Class 6 EtherCAT High-Pole Count Servo
SM23216MH-EEC
Key Features
• Dual Port Ethernet (no Ethernet switches or hubs required)
• USB interface for programming, configuration and live
diagnostics
• RS-485 Half Duplex communications port
• Modbus Remote Terminal Unit (RTU) Slave (RS-485)
• Full floating-point math and trigonometric functions with
32-bit precision results
• Dual trajectory generators enabling relative and absolute position moves or velocity moves on top of gearing
or camming
• Advanced gearing, allowing preset traverse and take-up
winding parameters, including dwells and wrap counts
• Advanced camming including cubic spline interpolation
and dynamic frequency and amplitude changes
• Virtual-axis mastering into camming through gearing
which enables stand-alone; multi-axis coordinated motion
Specifications
SmartMotor™ Series
SM23216MH-EEC
Continuous Torque at 48v
Peak Torque
Nominal Continuous Power
189
oz-in
1.34
N-m
304
oz-in
2.15
N-m
64
Watts
111
Watts
• Programmable and non-programmable protection features (both hardware and software)
Nominal Peak Power
No Load Speed
2,250
RPM
• On Board local I/O including:
• Drive Enable Input
• Fault Output
• Travel Limit inputs
• Differential Encoder bus up to 500k Hz count rate
• 4 General Use inputs
• 1 High Speed Input
• 1 high current output (may be used for external brake)
Encoder Resolution
4,000
Counts/Rev
1.7
lb
0.77
kg
0.375
in
Weight
Shaft Diameter
Shaft, Radial Load
Shaft, Axial Thrust Load
9.53
mm
15.0
lb
6.80
kg
3.00
lb
1.36
kg
Power Chart
Servo Peak Torque at 48 volts MDC mode ̶ SM23216MH-EEC motor Torque vs. Speed, 10% Derated Torque (85°C)
120
350 (2.47)
Peak Torque (oz-in)
300 (2.12)
100
Peak Power (Was)
80
200 (1.41)
60
150 (1.06)
40
100 (0.71)
Connous Torque (oz-in)
50 (0.35)
20
Connous Power (Was)
0
0
0
0.5
1.0
Speed (krpm)
1.5
2.0
2.5
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
Power (Watts)
Torque oz-in (Nm)
250 (1.77)
Class 6 EtherCAT High-Pole Count
Dimensional Information
Dimensional Information
Dimensional Information
SM23216MH-EEC
(Top)
(Top)
5.6in
142mm
5.6in
142mm
5.5in
139mm
5.5in
139mm
5.4in
137mm
5.4in
137mm
.71in
18mm
.71in
18mm
.10in±.02
2.5mm±0.5
.10in±.02
2.5mm±0.5
.118in
.118in
3mm
3mm
.0000
.3935in+.0005
.0000
.3935in-+.0005
010mm-0.013
0
10mm-0.013
(Front)
(Front)
2X
2X
1.856in±.007
1.856in±.007
47.14mm±0.2
47.14mm±0.2
.06in±.02
.06in±.02
1.6mm±0.5
1.6mm±0.5
(Side)
(Side)
1.500in±.002
1.500in±.002
38.10mm±0.05
38.10mm±0.05
M4
.32[8mm]
[8mm]
M4x x0,7-6H
0,7-6H .32
.33in±.02
.33in±.02
8.5mm±0.5
8.5mm±0.5
.01
.01
++
.20in
4X4X .20in
- .00
- .00
+
0.3
+0.3
5mm
5mm
00
Connections
6
6
4
3
3
2
2
4
1
PIN FUNCTION
1 +TX
2 +RX
1 +TX
-TX
2 3 +RX
4 -RX
3 -TX
4 -RX
1
9
9
1
1
10
10
(Back)
(Back)
6
5
4
5
76
COMMUNICATION
PIN FUNCTION
COMMUNICATION
7
4
3
1
32
2
8
1
8
1
2
3
4
5
6
7
8
PIN FUNCTION
GND-COMMON
RS485B
CH0
1 GND-COMMON
RS485A
CH0 CH0
2 RS485B
ENC
IN CH0
3 A+
RS485A
ENC
BIN A+ IN
4 ENC
ENC
IN B- IN
5 AENC
5VDC OUT
6 ENC A- IN
ENC B+ IN
7 5VDC OUT
8 ENC B+ IN
4
4
2
2
5
11 5
4
11
4 3
3 2
2
12
12
8
8
1
ETHERCAT
PIN FUNCTION
ETHERCAT
1
7
7
I/Os
I/OsFUNCTION
PIN
DESCRIPTION
PIN FUNCTION
DESCRIPTION
1 IN0
GENERAL PURPOSE INPUT 0
IN0
GENERAL
PURPOSE
INPUT
0
2 1 IN1
GENERAL
PURPOSE
INPUT
1
IN1
GENERAL
PURPOSE
3 2 IN2/POSLIMIT
GP12
OR POSITIVE
LIMIT INPUT
INPUT 1
IN2/POSLIMIT GP13
GP12
POSITIVE
LIMIT
INPUT
4 3 IN3/NEGLIMIT
OR OR
NEGATIVE
LIMIT
INPUT
IN3/NEGLIMIT GENERAL
GP13 OR
NEGATIVE
LIMIT INPUT
5 4 IN4
PURPOSE
INPUT4
IN4
GENERAL
PURPOSE INPUT4
6 5 IN5/SYNC
GENERAL
PURPOSE
IN5/SYNC
GENERAL
PURPOSE
7 6 IN6
GENERAL
PURPOSE
INPUT 6
IN6
GENERAL
INPUTSTOP
6 W/CONFIGURABLE ACTION)
8 7 IN7-DRVEN
DRIVE
ENABLEPURPOSE
INPUT (SAFETY
IN7-DRVEN
DRIVE PURPOSE
ENABLE INPUT
(SAFETY
STOP W/CONFIGURABLE
9 8 OUT8/BRAKE
GENERAL
OUTPUT
OR EXTERNAL
BRAKE CONTROL ACTION)
OUT8/BRAKE NOT
GENERAL
109 OUT9-NOFAULT
FAULTED PURPOSE
OUTPUT OUTPUT OR EXTERNAL BRAKE CONTROL
OUT9-NOFAULTCONTROL/IO
NOT FAULTED
OUTPUT
1110 24VDC
POWER
24VDC
CONTROL/IO
POWER
1211 GND
MOTOR'S
COMMON
GROUND
12 GND
MOTOR'S COMMON GROUND
3
3
POWER INPUT
PIN FUNCTION
POWER INPUT
1 24 VDC
PIN FUNCTION
2 EARTH
3 VDC
GND
1 24
4 48VDC
2 EARTH
3 GND
4 48VDC
DESCRIPTION
Control/IO Power
DESCRIPTION
Chassis Ground
Motor's common
Control/IO
Power ground
MotorGround
Power
Chassis
Motor's common ground
Motor Power
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