**9. Conclusion**

Detailed introduction to brushless permanent magnet servomotors used in both industrial and servo applications is provided in this chapter. Motor classification and types, advantages and disadvantages of different PM servomotors and comparison, materials used in motor components are reviewed. Servomotor design process including electromagnetic, structural and thermal steps; softwares used in the analysis, design and optimization of such motors are also enlightened in detail. Torque quality, mathematical output torque equations, cogging and ripple torque components are investigated thoroughly since the torque quality confirms the quality of the servomotor.
