SM23305D Class 5 D-Style SmartMotor™

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

Description

Specification

SM23305D
Continuous Torque	3.98	in-lb
	64	oz-in
	0.45	N-m
Peak Torque	6.86	in-lb
	110	oz-in
	0.77	N-m
Nominal Continuous Power	220	Watts
No Load Speed	5,600	RPM
Max. Continuous Current* @ 4750 RPM	5.57	Amps
Peak Power @ 4100 RPM	325	Watts
Voltage Constant	8.873	V/kRPM
Inductance	0.61	mH
Encoder Type	Incremental Optical
Encoder Resolution	4,000	Counts/Rev
Encoder A/B Output	4,000	Counts/Rev
Rotor Inertia	0.00332	oz-in-sec²
Rotor Inertia	2.344	10^-5 Kg-m²
Weight	2.3	lb
Weight	1.03	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
Available	Yes

*Default voltage is 48V. See graphs for additional voltages.

Operating temperature range: 0°C–85°C
Storage temperature range: -10°C–85°C
Relative humidity: <85%, noncondensing

NOTE: Specifications are subject to changes without notice.

Pinouts

Class 5 D-Style SmartMotor™ Connector Pinouts

7W2 D-Sub Connector

7W2 Combo D-sub Connector

PIN	MAIN POWER	Specifications:	Notes
1	I/O – 6 GP or “G” command; for -CDS7, CAN-L only	25mAmp Sink or Source 10Bit 0-5VDC A/D	Redundant connection on I/O connector
2	+5VDC out; for -CDS7, CAN-H only	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

DB-15 D-Sub Connector

DB-15 D-sub Connector

PIN	5V I/O CONNECTOR	Specifications	Notes
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
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; for -CDS/7, CAN-L only	Channel(0)	115.2KBaud Max
11	RS-232 Receive; for -CDS/7, CAN-H only	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

M12 12-PIN

CAUTION: M-style connectors must be finger tightened only! DO NOT use a tool. Doing so can cause overtightening of the connection, which may damage the connector and will void the warranty.

M12 12-PIN FEMALE END VIEW

M12, 12-pin Female End View

PIN	Isolated 24VDC I/O Connector	Max Load (sourcing)
1	IO – 16 GP	150mAmps
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

M12 5-PIN

CAUTION: M-style connectors must be finger tightened only! DO NOT use a tool. Doing so can cause overtightening of the connection, which may damage the connector and will void the warranty.

M12 5-PIN FEMALE END VIEW

M12, 5-pin Female End View

PIN	CAN bus	Connection:
1	NC	NC
2	NC	NC
3	GND_CAN	Isolated CAN ground
4	CAN-H	1M Baud max
5	CAN-L	1M Baud max

NOTE: Specifications are subject to changes without notice.

Brake

Moog Animatics SmartMotor™ with an optional brake offers 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 brake is engaged.

By default, the brake engages upon any fault condition or drive-off state.
Can automatically disengage for motion 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 the SmartMotor is shut down.
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 override 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

Connection examples shown here are based on the Class 5 D-Style SmartMotor™ only. For connection examples on other styles of SmartMotor™, please consult the factory at 888-356-0357.

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

Video Tutorials

SmartMotor™ How to Videos:

This is a library of "how to..." training videos. Click on the following tabs to see video tutorials.

Communication

This video will familiarize you with some of the SMI software’s tools including motor view. The video explains the following:

The difference detecting vs. addressing the motor
Establishing communication with SmartMotor and some trouble shooting techniques
Measuring temperature, current and voltage with motor view
LEDs on the SmartMotor
Communication Lockup Wizard
Uploading and clearing motor program (EEPROM)

To download this video, click here

For more how to, demo and application videos, visit the SmartMotor YouTube Channel.

Download Related Files

	AutoCAD	SolidWorks	IGES	CAD Drawing	Datasheet / Spec
SM23305D				SM23305D - w/ 24V I/O - w/ Brake - w/ Brake & 24V I/O - w/ Brake & CANopen - w/ Brake & CANopen & 24V I/O - w/ CANopen - w/ CANopen & 24V I/O	SM23305D

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