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 - [email protected] - 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 - [email protected] - 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 - [email protected] - 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 - [email protected] - 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 - [email protected] - 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 - [email protected] - 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 - [email protected] - 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 - [email protected] - www.stevenengineering.com