The Moog Animatics Class 6 “MT2” Industrial Ethernet SmartMotor™ is available in a 23-frame version, (SM23166MT2). The product comes equipped with two Industrial Ethernet ports, and can be ordered to support EtherNet/IP™, PROFINET® or EtherCAT® networks.

The SM23166MT2 motor provides a fully integrated drive which reduces wiring, increases reliability, simplifies installation and reduces setup time. Like the previous Class 6 design, this product includes a high-end, high-speed controller, which provides control capabilities beyond those provided by a PLC or host device. Specifically, the MT2’s onboard controls allow for distributed controls across the machine, reducing bandwidth, increasing I/O response times and freeing up PLC/host resources.

The MT2 product line introduces Combitronic™ technology over Ethernet (-EIP option only). This feature allows any SmartMotor™ to communicate with other SmartMotor™ integrated servos and share resources on the Combitronic™ network, accomplished using UDP Combitronic™ protocol in parallel with the Ethernet IP network.

This generation of Class 6 motor is IP sealed, the IP rating (IP65 or IP67) depends on other options ordered, allowing them to be used in wet, washdown or dusty environments. Additionally, both motors offer an internal brake option, making them ideal for vertical applications.

Features:

• Onboard controls allow for distributed controls across the machine• Integrated drive and controller reduces wiring, increases reliability, simplifies

installation and reduces setup time• High-end, high-speed processor for exceptional performance• Onboard dual-port Industrial Ethernet switch, no external switch needed• Supports Industrial Ethernet: EtherCAT®, PROFINET® and EtherNet/IP™• Combitronic™ technology over Ethernet (-EIP option only)• USB port for programming, configuration and diagnostics• SD Card slot for program storage and loading application-specific parameters• Internal brake available, ideal for vertical applications• IP sealing available (rating depends on options selected) for wet/washdown

environments

ADVANTAGES

• Sealed IP65/IP67 protection (rating depends on other options)

• Excellent price-performance ratio• Robust M-style connectors

designed for harsh environments• Ability to control complex tasks• Combitronic™ technology

networking, mastering and ease of addressing (available on –EIP option only)

• Ease of programming through powerful AniBasic (BASIC-like) language with over 200 commands

• Minimal cabling and space requirements due to fully integrated design

• Ability to solve difficult application problems through field-proven Class 6 features

APPLICATIONS

• Agricultural processing• Capping, sealing, testing• Circuit board processing• Contact lens manufacturing• Dispensing, spraying, coating,

polishing • Metal machining and grinding• Marine/aerospace• Mobile field equipment• Slurry processing• Ultrasonic testing• Wafer processing

www.animatics.com

CLASS 6 M-STYLE SMARTMOTOR™ (SM23166MT2)Fully integrated motor with smart distributed control over Industrial Ethernet

SPECIFICATIONS

TECHNICAL DATA

PERFORMANCE TORQUE AND POWER CURVE SM23166MT2-EXX motor torque versus speed, 48 volts, MDC commutation, 25 °C ambient (curves are derated at higher ambient).

Continuous torque at 48 volts113 oz-in

0.80 N-m

Peak torque133 oz-in

0.94 N-mNominal continuous power 210 wattsPeak power @ 3100 rpm 255 wattsNo load speed 3,900 rpmVoltage constant 9.08 V/kRPMWinding resistance 0.743 OhmsEncoder resolution 4,000 counts/rev

Rotor inertia1.03 (oz-in-sec2)x10-3

7.20 10-6 kg-m2

Weight2.20 lb1.00 kg

Shaft diameter0.375 in

9.53 mm

Shaft, radial load15.00 lb

6.80 kg

Shaft, axial thrust load3.00 lb1.36 kg

EtherCAT® available YesPROFINET® available YesEtherNet/IP ™ available Yes

www.animatics.com

Peak Torque

Continuous Torque

Peak Power

Continuous Power

(0.00)

(0.18)

(0.35)

(0.53)

(0.71)

(0.88)

(1.06)

0

50

100

150

200

250

300

0

25

50

75

100

125

150

0 500 1,000 1,500 2,000 2,500 3,000 3,500 4,000 4,500

Pow

er (W

)

Torq

ue o

z-in

. (N

m)

RPM

SM23166MT2-EXX Torque CurvesSM23166MT2-EXX motor Torque vs. Speed, 48 volts, MDC commutation, 25ºC ambient (curves are derated at higher ambient)

Maximum temperature: 85°C at electronics, 130°C at windings. Recommended ambient temperature range: 0°C – 50°C. Storage temperature range: -10°C – 85°C. Relative humidity: maximum 90%, noncondensing.

1.856

1.856

2.300

.103

2.621

3.172

.125

4X .205 THRU.315 THK FLANGE

.060

.315FLANGE THICKNESS 1.250

4.244

2.471 1.173

1.500+-.000.002

.839

.3745±.0005

2.254

2.404

P324V I/OCONNECTOR

P2COMMUNICATIONSCONNECTOR

P4EtherNet/IP

CONNECTOR

P4EtherNet/IPCONNECTOR

P1MAIN POWERCONNECTOR

.70

2.00

.094

AA

REMOVEABLE ACCESS DOORFOR MICRO-USB & SD CARD ACCESS

2X .063" HEX DRIVE

KEYSEAT FOR WOODRUFF ANSI 303

R.19

.07

.300

SECTION A-A

P3 DETAIL SCALE 2 : 1

12

411

65

7 89

1031

2

P2 DETAIL SCALE 2 : 1

123

45 6 7

8

P4 DETAIL SCALE 2 : 1

1

2

3

4

P1 DETAIL SCALE 2 : 1

1 4

32

REVISION INFORMATIONREV. ECN DESCRIPTION DATE

0 INITIAL PRE-RELEASE 12/31/2018

D

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8 7 6 5 4 3 2 1

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SM23166MT2-EIP-IPCAGE CODE

1K426DSIZE

SCALE SHEET 1 OF 1CAD FILE:

CAD GENERATED DRAWING,DO NOT MANUALLY UPDATE

APPROVALS DATEDRAWN

CHECKED

ENGR

MFG ENGR

QA

FINISH

MATERIAL

DO NOT SCALE DRAWING

UNLESS OTHERWISE SPECIFIEDDIMENSIONS ARE IN INCHES

TOLERANCES ARE:

DECIMALS ANGLES .XX .010.XXX .005.XXXX .0005

0 30'FRACTIONS

1/64

3:2 SM23166MT2-EIP-IP

2018/12/31

THIS TECHNICAL DATA/DRAWING/DOCUMENT CONTAINS INFORMATION THAT IS PROPRIETARY TO, AND IS THE EXPRESS PROPERTY OF MOOG INC. EXCEPT AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW AND IS RESTRICTED TO USE BY ONLY MOOG EMPLOYEES AND OTHER PERSONS AUTHORIZED IN WRITING BY MOOG OR AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW. NO PORTION OF THIS DATA/DRAWING/DOCUMENT SHALL BE REPRODUCED OR DISCLOSED OR COPIED OR FURNISHED IN WHOLE OR IN PART TO OTHERS OR USED BY OTHERS FOR ANY PURPOSE WHATEVER EXCEPT AS SPECIFICALLY AUTHORIZED IN WRITING BY AN AUTHORIZED SIGNATORY OF MOOG INC.

SM23166MT2-EIP-IP

750 WEST SPROUL ROADSPRINGFIELD, PA 19064

DWG. NO. REV.

00

1.856

1.856

2.300

.103

2.621

3.172

.125

4X .205 THRU.315 THK FLANGE

.060

.315FLANGE THICKNESS 1.250

4.244

2.471 1.173

1.500+-.000.002

.839

.3745±.0005

2.254

2.404

P324V I/OCONNECTOR

P2COMMUNICATIONSCONNECTOR

P4EtherNet/IP

CONNECTOR

P4EtherNet/IPCONNECTOR

P1MAIN POWERCONNECTOR

.70

2.00

.094

AA

REMOVEABLE ACCESS DOORFOR MICRO-USB & SD CARD ACCESS

2X .063" HEX DRIVE

KEYSEAT FOR WOODRUFF ANSI 303

R.19

.07

.300

SECTION A-A

P3 DETAIL SCALE 2 : 1

12

411

65

7 89

1031

2

P2 DETAIL SCALE 2 : 1

123

45 6 7

8

P4 DETAIL SCALE 2 : 1

1

2

3

4

P1 DETAIL SCALE 2 : 1

1 4

32

REVISION INFORMATIONREV. ECN DESCRIPTION DATE

0 INITIAL PRE-RELEASE 12/31/2018

D

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AA

B

C

D

12345678

8 7 6 5 4 3 2 1

E

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SM23166MT2-EIP-IPCAGE CODE

1K426DSIZE

SCALE SHEET 1 OF 1CAD FILE:

CAD GENERATED DRAWING,DO NOT MANUALLY UPDATE

APPROVALS DATEDRAWN

CHECKED

ENGR

MFG ENGR

QA

FINISH

MATERIAL

DO NOT SCALE DRAWING

UNLESS OTHERWISE SPECIFIEDDIMENSIONS ARE IN INCHES

TOLERANCES ARE:

DECIMALS ANGLES .XX .010.XXX .005.XXXX .0005

0 30'FRACTIONS

1/64

3:2 SM23166MT2-EIP-IP

2018/12/31

THIS TECHNICAL DATA/DRAWING/DOCUMENT CONTAINS INFORMATION THAT IS PROPRIETARY TO, AND IS THE EXPRESS PROPERTY OF MOOG INC. EXCEPT AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW AND IS RESTRICTED TO USE BY ONLY MOOG EMPLOYEES AND OTHER PERSONS AUTHORIZED IN WRITING BY MOOG OR AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW. NO PORTION OF THIS DATA/DRAWING/DOCUMENT SHALL BE REPRODUCED OR DISCLOSED OR COPIED OR FURNISHED IN WHOLE OR IN PART TO OTHERS OR USED BY OTHERS FOR ANY PURPOSE WHATEVER EXCEPT AS SPECIFICALLY AUTHORIZED IN WRITING BY AN AUTHORIZED SIGNATORY OF MOOG INC.

SM23166MT2-EIP-IP

750 WEST SPROUL ROADSPRINGFIELD, PA 19064

DWG. NO. REV.

00

Moog has offices around the world. For more information or the office nearest you, contact us online. animatics_sales@moog.com

Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. ©2019 Moog Inc. All rights reserved. All changes are reserved.

SM23166MT2 SmartMotor™ Technical Data Sheet MA1027 02/19

SPECIFICATIONS

OUTLINE DRAWING

For product information, visit www.animatics.com

This technical data is based on current available information and is subject to change at any time. Specifications for specific systems or applications may vary.

CONNECTORS

Dimensions are in inches

P1 Main Power

Pin Description

1 Control power in2 Chassis ground

3 Control, com, I/O and amplifier ground

4 Amplifier power in

P2 Communications

Pin Description

1 Control, com, I/O and amplifier ground

2 RS-485 B, com ch. 0

3 RS-485 A, com ch. 0

4 Encoder A+ input/output5 Encoder B- input/output6 Encoder A- input/output7 +5 V out8 Encoder B+ input/output

P3 24 V I/O

Pin Description

1 INO GP, discrete or analog input

2 IN1 GP, discrete or analog input

3 IN2 positive limit or GP

4 IN3 negative limit or GP

5 IN/OUT4 GP or ext. enc. index capture

6 IN/OUT5 GP or int. enc. index capture

7 IN6 GP, G cmd8 IN7 drive enable9 OUT8 brake or GP10 OUT9 not fault

11 +24 VDC OUT (supplied from PI, Pin I)

12 Ground common

P4 Industrial Ethernet

Pin Description

1 +TX2 +RX

3 -TX

4 -RX

*

* *Industrial Ethernet connectors support corresponding motor option for EtherNet/IP™ (-EIP option), PROFINET® (-EPN option) or EtherCAT® (-EEC option) networks.

The Moog Animatics Class 6 “MT2” Industrial Ethernet SmartMotor™ is available in a 34-frame version, (SM34166MT2). The product comes equipped with two Industrial Ethernet ports, and can be ordered to support EtherNet/IP™, PROFINET® or EtherCAT® networks.

The SM34166MT2 motor provides a fully integrated drive which reduces wiring, increases reliability, simplifies installation and reduces setup time. Like the previous Class 6 design, this product includes a high-end, high-speed controller, which provides control capabilities beyond those provided by a PLC or host device. Specifically, the MT2’s onboard controls allow for distributed controls across the machine, reducing bandwidth, increasing I/O response times and freeing up PLC/host resources.

The MT2 product line introduces Combitronic™ technology over Ethernet (-EIP option only). This feature allows any SmartMotor™ to communicate with other SmartMotor™ integrated servos and share resources on the Combitronic™ network, accomplished using UDP Combitronic™ protocol in parallel with the Ethernet IP network.

This generation of Class 6 motor is IP sealed, the IP rating (IP65 or IP67) depends on other options ordered, allowing them to be used in wet, washdown or dusty environments. Additionally, both motors offer an internal brake option, making them ideal for vertical applications.

Features:

• Onboard controls allow for distributed controls across the machine• Integrated drive and controller reduces wiring, increases reliability, simplifies

installation and reduces setup time• High-end, high-speed processor for exceptional performance• Onboard dual-port Industrial Ethernet switch, no external switch needed• Supports Industrial Ethernet: EtherCAT®, PROFINET® and EtherNet/IP™• Combitronic™ technology over Ethernet (-EIP option only)• USB port for programming, configuration and diagnostics• SD Card slot for program storage and loading application-specific parameters• Internal brake available, ideal for vertical applications• IP sealing available (rating depends on options selected) for wet/washdown

environments

ADVANTAGES

• Sealed IP65/IP67 protection (rating depends on other options)

• Excellent price-performance ratio• Robust M-style connectors

designed for harsh environments• Ability to control complex tasks• Combitronic™ technology

networking, mastering and ease of addressing (available on –EIP option only)

• Ease of programming through powerful AniBasic (BASIC-like) language with over 200 commands

• Minimal cabling and space requirements due to fully integrated design

• Ability to solve difficult application problems through field-proven Class 6 features

APPLICATIONS

• Agricultural processing• Capping, sealing, testing• Circuit board processing• Contact lens manufacturing• Dispensing, spraying, coating,

polishing • Metal machining and grinding• Marine/aerospace• Mobile field equipment• Slurry processing• Ultrasonic testing• Wafer processing

www.animatics.com

CLASS 6 M-STYLE SMARTMOTOR™ (SM34166MT2)Fully integrated motor with smart distributed control over Industrial Ethernet

SPECIFICATIONS

TECHNICAL DATA

PERFORMANCE TORQUE AND POWER CURVE SM34166MT2-EXX motor torque versus speed, 48 volts, MDE commutation, 25 °C ambient (curves are derated at higher ambient).

Continuous torque at 48 volts190 oz-in

1.34 N-m

Peak torque330 oz-in

2.33 N-mNominal continuous power 460 wattsPeak power @ 3300 rpm 720 wattsNo load speed 4,900 rpmVoltage constant 8.9 V/kRPMWinding resistance 0.055 OhmsEncoder resolution 4,000 counts/rev

Rotor inertia0.0142 oz-in-sec2

10.027 10-5 kg-m2

Weight7.5 lb3.4 kg

Shaft diameter0.5 in

12.7 mm

Shaft, radial load30 lb

13.6 kg

Shaft, axial thrust load3.00 lb1.36 kg

EtherCAT® available YesPROFINET® available YesEtherNet/IP ™ available Yes

www.animatics.com

Peak Torque

Continuous Torque

(0.00)

(0.35)

(0.71)

(1.06)

(1.41)

(1.77)

(2.12)

(2.47)

(2.82)

Peak Power

Continuous Power

0

100

200

300

400

500

600

700

800

0

50

100

150

200

250

300

350

400

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Pow

er (W

)

Torq

ue o

z.-in

. (N

m)

RPM

SM34166MT2-EXX Torque CurvesSM34166MT2-EXX motor Torque vs. Speed, 48 volts, MDE commutation, 25ºC ambient (curves are derated at higher ambient)

Maximum temperature: 85°C at electronics, 130°C at windings. Recommended ambient temperature range: 0°C – 50°C. Storage temperature range: -10°C – 85°C. Relative humidity: maximum 90%, noncondensing.

Moog has offices around the world. For more information or the office nearest you, contact us online. animatics_sales@moog.com

Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. ©2019 Moog Inc. All rights reserved. All changes are reserved.

SM34166MT2 SmartMotor™ Technical Data Sheet MA1028 02/19

SPECIFICATIONS

OUTLINE DRAWING

For product information, visit www.animatics.com

This technical data is based on current available information and is subject to change at any time. Specifications for specific systems or applications may vary.

CONNECTORS

Dimensions are in inches

P1 Main Power

Pin Description

1 Control power in2 Chassis ground

3 Control, com, I/O and amplifier ground

4 Amplifier power in

P2 Communications

Pin Description

1 Control, com, I/O and amplifier ground

2 RS-485 B, com ch. 0

3 RS-485 A, com ch. 0

4 Encoder A+ input/output5 Encoder B- input/output6 Encoder A- input/output7 +5 V out8 Encoder B+ input/output

P3 24 V I/O

Pin Description

1 INO GP, discrete or analog input

2 IN1 GP, discrete or analog input

3 IN2 positive limit or GP

4 IN3 negative limit or GP

5 IN/OUT4 GP or ext. enc. index capture

6 IN/OUT5 GP or int. enc. index capture

7 IN6 GP, G cmd8 IN7 drive enable9 OUT8 brake or GP10 OUT9 not fault

11 +24 VDC OUT (supplied from PI, Pin I)

12 Ground common

P4 Industrial Ethernet

Pin Description

1 +TX2 +RX

3 -TX

4 -RX

2.74

0

2.740

3.40

3.40

4X .223 THRU.34 THK FLANGE

.075

FACE SEALPROVIDED

.34 FLANGETHICKNESS

2.87

4

.499

4 ±.0

003

1.20

.06

6.89

.12 HH

REMOVABLE ACCESS DOOR FOR MICRO-USB & SD CARD ACCESS

4X .050" HEX DRIVE

KEYSEAT FOR WOODRUFF ANSI 404

.400R.25.11

SECTION H-H

P1MAIN POWERCONNECTOR

P4EtherNet/IPCONNECTOR

P2COMMUNICATIONSCONNECTOR

P324V I/O

CONNECTOR

P4EtherNet/IP

CONNECTOR

P1 DETAIL SCALE 2 : 1

P2 DETAIL SCALE 2 : 1

1

23

4

5 67 8

1

2 3

4

1

2

P3 DETAIL SCALE 2 : 1

1011

12

P4 DETAIL SCALE 2 : 1

34

56 7 8

91

2

3

4

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SM34166MT-BRK-EIP-IP67CAGE CODE

1K426DSIZE

SCALE SHEET 1 OF 1CAD FILE:

CAD GENERATED DRAWING,DO NOT MANUALLY UPDATE

APPROVALS DATEDRAWN

CHECKED

ENGR

MFG ENGR

QA

FINISH

MATERIAL

DO NOT SCALE DRAWING

UNLESS OTHERWISE SPECIFIEDDIMENSIONS ARE IN INCHES

TOLERANCES ARE:

DECIMALS ANGLES .XX .010.XXX .005.XXXX .0005

0 30'FRACTIONS

1/64

REV.REVISION INFORMATION

DESCRIPTION DATE9/16/2018INITIAL PRE-RELEASE

1:1 SM34166MT-BRK-EIP-IP67

G. HARNSBERGER 09/16/2018

THIS TECHNICAL DATA/DRAWING/DOCUMENT CONTAINS INFORMATION THAT IS PROPRIETARY TO, AND IS THE EXPRESS PROPERTY OF MOOG INC. EXCEPT AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW AND IS RESTRICTED TO USE BY ONLY MOOG EMPLOYEES AND OTHER PERSONS AUTHORIZED IN WRITING BY MOOG OR AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW. NO PORTION OF THIS DATA/DRAWING/DOCUMENT SHALL BE REPRODUCED OR DISCLOSED OR COPIED OR FURNISHED IN WHOLE OR IN PART TO OTHERS OR USED BY OTHERS FOR ANY PURPOSE WHATEVER EXCEPT AS SPECIFICALLY AUTHORIZED IN WRITING BY AN AUTHORIZED SIGNATORY OF MOOG INC.

SMARTMOTOR,SM34, MT, BRK, EIP, IP67

0

750 WEST SPROUL ROADSPRINGFIELD, PA 19064

DWG. NO. REV.

ECN

1

ON P3 CONNECTOR DETAIL TABLE, CHG'D PIN 5 & 6 DESCRIPTION FROM "IN" TO "IN/OUT".IN ZONE E5, SPECIFIED USB PORT AS MICRO-USB.

10/15/20181

3.402.740

3.40

2.740.075

4X .223 THRU.34 THK FLANGE

FACE SEALPROVIDED

.4994±.0003

2.874

.06

.34 FLANGE THICKNESS

1.20

6.89

.12

AA

KEYSEAT FORWOODRUFF ANSI 404

REMOVABLE ACCESS DOORFOR MICRO-USB & SD CARD ACCESS

4X .050" HEX DRIVE

.11

.400R.25

SECTION A-A

P2COMMUNICATIONSCONNECTOR

P4EtherNet/IPCONNECTOR

P4EtherNet/IP

CONNECTOR

P1MAIN POWERCONNECTOR

P324V I/O

CONNECTOR

P1 DETAIL SCALE 2 : 1

P2 DETAIL SCALE 2 : 1

1

23

4

5 67

1

2 3

4

1

2

8

P3 DETAIL SCALE 2 : 1

10

12

11

P4 DETAIL SCALE 2 : 1

34

56 7 8

91

2

3

4

REVISION INFORMATIONREV. ECN DESCRIPTION DATE

0 INITIAL PRE-RELEASE 1/23/2019

D

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8 7 6 5 4 3 2 1

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SM34166MT2-BRK-EIPCAGE CODE

1K426DSIZE

SCALE SHEET 1 OF 1CAD FILE:

CAD GENERATED DRAWING,DO NOT MANUALLY UPDATE

APPROVALS DATEDRAWN

CHECKED

ENGR

MFG ENGR

QA

FINISH

MATERIAL

DO NOT SCALE DRAWING

UNLESS OTHERWISE SPECIFIEDDIMENSIONS ARE IN INCHES

TOLERANCES ARE:

DECIMALS ANGLES .XX .010.XXX .005.XXXX .0005

0 30'FRACTIONS

1/64

1:1 SM34166MT2-BRK-EIP

D.KANG 01/23/2019

THIS TECHNICAL DATA/DRAWING/DOCUMENT CONTAINS INFORMATION THAT IS PROPRIETARY TO, AND IS THE EXPRESS PROPERTY OF MOOG INC. EXCEPT AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW AND IS RESTRICTED TO USE BY ONLY MOOG EMPLOYEES AND OTHER PERSONS AUTHORIZED IN WRITING BY MOOG OR AS EXPRESSLY GRANTED BY CONTRACT OR BY OPERATION OF LAW. NO PORTION OF THIS DATA/DRAWING/DOCUMENT SHALL BE REPRODUCED OR DISCLOSED OR COPIED OR FURNISHED IN WHOLE OR IN PART TO OTHERS OR USED BY OTHERS FOR ANY PURPOSE WHATEVER EXCEPT AS SPECIFICALLY AUTHORIZED IN WRITING BY AN AUTHORIZED SIGNATORY OF MOOG INC.

SMARTMOTOR,SM34, MT2, BRK, EIP

750 WEST SPROUL ROADSPRINGFIELD, PA 19064

DWG. NO. REV.

0

*

*5.34 without brake

**Industrial Ethernet connectors support corresponding motor option for EtherNet/IP™ (-EIP option), PROFINET® (-EPN option) or EtherCAT® (-EEC option) networks.

****