Description
Core Product Summary
The Moog D136-003-001 is a specialized MSC-R series motion controller designed for multi-axis closed-loop position, velocity, and pressure/force control in hydraulic and electric drive systems. Operating on a 32-bit PowerPC RISC processor architecture, the module executes real-time control algorithms demanding low latency and high signal accuracy. It features an IP20-rated compact enclosure tailored for installation inside control cabinets.
Equipped with dedicated fieldbus communication options, the D136-003-001 integrates CAN/CANopen and PROFIBUS-DP slave interfaces along with EIA-232 serial ports for system commissioning and host interaction. The unit runs on a nominal 24 V DC power supply, offers galvanic potential isolation across system electronics, and supports local expansion through an integrated E-Bus interface.
Key Technical Specifications
| Parameter | Specification Details |
| Manufacturer & Series | Moog MSC-R Motion Controller Family |
| Model / Part Number | D136-003-001 |
| Processor Architecture | 32-bit PowerPC RISC processor with Floating-Point Unit (FPU) |
| Memory | 4 MB Flash EEPROM (data retention up to 10 years) |
| Supply Voltage | 24 V DC (18 to 36 V DC range), SELV compliant to EN 60950-1 |
| Current Consumption | 0.5 A (no load) to 2.0 A (full load) |
| Fieldbus Interfaces | CAN/CANopen, PROFIBUS-DP slave (up to 12 Mbit/s) |
| Serial / Setup Ports | 2 × EIA-232 ports (MACS setup interface & SIO application port) |
| Expansion Bus | E-Bus side connectors (supports up to 7 extension modules) |
| Digital I/O | 8 bidirectional points (Type 1 IEC 61131-2, 0.5 A per output) |
| Analog / Sensor Support | Configurable analog inputs/outputs; supports SSI and incremental encoders |
| Operating Temperature | +5 °C to +55 °C (+41 °F to +131 °F) |
| Dimensions (W × D × H) | 160 mm × 170 mm × 85.5 mm (6.30 in × 6.69 in × 3.36 in) |
| Protection Degree | IP20 |
Detailed Product Overview
The Moog D136-003-001 MSC-R motion controller serves as a central closed-loop control unit engineered for demanding industrial servo-hydraulic and electro-hydraulic applications. Powered by a high-performance 32-bit PowerPC RISC processor with integrated floating-point arithmetic, the hardware handles complex motion profiles, synchronized multi-axis movement, and dynamic switching between position and force/pressure control modes.
In system architectures, the controller acts as an intelligent sub-node between high-level programmable logic controllers (PLCs) or main process computers and final hydraulic control valves or drive amplifiers. Onboard communication links include a PROFIBUS-DP slave port and CAN interfaces, enabling cyclic exchange of motion commands, feedback, and diagnostic data over standard industrial buses. Dual EIA-232 serial interfaces provide localized connection points for direct PC configuration or dedicated operator terminals.
To accommodate localized I/O requirements, the controller includes 8 configurable digital channels that operate under IEC 61131-2 Type 1 standards, featuring internal protection against short-circuit and thermal overload conditions. Sensor inputs support both incremental quadrature encoders and absolute SSI transducers, providing precise position monitoring for hydraulic cylinder axes. When additional signal processing is required, side-mounted E-Bus connectors allow local expansion of up to seven expansion modules without requiring external network hardware.
Programming and system parameter configuration are managed using Moog Application Software Suite tools based on the IEC 61131-3 development standard, allowing tailored control loops, custom logic execution, and detailed signal trace recording during system setup.
D136-003-001
D136-003-001
Dimensions, Mounting & Connection Notes
- Physical Dimensions: Enclosure measures 160 mm wide, 170 mm deep, and 85.5 mm high (6.30 in × 6.69 in × 3.36 in).
- Mounting Method: Designed for installation within IP20-rated industrial control cabinets or enclosures. Mounting width spans 149 mm to 154.5 mm.
- Power Connections: Requires a dedicated 24 V DC line with potential isolation across module electronics, digital I/O, and communication ports.
- Digital I/O Parameters: 24 V DC supply levels, limited to 0.5 A maximum continuous current draw per output channel. Inputs and outputs tolerate overvoltage up to ±36 V DC.
- Environmental Limits: Suitable for operating ambient temperatures between +5 °C and +55 °C (+41 °F to +131 °F) in non-condensing relative humidity conditions (10% to 95%). Maximum operating altitude rating is 2,000 meters above sea level.
System Compatibility & Integration Requirements
| Item / Dependency | Verified Compatibility or Requirement | Practical Note |
| Product Family | Moog MSC-R Motion Controller Family | Standard unit format in the MSC product line. |
| Power Supply | 24 V DC (18 to 36 V DC limit) | Requires a SELV power source per EN 60950-1. |
| Fieldbus Network | PROFIBUS-DP slave, CAN / CANopen | Node addressing and baud rates must match main bus settings. |
| Expansion Modules | MSC-R-IO and E-Bus extension modules | Up to 7 expansion modules connected via side E-Bus. |
| Software Tool | Moog Axis Control Software (MACS / MASS) | CODESYS-based IEC 61131-3 development environment. |
| Feedback Sensors | Incremental Encoders (up to 8 MHz) / SSI Transducers | SSI supports Gray/binary code formats up to 32 bits. |
FAQ
What is the Moog D136-003-001?
The Moog D136-003-001 is a microprocessor-based motion controller in the MSC-R family, built for closed-loop dynamic control of hydraulic and electro-mechanical drive systems.
Which fieldbus protocols are integrated into the D136-003-001?
The unit features integrated CAN/CANopen communication and a PROFIBUS-DP slave interface supporting data transfer rates up to 12 Mbit/s.
What power supply is required for operation?
The controller operates on a nominal supply voltage of 24 V DC (acceptable range 18 to 36 V DC) conforming to SELV EN 60950-1 safety requirements.
What position feedback sensors can be connected?
The sensor interfaces support both incremental encoders (with evaluation frequencies up to 8 MHz) and SSI absolute position transducers (8 to 32 bit resolution).
Which software is used to program and configure the controller?
The unit is configured and programmed using Moog software environments (such as MACS or MASS) compliant with the IEC 61131-3 programming standard.
How can I expand the local I/O capacity of the module?
Local I/O can be expanded by attaching up to 7 compatible extension modules directly to the side E-Bus expansion connector.
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