• Integrated drive and controller, which reduces wiring, increases reliability, simplifies installation and reduces setup time • Torque, position, velocity and contouring modes • Encoder feedback with trapezoidal six step and Field-Oriented Control (FOC) commutation modes • Powerful AniBasic (BASIC-like) language with over 200 commands: IO, program flow, data handling, math and motion • Expanded math functions: • SIN, COS, TAN, ASIN, ACOS, ATAN, ABS, SQRT • IEEE-754 single-precision floats • Dual trajectory generators • Following modes and advanced camming functions • External encoder input supporting A-quad-B or Step-and Direction • User-defined interrupts with 8 priority levels • Nonvolatile program and data storage • RS-232 and CANopen interfaces are standard • 24 VDC compatible I/O, three inputs and two outputs • Inputs are drive enable, and two configurable inputs (one can be a 0-10 VDC analog input) Torque Curves Rated Torque Peak Torque Rated Shaft Power Speed at Rated Power Encoder Resolution Rotor Inertia Shaft, Axial Thrust Load Shaft, Radial Load Rated power measured in MDC mode at 25°C ambient and must be derated at higher ambient temperatures. Maximum temperature: 100°C at electronics, 125°C at windings. Recommended ambient temperature range: -20°C to + 70°C. Storage temperature range: -40°C – 100°C. Relative humidity: maximum 90%, noncondensing. SL17406D motor Torque vs. Speed, 48 volts, MDC commutation, 25°C ambient (curves are derated at higher ambient) SL17406D motor Torque vs. Speed, 48 volts, MDC commutation, 25°C ambient (curves are derated at higher ambient) Peak Power Peak Torque (oz-in) Gearheads Power Supplies Shaft Diameter SmartMotor™ Series Continuous torque is software limited below 60 Continuous rating based on 25°C ambient temperature, mounted to a 6x6x¼ a 6x6x¼ inch Continuous torque is software limited below 60 RPM.RPM. Continuous rating based on 25°C ambient temperature, motor motor mounted to inch aluminum heat sink, and electronics/windings below maximum temperature. Peak torque is available for 3 seconds at a 10% duty cycle. aluminum heat sink, and electronics/windings below maximum temperature. Peak torque is available for 3 seconds at a 10% duty cycle. RE

* For proper (industrial standard) 24 Volt sourcing IO, wire a nominal 24 VDC supply at pins 10 and 14. Overview Software C5 D-Style C5 M-Style C6 M-Style I C6 Low-Cost Cables, Etc. Actuators Gearheads Power Supplies Moog Animatics • www.animatics.com