SmartMotor/ arrow SM23165DT

SM23165DT

  • NEMA 23 size SmartMotorTM
  • Higher torque motor
  • Integrated motor, controller, amplifier, encoder and communications bus



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Spec

SM23165DT
Continuous Torque 4.61 in-lb
74 oz-in
0.52
N-m
Peak Torque 7.40 in-lb
118 oz-in
0.84 N-m
Nominal Continuous Power 204 Watt
No Load Speed 5,200 RPM
Continuous Current @ Nominal Power 6.1
Amps
Voltage Constant 9.08 V/kRPM
Winding Resistance 0.7 ohms
Encoder Resolution 4,000 Counts/Rev
Rotor Inertia 0.001 oz-in-sec2
0.706 10-5 Kg-m2
Weight 1.3 lb
0.59 kg
Shaft Diameter 0.250 in
6.35 mm
Shaft, Radial Load 7 lb
3.18 kg
Shaft, Axial Thrust Load 3 lb
1.36 kg
logo_ethernet-th
Available
logo_devicenet-th
Available
Yes
logo_Profibus-th
Available
Yes
logo_CANopen-th
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

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

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

M12, 12-pin Femail 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

M12, 5-pin Femail End View

2

NC

NC

3

GND_CAN

Isolated CAN ground

4

CAN-H

1M Baud max

5

CAN-L

1M Baud max

Torque Curve


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

    If there is a loss of drive power, the brake will engage.

    Internally Powered

    There is no need for extra cables.

    Zero backlash

    Experience no loss of position once the lead is held in place.
  • 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:

  1. The brake will add length to the motor. Ensure there is adequate axial space for the added length.
  2. 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.
  3. If the brake is set to automatically disengage during moves, it will add an audible click at the beginning and end of each move.
  4. 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.

Video Tutorials

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SM23165DT
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