SM23216MH
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Class 6 Industrial Ethernet ! The Class 6 Industrial Ethernet SmartMotor™, which is available in both standard servo (shown) and hybrid servo versions, represents the next step in the evolution of the SmartMotor integrated motor design. The Class 6 motor lineup includes PROFINET®, EtherCAT® and EtherNet/IP™ versions. These motors are designed for maximum performance and connectivity. They incorporate a high-end, high-speed processor for exceptional performance, Data update rates are as fast as 1 millisecond. There are dual Industrial Ethernet ports onboard (no hub or switch required), as well as connections for RS-485 and USB. Additionally, they provide plenty of I/O, with the option to add more through an external expander, for easy integration into any system. C6 M-Style C6 M-Style C6 Low-Cost • Local/standalone benefits (see manual for details): • Simplify programming and calculate 32-bit precision motion parameters on the fly with floating-point math and trigonometric functions • Govern a move by running it on top of a gearing or camming relationship using the dual trajectory generators • Create precise spooling/winding shapes and control tension through advanced gearing (supports preset traverse/take-up parameters) • Create complex patterns through advanced camming (with cubic spline interpolation and dynamic frequency/amplitude) • Highly configurable local I/O for motion control and general- purpose use in user programs: - Drive enable input, fault output, travel limits, registration and position capture - External encoder input supporting A-quad-B or Step-and- Direction - Total of 7 configurable inputs - High-current outputs with external brake-control function • Simplify wiring, reduce cost through the onboard dual-port Ethernet switch • Optionally program, configure and get live diagnostics through the USB interface • Optionally communicate with the motor through the RS-485 half-duplex port, which provides access as a Modbus Remote Terminal Unit (RTU) Slave • Easily access SmartMotor programmable autonomous control features in slave mode, which allows special user-programmed functions • Reduce limit switch wiring and PLC programming through adaptable distributed control • Accurately capture position for high-speed registration applications • Quickly reduce costs and improve reliability through use of programmable homing and limits • Precisely define motion profiles with local cam execution • Easy configuration and status monitoring of Industrial Ethernet and field buses • Actively monitor/troubleshoot each motor through local error reporting and diagnostic codes Power Supplies Moog Animatics • www.animatics.com Class 6 EtherNet/IP™ Fieldbus Easily integrates as a position controller (10h) device, for: • Access to unique SmartMotor commands and parameters • Improved uptime with optional redundant cabling through Device Level Ring (DLR) • Optimal performance ensured through Quality of Service (QoS) • Simplified, modular programming through Add On Instructions (AOI) • Direct access to SmartMotor native commands and parameters through TCP/IP Class 6 PROFINET® Fieldbus • PROFINET RTC - Real Time Cyclic transfers • Class 1 and 2 (certified) unsynchronized • Class 3 (certification pending) synchronized SmartMotor clocks • PROFINET RTA – Real Time Acyclic protocol • DCP, LLDP, SNMP, MIB-II, and LLDP MIB support Class 6 EtherCAT® Fieldbus Industry standard CiA 402 motion profile supports: • PP, PV, HM, TQ, CSP, CSV, and CST modes • Dynamic mapping of process data objects (cyclic data exchanges)

Power Supplies Gearheads Actuators Cables, Etc. C6 Low-Cost C6 M-Style C5 M-Style C5 D-Style Software Overview SmartMotor™ Series *For other data, please consult the factory. SM23166MT-EXX Maximum temperature: 85°C at electronics, 130°C at windings. Recommended ambient temperature range: 0°C - 50°C. Storage temperature range: -10°C - 85°C. Relative humidity: maximum 90%, noncondensing. Maximum temperature: 85°C at electronics, 130°C at windings. Recommended ambient temperature range: 0°C - 50°C. Storage temperature range: -10°C - 85°C. Relative humidity: maximum 90%,...

Class 6 Torque Curves SM23166MT-EXX Torque Curves Overview SM23166MT-EXX motor Torque vs. Speed, 48 volts, MDC commutation, 25°C ambient (curves are derated at higher ambient) Peak Torque (oz-in) Peak Power (waƩs) ConƟnuous Torque (oz-in) Power (watts) ConƟnuous Power (waƩs) 0 Speed (krpm) SM23216MH-EXX motor Torque vs. Speed, 48 volts, MDC commutation, 25°C ambient (curves are derated at higher ambient) Peak Torque (oz-in) Peak Power (waƩs) ConƟnuous Torque (oz-in) ConƟnuous Power (waƩs) 60 Power Supplies Continuous rating based on 25°C ambient temperature, motor mounted to a 6x6x¼ inch...

Power Supplies Moog Animatics • www.animatics.com

Class 6 M-Style Connector Pinouts The following table shows the pinouts for the connectors on the Class 6 M-style SmartMotors. PIN Main Power 3 Control, Com, I/O and Amplifier Ground Common Ground 125 KHz Individual Line Frequency 50 mA Max. 125 KHz Individual Line Frequency 1 IN0 GP, Discrete or Analog Input 2 IN1 GP, Discrete or Analog Input Inp Impedance > 10 kohm Inp Impedance > 10 kohm Inp Impedance > 10 kohm Inp Impedance > 10 kohm Inp Impedance > 10 kohm Inp Impedance > 10 kohm Inp Impedance > 10 kohm Inp Impedance > 10 kohm 250 mAmps Max. 250 mAmps Max. 12.5V Min.,...