Hi Mike,
You are correct - the real answer is "It depends" -
TENV motors - no cooling ever needed - even at 100% torque at zero speed continuous
TEFC motors - cooling should be used at less than 1/8 - 1/4 or ??? speed (dependent upon fan design / motor casing / load)
My experience with TEFC motors on a Planer Mill that I have - we run the X-Axis all day long at 50 - 75 rpm at near full load during milling and the motor is only warm to the touch. It is connected to a large gearbox with a C-Face adapter - no doubt heat is being pulled out via. the mounting.
Generally speaking - we have documented on numerous applications that we can typically get 15 - 20 percent more torque than rated from a motor when operated under ACVector control without any increase in motor temperature - we attribute it to accurate current control that maximizes torque for a given level of current.
For typical machine tool use - the amount of time the motor is loaded at rated current is generally a fraction of the time it is running except in the case of a spindle - as such, I don't use aux fans on the motors when using ACVector control.