Motion controllers

Offering high performance motion control for

demanding electric and hydraulic applications

Motion Controllers

WHAT MOVES YOUR WORLD

Rev. B, September 2013

Introduction

Moog Motion Controllers

Introduction

Whenever the highest levels of motion control

performance and design flexibility are required, youll find
Moog expertise at work. Through collaboration, creativity
and world-class technological solutions, we help you
overcome your toughest engineering obstacles. Enhance
your machines performance. And help take your thinking
further than you ever thought possible.

Introduction...........................................................................2
Product Overview...............................................................3
Features and Benefits......................................................5
Technical data......................................................................6
MSC I Motion Controller.................................................6
MSC II Motion Controller...............................................12
Ruggedized Motion Controller......................................17
MSD Motion Controller....................................................21
Extension Modules for
MSC I, MSC II and MSC-R.............................................25
Displays...................................................................................44
Moog Axis Control Software........................................49
License Keys.........................................................................53
Background.............................................................................54
Application Examples........................................................54
About Moog...........................................................................58
Ordering Information.....................................................60
Ordering Information.........................................................60

This catalog is for users with technical knowledge. To ensure all necessary characteristics for function and safety of the system, the user has to check the suitability of the products
described herein. The products described in this document are subject to change without notice. In case of doubt, please contact Moog.
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. For the full disclaimer refer to
www.moog.com/literature/disclaimers.
For the most current information, visit www.moog.com/industrial or contact your local Moog office.

Rev. B, September 2013

Introduction

Moog Motion Controllers

Product Overview

Moog offers a variety of freely programmable Motion

Controllers, each of them designed with specialized
functionality to meet a range of customer requirements.
Regardless of your application, we have a Motion
Controller that will meet your requirements.

MSC I and MSC II Motion Controllers

The MSC I and MSC II Motion Controllers are high
performance motion controllers with PLC functionality
that are ideal for complex centralized and decentralized
applications. The modules are desigend for similar kinds of
tasks, just the interfaces and performance are different.
These Motion Controllers have a IP20 protection built in
and are fitted on DIN rails in an electronic cabinet.

MSC I Motion Controller

The MSC I Motion Controller offers high resolution

analog inputs/outputs and position sensor interfaces.
It is designed for fast and accurate closed-loop control
of two axes. MSC I Motion Controller is best suited for
applications where one or two actuators need to be
controlled via an analog interface.
The MSC II Motion Controller has several fieldbus
interfaces and four position transducer interfaces. It is
designed for closed-loop control with or without profile
generation of multiple electric or hydraulic axes.
The comprehensive functions of MSC I and MSC II Motion
Controllers can be extended by additional high resolution
analog and digital I/O and communication modules. The
extension modules are clipped on the side of the Motion
Controller and are electronically connected by the internal
Extension bus (E-Bus).

MSC II Motion Controller

To control complex decentralized applications two CAN

bus interfaces are included.

Ruggedized Motion Controller

The Ruggedized Motion Controller (MSC-R) is a freely
programmable motion controller designed for harsh
environments. It is suitable for use with both electric and
hydraulic motion control.

Ruggedized Motion Controller

The Ruggedized Motion Controller is offered in addition

to MSC I and MSC II Motion Controllers to enable high
speed control under demanding industrial environmental
conditions. The computing power is the same as the MSC II
Motion Controller.
The Ruggedized Motion Controller can be mounted
directly at the machine without the need for an additional
electronic cabinet. The innovative combination of
ruggedized design with IP67 protection, computing power
and fieldbus support makes the Ruggedized Motion
Controller an excellent choice for high performance
embedded control solutions.

Rev. B, September 2013

Introduction

Moog Motion Controllers

Product Overview

MSD Motion Controller

The MSD Motion Controller is part of the Programmable
Multi-Axis (MSD) Servo Drive System and is best used in
combination with Moog Servo Drives.
The MSD Motion Controller coordinates and synchronizes
axes, and communicates with host computers and other
PLCs via multiple fieldbus protocols. With its PLC
functionality, the MSD Motion Controller can control
processes of the machine.
It is designed for closed-loop control of velocity and
position for up to 30 axes.
The MSD Servo Drives are described in detail in the
Programmable Multi-Axis Servo Drives catalog.

Moog Axis Control Software

All Moog Motion Controllers can be programmed using
Moog Axis Control Software (MACS), the standard
development environment based on CODESYS.
The use of only one software development environment
simplifies the creation of applications with different
Motion Controllers. Libraries with special functions
dedicated to a variety of application requirements support
the program development.

MSD Motion Controller

Ordering number

MSC I

MSC II

MSC-R

MSD

D136-001-

D136-002-

D136-003-

G391-001-

007

008

002

003

004

005

001

002

004

001

002

003

Integrated interfaces
Ethernet

EtherCAT master

EtherCAT slave

USB 1.1 host

CAN/CANopen

PROFIBUS-DP slave
Position transducer

1
2

Inputs

Outputs

Digital I/O

IP67

IP20

Analog I/O

Sensor interfaces
Degree of protection

IP20

IP20

Processor

PowerPC Processor, 32 Bit, RISC architecture with floating point unit

Special features

Multiple extension modules available to be

connected via E-Bus or remote CAN bus

Rev. B, September 2013

Designed for harsh

environments

To be combined with
Moog Servo Drives

Introduction

Moog Motion Controllers

Features and Benefits

Feature

Benefit

Short cycle times

Higher machine productivity

Easy-to-use software and flexible hardware

Fast start-up commissioning

Support of user-defined open control structures

Maximum flexibility

Special Moog libraries of pre-programmed function blocks Solve advanced control problems quickly

Multiple connectivity options

Quick integration

Remote servicing and debugging

Convenience

Rev. B, September 2013

Technical data

Moog Motion Controllers

MSC I Motion Controller

Technical data

Overview
The MSC I Motion Controller is a freely programmable
multi-axis controller suitable for electric and hydraulic
motion control. It provides fast and precise control for
position, speed and force and features an integrated PLC
functionality.
The Moog Axis Control Software (MACS) offers a modern
and powerful IEC61131 development environment. The
hardware functionality can be parameterized via MACS.
The MSC I Motion Controller allows freely definable
controller structures with cycle times of 400s.

Interfaces
Termination resistor
at LocalCAN
L1+ and +5 V OK

WideCAN - transmission activity

LocalCAN - transmission activity

State of digital I/Os

E-Bus - transmission activity

Outputs active

Freely programmable

Programming interface
(for MACS)
Profibus-DP slave
(option)
Reset button

Serial port

Ethernet - link puls

License key slot
Ethernet - activity

WideCAN
(internally
connected 1:1)

Ethernet (RJ45 rack)

Error display

Cable breakage display

of analog current outputs
Cable breakage display
of digital sensor inputs

MACS - transmission activity

MACS - receiver activity

SIO - receiver activity

SIO - transmission activity

Rev. B, September 2013

Technical data

Moog Motion Controllers

MSC I Motion Controller

Technical Data
Ordering number

D136-001-007

D136-001-008

Ethernet

CAN

PROFIBUS-DP slave

Position transducer

Integrated interfaces

Processor
Type

PowerPC Processor, 32 Bit, RISC architecture with floating point unit

Flash EEPROM

4 MB

Data retention

Typically 10 years

General technical data

Connection technique

Plug-in terminal strips for screwing or clamping

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

160 x 170 x 85.5 mm (6.30 x 6.69 x 3.36 in)

Attachment dimensions

W = 149/154.5 mm (5.87/6.08 in)

Operating temperature range

+5 to +55 C (+41 to +131 F)

Storage temperature range

-25 to +70 C (-13 to 158 F)

Maximum mean temperature in operation for

24 hours

+50 C (+122 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Standards
Operating equipment demands and
examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Power supply
Voltage supply of module electronics
Current consumption of module electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

Idling

0.5A

Full load

2A

Potential separation

Separate potentials for:

Module electronics
24-V supply
Digital inputs/outputs
Ethernet

Rev. B, September 2013

Technical data

Moog Motion Controllers

MSC I Motion Controller

Ordering number

D136-001-007

D136-001-008

Internal voltages

Generated via internal DC/DC converters

Behavior at voltage failure/cut-off of supply

voltage

Necessary data is permanently stored. If the supply voltage fails

(<18V), buffer capacitors provide the necessary energy.

Interfaces
Ethernet

10 MBit/s with 8-pole RJ45 connector (10Base-T)

CAN

Two independent CAN interfaces, transmission rate adjustable from

10 kBit/s to 1 MBit/s:
WideCAN: 2 x D-Sub WCAN connectors on the front cover
(connected internally 1:1)
LocalCAN: For communication with other Motion Controller via
the side Q-connectors or with the QEBUS module to further
devices

PROFIBUS-DP slave

12 MBit/s

Serial port

2 x EIA-232:

MACS on the front cover for communication with the MACS

software on a PC
SIO on the front cover for free use in the application program
Extension bus (E-Bus)

Q-connectors on the right and left side of the module for connecting
up to 7 additional modules.
Contains a serial bus (5 to 10 MBit/s) and the LocalCAN bus.

Digital inputs/outputs
Type of digital inputs

Type 1 (current consuming) according to IEC61131-2

Number of digital inputs/outputs

Configuration

Individually configurable as input or output in the MACS software

Voltage supply

24 VDC (18 to 36 V), SELV according to EN60950-1

Maximum current consumption of single output

0.5 A

Protection
Sustained short-circuit

Yes

Thermal overload

Yes

Overvoltage

Up to 36V

Rev. B, September 2013

Technical data

Moog Motion Controllers

MSC I Motion Controller

Ordering number

D136-001-007

D136-001-008

Analog inputs/outputs
Voltage supply

Via internal DC/DC converter

Analog inputs
Type

Each analog input is configurable in the MACS software as 10V,

10mA or 4 to 20mA.

Number

Resolution

16Bit

Overvoltage protection

Up to 36V

Analog outputs
Type

Voltage output 10V. Each analog output is additionally configurable

in the MACS software as 10mA, 50mA or 4 to 20 mA.

Number

Resolution

16 Bit

Protection
Short-circuit

Yes

Overvoltage

Up to 36V

Reference voltage outputs

Reference output voltage
Maximum current

+10VDC
5 mA

Protection
Short-circuit

Yes

Overvoltage

Up to 36V

Sensor interfaces
Number of sensor interfaces

Type of signal

Corresponding to EIA-422

Wire fault monitoring

Inputs

Configuration

Each sensor configurable as incremental encoder or SSI

Incremental encoder interface

Maximum pulse frequency

8 MHz

Edge evaluation

4-edge evaluation

SSI interface
SSI sensor master or slave data format

Gray or binary

Data bits

8 to 32 Bit

Transmission frequency

78 kHz to 5 MHz

Diagnostics
Watchdog output: Outputs enabled signal

Rev. B, September 2013

Analog and digital outputs in operation.

In the event of a fault, the watchdog output goes to a high impedance
state.

Technical data

Moog Motion Controllers

MSC I Motion Controller

Circuit Diagrams - inputs/outputs

Digital input

Digital output

Signal source

MSC I

MSC I

L2+

L2+

24 VDC

24 VDC

I/Ox

OptoDecoupling

I/Ox, OutEN

To
evaluation

RL

M2

M2

Analog input

Analog output

MSC I

MSC I
Aix+

10 V
D

Cxa

Voltage

Cxb

AGND

A
Aix-

Aoxa

Voltage
RL

D
Filter

AGND

MUX

10 mA

4 to 20 mA

Aix+

Aoxb

AGND

Current
RL

Cxa

Current

Cxb

AixAGND

Rev. B, September 2013

50 mA

Filter
Output Current
Monitoring

10

Technical data

Moog Motion Controllers

MSC I Motion Controller

Circuit Diagrams - Sensor Interfaces

Incremental encoder

MSC I

Incremental
Encoder
Mode

Ax+
Ax

Signal A

Bx+
Bx

Signal B

Zx+
Zx

Signal Z

DGND

Incremental
Encoder

DGND

SSI master

SSI slave

MSC I
SSI Master
Mode

Data Signal

Ax+
Ax
CLKx+
CLKx

SSI Master
Mode

Data Signal

SSI Sensor

DGND

SSI Cycle (CLK)

DGND

SSI Sensor

SSI Cycle (CLK)

DGND

DGND

MSC I
Ax+
Ax
Bx+
Bx

SSI Slave
Mode
DGND

Dimensional Drawing [mm (in)]

102 (4.02)
85.5 (3.36)

160 (6.30)
149 (5.87)

170 (6.69)

5.5 (0.22)

Rev. B, September 2013

11

Technical data

Moog Motion Controllers

MSC II Motion Controller

Overview
The MSC II Motion Controller is a freely programmable
multi-axis motion controller that facilitates rapid and
precise control of process variables such as position,
speed, and force. It is suitable for use with both electric
and hydraulic motion control.
Compared to the MSC I Motion Controller, the MSC II
Motion Controller offers higher computation power,
shorter cycle times and additional fieldbus options, such
as EtherCAT.
The MSC II Motion Controller does not include analog
inputs and outputs. The analog extension modules
QAIO16/4 or QAIO2/2 are recommended for applications
where analog inputs and outputs are required.

Interfaces
State of digital
I/Os

WideCAN transmission
activity

LocalCAN - transmission
activity

SIO - receiver activity

E-Bus - transmission
activity

Termination Resistor
at LocalCAN

SIO - transmission
activity
Activated by
application program
Outputs enabled

L1+ and +5 V OK
WideCAN X1 + X3
(internally
connected 1:1)

WideCAN X1 + X3
(internally
connected 1:1)

Run/Stop/Reset
switch

License key slot

USB
interface
RJ45 10/100 MBit/s
realtime ethernet
interface (option)

RJ45
10/100 MBit/s
LAN and
programming
interface

Serial
interface SIO

Rev. B, September 2013

Wire fault display for

digital sensor inputs

Activated by application
program or error display

Fieldbus interface
(option)

12

Technical data

Moog Motion Controllers

MSC II Motion Controller

Technical Data
Ordering number

D136-002-002

D136-002-003

D136-002-004

D136-002-005

Ethernet

USB

EtherCAT master

EtherCAT slave

PROFIBUS-DP slave

CAN/CANopen

Position transducer

Integrated interfaces

Processor
Type

PowerPC Processor, 32 Bit, RISC architecture with floating point unit

RAM

128 MB

Flash EEPROM

32 MB

Data retention

Typically 10 years

General technical data

Connection technique

Plug-in terminal strips for screwing or clamping

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in)

Attachment Dimensions

W = 113/118.5 mm (4.45/4.66 in)

Operating temperature range

+5 to +55 C (+41 to +131 F)

Storage temperature range

-25 to +70 C (-13 to 158 F)

Maximum mean temperature in

operation for 24hours

+50C (+122 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maxmimum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Standards
Operating equipment demands and
examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Rev. B, September 2013

13

Technical data

Moog Motion Controllers

MSC II Motion Controller

Ordering number

D136-002-002

D136-002-003

D136-002-004

D136-002-005

Power supply
Voltage supply of module electronics
Current consumption of module
electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

Idling

0.3A

Full load

0.8A

Potential separation

Separate potentials for:

Module electronics
24-V supply
Digital inputs/outputs
Ethernet

Internal voltages

Generated via internal DC/DC converters

Behavior at voltage failure/cut-off of

supply voltage

Necessary data is permanently stored. If the supply voltage fails (<18V),

buffer capacitors provide the necessary energy.

Interfaces
Ethernet

10/100 MBit/s with 8-pole RJ45 connector (100Base-T)

CAN

Two independent CAN interfaces, transmission rate adjustable from 10

kBit/s to 1 MBit/s:
WideCAN: 2 x D-Sub WCAN connectors on the front cover (connected
internally 1:1)
LocalCAN: For communication with other Motion Controller via the side
Q-connectors or with the QEBUS module to further devices

EtherCAT master

100 MBit/s

100 MBit/s

EtherCAT slave

100 MBit/s

PROFIBUS-DP slave

12 MBit/s

USB

USB 1.1 host, USB-A connectors

E-Bus

Q-connectors on the right and left side of the module for connecting up to 7
additional modules.
Contains a serial bus (5 to 10 MBit/s) and the LocalCAN bus.

Digital inputs/outputs
Type of digital inputs

Type 1 (current consuming) according to IEC61131-2

Number of digital inputs/outputs

Configuration

Individually configurable as input or output in the MACS software

Voltage supply
Maximum current consumption of single
output

24 VDC (18 to 36 V), SELV according to EN60950-1

0.5 A

Protection
Sustained short-circuit

Yes

Thermal overload

Yes

Rev. B, September 2013

14

Technical data

Moog Motion Controllers

MSC II Motion Controller

Ordering number

D136-002-002

D136-002-003

D136-002-004

D136-002-005

Sensor interfaces
Number of sensor interfaces

Type of signal

Corresponding to EIA-422 with protection against 24V

Wire fault monitoring

Inputs

Configuration

Each sensor configurable as incremental encoder or SSI

Incremental encoder interface

Maximum pulse frequency

8 MHz

Edge evaluation

4-edge evaluation

SSI interface
SSI sensor master or slave data format

Gray or binary

Data bits

8 to 32 Bit

Transmission frequency

78 kHz to 5 MHz

Diagnostics
Watchdog output: Outputs enabled
signal

Digital outputs in operation.

In the event of a fault, the watchdog output switches to a high impedance
state.

Circuit Diagrams - inputs/outputs

Digital input
Signal source

Digital output

MSC II

MSC II

L2+

L2+

24 VDC

24 VDC

I/Ox

OptoDecoupling

To
evaluation

I/Ox, OutEN

RL

M2

Rev. B, September 2013

M2

15

Technical data

Moog Motion Controllers

MSC II Motion Controller

Circuit Diagrams - Sensor Interfaces

Incremental encoder

MSC II

Incremental
Encoder
Mode

Ax+
Ax

Signal A

Bx+
Bx

Signal B

Zx+
Zx

Signal Z

Incremental
Encoder

DGND

DGND

SSI master

SSI slave

MSC II
SSI Master
Mode

Data Signal

Ax+
Ax
CLKx+
CLKx

SSI Master
Mode

Data Signal

SSI Transmitter

DGND

SSI Cycle (CLK)

DGND

SSI Cycle (CLK)

SSI Transmitter
DGND

DGND

MSC II
Ax+
Ax
Bx+
Bx

SSI Slave
Mode
DGND

Dimensional Drawing [mm (in)]

124 (4.88)
113 (4.45)
5.5 (0.22)

170 (6.69)

85.5 (3.36)

Rev. B, September 2013

16

Technical data

Moog Motion Controllers

Ruggedized Motion Controller

Overview
The Ruggedized Motion Controller (MSC-R) is a freely
programmable motion controller designed for harsh
environments. It is suitable for use with both electric and
hydraulic motion control.
The Ruggedized Motion Controller has similar computing
power as the MSCII Motion Controller but can be mounted
directly at the machine without the need for an additional
electronic cabinet.
The innovative combination of ruggedized design,
computing power and fieldbus support (CAN, Ethernet,
EtherCAT, PROFIBUS-DP) makes the Ruggedized Motion
Controller an excellent choice for high performance
embedded control solutions.

Interfaces
LocalCAN - transmission activity
LocalCAN

L1+ and +5 V ok
Power supply

Activated by application or error display

LAN - transmission activity
LAN

EtherCAT - transmission
activity
EtherCAT

Fieldbus - transmission
activity
USB
State of
digital I/Os
Digital I/O

Rev. B, September 2013

Fieldbus interface

Fieldbus - transmission
activity
Fieldbus interface

17

Technical data

Moog Motion Controllers

Ruggedized Motion Controller

Technical Data
Ordering number

D136-003-001

D136-003-002

D136-003-004

Ethernet

USB

EtherCAT master

EtherCAT slave

CAN/CANopen

PROFIBUS-DP slave

Integrated interfaces

Processor
Type

PowerPC Processor, 32 Bit, RISC architecture with floating point unit

RAM

128 MB

Flash EEPROM

32 MB

Data retention

Typically 10 years

General technical data

Connection technique

M12 connectors

Mounting

Powder-coated aluminum housing, mounting on a backing plate

Dimensions W x D x H

161 x 105 x 57.7 mm (6.34 x 4.13 x 2.27 in)

Operating temperature range

-40 to +70 C (-40 to +158 F)

Storage temperature range

-40 to +80 C (-13 to +176 F)

Relative air humidity

>10 %

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP67 (with mounted connectors/cover caps)

Shock resistance

50g, 6 directions, 3 ms

Vibration resistance

30 g, 3 axes, 10 Hz to 2kHz, 10 sweeps

Standards
Operating equipment demands and
examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Rev. B, September 2013

18

Technical data

Moog Motion Controllers

Ruggedized Motion Controller

Ordering number

D136-003-001

D136-003-002

D136-003-004

Power supply
Voltage supply of module electronics
Current consumption of module
electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

Idling

0.3A

Full load

0.8A

Internal voltages

Generated via internal DC/DC converters

Behavior at voltage failure/cut-off of

supply voltage

Necessary data is permanently stored. If the supply voltage fails (<18V),

buffer capacitors provide the necessary energy.

Interfaces
Ethernet

10/100 MBit/s with 8-pole RJ45 connector (100Base-T)

CAN

Transmission rate adjustable from 10 kBit/s to 1 MBit/s, 24V proof,

non-isolated.
LocalCAN: M12 connector on the front cover.

EtherCAT master

100 MBit/s

EtherCAT slave

100 MBit/s

PROFIBUS-DP slave

12 MBit/s

USB

USB 1.1 host, USB-A connectors

Digital inputs/outputs
Type of digital inputs

Type 1 (current consuming) according to IEC61131-2

Number of digital inputs/outputs

Configuration

Individually configurable as input or output in the MACS software

Voltage supply

24 VDC (18 to 36 V), SELV according to EN60950-1

Maximum current consumption of single

output
Current consumption all digital outputs
active

0.5 A

<4 A (L2 fuse)

Protection
Sustained short-circuit

Yes

Thermal overload

Yes

Diagnostics
Watchdog output: Outputs enabled
signal

Rev. B, September 2013

Digital outputs in operation.

In the event of a fault, the watchdog output goes to a high impedance state.

19

Technical data

Moog Motion Controllers

Ruggedized Motion Controller

Circuit Diagrams - inputs/outputs

Digital input

Digital output

Signal source

MSC-R

MSC-R
L2+

L2+

24 VDC
24 VDC

I/Ox

OptoDecoupling

To
evaluation

I/Ox, OutEN
RL
M2

M2

Dimensional Drawing [mm (in)]

57.7
(2.27)
47.1
(1.85)

Rev. B, September 2013

5.3
(0.21)

65
(2.56)

105
(4.13)

12
(0.47)

160
(6.3)
150
(5.9)

20

Technical data

Moog Motion Controllers

MSD Motion Controller

Overview
The MSD Motion Controller is based on a 32-bit
microprocessor. The MSD Motion Controller coordinates
and synchronizes axes, and communicates with host
computers and other PLCs via multiple fieldbus protocols.
With its PLC functionality, the MSD can control processes
of the machine.
It is designed for closed-loop control of velocity and
position for up to 30 axes. Additionally, it is able to
control input and visualization devices. It supports various
communication protocols such as EtherCAT, CANopen and
PROFIBUS-DP to any host controller.

The MSD Motion Controller includes 2 EtherCAT master

interfaces for fast real time communication with the Servo
Drives.
Based on the IEC 61131 development standard, Moog
Axis Control Software, with specialized motion libraries is
provided to program the MSD Motion Controller.

Interfaces
+24 volt
License key
Run/Stop/
Reset switch

Option-Fieldbus card

CAN bus
USB 1.1 host
connection for data up
and download
via USB stick
Ethernet (TCP/IP)
programming interface,
display, LAN, ...
Control terminals
2 x EtherCAT Master

Rev. B, September 2013

21

Technical data

Moog Motion Controllers

MSD Motion Controller

Technical Data
Ordering number

G391-001-001

G391-001-002

G391-001-003

Ethernet

USB

EtherCAT master

CAN/CANopen

EtherCAT slave

PROFIBUS-DP slave

Integrated interfaces

Optional interfaces

Processor
Type

PowerPC Processor, 32 Bit, RISC architecture with floating point unit

RAM

128 MB

Flash EEPROM

32 MB

Data maintenance

Typically 10 years

General technical data

Connection technique

Plug-in terminal strips

Mounting

On a backing plate

Dimensions W x D x H

58.5 x 355 x 224 mm (2.30 x 13.97 x 8.81 in)

Operating temperature range

-20 to +55 C (-4 to +131 F)

Storage temperature range

-40 to +80 C (-40 to +176 F)

Maximum mean temperature in

operation for 24hours

+50C (+122 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Standards
Operating equipment demands and
examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Rev. B, September 2013

22

Technical data

Moog Motion Controllers

MSD Motion Controller

Ordering number

G391-001-001

G391-001-002

G391-001-003

Power supply
Voltage supply of module electronics
Current consumption of module
electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

Idling

0.3A

Full load

0.8A

Potential separation

Separate potentials for:

Module electronics
24-V supply
Digital inputs/outputs
Ethernet

Internal voltages

Generated via internal DC/DC converters

Behavior at voltage failure/cut-off of

supply voltage

Necessary data is permanently stored. If the supply voltage fails (<18V),

buffer capacitors provide the necessary energy.

Interfaces
Ethernet

10/100 MBit/s with 8-pole RJ45 connector (100Base-T)

CAN

Connectors on the front cover, connected internally 1:1. Transmission rate

adjustable from 10 kBit/s to 1 MBit/s.

EtherCAT master

100 MBit/s

EtherCAT slave

100 MBit/s

PROFIBUS-DP slave

12 MBit/s

USB

USB 1.1 host, USB-A connectors

Digital inputs/outputs
Type of digital inputs

Type 2 (current consuming) according to IEC61131-2

Number of digital inputs/outputs

Configuration

Individually configurable as input or output in the MACS software

Voltage supply

24 VDC (18 to 36 V), SELV according to EN60950-1

Maximum current consumption of single

output

0.5 A

Protection
Sustained short-circuit

Yes

Thermal overload

Yes

Diagnostics
Watchdog output: Outputs enabled
signal

Rev. B, September 2013

Digital outputs in operation.

In the event of a fault, the watchdog output goes to a high impedance state.

23

Technical data

Moog Motion Controllers

MSD Motion Controller

Circuit Diagrams - inputs/outputs

Digital input

Digital output

Signal source

MSD

MSD

L2+

L2+

24 VDC

24 VDC

I/Ox

OptoDecoupling

I/Ox, OutEN

To
evaluation

RL

M2

M2

Rev. B, September 2013

58.5
(2.30)

224 (8.81)

5.0 (0.20)

344.5 (13.56)

295 (11.61)
38.5 (1.51)

355 (13.97)

Dimensional Drawing [mm (in)]

4.8 (0.19)
29.25 (1.15)

24

Technical data

Moog Motion Controllers

Overview Extension Modules FOR MSC I, MSC II AND MSC-R

QAIO 2/2 Analog Module

RDIO 16/16 Digital Module

2 analog inputs
2 analog outputs
Voltage and current
range configurable
16 Bit resolution
See page 26

Remote module to
connect a Motion
Controller via CANopen
interface.
16 digital inputs
16 digital I/O, each
configurable as input or
output
See page 38

QAIO 16/4 Analog Module

MSC-R-IO 16/8 Digital and PT100 Module

16 analog inputs

16 digital inputs

4 analog outputs

8 digital outputs

12 Bit resolution

A PT100 temperature
sensor interface

See page 29

See page 41

QDIO 16/16 Digital Module

16 digital inputs
16 digital I/O, each
configurable as input or
output
See page 32

QEBUS-CAN Module
Connection to second
CAN controller
See page 35

Rev. B, September 2013

25

Technical data

Moog Motion Controllers

QAIO 2/2 Analog Module

Overview
The QAIO 2/2 analog module is used for local extension
of the inputs and outputs (I/O) of the MSC I or MSC II
Motion Controller. The module is mounted on a DIN rail and
directly connected to an MSC I or MSC II Motion Controller
via the internal Extension bus (E-Bus).
The QAIO 2/2 has the following inputs and outputs:
2 analog inputs, each configurable in the Moog Axis
Control Software (MACS) development environment
as 10 V, 10 mA or 4 to 20mA. The inputs are
converted in multiplex operation
1 reference voltage output: The reference voltage
source provides a short circuit protected voltage of
+10 V
2 analog outputs, each 10 V, additionally individually
configurable in the MACS software as 10 mA, 50 mA
or 4 to20 mA with wire fault monitoring
1 pulse input 24 V useable as counter input or
frequency measurement input
On the front, 4 LEDs provide information about the status
of important module functions.

The I/O of the analog extension module is actuated

directly from an MSC I or MSC II Motion Controller via the
E-Bus. All input- and output-data is transferred within one
cycle of the E-Bus.

The configuration of the analog I/O is carried out per

software via the central control configuration in the MACS
development environment. Either the two analog inputs or
the pulse input can be used.

One MSC I or MSC II Motion Controller can be extended

with a maximum of 7 QAIO 2/2-AV modules. It is not
possible to combine it with QAIO 16/4 on one E-Bus
segment.

Technical Data
Designation

QAIO 2/2-AV

Ordering number

D137-001-011

Connection to MSC I/MSC II Motion Controller

Via E-Bus (10 MHz)

General technical data

Connection technique

Plug-in terminal strips for screwing or clamping

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in)

Attachment dimensions

W = 113/118.5 mm (4.45/4.66 in)

Operating temperature range

+5 to +55 C (+41 to +131 F)

Storage temperature range

-25 to +70 C (-13 to 158 F)

Maximum mean temperature in operation for 24hours

+50C (+122 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maxmimum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Rev. B, September 2013

26

Technical data

Moog Motion Controllers

QAIO 2/2 Analog Module

Designation

QAIO 2/2-AV

Standards
Operating equipment demands and examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Power supply
Voltage supply of module electronics
Maximum current consumption of module electronics
Potential separation

24 VDC (18 to 36 V), SELV according to EN60950-1

0.25 mA

Separate potentials for:

Module electronics
24-V supply
Pulse input

Internal voltages

Generated via internal DC/DC converters

Protection against reverse polarity

Yes

Analog inputs
Type

Each analog input is configurable in the MACS software as

10V, 10mA or 4 to 20mA.

Number

Resolution

16 Bit

Overvoltage protection

Up to 36V

Analog outputs
Type

Voltage output 10V. Each analog output additionally

configurable in the MACS software as 10mA, 50mA or
4 to 20 mA.

Number

Resolution

16 Bit

Short-circuit protection

Yes

Overvoltage protection

Up to 36 V

Maximum output current of voltage output

10 mA

Reference voltage outputs

Reference output voltage

+10 V

Maximum current

5 mA

Short-circuit protection

Yes

Overvoltage protection

Up to 36 V

Pulse input

24 V digital input
Can be used as input according to IEC61131-2 type1;
positive switching (input OE) or ground switching
(inputOC)

Rev. B, September 2013

27

Technical data

Moog Motion Controllers

QAIO 2/2 Analog Module

Circuit Diagrams - inputs/outputs

Analog input

Analog output

QAIO 2/2

QAIO 2/2
Aix+

10 V
A

Cxb
Voltage

Aoxa

Cxa

MUX
Aix-

AGND

Voltage
RL

Filter

10 mA

AGND

Aoxb

4 to 20 mA

Aix+

AGND

Current
RL

Cxa

Current

Cxb

50 mA

Aix-

Filter

AGND

Output Current
Monitoring

Pulse input - positive switching

QAIO 2/2

QAIO 2/2
Signal source

L2+

OE

OptoDecoupling

To
evaluation

M2

24 VDC

24 VDC

Signal source

Pulse input - ground switching

L2+

OC

OptoDecoupling

To
evaluation

M2

Dimensional Drawing [mm (in)]

124 (4.88)
85.5 (3.36)

113 (4.45)

170 (6.69)

5.5 (0.22)

Rev. B, September 2013

28

Technical data

Moog Motion Controllers

QAIO 16/4 Analog Module

Overview
The QAIO 16/4 analog module is used for local extension
of the inputs and outputs (I/O) of the MSC I or MSC II
Motion Controller. The module is mounted on a DIN rail
and directly connected to an MSC I or MSC II Motion
Controller via the internal extension bus (E-Bus).
The QAIO 16/4 has the following inputs and outputs:
16 voltage or current inputs: The input channels are
converted in multiplex operation. The measurement
range is 10 V (QAIO 16/4-V) or 20 mA (QAIO 16/4-A)
1 reference voltage output: The reference voltage
source provides a short circuit protected voltage of
+10 V
4 voltage outputs: The output channels provide a
voltage signal in the range of 10 V. The maximum
output current is 5 mA (overload protection)
The configuration of the analog I/O is carried out per
software via the central control configuration in the Moog
Axis Control Software (MACS) development environment.
On the front, 4 LEDs provide information about the status
of important module functions

The I/O of the analog extension module is actuated

directly from an MSC I or MSC II Motion Controller via the
extension bus (E-Bus).
It is not possible to combine it with a QAIO 2/2 on one
E-Bus segment.

Technical Data
Designation

QAIO 16/4-A

QAIO 16/4-V

Ordering number

D137-001-006

D137-001-007

Connection to MSC I/MSC II Motion Controller

Via E-Bus (5 MHz)

General technical data

Connection technique

Plug-in terminal strips for screwing or clamping

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in)

Attachment dimensions

W = 113/118.5 mm (4.45/4.66 in)

Operating temperature range

+5 to +50 C (+41 to +122 F)

Storage temperature range

-25 to +70 C (-13 to 158 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Rev. B, September 2013

29

Technical data

Moog Motion Controllers

QAIO 16/4 Analog Module

Designation

QAIO 16/4-A

QAIO 16/4-V

Standards
Operating equipment demands and examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Power supply
Voltage supply of module electronics
Maximum current consumption of module electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

0.3 mA

Potential separation

Yes, opto-decoupled towards E-Bus.

No separation between power supply and analog channels.

Internal voltages

Generated via internal DC/DC converters

Protection against reverse polarity

Yes

Analog inputs
Type

20mA

Number

16

Resolution

12 Bit (multiplex operation)

Overvoltage/current protection

Up to 50mA

10V

Up to 36V

Analog outputs
Type

Voltage output 10V

Number

Resolution

12 Bit

Short-circuit protection

Yes

Overvoltage protection

Up to 36 V

Maximum output current of voltage output

5 mA

Reference voltage outputs

Reference output voltage

+10 VDC

Maximum current

5 mA

Short-circuit protection

Yes

Overvoltage protection

Up to 36 V

Rev. B, September 2013

30

Technical data

Moog Motion Controllers

QAIO 16/4 Analog Module

Circuit Diagrams - inputs/outputs

Analog input

Analog output
QAIO 16/4

IN+

QAIO 16/4

+15 V

10 M

+15 V

AGND

OUT

-15 V

MUX

SENSE

+15 V

50 k
IN

-15 V

AGND
Shield

10 M
Shield

RL

MUX
-15 V

Dimensional Drawing [mm (in)]

124 (4.88)
85.5 (3.36)

113 (4.45)

170 (6.69)

5.5 (0.22)

Rev. B, September 2013

31

Technical data

Moog Motion Controllers

QDIO 16/16 Digital Module

Overview
The QDIO 16/16 digital module is used for extension of
the local inputs and outputs (I/O) of the MSC I or MSCII
Motion Controller. The module is mounted on a DIN rail
and directly connected to an MSC I or MSCII Motion
Controller, or a remote digital I/O module (RDIO) via the
internal Extension bus (E-Bus).
The configuration of the digital I/O is carried out per
software via the central control configuration in the Moog
Axis Control Software development environment.
LEDs on the front provide information about the status of
the I/O. The arrangement of the LEDs corresponds to the
I/O connections.
The I/O of the digital extension module are actuated
directly from an MSC I , MSC II Motion Controller or RDIO
via the E-Bus.
A MSC I or MSC II Motion Controller can be extended with
a maximum of 7 modules (e.g. QDIO or QAIO). Further
digital I/O can be actuated via RDIO modules, which are
connected with an MSC I or MSC II Motion Controller via
CANopen.

Technical Data
Designation

QDIO 16/16-0.5

QDIO 16/16-0.5N

Ordering number

D137-001-005

D137-001-004

Connection to MSC I / MSC II

Via E-Bus (10 MHz)

General technical data

Connection technique

Plug-in terminal strips for screwing or clamping

Connecting of the I/O

3-conductor front wiring

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in)

Attachment dimensions

W = 113/118.5 mm (4.45/4.66 in)

Operating temperature range

+5 to +50 C (+41 to +122 F)

Storage temperature range

-25 to +70 C (-13 to +158 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maxmimum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Rev. B, September 2013

32

Technical data

Moog Motion Controllers

QDIO 16/16 Digital Module

Designation

QDIO 16/16-0.5

QDIO 16/16-0.5N

Standards
Operating equipment demands and examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Power supply
Voltage supply of module electronics
Maximum current consumption of module electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

0.15 A

Potential separation

Yes, between E-Bus and digital I/O

Protection against reverse polarity

Yes

Digital inputs/outputs
Type

Plus switching

Number

16 digital inputs

Zero switching

16 I/O, each useable as input and output

Voltage supply

24VDC (SELV), divided into 6 I/O groups

Maximum output current

0.5 A

Short-circuit protection

Yes

Reverse polarity protection

Yes, all digital outputs

Rev. B, September 2013

33

Technical data

Moog Motion Controllers

QDIO 16/16 Digital Module

Circuit Diagrams - inputs/outputs

Digital input - plus switching

Digital input - zero switching

QDIO 16/16

QDIO 16/16
+24 V L+

+24 V L+
IN

IN
Minternal
Minternal

M
M

GND

GND

Digital output - plus switching

Digital output - zero switching

QDIO 16/16

QDIO 16/16
L+

+24 V

L+ +24 V

OUT (IN)

OUT (IN)

Minternal

GND
M
M

GND

L+

Minternal

Dimensional Drawing [mm (in)]

124 (4.88)
85.5 (3.36)

113 (4.45)

170 (6.69)

5.5 (0.22)

Rev. B, September 2013

34

Technical data

Moog Motion Controllers

QEBUS-CAN Module

Functionality
The QEBUS-CAN module is designed for using the
LocalCAN bus for external CAN bus nodes. The LocalCAN
bus is integrated in the Extension bus (E-Bus) plug and is
accessed via the QEBUS-CAN module by means of two
D-Sub mating connectors.
Furthermore, the QEBUS-CAN module offers the option of
using a jumper to connect/disconnect a CAN termination
resistor.
The module is mounted onto a DIN rail and is directly
attached to a MSC I or MSC II Motion Controller or an
extension module via the connector at the side of the
module.
The QEBUS-CAN module does not count as an E-Bus
node, it can be used in addition to the maximum
number of E-Bus modules
The module can be placed either at the far left or far
right in an E-Bus segment
The module has a smaller width than the QDIO, QAIO
and RDIO modules
The module does not need to be configured
The E-Bus does not pass through the module
Both D-Sub mating connectors are identically wired
The CAN bus can be connected to a power supply via
X1

Rev. B, September 2013

35

Technical data

Moog Motion Controllers

QEBUS-CAN Module

Technical Data
Designation

QEBUS-CAN

Ordering number

D137-001-010

Connection to MSC I / MSC II

Via Q-connector

General technical data

Connection technique

Optional CAN power supply: Plug-in Terminal strip for

screwing or clamping.

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

65 x 170 x 85.5 mm (2.56 x 6.69 x 3.36 in)

Attachment dimensions

W = 59.5 mm (2.34 in)

Operating temperature range

+5 to +55 C (+41 to +131 F)

Storage temperature range

-25 to +70 C (-13 to +158 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

CAN bus: 2 x D-Sub connector

Standards
Operating equipment demands and examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Power supply
Voltage supply of module electronics

None (passive module)

Interfaces
LocalCAN

2 x D-Sub, connected 1:1 internallly.

120 termination resistor, can be switch on/off with
jumper.

Q-connector

Contains the LocalCAN of the MSC I or MSC II.

The E-Bus is not passed through the module.

Rev. B, September 2013

36

Technical data

Moog Motion Controllers

QEBUS-CAN Module

Pin Assignments
X1 CAN supply

CAN supply
X1
1 2

Pin

Assignment

Connection

CAN_V+

CAN supply

DGND

Digital ground

X2/X3 Local CAN bus

J1

Local CAN

J2

X2

X3

Local CAN

J3

ON/OFF termination

Pin

Assignment

Connection

CAN-L

CAN

DGND

Digital ground

CAN-H

CAN+

CAN_V+

CAN supply

Dimensional Drawing [mm (in)]

65 (2.56)
54 (2.12)
5.5 (0.22)

170 (6.69)

85.5 (3.36)

Rev. B, September 2013

37

Technical data

Moog Motion Controllers

RDIO 16/16 Digital module

Overview
The RDIO digital module is used as a remote extension
of the local inputs and outputs (I/O) of a MSC I or MSC II
Motion Controller. The module is mounted on a DIN rail and
connected to the Motion Controller via CAN.
Digital I/O extension module
16 digital inputs 24 V
16 digital I/O 24 V, individually configurable as an input
or an output
CANopen slave complying with CiA DS 401
The Moog Axis Control Software (MACS) includes a library
with function blocks to interface the RDIO via CANopen.
This ensures simple integration into Moog Motion
Controller applications.
LEDs on the front provide information about the status of
each I/O. The arrangement of the LEDs corresponds to the
I/O connections.
The I/Os are accessed via CANopen interface. The I/Os
of the QDIO modules are also accessed via CANopen
interface of the RDIO.

No modules shall be connected to the left Extension

bus (E-Bus) connector of the module
The CAN interface is only accessible via the CAN
connectors on the front cover
Up to 6 QDIO modules can be connected to the right
E-Bus connector of the module
Several RDIOs can be connected via CAN connector

Interfaces
Status of digital I/Os

Status LEDs

CAN interface

Serial interface
SIO
Status of digital I/Os

Rev. B, September 2013

38

Technical data

Moog Motion Controllers

RDIO 16/16 Digital module

Technical Data
Designation

RDIO 16/16-0.5

Ordering number

D137-002-001

Connection to Moog Motion Controller

CANopen to a Motion Controller

E-Bus to connect up to 6 QDIO modules

Interfaces

CAN

General technical data

Connection technique

Plug-in terminal strips for screwing or clamping

Connecting of the I/O

3-conductor front wiring

Mounting

NS 35/7.5 mounting rail according to EN 50022 (DIN rail)

Dimensions W x D x H

124 x 170 x 85.5 mm (4.88 x 6.69 x 3.36 in)

Attachment dimensions

W = 113/118.5 mm (4.45/4.66 in)

Operating temperature range

+5 to +50 C (+41 to +122 F)

Storage temperature range

-25 to +70 C (-13 to +158 F)

Relative air humidity

10 to 95 % (non-condensing)

Maximum operation height

2,000 m (6,500 ft)

Maxmimum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Standards
Operating equipment demands and examinations

IEC61131-2

Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2, test voltage 500VDC

Power supply
Voltage supply of module electronics
Maximum current consumption of module electronics

24 VDC (18 to 36 V), SELV according to EN60950-1

0.15 A

Potential separation

Yes, between CAN and digital I/O

Protection against reverse polarity

Yes

Digital inputs/outputs
Type

Plus switching

Number

16 digital inputs
16 I/O, each useable as input and output

Voltage supply

24VDC (SELV), divided into 6 I/O groups

Maximum output current

0.5 A

Short-circuit protection

Yes

Reverse polarity protection

Yes, all digital outputs

Rev. B, September 2013

39

Technical data

Moog Motion Controllers

RDIO 16/16 Digital module

Circuit Diagrams - inputs/outputs

Digital input - plus switching

Digital output - plus switching

RDIO 16/16

RDIO 16/16
+24 V L+

L+

IN

+24 V
OUT (IN)

Minternal

Minternal

GND

GND

Minternal

Dimensional Drawing [mm (in)]

124 (4.88)
85.5 (3.36)

113 (4.45)

170 (6.69)

5.5 (0.22)

Rev. B, September 2013

40

Technical data

Moog Motion Controllers

MSC-R-IO 16/8 Digital and PT100 Module

Overview
The MSC-R-IO is used as remote extension module for the
Ruggedized Motion Controller (MSC-R), MSC II Motion
Controller, MSD Motion Controller or other EtherCAT
master modules. It includes an EtherCAT slave interface.
The module offers
16 digital inputs
8 digital outputs
A PT100 temperature sensor interface
LEDs on the front provide information about the status of
each I/O. The arrangement of the LEDs corresponds to
the I/O connections.
Diagnostic: EtherCAT status LED
RUN LED status

EtherCAT state

Off

Init

Blinking

Pre-Operational

Single Flash

Safe-Operational

Flashes

Initialization or Bootstrap

On

Operational

Interfaces
EtherCAT slave in

EtherCAT slave status

EtherCAT slave out

L1 + and +5 V ok
X1 Supply

L2 + oK
PT100 input

Digital outputs

Status of digital
outputs

Status of digital
inputs
Digital inputs

Rev. B, September 2013

Status of digital
inputs
Digital inputs

41

Technical data

Moog Motion Controllers

MSC-R-IO 16/8 Digital and PT100 Module

Technical Data
Designation
Ordering number

D136-006-001

Fieldbus interface

EtherCAT slave interface

General technical data

Connection technique

EtherCAT slave interface : M12 connectors, power supply and

I/Os: Terminal strips

Mounting

Powder-coated aluminium housing, mounting on a backing plate

Dimensions W x D x H

161 x 105 x 57.7 mm (6.34 x 4.13 x 2.27 in)

Operating temperature range

-40 to +70 C (-40 to +158 F)

Storage temperature range

-40 to +80 C (-13 to +176 F)

Relative air humidity

>10 %

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Protection class

III

Degree of protection

IP20

Shock resistance

50 g, 6 directions, 3 ms

Vibration resistance

30 g, 3 axes, 10 Hz to 2 kHz, 10 sweeps

Standards
Operating equipment demands and examinations

IEC 61131-2

Interference emission

EN 61000-6-4

Interference immunity

EN 61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC 61131-2, test voltage 500 VDC

Power supply
Voltage supply of module electronics

24 VDC (18 to 36 V), SELV according to EN 60950-1

Maximum current consumption of module electronics

0.3 A

Potential separation

Between module electronics and supply for digital I/Os

Protection against reverse polarity

Yes

Digital inputs/outputs
Type of digital inputs

Type 1 (current consuming) according to IEC 61131-2

Number of digital inputs/outputs

16 digital inputs, 8 digital outputs

Voltage supply

24 VDC (18 to 36 V), SELV according to EN 60950-1

Maximum output current of a single output

Current consumption all digital outputs active

0.5 A

8 outputs: <4 A (L2 fuse)

Protection
Sustained short-circuit

Yes

Thermal overload

Yes

Temperature sensor interface

Sensor type

1 channel PT100

Resolution

8 bit value representing -50 to +205 C (-58 to +401 F)

Wiring configuration

Four-wire configuration

Rev. B, September 2013

42

Technical data

Moog Motion Controllers

MSC-R-IO 16/8 Digital and PT100 Module

Circuit Diagrams - inputs/outputs

Digital input

Digital output

Signal source

MSC-R-IO

MSC-R-IO
L2+

L3+/L4+

24 VDC

24 VDC

Dix

OptoDecoupling

To
evaluation

Dox
RL
M2

M3/M4

Dimensional Drawing [mm (in)]

12
(0.47)

160
(6.3)
150
(5.9)

5.3
(0.21)

105
(4.13)
65
(2.56)

58.4
(2.30)
55.7
(2.19)
47.1
(1.85)

Rev. B, September 2013

43

Technical data

Moog Motion Controllers

Displays

RDISP 22 Operator Panel

Operator Panel for supervision and control of machines and processes.
See page 45.

Dialog Controller
Freely programmable Dialog Controller to create visualization screens available
in 3 sizes with 5.7, 10.4 or 12.1 .
See page 47.

Rev. B, September 2013

44

Technical data

Moog Motion Controllers

RDISP 22 Operator Panel

Overview
The RDISP 22 Operator Panel is designed for supervision
and control of machines and processes. Its main advantage
is the easy and fast creation of visualization screens
with text and graphical elements as well as visualization
structures.
LCD display for text and graphics with 240x64points
and LED background lighting
8 function keys and 8 LEDs for signal display
Numeric keypad for value input
22 keys
The LCD display with graphics capabilities permits
optimum graphical display of your visualization solution.
Up to 8 x 40, 4 x 20, 2 x 10 characters per page and any
combination of these, pictograms and graphical display
images in BMP format can be displayed. Contrast and
brightness can be adjusted via the program or keys.
The keys are built as push buttons. They are covered by a
robust foil to withstand high push forces.
RDISP 22 has interfaces for CAN, CANopen, EIA-232.
The RDISP 22 offers the display types 'images' and
'messages'. They can be activated independently.
Images are graphical elements (pictograms, BMP files), in
which text and variables are displayed both numerically
and graphically or as bar charts or as X/Y charts. A visual
menu structure can be defined by the programmer. An
image can be selected by an image number or via a menu
structure by using keys.
Messages can be inserted into a page as well as text with
variables. Messages are activated by using the message
number.

Parameters, images and messages are stored in the

maintenance-free flash memory.
The Moog Axis Control Software (MACS) includes a library
with function blocks to interface the RDISP via CANopen.
This ensures simple integration into the Moog Motion
Controller applications.
The function keys can be labeled freely. This is done by
using strips of paper and inserting them between the keys
and the front cover.
Programming is carried out on the PC via an user-friendly
editor. Programming of menus, menu structures, message
texts and multi-language display is easy to achieve with
the PC editor ITE Designer.

Technical Data
Designation

RDISP 22

Ordering number

D137-004-003

General Technical Data

Housing

Integrated case

Dimensions W x D x H (front with plug)

196 x 129 x 53 mm (7.72 x 5.08 x 2.09 in)

Mounting dimensions W x D

187 x 120 mm (7.36/4.72 in)

Operating temperature range

-10 to +60 C (+14 to +140 F)

Relative air humidity

10 to 95 % (non-condensing)

Protection class

III

Degree of protection

IP65 front side, IP20 rear side

Weight

1.4 kg (3.08 lbs)

Rev. B, September 2013

45

Technical data

Moog Motion Controllers

RDISP 22 Operator Panel

Designation

RDISP 22

Standards
Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Power supply
Voltage supply of module electronics
Current consumption at 24VDC

24 VDC (17 to 36 VDC), SELV with reverse voltage

protection
0.5 A, depending on display brightness

Fuse

Electronic fuse with automatic reset

Connection to power supply

6-pole AMP crimp connector

Display
Type

LCD Superwist 240 x 64 points, LED background lighting

Number of characters per line (minimum/maximum)

10/40

Line height

2 lines: 14 mm (0.55 in)

4 lines: 7 mm (0.28 in)
8 lines: 4 mm (0.16 in)
IBM set 2 and Cyrillic, other character sets possible

Standard character set

Keys
Type

Push buttons

Number

22 (including numeric keypad)

Key top

Aluminum disc behind polyester cover; secured against

vandalism
Galvanized steel plate with clamping lid

Rear
Functions
Menu structures

Tree structure or other structure

Contrast and brightness

Adjustable, using keys and program

Character attributes

Flashing, normal, and inverse display

Programming

With PC and ITE Designer editor

Value entry

Numeric keyboard

Variables

Interface to PC editor (ITE Designer)

Up to 104 per page, number of pages typically > 700, only

limited by memory size
Flash EEPROM to store texts, images, messages, operating
system etc.
CAN or EIA-232, EIA-232 recommended

Interface to controller (e.g. MSC I, MSC II)

CAN or EIA-232, CANopen recommended

Memory

Interfaces
CAN
EIA-232

Rev. B, September 2013

Galvanic insulation, termination switchable with DIP

switch, 9-pin D-Sub connector
D-Sub connector

46

Technical data

Moog Motion Controllers

Dialog Controller

Overview
The Dialog Controller is a freely programmable, real-time
controller with the Moog Axis Control Software (MACS)
development environment.
The Dialog Controller is available in 3 sizes with 5.7, 10.4
or 12.1 color TFT touch screens for brilliant colors. With
IP65 protection at the front (IP20 at the rear), the Dialog
Controller is designed for harsh industrial environments.
It is equipped with interfaces for USB, Ethernet, CAN bus,
EIA-232 and EIA-485. Data can be stored on MMC/SD
memory cards.
The user can define and examine device and
communication parameters as well as device states. It
offers diagnostics functions which support service and
commissioning tasks.
The predefined elements such as buttons, bar graphs,
meters, tables and histograms make it easy to create
visualization screens.
Programmable with MACS/CODESYS, no additional
editor tool required
TFT technology for brilliant colors
Fanless operation
Communication to Moog Motion Controllers via
Ethernet

Rev. B, September 2013

47

Technical data

Moog Motion Controllers

Dialog Controller

Technical Data
Designation

Dialog Controller

Size

5.7

10.4

12.1

Ordering number

D137-004-004

D137-004-005

D137-004-006

General technical data

Dimensions W x D x H
Operating temperature range

360 x 260 x 77 mm
194 x 172 x 52 mm
(7.6 x 6.8 x 2.0 in)
(14.2 x 10.2 x 3.0 in)
0 to +50 C (+32 to +112 F), fanless technology

Storage temperature range

-20 to +70C (-4 to +158 F)

Transport temperature range

-20 to +70C (-4 to +158 F)

Maximum operation height

2,000 m (6,500 ft)

Maximum storage height

3,000 m (9,800 ft)

Maximum transport height

3,000 m (9,800 ft)

Maximum relative air humidity

85 % (non-condensing)

Protection class

III

Degree of protection

IP65 front side, IP20 rear side

Weight (approximately)

1.5 kg (3.3 lbs)

440 x 300 x 77 mm
(17.3 x 11.8 x 3.0 in)

90 % (non-condensing)

5 kg (11 lbs)

6 kg (13.2 lbs)

Standards
Interference emission

EN61000-6-4

Interference immunity

EN61000-6-2, industrial part

Shock resistance

IEC 60068-2-27

Vibration resistance

IEC 60068-2-6

Insulation strength

IEC61131-2; test voltage 500 VDC

Power supply
Voltage supply of module
electronics
Current consumption (typical/
maximum
Display

24 VDC (-15/+20 %), SELV according to EN60950-1

Type

TFT touch screen display

Resolution

320 x 240 pixels

Processor

PowerPC Processor, 32 Bit, RISC architecture with floating point unit

RAM

128 MB (96 MB for application)

1 A/2 A

640 x 480 pixels

800 x 600 pixels

Flash memory

32 MB (24 MB for application)

Retain memory

16 kB

Real-time clock

Yes, battery-buffered

Development environment

MACS / CoDesSys 2.3

Runtime software

CODESYS 2.3 with target visualization, real-time operating system with

multitasking

Interfaces
Ethernet
USB

100Base-T, 10/100 MBit/s, 8-pole RJ45 connection (recommended as interface

to Moog Motion Controllers)
2 x USB host 1.1 (1 x on front, 1 x on rear)

CAN

Transmission rate adjustable between 10 kBit/s and 1 MBit/s

Serial port

2 x EIA-232, 1 x EIA-485

Rev. B, September 2013

48

Technical data

Moog Motion Controllers

Moog Axis Control Software

General

Features

The Moog Axis Control Software (MACS) offers a stateof-the-art development environment for implementing
demanding motion control functions using the IEC 61131
standard for development.

Extensive libraries with Moog function blocks, based

on 50 years of experience in electric and hydraulic
motion control

MACS includes tools for:

Freely programmable controller structures

Maximum flexibility by offering a complete scope of
functions in all IEC61131 programming languages

Programming

Simultaneous realization of control, regulation and

PLC applications in one application program

Testing and optimizing

Debugging

Open standard interfaces for communication on

machine and process levels

Documentation

Motion control functions corresponding to PLCopen

standard

Visualization
Configuration

Moog
Know-how

Standard
IEC 61131

MACS

Interfaces

Benefits

Process guidance level:

Quick project realization

OPC server

Low programming efforts

DDE interface
Machine level:

O
ne tool for programming, visualizing and
documentation

CAN
CANopen
Ethernet TCP/IP
PROFIBUS DP
EIA-232
EtherCAT

Rev. B, September 2013

49

Technical data

Moog Motion Controllers

Moog Axis Control Software

Programming Languages

Editors

All IEC 61131 programming languages and CFC

(Continuous Function Chart)

Context-sensitive input help

Full scope of functionality in all programming

languages, provides maximum flexibility in creation of
user programs

Context menus in all editors

Automatic formatting
Syntax coloring

Each module can sequence other modules regardless

of their programming language

Multi-level undo/redo

Continuous Function Chart (CFC)

Function Block Diagram (FBD)

Structured Text (ST)

Sequence Function Chart (SFC)

Ladder Diagram (LD)

Instruction List (IL)

Rev. B, September 2013

Display of the current values of all variables in online

operation

50

Technical data

Moog Motion Controllers

Moog Axis Control Software

Functionality of MACS

Professional

Motion

Functionality included with license key

Controls

MACS is based on CODESYS which is the standard for

IEC 61131 programming. It has been enhanced by Moog
by adding motion control functionality. In this way, even
complex automation projects can be simplified. MACS
includes the following functionality:

Motion control technology

PLCopen function blocks according to

the specification Function Blocks for
Motion Control for single and multi-axis
applications:

Functionality included with license key

Function block library for initialization and
data exchange:

Absolute and relative position

Velocity functions
Homing

PROFIBUS-DP slave
EtherCAT master
EtherCAT slave
CANopen master
CANopen slave

Rev. B, September 2013

CAN
EIA-232
Ethernet (TCP/IP and UDP/IP)
Network variables

OPC interface
DDE interface
Hardware

Signal conditioning for analog inputs/

outputs and position sensors
Diagnostics wire fault, power fault etc.
Time evaluation
Monitoring of temperature
Watchdog
Visualization
x

Cam functions with graphical editor to

create movement profiles
Gearing functions
Communication

Function block library

Moog Motion Control Function Blocks:

Function blocks similar to PLCopen function
blocks but with additional Time parameter
to allow smoother movements if the required
movement can be executed in the given time
without reaching the limits of acceleration/
decelerations and velocity.
Soft motion

Graphical configurator for:

Professional

Library management

Motion

Controller: I, D, PID standard/extended

Filter: High-pass, low-pass
Non-linear functions: Dead band, nonlinear, dual-gain, look-up table
Simulation of the process: PT1, PT2
Function generator
Signal delay
Counter
Timer
Transfer functions: Continuous, time
discrete
Matlab/Simulink integration: Execution
of Matlab/Simulink models inside the IEC
61131 application program
Generating motion profiles

Controls

Function block library including:

Web based visualization: MACS visualization

pages can be displayed on a web browser
MACS HMI: Package for installation on a PC
for full-screen display of visualization pages

x
x

51

Technical data

Moog Motion Controllers

Moog Axis Control Software

Moduls
Visualization
Commissioning tool

Hardware Configuration
Configuration of all modules on one screen

Creation of visualizations for end users

Oscilloscope
Recording of up to 20 channels
Various triggering possibilities

Debugging
Break points
Single step/single cycle
Writing and forcing of variables
Simulation possible without hardware
Display of all the current values

Rev. B, September 2013

Documentation
Automatic creation of the project documentation with
all components

Task Configuration
Enables division of the application program into a
number of tasks
Schedule tasks optionally time-based (cyclic) or
event-triggered
Priority and time base of each task adjustable

52

Technical data

Moog Motion Controllers

License Keys

The license keys contain the runtime license for the

Moog Axis Control Software (MACS ). According to the
license key used, assigned functionality of MACS is
enabled for usage.
The license keys contain:
IP address
PROFIBUS-DP station address
CANopen node ID
Designation

Color

Functions

Ordering
number

Controls

Gray

MACS runtime license with basic functionality:

D138-002-001

Moog control technology library

Communication library: Initialization and data exchange, network variables
Hardware library
Visualization package
See section Functionality of MACS for details.
Motion

Green

All functions of Controls license key and additionally:

D138-002-002

Motion control technology library: Transfer functions,

Matlab/Simulink integration
Generating motion profiles library
Communication library: Graphical configuration
Visualization package: Web based visualization
Professional

Blue

All functions of Motion license key and additionally:

D138-002-003

Generating motion profiles library: Soft motion

System

Rev. B, September 2013

Red

Program parts and/or complete application programs, produced specifically

upon customer request

Specific to the
order

53

Background

Moog Motion Controllers

Application examples
Background

We have provided some typical examples of how Motion

Controllers can be used in conjunction with hardware and
communication interfaces to effectively achieve specific
objectives for machine performance.

Applications with MSC I and MSC II Motion

Controllers

Up to 6 QDIO modules can be connected to the right E-Bus

connector of the RDIO 16/16 module. QAIO modules
cannot be connected to a RDIO 16/16 modules.
No modules shall be connected to the left E-Bus connector
of the RDIO 16/16 module.
Several RDIO modules can be connected via the CAN
connector.

Up to 7 additional I/O or communication modules can be

connected to the right Extension bus (E-Bus) of the MSC I
or MSC II Motion Controller. The modules are put together
and locked on the DIN rail. In this way, further analog and/
or digital I/O modules can be added as required. Analog
modules are placed next to the Motion Controller.
The control and signal processing is executed by an MSCI
or MSCII Motion Controller. The extension modules
connected via E-Bus do not require their own intelligence.
Analog I/O Modules
The QAIO modules are analog I/O modules and are used
to extend a MSCI or a MSCII Motion Controller via the
E-Bus.
Two different analog modules QAIO2/2 and QAIO16/4
are available. They cannot be combined on the same E-Bus
segment.
The QAIO modules cannot be connected to a RDIO module.
Digital I/O Modules
The QDIO 16/16 module is a digital I/O module and is used
to extend MSCI, MSCII Motion Controller and RDIO16/16
module via the E-Bus.
RDIO 16/16 Module
The RDIO 16/16 digital module is used as a remote
extension of the local inputs and outputs of a MSCI or
MSCII Motion Controller.

QEBUS-CAN Module
The QEBUS-CAN module is designed for using the
LocalCAN bus for external CAN bus nodes.
The module does not count as an E-Bus node. It can
be used in addition to the maximum number of E-Bus
modules.
The E-Bus does not pass through the module. Therefore,
the module can be placed either at the far left or far right
in an E-Bus segment.
Displays
An operator panel of one size and dialog controllers
of three different sizes can be used for MSCI and
MSCIIapplications.
The RDISP 22 Operator Panel is designed for supervision
and control of machines and processes.
The Dialog Controller is a freely programmable, real-time
controller.
Other Devices
Further components with Ethernet or fieldbus interfaces
can be connected with MSCI and MSCII Motion Controller.
Moog provides an extensive selection of Servo Drives,
Servo Motors, Hydraulic Valves and Radial Piston Pumps.
This enables a flexible set-up of industrial machinery
solutions.

The CAN interface is only accessible via the CAN

connectors on the front cover.

MSC II

QAIO 16/4

QAIO 16/4

QDIO 16/16 QDIO 16/16 QEBUS

Extension bus

Application with a MSC II and several analog and digital I/O modules

Rev. B, September 2013

54

Background

Moog Motion Controllers

Application examples

MSC I

QAIO 2/2

QDIO 16/16 QDIO 16/16

Extension bus

WideCAN

PROFIBUS-DP

To Host Computer

Servo Valve

Servo Valve

Application with a MSC I Motion Controller, several digital and analog I/O modules and two Servo Valves

MSC II

QAIO 2/2

QDIO 16/16 QDIO 16/16

Extension bus

EtherCAT (alternatively)
WideCAN (alternatively)

Servo Valve
Application with a MSC II Motion Controller, several digital and analog I/O modules and a Servo Valve

Rev. B, September 2013

55

Background

Moog Motion Controllers

Application examples

MSC II

QAIO 2/2 QEBUS

RDIO 16/16 QDIO 16/16 QDIO 16/16

Extension bus

LocalCAN
EtherCAT

MSD Servo Drives

Application with two E-Bus segments and two MSD Servo Drives

Applications with Ruggedized Motion Controller

The Ruggedized Motion Controller has IP67 protection
and is designed for harsh industrial environments. It is
designed to work in environments that have fluids such as
salt water, mineral oil and others.

Other components can be connected to the Ruggedized

Motion Controller, e.g. Servo Valves.

EtherCAT

MSC-R

Servo Valve
Application with Ruggedized Motion Controller and Servo Valve

Rev. B, September 2013

56

Background

Moog Motion Controllers

Application examples

Applications with MSD Motion Controller

The MSD Motion Controller is specially designed for the
use with Servo Drives from the Moog MSD Series.
For further information about the MSD series refer to the
Programmable Multi-axis Servo Drive catalog.

EtherCAT

Application
with Controller
PLC, MSD Motion Controller,
Servo
Drive and Servo Valve
MSD Motion
MSD Servo
Drive

Servo Valve

Ethernet
EtherCAT

MSD Motion Controller

Dialog Controller

MSD Servo Drive

Application with MSD Motion Controller, Dialog Controller and Servo Drive

Rev. B, September 2013

57

Background

Moog Motion Controllers

About Moog
Background

Moog Inc. is a worldwide designer, manufacturer and

integrator of precision control components and systems.
Moogs Industrial Group designs and manufactures
high performance motion control solutions combining
electric, hydraulic, and hybrid technologies with
expert consultative support in a range of applications
including energy production and generation machinery,
industrial production machinery and simulation and test
equipment. We help performance-driven companies
design and develop their next-generation machines.
Moog Industrial Group, with fiscal year 2012 sales of
USD 634 million and locations in 26 countries, is part of
Moog Inc. (NYSE:MOG.A and MOG.B) which has sales of
USD2.47billion.

Servo Drives

Moog maintains facilities in 25 countries around the globe.

This vast scope ensures that our engineers remain close
to the needs of machine builders and provide flexible
design solutions and technical expertise tailored to our
customers toughest challenges.
Moog experts work in close collaboration with machine
builders and application engineers to design motion
control systems for greater productivity, higher reliability,
superior connectivity, less costly maintenance and more
effective operations. Our regional presence, industry
knowledge and design flexibility ensures Moog motion
control solutions are tailored to their environment
from meeting operating regulations and performance
standards, to taking machine performance to a higher
level.

Servo Motors

Products
At the heart of every Moog solution is an array of products
engineered for precision, high performance and reliability.
For more than five decades, Moog products have been
specified for critical machine applications.
Some are developed specifically for unique operating
environments. Others are standard equipment on
machines across many industries. All are continuously
improved to take advantage of the latest technology
breakthroughs and advancements.

Servo Valves

Moog products include:

Servo Valves and Proportional Valves
Servo Motors and Servo Drives
Controllers and Software
Radial Piston Pumps
Actuators
Integrated Hydraulic Manifold Systems and Cartridge
Valves
Slip Rings

Radial Piston Pumps

Motion Bases

Rev. B, September 2013

58

Background

Moog Motion Controllers

About Moog

Hydraulic Solutions
Since Bill Moog invented the first commercially viable
Servo Valve in 1951, Moog has set the standard for worldclass hydraulic technology. Today, Moog products are
used in a variety of applications - providing high power,
enhanced productivity and ever better performance for
some of the worlds most demanding applications.

Electric Solutions
Clean operation, low noise generation, less maintenance
and reduced power consumption make Moog electric
solutions ideal for applications worldwide. Moog is
the ideal partner for applications where transitioning
technologies requires special expertise.

Hybrid Solutions
By incorporating the advantages of existing hydraulic
and electric technologies - including modular flexibility,
increased efficiency and cleanliness - into innovative
hybrid solutions, Moog offers new performance potential
in specialized applications.

Moog Global Support

Moog Global Support is our promise to offer world-class
Repair and Maintenance Services delivered expertly by our
trained technicians. With the reliability only available from
a leading manufacturer with facilities around the world,
Moog offers you service and expertise you can count on to
keep your equipment operating as it should.
This promise offers many benefits to our customers
including:
Reduce your downtime by keeping critical machines
running in peak performance

Flexible programs, tailored to your needs such as

upgrades, preventative maintenance and annual/multiyear contracts
On-site services bring the expertise to you, providing
quicker commissioning, set-up and diagnostics
Access to reliable services that are guaranteed to
offer consistent quality anywhere in the world
For more information on Moog Global Support, visit
www.moog.com/industrial/service

Protect your investment by ensuring reliability,

versatility and long-life of products
Better plan your maintenance activities and make
systematic upgrades
Leverage our flexible programs to meet the unique
service requirements of your facility
Look to Moog for global support including:
Repair services using OEM parts are performed by
trained technicians to the latest specifications
Stock management of spare parts and products to
prevent unplanned downtime

Rev. B, September 2013

59

Ordering Information

Moog Motion Controllers

OrDering Information
Ordering Information

Motion Controllers

EtherCAT slave

CAN

PROFIBUS-DP slave

Position transducer

USB 1.1 host

Ordering number

EtherCAT master

Interfaces

Ethernet

Designation

To be mounted on DIN rail

D136-001-007

8 analog inputs, 2 analog outputs

D136-001-008

D136-003-004

G391-001-001

MSC I Motion Controller

8 digital I/O, each configurable as input or output

2 sensor interfaces
Expandable with extension modules via E-Bus
MSC II Motion Controller
To be mounted on DIN rail
4 digital I/O, each configurable as input or output
2 sensor interfaces

Expandable with extension modules via E-Bus

D136-002-002

D136-002-003
D136-002-004
D136-002-005

Ruggedized Motion Controller

IP67 protection and high vibration resistance for harsh
environments
2 digital I/O, each configurable as input or output

D136-003-001

D136-003-002

MSD Motion Controller

Designed for use with Moog MSD Servo Drives
4 digital I/O, each configurable as input or output

Rev. B, September 2013

G391-001-002
G391-001-003

60

Ordering Information

Moog Motion Controllers

OrDering Information

Extension Modules for MSC I, MSC II and MSC-R

All MSC I and MSC II extension modules are to be mounted on DIN rail.
Designation

Description

Ordering number

2 analog inputs

D137-001-011

Analog I/O modules for E-Bus

QAIO 2/2-AV

2 analog outputs
1 reference voltage output
1 pulse input
QAIO 16/4-A

16 current inputs 20mA

D137-001-006

4 voltage outputs

QAIO 16/4-V

1 reference voltage output

16 voltage inputs 10V

D137-001-007

4 voltage outputs
1 reference voltage output
Digital I/O modules for E-Bus
QDIO 16/16-0.5N

16 digital inputs 24V

D137-001-004

16 digital I/O 24V, each configurable as input or

output
Zero switching
QDIO 16/16-0.5

16 digital inputs 24V

D137-001-005

16 digital I/O 24V, each configurable as input or

output
Plus switching
Connection modules
QEBUS-CAN

Extension module for using the LocalCAN bus for

external CAN bus nodes

D137-001-010

16 digital inputs 24V

D137-002-001

Digital I/O modules for remote CAN bus

RDIO 16/16-0,5

16 digital I/O 24V, each configurable as input or

output
Plus switching

Ruggedized I/O modules can directly be mounted to the machine without the need for an extra electronic cabinet.
Digital I/O modules for EtherCAT master
MSC-R-IO

16 digital inputs 24V

D136-006-001

8 digital outputs 24 V
1 channel PT100

Rev. B, September 2013

61

Ordering Information

Moog Motion Controllers

OrDering Information

Moog Axis Control Software (MACS)

Designation

Description

MACS

Development environment according to IEC61131;

one license per developer necessary
1 license
Additional license
5 licenses
10 licenses

MACS HMI

Ordering number

D138-001-001
D138-001-002
D138-001-005
D138-001-010

For full-screen display of visualizations which were

created with MACS;
does not contain development environment;
1 license per machine necessary
1 license
10 licenses

D138-003-001
D138-003-010

Includes support and updates for 1 year

B95914-001

Designation

Description

Ordering number

Controls

For a description of the license key functions see

section License Key.

D138-002-001

Software maintenance contract for

MACS

License Keys

Motion

D138-002-002

Professional

D138-002-003

System

Specific to the
order

Operator Panels
Designation

Description

Ordering number

RDISP 22

Operator panel for supervision and control of machines D137-004-003

and processes

Dialog Controllers
Designation

Description

Ordering number

TFT Display 5.7

Color TFT touch screen display;

320 x 240 pixels resolution

D137-004-004

TFT Display 10.4

Color TFT touch screen display;

640 x 480 pixels resolution

D137-004-005

TFT Display 12.1

Color TFT touch screen display;

800 x 600 pixels resolution

D137-004-006

Rev. B, September 2013

62

Ordering Information

Moog Motion Controllers

OrDering Information

Terminal Strips for MSC I

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

18

X1, X2, X4, X5, X6

2.5 mm2 (14 AWG)

Screw Terminal version: VK055-018

(Phoenix Contact: FRONT-MSTB2,5/18-ST-5,08)
or
Spring power clamp version: B95907-018
(Phoenix Contact: FKC 2,5/18-ST-5,08)

X3

2.5 mm2 (14 AWG)

Screw Terminal version: VK055-009

(Phoenix Contact: FRONT-MSTB2,5/9-ST-5,08)
or
Spring power clamp version: B95907-009
(Phoenix Contact: FKC 2,5/9-ST-5,08)

Terminal Strips for MSC II

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

X2, X4

2.5 mm2 (14 AWG)

Screw Terminal version: VK055-009

(Phoenix Contact: FRONT-MSTB2,5/9-ST-5,08)
or
Spring power clamp version: B95907-009
(Phoenix Contact: FKC 2,5/9-ST-5,08)

10

X6, X7, X9, X10

0.5 mm2 (20 AWG)

Spring power clamp version: CA45260-010

(Phoenix Contact: FK-MC 0,5/10-ST-2,5)

Terminal Strips for MSD Motion Controller

Spring power clamps for X3, X9 and X10 are included

Terminal Strips for QAIO 2/2

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

18

X1, X6

2.5 mm2 (14 AWG)

Screw Terminal version: VK055-018

(Phoenix Contact: FRONT-MSTB2,5/18-ST-5,08)
or
Spring power clamp version: B95907-018
(Phoenix Contact: FKC 2,5/18-ST-5,08)

X4

2.5 mm2 (14 AWG)

Screw Terminal version: VK055-009

(Phoenix Contact: FRONT-MSTB2,5/9-ST-5,08)
or
Spring power clamp version: B95907-009
(Phoenix Contact: FKC 2,5/9-ST-5,08)

Rev. B, September 2013

63

Ordering Information

Moog Motion Controllers

OrDering Information

Terminal Strips for QAIO 16/4

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

Screw Terminal version: VK055-018

(Phoenix Contact: FRONT-MSTB2,5/18-ST-5,08)
or
Spring power clamp version: B95907-018
(Phoenix Contact: FKC 2,5/18-ST-5,08)

18

X1, X2, X3, X5, X6

2.5 mm2 (14 AWG)

Terminal Strips for QDIO 16/16

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

Screw Terminal version: VK055-018

(Phoenix Contact: FRONT-MSTB2,5/18-ST-5,08)
or
Spring power clamp version: B95907-018
(Phoenix Contact: FKC 2,5/18-ST-5,08)

18

X1 to X6

2.5 mm2 (14 AWG)

Terminal Strips for RDIO 16/16

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

Screw Terminal version: VK055-018

(Phoenix Contact: FRONT-MSTB2,5/18-ST-5,08)
or
Spring power clamp version: B95907-018
(Phoenix Contact: FKC 2,5/18-ST-5,08)

18

X1 to X6

2.5 mm2 (14 AWG)

Terminal Strips for QEBUS-CAN

(only required when the optional 24 V power supply of the CAN bus is used)
Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

Screw Terminal version: VK055-002

(Phoenix Contact: FRONT-MSTB2,5/2-ST-5,08)
or
Spring power clamp version: B95907-002
(Phoenix Contact: FKC 2,5/2-ST-5,08)

Rev. B, September 2013

X1

2.5 mm2 (14 AWG)

64

Ordering Information

Moog Motion Controllers

OrDering Information

Terminal Strips for MSC-R-IO

Number of Pole
Connector name on Maximum conductor
required
count module
cross-section
connectors

Ordering number

X1

0.5 mm2 (20 AWG)

Spring power clamp version: CA96981-004

(Phoenix Contact: FMC 1,5/4-STF-3,5)

12

X5, X6, X7

0.5 mm2 (20 AWG)

Spring power clamp version: CA96981-012

(Phoenix Contact: FMC 1,5/12-STF-3,5)

X8

0.5 mm2 (20 AWG)

Spring power clamp version: CA96981-005

(Phoenix Contact: FMC 1,5/5-STF-3,5)

Accessories for MSC-R-IO

Number of Designation
required
connectors
2

EtherCAT slave interface

Description

Ordering number

M12 D-coded 4 pin male

connector

Not available

CAN Connection Cables

Length

Description

Ordering number

3 m (9.8 ft)

One side: 9-pole D-Sub plug-in

connector with pin contacts;

B95863-001

10 m (33 ft)

Other side: 9-pole D-Sub plug-in

connector with jack contacts

B95863-002

Type

Description

Ordering number

120

9-pole D-Sub plug-in connector with

jack contacts

B95864-001

120 with grounding

9-pole D-Sub plug-in connector with

pin contacts; CAN -GND
connected to SL/PE

B95865-001

CAN Termination Resistors

Rev. B, September 2013

65

Ordering Information

Moog Motion Controllers

OrDering Information

Accessories for Ruggedized Motion Controller

Designation

Description

Ordering number

DIN rail mounting kit

Accessory kit for mounting the Ruggedized Motion Controller

modules on a DIN rail.

CA94286-001

Contents:
DIN rail clip
Mounting plate
Screws
Cable set

1 x CAN bus cable

Length 2 m (6.4 ft), M12 A-coded 5-pole pin contacts and
D-Sub socket contacts

CB03223-001

1 x PROFIBUS-DP cable
Length 2 m (6.4 ft), M12 A-coded 5-pole pin contacts and
D-Sub with 1 x socket and 1 x pin connection
1 x Digital I/O cable
Length 1.5 m (4.8 ft), length 2 m, M12 A-coded 5-pole
socket and open cable end
1 x Power supply cable
Length 1.5 m (4.8 ft), M12 A-coded 5-pole socket and
open cable end
1 x USB cable
Length 0.5 m (1.6 ft), M12 A-coded 5-pole socket and
USB-A socket
2 x LAN cable
Length 2 m (6.4 ft), M12 D coded 4-pole pin contacts and
RJ45 connector, cable category 5
USB cable

Rev. B, September 2013

1 x USB cable
CA98502-001
Length 0.5 m (1.6 ft), M12 A-coded 5-pole socket contacts
and USB-A socket

66

Ordering Information

Moog Motion Controllers

OrDering Information

Documents
Designation

Description

Document number

MSC I Motion Controller

User manual

B95906-001

MSC II Motion Controller

User manual

CA65865-001

Ruggedized Motion Controller

User manual

CB08987-001

MSD Motion Controller

User manual

CA65866-001

QDIO 16/16 Digital I/O module

User manual

C43148-001

Note: Visit www.moog.com/industrial/literature to download the most recent user manuals using the document number
in the search. Visit the Motion Controllers and Software web page for online information.

Rev. B, September 2013

67

Take a closer look.

Moog designs a range of motion control products that complement the performance of those featured in this catalog.
Visit our website for more information and contact the Moog facility nearest you.

Argentina
+54 11 4326 5916
[email protected]

India
+91 80 4057 6666
[email protected]

Singapore
+65 677 36238
[email protected]

Australia
+61 3 9561 6044
[email protected]

Ireland
+353 21 451 9000
[email protected]

South Africa
+27 12 653 6768
[email protected]

Brazil
+55 11 3572 0400
[email protected]

Italy
+39 0332 421 111
[email protected]

Spain
+34 902 133 240
[email protected]

Canada
+1 716 652 2000
[email protected]

Japan
+81 46 355 3767
[email protected]

Sweden
+46 31 680 060
[email protected]

China
+86 21 2893 1600
[email protected]

Korea
+82 31 764 6711
[email protected]

Switzerland
+41 71 394 5010
[email protected]

Finland
+358 10 422 1840
[email protected]

Luxembourg
+352 40 46 401
[email protected]

Turkey
+90 216 663 6020
[email protected]

France
+33 1 4560 7000
[email protected]

The Netherlands
+31 252 462 000
[email protected]

United Kingdom
+44 (0) 168 429 858 000
[email protected]

Germany
+49 7031 622 0
[email protected]

Norway
+47 6494 1948
[email protected]

USA
+1 716 652 2000
[email protected]

Hong Kong
+852 2 635 3200
[email protected]

Russia
+7 8 31 713 1811
[email protected]

www.moog.com/industrial
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.
CANopen is a registered trademark of CAN in Automation (CiA)
EtherCAT is a registered trademark of Beckhoff Automation GmbH
PROFIBUS-DP is a registered trademark of PROFIBUS Nutzerorganisation e. V.
2013 Moog Inc. All rights reserved. All changes are reserved.
Moog Motion Controllers
PIM/Rev. B, September 2013, Id. CDL30267-en

WHAT MOVES YOUR WORLD