This 6minute video, by Dr. Urs Kafader of maxon motor ag, illustrates the properties of a DC servo motor winding for a given motor type.
Click on the link below to view the YouTube Video.

Click on the link below to view the Maxon Motor Product Family.
https://www.electromate.com/products/?partner=1072297493
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Tags:  maxon, maxon motor, maxon DC motor, Electromate, servo motor, BLDC motor, brushless motor, flat motor, pancake motor, automation, electric motor, motion control, motor winding selection