SM23165D

NEMA 23 size SmartMotor™
Integrated motor, controller, amplifier, encoder and communications bus

Spec

SM23165D
Continuous Torque	2.50	in-lb
	40	oz-in
	0.28	N-m
Peak Torque	4.00	in-lb
	64	oz-in
	0.45	N-m
Nominal Continuous Power	181	Watt
No Load Speed	10,400	RPM
Continuous Current @ Nominal Power	5.0	Amps
Voltage Constance	4.45	V/kRPM
Winding Resistance	1.0	ohms
Encoder Resolution	4,000	Counts/Rev
Rotor Inertia	0.00099	oz-in-sec²
Rotor Inertia	0.699	10^-5 Kg-m²
Weight	1.0	lb
Weight	0.45	kg
Shaft Diameter	0.250	in
Shaft Diameter	6.35	mm
Shaft, Radial Load	7	lb
Shaft, Radial Load	3.18	kg
Shaft, Axial Thrust Load	3	lb
Shaft, Axial Thrust Load	1.36	kg
Available
Available	Yes
Available	Yes
Available	Yes

Pinouts

SmartMotor™ Connector Pinouts

PIN	MAIN POWER	Specifications:	Notes	Diagram
1	I/O – 6 GP or “G” command	25mAmp Sink or Source 10Bit 0-5VDC A/D	Redundant connection on I/O connector	7W2 Combo D-sub Connector
2	+5VDC out	50mAmps Max (total)
3	RS-232 Transmit	Channel(0)	115.2KBaud Max
4	RS-232 Receive	Channel(0)	115.2KBaud Max
5	SIG Ground
A1	Main Power: +20-48VDC
A2	Ground
PIN	5V I/O CONNECTOR	Specifications	Notes	Diagram
1	I/O – 0 GP or Enc. A or Step Input	25mAmp Sink or Source 10Bit 0-5VDC A/D	1.5MHz max as Enc or Step input	DB-15 D-sub Connector
2	I/O – 1 GP or Enc. B or Dir. Input	25mAmp Sink or Source 10Bit 0-5VDC A/D	1.5MHz max as Enc or Dir. Input
3	I/O – 2 Positive Over Travel or GP	25mAmp Sink or Source 10Bit 0-5VDC A/D
4	I/O – 3 Negative Over Travel or GP	25mAmp Sink or Source 10Bit 0-5VDC A/D
5	I/O – 4 GP or RS-485 A Channel(1)	25mAmp Sink or Source 10Bit 0-5VDC A/D	115.2KBaud Max
6	I/O – 5 GP or RS-485 B Channel(1)	25mAmp Sink or Source 10Bit 0-5VDC A/D	115.2KBaud Max
7	I/O – 6 GP or “G” command	25mAmp Sink or Source 10Bit 0-5VDC A/D	Redundant connection on Main Power Connector
8	Phase A Encoder Output
9	Phase B Encoder Output
10	RS-232 Transmit	Channel(0)	115.2KBaud Max
11	RS-232 Receive	Channel(0)	115.2KBaud Max
12	+5VDC Out	50mAmps Max (total)
13	SIG Ground
14	Ground
15	Main Power: +20-48VDC	if -DE Option, Control Power separate from Main Power
PIN	Isolated 24VDC I/O Connector	Max Load (sourcing)	Notes	Diagram
1	IO – 16 GP	150mAmps		M12 12-PIN FEMALE END VIEW
2	IO – 17 GP	150mAmps
3	IO – 18 GP	150mAmps
4	IO – 19 GP	150mAmps
5	IO – 20 GP	300mAmps
6	IO – 21 GP	300mAmps
7	IO – 22 GP	300mAmps
8	IO – 23 GP	300mAmps
9	IO – 24 GP	300mAmps
10	IO – 25 GP	300mAmps
11	+24Volts Input	18-32VDC
12	GND-I/O
PIN	CAN bus	Connection:		Diagram
1	NC	NC		M12 5-PIN FEMALE END VIEW
2	NC	NC
3	GND_CAN	Isolated CAN ground
4	CAN-H	1M Baud max
5	CAN-L	1M Baud max

Drawing

Click on the image to download a pdf file that has specs, drawings, and torque curves for SM23165D

Torque Curve

Click on the image to download a pdf file that has specs, drawings, and torque curves for SM23165D

All Torque curves based on 25°C ambient. Motors were operated in Trap-Commutation Mode. Please consult factory for Sine-CommutationTorque Curves.

Brake

Animatics offers all SmartMotor™ with an optional brake with the following features:

Fail Safe

Internally Powered

Zero backlash

By default, the brake engages upon any fault condition or drive-off state.
Can automatically disengage while moving and re-engage once stopped.

Automatic firmware control:

Safely holds vertical loads if there is a loss of power.
Holds loads from shifting on mobile or moving base machine designs.
Holds position upon power down so there is no loss in position.
Prevents operators from moving loads or equipment while SmartMotor is shutdown.
Prevent back drive of any load while the motor is in a fault state of OFF position.

Reasons to use a brake:

The brake will add length to the motor. Ensure there is adequate axial space for the added length.
The brake must have power applied to allow motion, this does add some heat. It may be necessary to operate the brake only under trajectory as described above.
If the brake is set to automatically disengage during moves, it will add an audible click at the beginning and end of each move.

Considerations when using a brake:

Warning

If manual over-ride commands are used to engage the brake, it must be disengaged prior to other moves to avoid damage.
Excessive back driving of an engaged brake can cause dust build-up resulting in encoder disk contamination and/or permanent damage to the brake disk itself.
Heavy axial loading can cause improper brake operation. Excessive axial load inward may disengage the brake. Excessive axial load outward may jam the brake.

Connection


Enclosed - Connectorize
RS-232 Communications using USB Adapter	RS-232 Communications with Power Supply and Protective Shunt
Isolated RS-485 Communications	Demonstration and Development Configurations

Single to Multi-Axis
RS-232 Multidrop using Add-A-Motor Cable	RS-232 Multidrop using Custom Order Cable
RS-485 Isolated Communication using Custom Order Cable	CANbus Multidrop using CANbus Y cables

Flying Leads
Isolated RS-232 Communications for up to 8 SmartMotors	Interfacing with 24V I/O Devices 1
Interfacing with 24V I/O Devices 2	Standard Motor Cables with Breakout Board

Video Tutorials

Download Related Files

	AutoCAD	SolidWorks	IGES	CAD Drawing	Spec
SM23165D & SM23165DT	SM23165D/DT - w/ 24V I/O - w/ Brake - w/ CANopen - w/ CANopen & 24V I/O - w/ PROFIBUS	SM23165D/DT - w/ 24V I/O - w/ Brake - w/ CANopen - w/ CANopen & 24V I/O - w/ PROFIBUS	SM23165D/DT - w/ 24V I/O - w/ Brake - w/ CANopen - w/ CANopen & 24V I/O - w/ PROFIBUS	SM23165D/DT - w/ 24V I/O - w/ Brake - w/ CANopen - w/ CANopen & 24V I/O - w/ PROFIBUS	SM23165D SM23165DT
Click here to go to SmartMotor™ Download Center