SmartMotor Servo Motor

SmartMotor はモータ、エンコーダ、ドライバ、コントローラ、RS232C/RS485そしてI/Oが一体となり、プログラム制御が可能なサーボモータシステムです。

現在SmartMotorはCombitronicテクノロジーをオプションで使用できます。 combitronic 通信で何が可能か知りたい方は こちらをクリックしてください。

スマートモータ紹介

Class 5 SmartMotor

  • デュアル軌道パスジェネレータ
  • 速度制御と電子ギヤモードの合成が可能
  • トラバース&巻き取り用専用ファームウェア
  • パラレル処理システムにはCombitronic通信が使用可能
  • CANポートをD-sub15ピン内に配置したCDSオプションを利用可能

Class 6 SmartMotor

  • 省配線、オンボード デュアルポートEthernetスイッチによるコスト削減
  • EtherCAT、PROFIBUS、EtherNet/IPによるフィールドバス通信
  • スレーブモードでSmartMotorを自律制御させるユーザプログラムへ簡単アクセス
  • RS485通信でModbus RTU スレーブとして使用可能
  • USBインターフェースを使用してプログラム、設定、ライブ診断が可能

Class 5 D-Style SmartMotor

D-スタイル コネクタ

  • 全D-スタイルSmartMotorの主通信にはRS232Cを使用
  • 全D-スタイルSmartMotorには5V TTL NON-ISOL I/Oを7チャンネル搭載
  • オプションで10チャンネル 24VDC ISOL I/Oを追加可能
  • エンコーダ出力専用ポートを用意
  • 動作温度範囲: 0~85℃
  • 保存温度範囲:-10~85℃(結露ないこと
To sort by column, click on its header.  ( ▾▴ )
Model Number NEMA Frame Size Connector Type 連続ト
ルク
(N-m)
ピークト
ルク
(N-m)
Nominal
Continuous
Power
(watts)
無負荷時
最高速度
(RPM)
Fieldbus
Options
Availability
SM17205D SmartMotor SM17205D NEMA 17 D-Style 33 61 145 Watts 7,900 CANopen is available for this motor
DeviceNet is available for this motor
SM23165D SmartMotor SM23165D NEMA 23 D-Style 40 64 181 Watts 10,400 CANopen is available for this motor
DeviceNet is available for this motor
Profibus is available for this motor
SM23165DT SmartMotor SM23165DT NEMA 23 D-Style 74 118 204 Watts 5,200 CANopen is available for this motor
DeviceNet is available for this motor
Profibus is available for this motor
SM23205D SmartMotor SM23205D NEMA 23 D-Style 47 80 226 Watts 8,100 CANopen is available for this motor
DeviceNet is available for this motor
SM23305D SmartMotor SM23305D NEMA 23 D-Style 64 110 220 Watts 5,600 CANopen is available for this motor
DeviceNet is available for this motor
SM23405D SmartMotor SM23405D NEMA 23 D-Style 78 129 253 Watts 5,300 CANopen is available for this motor
DeviceNet is available for this motor
SM23375D SmartMotor SM23375D NEMA 23 D-Style 46 80 191 Watts 8,000 CANopen is available for this motor
DeviceNet is available for this motor
SM23375DT SmartMotor SM23375DT NEMA 23 D-Style 83 157 186 Watts 4,000 CANopen is available for this motor
DeviceNet is available for this motor
SM34165D SmartMotor SM34165D NEMA 34 D-Style 155 226 235 Watts 3,100 CANopen is available for this motor
DeviceNet is available for this motor
Profibus is available for this motor
SM34165DT SmartMotor SM34165DT NEMA 34 D-Style 205 480 615 Watts 5,100 CANopen is available for this motor
DeviceNet is available for this motor
Profibus is available for this motor
SM34205D SmartMotor SM34205D NEMA 34 D-Style 126 399 324 Watts 4,500 CANopen is available for this motor
DeviceNet is available for this motor
SM34305D SmartMotor SM34305D NEMA 34 D-Style 174 556 400 Watts 4,100 CANopen is available for this motor
DeviceNet is available for this motor
SM34405D SmartMotor SM34405D NEMA 34 D-Style 207 646 438 Watts 3,800 CANopen is available for this motor
DeviceNet is available for this motor
SM34505D SmartMotor SM34505D NEMA 34 D-Style 261 771 527 Watts 3,300 CANopen is available for this motor
DeviceNet is available for this motor
Model Number NEMA Frame Size Connector Type 連続ト
ルク
(N-m)
ピークト
ルク
(N-m)
Nominal
Continuous
Power
(watts)
無負荷時
最高速度
(RPM)
Fieldbus
Options
Availability

Class 5 IP65/67 SmartMotor

M-style コネクター

  • 全M-styleスマートモータはRS485通信をプライマリポートとしています。
  • 全M-styleスマートモータは11チャンネル24V絶縁I/Oを標準搭載しています。
  • DRV-ENBL InとNOT-FAULT Out専用ポート
  • エンコーダバス専用ポート
To sort by column, click on its header.  ( ▾▴ )
Model Number NEMA Frame Size Connector Type 連続ト
ルク
(N-m)
ピークト
ルク
(N-m)
Nominal
Continuous
Power
(watts)
無負荷時
最高速度
(RPM)
Fieldbus
Options
Availability
SM23165MT-IP SmartMotor SM23165MT-IP
NEMA 23 M-Style 67 124 194 Watts 5,000 CANopen is available for this motor
DeviceNet is available for this motor
SM34165MT-IP SmartMotor SM34165MT-IP
NEMA 34 M-Style 201 345 448 Watts 5,100 CANopen is available for this motor
DeviceNet is available for this motor
Model Number NEMA Frame Size Connector Type 連続ト
ルク
(N-m)
ピークト
ルク
(N-m)
Nominal
Continuous
Power
(watts)
無負荷時
最高速度
(RPM)
Fieldbus
Options
Availability

Class 6 SmartMotor

To sort by column, click on its header.  ( ▾▴ )
Model Number NEMA Frame Size Connector Type 連続ト
ルク
(N-m)
ピークト
ルク
(N-m)
Nominal
Continuous
Power
(watts)
無負荷時
最高速度
(RPM)
Fieldbus
Options
Availability
sm23166mt SM23166MT
NEMA 23 M-Style 68 128 189 Watts 4,700 etherCAT is available for this motor
ProfiNet is available for this motor
EthernetIP is available for this motor
sm23216mh SM23216MH
NEMA 23 M-Style 165 300 60 Watts 2,250 etherCAT is available for this motorProfiNet is available for this motor
EthernetIP is available for this motor
Model Number NEMA Frame Size Connector Type 連続ト
ルク
(N-m)
ピークト
ルク
(N-m)
Nominal
Continuous
Power
(watts)
無負荷時
最高速度
(RPM)
Fieldbus
Options
Availability

製品画像

sl17406d
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ケーススタディ

Case studies SmartMotor
ケーススタディ関連産業関連アプリケーション
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/AlignmentAutomatic Web tensioning/alignment Material HandlingAutomatic Web Tensioning/Alignment
Case Studies using Animatics SmartMotor - GPS Guided Steering/Drive ControlAlaskan Pipe CrawlerOil IndustryGPS Guided Steering/Drive Control
Animatics : Your future in automation

サポート資料ダウンロード

スマートモータ/サービダモータ外形図/仕様/ファームウェア ダウンロード

Drawings/Spec: メトリックとインチ表示の外形図をAutoCAD, SolidWorks, IGES, PDFフォーマットファイルでダウンロードできます。

Firmware:

  • D StyleとM Styleはコネクタタイプを意味します。
  • 標準品のファームウェアはCANopen用と同じファームウェアを使用します。
  • Profibusを使用していないモータにProfibus用ファームウェアをインストールしないでください。
  • CANopenとDeviceNetのハードウェアは同じですので、プロトコルはファームウェアで選択してください。
Click here to go to the download page.

CADファイルダウンロード

スマートモータ外形図/仕様/ファームウェア ダウンロードDrawings/Spec: メトリックとインチ表示の外形図をAutoCAD, SolidWorks, IGES, PDFフォーマットファイルでダウンロードできます。

Firmware:
  • D StyleとM Styleはコネクタタイプを意味します。
  • 標準品のファームウェアはCANopen用と同じファームウェアを使用します。
  • Profibusを使用していないモータにProfibus用ファームウェアをインストールしないでください。
  • CANopenとDeviceNetのハードウェアは同じですので、プロトコルはファームウェアで選択してください。

Model Number

AutoCAD

SolidWorks

IGES

CAD Drawing

Spec

Firmware
NEMA 17: 1700 Series
SM17205D SM17205D - D Style Standard & CANopen
- D Style Devicenet
NEMA 23: 2300 Series
SM23165D & SM23165DT SM23165D
SM23165DT
- D Style Standard & CANopen
- D Style Devicenet
- D Style Profibus
SM23375D & SM23375DT SM23375D
SM23375DT
SM23205D SM23205D
SM23305D SM23305D
SM23405D SM23405D
SM23165M/MT SM23165M/MT
SM23165MT - M Style CANopen
- M Style Devicenet

Model Number

AutoCAD

SolidWorks

IGES

CAD Drawing

Spec

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

Model Number

AutoCAD

SolidWorks

IGES

CAD Drawing

Spec

Firmware

ナレッジベース

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, このメールアドレスは、スパムロボットから保護されています。アドレスを確認するにはJavaScriptを有効にしてください , 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.

アプリケーションビデオ

スマートモータ|サービダモータは他のスマートモータとデバイスのマスタコントローラになる能力を持っています。マスタコントローラ能力があるということはPLCやシステム内のコントローラを置き換えることが可能です。

スマートモータを既存の機械に追加する場合は、サブシステムの制御を独立して維持することができるので、メインコントローラは最小限のハンドシェイクで済みます。

最小限のハンドシェイクということは、容易なプログラム、最少の配線数、低コストで最大の能力をシステム全体に追加したことを意味します。このページではスマートモータを使用して成功した実際のアプリケーションをビデオで紹介しています。

Moog Animatics SmartMotor™ IO CAN Bus Master Capability

SmartMotor™ Six-Axis System

Moog Animatics H-bot and T-bot systems

SmartMotor™ Three-Axis Demo System Performs Multi-Axis Path Capabilities by Math Function

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 RS-232 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.