy neodymium-iron-boron
magnets resulting in an ultra-thin motor. The ironless, low
inertia armature delivers high acceleration and zero cogging.
43
N-Series ServoDisc
PERFORMANCE DATA
Ts
Cogging Torque
Tc
Units
oz-in
N-cm
RPM
oz-in
N-cm
oz-in
N-cm
Watts
RPM
oz-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Peak Torque
Symbol
Tp
Rated Speed
T25
T40
Rated Power Output

P
Nmax
N9M4
760
537
3000
69
49
63
44
153
6000
69
49
0
N9M4T
692
489
3000
57
40
52
37
126
6000
62
44
0
N9M4LR
729
515
3000
63
44
57
40
140
6000
62
44
0
N9M4LRT
663
468
3000
51
36
46
32
114
6000
56
40
0
N12M4
1598
1128
3000
143
101
131
93
316
6000
147
104
0
N12M4T
1386
979
3000
126
89
112
79
278
6000
128
90
0
N12M4LR N12M4LRT
1522
1320
1075
932
3000
3000
131
115
93
81
117
103
83
73
291
256
6000
6000
136
117
96
83
0
0
30.0
7.80
79
7.5
28.0
7.10
77
7.3
16.0
14.00
151
13.7
14.0
12.90
147
13.3
51.0
8.00
83
8.0
45.0
8.10
83
8.0
26.0
14.80
159
14.7
23.0
15.00
159
14.7
Ohms
0.850
Ohms
0.660
V/KRPM
7.60
oz-in/Amp 10.30
N-cm/Amp
7.27
oz-in/KRPM
1.1
N-cm/KRPM 0.8
H
<0.03
%/C Rise
-0.10
117
0.850
0.660
7.10
9.60
6.78
1.1
0.8
<0.03
-0.10
117
0.370
0.180
3.80
5.10
3.60
1.1
0.8
<0.03
-0.10
117
0.370
0.180
3.60
4.80
3.39
1.1
0.8
<0.03
-0.10
117
0.750
0.610
15.10
20.40
14.41
2.8
2.0
<0.05
-0.10
141
0.750
0.610
13.10
17.80
12.57
2.3
1.6
<0.05
-0.10
141
0.310
0.170
7.60
10.20
7.20
2.7
1.9
<0.05
-0.10
141
0.310
0.170
6.60
8.90
6.28
2.2
1.5
<0.05
-0.10
141
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.0056
0.40
4.0
2.8
3.1
1.4
4.37
111.0
0.94
23.9
0.0083
0.59
4.5
3.2
3.2
1.5
4.37
111.0
0.95
24.1
0.0056
0.40
4.0
2.8
3.1
1.4
4.37
111.0
0.94
23.9
0.0083
0.59
4.5
3.2
3.2
1.5
4.37
111.0
0.95
24.1
0.0190
1.34
5.5
3.9
5.3
2.4
5.50
139.7
1.07
27.2
0.0260
1.84
5.5
3.9
5.3
2.4
5.50
139.7
1.10
27.9
0.0190
1.34
5.5
3.9
5.3
2.4
5.50
139.7
1.07
27.2
0.0260
1.84
5.5
3.9
5.3
2.4
5.50
139.7
1.10
27.9
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
135.7
4.90
<0.05
6.0
83.3
8.30
<0.05
2.8
130.1
5.20
<0.17
5.0
79.9
8.80
<0.17
2.2
84.1
3.90
<0.07
7.6
53.3
7.10
<0.07
4.3
80.1
4.20
<0.27
6.4
50.8
7.70
<0.27
3.6
RAAR
RAAS
C/Watt
C/Watt
1.50
2.00
1.70
2.10
1.50
2.00
1.70
2.10
1.40
1.90
1.40
1.90
1.40
1.90
1.40
1.90
3.50
3.0
0.06
370
3.50
3.0
0.11
370
5.90
3.0
0.11
494
5.90
3.0
0.11
494
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Output Voltage
Minimum Load Resistance
V Volts/KRPM
Vrh
%
LIN
%
Rl
Ohms
Notes:
3. Terminal resistance is measured at 4.0 amps. RT varies as a function of applied current.
44
a 1% duty cycle.
6. The operating voltage can be calculated as: I = (Shaft torque + TF + KD x N/1000) / KT.
8. Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter
9. Bidirectional tolerance of tachometer will not exceed 3%.
N-Series ServoDisc
PERFORMANCE DATA
N9M4
N9M4T
E=
E=
E=
2000
E=
24.
18.
12.
1000
E=
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
.0
E=
Shaft
Torque
12
.0
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
4000
E = 48.0
E = 60.0
3000
3000
Speed (rpm)
2000
E = 24.0
2000
E = 24.0
No cooling
No cooling
1000
E = 60.0
E = 36.0
E = 36.0
Speed (rpm)
18
N12M4T
E = 48.0
1000
0
0
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
N9M4LR
E=
E=
3000
E=
2000
Shaft
Torque
40
80
120
160
200 oz-in
28.4
56.8
85.2
113.6
142.0 N-cm
N9M4LRT
E=
15.0
4000
E=
18.0
3000
12.0
Speed (rpm)
4000
Speed (rpm)
.0
0
0
4000
9.0
No cooling
E=
E=
2000
14.
E=
11.
8.0
1000
17.
No cooling
1000
Shaft
Torque
30
1000
N12M4
Shaft
Torque
.0
2000
0
Shaft
Torque
E=
24
3000
No cooling
E=
No cooling
Speed (rpm)
3000
4000
30.
Speed (rpm)
4000
0
0
25
50
75
100
125
150 oz-in
17.8
35.5
53.3
71.0
88.8
106.5 N-cm
Shaft
Torque
25
50
75
100
125
150 oz-in
17.8
35.5
53.3
71.0
88.8
106.5 N-cm
45
N-Series ServoDisc
DIMENSIONS
N12M4LR
N12M4LRT
4000
4000
E= 31
E= 27
.0
.0
E= 25
E= 22
.0
.0
3000
E= 19
.0
Speed (rpm)
Speed (rpm)
3000
2000
E= 13
.0
.0
2000
.0
No cooling
0
Shaft
Torque
E= 12
1000
No cooling
1000
E= 17
0
0
50
100
150
200
250
300 oz-in
35.5
71.0
106.5
142.0
177.5
213.0 N-cm
Notes:
torque by estimating it as a line parallel to one of the constant
Shaft
Torque
50
100
150
200
250
300 oz-in
35.5
71.0
106.5
142.0
177.5
213.0 N-cm

V = KE x N/1000 + RT x I.
N9M4/N9M4T
DIA
.4995 +.0000
-.0005
(12.687)
(BOTH ENDS)
35
+.03
1.25 -.03
(31.7)
MOTOR LEADS
NO.18 AWG 18 IN. 1 IN. LONG
45 5
40 5
+.01
FLAT .01 -.00 DP
X .50 LONG
+.000
2.625 -.002 DIA
(66.7)
4.37 (110.9)
DIA
CHAMFER .03 (0.76) x 45

NO. 4-40 UNC-2B X .19 (4.8) DP.
2 HOLES EQUALLY SPACED ON
A 1.812 (46.0) DIA BC
.11 (2.8)
NO. 8-32NC-2B x .17 (4.32) DP
4 HOLES EQUALLY SPACED ON A
3.65 (92.86) DIA B.C.
46
N9M4: 0.94 (23.9)

N9M4T: 0.95 (24.1)
0.75 (19.0)
NO.6-32 THRU BOLT

4 PLACES REF
N-Series ServoDisc
PERFORMANCE DATA
N12M4/N12M4T
DIA
.4995 +.0000
-.0005
(12.687)
(BOTH ENDS)
35
+.03
1.25 -.03
(31.7)
MOTOR LEADS
NO.18 AWG 18 IN. 1 IN. LONG
45 5
40 5
+.01
FLAT .01 -.00 DP
X .50 LONG
+.000
4.500 -.002 DIA
(114.3)
5.50 (139.7)
DIA
CHAMFER .03 (0.76) x 45

NO. 4-40 UNC-2B X .13 (3.3) DP.
A 1.812 (46.0) DIA BC
0.32 (8.1)
NO. 10-32 NF-2B x .17 (4.32) DP
4 HOLES EQUALLY SPACED ON A
4.875 (123.8) DIA B.C.
N12M4: 1.06 (26.9)

N12M4T: 1.11 (28.2)
0.75 (19.0)
NO.6-32 THRU BOLT

4 PLACES REF
47
JR-Series ServoDisc
INTRODUCTION
Mechanical time constants as low as 3 ms
NEMA and IEC mounting available
UL recognized versions available
Options:
-- Tachometers
-- Optical encoders
-- Fail-safe brakes
-- Resolvers
-- Gear reducers
Compatible Products
KXA Plus Amplifier
12 to 298 lb-in (1.3-33.6 N-cm) Continuous Torque
Optional Tachometer and Encoder Feedback
Rugged Industrial Package
JR-Series ServoDisc motors employ the unique Kollmorgen
flat disc armature in an industrial grade housing resulting in a
low profile alternative to conventional servomotors.
RFI
Long brush life
profile motor
and acceleration
-- Military style ms connectors
48
JR-Series ServoDisc
PERFORMANCE DATA
Ts
Cogging Torque
Tc
Units
lb-in
N-cm
RPM
lb-in
N-cm
lb-in
N-cm
Watts
HP
RPM
lb-in
N-cm
oz-in
Peak Current
E
I
Ip
Is
Volts
Amps
Amps
Amps
63.0
8.4
80
7.5
127.0
9.5
100
9.6
166.0
7.8
79
7.6
84.2
13.9
148
13.5
23.0
46.6
350
50.0
138.2
26.0
200
21.2
150.0
31.6
250
28.0
246.0
47.6
600
38.7
Rt
Ra
Ke
Torque Constant 10%
Kt
Kd
Armature Inductance
L
C
Z
Ohms
Ohms
V/KRPM
oz-in/Amp
N-cm/Amp
oz-in/KRPM
N-cm/KRPM
H
%/C Rise
0.950
0.730
17.80
24.10
17.02
2.8
2.0
<45
-0.02
141
0.940
0.740
39.00
52.80
37.28
9.1
6.4
<85
-0.02
165
1.400
1.200
51.00
69.00
48.72
7.8
5.5
<140
-0.02
205
0.530
0.330
25.50
34.50
24.36
7.2
5.1
<40
-0.02
205
0.050
0.025
7.00
9.47
6.69
8.3
5.8
<5
-0.02
183
0.310
0.230
43.00
58.20
41.10
17.0
12.0
<45
-0.02
193
0.210
0.160
48.00
65.00
45.90
33.0
23.3
<40
-0.02
193
0.190
0.135
80.00
108.25
76.44
125.0
88.3
<75
-0.02
185
oz-in-sec2
kg-cm2
oz-in
N-cm
lbs
kg
in
mm
in
mm
0.017
1.20
6.0
4.2
8.0
3.6
5.50
139.7
3.94
100.1
0.084
5.93
11.0
7.8
17.5
7.9
7.38
187.5
4.50
114.3
0.075
5.30
11.0
7.8
17.5
7.9
7.38
187.5
4.50
114.3
0.075
5.30
11.0
7.8
17.5
7.9
7.38
187.5
4.50
114.3
0.084
5.93
18.0
12.7
17.5
7.9
7.38
187.5
4.50
114.3
0.460
32.48
20.0
14.1
50.0
22.7
11.00
279.4
6.76
171.7
0.700
49.43
25.0
17.7
70.0
31.8
11.00
279.4
7.75
196.9
3.300
233.03
75.0
53.0
195.0
88.5
16.25
412.8
7.00
177.8
25.3
4.42
<0.40
31.8
23.0
3.80
<0.31
37.8
19.4
5.38
<0.56
48.5
Peak Torque
Symbol
Tp
Rated Speed
T25
T40
Rated Power Output

Horsepower
P
Nmax
JR12M4CH JR16M4CH JR16M4CH-1 JR16M4CHLR-1 JR16M4CHLR-2 JR24M4CH JR25M6CH JR33M6CH

118
326
336
315
207
728
1015
4000
13.3
36.8
38.0
35.6
23.4
82.3
114.7
451.9
3000
3000
3000
3000
3000
3000
3000
3000
12
29
31
28
25
90
121
298
1.3
3.3
3.5
3.2
2.8
10.2
13.7
33.6
11
26
28
25
22
81
108
266
1.2
2.9
3.2
2.8
2.5
9.1
12.1
30.0
414
1036
1114
993
887
3188
4268
10550
0.55
1.39
1.49
1.33
1.19
4.27
5.72
14.14
5000
5000
5000
5000
5000
5000
5000
5000
11
31
32
28
28
78
111
254
1.2
3.5
3.6
3.2
3.2
8.8
12.5
28.7
0
0
0
0
0
0
0
0
Moment of Inertia
Jm
Tf
Weight
Diameter
Length
LG
Figure of Merit
Peak Acceleration
Ap
Tm
Te
Pc
kRad/s2
ms
ms
kW/sec
111.3
3.02
<0.14
14.6
62.2
3.15
<0.14
18.3
71.7
2.99
<0.08
23.8
67.3
3.29
<0.08
18.9
44.2
3.31
<0.20
13.5
RAAR
RAAS
C/Watt
C/Watt
8x16x3/8
1.10
1.75
16x16x3/8
0.70
1.10
16x16x3/8
0.70
1.10
16x16x3/8
0.70
1.10
16x16x3/8
0.70
1.10
RAA3
C/Watt
0.28
0.28
0.28
0.32
0.32
Mounted on Aluminum Heatsink
Notes:
mounted on an aluminum heatsink with no forced air cooling. Other voltages,
speeds, and torques, and duty cycles are achievable as long as the max armature
temperature of 150C is not exceeded.
3. Terminal resistance is measured at 4.0 amps. RT varies as a function of applied current.
21x21x3/8 21x21x3/8 21x21x3/8

0.31
0.27
0.11
0.64
0.64
0.40
0.32
0.23
0.23

a 1% duty cycle.
6. The operating current can be calculated as: I = (Shaft + TF + KD x N/1000) / KT.
49
JR-Series ServoDisc
PERFORMANCE DATA
JR12M4CH
JR16M4CH
4000
4000
E = 128
3000
3000
E = 64
0
0
100
200
300
400
500 oz-in
71.0
142.0
213.0
284.0
355.0 N-cm
JR16M4CH-1
4000
Shaft
Torque
250
500
750
1000
1250 oz-in
177.5
355.0
532.5
710.0
887.5 N-cm
JR16M4CHLR-1
4000
E = 207
E = 105
E = 166
E = 84
3000
E = 42
1000
250
500
750
1000
1250 oz-in
177.5
355.0
532.5
710.0
887.5 N-cm
Shaft
Torque
250
500
750
1000
1250 oz-in
177.5
355.0
532.5
710.0
887.5 N-cm
JR24M4CH
4000
4000
E = 172
E = 27.0
2000
/min
= 0.40 lb
E = 70
Airflow
s/min
No cooling
1000
E = 104
No cooling
E = 12.0
= 2.00 lb
2000
Airflow
E = 17.0
Speed (rpm)
3000
lbs/min
= 0.80
Airflow
lbs/min
= 0.40
Airflow
Speed (rpm)
E = 138
E = 22.0
3000
1000
50
lb/min
0
0
JR16M4CHLR-2
Shaft
Torque
in
in
Airflow = 0.80
2000
No cooling
0.80 lb/m
0.40 lb/min
No cooling
1000
Airflow =
E = 84
E = 63
Airflow = 0.40 lb/m
2000
Speed (rpm)
E = 125
Airflow =
Speed (rpm)
3000
Shaft
Torque
lb/min
0.40 lb/min
1000
Airflow = 0.80
Speed (rpm)
2000
Airflow =
Speed (rpm)
E = 96
No cooling
1000
lb/min
0.40 lb/min
E = 32
Airflow =
No cooling
2000
Airflow = 0.80
E = 48
Shaft
Torque
E = 160
E = 78
E = 64
0
0
150
300
450
600
750
900 oz-in
106.5
213.0
319.5
426.0
532.5
639.0 N-cm
Shaft
Torque
500
1000
1500
2000
2500 oz-in
355
710
1065
1420
1775 N-cm
JR-Series ServoDisc
PERFORMANCE DATA
JR25M6CH
JR33M6CH
4000
4000
E = 187
E = 300
E = 250
E = 150
3000
3000
E = 76
= 0.40 lb
1000
E = 150
2000
No cooling
Speed (rpm)
2000
Airflow
No cooling
Speed (rpm)
E = 200
E = 113
1000
/min
0
Shaft
Torque
0
0
1000
2000
3000
4000
5000 oz-in
710
1420
2130
2840
3550 N-cm
Notes:
Higher speeds can be obtained for short periods of time. Contact a
Kollmorgen Sales Office for more details.
torque by locating it on the appropriate constant terminal voltage
curve.
Shaft
Torque
1500
3000
4500
5000
7500 oz-in
1065
2130
3195
3550
5325 N-cm
D. Determine the required cooling by locating the desired operating

point on the appropriate Constant cooling curve.
V = KE x N/1000 + RT x I.
51
JR-Series ServoDisc
DIMENSIONS
JR12M4CH
3.000 +.000
-.003 DIA
(76.2)
-B4.75 (120.7) DIA
.5000 +.0000
-.0005 DIA
(12.7)
-AFLAT .047 (1.2) DP x 1.50 (38.1) LONG
3.781 (96.0)
DIA MAX
5.50 (139.7) DIA
4.828 (122.6) DIA MAX
4.563 (115.9) DIA MAX
4.75 (120.7) DIA MAX
2.50 (63.5)
DIA TYP
45
1/4-20 UNC-2B x .37 (9.4) DP TAP
3.750 (95.3) DIA BC
2.85 +
.03
(72.4)
TYP 4 PLCS
+.04
3.93
(99.8)
5.77 +
.03
(146.6)
.16 +.00
(4.1) -.06
1.69 +
.03
(42.9)
2.50 (63.5)
MAX
6.68 +
.03
(169.7)
2.50 (63.5)
MAX
8.49 +
.03
(215.6)
-S-
2.50 (63.5)
MAX
JR16M4CH/CH-1/CHLR-1/CHLR-2
AM STD SQUARE KEY
0.188 (4.8) X 1.38 (35.1)LONG
+.000
4.500
DIA
(114.3) -.003
-B-
4.797
(121.8)
+.0000
DIA MAX
DIA
.6250
(15.9) -.0005
-A7.375 (187.3) DIA
6.56 (166.6) DIA
5.328
(135.33)
DIA MAX
5.078
(129.0)
DIA MAX
4.609
(117.1)
DIA MAX
2.50 (63.5)
DIA TYP
45
.706 +.000
(17.9) -.016
.16 +.00
(4.1) -.06
+ .03
3.44
TYP 4 PLACES
4.50 +
.06
2.06 +
.03
.375-16 UNC-2B X .61 (15.5) DP TAP
5.875 DIA BC
2.50 (63.5)
MAX
6.34 +
.03
(161.0)
7.25 +
.03
(184.2)
-S-
2.50 (63.5)
MAX
+ .03
9.06
(230.1)
Notes:
1a. For JR12M4CH Nema 48C Face Mount shown (Square Flange Mount and Face Mount per IEC-72 also
available). Motor weight: 8.00 lbs.
1b. All others: Nema 56C Face Mount shown (Square Flange Mount and Face Mount per IEC-72 also available).
Motor weight: 17.50 lbs.
2. Shaft diameter A runout not to exceed .001 in/in measured fromsurface S.
3. Pilot diameter B runout to A within .003 in TIR.
4. Mounting surface S runout to A within .006 in TIR.
5. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative,
Case Ground: Pin C. Connector MS3102A-10SL-3P and Mating Connector MS3106A-10SL-3S supplied.
Case Ground: Pin G. Tachometer output: Pin C (+) positive, Pin D (-) negative. Brake output: Pin
E (+) positive, Pin F (-) negative. Connector MS3102A-16S-1P and Mating Connector MS3106A-16S-1S
supplied.
Case Ground: Pin C. Connector MS3102A-20-19P and Mating Connector MS3106A-20-19S supplied.
52
2.50 (63.5)
MAX
Encoder Connections
Function
Pin
Output A
A
Output B
B
Index
C
V+
D
Common
F
Case Ground
G
Connector MS3102A-18-1P
and Mating Connector
MS3106A-18-1S supplied.
JR-Series ServoDisc
DIMENSIONS
JR24M4CH
AM STD SQUARE KEY
.25 (6.4) x 1.50 (38.1)LONG
1.1250 +.0000
+.0005 DIA
(28.6) -A11.094 (281.8) DIA
8.500 +.000 DIA

(215.9) -.003
-B-
7.375 (187.3) DIA
5/16-24 UNF-2B x .75 (19.1) DP. TAP

11.219 (285.0)
DIA
5.625
(142.9)
DIA MAX
.516 (13.1)
5.328
(135.3)
DIA MAX
5.078
(129.0)
DIA MAX
4.734
(120.3)
DIA MAX
2.50 (63.5)
DIA TYP
45
9.500 DIA
(241.3)
1.236 +.000
(31.4) +.016
.27 +
.02
(6.9)
4.969
(126.2)
+ .02
6.766
(171.8)
-P-
+ .03
2.83
(71.9)
2.50
(63.5)
MAX
4.984 (126.6) TYP 3 PLCS
1/2-13 UNC-2B x .75 (19.1) DP TAP

7.250 (184.2) DIA BC
9.203 (233.8)
2.50 (63.5)
MAX
10.125 (257.2)
2.50 (63.5)
MAX
12.281 (311.9)
-S-
JR25M6CH
AM STD SQUARE KEY
.25 (6.4) x 1.50 (38.1)LONG
1.1250 +.0000
+.0005 DIA
(28.6) -A11.094 (281.8) DIA
8.500 +.000 DIA

(215.9) -.003
-B-
7.375 (187.3) DIA
5/16-24 UNF-2B x .75 (19.1) DP. TAP

11.219 (285.0)
DIA
.547 (13.9)
5.625
(142.9)
DIA MAX
5.328
(135.3)
DIA MAX
5.078
(129.0)
DIA MAX
4.734
(120.3)
DIA MAX
2.50 (63.5)
DIA TYP
45
9.500 DIA
(241.3)
1.236 +.000
(31.4) +.016
-P-
2.83 +
.03
(71.9)
.27 +
.02
(6.9)
5.969
(151.6)
7.75 +
.06
(196.9)
2.50
(63.5)
MAX
5.969 (151.6) TYP 3 PLCS
1/2-13 UNC-2B x .75 (19.1) DP TAP

7.250 (184.2) DIA BC
10.188 (258.8)
11.094 (281.8)
2.50 (63.5)
MAX
13.25 (336.6)
2.50 (63.5)
MAX
-S-
Notes:
1. Nema 182ATC Face Mount shown (Square Flange Mount and Face Mount per IEC-72 also available).
2. Shaft diameter A runout not te exceed .001 in/in measured from surface S.
4. Mounting surfaces P and S runout to A within .006 in TIR.
5. For clockwise rotation as viewed from mounting end of
motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin C.
Connector MS3102A-16-10P and Mating Connector MS3106A-16-10S supplied.
Case Ground: Pin C. Brake output: Pin D (+) positive, Pin E (-) negative. Connector MS3102A-18-11P
and Mating Connector MS3106A-18-11S supplied. Tachometer output (separate connector): Pin A (+)
positive, Pin B (-) negative. Connector MS3102A-10SL-3P (3S for JR24M4CH) and Mating Connector
MS3106A-10SL-3S supplied.
7a. JR24M4CH motor weight: 50 lbs.
7b. JR25M6CH motor weight: 70 lbs.
Encoder Connections
Function
Pin
Output A
A
Output B
B
Index
C
V+
D
Common
F
Case Ground
G
53
JR-Series ServoDisc
DIMENSIONS
JR33
AM STD SQUARE KEY
.375 (9.5) x 1.50 (38.1) LONG
1.5625 +.0000
+.0005 DIA
(39.7)
-A+ .005
.762
(19.4)
FACE MOUNT
11.812 +.000
-.002 DIA
(300.0)
-B-
16.25 DIA
(412.8)
12.875 DIA MAX
(327.0)
12.750 DIA MAX
(323.9)
12.625 DIA MAX

(320.7)
12.500 DIA MAX

(317.5)
.20 +
.01
(5.1)
SQUARE FLANGE
2.50 (63.5)
DIA TYP
30
15.938 DIA
(404.8)
7.500 +.13
(190.5) -.03
FLANGE MOUNT
1.726 +.000
-.010
(43.8)
5/16-18 UNC-2B x .62 (15.7) DP TAP
13.250 (336.6)DIA BC
3.593 +
.035
(91.3)
FACE MOUNT
-S-
2.50 (63.5)
10.00 MAX TYP
(254.0)
MAX
12.250 MAX TYP
(311.2)
13.625 (346.1) MAX TYP
3/8-16 UNC-2B x .50 (12.7) DP

TYP 3 PLCS SEE NOTE 8
3.031 +
.040
(77.0)
FLANGE MOUNT
6.953 +.13
(176.6) -.03
FACE MOUNT
2.50 (63.5)
MAX
2.50 (63.5)
MAX
15.750 (400.1) MAX TYP

-S-
Notes:
1. Face Mount shown (Square Flange Mount also available).
2. Shaft diameter A runout not to exceed .001 in/in measured from surface S.
4. Mounting surface S runout to A within .010 in TIR.
Case Ground: Pin C. Connector MS3106A-16-10P and Mating Connector MS3106A-16-10S supplied.
6. For clockwise rotations as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative,
Case Ground: Pin G. Brake output: Pin D (+) positive, Pin E (-) negative. Connector MS3102A-18-11P
and Mating Connector MS3106A-18-11S supplied. Tachometer output (separate connector): Pin A (+) positive, Pin B (-) negative. Connector MS3102A-10SL-3P and Mating Connector MS3106A-10SL-3S supplied.
7. Connectors are rotated 120 CW from true position as viewed from rear of motor.
8. Lifting Eyes shipped loose (Eyes not shown) to be mounted in 3/8-16 tapped holes if required (Face Mount).
On Square Flange Mount 4, Lifting Eyes also mounted on Flange (not shown).
9. Motor weight: 195 lbs.
Encoder Connections
Function
Pin
Output A
A
Output B
B
Index
C
V+
D
Common
F
Case Ground
G
Max Shaft Loads

Pure
Axial Load
(lb)
54
Pure Radial Load

From
Mounting
(lb)
Face (in)
JR12M4CH
50
52
1.25
JR16M4CH
100
95
1.63
JR24M4CH
100
150
1.875
JR25M4CH
100
170
1.875
J433
175
250
1.80
JR-Series ServoDisc
OPTIONS
F9T TACHOMETER
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
PARAMETER
Emf/1000 RPM open circuit (KE) (V)
Bi-directional tolerance (% KE)
Residual ripple peak to peak (%)
Linearity referred to 3600 RPM (% 3.6KE)
Output impedance (ohm)
Rotor moment of inertia (J) (oz-in-sec2)
Friction (oz-in)
Temperature range (C)
Max speed (RPM)
Weight (lb)
JR12, JR16
3+5%-0%
1.5
4*
0.05
1
0.005
3.0
-25 to +70
4000
2.2
JR24, JR25
6.0*
1
2**
1
5.4
.009
3.0
-25 to +70
5000
2.5
24
25 Max
70.8
0.0055
2.5
24
27 Max
180
.021
5.0
*Measure with a resistive load of

1 kohm and a single-pole low
pass filter with 3db cut off at
2 kHz.
Optional voltage gradients available are: 7, 9, 10 and 19
Volts/kRPM.
** Measured with the recommended
purely resistive load.
BRAKE
1.0
2.0
3.0
4.0
6.0
DC Voltage (V)
Input Power (W)
Holding Torque (in-lbs)
Inertia (oz-in-sec2)
Weight (lb)
Note:
1. Brakes are electrically released.
2. Above brakes are intended to be
used in emergency situatins (loss
of power supply) or to hold the
motor shaft when the motor is at
standstill. Other voltages available.
BA25I ENCODER
(See BA25I data sheet for more detailed information.)
1.0
2.0
3.0
4.0
5.0
Moment of Inertia (oz-in-sec2)

Starting Torque (oz-in Max)
Max Speed (RPM)
Power Supply Required
Output TTL (CMOS also available)
6.0 Number of Outputs

7.0 Cycles Per Revolution
8.0 Max data rate (kHz)

9.0 Temperature range (C)
10.0 Weight (lb)
3.0 x 10-4 Max

1.0
4000
5V2% @ 150 ma
Logic 0<.7VDC
Logic 1>2.4VDC
Dual Channel A and B in phase
quadrature with index channel.
Standards available: 100,
125, 200, 250, 360, 500, 512
1000, 1024, 1200, 1800, 2000
2048, 2500.
100
-25 to +70
1.3
3.0 x 10-4 Max

1.0
4000
5V2% @ 150 ma
Logic 0<.7VDC
Logic 1>2.4VDC
Dual Channel A and B in phase
quadrature with index channel.
Standards available: 100,
125, 200, 250, 360, 500, 512
1000, 1024, 1200, 1800, 2000
2048, 2500.
100
-25 to +70
1.3
RESOLVER
1.0 Size 11 Resolver
2.0 Weight (lb)
0.5
0.5
Notes:
Resolver prepared with cover, MS
connector, clamps and coupling.
For details, contact a Kollmorgen
Sales Office.
55
Gearmotor Series ServoDisc

INTRODUCTION
-- Exact reduction ratios: 10:1 up to 100:1 (other ratios
optional)
-- Continuous output torque up to 2604 in-lbs
-- Compact and lightweight
-- Gearhead can be sold separately
(consult an Kollmorgen Sales Office)
-- IP55 environmental sealing and prep for resolver are
available
INDUREX
-- Low backlash; less than 20 arc-minutes
-- Compact ultraquiet design
-- Industrial compact design
-- Reduction ratios 3.67:1 up to 98.87:1
available
8 to 2604 in-lb (.9 to 294 N-M) Continuous Stall Torque
Virtually Zero to Medium Backlash Models
Compact, Inline Packaging
Powered by High-Performance DC ServoDisc Motors
Kollmorgen provides an assortment of gearmotors.
Characteristics of all these products include high-torque-toweight ratios, smooth constant torque and fast acceleration.
The Accurex series, with virtually zero backlash, is
designed with a minimum of moving parts for extremely
reliable operation
The Revex series uses proven spur gear technology to produce a wide range of exact gear ratios with a maximum of
5 arc minutes of backlash
The Indurex series provides fully reversible helical gearing which results in an exceptional gearmotor actuator
The low voltage Ferrite series is the flattest design, ideal for
battery-powered applications
ACCUREX
-- Virtually zero backlash for high-position accuracy
-- Continuous output torque up to 500 in-lb
-- Heavy duty bearing design
-- Harmonic drive components for simplicity, high
reliability and compact shape
-- Exact reduction ratios: 60, 80, 100, 120 and 160:1
-- High torque capacity in single-stage ratio
available
FERRITE
-- Flat shape and lighweight for easy design intergration
-- Reduction ratios from 15:1 to 150:1
-- Suitable for battery operation: 12 or 24 Volts
-- Constant torque over the entire speed range
-- Zero cogging for smooth operation
-- Low inertia produces rapid, accurate response to command signals
Options:
-- Tachometers or encoders
-- Fail-safe brakes
Compatible Products
KXA Plus Amplifier
REVEX
-- Extremely low backlash; less than 5 arc-minutes
-- High-torsional stiffness to ensure high accuracy and
repeatability in positioning applications
56
Accurex Gearmotor Series ServoDisc

PERFORMANCE DATA
Gearmotor Types
Rated Speed
(RPM)
Continuous Torque
(in-lb/N-m)
Peak Torque
(in-lb/N-m)
Gear Ratio
Motor Voltage
(Volts)
Motor Current
(amps)
1.0
S6M4H/H6D60
50.0
52/6
300/34
60:1
17.5
5.0
2.0
S9M4H/H9D60
50.0
274/31
570/64
60:1
35.0
7.5
3.0
S6M4H/H6D80
37.5
70/8
300/34
80:1
17.5
5.0
4.0
S9M4H/H9D80
37.5
345/39
570/64
80:1
35.0
7.5
5.0
S6M4H/H6D100
30.0
87/10
400/45
100:1
17.5
5.0
6.0
S9M4H/H9D100
30.0
431/49
770/87
100:1
35.0
7.5
7.0
S6M4H/H6D120
25.0
105/12
400/45
120:1
17.5
5.0
8.0
S6M4H/H6D160
18.8
140/16
400/45
160:1
17.5
5.0
9.0
S9M4H/H9D120
17.0
500/57
990/112
120:1
26.0
7.5
1.0
Max Inertia (2)
Units
S6M4H/H6D
(all ratios)
S9M4H/H9D
(all ratios)
oz-in-sec2
0.0033
0.0125
g-cm2
233
883
2.0
Radial Load
lbs
200
465
2.1
Distance from Mounting Surface
in
1 1/8
1 1/2
3.0
Axial Load
lbs
500
500
4.0
Basic Weight (3)
lbs
5.15
10.80
5.0
Basic Length (3)
in
5.4
6.8
Motor electrical and mechanical specifications are subject to change without notice. Please consult a Kollmorgen Sales Office.
Notes:
1. Mounted on 8 x 16 x 3/8 aluminum heatsink.
2. Motor plus gearhead, measured at motor shaft.
3. Weights and lengths will vary with options.
4. For vertical orientation, a grease cartridge is recommended.

5. Gearmotors can be mounted in any position.
57

DIMENSIONS
S6M4H/H6D
.7496 +.0000
.0005
(19.0)
.1875 +.0010
.0000
(4.8)
.75
(19.1)
.836 +.000
.010
(21.3)
NO. 606 WOODRUFF KEY
30+
5
4.875 +
.0625
(123.8)
45 TYP
.3149 +.0000
.0005 DIA
(7.99)
60 TYP
3.24 +.000
.002 DIA
(82.3)
1.749 +.000
.002
(44.4)
3.24 (86.1)
DIA
2.79
(70.9)
DIA
CHAMFER .02 X 45
.146 +
.017
(3.7)
.47
(11.9)
NO. 10-32 UNC-2B TAP X .38 (9.7) DP

2.500 (63.5) DIA BC
.080
(2.0)
5.44 +
.05
(138.1)
NO. 4-40 UNC-2B TAP X .18 (4.6) DP

3.012 (76.5) DIA BC
CHAMFER .02 X 45
1.84
(46.8)
1.625
(41.3)
NO. 4-40 UNC-2B TAP X .18 (4.6) DP

1.812 (46.0) DIA BC
.75
(19.1)
S9M4H/H9D
.8745 +.0000
.0005
(22.2)
.1875 +.0010
.0000
(4.8)
45+
5
1.50
(38)
4.125 +.000
.002 DIA
(104.8)
2.124 +.000
.002
(53.9)
4.37 (111.0)
DIA
3.49
(88.6)
DIA
.190 +
.020
(4.8)
CHAMFER .02 X 45
NO. 10-32 UNC-2B TAP X .38 (9.7) DP
2.500 (63.5) DIA BC
1.75
(44.5)
.06
(1.6)
NO. 6-32 UNC-2B TAP X .25 (6.4) DP

3.956 (100.5) DIA BC
4.28
(108.7)
6.81 .06
(173.0)
.75
(19.1)
NO. 8-32 UNC-2B TAP X .25 (6.4) DP

3.25 (82.6) DIA BC
Notes:
1. Illustrations show basic motor lengths only. Lengths will vary with options.
2. Mating connectors are supplied with Industrial versions.
58

OPTIONS
TACHOMETER SPECIFICATIONS
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Tachometer/Motor Types
Output Voltage (Volts/kRPM)
Max Ripple Peak to Peak (%)*
Linearity Referred to 3600 RPM (%)
Bi-directional Tolerance (%)
Output Impedance (ohm)
Temperature Coefficient (%/C Rise)
Recommended Load Resistance (ohms)
Friction Torque (oz-in)
Weight (lb)
S6T/S6M4H
0.75
1.5
0.05
1.5
<5
0.00025
-0.02
1000
0.75
1.13
S9A4T/S9M4H
3.0
1.5
0.06
1.5
<5
0.0024
-0.02
1000
1.0
2.0
S6M4H
24
8
3 Min.
0.00028
0.65
S9M4H
24
9
8 Min.
0.00096
1.0
*With 500 Hz low pass filter.
BRAKE SPECIFICATIONS
1.0
2.0
3.0
4.0
5.0
Motor Types
DC Voltage (Volts)
Input Power @ 20C Nominal (Watts)
Holding Torque (in-lbs)
Inertia (oz-in-sec2)
Weight (lb)
Notes:
2. Brakes are intended for power loss situations or to hold motor when at a standstill.
M23 ENCODER SPECIFICATIONS

(for all motors) (See Encoder Section for more detailed information.)
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Resolution
Frequency Response (kHz)
Output Format
Phasing
Output Levels (5, 12 and 15 Volts)
Input Power
Weight
Up to 2540 Cycles Per Revolution (500 for sinewave)

100
Quadrature Channels and Index
90 20 Max
TTL and CMOS Compatible
5, 12 and 15 Volts 150 ma Max
0.0001
2.0 oz Typical
CONNECTION SPECIFICATIONS
Encoder M23
S6M4HI/S9M4HI
(circular MS style mating connector available as industrial version)

Motor/Tach or
Motor/Tach/Brake
(for clockwise rotation)
S6M4HI/S9M4HI
Notes:
S6M4HI uses Pin K. S9M4HI uses Pin I.
*Additional outputs for complementary models.
**Split supply for amplified sinewave.
Lead
(+) Motor Lead
(-) Motor Lead
(+) Tach Lead
(-) Tach Lead
(+) Brake Lead
(-) Brake Lead
Case Ground
Pin
A
B
C
D
E
F
G
Function
Channel A
Channel B
Channel I
V+
Common
Case Ground
Channel A*
Channel B*
Channel I*
+15V**
-15V**
Pin
A
B
C
D
F
G
H
I/K (1)
J
H
I/K (1)
59
Revex Gearmotor Series ServoDisc

PERFORMANCE DATA
1.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
1.10
1.11
2.0
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
3.0
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
4.0
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.10
4.11
5.0
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
Gearmotor Types
S6M4H/GH6-10
U9M4T/GH9-10*
U9M4/GH9-10
N9M4/GH9-10
U9M4HT/GH9-10*
S9M4H/GH9-10
U12M4T/GH12-10*
U12M4/GH12-10
U12M4HT/GH12-10*
U12M4H/GH12-10
JR12M4CH/GH12-10
JR16M4CH/GH16-10
S6M4H/GH6-20
U9M4T/GH9-20*
U9M4/GH9-20
N9M4/GH9-20
U9M4HT/GH9-20*
S9M4H/GH9-20
U12M4T/GH12-20*
U12M4/GH12-20
U12M4HT/GH12-20*
U12M4H/GH12-20
JR12M4CH/GH12-20
JR16M4CH/GH16-20
S6M4H/GH6-40
U9M4T/GH9-40*
U9M4/GH9-40
N9M4/GH9-40
U9M4HT/GH9-40*
S9M4H/GH9-40
U12M4T/GH12-40*
U12M4/GH12-40
U12M4HT/GH12-40*
U12M4H/GH12-40
JR12M4CH/GH12-40
JR16M4CH/GH16-40
S6M4H/GH6-60
U9M4T/GH9-60*
U9M4/GH9-60
N9M4/GH9-60
U9M4HT/GH9-60*
S9M4H/GH9-60
U12M4T/GH12-60*
U12M4/GH12-60
U12M4HT/GH12-60*
U12M4H/GH12-60
JR12M4CH/GH12-60
JR16M4CH/GH16-60
S6M4H/GH6-100
U9M4T/GH9-100*
U9M4/GH9-100
N9M4/GH9-100
U9M4HT/GH9-100*
S9M4H/GH9-100
U12M4T/GH12-100*
U12M4/GH12-100
U12M4HT/GH12-100*
U12M4H/GH12-100
JR12M4CH/GH12-100
JR16M4CH/GH16-100
Rated Speed
(RPM)
300
300
300
300
300
300
300
300
300
300
300
300
150
150
150
150
150
150
150
150
150
150
150
150
75
75
75
75
75
75
75
75
75
75
75
75
50
50
50
50
50
50
50
50
50
50
50
50
30
30
30
30
30
30
30
30
30
30
30
30
Continuous Torque
(in-lb/N-m)
12.6/1.4
27/3.1
30/3.4
41/4.6
45/5.1
49.4/5.6
64/7.3
75.2/8.5
93/10.5
103/11.6
105/11.9
263/31.4
24.7/3.1
52/5.8
60/6.8
81/9.2
90/10.1
99/11.2
129/14.6
150/17
185/20.9
205/23.2
211/23.8
545/61.5
48.3/5.5
108/12.2
117/13.2
158/18
165/18.6
194/21.9
252/28.5
294/33.3
363/41.0
411/46.4
421/47.6
1089/123
72.5/8.2
161/18.2
176/19.9
239/27
248/28
292/33
378/42.7
442/50
544/61.5
602
632/71.4
1634/185
79/9
258/29.2
293/33.2
318/36
318/36
318/36
630/71.2
681/77
681/77
681/77
681/77
2604/294
Peak Torque**
(in-lb/N-m)
50/59.6
103/11.7
115/13
163/18.4
179/20.2
296/33.5
258/29.1
301/34
372/42
417/47.2
420/47.5
650/73.4
100/11.3
207/23.3
240/27.1
325/36.7
358/40.4
495/56
515/58.2
602/68
740/87.6
836/94.5
844/95
2603/294
159/18
413/46.7
468/93
636/71.8
681/77
681/77
1030/116.4
1178/133
1434/162
1433/162
1534/516.5
2603/294
177/20
620/70
726/82
726/82
725/82
725/82
1548/174.6
1548/175
1548/175
1548/175
1548/175
2603/184
195/22
796/90
796/90
796/90
796/90
796/90
1699/192
1699/192
1699/192
1699/192
1699/192
3905/441
Gear Ratio
10:1
10:1
10:1
10:1
10:1
10:1
10:1
10:1
10:1
10:1
10:1
10:1
20:1
20:1
20:1
20:1
20:1
20:1
20:1
20:1
20:1
20:1
20:1
20:1
40:1
40:1
40:1
40:1
40:1
40:1
40:1
40:1
40:1
40:1
40:1
40:1
60:1
60:1
60:1
60:1
60:1
60:1
60:1
60:1
60:1
60:1
60:1
60:1
100:1
100:1
100:1
100:1
100:1
100:1
100:1
100:1
100:1
100:1
100:1
100:1
Motor Voltage
(Volts)
17.8
22.9
24.1
30.2
29.9
35.0
40.4
43.4
56.5
67.7
61
129
17.8
22.9
24.1
30.2
29.9
35.0
40.4
43.4
56.5
62.7
61
129
17.8
22.9
24.1
30.2
29.9
35.0
40.4
43.4
56.5
67.7
61
129
17.8
22.9
24.1
30.2
29.9
35.0
40.4
43.4
56.5
62.7
61
129
15.4
22.9
24.1
29.0
27.8
33
40.4
42.4
54.3
60.7
57.5
125
Motor Current
(amps)
5.2
8.6
8.7
7.8
8.5
7.8
8.7
8.8
7.9
7.8
8.4
9.6
5.2
8.6
8.7
7.8
8.5
7.8
8.7
8.8
7.9
7.8
8.4
9.6
5.2
8.6
8.7
7.8
8.5
7.8
8.7
8.8
7.9
7.8
8.4
9.6
5.2
8.6
8.7
7.8
8.5
7.8
8.7
8.8
7.9
7.8
8.4
9.6
3.6
8.6
8.7
5.7
7.4
5.5
8.7
8.6
6.6
5.7
5.8
9.0
*Smallest axial length for gearmotor with tachometer.

**For short duration only.
60

DIMENSIONS
S-SERIES (S6)
.563 (14.3)
MOTOR LEADS
NO.20 AWG 18 IN.1 IN.LG
.08 (2.0)
.75 (19.1)
fl.4723 +.0000
-.0004
(12.0)
-A-
30 5
+.0000
.3149 .0005
(8.0)
fl3.38 (85.9)
fl3.39
(86.1)
fl1.772 +.000
(45.0) -.001
fl2.20
(55.9)
-B-
fl3.240 +.000
(82.3) -.001
M5 HOLE
.80 +
.001
(2.0)
.354 REF
.08 (2.0)
M5 THREAD x 10mm DP
3 HOLES EQ SP ON fl2.125 (54.0) B.C.
1.30
(33.0)
"A"
"C"
"B"
(MAX)
-S-
S6M4H/GH6
A
Without Encoder
B
(max)
With Encoder
Motor
1.61
40.9
2.66
67.6
in
mm
in
mm
Motor/Tachometer
2.56
65.1
3.61
91.7
Motor/Brake
2.91
73.9
3.96
100.0
S6M4H/GH6
and S6M4HI/GH6
in
C
mm
10:1
20:1
2.68
68.0
Motor/Brake
Tachometer
3.94
100.0
4.99
126.7
40:1
60:1
2.93
74.5
100:1
3.19
81
M5 HOLE
3.38
(86)
.4723 +.0000
-.0004
(12.0)
1.772 +.000
(45.0) -.001
.08 (2.0)
M5 x 10 mm TAP
3 HOLES EQUALLY SPACED
ON 2.125 (54) DIA BC
S6M4HI/GH9
A
Without Encoder
With Encoder
in
mm
in
mm
1.30
(33.0)
Motor
4.23
107.4
4.23
107.4
"C"
"A"
NOTE: Mating connectors

are supplied.
Motor/Tachometer
5.26
133.6
5.26
133.6
Motor/Brake
4.23
107.4
5.61
142.5
Motor/Brake
Tachometer
5.26
133.6
6.56
166.6
Motor Connector - Amphenol/Bendix PT 02A-12-8P

Encoder Connector - Amphenol/Bendix PT 02A-12-10P
61

DIMENSIONS
S-SERIES (S9)
MOTOR LEADS
NO. 18 AWG 12" 1" LONG
.75 (19.0)
REAR SHAFT
.1875 (4.75) SQ. KEY

+.000
.705 .015
(17.91)
4.33
(110)
.4995 +.0000 DIA

(12.7) -.0005
.6245 +.0000
-.0005
(15.862)
3.311 +.000
(84.1) -.002
NO.10-32 UNF-2B x .47 (11.9) DEEP TAP

4 HOLES EQ.SP. ON 3.656 (92.9) DIA B.C.
S9M4H/GH9
A
Without Encoder
B
(max)
With Encoder
1.25
(31.8)
.06 (1.5)
3.94 (100)
.06 (1.5)
"A"
"B"
MAX
Motor
2.28
57.9
3.33
84.6
in
mm
in
mm
4.125 +.000
-.002 DIA
(104.8)
NO.6-32 UNC-2B TAP x .25 (6.3) DEEP

4 HOLES LOCATED AS SHOWN ON
A 3.956 (100.5) DIA B.C.
OPTIONAL
ENCODER
Motor/Tachometer
3.25
82.6
4.30
109.0
Motor/Brake
3.70
94.0
4.75
120.7
Motor/Brake
Tachometer
4.66
118.4
5.71
145.0
.1875 (4.75) SQ. KEY

+.000
.705 .015
(17.91)
4.33
(110)
.6245 +.0000
-.0005
(15.9)
4.37
(111.0)
3.311 +.000
(84.1) -.002
NO.10-32 UNF-2B x .47 DEEP TAP

4 HOLES EQ.SP. ON 3.656 (92.9) DIA B.C.
S9M4HI/GH9
A
Without Encoder
With Encoder
in
mm
in
mm
1.25
(31.8)
Motor
5.19
131.8
5.19
131.8
.06 (1.5)
3.94 (100)
Motor/Tachometer
6.17
157.0
6.17
157.0
NOTE: Mating connectors

are supplied.
Motor/Brake
6.67
169.4
6.67
169.4
Motor/Brake
Tachometer
7.61
193.3
7.61
193.3
Motor Connector - MS3102A16S-IP

Encoder Connector - MS3102A18-IP
62

DIMENSIONS
U-SERIES
TACH MODEL ONLY
TACH LEADS
NO. 22 AWG 12" + 1" LONG
.1875 (4.75) SQ. KEY

+.000
.705 .015
(17.91)
4.33
(110)
DIA
.4995 +.0000
-.0005
(12.7)
.6245 +.0000
(15.9) -.0005
3.311+.000
-.002
(84.1)
4.37
(111.0)
.06 (1.5)
1.25
NO.10-32 UNF-2B x .47 (11.9) DEEP TAP (31.8)
4 HOLES EQ.SP ON 3.656 (92.9) DIA B.C.
Gearmotor
U9M4/GH9
U9M4T/GH9
U9M4HT/GH9
MOTOR/
TACHOMETER
3.94 (100)
"B1"
in
mm
B1
1.84
46.74
B2
2.78
70.6
B3
3.32
84.4
B4
3.98
101.1
in
1.86
3.34
mm
47.20
84.8
in
mm
2.41
61.12
3.89
98.8
1.187 (30.15)
"B2"
MOTOR/
ENCODER
00
.832 +.0
.015
(21.1)
.1875
(4.8)
SQ KEY
TACH MODEL ONLY

TACH LEADS
NO. 22 AWG 12" + 1" LONG
.4995 +.0000 DIA
(12.7) .0005
4.5
(114.3)
5.9
(150)
5.5
(139.7)
"B3"
MAX
.7495 +.0000
.0005
(19.0)
Gearmotor
.10
(2.5)
1.29
(32.8)
4.69
(119.0)
"B1"
in
mm
B1
2.11
53.59
B2
3.05
77.5
B3
3.59
91.2
B4
4.25
108
in
2.78
3.72
4.26
4.92
mm
70.61
94.5
108.25
125
U12M4T/GH12
in
mm
2.11
53.6
3.59
91.2
U12M4HT/GH12
in
mm
2.81
71.4
4.28
108.7
U12M4/GH12
U12M4H/GH12
1.187
(30.15)
MOTOR/
TACHOMETER/
ENCODER
"B4"
MAX
63

DIMENSIONS
JR12/GH12
.832 +.000
(21.1) -.015
LABEL, SCHEMATIC DIAGRAM
3/16 x 3/16 x 1.00 (25.4)LONG

AMERICAN STD SQUARE KEY,
416 CRES
.1875 +.0000
-.0020
(4.8)
ACCESS PLUG
NO. & LOCATION OPTIONAL
4.500 +.000 DIA

(114.3) -.001
-B5.91-.02 DIA
(150.1)
DIA
.7495 +.0000
-.0005
(19.0)
-A-
5.5 MOTOR DIA

(139.7)
3.781 DIA
(96.0)
.3936 +.0000 DIA.
(10.0) -.0005
1.151
(29.2)
.03 x 45 CHAMFER
MOTOR CONNECTOR
MS3102A-10SL-3P
.394 REF
(10.0)
.10
(2.5)
.354 REF
3.29 .03
(9.0)
4.69 REF
B1
(119.1)
8.69 MAX
(220.7)
NO.10-32UNF-2B x .47 (11.9) DP TAP

4.875 (123.8) DIA BC
1.289-.015
(32.7)
-S-
JR16/GH16
.9375
10:1 - (23.813) +.0000
-.0005 DIA
1.1245
20:1 thru 100:1 - (28.562) +.0000
-.0005 DIA
3/8-16 UNC-2B X .87 (22.1) DP TAP

OIL FILLER/BREATHER PLUG
8.465 (215) DIA BC
1/4 X 1/4 X 1.50 LONG

AMERICAN STD SQUARE KEY
45
MOTOR/DC TACH CONNECTOR

MS3102A-16S-1P
GEARHEAD
LABEL,SCHEMATIC DIAGRAM
PLUG,SEALED-REF
COUPLING ACCESS HOLE
1.045 +.000
10:1 - (26.54) -.015
20:1 thru 100:1 - 1.236 +.000

(31.39) -.015
CLAMP,SYNCHRO
MS17183-3
5 5/64
9.65 DIA
(245)
7 3/8
OIL LEVEL
INDICATOR PLUG
.03 X 45CHAMFER
OIL DRAIN PLUG
.472
3.44 -.03
B1
10:1 - 2.126
54.0
20:1
thru - 2.52
100:1 64.0
MOTOR/BRAKE
OR
MOTOR/TACHOMETER
MOTOR/ENCODER
"B2"
"B3"
JR16M4CH/GH16
64
"B4"
"B5"
"B6"
Gearmotor
JR12M4CH/GH12
MOTOR/TACHOMETER/ENCODER
OR
MOTOR/TACHOMETER/BRAKE MOTOR/ENCODER/BRAKE
MOTOR/TACHOMETER/BRAKE/ENCODER
10:1
20:1
40:1
60:1
100:1
in
4.685
4.685
4.685
4.685
4.685
3.94
5.77
7.20
8.49
9.26
11.07
mm
in
mm
119.0
5.20
132.1
119.0
6.20
157.5
119.0
6.20
157.5
119.0
6.20
157.5
119.0
6.20
157.5
100.1
4.50
114.3
146.6
6.34
161.0
182.9
7.77
197.4
215.6
9.06
230.1
235.2
9.81
249.1
281.2
11.62
295.1

DIMENSIONS
N-SERIES (N9)
MOTOR LEADS
NO.18 AWG 18 (457.2) in 1 (25.4) in LONG
+.0000
.1875 -.0020
(4.76)
.531
(13.5)
SLEEVING
fl.7495 +.0000
-.0005
(19.0)
.832 +.000
-.015
(21.1)
fl5.91 .02
(150.1)
fl2.20
(55.9)
+.000
fl4.500 -.001
(114.3)
NO.10-32 UNF-2B X .47 (12) DP TAP

ON 4.875 (123.8) DIA BC
1.151
(29.2)
.10
(2.5)
1.289 .015
(32.7)
N9M4/GH9/M23
A
Without Encoder
B
(max)
With Encoder
in
mm
in
mm
Motor
0.93
23.6
1.98
50.3
fl5.49
(139.5)
Motor/Tachometer
0.95
24.1
2.00
50.8
.35 REF
(9.0)
1.313
(33.7)
4.69 REF
(119)
Motor/Brake
2.43
61.7
3.48
88.4
1.05 MAX
(26.7)
Motor/Brake
Tachometer
2.45
62.2
3.50
88.9
65

DIMENSIONS
N-SERIES (N12)
MOTOR LEADS
NO.18 AWG 18 (457.2) in 1 (25.4) in LONG
+.0000
.1875 -.0020
(4.76)
.531
(13.5)
SLEEVING
fl.7495 +.0000
-.0005
(19.0)
.832 +.000
-.015
(21.1)
fl5.91 .02
(150.1)
fl2.20
(55.9)
fl5.49
(139.5)
+.000
fl4.500 -.001
(114.3)
NO.10-32 UNF-2B X .47 (12) DP TAP

ON 4.875 (123.8) DIA BC
1.151
(29.2)
.10
(2.5)
1.289 .015
(32.7)
N12M4/GH12/M23
A
Without Encoder
B
(max)
With Encoder
1.0
in
mm
in
mm
Max Inertia (2)
Motor
1.06
26.9
2.11
53.6
.35 REF
(9.0)
Motor/Tachometer
1.09
27.7
2.14
54.4
1.05 MAX
(26.7)
1.313
(33.7)
4.69 REF
(119)
Motor/Brake
Tachometer
2.90
73.7
3.95
100.3
Motor/Brake
2.87
72.9
3.92
99.6
Units
oz-in-sec2
GH6
10.9x10-4
GH9
5.90x10-3
GH12
22.46x10-3
GH16
86.5x10-3
g-cm2
77
417
1586
6108
430
2.0
Radial Load
lbs
47
135
134
2.1
in
.71
.69
.93
1.7
3.0
Axial Load
lbs
52
126
253
762
4.0
Basic Weight (3)
lbs
4.3-5.0
8.2-12.7
18.5-24.7
50.5-67.5
5.0
Basic Lenght (3)
in
2.3-2.8
3.94
4.68
5.2-6.5
Notes:
66


OPTIONS
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Tachometer/Motor Types
Output voltage (Volts/kRPM)
Max ripple peak to peak (%)*
Linearity referred to 3600 RPM (%)
Bi-directional tolerance (%)
Output impedance (ohm)
Moment of inertia (oz-in-sec2)
Temperature coefficient (%/C Rise)
Recommended load resistance (ohms)
9FA4T/U-Series
2.5
5.0
0.06
3.0%
1.18
0.0024
-0.19
2500 Min.
F9T/JR-Series
3.0
4.0
0.05
1.5
1.0
0.005
-0.02
2000 Min.
1.0
2.0
3.0
4.0
Brake Types/Motor Types

DC voltage (Volts) (90V in option)
Input power @ 20C nominal (Watts)
Holding torque (in-lb)
Additional inertia (oz-in-sec2)
BRK/JR-Series
24
25 Max
70.8
0.0064
Notes:
ENCODER SPECIFICATIONS
(For U-Series, use Model #M23 for JR-Series; use Model #BA251.) (See Feedback Section for more detailed information.)
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Resolution
Frequency response (kHz)
Output format
Phasing
Output levels (5, 12 and 15 Volts)
Input power
M23
BA251
Up to 2540 cycles per revolution

100
Quadrature channels and index
90 20 max
TTL and CMOS compatible
5, 12, and 15 volts 150 ma max
0.0001
0.00045
67
Indurex Gearmotor Series ServoDisc

PERFORMANCE DATA
Gearmotor Types
Rated Speed
(RPM)
Continuous Torque
(in-lb/N-m)
Peak Torque
(in-lb./N-m)
Gear Ratio
Motor Voltage
(Volts)
Motor Current
(amps)
1.0
JR24M4CH/KR16-4
818
281/31.7
842/95
3.67:1
139.7
26.0
2.0
JR24M4CH/KR16-5
605
379/42.8
1138/128
4.96:1
139.7
26.0
3.0
JR24M4CH/KR16-6
467
491/55.4
1473/166
6.42:1
139.7
26.0
4.0
JR24M4CH/KR16-7
435
528/59.7
1583/178
6.90:1
139.7
26.0
5.0
JR16M4CH/KR16-10
301
269/30.4
806/91.1
9.96:1
127.4
9.6
6.0
JR24M4CH/KR16-10
301
762/86.1
2286/258
9.96:1
139.7
26.0
7.0
JR24M4CH/KR16-20
153
1498/169
3700/418
19.58:1
139.7
26.0
8.0
JR16M4CH/KR16-20
150
528/59.7
1614/182
19.58:1
129.4
9.6
9.0
JR16M4CH/KR16-40
77
1022
3067/346
39.17:1
129.4
9.6
10.0
JR16M4CH/KR16-60
53
1488/168
4464/504
57.01:1
129.4
9.6
11.0
JR16M4CH/KR16-80
38
2055/232
6000/678
78.76:1
129.4
9.6
12.0
JR16M4CH/KR16-100
30
2580/291
6180/698
98.87:1
129.4
9.6
Units
oz-in-sec2
JR16M4CH/KR16
0.097
JR24M4CH/KR16
0.535
kg-cm2
6.849
37.78
lb
500
272
1.0
Max Inertia (2)
2.0
Radial Load
2.1
in
3.0
Axial Load (5)
lb
114
71
4.0
Basic Weight (3)
lb
42
84
5.0
Basic Lenght (3)
in
10.7
13
Notes:
1. Mounted on 16 x 16 x 3/8 (JR16), 21 x 21 x 1/2 (JR24)
aluminum heatsink.
68

5. Axial Load combined with specified Radial Load.
Indurex Gearmotor Series ServoDisc

OPTIONS
JR16M4CH/JR24M4CH
AMERICAN STD .250 +.000

-.002
SQUARE KEY (6.4)
1 1/2-2" LONG
CONNECTOR
MS3102A10SL-3P
1.236 +.000
-.015
(31.4)
Gearmotor
JR16M4CH
in
mm
A*
5.00
127.0
JR24M4CH
in
mm
6.78
172.2
B
7.38
187.4
11.09
281.7
*Dimension will change depending on options chosen.
fl 9.844 .063
(250.0)
+.0000
fl 1.125 -.0005
(28.6)
fl 4.797
(121.8)
B
fl7.281 1/16
(184.9)
+.0000
fl 5.118 -.0015
(130.0)
fl.3935 +.0000
-.0005
(10.0)
3/8-16 UNC-2B X .70 (17.8) DEEP TAP
8.464 (215.0) .015 (.381) DIA BC.
.125 (3.2)
6.188 +
.063
(157.2)
2.500
(63.5)
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Tachometer Types
Output voltage (Volts/kRPM)
Max ripple peak to peak (%)*
Linearity referred to 3600 RPM (%)
Bi-directional tolerance (%)
Output impedance (ohms)
Temperature coefficient (%/C Rise)
Recommended load resistance (ohms)
Friction torque (oz-in)
Weight (lb)
F9T
3
4
0.05
1.5
1.0
0.005
-0.020
2000 Min.
3
2.2
W6T6
6
3
1
1
5.4
0.008
-0.045
350 Min.
3
1.5
JR16M4CH
24
25 Max
70.8
0.0064
70
30
2.5
JR24M4CH
24
27 Max
180.0
0.0210
70
30
5.0
W6T19
19
2
1
1
26.0
0.008
-0.045
2600 Min.
3
1.5
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Motor Types
DC voltage (Volts) (90V in option)
Input power @ 20C nominal (Watts)
Holding torque (in-lb)
Additional inertia (oz-in-sec2)
Disengagement time (millisec)
Engagement time (millisec)
Weight (lb)
Notes:
BA251 ENCODER SPECIFICATIONS

(See Feedback Section for more detailed information.)
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Resolution
Frequency response (kHz)
Output format
Phasing
Output levels (5, 12 and 15 Volts)
Input power
Weight
Up to 2540 cycles per revolution (500 for sinewave)

100
Quadrature channels and index
90 20 max
TTL and CMOS compatible
5, 12, and 15 volts 150 ma max
0.00045
17 oz (max)
69

PERFORMANCE DATA
Gearmotor Types
10:1
9FGCHD/10:1
10:1
9FGCHDT/10:1
15:1
9FGT/15:1
9FG/15:1
9FGHDT/15:1
9FGHD/15:1
9FGCHD/15:1
9FGCHDT/15:1
12FGT/15:1
12FG/15:1
25:1
9FGT/25:1
9FG/25:1
9FGHDT/25:1
9FGHD/25:1
9FGCHD/25:1
9FGCHDT/25:1
12FGT/25:1
12FG/25:1
37:1
12FGT/37:1
12FG/37:1
50:1
9FGHDT/50:1
9FGHD/50:1
9FGT/50:1
9FG/50:1
9FGCHD/50:1
9FGCHDT/50:1
12FGT/50:1
12FG/50:1
80:1
9FGT/80:1
9FGHDT/80:1
9FG/80:1
9FGHD/80:1
9FGCHD/80:1
9FGCHDT/80:1
12FGT/80:1
12FG/80:1
100:1
9FGT/100:1
9FG.100:1
9FGHDT/100:1
9FGHD/100:1
9FGCHD/100:1
9FGCHDT/100:1
12FGT/100:1
12FG/100:1
150:1
9FG/150:1
9FGT/150:1
9FGHD/150:1
9FGHDT/150:1
9FGCHD/150:1
9FGCHDT/150:1
12FG/150:1
12FGT/150:1
Rated Speed
(RPM)
315
315
208
208
200
200
200
199
189
189
125
125
116
116
116
116
123
123
81
81
61
61
60
60
61
61
60
60
38
38
38
38
38
38
36
36
31
31
30
30
30
30
30
30
21
21
20
20
20
20
21
21
Legend: FG
- Gearmotor
FGHD - Gearmotor, Heavy Duty
GFCHD - Gearmotor, Compact Heavy Duty
70
Continuous Torque
(in-lb/N-m)
8.0/0.9
7.5/0.8
8.0/0.9
9.9/1.1
12/1.4
13.6/1.5
12.8/1.4
12/1.4
27.9/3.2
31.2/3.5
13.4/1.5
16.5/1.9
19.2/2.2
22/2.5
20.6/2.3
19.2/2.2
42.8/4.8
47.2/5.3
64.5/7.3
72/8.1
36/4.1
42/4.7
27.5/3.1
33.7/3.8
39/4.4
36.4/4.1
87/9.8
97/11
44.3/5
56.8/6.4
53.2/6
65/7.3
60/6.8
56.8/6.4
139/15.7
155/17.5
50/5.6
59/6.7
71/8.0
81.2/9.2
60/6.8
60/6.8
169/19.1
187/21.1
59/6.7
59/6.7
92/10.4
92/10.4
60/6.8
60/6.8
200/22.6
200/22.6
Peak Torque
(in-lb/N-m)
32
32/3.6
16/1.8
16/1.8
36/4.1
36/4.1
38/4.3
38/4.3
68/7.7
68/7.7
26/2.9
26/2.9
62/7
62/7
69/7.3
65/7.3
103/11.6
103/11.6
156/17.6
156/17.6
116/13.1
116/13.1
49/5.6
49/5.5
124/14
124/14
210/23.7
210/23.7
59/6.7
149/16.8
59/6.7
149/16.8
120
120/13.6
229/25.9
229/25.9
94/10.6
94/10.6
151/17.1
151/17.1
121
120/13.6
237/26.8
237/26.8
94/10.6
94/10.6
152/17.2
152/17.2
125
120/13.6
243/27.5
243/27.5
Gear Ratio
9.53:1
9.53:1
14.4:1
14.4:1
15.1:1
15.1:1
15.1:1
15.11:1
16.06:1
16.06:1
24:1
24:1
25.85:1
25.85:1
25.85:1
25.85:1
24.48:1
24.48:1
36.99:1
36.99:1
48.96:1
48.96:1
48.95:1
48.95:1
48.96:1
48.96:1
49.96:1
49.96:1
77.29:1
79.2:1
77.29:1
79.2:1
79.2:1
79.20:1
82.73:1
82.73:1
95.93:1
95.93:1
99:1
99:1
99.0:1
99.0:1
99.77:1
99.77:1
148.54:1
148.54:1
148.51:1
148.51:1
148.5:1
148.5:1
153:1
153:1
Motor Voltage
(Volts)
13.8
13.8
11.4
12.4
14.4
14.6
13.8
13.8
19.4
21.2
11.4
12.4
14.4
14.6
13.8
13.8
19.4
21.2
19.4
21.2
14.4
14.6
11.4
12.4
13.8
13.8
19.4
21.2
11.4
14.4
12.4
14.6
13.0
13.0
19.4
21.2
11.4
12.2
14.6
14.5
12.0
12.0
19.4
21.2
10.9
10.5
12.9
13.6
10.8
10.8
19.2
17.8
Motor Current
(amps)
6.2
6.2
5.2
5.2
6.6
6.7
6.2
6.2
7.4
6.9
5.2
5.2
6.6
6.7
6.2
6.2
7.4
6.9
7.4
6.9
6.6
6.7
5.2
5.2
6.2
6.2
7.4
6.9
5.2
6.6
5.2
6.7
6.2
16.2
7.4
6.9
5.2
5.0
6.6
6.7
5.1
5.1
7.4
6.9
3.7
4.3
5.2
6.0
3.8
3.8
5.2
6.0
FGT
- Gearmotor, Integral Tachometer
FGHDT - Gearmotor, Heavy Duty, Integral Tachometer

PERFORMANCE DATA
1.0 Maximum Inertia (2)

2.0 Radial Load @
Distance from Mounting Surf.
Units
oz-in-sec2
9FG
0.0052
9FGT
0.0082
9FGHD
0.0052
9FGCHD
0.0053
9FGHDT
0.0082
12FG
0.0192
12FGT
0.0252
g-cm2
367
579
367
374
579
1356
1780
lb
25
25
70
30 to 50
70
125
125
in
0.75
0.75
0.75
0.75
0.75
1.00
1.00
3.0 Axial Load
lb
80
45 to 55
80
150
150
4.0 Basic Weight (3)
lb
3.30
3.50
3.20
3.2
3.40
5.85
6.20
5.0 Basic Lenght (3)
in
1.92
2.00
2.81
2.29
2.88
3.75
3.80
Motor electrical and mechanical specifications are subject to change without notice. Please consult a Kollmorgen Sales Office.
Notes:
Office.
3. Weights and lengths will vary with options. Please consult a Kollmorgen Sales
FERRITE GEARMOTOR OPTIONS

Rear Shaft Extension
Prepared for Encoder
M23 Optical Encoder (See Options Section for details)
Intergal Analog Tachometer
Brake
71

DIMENSIONS
9FG, 9FGT
1.922 +0.000
(48.82) -0.062
+0.000
1.281
(32.54) -0.062
1 +0.000
(25.4) -0.062
0.375 (9.53)
TYP 4 PLCS
0.219
(5.56)
FLAT.03 (0.76) DP x 0.688 (17.48) LONG

fl.375 +.001
(9.53) -.000
fl 0.750 (19.05)
1.156 (29.36)
.03x45
CHAMFER
Models
9FG
.015 (0.38) 4 PLCS
NO.8-32 UNC-2B x 0.375 (9.53) DP TAP
0.281 (7.14)
9FGT
1.92 .06
2.00 .06
1.28 .06
1.34 .06

fl4.330 (110) B.C.
9FGHD, 9FGCHD, 9FGHDT (Heavy Duty and Compact Models)

.03 (.76) X .688 (17.46) LG FLAT
MOTOR LEADS - 18 AWG

6 IN. 1 IN. LONG
1.500
(38.1)
(GEARHEAD)
+.000
fl 0.375 -.001
(9.53)
1.156 (29.36)
fl 4.750
(120.65)
TACH
.02 (.51) X 45
CHAMFER
30.0
0.281
(7.14)
TACH LEADS
22 AWG 6 IN.1 IN. LONG
NO.8-32UNC-2B x 0.344 (8.74) DP
4 PLCS EQ SP ON fl 4.330 (109.98) B.C.
1.000 +0.000
(25.4) -0.062
+0.000
2.297 -0.062
(58.34)
Models
9FGHD
9FGCHD
9FGHDT
2.81 .06
2.29 .06
2.88 .06
B
C (DIA)
2.19 .06
.500
1.65 .06
.375
2.25 .06
.500
12FG, 12FGT
+0.000
1.375 -0.062
(34.93)
+.0000
.1875 -.0020
(4.76)
0.750
(19.05)
(SQUARE KEY)
fl 6 (152.4)
.704 +.000
(17.88) -.017
+0.000
2.438 -0.062
(63.07)
MOTOR LEADS
18 AWG, 6"1"LONG
0.156
(3.96)
fl .625 +.000
(15.88) -.001
fl 1.313 (33.35)
TACH
1.375 (34.93)
CHAMFER
.03 (.76) x 45
21 2
Models
12FG
TACH LEADS
22 AWG, 6"1" LONG
RAD TYP
4 PLACES EQ SP ON fl 5.500 (139.7) B.C.
.03 (.76) TYP

4 PLACES
72
12FGT
3.80 .06
0.500
(12.7)
NO. 0.250-20 UNC-2B X 0.500 (12.7) DEEP

0.500 (12.7) 4 PLACES
3.75 .06
3.750 +0.000
-0.062
(95.25)
0.313 (7.94)

DIMENSIONS - Rear Shaft Extension
9FG, 9FGT
1.922 +0.000
(48.82) -0.062
+0.000
0.750 -0.062
(19.05)
.50 (12.7)
+0.000
1.281
(32.54) -0.062
1 +0.000
(25.4) -0.062
0.375 (9.53)
TYP 4 PLCS
+0.0000
fl.2489 0.0002
(6.32)
0.219
(5.56)
FLAT.03 (0.76) DP x 0.688 (17.48) LONG

fl.375 +.001
(9.53) -.000
fl 0.750 (19.05)
1.156 (29.36)
fl2.25 (57.15)
.03x45
CHAMFER
Models
9FG
0.125 (3.18)
9FGT
1.92 .06
2.00 .06
B
C
1.28 .06
1.06 .06
1.34 .06
1.25 .06
.015 (0.38) 4 PLCS
NO.8-32 UNC-2B x 0.375 (9.53) DP TAP

fl4.330 (110) B.C.
9FGHD, 9FGHDT, 9FGCHD (Heavy Duty and Compact Models)

.03 (.76) X .688 (17.46) LG FLAT

6 IN. 1 IN. LONG
1.500
(38.1)
(GEARHEAD)
+.000
fl 0.375 -.001
(9.53)
1.156 (29.36)
fl 4.750
(120.65)
TACH
.02 (.51) X 45
CHAMFER
Models
9FGHD 9FGHDT 9FGCHD 9FGCHDT
.3144 (7.99)
30.0
A
0.281
(7.14)
TACH LEADS
C
NO.8-32UNC-2B x 0.344 (8.74) DP
4 PLCS EQ SP ON fl 4.330 (109.98) B.C.
1.000 +0.000
(25.4) -0.062
+0.000
2.297 -0.062
(58.34)
2.81 .06 2.88 .06
2.29
2.31
B
2.19 .06 2.25 .06
C
1.23 .03 1.20 .03
D (DIA)
.500
.500
1.65
1.23
.375
1.67
1.20
.375
12FG, 12FGT
+0.000
1.375 -0.062
(34.93)
+.0000
.1875 -.0020
(4.76)
0.750
(19.05)
(SQUARE KEY)
fl 6 (152.4)
.704 +.000
(17.88) -.017
+0.000
2.438 -0.062
(63.07)
MOTOR LEADS
18 AWG, 6"1"LONG
0.156
(3.96)
fl .625 +.000
(15.88) -.001
CHAMFER .03 (.76) X 45
fl 1.313 (33.35)
fl 0.3144 +.0000
.0002
(7.99)
TACH
1.375 (34.93)
CHAMFER
.03 (.76) x 45
21 2
TACH LEADS
22 AWG, 6"1" LONG
RAD TYP
.03 (.76) TYP

4 PLACES
0.500
(12.7)
NO. 0.250-20 UNC-2B X 0.500 (12.7) DEEP

0.500 (12.7) 4 PLACES
3.750 +0.000
-0.062
(95.25)
Models
12FG
12FGT
3.75 .06
3.80 .06
1.06 .06
1.50 .06
73
Ferrite Series SeroDisc

DIMENSIONS - Prepared for Encoder
9FG, 9FGT
1.922 +0.000
(48.82) -0.062
+0.000
0.750 -0.062
(19.05)
.50 (12.7)
+0.000
1.281
(32.54) -0.062
1 +0.000
(25.4) -0.062
0.375 (9.53)
TYP 4 PLCS
+0.0000
fl.2489 0.0002
(6.32)
0.219
(5.56)
FLAT.03 (0.76) DP x 0.688 (17.48) LONG

fl.375 +.001
(9.53) -.000
fl 0.750 (19.05)
1.156 (29.36)
fl2.25 (57.15)
CHAMFER
Models
9FG
.03x45
9FGT
1.92 .06
2.00 .06
1.28 .06
1.34 .06
0.125 (3.18)
.015 (0.38) 4 PLCS
NO.8-32 UNC-2B x 0.375 (9.53) DP TAP

fl4.330 (110) B.C.
9FGHD, 9FGCHD, 9FGHDT, 9FGCHDT (Heavy Duty and Compact Models)

.03 (.76) X .688 (17.46) LG FLAT

6 IN. 1 IN. LONG
1.500
(38.1)
(GEARHEAD)
+.000
fl 0.375 -.001
(9.53)
1.156 (29.36)
fl 2.250
(57.15)
TACH
.02 (.51) X 45
CHAMFER
fl 4.750
(120.65)
.250 (6.35)
30.0
TACH LEADS
+0.060
0.760 -0.060
(19.30)
0.125 (3.18)
NO.8-32UNC-2B x 0.344 (8.74) DP

4 PLCS EQ SP ON fl 4.330 (109.98) B.C.
1.000 +0.000
(25.4) -0.062
+0.000
2.297 -0.062
(58.34)
0.500 (12.7)
Models
9FGHD
9FGCHD
9FGHDT
9FGCHDT
2.81 .06
2.29 .06
2.88 .06
2.31
B
C (DIA)
2.19 .06
.500
1.65 .06
.375
2.25 .06
.500
1.67
.375
12FG, 12FGT
+0.000
1.375 -0.062
(34.93)
+.0000
.1875 -.0020
(4.76)
0.750
(19.05)
(SQUARE KEY)
fl 6 (152.4)
.704 +.000
(17.88) -.017
+0.000
2.438 -0.062
(63.07)
MOTOR LEADS
18 AWG, 6"1"LONG
0.156
(3.96)
fl .625 +.000
(15.88) -.001
CHAMFER .03 (.76) X 45
fl 1.313 (33.35)
fl 0.3144 +.0000
.0002
(7.99)
TACH
1.375 (34.93)
CHAMFER
.03 (.76) x 45
21 2
TACH LEADS
22 AWG, 6"1" LONG
RAD TYP
0.125 (3.18)
.03 (.76) TYP

4 PLACES
0.500
(12.7)
NO. 0.250-20 UNC-2B X 0.500 (12.7) DEEP

0.500 (12.7) 4 PLACES
74
3.750 +0.000
-0.062
(95.25)
0.500
(12.7)
+.000
0.760 .060
(19.30)
Models
12FG
12FGT
3.75 .06
3.80 .06

DIMENSIONS - with Encoder
9FG, 9FGT
1.922 +0.000
(48.82) -0.062
.50 (12.7)
+0.000
1.281
(32.54) -0.062
1.05
(26.67)
1 +0.000
(25.4) -0.062
0.375 (9.53)
TYP 4 PLCS
0.219
(5.56)
FLAT.03 (0.76) DP x 0.688 (17.48) LONG

fl.375 +.001
(9.53) -.000
fl 0.750 (19.05)
1.156 (29.36)
fl2.25 (57.15)
CHAMFER
Models
9FG
.03x45
0.125 (3.18)
.015 (0.38) 4 PLCS
NO.8-32 UNC-2B x 0.375 (9.53) DP TAP
9FGT
1.92 .06
2.00 .06
1.28 .06
1.34 .06

fl4.330 (110) B.C.
9FGHD, 9FGHDT, 9FGCHD (Heavy Duty Models)

6 IN. 1 IN. LONG
.03 (.76) X .688 (17.46) LG FLAT
ENCODER LEADS-24 AWG
18 IN. 1 IN. LONG
1.500
(38.1)
(GEARHEAD)
+.000
fl 0.375 -.001
(9.53)
1.156 (29.36)
fl 2.200
(55.88)
fl 4.750
(120.65)
TACH
.02 (.51) X 45
CHAMFER
30.0
Models
TACH LEADS
0.950 (24.13) MAX

0.130 (3.30)
NO.8-32UNC-2B x 0.344 (8.74) DP

4 PLCS EQ SP ON fl 4.330 (109.98) B.C.
1.000 +0.000
-0.062
(25.4)
+0.000
2.297 -0.062
(58.34)
0.500 (12.7)
9FGHD
9FGHDT
9FGCHD 9FGCHDT
2.81 .06 2.88 .06
2.29
2.31
B
2.19 .06 2.25 .06
C (DIA)
.500
.500
1.65
.375
1.67
.375
12FG, 12FGT
+0.000
1.375 -0.062
(34.93)
+.0000
.1875 -.0020
(4.76)
0.750
(19.05)
(SQUARE KEY)
fl 6 (152.4)
.704 +.000
(17.88) -.017
+0.000
2.438 -0.062
(63.07)
MOTOR LEADS
18 AWG, 6"1"LONG
0.156
(3.96)
fl .625 +.000
(15.88) -.001
fl 1.313 (33.35)
TACH
1.375 (34.93)
CHAMFER
.03 (.76) x 45
21 2
TACH LEADS
22 AWG, 6"1" LONG
RAD TYP
0.125 (3.18)
.03 (.76) TYP

4 PLACES
0.500
(12.7)
NO. 0.250-20 UNC-2B X 0.500 (12.7) DEEP

0.500 (12.7) 4 PLACES
3.750 +0.000
-0.062
(95.25)
0.500
(12.7)
1.05
(26.67)
Models
12FG
A
3.75 .06
12FGT
3.80 .06
75
Disk armature technology brings new dimensions of

performance to dc servo motor applications
Where it works best
Certain types of applications are naturals for ServoDisc technology. Lets look at the categories where the benefits are the
greatest.
a) Fast moves
Incremental motion (rapid, repetitive moves) is a natural
for the outstanding acceleration of these products. If you
need to make many moves a second, this is the right technology. If you must get to speed quickly or stop quickly,
ServoDisc will do it best.
b) Smooth Rotation
ServoDisc products are perfect when precise and smooth
speed control is required. Applications such as tape or film
handling or recording, machining, rotating mirrors or scanners. The total lack of cogging and the rapid response of
these motors gives near perfect rotation.
c) Operation over a wide speed range
If you need 1 rpm, then 1000, then 4000, no other product
can deliver the precise rotation, constant torque and trouble-free commutation which are characteristic of
ServoDisc products. Low speed is not limited by cogging
and high speed is not limited by arcing and commutation
problems.
d) Compact Size
When space is at a premium, the unique ServoDisc package may be the answer. Its flat profile and high power output make it easier to design in than conventional motors.
This may be just the edge you need to put your design
ahead of the competition.
A Track Record of Success

The unique technology and superior performance of the
ServoDisc motor make it the best choice for a tremendous
range of servo applications. Increased throughout, better
accuracy, improved packaging, longer life; these are just a
few of the benefits that can be realized with this exciting technology.
a) Automation and robotics
Speed and acceleration capabilities separate ServoDisc
motors from the conventional motor pack. Apply these
products to packaging, sorting, labeling, component insertion, precision windingany application where throughput is critical. Compact size and high torque make these
motors ideal for robot axis drives. Compact ServoDisc
precision gearmotors combine exceptional performance
with innovative packaging. The same features make them
great for robotic positioning tables.
b) Instrumentation
Superior technology is called for when performance and
accuracy are critical. Inspection equipment, x-y stages,
chromatography equipment, ultrasonic and optical scanners, plotters, shutter actuationall of these applications
can benefit from the rapid response and precise motion
which is characteristic of ServoDisc products.
c) Process control
Extraordinary responsiveness and cog-free rotation have
earned ServoDisc products an important niche in process
control applications. They can deliver fast, accurate metering of chemicals or fluids. The unparalled smoothness is
perfect for handling continuous materials such as tape,
film, paper, textiles or optical fibers. In fact any application involving continuous webs is a natural for this technology. Which accounts for its extensive use in the film,
paper, printing and textile industries. Textile applications
also include fabric cutting and stitching equipment.
d) Information handling
No cogging and the ability to maintain precise speed and
phase lock are perfect features for audio, video, analog and
digital recording. ServoDisc motors have an impressive
track record in tape mastering and duplication equipment,
instrumentation recorders and studio-grade recording
equipment. They have also made their mark in the growing video disk industry.
e) Biomedical equipment
Portability, reliability and superior performance have made
a name for ServoDisc motors in many medical life-support
analysis applications. Blood pumps, blood analyzers, kidney dialysis, respirators and ultrasonic scanners are all candidates for this advanced technology.
f) Semiconductor manufacturing
ServoDisc motors are an excellent match for the demanding performance requirements of the semiconductor manufacturing industry. For die and wire bonding, wafer handling, cleaning, testing and dicing, and laser trimming, the
high throughput, perfectly smooth rotation and precision of
these motors can really crank up productivity.
g) Business automation
Demand is increasing inthe business community for
increased performance and productivity from office
automation equipment. The application of ServoDisc technology to check sorters, imprinters, document readers,
high speed printers and collating equipment has answered
the call.
h) Military applications
Rugged design, reliability, long life, compact packaging
and outstanding performance have put ServoDisc products
in the front lines. Gun turrets, gun loaders, fire control drives, smoke generators and antenna rotation drives are just
some of the applications where we serve.

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Kollmorgen ServoDisc Catalog

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SERVODISC

Unique ironless design

A conventional ironcore motor uses a radial design

ture have a current flow which is perpendlcular to

In a conventional slot-wound servomotor, the armature is constructed from

Outdistances other DC servos

COMPARISON OF PERFORMANCE FEATURES

Percentage of Full Torque

The ServoDisc armature is much smaller and lighter

ServoDisc motors accelerate up to 10 times faster

The ironless ServoDisc armature has absolutely no

The thin, low-inertia armature design leads to exceptional

Electrical Time Constant

Peak Torque Capability

A very low electrical time constant results in torque

With full torque from 0 to full speed, ServoDisc

High peak torque capability means more throughput

Perfectly smooth rotation

Extra torque on call

If you rotate a conventional motor when it is unpowered,

For rapid acceleration and deceleration, higher than normal

Long brush life

Sizes for every application

Because there is no iron, there is nearly no inductance. The

ServoDisc motors use a very well behaved technology.

High speed capability

Full torque from 0 to 4000 rpm

Kollmorgen PLATINUM Series

Ferrite Kit Series

Accurex Gearmotor Series

Revex Gearmotor Series

Indurex Gearmotor Series

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

39 to 402 oz-in (27-284)N-cm continuous torque

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

Continous Stall Torque

Torque Constant 10%

Viscous Damping Constant

Rated Continous Torque @ 25C

Rated Continuous Torque @ 40C

Rated Power Output

Static Friction Torque

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

Continous Stall Torque

Torque Constant 10%

Viscous Damping Constant

Rated Continous Torque @ 25C

Rated Continuous Torque @ 40C

Rated Power Output

Static Friction Torque

Unless otherwise noted, all specifications above apply at 25C.

Kollmorgen Motion Technologies Group Commack, New York 1-800-77 SERVO

Air Flow = 2.00 lb/m

Air Flow = 0.80 lb/m

Air Flow = 0.40 lb/m

Air Flow = 2.00 lb/m

Air Flow = 0.80 lb/m

Air Flow = 2.00 lb/min

Air Flow = 2.00 lb/m

Air Flow = 0.80 lb/min