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Veléz Sarsfield 201640 Martinez

Buenos Aires

Tel.: +54 (9) 11 5993 8719

Horne Technologies cc

PO Box 536

Betty's Bay, 7141

Tel.: +27 (0)76 563 2084

Building of FAULHABER MINIMOTOR SA, Croglio, Switzerland


Zona Artigianale 8, Madonna del Piano

6980 Croglio

Tel.: +41 (0)91 611 31 00

Building of FAULHABER MICROMO LLC, Wien, Austria


14881 Evergreen Avenue

Clearwater, FL 33762-3008

Tel.: +1 (727) 572 0131

NRC Engineering & Precision Drives Co., Ltd.

17F., No. 890, Jingguo Rd., Luzhu Dist.

Taoyuan City 33858, Taiwan, R.O.C.

Tel.: +886 (0) 3-316-1838

EDEL Teknoloji Sistemleri Sanayi ve Ticaret Ltd.Şti

Folkart TowersAdalet Mah.Manas Blv. No:47B/2809

35530 Bayraklı/İzmir

Tel.: + 90 232 215 08 91

Building of FAULHABER Asia Pacific Pte Ltd., Singapore

FAULHABER Asia Pacific Pte Ltd.

Blk 67 Ubi Road 1, #06-07 Oxley Bizhub

Singapore 408730

Tel.: +65 6562 8270

Compotech Provider AP

Gustavslundsvägen 145, 4 tr

167 51 Bromma

Tel.: +46 (0) 8 441 58 00


56 (bldg. 32), Shosse Enthusiastov

111123 Moscow

Tel.: +7 495 2214 052

Building of FAULHABER Polska sp. z o.o., Poznan, Poland

FAULHABER Polska sp. z o.o.

Ul. Górki 7

60-204 Poznan

Tel.: +48 61 278 72 53

FAULHABER Malaysia Sdn Bhd

1A-2-01 & 02 · One Precinct · Lengkok Mayang Pasir

11950 Bayan Baru · Penang · Malaysia

Tel.: +60 4 619 2570

Swiss Amiet Co., Ltd.

W-903, SK V1 Center, 11 Dangsan-ro 41-g

Yeongdeungpo-gu,07217, Seoul

Tel.: +82 (0) 2 783 4774

Shinkoh Electronics Co., Ltd.

Tokyo Sales Office, Motor Sales Division8F, REID-C OMORI building, 6-20-8

Minami-oi, Shinagawa-ku, Tokyo 140-0013

Tel.: +81 (0) 3 6404 1003

Building of FAULHABER Italia S.r.l., Lomazzo, Italy

FAULHABER Italia S.r.l.

Via Cavour 2

22074 Lomazzo CO

Tel.: +39 0236714708

Inteltek Automation JV

S.No. 100/5, Ambegaon

Pune - 411046

Tel.: +91 (0) 20 39392150

Lewenstein Technologies Ltd.

1 Ha'arava St. Givat Shmuel

5400804 Israel

Tel.: +972 3 9780 800

Electro Mechanical Systems Ltd.

Eros House, Calleva Industrial Park, Aldermaston

Reading, RG7 8LN

Tel.: +44 (0) 118 9817 391

Building of FAULHABER France SAS, Montigny-le-Bretonneux, France


Parc d’activités du Pas du Lac2, Rue Michaël Faraday

78180 Montigny-le-Bretonneux

Tel.: +33 (0) 1 30 80 45 00


Passeig Ferrocarrils Catalans 178

Cornellà de Llobregat 08940 (Barcelona)

Tel.: +34 93 422 70 33


Suokalliontie 9

01740 Vantaa

Tel.: +358 (0) 9 5259 230

Routech s.r.o.

Dr. Milady Horákové 185/66

460 06 Liberec

Tel.: +420 489 202 971

Compower ApS

Marielundvej 29

2730 Herlev

Tel.: +45 (0) 44 92 66 20

Marte Científica e Instrumentação Industrial Ltda

Av Fco Andrade Ribeiro 430

37540-000 Santa Rita do Sapucai, MG

Tel.: +55 (11) 3411 4500

Building of FAULHABER Drive System Technology (Taicang) Co., Ltd.,Taicang, China

FAULHABER Drive System Technology (Taicang) Co., Ltd.

Eastern Block, Incubator Building, No. 6 Beijing Road West

Taicang 215400, Jiangsu Province

Tel.: +86 (0) 512 5337 2626

Building of FAULHABER Benelux B.V., Eindhoven, Netherlands


High Tech Campus 9

5656 AE Eindhoven

Tel.: +31 (0) 40 85155-40

Building of FAULHABER Austria GmbH, Wien, Austria


Modecenterstraße 22/C89

1030 Wien

Tel.: +43 1 7963149-0

ERNTEC Pty. Ltd.

15 Koornang Road

Scoresby, VIC 3179

Tel.: +61 3 9756 4000

Fax: +61 3 9753 4000

Building of Dr. Fritz Faulhaber GmbH & Co. KG, Schönaich, Germany



Faulhaberstraße 1

71101 Schönaich

Tel.: +49 7031 638 0

Fax: +49 7031 638 100

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FAULHABER is currently not represented in the selected country.

Please contact us with your request at

Jan-Christopher Mohr

Area Sales Manager

Tel.: +49 (7031) 638 158

Michael Schütte

Area Sales Manager

Tel.: +49 (7031) 638 456

Daniel Brönnimann

Area Sales Manager

Tel.: +41 (0) 79 570 0814

Rolf Leitner

Regional Sales Manager

Tel.: +41 (0) 79 422 3348

Rafael Steinemann

Area Sales Manager

Tel.: +41 (0) 79 932 1645

Brushless DC-Motors in self-driving logistics robot

Their vision is clearly formulated: Magazino aims to create the world's first selfthinking and selfacting warehouse – and is well on the way to doing so. The new logistics robot is called TORU and is currently proving itself in practical tests with major shipping service providers. These use the intelligent, selfdriving system above all for retrieving shoeboxes during order picking. Conceptionally, TORU is a socalled perception-controlled robot. Through the use of cameras, image processing, sensors and artificial intelligence, it is able to perceive and correctly interpret its environment and use this as a basis to make decisions.

Brushless DC-Motors in self-driving logistics robot

Robot creates its own picture of its surroundings

Make decisions? When TORU receives an order to pick a certain pair of shoes, it is first given the warehouse address plus a bar code. Thus, the robot knows where the target bin must be located and navigates right up to the address. The lifting column at the front of the vehicle then rotates 90 degrees towards the shelf, a gripper moves to the specified bin and now TORU begins to make decisions on its own. Using threedimensional camera images, the robot first produces a picture of the current situation. "Is there even a shoebox on the shelf? Is the right bar code present? Am I able to grip the carton: perhaps it was moved a couple centimetres to the side and would jam when pulling out?" With these questions, Magazino spokesperson Florin Wahl describes the primary tasks of the visual analysis. It is the answers that make the system from Munich so unique. If a picking order is linked to a carton that was placed on the shelf somewhat askew by an employee, the robot attempts to adapt its gripper process to the circumstances. If TORU ascertains that gripping is still not possible, the job is returned to the system – and a warehouse employee would need to perform the order picking by hand.

If no problems are detected, it is above all drives from FAULHABER that are responsible for handling the shoeboxes. Here, Motion Controllers, brushless DC servomotors of the BX4 series and planetary gearheads form a drive system that extends and retracts a metal tongue. The task in this case is to close the gap between the vehicle and the bottom of the shelf. The path is thereby levelled, allowing the cartons to be pulled out on the flat surface with negative pressure.

High overload behaviour

For the positioning of the suction gripper along a toothed rack, Magazino uses type BX4 drives from FAULHABER. With a power of 62 watts, the brushless DCservomotors deliver rated torques of up to 72 mNm in continuous operation. Interesting for Magazino are the peak torques of up to 96 mNm. The overload capability is decisive for overcoming the breakaway torques when handling the shoeboxes. "We need motors with high power density," explains Raphael Vering from engineering development at Magazino. Because the peak torques are only called for in a very narrow time window, there is no risk of the motors becoming too hot.

Brushless DC-Motors in self-driving logistics robot

Smaller drives

The powerful overload behaviour of the motors – with their diameter of just 32 millimetres – offers the Munich logistics pioneers a number of advantages. The design provides the basis for being able to use smaller motors through the reliable handling of the breakaway torques. The result is that smaller drives are inherently lighter. "The mass of the gripper needs to be as low as possible because it has to be moved along the vertical axis with TORU," explains Raphael Vering. The heavier the gripper unit, the greater the required motor power of the vertical axis. Then there is the question of the centre of mass when TORU needs to grip a shoebox located on the top level of a two-metre rack.

Without question: the centre of mass can easily be shifted downwards by using a thicker base plate. This, however, makes the travel unit heavier. As a result, a stronger drive motor is needed. This, in turn, requires more power from the battery, thereby reducing the range. A lightweight design is also necessary because TORU is to be used not only on solid concrete on the ground floor, but also on more delicate ceiling constructions of intermediate levels. "Here in particular, the surface loads are very limited. We want to make TORU as versatile as possible, however," notes Florin Wahl. Larger motors would also inhibit handling – especially when cartons are stored just a few centimetres above the floor and it is necessary that the drives simply not be in the way. With the FAULHABER solution, Magazino is able to move down very low and up again. "This is extremely important when we consider the capacity of a warehouse with respect to the floor area. Every additional shelf space is worth gold," summarises Florin Wahl.

The idea behind TORU lies in the implementation of a sophisticated system of automation, robotics, vision and autonomous driving. When evaluating the drives, Magazino was therefore in search of solutions with optimum power density. These in, turn, must be capable of being elegantly integrated in the existing automation concept. "Support of CANopen communication was decisive for us," reflects Raphael Vering. Because the Munich firm was also able to use a perfectly fitting, complete Motion Control system from FAULHABER, the development department had more freedom for further optimisations of the new logistics solution. "We don't need to invest any time in our own controllers or in the integration of encoders," emphasises Vering. With the DC-servomotors, the FAULHABER Motion Controllers of the V2.5 generation form highly dynamic positioning systems. For feedback control, Magazino uses analog Hall sensors, thereby eliminating the need for a separate encoder for feedback. The integrated current control of the Motion Controllers limits the torque and thereby protects the electronics and motor from overload. Magazino, in turn, uses this function to detect faults in material flow – such as if a shoebox has jammed in a shelf compartment, causing the removal unit to stop.

The bottom line

With TORU, Magazino has succeeded in developing a material handling solution that can simply and reliably improve efficiency in logistics. The current employment situation in Germany makes the potential offered by this invention clear. Labour is in short supply – especially at night and on weekends. But this is when most online shopping takes place. The use of autonomously and intelligently acting logistics robots would be a way to at least prepare order picking at the start of the week. For this purpose, TORU is equipped with a travelling shelf into which the removed boxes are inserted. Centring units with FAULHABER drives help to position the boxes in a space-saving manner.

High torque and speed rigidity thanks to 4-pole technology
Position control in extremely confined installation spaces thanks to optional analogue Hall sensors
Modular, diameter-compliant mounting concept for high-resolution magnetic and optical encoders
Versions with integrated Speed or Motion Controllers available
High reliability and long service life
Dynamically balanced rotor, quiet running

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