Kolmorgen SR6-6SMx7G Frameless Servo Motor Detailed Product Description

I. Product Overview

SR6-6SMx7G (standard model: 6SMx7G) is a frameless direct drive servo motor of the 6SM 7 series from Kolmorgen (formerly Seidel), belonging to the high-performance frameless torque motor compatible with the ServoStar SR6 driver. The model number indicates the machine base specification (such as 27/37/47/57/77), the 7 represents the 7th generation frameless design, and G indicates high dynamic, high torque density, low slot, high-speed version. It is specially designed for high-precision, high-response, high-power density, bearing-free integration scenarios, suitable for robot joints, direct drive turntables, semiconductor equipment, medical equipment, etc., in the high-end precision motion control field.

II. Complete Model Interpretation

SR6 —— Compatible with ServoStar SR6 series servo drivers (600/601/610/620 series)

6SM —— 6SM series synchronous servo motor (Seidel classic frameless series)

x —— Machine base specification (27/37/47/57/77/107): Outer diameter 35~130mm

27: Ø35mm (ultra-small)

37: Ø55mm (small)

47: Ø70mm (medium)

57: Ø90mm (medium-large)

77: Ø110mm (large)

107: Ø130mm (ultra-large)

7 —— 7th generation frameless design (thin, high torque density, low slot)

G —— Performance level: high dynamic, high speed, low slot, high rigidity (G=Premium)

III. Core Electrical Parameters (example: 6SM57G, general specifications)

1. Power and Torque (G-level high dynamic)

Continuous torque: 2.5~25Nm (machine base 27~107)

Peak torque: 7.5~75Nm (3× continuous, duration ≤ 5s)

Rated power: 0.5~7.5kW (G-level high speed)

Maximum speed: 6000~8000rpm (G-level high speed)

Rated speed: 3000~5000rpm

Torque constant: 0.5~2.5Nm/A (G-level high torque density)

Rotor inertia: 0.05~1.2kg·cm² (low inertia high dynamic)

2. Electrical Specifications

Phase: 3-phase permanent magnet synchronous (PMSM)

Winding voltage: 230VAC / 480VAC (compatible with SR6 driver)

Rated current: 5~20A RMS (continuous)

Peak current: 15~60A RMS

Reverse electromotive force constant: 5~25V/krpm

Resistance / Inductance: Low resistance high inductance (G-level efficient)

Insulation class: F class (155°C)

Protection class: IP65 (stator / rotor)

3. Feedback and Interface (frameless integration)

Standard feedback: resolver, incremental encoder (2500~8192ppr)

Advanced feedback: EnDat 2.2, Hiperface, SSI, BiSS (absolute value)

Temperature protection: built-in NTC (130°C) overheating protection

Connection method: wire connection / quick connector (compatible with integrated installation)

4. Dynamic Performance (core advantages of G-level)

Slot torque: ≤0.5% rated torque (ultra-low pulsation)

Torque fluctuation: ≤1% (super smooth operation)

Speed range: 1:10000 (0.1rpm~8000rpm)

Positioning accuracy: ±1 encoder pulse (compatible with 23bit absolute value) Response time: ≤ 1ms (with SR6 driver)

Acceleration: ≥ 10000 rad/s² (high dynamic)

IV. Mechanical Specifications (Frameless Structure)

1. Dimensions (6SMx7G typical)

6SM27G: Ø35×28mm, weight 0.35kg

6SM37G: Ø55×35mm, weight 0.8kg

6SM47G: Ø70×42mm, weight 1.5kg

6SM57G: Ø90×50mm, weight 2.2kg

6SM77G: Ø110×60mm, weight 3.5kg

6SM107G: Ø130×75mm, weight 5.8kg

2. Structural Characteristics

Structure: Frameless split type (stator + rotor separated)

Installation: Tight fit press-fitting (stator interference fit, rotor hot set)

Shaft Hole: Hollow shaft / Solid shaft (G standard)

Material: High magnetic permeability silicon steel sheet + rare earth permanent magnet (NdFeB)

Cooling: Natural cooling / Water cooling (G optional)

Accuracy: Axiality ≤ 0.01mm, End face runout ≤ 0.005mm

V. Environment and Certification

Operating temperature: -20°C ~ +120°C (G wide temperature range)

Storage temperature: -40°C ~ +150°C

Humidity: 5%~95% RH (no condensation)

Vibration: 10g (10~2000Hz)

Impact: 50g (11ms)

Certification: CE, UL, cULus, EN 61800-3

VI. Core Technical Characteristics (7G Frameless)

1. 7th Generation Frameless Design (7G)

Ultra-thin short body: Length reduced by 30%, Power density increased by 50%

Rare earth permanent magnet: High remanence, high coercivity, no demagnetization at high temperatures

Low slot optimization: Special slot-pole combination, ultra-low pulsation, ultra-smooth

No bearing integration: Directly embedded in the host, saving space, improving rigidity

Double insulation: Interphase + ground enhanced insulation, withstand high voltage, anti-interference

2. G-level High Dynamic Performance

Ultra-low inertia: Faster acceleration, sharper response

High torque density: Small volume, large torque, suitable for compact space

High-speed stability: No jitter at 8000rpm, suitable for high-speed scenarios

Four-quadrant operation: Regenerative braking, energy feedback, efficient energy saving

Zero backlash: Gearless direct drive, 100% positioning accuracy transmission

3. SR6 Driver Perfect Match

Plug-and-play: SR6 automatically recognizes 6SM motor parameters, one-click Kollmorgen calibration

High bandwidth control: Current loop ≤ 80μs, speed loop ≤ 800μs Kollmorgen

Full closed-loop control: Dual feedback + position loop correction, nanometer accuracy

Intelligent protection: Overcurrent, overvoltage, overheat, overload, encoder fault full protection Kollmorgen

Bus compatibility: EtherCAT, Profinet, EtherNet/IP (SR6 optional)

VII. Typical Application Domains

Robot Joints: Six-axis robots, collaborative robots, SCARA (lightweight, high dynamic, zero backlash)

Direct drive turntables: CNC turntables, inspection turntables, wafer turntables (high precision, low vibration, high speed)

Semiconductor equipment: Lithography machines, chip placement machines, wafer probing machines (nanometer positioning, ultra-smooth)

Medical equipment: Surgical robots, imaging equipment, life science instruments (cleanliness, quietness, high precision)

Precision machine tools: High-speed motor shafts, five-axis swivel heads, precision feed (high speed, high rigidity)

Packaging / Printing: No shaft transmission, offset system, shearing (high-speed synchronization, zero backlash)

Aerospace: Radar servo, optical tracking, aerospace testing (high reliability, wide temperature range)

VIII. Installation and Integration Key Points Installation: Stator is press-fitted, rotor is hot-set / keyed connected. Coaxiality ≤ 0.01mm

Feedback: Encoder is installed coaxially, shielded wire is grounded at both ends, to avoid interference

Cooling: Natural cooling ensures ventilation, water cooling ensures water tightness, flow rate ≥ 2L/min

Compatibility: SR6 driver (601/610/620) current matching (5~20A)

Debugging: WorkBench automatically identifies, parameters self-learn, vibration suppression, friction compensation

Maintenance: No wear, maintenance-free, lifespan ≥ 50,000 hours

IX. Remarks

SR6-6SMx7G is the high dynamic flagship model of the 6SM 7G frameless series from Kollmorgen. The 7th generation frameless design + G-level high performance + SR6 driver perfectly match, achieving zero backlash, high dynamics, high precision, and high power density extreme direct drive solutions in high-end fields such as robotics, semiconductors, healthcare, and precision machine tools. The market mainly focuses on high-end equipment integration, robot joints, and direct drive system upgrades, and is the top choice for small and medium power frameless direct drives. Parameters are based on the motor nameplate and original factory manual, installation integration requires professional mechanical/electrical engineers to execute.