MOOG D138-002-002

Technical Specifications

• License type: Permanent runtime license
• Software compatibility: MACS V2.x and V3.x
• Hardware compatibility: MSC I, MSC II, MSC III motion controllers
• Minimum processor requirement: 400 MHz CPU
• Memory requirement: 128 MB RAM / 32 MB Flash

Functional Features

• Includes all base control functions of the D138-002-001 Controls tier
• PLCopen-compliant motion control library
• Moog proprietary Z-function blocks for transfer function modeling
• Support for CANopen, TCP/IP and Profibus DP slave protocols
• Multi-axis synchronization and trajectory planning capabilities

Application Scenarios

• Multi-axis electric and hydraulic motion control systems
• Packaging and converting machinery
• Metal forming and press control
• Injection molding machine control
• Material handling and robotics

Performance Parameters

• Minimum task cycle time: 100 µs
• Maximum controlled axes: 8 axes (hardware dependent)
• Position loop update rate: 1 kHz
• Analog I/O resolution: 16-bit
• Digital I/O: 8 configurable channels

Material Composition

• Housing: High-temperature green thermoplastic
• Circuit substrate: FR-4 epoxy laminate
• Contacts: Gold-plated copper alloy pins
• Memory: Non-volatile serial EEPROM with write protection

Structural Features

• Compact plug-in key form factor
• Color-coded green housing for Motion tier identification
• Keyed connector prevents incorrect insertion
• Compact size fits directly into controller license slot

Working Principle When inserted into the dedicated license socket of an MSC controller, the module authenticates with the MACS runtime system on power-up. It decrypts and enables the motion control function libraries, allowing the controller to execute multi-axis motion programs, trajectory generation and closed-loop servo control algorithms.

Installation Requirements

• Insert into the designated license slot on the MSC controller
• Power off the controller before inserting or removing the license key
• Ensure full and proper seating of the connector pins
• Store in a static-protected package when not in use

Operation Notes

• Do not remove the license key while the controller is powered on
• Avoid electrostatic discharge when handling the module
• The license is locked to the controller hardware and cannot be transferred
• Back up application programs before performing controller firmware updates
• Keep the module away from moisture and corrosive atmospheres