バッテリーレスアブソリュートエンコーダ付サーボモータ・イーサネット通信対応 『Class6D』データシート（英語）

CLASS 6 D-STYLE SMARTMOTOR™ High Power in a Small Package Fully integrated controller with small footprint, great power density and a simplicity of design hard to match on the market. The drive to improve the performance of its SmartMotor™, while minimizing ADVANTAGES footprint, sets Moog Animatics apart from its competitors, reinforcing its position as the industry leading provider of fully integrated motors with motion control • Fully integrated, compact capabilities. motion system The Class 6 D-Style SmartMotor™ offer an extended power range (up to 1 kW) in the • High noise immunity same compact package of previous series, provides improved torque density and • Industry leading power density increased performance without affecting the overall design of the machine. • High tuning bandwidth These enhanced capabilities are combined with industrial Ethernet connectivity • Enhanced controls with ability and a multi-turn absolute encoder enabling extreme design flexibility for any to handle complex applications application. Features: APPLICATIONS • Absolute multi-turn battery-less encoder with 22-bit multi-turn and • Automated Guided Vehiles (AGVs) 17-bit single-turn resolution • Factory automation • Wider ambient operating temperature range (-20° to 100° C) • Medical • Industry standard 24 VDC I/O • Packaging • Pan and tilt applications • Separate 24 V Supply for Logic backup • Semiconductor wafer handling • Communications via RS-232 and CAN over the 7W2 power connector • Test and measurement enabling single cable control • NEMA 17, 23 and 34 frame sizes • Inline brake options for all models • Optional Industrial Ethernet fieldbuses (EtherCAT®, EtherNet/IP™, PROFINET®) • Easy connection to diagnostics over USB www.animatics.com

SPECIFICATIONS TECHNICAL DATA Model Frame Size Continuous Torque Peak Torque Nominal Power No Load Speed SM17166D* NEMA 17 TBA TBA TBA TBA SM23166D NEMA 23 0.31 Nm 0.57 Nm [44 oz-in] [81 oz-in] 170 watts 9000 rpm SM23166DT NEMA 23 0.64 Nm 1.06 Nm [91 oz-in] [151 oz-in] 195 watts 4800 rpm SM23376DT NEMA 23 0.69 Nm 1.6 Nm [98 oz-in] [227 oz-in] 193 watts 4132 rpm SM23266DT NEMA 23 0.67 Nm 1.24 Nm [95 oz-in] [176 oz-in] 260 watts 6400 rpm SM34166DT shown with NEMA 34 TBA TBA TBA TBA brake* SM34266DT* NEMA 34 TBA TBA TBA TBA *NEMA Frame Sizes 17 and 34 models will be available soon, contact factory for more information.

SPECIFICATIONS SPECIFICATIONS Dimension Unit SM23166D SM23166DT SM23376DT SM23266DT 24 V/48 V 24 V/48 V 24 V/48 V 24 V/48 V Continuous torque in-lb 2.75 5.68 5.59/6.10 6.15/5.91 oz-in 44 91 89/98 98/95 N-m 0.31 0.64 0.63/0.69 0.70/0.67 Peak torque in-lb 5.06 9.43 12.52/14.16 10.99 oz-in 81 151 200/227 176 N-m 0.57 1.06 1.41/1.60 1.24 Nominal continuous power watts 70/170 83/195 77/193 150/260 No load speed rpm 4,500/9,000 2,400/4,800 1998/4132 3250/6400 Max. continuous current* @ 1,600 RPM amps 7/6 7 7 11/9 Max. peak current amps 13/9 17/10 15/14 17/12 Single turn encoder resolution count/rev 131,072 131,072 131,072 131,072 (maximum) 17-bit Single turn encoder resolution to user count/rev 16,384 16,384 16,384 16,384 (maximum) 14-bit Accuracy degrees ±0.1 ±0.1 ±0.1 ±0.1 OPTIONS INFORMATION Available options for all models: • Brake • CANopen - standard • MODBUS RTU - standard • MODBUS TCP - standard with EtherNet/IP™ • EtherNet/IP™ • PROFINET® • EtherCAT®

8 8 7 7 6 6 5 5 4 4 3 3 2 2 1 1 REVISION HISTORREVYISION HISTORY REV. REV.DESCRIPTION DESCRIPTION DATE DATE B NEW DWGB./ECNNE WM UD0W10G7.3/2E C N MU010732 F F F F E E SPECIFICATIONS E E 22.2 22.2 .87 .87 OUTLINE DRAWINGS 8 SM23168 86D 7 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 1 1 1 REVISION HISTORY RREVEVISIISOIONN H HISITSOTORRYY 1.60 1.60 60.03 60.03 57.1 57.1 .063 .063 2.364 2.364 REV. DESCRREVIEPV.TI.ON DDESECSCRRIPITPITOIONNDATE DDAATETE D D 2.25 2.25 D D 4X 5 THRU 4X 5 THRU B NEW DWG./ECN MBUB01N0NE7WE4W9 D DWWGG./.E/CECNN M MUU010017047949 .20 .20 66.67 66.67 F F F F F F 2.625 2.625 57.1 57.1 2.25 2.25 78 78 3.07 3.07 C C 47.14 47.14 C C 1.856 1.856 E E E 6.342±0.008 6.342±0.008 E E E .2497±.0003 .2497±.0003 38.05±0.03 38.05±0.03 6.4 6.4 Dimensions in mm [inches] 1.498±.001 1.498±.001 .25 .25 21.9 2 12.19.9 B B .86 .8.686 B B SM23166D w/Brake D DD D DD NOTES UNL E5S7SN. 2O THESE RUWNILSEES S POETCH IF E5IRE75WD.72.:2IS E SPECIFIED: 2.25 2.22.525 1.57 1.15.757 96.3 969.63.3 1. INTERPRET1 D. RAINWTEINRPGR EPTE RD RAASMWEIN YG1 4P.E1R00 A-2S0M1E3 .Y14.100-2013. .062 .0.60262 3.79 3.37.979 2. INTERPRE8 T2 D. IMINETNE8SRI8OPRNEST ADNIMDE TNOSILOERNAS NACNIDN7 GTO PLEERR A7NS7MCEIN YG1 4P.E5R-2 A00S9M. E Y14.5-62009. 6 6 5 5 5 3 3 3 2 2 2 1 1 1 3. ABBREVIA3TI.ONASB BPREERV AIASMTIOE NY1S 4P.E3R8- A20S0M74E X( RY2104 51.3.328) -T.2H0R0U7 (R20134)X4. X 5 .52. 2T HTHRRUU 4 4 4 REVISION RHEIRVSETISOVIOIRSIYNO NHI SHTIOSTROYRY 4. BATTERY-L4E.SS BAABTSTOERLUY-TLEE ESNS CABOSDOELRU.TE ENC.O21DER. .2.121 UNLESS OTHERWISE SPECIFIED UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES DIMENSIONCS AARED IN G INECHNESERATED DCRAADW GINEGNE, RATREEDV D.RAWINRGE,RVE.V. DESCRIPTDIOEDNSECSRCIPRTIPIOTINON DATE DADTAETE 5. INCREASE5D. THINECRMREAALS LEIDM ITH OERF M-2A0L CLI M~ I+T 1O0F5 -C20. C ~ +105 C. TOLERANCES ARE: TOLDERAONC ENS AORET: MANUALDLOY UNPODTA TMEANUALLY UPDATE 66.68 66.66.868 DECIMALS ANGLE DS ECIMALS ANGLES B NEW DBWBGN.E/NWEEC WDN W DMGWU.G0/E1.C/0E9NC3 7NM UM0U1019039737 6. BRAKE OP6T.IONBR. AKE OPTION. .XX .010 0 30 .'XX .010 0 30' 2.625 2.26.26525 .XXX .005 FRACTIO.XNXSX .005 FRACTIONS TITLE TITLE .XXXX .0005 1/64 A A 7. 10 24V I/O7 .CO10N N24EVC TI/OR CS O(4N - N2E0CmTAO ARSN A(4L -O 2G0m). A ANALOG). .XXXX .0005 APPRO1/6V4ALS APPDRAOTVEALS DATE DRAWN DRAWN SMART MSOMTOART A MSSOETMOBRL YASSEMA BLY A 8. MULTI POR8T. CMOUMLSTI: PROS2R3T2 C, ROSM48S5: ,R USS2B3,2 C, RASN4.85, USB, CAN. D. MEINCKE 202D2-.0 M2-0E7INCKE 2022-02-07 F F F F F F DO NOT SCALE DRDAOW I NGOTC HSECCKAEDLE DRAWING C. STEVENCHSECKED2022-02-09 2022-02-09 MATERIAL MATERIAL C. STEVENS ENGR B. HUGHEENSGR 2022B-.0 2H-U09GHES 2022-02-09 78 7878 C CC 57.2 575.72.2 MFG ENGR A. FOWLMEFRG ENGR2022A-0. 2F-O10WSLIZEER 20C2A2G-E0 C2O-D1E0 SIZE CAGE DCWOGDE. NO. 3.07 DWG. NO. 3C.30.707 CC 2.25 2.22.525 FINISH FINISH SHOP ENGR SHOP ENGR C 4H61C8 4H618 SM23166DSM23166D 47.15 474.71.515 SCALE QA QA CASDC A FLIEL E: CAD FILE: K. VERNALL 20K2.2 -V02E-R11NALL 210:212-02-11 1:1 SM23166D SSMHE2E3T1616DOF 1 SHEET 1 OF 1 Item ID: SM23166D ReIvteismio8 InD: B: S NMa2m3e1:6 S6MD ARRevTi sMio8On:T BO NR aAmSeS: ESMBALRYT MOTOR ASSE7MBLY 1.856 7 1.18.586566 6 5 5 4 4 3 3 2 2 Released Dat1e: 15-Feb-2R0e2le2a 1s0ed:4 D5 at1e: 15-Feb-2022 10:45 6.342±0.008 6.63.4324±20±.00.0808 .2497±.0003 .2.429479±7.±0.00303 E E E E E E B B B B B B 38.02 0 383.80.202 0 0 4.8 4.48.8 -0.08 -0-.00.808 .19 20.57 Dimensions in mm [inches] .1. 9129 02.507.5 7 1.497+0 1.14.9479+7+00 .810 .81.8010 - .003 - .-0.0303 NOTES UNLESS OTHESRNWMNOIOSTE2ET ES3 SPU E1UNCNL6IELFSEI6ESD SDO :OTTHTHERERWWISIES ES PSPECECIFIIFEIDED: : 1. INTERPRET DRAWI1N.1G. IPNIENTRET REARPSPRMRETE T DY DR1R4A.AW1W0I0NI-NG2G0 P1 PE3RE. R A ASMSME EY Y141.41.010-02-021031.3. 2. INTERPRET DIMENS2I.2O.NINSINT AETRENRPDPR RETOTE TDL DEIMRIMAEENNSCISOIINONGNS SPA EANRND AD TS OTMOLEEL REYRA1A4N.N5C-C2IN0ING0G9 P. PERER A ASMSME EY Y141.45.-52-02090.9. UNLESS OTHERWISE SPECIFIED UNULENSLSE SOS T HOETRHWERISWE I SSEP E SCPIEFCIEIDFIED DIMENSIONS ARE IN INCHES CADD IGMDEIMNESENINOSNEIOSR N AASR EA R INE IIN C INHCESHES D D D 57.2 5 75.27.2 1.60 1 .610.60 60 6060 TED DRAWING,CCADA DG GENEENREARTAETDE DD RDARWAWINIGNG, , TOLERANCES ARE: DO NOTTO LTMEORLAAENRACNNESCU EAASR EAL:RLEY: UPDATDEODO N ONOT TM MANAUNAULALLYL Y U PUDPADTAETE D D D 3. ABBREVIATIONS P3E.3R. ASABMBBRER EYVE12VI4.A2I.AT35IT8OI-O2N0NS0 S2P7 .PE2 (E5.R2R 2A5 0AS1MS3M)E. EY Y141.43.83-82-02070 7( R(R2021031)3.). .063 .06.0363 2.36 2.326.36 DECIMALS ANGLES DE CDIEMCAIMLSA L S A N AGNLEGSLES .XX .010 0 30' .X X.X X . 01.010 0 300'30' 4. BATTERY-LESS ABS4O.4L.UBTBAEA TETNETRECRYOY-L-DELSESR S.A ABBSOSOLULUTET EE NENCCOODDERER. . .XXX .005 FRACTIONS .XX.XX X . 00.5005 FRAFRCATCIOTNIOSNS TITLE TITTLITELE A AA 4X 5.224 TXH4XRU5.252.2 T2H TRHURU .XXXX .0005 1/64 .AXX.PXPXX R XO . 0V0.0A500L5S 1/614/64 DATE APAPPRPOROVAVLASLS DADTAETE 5. INCREASED THERM5.5A.LI NLINICMCRITRE AEOASFES -DE2D 0T HTCHE RE~RM +MA1A0L 5LL ILMCIMI.TI TO OF F- 2-020CC ~ ~ + +101505CC. . DRAWN D. MEINCKE DRADWRANWN DD. M. MEIENINCCKSEKME ART MOTORSS MAMASASRERTMT M MBOLOYTTOORR AASSSEEMMBBLLYY AA .205 .20.2505 2022-02-08 2022022-20-20-20-808 6. BRAKE OPTION. 6.6. BBRRAAKKE EO OPPTITOIONN. . DO NOT SCALE DRAWING CHECDKOEDDO N ONOT TS C SACLAEL ED RDARWAWINIGNG C. STEVENS 2022-0C2HCE-C1HKE4CEDKED MATERIAL MAMTEARTIEARLIAL CC. S. TSETVEVENENS S 2022022-20-20-21-414 7. 10 24V I/O CONN7E.7C. T1O01 0R2 S42 V4(4V I/- I O/2O0 Cm COAON ANNEACECLTOTOGRRS). S( 4( 4- -2 02m0mAA A ANNAALOLOGG6).6)..67 666.67.67 ENGR B. HUGHES 2022-0EN2GE-N1RG1R B.B H. UHGUGHEHSES 2022022-20-20-21-111 8. MULTI PORT COM8S.8: .RMS2MU3UL2TL,I T RPI SPO4O8R5RT ,TC UCOSOBM,M SC:S AR: NRS2S.3223,2 R, RS4S8458,5 U, USBSB, C, CAANN.2. .625 2.622.6525 MFG ENGR A. FOWLER 2022-M0F2MG- F1EGN8 GENRGSIRZE AA. F. OFOCWAWGLE ECLROEDRE 2022022-20-20-21-818SIZESDIZWE G. NO. CACGAEG CEO CDOEDE DWDGW. G N.O N. O. FINISH SHOPF IENNFISGINHRISH SHOSHPO EPN GENRGRC 4H618 CC S4M4HH2663118866D-BRK SSMM223311666DD-B-BRRKK SCALE CAD FILE: SC QA QAQA ASCLEA LE CACDA DFI L EF:I L E : K. VERNALL 2022-02-24 K.K V. VERE1NR:N1AALLLL 2022022-20-20-2S-4M2423166D1-B:1R:1K SHEETSMS1M232O13F616D16D-B-RBKRK SHSEHEETET 1 1OOF F 1 1 Item ID: SM23166D-BRK R8evision: IBte INmtea mImD Ie:D :S S: SMM2A321R36T16 6DM6-DOB-TRBOKRR KR 8A eRv8SeiSsviEiosMnio: Bn:L BNY aNmaem: eS:M SMA7RATR TM MOTOOTRO RA SASSESMEMBLBYLY 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 Released Dat1e: 25-Feb-2022 09:32 ReRlealeseadse Dd aDt1ea:t1 e2:5 2-F5-eFbe-2b0-2022 029 0:392:32 57.2 5 75.27.2 2.25 2.25.25 78 7878 C C C 47.14 474.174.14 3.07 3.037.07 C C C 1.856 1.815.8656 6.342±0.060.3864.324±20±.00.0808 .2497±.00.2043.29479±7.0±0. 00303 6.4 6 .46.4 Dimensions in mm [inches] .25 .25.25 38.05±0.03383.085.0±50±.03.03 B B B 1.498±.0011.419.489±8.0±0.0101 B B B NOTE: Motor specifications are subject to changes without notice. Consult website and factory for latest data. NOTES UNLONETSOESTS OE UST NHULENERLSWESS IOS ETO HSTEPHREECWRIWIFSIEIS DSEP: SEPCEICFIIEFDIE:D: 1. INTER1P.R1E.ITN DITNERTRAEPRWRPEIRNTE GDT R DPAERWRA WIANSIGNM GPE EYPR1E 4AR. S1AM0S0EM- 2YE01 Y1431.1.40.100-200-21031.3. 2. INTER2P.R2E.ITN DITNEIMTREPERRNPESRTIE ODTN IDMSI EMANENSNDIOS ITNOSNL AES RNAADNN DTCO TINLOEGLREA PRNEARCN IACNSIGNM GPE EYPR1E 4AR. S5AM-S2EM0 0YE91 Y.41.54-.250-20090.9. UNLESS OTHERWISE SUPNECLEIUFSISNE D LOESTSH E ORWTHIESRE W SIPSEC SIFPIECDIFIED DIMENSIONS ARE IN D INIMCEHDNEISMSIOENSI O ANRSE AINR E IC N ICNA H IENSCHES 3. ABBR3E.V3I.ATBAIOBBRNBERSV EPIVAEITRAI OATINOSMSN PES EYPR1E 4AR. S3AM8S-EM2 0YE01 Y74 1.(34R8.23-02810-2300)7.0 (7R (2R021031).3). D GENERCAATCEDDA G DE RGNAEWNRAEINRTGEAD,TE DR DARWAINWGIN,G, TOLERANCES ARE: TOLETROALNECRAESN CADERSE O: AR E :NOT MDAONDU ONA OL LNTYO MUT PA MDNAUNTAEULLAYL L UYP DUPADTEATE DECIMALS D E C IADMNEACGLISLME SA L S A N G ALENSGLES 4. BATTE4R.4Y.-BLEABSTAST ETATREBYRS-OLYE-LSUESST AES BEASNBOCSLOULTDUEET ERN .ECNOCDOEDRE.R. .XX .010 .XX . X 0X 3. 0 1' 0.010 0 300' 30' .XXX .005 .XFXRX.A X C X XTI. O0 0 N5S.005 FRACFRTAIOCNTSIONS A A A 5. INCR5E.A5S.IENDICN TRCHEERARESMAESDAE LDT HL TIEMHREIMTR OAMLFA L-L2I ML0IIMTC IOT ~ FO +-F21 0-250CC C~. +~1 +01505C.C. TITLE TITLTEITLE .XXXX .0005 .XXX.X1 X /X6X.40 0 0.50005 1/6A41P/P64ROVALS APPARPOPRVOAVLDSALTSE DADTEATE SMAR TS MSMAOARTTRO TMR M OAOTSOSTOERM RA BASLSYESMEMBLBAYLY A A 6. 10 246V. 6I/.1O0 1 C204O 2VN4 VIN/ OEI/C OCT OCRNOSN (EN4C E-T C2O0TROmSR A(S4 A (-4N 2 -A0 2mL0OmAG A) .NAANLAOLGO)G. ). DRAWN D. MDREAWIDNRNACWNKDE . DM2.0 EM2I2N-E0CI2N-K0CE9KE202220-202-029-09 DO NOT SCADLOED DONRO ANTW O SITCN AGSCLEAC H LDEECR K EADWRAINWGINGCH 7. MULT7I .P7O.MRTUM LCUTOIL TPMIO PSRO: TR CST2 OC3MO2, SMR: SR4:S 8R25S3,2 U3, 2SRB,S ,R4 CS845A8,N 5U,. SUBS, BC, ACNA.N. MATERIAL MATEMRAIATLERIAL C. STEECVKHEEDECKNEDSC. CS20T. E2S2VT-0E2VN-1ES4NS202220-202-0124-14 ENGR B. HENUGGRENGHRESB. HB2.0U 2HG2U-H0G2E-H1S1ES 202220-202-0121-11 MFG ENGR A. MFFOGM EWNF G LRENEGRRA. AF2O0. 2FW2O-0LW2E-1RL7ERSI2ZE02220-202-01C27A-G1ES7 CIZEODSIEZE CAGCE ACGOED CEODE DWG. NO. DWGD. W NGO.. NO. FINISH FINISHFINISH SHOP ENGR SHOPS HENOGP RENGR C 4CHC618 4H46H16818 SM2316S6MSDM2T3213616D6DT T SCALE SCALSEC ALE QA K. VEQRANQA CAD FILE: C A DC AFIDLE : F I L E : ALLK. KV.E 2VR02EN2RA-0NL2AL-1L7L 202220-202-101:271-17 1:11:1 SM23166DTSMS2M31263S61HD6E6TEDT T1 OFSHE1SEHTEET1 1OFOF1 1 Item ID: SM231It6e6mIDt eITDm R: ISeDvM:i sS82ioM3n12:6 3B61D 6NT6a DmRTev :R i sSe8ivMoinsA8:i oBRn T:N BMa mNOeaT:m O SeRM: SAMSRSATE RMTOB MTLOYRTO ARS SAESMSEBML7YBLY 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 Released Dat1e: R18e-lReFaesble-da2 s0De2da2 t1D e0:a7 1t:1e82:-9 F18eb-F-2e0b2-20 0272: 2097:29

8 8 7 7 6 6 5 5 4 4 3 3 2 2 1 1 REVISIONR HEIVSTISOIORNY HISTORY REV. REV. DESCRIPTDIOENSCRIPTION DATE DATE B NEW DBWGNE./WEC DNW MGU./0E1C06N4 M1 U010641 F F F F E E E E SPECIFICATIONS 21.89 21.89 .862 .862 OUTLINE DRAWINGS D D SM23166DT w/Brake D D 57.2 57.2 7 776 566 1.57 1.57 55 96.3 96.3 8 88 2.25 2.25 3 323 212 11 .062 .062 4 3.79 3.79 44 REVISION HISTORY RREEVVISISIOIONN H HISISTTOORRYY 4X 5.2 4TXHRU 5.2 THRU REV. DESCRIPTION RREEVV. . DDEEASSCTCERRIPIPTTIOIONN DDAATTEE .21 .21 B NEW DWG./ECN MU012067 BB NNEEWW D DWWGG././EECCNN M MUU001122006677 66.68 66.68 F FF F FF 2.625 2.625 C C C C 57.2 57.2 77.9 77.9 2.25 2.25 47.15 47.15 3.07 3.07 1.856 1.856 6.342±0.060.3842±0.008 .2497±.00.204397±.0003 E EE E EE B B Dimensions in mm [inches] B B 0 4.8 4.8 38.02-0.0388.02 0 -0.08 .19 .19 +0 20.3 2200.3.3 1.497 - .0013.497+0 - .003 .80 .8.800 NOTES UNLOETSESS O UTNHLEERSWS OISETH SEPREWCIFSIE DSP: ECIFIED: 8 1. INTER1P.RSEIN8TM DTER2RAP38WRE3INT 7DGR 6PAED7WR TIANS/GMS PEEM YR 1A24S.31M03E0 -Y72 7016143.D1.0T07 - 2w01/3.Br6ake 6 6 5 5 5 4 4 4 3 3 3 2 2 2 1 1 1 2. INTER2P.REINT DTEIRMPERNESTI ODINMSE ANNSIDO NTOS LAENRADN TCOILNEGRA PNECR IANSGM PEE YR1 A4.S5M-2E0 0Y91.4.5-2009. REVISION HISTORY REVISIORENV HISIISOTON RHYISTORY D DD UNLESS OTHERWISE SUPNELCESIFSIE DOTHERWISE SPECIFIED D DD DIMENSIONS ARE IND IINMCEHNESSIONS ARE IN INCHES 3 . 5A7.B2BR 3E.VIATBIBORNESV PIAETRIO ANSSM PEE YR1 A4 .S 3M5857-E72.2 .0Y201 7 4 .(3R82-2001037). (R2013). 1.57 11.5.577 121.7 112211.7.7 CRAEDV G. ENERCAATDED G DERNAEWRDAINTEREGSDE,CV DR.RIAWING, TOLERANCES ARE: TOLERANCES ADRE:O NOT MDAON U NAOLLTY M UAPNDUAATELLY PURTPEIDOVAN.TE DESCRDIPETSIOCNRIPTIODANTE DATE DATE DECIMALS D E C I MANAGLSL E S ANGLES 4. 2B.2A5TTE4R.Y-BLAESTSTE ARBYS-LOELSUS TAEB ESNOCLOUTDE2E 2E.R2.N2.55CODER. .062 .0.06622 4.79 44.7.799 .XX .010 .XX 0 .3001'0 0B30' NEW DWG./ECNB MUN0E1WB10 D3N9WEGW. /DEWCNG .M/EUC0N11 M03U9011039 .XXX .005 .XXFXR A C T.I0O0N5S FRACTIONS TITLE TITLE A A 5. INCR5E.ASIENDC TRHEEARSMEDA LT HLIEMRIM4T XAOLF L5-I2.M201IT C TOH ~FR U+-2105CC ~. +105 C. 44XX 55.2.211 T THHRRUU .XXXX .0005 .XXXX 1 /6.04005 1/6A4 PPROVALS APPROVALDSATE DATE 6. BRAK6E. OBPRTAIOKNE. OPTION. DRAWN DRAW .205 .2.20055 D. MEINN CKDE. M20E2IN2-C02KE S A A -01 2022-02-01MARSTMOARTOTMRO ATSOSERM ABSLSYEMBLY DO NOT SCADLOE NDORAT W SCINAGLE DRAWING F F F F F 7F. 10 247V. I/1O0 C24OVN IN/OEC CTONRSN E(4C -T O20RmS A(4 A - N2A0mLOAG A)N. ALOG). CHECKED CHECKED 2022-02-02 2022-02-02 MATERIAL MATERIAL C. STEVENSC. STEVENS 8. MULT8I .POMRUT LCTIO PMOSR:T R CS2O3M2,S R: SR4S8253,2 U, SRBS6,4 6C8.65A7, NU.SB, CAN. 666.6.677 ENGR B. HENUGRGHESB. H2U02G2-H02E-S02 2022-02-02 2.625 22.6.62255 MFG ENGR A. MFFOG EWNGRLERA. F2O02W2-0L2E-R09 S2IZE022-02-0C9AGES ICZEODE CAGE CODE DWG. NO. DWG. NO. FINISH FINISH SHOP ENGR SHOP ENGR C 4CH618 4H618 SM2316SM6D2T3-1B6R6KDT-BRK SCALE SCALE QA QA CAD FILE: C A D FILE: K. VERNALLK. VE2R0N22A-0L2L-11 2022-02-11:1 1:1 SM23166DTS-MBR2K3166DT-BSHREKET 1 OFSHE1ET 1 OF 1 Item ID: SM23I1t6em6D ITD-:B SRMK28 R31e6v6isDioTn-:B BR NK8a Rmeev:i sSiMonA: RBT NMamOeT:O SRM ASRSTEMOBTLOYR ( SAISZSEE 2M37)BLY (SIZE 237) 6 6 5 5 4 4 3 3 2 2 Released Dat1e:R 1e5l-eFaesbe-d2 D02a2t1e 1: 31:55-4Feb-2022 13:54 57.2 5577.2.2 C CC 2.25 22.2.255 77.9 777.9.9 47.15 4477.1.155 3.07 C 33.0.077 CC 1.856 11.8.85566 E E E 6.342±0.008 66.3.34422±±00.0.0088 E E E .2497±.0003 .2.2449977±±.0.00033 38.02 0 0 0 -0.08 3388.0.022-0-0.0.088 4.8 44.8.8 Dimensions in mm [inches] B +0BB ++00 .19 .1.199 B BB 1.497 - .003 11.4.49977--.0.0033 20.3 20.3 20.3 .80 .80 .80 D D D SM23266DT/SM23266DT w/Brake D D D NOTES UNLESS OTHERWISE SPECIFNINEODOT:TEESS U UNNLLEESSS O OTTHHEERRWWISISEE S SPPEECCIFIFIEIEDD:: 57.2 57.2 57.2 1.57 1.57 1.57 121.7 121.7 121.7 1. INTERPRET DRAWING 2P.E2R5 ASM11E.. YI1NIN4T.TE1ER0RP0PR-2R2E.E02TT15 D 3DR.2RA.A2WW5ININGG P PEERR A ASSMMEE Y Y1144.1.1000-2-2001133.. .062 .062 .062 4.79 4.79 4.79 2. INTERPRET DIMENSIONS AND T2O2..LEINIRNTATEENRRPCPRIRNEETGT D DPIMIEMREE NANSSIMOIOENN S4YS X1A A4N.N5D5-D.2 2T 0T1O0O T9LLHE.ERRRAUANNCCIN4INXGG P P5EE4.R2RX 1A A STSHM5MR.2EUE1 Y YT11H44.5.5-2-200099.. UNLESS OTHERWISE SPECIFIED UNULNELSESS SO TOHTEHREWRWISEIS ES P SEPCEICFIIEFDIED RU DIMENSIONS ARE IN INCHES CAD GENERATED DRDAIDMIWMENESNIIONSINOGSN SA, RAER EIN I N IN ICNHCEHSES CCAADD G GEENNEERRAATETEDD D DRRAAWWININGG, , TOLERANCES ARE: DO NOT MANUALLY UPTODTLOEALREARTNAECNECSE SA RAER:E: DDOO N NOOT T M MAANNUUAALLYLY U UPPDDAATETE 3. ABBREVIATIONS PER ASME Y1343.3. 8A-A2BB0BB0RR7E EV(VRIA2IA0TTI1OIO3N)N.SS P PEERR A ASSMME.E 2Y 0Y15144.3.388-2-200077 ( R(R22001.1323)0.)5. .205 DECIMALS ANGLES D EDCEICMIMALASL S A NAGNLGELSES .XX .010 0 30' .X .X X .0.10010 0 0303'0' 4. BATTERY-LESS ABSOLUTE ENCO44.D. EBRBA.ATTTEERRYY-L-LEESSS A ABBSSOOLLUUTTEE E ENNCCOODDEERR.. .XXX .005 FRACTIONS .X.XX X .0.00505 FRTFAIRTCALECTIOTIONSNS TITILTELE .XXXX .0005 1/64 APPROVALS .X.XXX X D.0.0A000T50E5 1/16/464 AAPPPRROOVVAALSLS DDAATETE A AA 5. INCREASED THERMAL LIMIT OF55 .-.20ININCC R~RE E+AA1SS0EE5DD CT TH.HEERRMMAALL L LIMIMITIT O OFF 6- 2-620.068CC ~ ~ + +110055CC.. 66.68 66.68 DRAWN D. MEINCKE DRDARWSAWN NMDAD. .M RMEETININ CMCKKEEOTOR ASSEMSBSLMYAARRTT MA OTTORR AASSSSEEMBBLLYY AA 2.625 2.625 2.625 2022-03-14 202202-20-30-31-414 DO NOT SCALE DRAWING DDOO N NOOT T S CSCAALEL E D DRRAAWWININGG 6. BRAKE OPTION. 66.. BBRRAAKKEE O OPPTTIOIONN.. CHECKED CHCEHCEKCEKDED MATERIAL MMATAETREIARILAL ENGR ENEGNRGR 7. 10 24V I/O CONNECTORS (4 -7 7.2.0m110A0 2 2A44VNV AI /IL/OO CG CO)O.NNNNEECCTTOORRSS ( 4(4 - -2 200mmAA A ANNAALLOOGG).). MFG ENGR SIZE CAMGMFGEF CGENO EGDNREGR DWG. NO. SIZSEIZE CACGAEG CE OCDOEDE DWDWG.G N. ON.O. 8. MUL FINISH FINFINSHISH C CTI PORCT COMS: RS232, RS848.8.5,M MUUSULBLT,TI CIP POAONRRT.T C COOMMSS: :R RSS223322, ,R RSS448855, ,U USSBB, ,C CAANN.. SHOP ENGR C SHSOHPO EP4N EGNHRGR618 SMCC2337644DHH6T61188 SSM2233337766DDTT 57.2 57.2 57.2 77.9 C 77.9 77.9 C C SCALE QA QAQA CAD FILE: SCSACLAEL E CACDA D F I LFEIL: E : 1:1 SM23376DT SHEE1T1:1:11 OF 1 SHSHEETET 11 OOFF 11 8 887 2.25767 2.25 2.25 66 5 4 55 344 332 122 3.07 SSMM223337766D3DT.T07 3.0117 47.15 47.15 47.15 1.856 1.856 1.856 6.342±0.008 6.342±60..304028±0.008 .2497±.0003 .2497±..20409073±.0003 B B B 4.8 4.8 4.8 Dimensions in mm [inches] B B B 38.02 0 -0.08 38.02 0 0 -308.0.082-0.08 .19 .19 .19 1.497+0 +0 +0 - .003 1.497 -1..040937 - .003 NOTE: Motor specifications are subject to changes without notice. Consult website and factory for latest data. NOTES UNLESS OTHNEROWTEISNE UO SNPTLEESCS USIF NIOELDTEH:SES ROWTHISER SWPEISCEI FSIPEEDC: IFIED: 1. INTERPRET DRAW1.INIGNT 1PE.ERRPIN RAETSETM RDPER YAE1TW4 D.IN1R0GA0W -P2EI0NR1G 3A. SPMERE AYS1M4.E1 0Y01-42.011030.-2013. UNLESS OTHERWISE SPECIFIED UNLESS OTHERUWNILSES S P OECTHIFEIERDWISE SPECIFIED 2. INTERPRET DIME2N. SIIONNT2E.SR APINRETDET RTDPOIRMLEETRN DASINIMOCENINSS GAIO NPNDESR T AONSLMDER ETA OYN1LCE4R.IN5A-G2N0 CP0EI9NR.G A SPMERE AYS1M4.E5 -Y21040.95.-2009. DIMENSIONS ARE IN INCHES CDAIMDENS IGONES N ADRIEME R EINA S IONTCNEHSD E AS RDE IRN A INCWHEISNCGA,D GECNAERDA GTEEDN EDRRAATWEDIN DGR,AWING, TOLERANCES ARE: DO NTOOLERTA N MCESA ATONRLEEU: RAANLCLESY A R UE: PDAOT E NODT OM ANNOUTA MLLAY N UUPADLALYTE UPDATE DECIMALS ANGLES DECIMALS D E C IM A L S A N G L E S ANGLES 3. ABBREVIATIONS3 .PEAR BA3B.SRMEAVEB IYAB1RT4IEO.V3N8IAS-2 TP0IOE0R7N SA(R SP2ME0R1E 3AY)S1.M4.E3 8Y-1240.0378 -(2R02071 3(R).2013). .XX .010 0 30' .XX .010 .XX .010 30' 0 30' .XXX .005 FRACTIONS .XXX .005.XXX F.R0A05CTIONS FRACTIONS TITLE TITLE TITLE A 4. BATATERY-ALESS A4B.SOBLAU4TT.TEE REBNYA-CTLTEOESRDSY EA-RLBE.SSOS LAUBTSEO ELNUCTEO EDNECR.ODER. .XXXX .0005 1/64 .XXXXA P.0P0R0.O5XXVXXA LS.00015/64 1/D64ATEAPPROV ALPSPROVALS DATE DRAWN D. MEINCKE DRAWN DDRA. WMN EINDC. KMEESINMCKAE RTD AMTE OTOSMR ASRSMSTE AMROBT LTMYOORT AOSARS EAMSSBELMY BLY A A 5. INCREASED THE5R.MIANLC5 L.RIMEIANITSC OERDFE A-T2HS0ERDCM T~AH E+L R1LM0IM5AITCL OL. IFM -I2T 0OCF -~2 0+1C0 5~ C+1. 05 C. 2022-02-18 2022-02-128022-02-18 DO NOT SCALE DRAWING DCOHE C KNEDOT D SOC A NLOE T D SRCAAWLIEN GDRA C. STEVENS 20C2HW2ECKIN-0E G 2D-25CCHE.C KSEDTEVCEN. STEV20E2N2S-02-225022-02-25 6. BRAKE OPTION.6. BR6A.KEB ORAPKTIEO ONP. TION. MATERIAL MATERIAL MATERIAL ENGR B. HUGHES 20E2N2G-R02-25 EBNG.R HUGHB.E SHUG2H02E2S-02-225022-02-25 7. 10 24V I/O CON7N. E1C0T 72O.4RV1S 0 I(/ 4O2 4- VC2 0OI/mONAN C EAOCNNTAONLROESCG (T4)O. -R 2S0 (m4 A- 2 A0NmAAL OANGA).LOG). MFG ENGR O.J./A.F. 20M2FG2 -E0N2G-R28MFGSOIZ EN.GJR./A.FCO.AG.JE .C/OA2DE0.F22. -02-228022SIZ-E02-2D8WGS.C IZ NEAOG.E CODE CAGE CODE DWG. NO. DWG. NO. FINISH FSINHIOSHP ENGR FINISH SHOP ENGR SHOP ECNGR 4H618 C C 4H6S1M84H26312866DT SM23S2M6263D2T66DT 8. MULTI PORT CO8M. SM: RU8SL.2T3I M2P,O URLRST4TI 8CP5O, RUMTS SBC:, ORCSMA2N3S2:. ,R RS2S43825, ,R US4S8B5, ,C UASNB,. CAN. SCALE CAD FILE: S C A L E SCALE QA QA QA CAD FILE: C A D F I L E : K. VERNALL 2022-03-01K. VERNKA. 1LV:L1ERN2A0L2L2-03-021022-03S-0M1 213:2166DT1:1 SHEETSM1 23O2F6S6M1D2T3266DTSHEET 1SHOEEFT 11 OF 1 Item ID: SM23266DT Revis8ion: IBte Nma ImDe:: SSIMte2mA3 R2ID6T6: M DSTMO TR23Oe2vR6is 86AioDSnTS: EBRM eNvBaism8LioYen: :S BM NAaRmTe :M SOM7TAORRT A MSOSETMORB LAYSSEMBLY 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 Released Dat1e: 02-Mar-2022 09:3R5eleased DRaet1lee:a 0s2e-dM Daart-1e2:0 022- M09a:r3-52022 09:35

8 8 8 7 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 1 1 1 REVISION HISTORREYVISION HISTROERVYISION HISTORY REV. REVD. ESCRIPTIORENV.DESCRIPTION DESCRIPDTIAOTNE DATE DATE A NEW DWG.A / NNTDEW SM D1W71GA6.6 /D NTEDW S DMW17G1.6 /6 DNTD SM17166D F F F F F F E E E SPECIFICATIONS E E E 22.5 22.5 22.5 .89 .89 .89 OUTLINE DRAWINGS SM17166D* *Check with factory for availablity 41.9 41.9 41.9 1.57 1.57 1.57 94.9 94.9 94.9 D D 1.6D5 1.65 1.65 .062 .062 .062 3.74 3.74 3.74 D D D 4X TAP 4-40 UN4XC T 2ABP 4-40 U4NXC TA 2PB 4-40 UNC 2B 43.82 43.82 43.82 1.725 1.725 1.725 8 8 7 8 7 76 6 5 6 5 54 4 43 3 3 2 2 2 1 1 1 REVISION HISTROERVYISION HISTORY REVISION HISTORY 62.9 62.9 62.9 41.8 41.8 41.8 REV. REV. DESCRIPTIONDERSCEVR.IPTION DEDSCARTEIPTION DATE 2DA.4TE8 2.48 2.48 30.99 1.6430.99 1.6340.99 1.64 B NEW DWGB./ENCENW M DUW01G2.5/8E2CN BMU0 C C C N1E2W58 D2WG./ECN MU012582 C C C 1.220 1.220 1.220 F F F F F F 4.991 0 0 0 -0.013 4.991-0.013 4.991-0.013 .1965+0 +0 +0 - .0005 .1965 - .0005 .1965 - .0005 Dimensions in mm [inches] E E21.95±0.03 2E1.95±0.03 21.95±0.03 E E E .864±.001 .864±.001 .864±.001 B B B SCALE = 1:2 SCALE = 1:2 SCALE = 1:2 B B B SCALE = 1:2 SCALE = 1:2 SCALE = 1:2 28.7 28.7 28.7 SM34166DT 1.13 1.13 1.13 86.4 86.4 86.4 3.40 3.40 3.40 1.63 1.63 1 .6936. 19 96.19 96.19 NOTES UNLESSN OTTHEES RUWNILSEES NSP OETCTEHSIFE IURENDWL:IESSES S OPETCHEIFRIEWDI:SE SPECIFIED: .064 .064 .0634.787 3.787 3.787 D D D 4X 5.16 TH4RXU 5.16 THRU 4X 5.16 THRU D D 1. INTERPRET 1D. RAINWTEINRPGR PETE1 R.D RAINASMTWEERIN PYGR1E4 PT.1E D0RR0 -A2SW0M1INE3 .GY1 P4E.1R0 A0-S2M01E3 Y. 14.100-2.20 D 313. .203 .203 2. INTERPRET 2D. IMINETNESRIOPRNEST2 A.DNIMINDET TNEORSPLIOERRNEATS N DACINMIDNEN GTOS PIOLEERNR SA ASNMNCDEIN YTG1O4 PL.E5R-2A 0AN0S9CM.INE GY1 P498E..52R5- 2A0S0M9.E98 .Y2514.5-2009. 98.25 3. ABBREVIAT3I.ONASB PBREREV AIAS3MT.IOE ANYB1SB4 PR.3EE8R8V- 2AIA0ST0MI7OE 8(N RYS21 0P418E. 3R8) .A-2S0M07E (YR12407.1338)-2. 007 (R2013.386)8. 3.868 3.868 UNLESS OTHERWISE SPECIFIED UNLESS OTHERWISE SPECIFIED UNLESS OTHERWISE SPECIFIED 7 7 6 6 6 5 5 5 4 4 4 3 D3IMENSIONS 3 ARE IN INCHES DIMENSIONCS2 AARDE I NG INECNH2EES RDAIMETNES2IDON SDC ARRAEA D INW IGNICNEHGENS E, RATE1DC DARDA WG1IENNGE,RA1TED DRAWING, TOLERANCES ARE: TOLDEROANC ENS AORET: MARENVUTIOSAILOELRDALNNOYR CH EE S UIV SN APTIRSOEDI:OTRAR YN TEM EVHAIISNITOOUNRA DYHLOLISYT O NUROPYDT A MTEANUALLY UPDATE 4. BATTERY-L4E.SS BAABTSTOERLUYT-L4EE. ESNSB CAOBTTSDEORELYRU-.LTE SESN ACBOSODLEURT.E ENCODER. DECIMALS ANGLE SDECIMALS ANG LDEESCIMALS ANGLES .XX .010 R0E3V0 ..'XX R.0E1V0 . REDVE.0SC 3.X0R'X I P T DIO.E01NS0CRIDPTEISOCN0R3IP0'TION DATE DATE DATE .XXX .005 FRACTIO.XNXSX .005 FRACTI.OXXNXS .005 FRACTIONS 5. INCREASE5D. THINERCMREAALS LE5IMD. ITIH NOECFRR M-E2A0LSC ELDI M~ TI+HT1 EO0R5FM -C2A0.L LCIM ~I T+ O10F5 -2C0. C ~ +105 C. .XXXX .0005 1/B64.XXNXEXW . 0DB00W5 GNAE./PWEPBCR DON1WN/ V6M.4EXGAXWUXL./0XS E D1 C0W.06N0G40 M51./UEC0A1NP0PD 6MR 1A41O/U101064TI1TLE TITLE TITLE 6T4EVALS A A A 05.6 1A05P.P6RD OAVTEALS 105.6D ATE DRAWN D. MEINCDKREAWN D. 4M.1E6INCDRKAWEN 4.16D. MEINCKE S4.M16 ART MSOMTOART MSOMTAORRT AMOTOR A A 6. BRAKE OP6TI.ONBR. AKE OP6T.IOBNR.AKE OPTION. 86.3 86.3 86.3 2022-03-25 2022-03-25 2022-03-25 3.40 3.40 3.40 DO NOT SCALE DRADWOI N NGOTC HSECKAEDLE DRDAOW NI OGT CSHCECAKELDE DRAWING CHECKED F F F 7. 10 24V I/O7 .CO1N0 N F F F C24EVC TI/OO7R. SC (1O40N -2 N240EVmC I/TAO A RCNSO A(4NL O-N 2GE0C)m.TOA RASN (A4 L-O 20Gm).A ANALOG). MATERIAL MATERIAL MATERIAL 69.60 69.60 69.60 ENGR ENGR ENGR C C C C 8. MULTI POR8T. CMOUMLST:I RPOS28R3.T2 ,C MROSU4ML8TS5I :P, ROUSSR2B3T, 2 C, OARSNM4.8S:5 R, US2S3B2, ,C RAS4N8.5, USB, C2A.74N0. 2.740 2.740 MFG ENGR MFG ENGR SIMZEFG ENGR CAGE CODE SIZE CAGE DCWOGD.E NOS.IZE CAGE CDOWDGE . NO. DWG. NO. FINISH FINISH SHOP ENGR FINISH SHOP ENGR SHCOP ENGR 4H61C8 4H61C8 SM41H7611686DSM17166DSM17166D SCALE CASC QA QA QA D A FLIELE : CSACDA L EF ILE: CAD FILE: 1:1 1:1 SM17166D 1:1 SSMHE1E7T1616DOF 1 SMSH1E7E1T 661DOF 1 SHEET 1 OF 1 8 8 8 7 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 1 1 1 12.685±0.00512.685±0.005 12.685±0.005 .4994±.0002 .4994±.0002 .4994±.0002 E E E 9.5 9.5 9.5 B B B Dimensions in mm [inches] E E E .38 .38 B B .38 B 72.95±0.13 72.95±0.13 72.95±0.13 2.872±.005 2.872±.005 2.872±.005 25.4 25.4 25.4 NOTES UNLESNSO OTTEHSSC EURANWLLEEIS SE=S SS1OCP:2ETAHCLEIEFR 1.00 1.00 1.00 ISWE=NCD OI1SA::ET2L ESESP =UE CN1:LI2FEIESSD :OTHERWISE SPECIFIED: SM SCALE = S1C:2ALE S=C 1A:2LE = 1:2 1. INT3ER4PR1E1T. D6RIN6ATWEDRINPTRGE TPw EDRR /ASWBMINEr1G .Ya 1PI4kNE.1RTeE0 AR0PS-2MR0EE1T 3 YD.1R4A.1W00IN-2G0 1P3E.R ASME Y14.100-2013. 2. INTERPRE2T. DIIMNTEENRSPIORENTS D AIMNEDN TSO2IO.LENRISNA ATNENRCDPINR TEGOT LPDEEIRMRA EANSCSMIIONEG NYS 1P 4AE.N5R- D2A0 ST0MO9LE.E YR1A4N.5C-2IN0G09 .PER ASME Y14.5-2009. UNLESS OTHERWISE SPECIFIEDUNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES DIMENSIONS CARAE IDN INGCHEESNERATEDC DAURNAL EGSWS EOINTHEGERW,ISAE TSPEEDCIF IED DIMENSIO S ARE IN INCHEDS RAWINGCA, D GENERATED DRAWING, 3. ABBREVIA3.TIOANBSB PRERV IASTIMOEN YS 1P4E.33R.8 A-2AS0MB0BE7R Y(ER1V24IA0.31T8I3O-)2.N0S0 7P E(R2 A0S1M3)E. Y14.38-2007 (R2013). TOLERANCES ARE: TOLERADNOCES ANREO: T MANUADLOLY N UOTPOTLDE R AMNTCAEESN AUREA: LLY UPDATE DECIMALS ANG DLESCIMALS ANGLES DO NOT MANUALLY UPDATE DECIMALS ANGLES .XX .010 0 .3X0X' .010 0 30' D 4. D BATTEDRY-4L.ESSB A TBTS8EO6R.YL4U-LT EES ES N8A6CB.4OSO4D .LE8UR6TB..EA4 E NCODER. 1.57 1.57 1.57 172.3 172.3 172.3 .XX .010 0 30' TTERY-LESS ABSOLUTE ENCODER. .XXX .005 FRACT.XIOXNX S .005 FRACTIONS 3.40 3.40 3.40 .062 .062 .062 6.78 6.78.XXXX 6.0.078 1/64 .XXX FRATICTTLIOENS TITLE 05 .XXXX .0005 APP1R/O64VALS .XXAXXP P.R005 DOAVTAELS DATE TITLE A A .0005 1/64 SAMPPRAOVRALS DATE D D D 5. INCREAS5E.D TINHCERRMEAASLE LDIM TIHT EORFM 5-A2. 0L ILNCIMC ~IRT + EO1A0FS 5E-2DC0 T.HCE ~R M+1A0L5 LICM4.XIT OF 5 -2 T04HXRCU ~ +541 XT0H5RCU 5. THRU DRAWN D. MEINCDRAKWEN D. MEINCKE DRAWN T MSOMTAORRT AMSOSETOMSRBM LAYSRSTE MAOBLY A 2022-03-28 2022-03-28 D. MEINCKE TOR ASSEMBLY A 2022-03-28 6. BRAKE O6P.TIOBNRA. KE OPTION. 6. BRAKE OPTION. .20 .20 .20 DO NOT SCALE DDROAW NINOGT SCCHEACKLEED DRAWING CHDECOKE DNOT SCALE DRAWING CHECKED MATERIAL MATERIAL MATERIAL 7. 10 24V I/7O. C1O0 N2N4VEC I/TO RCSO (N4 N- 2E7C0. mTO1A0R A2S N4(V4A -LI/ O20G ENGR ENGR mC).AO NANEACLTOOGR)S. (4 - 20m9A8 .A4N2ALO9G8.)4.2 98.42 ENGR MFG ENGR MFG ENGR SIZE CAGE CODE SIZE CAGE CODE 8. MULTI PO8.RT CMOUMLTIS P: ROSR2T3 C2,O RMS4S8:5 R, SU2S3B2,, CRAS4N8.5, USB, CAN. MFG ENGR DWG. NO. SIZE DWG. NCOA.GE CODE 8. MULTI PORT COMS: RS232, RS4853, .U8S7B5, CA3N.8. 75 3.875 FINISH FINISH SHOP ENGR SHFOINPI SEHNGR C SHOP ENG4RH6C18 4H618 SCM341646HD6ST1M83416D6WGD. NOT. SM34166DT SCALE SCCAADL E QA QA FILE: CAD FILE: S C A L E 1Q:1A 1:1 SM34166DT SM3SH4E1E6T6D1T OCFAD 1FILE:S H E E 1:1 T SM1 3O4F1661DT SHEET 1 OF 1 8 8 87 7 67 6 6 5 5 4 5 4 34 3 3 2 2 2 1 1 1 86.4 86.4 86.4 3.40 3.40 3.40 105.6 105.6 105.6 C C C 4.16 4.1C6 4.16C C 69.60 69.60 69.60 2.740 2.740 2.740 12.685±01.020.6585±102..06085±0.005 .4994±.00.409294±..04090924±.0002 B B B B B B 73±0.05 73±0.0573±0.05 8.7 8.7 8.7 Dimensions in mm [inches] 2.874±.0022.874±.20.08274±.002 .34 .34 .34 NOTE: Motor specifications are subject to changes without notice. Consult website and factory for latest data. NOTES UNLOETSESS O NUTONHLTEERSW SU OINSETL HESSEPSRE WOCITFSHIE DSRP:WEICSEIF SIEPDE:CIFIED: UNLESS OTHERWISE SUPNELCEISFSIE DOTHERWUISNEL ESSPSE COIFTHIEEDRWISE SPECIFIED 1. INTER1P.REITN DTE1RR.APWRINEITNTE GDRPR PRAEEWRT IADNSRGMA PWEE YIRN 1GA4S .P1ME0ER0 - YA2 01S1M43.1E.0 Y0 -1240.130.0-2013. DIMENSIONS ARE IN D IINMCEHNESSIONS ARDE I MINE N INCSICOAHNESSD A RGE INE NINCEHRECSAATEDD G DERNCAEAWRDAIN TEGDE,N DERRAWTEIDN GD,RAWING, TOLERANCES ARE: TOLERANCES ADRTEO:OLER A NNCOES T A R EM: DAON U NAOLLTY D M OUAP DNAUOATTE L LMYA UNPUDAALLTYE UPDATE 2. INTER2P.REITN DTE2IMR. PERINESTTEI ODRPNIMRSE ANT NDSIDOIM TNEOSN LASEINROADNN STC OAILNEGDR A TPONECRLE IANRSAGMN PECE YIRN1 GA4.S 5PM-E2ER0 0YA91S.4M.5E-2 Y01049..5-2009. DECIMALS D E C IAMNAGLSL E S D E C I M A L SA N G L E S ANGLES .XX .010 .XX 0 3.001'0 .XX .001030' 0 30' 3. ABBR3E.VIATBIOB3R.NESVA PIBAEBTRRIO EAVNSIMSA PTEIE OYR1N A4S.S 3PM8E-ER2 0YA01S74M .(3RE82 -Y02110430.)73. 8(-R22000173 ()R. 2013). .XXX .005 .XXFRXA C T.I0O0N5S.XXX F RA.0C05TIONS FRACTIONS TITLE TITLE TITLE .XXXX .0005 .XXXX 1 /6.04005.XXXX .010/06A54PPROV1A/6L4S APPROVAALDSPAPTREOVALS DATE DATE A A A 4. BATTE4R.Y-BLAEST4ST.E ARBYAS-LOTETLSEUSR TYAE- BLESENOSCSL OUATBDESE OERNL. UCTOE DENERC.ODER. DRAWN D. MDREAWINN CKDED.R AMWNEINCDK. EMEINCKE SMARSTMOASRTMOTMRAO RATSMOSEORM TAOBSLSRYE AMSBSLEYAMBLYA A 2022-02-01 2022-02-012022-02-01 5. INCR5EA. SIENDC 5TR.HEEAIRNSMCEDAR ELT AHLISEMERDIMT OTAHLFE L-R2IM0IATC LO ~LFI M +-21IT0 O5CFC ~-.2 +010C5 ~C +.105 C. DO NOT SCADLOE NDORAT W SDICNOAG LNECO HDETC R KSAECDWAILNEG DCRHAE WING C. STECKVEDENSCCH.E CS2KT0EDE22V-E0C2N-.0S 2STE2V02E2N-0S2-022022-02-02 MATERIAL MATERIAL MATERIAL 6. BRAK6E. OBPRTIAO6K.NE. BORPATKIOE NO.PTION. ENGR B. HENUGRGHESBEN. GHR2U02G2-H0B2E-.S0 H2 UG20H22E-S02-022022-02-02 7. 10 247V. I/1O0 C274.OVN1 IN/0O E2C 4CVTO I/NROSN (CE4CO -T NO20NRmESC A(4T AO - NR2A0S mL(O4A -G A2)0N. mAALO AGN)A. LOG). MFG ENGR A. MFFOG EWNGRLERAMF.G FE2NO0G2RW2-0LA2E-.R0 9FOS2IWZE02L2E-0R2-0C9A2G0ES2 ICZ2EO-D0E2-09 CSAIZGE E CODE CADGWEG C. O NDOE. DWG. NO. DWG. NO. FINISH FINISH FINISH 8. MULT8I .POMRUT 8LCT. IO PMOUSRL:T TR IC SP2O3M2R,TS R:C SRO4S82M53,S2 :U, RSBSS2,4 3C825A,, NRUS.S4B8, 5C, AUSNB., CAN. SHOP ENGR SHOP ENGR SHOP ENGR C 4CH618C4H6184H6S1M8 3416SM6D3T4-S1BM6R6K3D4T1-6B6RDKT-BRK SCALE SCALE CAD FSICLEA: LE QA QA Q C A D FILE: C A D F ILE: K. VERNALLK. VA E2R0N22AK-0.L2 LV-1E1RN20A2L2L-02-1:112022-02-111:1 SM314:166DTS-MBR3K4166SDMT3-BS4HR1EK6E6T D1T-BORFKSHE1ET 1 SOHEFET 1 1 OF 1 Item ID: SM34I1t6e6mD ITD-:B SRMKIt38 eR4m1e 6vI6iDsDi:o TSnM-:B B3R 4NK1a86 Rm6eDev:T iSs-iMBonRA:K RB8 TR NMeavmOisTeio:O nSR:M B A NSRSaTmEMe:O BSTLMOYAR (R SATISZMSEOE 3MT47O)B -RL S YAM S(ASIREZMTE BM3L47O)Y T- O(SSMRIZAER 3T47 )M - OSMTOARRT MOTOR 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 Released Dat1e: R1e5l-eFaesbe-d2 D02aR2t1 e1:l e31a:5s-e4Fde Db-a2t10e2: 21 51-3F:e5b4-2022 13:54

SPECIFICATIONS PERFORMANCE TORQUE POWER CURVES AND TECHNICAL DATA SM23166D at 24 V at Rise to 105° C SM23166D at 48 V at Rise to 105° C 0.64 (90) 90 0.64 (90) 270 Peak Torque Peak Power Peak Torque 0.56 (80) 80 0.56 (80) 240 Peak Power 0.49 (70) 70 0.49 (70) 210 0.42 (60) 60 0.42 (60) 180 0.35 (50) 50 Continuous Torque 0.35 (50) 150 Continuous Torque 0.28 (40) 40 0.28 (40) 120 0.21 (30) 30 0.21 (30) 90 Continuous Power Continuous Power 0.14 (20) 20 0.14 (20) 60 0.07 (10) 10 0.07 (10) 30 0.00 (0) 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 0.00 (0) 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 RPM RPM SM23166DT at 24 V at Rise to 105° C SM23166DT at 48 V at Rise to 105° C 1.13 (160) 240 1.13 (160) 240 Peak Torque Peak Torque 0.99 (140) 210 0.99 (140) 210 0.85 (120) 180 0.85 (120) 180 Peak Power 0.71 (100) 150 0.71 (100) 150 Continuous Torque Continuous Torque Continuous Power 0.56 (80) 120 0.56 (80) 120 Continuous Power 0.42 (60) Peak Power 90 0.42 (60) 90 0.28 (40) 60 0.28 (40) 60 0.14 (20) 30 0.14 (20) 30 0.00 (0) 0 0.00 (0) 0 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 RPM RPM SM23376DT at 24 V at rise to 105° C SM23376DT at 48 V at rise to 105° C 1.69 (240) 300 1.69 (240) 300 Peak Torque 1.48 (210) 1.48 (210) Peak Torque 250 Peak Power 250 1.27 (180) 1.27 (180) 200 200 1.06 (150) 1.06 (150) 0.85 (120) 150 0.85 (120) 150 Continuous Torque 0.64 (90) Continuous Torque 0.64 (90) 100 100 Continuous Power 0.42 (60) Peak Power 0.42 (60) 50 50 0.21 (30) Continuous Power 0.21 (30) 0.00 (0) 0 0.00 (0) 0 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 RPM RPM SM23266DT at 24 V at Rise to 105° C SM23266DT at 48 V at Rise to 105° C 200 350 200 350 180 Peak Torque Peak Torque 300 175 Peak Power 300 160 150 140 250 250 Continuous Power 120 SM23266DT 125 SM23266DT 200 200 Continuous Torque at 24V at 48V 100 at rise to 105°C 100 Continuous Torque at rise to 105°C 80 Peak Power 150 150 75 60 100 100 50 40 Continuous Power 50 25 50 20 0 0 0 0 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 RPM RPM All torque curves based on 25° C ambient. For ambient temperatures above 25° C, continuous torque must be linearly derated to 0% at 100° C. Operating temperature range: from -20 to 100° C. Storage temperature range: from -20 to 105° C. Relative humidity: < 85%, noncondensing. Motors were operated using MDE (Enhanced Trapezoidal Drive Mode) commutation. Torque Nm (oz-in) Torque oz-in (Nm) Torque Nm (oz-in) Torque Nm (oz-in) Power (W) Power (W) Power (W) Power (W) Torque oz-in (Nm) Torque Nm (oz-in) Torque Nm (oz-in) Torque Nm (oz-in) Power (W) Power (W) Power (W) Power (W)

OPTIONS 8 7 6 5 4 3 2 1 REVISION HISTORY REV. DESCRIPTION DATE B NEW DWG./ECN MU012817 8 7 6 5 4 3 2 1 REV. Options REVISION HISTORY DESCRIPTION DATE Available F F B N EIWn dDuWsGt./rEiCaNl MEUt0h1e28r1n7 e t 2 Ethernet connections on back of the motor F EtFherNet/IP™ Fieldbus protocols PROFINET® EtherCAT® Brake Inline DMX protocol E Dual power (abilityE to power controller and drive separately) Standard on all models CANopen per CIA4.02 E CoE mbitronic™ communications over CANopen or EtherNet/IP™ 22.2 CAN over D-Sub 7W2 (CDS7) .87 22.2 .87 ETHERNET OPTION 1.60 For a81ll.4 m otors with Ethernet connectors, add the dimensions of the following module on the back, to the overall mechanical dimensions: D 1.60 .063 81.4 3.21 D 57.2 .063 3.21 D 23 2 .5275 D .2 23 .90 Dimensions in mm [inches] 2.25 4X 5.2 THRU .90 4X 5.2.21 THRU .21 66.67 626..66275 2.625 77.5 58.6 58.6 77.5 57.1 5 7.1 2.31 2.31 3.05 3.05 C C 2.25 2.25 474.71.414 C C 1.18.58656 6.342±0.030 .2497±6..0304122±0.030 .2497±.0012 6.4 38.05±0.03 41.9 B .25 6.4 B 318..40958±±0.0.0013 .25 1.65 41.9 B B 1.498±.001 CONNECTORS 1.65 HD26-Pin D-Sub I/O 7-Pin Combo D-Sub Power and I/O NOTES UNLESS OTHERWISE SPECIFIED: 1. INTERPRET DRAWING PER ASME Y14.100-2013. UNLESS OTHERWISE SPECIFIED NOTES U DIMENSIONS ARE IN INCHES 2N. LIENSTSE ROPTRHEET RDWIMISENE SSIPOENCS IAFINEDD :TOLERANCING PER ASME Y14.5-2009. CAD GENERATED DRAWING, TOLERANCES ARE: DO NOT MANUALLY UPDATE 1. INTERPRET DRAWIN DECIMALS ANGLES 3. ABBREVIATIONS GPE RP EARS MAES MY1E4 .Y3184-2.01070 -(2R0201133.). .XX .010 0 30' .XXX .005 FRACTIONUNSLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES TITLE A 2. IN4T. ER10P R2E4TV DI/IOM CENOSNIONENCST OANRSD ( 4T O- 2L0EmRAN ACNIANLGO GP)E.R ASME Y14.5-2009. .XXXX .0005 1/64 APPROVALS CADD AGTEENERATED DRAWING, TOLERANCES ARE: DO NOT MANUALLY UPDATE DECIMALDSR A W N ANGLES SMART MOTOR ASSEMBLY A 3. A5B.BRMEUVLITAIPTOIORNT SC OPEMRS A: RSSM23E2 Y, R1S44.3885,- 2U0S0B7, C (RA2N0.13). .XX .010 D. ME DO NOT SCALE DRAWING 0 30I'NCKE 2022-04-05 .XXX C.0H0E5CKED FRACTIONS A 4. 160. 24EVTH IE/RON ECTO: ENTHNEERCCTAOT®R,S E (T4H E- R2N0EmT/AIP ®A,N PAROLOFINET®. MATERIAL TITLE G). .XXXX .0 1/64 APPROVALS DATE EN0G0R5 7. ETHERNET DUAL PORT. DRAWN D. MEINCKE SMART MOTOR ASSEMBLY A 5. MULTIPORT COMS: RS232, RS485, USB, CAN. MFG ENGR SIZE CAGE2 C0O2D2E -04-05 DWG. NO. FINISH DO NOT SCALE DRAWING SHOP ENGR CHECKED Pin Description Pin C De4sHc6r1i8ption SM23166DT-EEC 6. ETHERNET: ETHERCAT®, ETHERNET/IP®, PROFINET®. MATERIAL Pin Description ENGR SCALE QA CAD FILE: 1:1 SM23166DT-EEC SHEET 1 OF 1 7. ETHERNE8T DUAL PORT. 7 6 5 1 4 IN0 GP, Discrete or A3nalog 1M4FG ENGR 2Encoder ASIZ-E InpCuAGtE CODE 1 DWG. NO. A1 I+20 to +48 VDC FINISH SHOP ENGR C 4H618 SM23166DT-EEC 2 IN1 GP, Discrete or Analog 1Q5A Encoder BSC+AL EI nput A2 Common Ground CAD FILE: 1:1 SM23166DT-EEC SHEET 1 OF 1 8 7 6 5 4 (Req’d. POWER Ground) 3 IN2 Positive Limit or GP 3 16 Encoder B- In2 put 1 1 CAN Low (Also on HD26) 4 IN3 Negative Limit or GP 17 CAN High (Also on 7W2) 2 CAN High (Also on HD26) 5 In/Out4 GP 18 CAN Low (Also on 7W2) 3 RS-232 Transmit (COM CH 0) 6 In/Out5 GP 19 RS-485 B (COM CH 1) 4 RS-232 Receive (COM CH 0) 7 IN6, G CMD, Home In 20 RS-485 A (COM CH 1) Trajectory PWR / Servo 5 Common Ground 8 IN7, Drive Enable Input 21 4-20 mA Send LED LED (Typ. SIG Ground) 9 In/Out8, GP or Brake Out 22 4-20 mA Return Optional Dual-Port 10 In/Out9, GP or Not Fault Out 23 USB 5 V Bus Industrial Ethernet 11 +24 VDC Control Power 24 USB D+ 12 Ground (Common) 25 USB D- 13 Encoder A+ Input 26 Ground (Common)

ACCESSORIES POWER CABLES AND ADAPTER Power and Communication Cable (Flying Leads) for Main 7W2 Connector on the SmartMotor™ CBLPWRCOM3 series provides power along with RS-232 and CAN Bus communications in one convenient cable to simplify installation. It consists of a 7W2 main motor connector with RS-232 and CAN communications separately shielded from power, and a full shield over the entire length terminating at a metal jacket inside the over-molded connector. Part Number Length CBLPWRCOM3-3M 3 meters CBLPWRCOM3-5M 5 meters CBLPWRCOM3-10M 10 meters 16.8 P1 14.5 LENGTH 48.7 A1 1 3 4 RoHS 2 5 A2 MINIMUM BENDING RADIUS = 200 4-40 x 1/8 INCH THREADED, KNURLED, SLOT HEAD THUMBSCREWS FigurFeIG 1UR:E P 1:i nPIoNOuUtT aAnNdD COoLOloRr C COoDEde FLYING LEADS P1 (SEE FIGURE 1) 7W2 Female D-sub FLYING LEADS COLORs AWG PIN (SHIELD3) 20AWG 1 WHITE 20AWG 2 RED 26AWG 3 BLUE 26AWG 4 YELLOW 26AWG 5 BLACK DimDeinmsio (SHIELD1) ennsiso inns min mm 12AWG A1 RED 12AWG A2 BLACK (SHIELD2) SHIELD2 CONNECTION TO METALLIC HOOD, IN 360 deg AROUND CABLE METALLIC HOOD OPENING OF THE METALLIC HOOD. (IN CONTACT WITH CONNECTOR)

ACCESSORIES POWER CABLES AND ADAPTER CBLSMCDS-xM (Moog Animatics CDS7 “Add-A-Motor™” Cable) Power, RS-232 and CAN Bus Communications Daisy Chain Cable for Single-Cable Connections Between Multiple Moog Animatics SmartMotor™ Servos CBLSMCDS series is the "Add-A-Motor" -style power and communications cable for a CDS7-equipped SmartMotor. It consists of a pass-thru 7W2 main motor connector split out to a single second motor 7W2 connector. This single cable is capable of carrying power, RS-232 and CAN Bus communications from motor to motor using only the 7W2 connector. The CBLSMCDS cable is designed to allow ease of connection to multiple motors in a single daisy-chain network. The main power ground wire is a larger gauge to decrease noise emissions at the ground-plane level. All communications lines are internally shielded from the power lines. Part Number Length The two end nodes of the CAN Bus network must be terminated with a 120 ohm terminator CBLSMCDS-0.3 0.3 meters (shunt) for proper biasing. If an end node is a SmartMotor, a pass-thru terminator is available (PN: CBLSM-TR120) that attaches directly to the motor's 15-pin D-sub connector to serve as CBLSMCDS-0.9 0.9 meters the terminator. CBLSMCDS-3.0 3 meters CBLSMCDS-7.5 7.5 meters 0.590 Figure 1 4 3/16” HEX SCREW 0.827 ±0.01 4 CON3 CON1 4-40 UNC HEX (2x) 4-40 UNC HEX (2x) A1 A1 0.590 1.917 ±0.02 3 1 1 3 5 2 2 5 CON2 A2 A2 2.283 ±0.02 A2 5 2 1.635 3 1 A1 L + T 4-40 UNC HEX (2x) Dimensions in mm [inches] Figure 2 CON 3 Connector Pinouts A1 A2 5 4 3 2 1 CON 3 AWG - CON 1 AWG - CON 2 Description CON 2 Pin Color / Stripe Pin Color / Stripe Pin A1 RED 12 AWG 1 20 - Any 1 20 - Blue/White 1 CAN Bus Low A2 BLACK 12 AWG 2 20 - Any 2 20 - White 2 CAN Bus High 3 NC 26 - Blue 3 RS-232 TX 5 BLACK 26 AWG 3 BLUE 26 AWG NC 3 26 - Yellow 4 RS-232 Crossover 4 YELLOW 26 AWG 4 26 - Any 4 NC RS-232 RX 5 26 - Any 5 26 - Black 5 Signal Return 2 WHITE 20 AWG 1 BLUE/WHITE 20 AWG A1 12 - Any A1 *12 - Red A1 Power A2 12 - Any A2 *12 - Black A2 Ground *CON 2 PIN A1 and A2 wires spliced to wires between CON 1 and 3. A1 A2 5 4 3 2 1 Terminate 20/26 AWG shield drain wires to CON 1 and CON 2 as shown in Figure 2. CON 1 ! CAUTION: When using these cables with the larger 34 frame motors, please consult the factory for power limitations.

ACCESSORIES DONGLE & CABLE PROVIDED UNASSEMBLED 2X 4-40 UNC LENGTH: XXXXX (MILLIMETERS) I/O ADAPTER HD26 Cable Connector (PN: CBLHD26-ASM) Part CBLHD26-ASM is available so th 8 7 6 5 4 THIS TEaCHtNI CuALs DAeTAr/DsRA WcINGa/DnOC cUMoENTn COsNtTArINSu INcFOtRM AtTIhONe THiArT IS oPROwPRIEnTA RiY nTOt, AeNDr IS fTHaE EcXPReESS cabTHISl DeO CfUMoENrT C tONhTAeINS TCECHlNaOLsOGsY S6UBJE CDT TO- sTHEt Uy.S. ElXePO RST ADmMINaISTRrAtTIOMN otor. The connector PROPERTY OF MOOG INC. EXCEPT AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW AND IS RESTRICTED REGULATIONS (EAR) AND MAY NOT BE EXPORTED OR TRANSFERRED TO ANY UNLICENSED (with customer-supplied cable) attaTcO UhSE eBY sON LtY MoO OtGBY CONTRACT OR BY OPh EMePLO HYEESD AN2D O6THE RD PER-SOsNSu AUbTH OcRIZoED nIN WnReITINcG BtY oMOrO Go ORn AS tEXhPREeSSL Ym GRAoNTtEDo PrERSON, COUNTRY, OR COMPANY, BY ANY MEANS, OR FOR END-USES REQUIRING A ERATION OF LAW. NO PORTION OF THIS DATA/DRAWING/DOCUMENT SHALL BE REPRODUCED OR LIC.EN TSE, hWITeHO UfiT PRgIORu WrRITeTEN aAPPnROdVA Lt FRaOMb THlEe U.S .s DEhPAoRTMwENT OtFh COeMM PERCCE, B connection points DISCLOSED OR COPIED OR FURNISHED IN WHOLE OR IN PART TO OTHERS OR USED BY OTHERS FOR ANY PURPOSE BUREAU OF INDUSTRY AND SECURITY (BIS). DIVERSION CONTRARY TO U.S. LAW IS for the customer-supplied cable. A MWHAiTScOErVoER E XUCEPST ABS SP EpCIFIoCArLLYt A UpTHOrRoIZEDv INi dWRIeTINsG B Ya AN c AUoTHOn1RIvZEDe SIGnNAiTeORnY OtF MaOOcGc INCe. 2ss poPROiHnIBItTED f. or programming from SMI. SHIELDING: ALUMINIZED PIN 1 PIN 9 .574 POLYESTER & DRAIN WIRE F A PIN 10 PIN 18 DONGLE & CABLE PROVIDED UNASSEMBLED A PIN 19 PIN 26 MALE 26 PIN D-SUB NUMBERING 2X 4-40 UNC MICRO USB PN: CBLHD26-ASM CIRCUIT CONNECTIONS SHOWN IN TABLE Part Number LengthE CBLHD26-ASM Connector w/ PCB USB A Male to Micro USB (Customer supplied) CIRCUIT BOARD VIEW (see enlarged views below) Connector Pinouts 1 2 HD26 Pin D Description PCB Label PRINe 1commended No Wire AWG PIN 9 PN: CBLHD26-ASM - SHIELD PIS A N H10 - PIN 18 1 GPI 0 I0 26 2 GPI 1 I1 26 A 3 GPI 2 PINI 219 26 PIN 26 4 GPI 3 I3 M2A6LE 26 PIN D-SUB MINIATURE NOTES UNLESS OTHERWISE SPECIFIED: 5 GPIO4 C IO4 26 1. INTERPRET DRAWING PER ASME Y 14.100-2013. 2. INTERPRET DIMENSIONS AND TOLERANCING PER ASME Y14.5- 6 GPIO5 IO5 26 2009. 7 COI6NNECTOR PINOUT CABLE GPI 6 26P.C.B. SILKSCREEN 5 3. ABBREVIATIONS PER ASME Y14.38-2007 (R2013). (OPTIONAL) LABEL 4. OPTIONAL CABLE: PIN # FUNCTION WIRE AWG WIRE COLOR TWISTED PAIRS • MINIMUM BEND RADIUS: 5.74" (10X CABLE Ø) 8 GPI 7 -I7 SHIELD 26 SH - - - • SHIELDING: 1 GPI 0 I0 BLACK • OVERALL SPIRAL WRAP WITH ALUMINIZED 9 GPIO 8 2O8 GPI 1 26 I1 BROWN POLYESTER TAPE. 3 GPI 2 I2 RED • DRAIN WIRE: .5 mm2 STRANDED TINNED COPPER 10 GPIO 9 4O9 GPI 3 26 I3 ORANGE 5 GPIO 4 IO4 YELLOW Cover remov5ed CtoO LsOhR oSCwH EiME IS DETERMINED BY CUSTOMER FOR THE 11 24 V 264 V GPIO 5 18 IO5 26 GREEN COLORS PROVnItDeEDr.n CaAlN P SCIGBNALS AND CONTROL POWER B 7 GPI 6 I6 BLUE MUST USE THE 18 AWG WIRE PAIRS. 12 GND R8 TN GPI 7 18 I7 VIOLET 6 DONGLE OPTION (NO CABLE) PROVIDED AS CBLHD26-ASM. 9 GPO 8 O8 GREY 13 USR ENC A+ 10A+ GPO 9 26 O9 WHITE 11 24V 24V 18 RED 14 USR ENC A- 12A- GND12 26 RTN 18 BLACK 13 USR ENC A+ A+ RED/WHITE 15 USR ENC B+ 14B+ USR ENC A- 26 A- 26 BLACK/WHITE 15 USR ENC B+ B+ RED/YELLOW 16 USR ENC B- 16B- USR ENC B- 26 B- BLACK/YELLOW 17 CAN P C_P 18 WHITE 17 CAN High 1C8 _P CAN N 18 C_N 18 BLUE 19 RS485 B RS485B RED/GREY 18 CAN Low A 2C0_N RS485 A 18 RS485A BLACK/GREY 21 SEND 4-20mA 4-20 S 26 BLUE/WHITE 19 RS485 B RS242 85 BRETURN 4-20mA26 4-20 R GREEN/WHITE 20 2 RS485 A RS243 85 A USB VBUS - - - - 4 USB D P 26 - - - - 21 4 2-5 20 S USB D N - - - - SEND 4-20 mA 26 NEXT ASSY USED ON 26 GND26 - - - - APPLICATION 8 7 6 5 4 22 RETURN 4-20 mA 4 - 20 R 26 23 USB VBUS - - 24 USB D + - - 25 USB D - - - 26 GND - - NOTES: Screw connections are provided for most commonly used signals. Extra power connection points are provided for +24 V and RTN through screw terminals and solder pads; these are for use with local sensors and travel limits. Recommended wire gauge sizes for all screw terminal connections: • 18 gauge for Control power (+24 V and RTN) Shield drain wire connections should be terminated only on one end of any shielded cable • 18 gauge twisted pair shielded for CAN High and CAN Low (CAN-P and CAN-N) used. • 26 gauge for any I/O, not to exceed 200 mA for any single channel output The shield connection to this board terminates to the HD26 connector shell only. When Recommended wire gauge sizes for solder pad connections: plugged into the motor, the connector shell will connect to the motor chassis only; it is not • 26 gauge twisted pair shielded for RS-485 (RS-485A and RS-485B) (and should never be) connected to either the drive or control power return lines. • 26 gauge twisted pair shielded for each A and B encoder input (A+ / A-, B+ / B-) • 26 gauge pair for 4-20 mA Analog input A USB connection is only allowed through the included Micro USB port; there is no other external access on this adapter. The USB port is used to program from SMI; it is not While it is expected that users will develop their own interface cables based on recommended for running the motor. application needs, Moog can supply cable wire at specified lengths. Please contact the factory for more information. B

PART NUMBERING GUIDELINES ORDERING CODE SM 23 16 6 D - BRK - EXX - XX SmartMotor™ Option Option Standard Round shaft BRK Inline brake -F1* 1 flat on shaft NEMA Frame Size -F2* 2 flats on shaft 17 -K* Keyway 23 *Consult factory for availability 34 Fieldbus Option Motor Size EIP EtherNet / IP 17 frame size 16 Connector Style EEC EtherCAT 23 frame size 16 D D-sub (SM17 only) EPN PROFINET 26 DT D-sub high torque 37 34 frame size 16 DT option is for high strength roto magnets and only applies to: 26 SM2316---, SM2326--- SM3416---, SM3426--- Class 6 For product information, visit www.animatics.com For more information or the office nearest you, contact us online, animatics_sales@moog.com Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. ©2022 Moog Inc. All rights reserved. All changes are reserved. Moog Animatics Class 6 D-Style SmartMotor™ Technical Data Sheet MCM/Rev. E, April 2022, Id. CDL65512-en www.animatics.com