Class 6 EtherCAT Servo...

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 EtherCAT Servo SM23166MT-EEC

Key Features•DualPortEthernet(noEthernetswitchesorhubsrequired)

•USBinterfaceforprogramming,configurationandlivediagnostics

•RS-485HalfDuplexcommunicationsport•ModbusRemoteTerminalUnit(RTU)Slave(RS-485)

• Fullfloating-pointmathandtrigonometricfunctionswith32-bitprecisionresults

•Dualtrajectorygeneratorsenablingrelativeandabsolutepositionmovesorvelocitymovesontopofgearingorcamming

•Advancedgearing,allowingpresettraverseandtake-upwindingparameters,includingdwellsandwrapcounts

•Advancedcammingincludingcubicsplineinterpolationanddynamicfrequencyandamplitudechanges

•Virtual-axismasteringintocammingthroughgearingwhichenablesstand-alone;multi-axiscoordinatedmotion

•Programmableandnon-programmableprotectionfeatures(bothhardwareandsoftware)

•OnBoardlocalI/Oincluding:•DriveEnableInput• FaultOutput• TravelLimitinputs•DifferentialEncoderbusupto500kHzcountrate• 4GeneralUseinputs• 1HighSpeedInput• 1highcurrentoutput(maybeusedforexternalbrake)

SmartMotor™ Series SM23166MT-EEC

ContinuousTorqueat48v68 oz-in

0.48 N-m

PeakTorque128 oz-in0.90 N-m

NominalContinuousPower 189 Watt

NominalPeakPower 213 Watts

NoLoadSpeed 4,700 RPM

EncoderResolution 4,000 Counts/Rev

Weight1.7 lb0.77 kg

ShaftDiameter0.375 in

9.53 mm

Shaft,RadialLoad15.0 lb6.80 kg

Shaft,AxialThrustLoad3.00 lb

1.36 kg

Specifications

Power ChartServo Peak Torque at 48 volts MDC mode̶SM23166MT-EECmotorTorquevs.Speed,10%DeratedTorque(85°C)

0

50

100

150

200

250

0

20 (0.14)

40 (0.28)

60 (0.42)

80 (0.56)

100 (0.71)

120 (0.85)

140 (0.99)

0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0

Torq

ue (o

z.-in

.)

Pow

er (W

a s)

Speed (krpm)

Peak Torque (oz-in)

Con�nous Torque (oz-in)

Peak Power (Wa s)

Con�nous Power (Wa s)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 EtherCAT Servo

(Top)(Front)

(Side)

SM23166MT-EEC

Connections

Dimensional Information

5.5in139mm

5.6in142mm

5.4in137mm

.71in18mm

.10in±.022.5mm±0.5

.118in3mm

.3935in+-.0000.0005

10mm -00.013

.06in±.021.6mm±0.5

Dimensional Information

2X 1.856in±.00747.14mm±0.2

1.500in±.00238.10mm±0.05

4X .20in+-.01.00

5mm+ 0.30

M4 x 0,7-6H .32 [8mm]

(Front)

.33in±.028.5mm±0.5

(Side)

(Top)

4

3 1

2

COMMUNICATIONPIN FUNCTION

1 GND-COMMON2 RS485B CH03 RS485A CH04 ENC A+ IN5 ENC B- IN6 ENC A- IN7 5VDC OUT8 ENC B+ IN

POWER INPUTPIN FUNCTION DESCRIPTION

1 24 VDC Control/IO Power2 EARTH Chassis Ground3 GND Motor's common ground4 48VDC Motor Power

ETHERCATPIN FUNCTION

1 +TX2 +RX3 -TX4 -RX

1

2 3

4

1

23

45

67 8

9

1011

12

1

23

4

56

7

8

PIN FUNCTION DESCRIPTION

1 IN0 GENERAL PURPOSE INPUT 02 IN1 GENERAL PURPOSE INPUT 13 IN2/POSLIMIT GP12 OR POSITIVE LIMIT INPUT4 IN3/NEGLIMIT GP13 OR NEGATIVE LIMIT INPUT5 IN4 GENERAL PURPOSE INPUT46 IN5/SYNC GENERAL PURPOSE7 IN6 GENERAL PURPOSE INPUT 68 IN7-DRVEN DRIVE ENABLE INPUT (SAFETY STOP W/CONFIGURABLE ACTION)9 OUT8/BRAKE GENERAL PURPOSE OUTPUT OR EXTERNAL BRAKE CONTROL10 OUT9-NOFAULT NOT FAULTED OUTPUT11 24VDC CONTROL/IO POWER12 GND MOTOR'S COMMON GROUND

I/Os

(Back)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 ProfiNet Servo SM23166MT-EPN

Key Features•DualPortEthernet(noEthernetswitchesorhubsrequired)

•USBinterfaceforprogramming,configurationandlivediagnostics

•RS-485HalfDuplexcommunicationsport•ModbusRemoteTerminalUnit(RTU)Slave(RS-485)

• Fullfloating-pointmathandtrigonometricfunctionswith32-bitprecisionresults

•Dualtrajectorygeneratorsenablingrelativeandabsolutepositionmovesorvelocitymovesontopofgearingorcamming

•Advancedgearing,allowingpresettraverseandtake-upwindingparameters,includingdwellsandwrapcounts

•Advancedcammingincludingcubicsplineinterpolationanddynamicfrequencyandamplitudechanges

•Virtual-axismasteringintocammingthroughgearingwhichenablesstand-alone;multi-axiscoordinatedmotion

•Programmableandnon-programmableprotectionfeatures(bothhardwareandsoftware)

•OnBoardlocalI/Oincluding:•DriveEnableInput• FaultOutput• TravelLimitinputs•DifferentialEncoderbusupto500kHzcountrate• 4GeneralUseinputs• 1HighSpeedInput• 1highcurrentoutput(maybeusedforexternalbrake)

SmartMotor™ Series SM23166MT-EPN

ContinuousTorqueat48v68 oz-in

0.48 N-m

PeakTorque128 oz-in0.90 N-m

NominalContinuousPower 189 Watt

NominalPeakPower 213 Watts

NoLoadSpeed 4,700 RPM

EncoderResolution 4,000 Counts/Rev

Weight1.7 lb0.77 kg

ShaftDiameter0.375 in

9.53 mm

Shaft,RadialLoad15.0 lb6.80 kg

Shaft,AxialThrustLoad3.00 lb

1.36 kg

Specifications

Power ChartServo Peak Torque at 48 volts MDC mode̶SM23166MT-EPNmotorTorquevs.Speed,10%DeratedTorque(85°C)

0

50

100

150

200

250

0

20 (0.14)

40 (0.28)

60 (0.42)

80 (0.56)

100 (0.71)

120 (0.85)

140 (0.99)

0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0

Torq

ue (o

z.-in

.)

Pow

er (W

a s)

Speed (krpm)

Peak Torque (oz-in)

Con�nous Torque (oz-in)

Peak Power (Wa s)

Con�nous Power (Wa s)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 ProfiNet Servo

(Top)(Front)

(Side)

SM23166MT-EPN

Connections

Dimensional Information

5.5in139mm

5.6in142mm

5.4in137mm

.71in18mm

.10in±.022.5mm±0.5

.118in3mm

.3935in+-.0000.0005

10mm -00.013

.06in±.021.6mm±0.5

Dimensional Information

2X 1.856in±.00747.14mm±0.2

1.500in±.00238.10mm±0.05

4X .20in+-.01.00

5mm+ 0.30

M4 x 0,7-6H .32 [8mm]

(Front)

.33in±.028.5mm±0.5

(Side)

(Top)

4

3 1

2

COMMUNICATIONPIN FUNCTION

1 GND-COMMON2 RS485B CH03 RS485A CH04 ENC A+ IN5 ENC B- IN6 ENC A- IN7 5VDC OUT8 ENC B+ IN

POWER INPUTPIN FUNCTION DESCRIPTION

1 24 VDC Control/IO Power2 EARTH Chassis Ground3 GND Motor's common ground4 48VDC Motor Power

PROFINETPIN FUNCTION

1 +TX2 +RX3 -TX4 -RX

1

2 3

4

1

23

45

67 8

9

1011

12

1

23

4

56

7

8

PIN FUNCTION DESCRIPTION

1 IN0 GENERAL PURPOSE INPUT 02 IN1 GENERAL PURPOSE INPUT 13 IN2/POSLIMIT GP12 OR POSITIVE LIMIT INPUT4 IN3/NEGLIMIT GP13 OR NEGATIVE LIMIT INPUT5 IN4 GENERAL PURPOSE INPUT46 IN5/SYNC GENERAL PURPOSE7 IN6 GENERAL PURPOSE INPUT 68 IN7-DRVEN DRIVE ENABLE INPUT (SAFETY STOP W/CONFIGURABLE ACTION)9 OUT8/BRAKE GENERAL PURPOSE OUTPUT OR EXTERNAL BRAKE CONTROL10 OUT9-NOFAULT NOT FAULTED OUTPUT11 24VDC CONTROL/IO POWER12 GND MOTOR'S COMMON GROUND

I/Os

(Back)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 EtherCAT High-Pole Count Servo SM23216MH-EEC

Key Features•DualPortEthernet(noEthernetswitchesorhubsrequired)

•USBinterfaceforprogramming,configurationandlivediagnostics

•RS-485HalfDuplexcommunicationsport•ModbusRemoteTerminalUnit(RTU)Slave(RS-485)

• Fullfloating-pointmathandtrigonometricfunctionswith32-bitprecisionresults

•Dualtrajectorygeneratorsenablingrelativeandabso-lutepositionmovesorvelocitymovesontopofgearingorcamming

•Advancedgearing,allowingpresettraverseandtake-upwindingparameters,includingdwellsandwrapcounts

•Advancedcammingincludingcubicsplineinterpolationanddynamicfrequencyandamplitudechanges

•Virtual-axismasteringintocammingthroughgearingwhichenablesstand-alone;multi-axiscoordinatedmotion

•Programmableandnon-programmableprotectionfeatures(bothhardwareandsoftware)

•OnBoardlocalI/Oincluding:•DriveEnableInput• FaultOutput• TravelLimitinputs•DifferentialEncoderbusupto500kHzcountrate• 4GeneralUseinputs• 1HighSpeedInput• 1highcurrentoutput(maybeusedforexternalbrake)

Power ChartServo Peak Torque at 48 volts MDC mode̶SM23216MH-EECmotorTorquevs.Speed,10%DeratedTorque(85°C)

0

20

40

60

80

100

120

0

50 (0.35)

100 (0.71)

150 (1.06)

200 (1.41)

250 (1.77)

300 (2.12)

350 (2.47)

0 0.5 1.0 1.5 2.0 2.5

Peak Torque (oz-in)

Con�nous Torque (oz-in)

Peak Power (Wa�s)

Con�nous Power (Wa�s)

Torq

ue o

z-in

(Nm

)

Pow

er (W

atts

)

Speed (krpm)

SmartMotor™ Series SM23216MH-EEC

ContinuousTorqueat48v189 oz-in

1.34 N-m

PeakTorque304 oz-in

2.15 N-m

NominalContinuousPower 64 Watts

NominalPeakPower 111 Watts

NoLoadSpeed 2,250 RPM

EncoderResolution 4,000 Counts/Rev

Weight1.7 lb

0.77 kg

ShaftDiameter0.375 in

9.53 mm

Shaft,RadialLoad15.0 lb

6.80 kg

Shaft,AxialThrustLoad3.00 lb

1.36 kg

Specifications

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 EtherCAT High-Pole Count

5.5in139mm

5.6in142mm

5.4in137mm

.71in18mm

.10in±.022.5mm±0.5

.118in3mm

.3935in+-.0000.0005

10mm -00.013

.06in±.021.6mm±0.5

Dimensional Information

2X 1.856in±.00747.14mm±0.2

1.500in±.00238.10mm±0.05

4X .20in+-.01.00

5mm+ 0.30

M4 x 0,7-6H .32 [8mm]

(Front)

.33in±.028.5mm±0.5

(Side)

(Top)

4

3 1

2

COMMUNICATIONPIN FUNCTION

1 GND-COMMON2 RS485B CH03 RS485A CH04 ENC A+ IN5 ENC B- IN6 ENC A- IN7 5VDC OUT8 ENC B+ IN

POWER INPUTPIN FUNCTION DESCRIPTION

1 24 VDC Control/IO Power2 EARTH Chassis Ground3 GND Motor's common ground4 48VDC Motor Power

ETHERCATPIN FUNCTION

1 +TX2 +RX3 -TX4 -RX

1

2 3

4

1

23

45

67 8

9

1011

12

1

23

4

56

7

8

PIN FUNCTION DESCRIPTION

1 IN0 GENERAL PURPOSE INPUT 02 IN1 GENERAL PURPOSE INPUT 13 IN2/POSLIMIT GP12 OR POSITIVE LIMIT INPUT4 IN3/NEGLIMIT GP13 OR NEGATIVE LIMIT INPUT5 IN4 GENERAL PURPOSE INPUT46 IN5/SYNC GENERAL PURPOSE7 IN6 GENERAL PURPOSE INPUT 68 IN7-DRVEN DRIVE ENABLE INPUT (SAFETY STOP W/CONFIGURABLE ACTION)9 OUT8/BRAKE GENERAL PURPOSE OUTPUT OR EXTERNAL BRAKE CONTROL10 OUT9-NOFAULT NOT FAULTED OUTPUT11 24VDC CONTROL/IO POWER12 GND MOTOR'S COMMON GROUND

I/Os

(Back)

SM23216MH-EEC

Connections

Dimensional Information

5.5in139mm

5.6in142mm

5.4in137mm

.71in18mm

.10in±.022.5mm±0.5

.118in3mm

.3935in+-.0000.0005

10mm -00.013

.06in±.021.6mm±0.5

Dimensional Information

2X 1.856in±.00747.14mm±0.2

1.500in±.00238.10mm±0.05

4X .20in+-.01.00

5mm+ 0.30

M4 x 0,7-6H .32 [8mm]

(Front)

.33in±.028.5mm±0.5

(Side)

(Top)

4

3 1

2

COMMUNICATIONPIN FUNCTION

1 GND-COMMON2 RS485B CH03 RS485A CH04 ENC A+ IN5 ENC B- IN6 ENC A- IN7 5VDC OUT8 ENC B+ IN

POWER INPUTPIN FUNCTION DESCRIPTION

1 24 VDC Control/IO Power2 EARTH Chassis Ground3 GND Motor's common ground4 48VDC Motor Power

ETHERCATPIN FUNCTION

1 +TX2 +RX3 -TX4 -RX

1

2 3

4

1

23

45

67 8

9

1011

12

1

23

4

56

7

8

PIN FUNCTION DESCRIPTION

1 IN0 GENERAL PURPOSE INPUT 02 IN1 GENERAL PURPOSE INPUT 13 IN2/POSLIMIT GP12 OR POSITIVE LIMIT INPUT4 IN3/NEGLIMIT GP13 OR NEGATIVE LIMIT INPUT5 IN4 GENERAL PURPOSE INPUT46 IN5/SYNC GENERAL PURPOSE7 IN6 GENERAL PURPOSE INPUT 68 IN7-DRVEN DRIVE ENABLE INPUT (SAFETY STOP W/CONFIGURABLE ACTION)9 OUT8/BRAKE GENERAL PURPOSE OUTPUT OR EXTERNAL BRAKE CONTROL10 OUT9-NOFAULT NOT FAULTED OUTPUT11 24VDC CONTROL/IO POWER12 GND MOTOR'S COMMON GROUND

I/Os

(Back)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 ProfiNet High-Pole Count Servo SM23216MH-EPN

Key Features•DualPortEthernet(noEthernetswitchesorhubsrequired)

•USBinterfaceforprogramming,configurationandlivediagnostics

•RS-485HalfDuplexcommunicationsport•ModbusRemoteTerminalUnit(RTU)Slave(RS-485)

• Fullfloating-pointmathandtrigonometricfunctionswith32-bitprecisionresults

•Dualtrajectorygeneratorsenablingrelativeandabso-lutepositionmovesorvelocitymovesontopofgearingorcamming

•Advancedgearing,allowingpresettraverseandtake-upwindingparameters,includingdwellsandwrapcounts

•Advancedcammingincludingcubicsplineinterpolationanddynamicfrequencyandamplitudechanges

•Virtual-axismasteringintocammingthroughgearingwhichenablesstand-alone;multi-axiscoordinatedmotion

•Programmableandnon-programmableprotectionfeatures(bothhardwareandsoftware)

•OnBoardlocalI/Oincluding:•DriveEnableInput• FaultOutput• TravelLimitinputs•DifferentialEncoderbusupto500kHzcountrate• 4GeneralUseinputs• 1HighSpeedInput• 1highcurrentoutput(maybeusedforexternalbrake)

Power ChartServo Peak Torque at 48 volts MDC mode̶SM23216MH-EPNmotorTorquevs.Speed,10%DeratedTorque(85°C)

SmartMotor™ Series SM23216MH-EPN

ContinuousTorqueat48v189 oz-in

1.34 N-m

PeakTorque304 oz-in

2.15 N-m

NominalContinuousPower 64 Watts

NominalPeakPower 111 Watts

NoLoadSpeed 2,250 RPM

EncoderResolution 4,000 Counts/Rev

Weight1.7 lb

0.77 kg

ShaftDiameter0.375 in

9.53 mm

Shaft,RadialLoad15.0 lb

6.80 kg

Shaft,AxialThrustLoad3.00 lb

1.36 kg

Specifications

0

20

40

60

80

100

120

0

50 (0.35)

100 (0.71)

150 (1.06)

200 (1.41)

250 (1.77)

300 (2.12)

350 (2.47)

0 0.5 1.0 1.5 2.0 2.5

Peak Torque (oz-in)

Con�nous Torque (oz-in)

Peak Power (Wa�s)

Con�nous Power (Wa�s)

Torq

ue o

z-in

(Nm

)

Pow

er (W

atts

)

Speed (krpm)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com

Moog Inc., Animatics • All integrated motor products made by Moog Animatics are covered by patent number 5,912,541 tel: 408.965.3320 • fax: 408.965.3319 • www.animatics.com

Class 6 ProfiNet High-Pole CountDimensional Information

(Top)

COMMUNICATIONPIN FUNCTION

1 GND-COMMON2 RS485B CH03 RS485A CH04 ENC A+ IN5 ENC B- IN6 ENC A- IN78

4

3 1

2

POWER INPUTPIN FUNCTION DESCRIPTION

1 24 VDC Control/IO Power2 EARTH Chassis Ground3 GND Motor's common ground4 48VDC Motor Power

ETHERCATPIN FUNCTION

1 +TX2 +RX3 -TX4 -RX

1

2 3

4

1

23

45

67 8

9

1011

12

1

23

4

56

7

8

PIN FUNCTION DESCRIPTION

1 IN0 GENERAL PURPOSE INPUT 02 IN1 GENERAL PURPOSE INPUT 13 IN2/POSLIMIT GP12 OR POSITIVE LIMIT INPUT4 IN3/NEGLIMIT GP13 OR NEGATIVE LIMIT INPUT5 IN4 GENERAL PURPOSE INPUT46 IN5/SYNC GENERAL PURPOSE7 IN6 GENERAL PURPOSE INPUT 68 IN7-DRVEN DRIVE ENABLE INPUT (SAFETY STOP W/CONFIGURABLE ACTION)9 OUT8/BRAKE GENERAL PURPOSE OUTPUT OR EXTERNAL BRAKE CONTROL10 OUT9-NOFAULT NOT FAULTED OUTPUT11 24VDC CONTROL/IO POWER12 GND MOTOR'S COMMON GROUND

I/Os

(Back)

.06in±.021.6mm±0.5

.118in3mm

.3935in+-.0000.0005

10mm -00.013

.10in±.022.5mm±0.5

.71in18mm

5.4in137mm

5.5in139mm

5.6in142mm

.20in+-.01.00

5mm+ 0.30

2X 1.856in±.00747.14mm±0.2

1.500in±.00238.10mm±0.05

4X .20in+-.01.00

5mm+ 0.30

M4 x 0,7-6H .32 [8mm]

(Front)

.33in±.028.5mm±0.5

(Side)

SM23216MH-EPN

Connections

Dimensional Information

5.5in139mm

5.6in142mm

5.4in137mm

.71in18mm

.10in±.022.5mm±0.5

.118in3mm

.3935in+-.0000.0005

10mm -00.013

.06in±.021.6mm±0.5

Dimensional Information

2X 1.856in±.00747.14mm±0.2

1.500in±.00238.10mm±0.05

4X .20in+-.01.00

5mm+ 0.30

M4 x 0,7-6H .32 [8mm]

(Front)

.33in±.028.5mm±0.5

(Side)

(Top)

4

3 1

2

COMMUNICATIONPIN FUNCTION

1 GND-COMMON2 RS485B CH03 RS485A CH04 ENC A+ IN5 ENC B- IN6 ENC A- IN7 5VDC OUT8 ENC B+ IN

POWER INPUTPIN FUNCTION DESCRIPTION

1 24 VDC Control/IO Power2 EARTH Chassis Ground3 GND Motor's common ground4 48VDC Motor Power

PROFINETPIN FUNCTION

1 +TX2 +RX3 -TX4 -RX

1

2 3

4

1

23

45

67 8

9

1011

12

1

23

4

56

7

8

PIN FUNCTION DESCRIPTION

1 IN0 GENERAL PURPOSE INPUT 02 IN1 GENERAL PURPOSE INPUT 13 IN2/POSLIMIT GP12 OR POSITIVE LIMIT INPUT4 IN3/NEGLIMIT GP13 OR NEGATIVE LIMIT INPUT5 IN4 GENERAL PURPOSE INPUT46 IN5/SYNC GENERAL PURPOSE7 IN6 GENERAL PURPOSE INPUT 68 IN7-DRVEN DRIVE ENABLE INPUT (SAFETY STOP W/CONFIGURABLE ACTION)9 OUT8/BRAKE GENERAL PURPOSE OUTPUT OR EXTERNAL BRAKE CONTROL10 OUT9-NOFAULT NOT FAULTED OUTPUT11 24VDC CONTROL/IO POWER12 GND MOTOR'S COMMON GROUND

I/Os

(Back)

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - sales@steveneng.com - www.stevenengineering.com