SmartMotor Servo Motor

SmartMotor™ is a highly programmable, integrated servo motor system that is integrated with a motor, an encoder, an amplifier, a controller, RS232/RS485 communication, and IOs.

SmartMotor now features optional combitronic technology. To learn more what you can do with combitronic, please click here.

SmartMotor at a Glance

Multi-axis networking just got simpler.

SmartMotor now supports both D-style and M-style connectors.

D-style connectors

  • All D-style SmartMotors have a primary RS232 comm port
  • All D-style SmartMotors have 7 channels 5V TTL NON-ISOL I/O
  • Optional 10 channels expanded 24VDC ISOL I/O
  • Dedicated Encoder out

M-style connectors

  • All M-style SmartMotors have a primary RS485 comm port
  • All M-style SmartMotors have 11 channels general purpose 24V ISOL I/O
  • Dedicated DRV-ENBL In and NOT-FAULT Out
  • Dedicated Encoder bus
To sort by column, click on its header.  ( ▾▴ )
Model Number NEMA Frame Size Connector Type Continuous
Torque
(oz-in)
Peak
Torque
(oz-in)
Nominal
Continuous
Power
(watts)
No Load
Speed
(RPM)
Fieldbus
Options
Availability
sm17205d-th SM17205D NEMA 17 D-Style 33 61 145 Watts 7,900 DeviceNet is available for this motorCANopen is available for this motor
sm23165d-th SM23165D NEMA 23 D-Style 40 64 181 Watts 10,400 DeviceNet is available for this motorProfibus is available for this motorCANopen is available for this motor
sm23165d-th SM23165DT NEMA 23 D-Style 74 118 204 Watts 5,200 DeviceNet is available for this motorProfibus is available for this motorCANopen is available for this motor
sm23165mt SM23165MT-IP
NEMA 23 M-Style 67 124 194 Watts 5,000 DeviceNet is available for this motorCANopen is available for this motor
sm23305d-th SM23205D NEMA 23 D-Style 47 80 226 Watts 8,100 DeviceNet is available for this motorCANopen is available for this motor
sm23305d-th SM23305D NEMA 23 D-Style 64 110 220 Watts 5,600 DeviceNet is available for this motorCANopen is available for this motor
sm23305d-th SM23405D NEMA 23 D-Style 78 129 253 Watts 5,300 DeviceNet is available for this motorCANopen is available for this motor
sm23375d-th SM23375D NEMA 23 D-Style 46 80 191 Watts 8,000 DeviceNet is available for this motorCANopen is available for this motor
sm23375d-th SM23375DT NEMA 23 D-Style 83 157 186 Watts 4,000 DeviceNet is available for this motorCANopen is available for this motor
sm34165d-th SM34165D NEMA 34 D-Style 155 226 235 Watts 3,100 DeviceNet is available for this motorProfibus is available for this motorCANopen is available for this motor
sm34165d-th SM34165DT NEMA 34 D-Style 205 480 615 Watts 5,100 DeviceNet is available for this motorProfibus is available for this motorCANopen is available for this motor
sm34165mt-th SM34165MT-IP
NEMA 34 M-Style 201 345 448 Watts 5,100 DeviceNet is available for this motorCANopen is available for this motor
sm34205d-th SM34205D NEMA 34 D-Style 126 399 324 Watts 4,500 DeviceNet is available for this motorCANopen is available for this motor
sm34205d-th SM34305D NEMA 34 D-Style 174 556 400 Watts 4,100 DeviceNet is available for this motorCANopen is available for this motor
sm34505d-th SM34405D NEMA 34 D-Style 207 646 438 Watts 3,800 DeviceNet is available for this motorCANopen is available for this motor
sm34505d-th SM34505D NEMA 34 D-Style 261 771 527 Watts 3,300 DeviceNet is available for this motorCANopen is available for this motor
NEMA Frame Size Connector Type Continuous
Torque
(oz-in)
Peak
Torque
(oz-in)
Nominal
Continuous
Power
(watts)
No Load
Speed
(RPM)
Fieldbus
Options
Availability

Photo shots

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Case Studies

Case studies SmartMotor
Case StudiesRelated IndustryRelated Application
Case Studies using Animatics SmartMotor - Automotive Modular Machine ControlAutomotive Modular Machine ControlAutomotiveParts Inspection and Repositioning
Case Studies using Animatics SmartMotor - Ultrasound TestingUltrasound
Testing
MedicalUltrasound Testing
Case Studies using Animatics SmartMotor - CNC TrainingCNC Training Tool for Brazilian Higher EducationEducationCNC Training
Case Studies using Animatics SmartMotor - Input/Output Stacker, Wafer HandlingSemiconductor Heat Chamber AutomationSemiconductorInput/Output Stacker, Wafer Handling
Case Studies using Animatics SmartMotor - Flexible Tooling MachineAircraft Skin ProcessingAerospaceFlexible Tooling Machine
Case Studies using Animatics SmartMotor - Linear and Rotary MotionLinear and Rotary Motion in Digital ArchitectureArchitectureLinear and Rotary Motion
Case Studies using Animatics SmartMotor - High Accuracy 3-Axis Positioning PID Style Antenna PedestalAerospaceHigh Accuracy 3-Axis Positioning
Case Studies using Animatics SmartMotor - A/V MobilityMotion Control for Maximum A/V ExperienceEntertainment
A/V Mobility
Case Studies using Animatics SmartMotor - Vision Guided Laser MarkingAutomated Laser Marking for Produce Traceability AgricultureVision Guided Laser Marking
Case Studies using Animatics SmartMotor - CNC MachiningFoam Sculpting CNC Router
Signage / Architectural Forms
CNC Machining
Case Studies using Animatics SmartMotor - CappersHigh Speed Pharma InspectionPharmaceutical/Packaging
Cappers
Case Studies using Animatics SmartMotor - Plasma CuttingCNC Plasma CutterMetal Working MachinesPlasma Cutting
Case Studies using Animatics SmartMotor - WoodworkingCNC Surfboard ShaperWood Working MachinesWoodworking
Case Studies using Animatics SmartMotor - High Axis Count Coordiated MotionHigh Axis Count Coordinated MotionArt & New MediaHigh Axis Count Coordiated Motion
Case Studies using Animatics SmartMotor - Pan & Tilt BasesPrecision Positioning SystemMilitary
Autonomous Vehicles
Pan & Tilt Bases
Case Studies using Animatics SmartMotor - Vertical Load ControlSynchronized Control of Vertical LoadsEntertainmentVertical Load Control
Case Studies using Animatics SmartMotor - Automatic Web Tensioning/AlignmentTraverse Take Up WindingMaterial HandlingAutomatic Web Tensioning/Alignment
Case Studies using Animatics SmartMotor - GPS Guided Steering/Drive ControlAlaskan Pipe CrawlerOil IndustryGPS Guided Steering/Drive Control
Moog Animatics : Your future in automation

Support Downloads

SmartMotor Firmware/Sample Programs/Software/User's Guide DownloadsFirmware:
  • D Style and M Style refer to the connection type.
  • Firmware for the standard version uses the same firmware for CANopen.
  • Profibus is hardware specific, and therefore, do not attempt to install Profibus firmware onto non-Profibus motor.
  • Hardware used in CANopen and Devicenet is the same, and therefore, protocol preference is by the firmware selection.
Click here to go to the download page.

CAD Files Download

SmartMotor Drawings/Spec/Firmware DownloadsDrawings/Spec: Download both English and Metric dimensional prints in the file formats AutoCAD, SolidWorks, IGES and PDF

Firmware:
  • D Style and M Style refer to the connection type.
  • Firmware for the standard version uses the same firmware for CANopen.
  • Profibus is hardware specific, and therefore, do not attempt to install Profibus firmware onto non-Profibus motor.
  • Hardware used in CANopen and Devicenet is the same, and therefore, protocol preference is by the firmware selection.

AutoCAD

SolidWorks

IGES

CAD Drawing

Spec

Firmware
NEMA 17: 1700 Series
SM17205D - D Style Standard & CANopen
- D Style Devicenet
NEMA 23: 2300 Series
SM23165D & SM23165DT - D Style Standard & CANopen
- D Style Devicenet
- D Style Profibus
SM23375D & SM23375DT
SM23105D
SM23205D
SM23305D
SM23405D
SM23165M/MT SM23165M/MT
- M Style CANopen
- M Style Devicenet

AutoCAD

SolidWorks

IGES

CAD Drawing

Spec

Firmware
NEMA 34: 3400 Series
SM34165D - D Style Standard & CANopen
- D Style Devicenet
- D Style Profibus
SM34165DT
SM34105D
SM34205D
SM34305D
SM34405D
SM34505D
SM34165MT - M Style CANopen
- M Style Devicenet

AutoCAD

SolidWorks

IGES

CAD Drawing

Spec

Firmware

Knowledge Base

Moog Animatics’ Knowledge Base

This is your online source for all information needed to become a motion control expert.

From understanding SmartMotor™ torque curves and motor sizing to cable configurations and OEM Dynamics linear actuator training videos, Moog Animatics’ Knowledge Base exists to support our customers in any and every question or concern they may have and provide every explanation before you even pick up the phone.

If there is any other information you believe would be helpful to have in the Knowledge Base, This e-mail address is being protected from spambots. You need JavaScript enabled to view it , and we will do our best to supply the needed information.

In addition to our Knowledge Base, we have an extensive library of case studies available here:
btn_pink_case-studies

Cables

Each SmartMotor has a primary RS232 serial port and a secondary RS485 port by re-assignment of ports E and F of the 7 I/O points. Up to 100 SmartMotor servos may be separately addressed and are identifiable on either RS232 or RS485.

The most common and cost effective solution is typically RS232 serial communications. Under this structure, each motor is placed in an electrical serial connection such that the transmit line of one motor is connected to the receive line of the next. Each motor will be set to "echo" the incoming data to the next motor down with approximately 1 millisecond propagation delay. There is no signal integrity loss from one motor to the next, which results in highly reliable communications.

Connection Map

Here's a roadmap to motor connectivity which shows the physical layout of
how cables are used including power, communications, and I/O interconnection.

rs232_communications_usb


rs232_communications_power

rs232-multidrop

rs232-multidrop-custom

isolated-rs485-custom


isolated_rs-485

isolated_rs-232

 

demonstration-n-development

 

interface_24v_io1px

interface_24v_io2px

standard_motor_cables

standard_motor_cables

AniLink I/O Devices

Connectivity-At-A-Glance

Connectivity Cable Model Description
RS-232 and Power CBLPWRCOM2-xM Power and communications cable with flying leads or in conjuction with DIN-RS232 8 channel isolated communications board
CBLSM1-xM Power and communications cable with DB-9 serial connector and power supply connector that fits our enclosed power supplies
CBLSM1-DEMO Testing cable used with our PWR116 "laptop" type power supply
CBLSM1-x-y-z Custom length multi-drop RS-232 daisy chain cable
RS-485 and Power RS485-ISO Converts primary RS-232 to isolated RS-485 (Note: uses Port G I/O pin)
CBLSM2-x-y-z Custom multi drop isolated RS-485 (multiple RS485-ISO adapters)
Interfacing with I/O Devices CBLIO5V-xM Direct connection to 5VTTL I/O
CBLIO5V-xM via OPTO2 24VDC DC isolation and conversion of 5V signals
CBLIO5V-xM via DINIO7 Motor breakout board to industry standard OPTO relays
CBLIo-ISO1-xM Isolated 24VDC logic conversion cable

Power Supplies

Each SmartMotor is operated from 24V to 48VDC. Some of the larger SmartMotor servos can draw high current.

It is highly recommended to use heavy gauge wire to connect the larger motors. As a result, the "Add-A-Motor" is recommended for the 17 and 23 frames series only.

How to Choose Power Supplies

Which is better, Linear or Switcher Supplies?

Since servo motors are inductive they may run highly dynamic motion profiles. As a result, their current demand can vary widely. Surge currents from stand-still to maximum load may be extremely high, yet steady state curret demand over time may be relatively mild. As a result, proper care should be taken when selecting power supplies.

Moog Animatics offers two basic types of power supplies.

The below chart gives a brief comparison of the two types of supplies.

Linear Switcher
AC Input Field selectable
(120/240VAC)
Universal
90-240VAC
Power Factor Corrected NO Yes
Relative Size Big and bulky Lightweight
Cooling Ambient Convection Fan cooled
Surge Capacity 400% 5%
Voltage Regulation 15% Drop over range 0%, fixed8
Shunt Required?1 Occasionally,
but not typically
In most cases,
highly recommended

1See Shunt Section for more information!

Voltage Drop Comparison

As seen in the graph to the right, Linear (Unregulated) suppllies can handle large surge current loads. voltagedropcomparisonThis is because linear supplies typlically contain large output capcitors to handle those surges well.

Voltage regulations: Switchers are highly regulated supplies. They will maintain fixed voltage until they reach maximum load and then will "crowbar" to zero volts to protect the output stages. Linear supplies will slowly drop in output voltage while supplying more and more current.

This is the most funamental difference between switchers and unregulated supplies.

Even though a switcher cannot handle the higher current surges, if it can ouput as much current as you would expect for a given servo application, then they will actually help the servo accelerate much faster because system voltage will be maintained at maximum level.

However, if your servo application requires surge currents in excess of 50 Amps or more, the switchers may not be cost effective. Getting 50 amps from a Moog Animatics 20 Amp supply is easy. Getting 50 Amps from Moog Animatics switchers would require placing multiple units in parallel, so it may not be cost effective to do so.

 

 

 

Intro to Shunts

Moog Animatics offers several shunt options for use with DC input servo motors.

Shunts are needed to protect the servo controller and drive stages from over voltage.

Over voltage sources originate from the following:

  • Back EMF due to back driving the motors
  • Sudden or hard decelerations
  • Hard stop crashes (immediate deceleration to zero speed)
  • Vertical load drops

The shunts actually add an additional load to the DC bus automatically when voltage exceeds the trigger level by connecting large load resistors across the bus. Trigger voltage is typically 49.5VDC. As a result, the shunts will work with any of the supplies we offer.

The switcher supplies have an adjustable output trim pot. If used with our shunts, the output voltage MUST BE adjusted to <+48vdc to="" insure="" the="" shunts="" do="" not="" stay="" gated="" on="" span="">

  1. Shunts cannot be placed in parallel with each other to increase capacity. The shunt with the slightly lower trigger voltage will trigger first while the other shunt never triggers at all. Please consult factory for information on how to deal with larger shunt requirements.
  2. Shunts should always be placed between the motor input and any disconnect or e-stop relay to insure protection of the motor when power is not applied or e-stop relay contacts are open.

Back EMF

The Real story about Back EMF:

Generally speaking, back EMF is the voltage generated in a motor when it spins. This voltage is typically propotional to speed. However, this is a general rule. The truth is that the back EMF voltage is proportional to the rate of change of magnetic flux in the windings of the stator. As a result, consttant speeds produce contant and predictable voltages. However, sudden changes due to decelerations or hard stop crashes cause an immediate change in magnetic flux or even a total instantaneous collapse. As a result, voltages can go 5 to 10 times higher than spinning the motor at its maximum speed.

For this reason alone, it is highly recommended to use a shunt in all vertical load applications or any case where the motors could be stopped quickly or back driven suddently.

We offer both open frame and enclosed shunts in 100Watt and 200Watt capacities. The shuns are all automatic and get their power from the DC bus they are attached to. They simply need to be placed in parallel with the DC bus.

Application Video

Moog Animatics SmartMotor™is capable of being a master controller to both other SmartMotors and other devices. As a result, often times the motors become a replacement to PLC’s or other controllers in a system.

At a minimum, when the SmartMotor is added to an existing system as an extension to a machine design, it may only require minimal hand shaking with the main controller while maintaining its own subsystem control independently.

So what’s in it for you? Minimal handshaking means easy programming, minimal wiring, and reduced costs with maximum capabilities added for the entire system. A few examples of real applications using SmartMotor servos are below, testaments to success using SmartMotor technology.

Moog Animatics 14 SmartMotor & Actuator Motion Control Demo with Combitronic

2 Axis Coordinated Motion with SmartMotor and Combitronic and CAN Custom HMI with SmartMotor Integrated Servo Motor over RS232 Electronic Gearing with SmartMotor off of a Virtual Master with Phase Advance
Interactive Profile Scanning using SmartMotor and Laser Sensor Traverse and Takeup Winding with SmartMotor Electronic Gearing CNC Surfboard Machine: SmartMotor & HLD60
Flexible Tooling for Aircraft Skin Processing Mini-Mill Cutting Puzzle Pieces SMNC Software for CNC Applications
"Chronos and Kairos" at San Jose Airport Tabletop Robot Live Position Tracking Tabletop Robot Linear Interpolation
Torch Height Control CNC Plasma Cutter CNC Plasma Cutter 2
Glue Dispensing Stand Alone Circular Class 5 Phase Adjust Mode
SmartMotor feat Combitronic 6 Axis Actuator Demo SmartMotor Homing Routine on L70 Actuator SmartMotor Conveyor Detection
SmartMotor Application Summary SmartMotor Package Tracking Application with Laser Moog Animatics SmartMotor Applications
* Specifications are subject to change without prior notice.