MOOG D136‑006‑001 (MSC‑R‑IO) Rugged I/O Extension Module
Overview
MOOG D136‑006‑001 also named MSC‑R‑IO, is an EtherCAT slave I/O extension module within Moog M3000 motion control family, engineered for harsh industrial operating conditions. MOOG D136‑006‑001 works with MSC‑R ruggedized motion controller, MSC II motion controller, MSD motion controller and other EtherCAT master devices for distributed field signal acquisition and output. MOOG D136‑006‑001 integrates digital input channels, digital output channels and one PT100 temperature sensing channel. With powder‑coated aluminum housing, it can mount directly onto machine structures without control cabinet installation. It expands signal capacity for hydraulic, electro‑hydraulic and electric motion control systems.
Technical Specifications
- Part number: D136‑006‑001
- Fieldbus: EtherCAT slave, M12 connector
- Digital inputs:16‑channel, IEC 61131‑2 Type 1 sinking type, 24 VDC
- Digital outputs:8‑channel, max 0.5 A per channel; total current below 4 A with all outputs active; continuous short‑circuit and thermal overload protection
- Temperature input:1‑channel PT100, 4‑wire connection, measuring range ‑50℃ ~ +205℃, 8‑bit resolution
- Power supply:24 VDC (18‑36 VDC SELV), typical module consumption 0.3 A
- Mechanical dimension:161 × 105 × 57.7 mm
- Mounting:back‑plate mounting
- Ingress rating:IP20 on terminal side
- Shock resistance:50 g, 6 directions, 3 ms; Vibration resistance:30 g, 3‑axis,10 Hz‑2 kHz
- Operating temperature:‑40℃ ~ +70℃; Storage temperature:‑40℃ ~ +80℃
- Status indicators:EtherCAT diagnostic LED, individual status LED for each I/O channel
- Compliance:IEC 61131‑2, EN 61000‑6‑2, EN 61000‑6‑4, IEC60068 environmental test standards
Core Advantages
Wide operating temperature and high shock‑vibration tolerance allow MOOG D136‑006‑001 deployed directly on machinery in rough field environments and reduce cabinet wiring workload. Combines discrete signal handling and PT100 temperature measurement in single unit, removing extra temperature acquisition hardware. Standard EtherCAT slave protocol, compatible with Moog EtherCAT masters and third‑party EtherCAT host controllers. Built‑in hardware protection against short‑circuit and thermal overload to prevent hardware damage under field faults. Full compatibility with MACS software, all channel configuration completed within Moog Axis Control Software without separate configuration tools.
Product Features
EtherCAT status LED on MOOG D136‑006‑001 displays initialization, pre‑operational, safe‑operational and operational status. All I/O channels are configurable inside MACS environment. Digital outputs implement watchdog safety logic; outputs turn high‑impedance under fault events. MOOG D136‑006‑001 features reverse‑polarity power protection and galvanic isolation between digital I/O and main control circuit. M12 circular connectors serve EtherCAT bus, screw terminal blocks for power, digital I/O and PT100 sensor wiring. Multiple MOOG D136‑006‑001 units can be daisy‑chained for distributed I/O expansion on equipment.
Application Areas
Signal acquisition for metallurgy hydraulic machinery; electro‑hydraulic test benches; distributed motion control for construction machinery; signal expansion for wind‑turbine hydraulic actuators; metal forming presses; outdoor electric actuator systems; motion simulation platforms; motion‑control‑related sites requiring PT100 temperature monitoring.
Peer Moog Product Comparison
| Item | MOOG D136‑006‑001 MSC‑R‑IO | QDIO16/16(D137‑001‑005) | RDIO16/16(D137‑002‑001) |
|---|---|---|---|
| Bus Interface | EtherCAT slave | E‑Bus backplane | CANopen slave |
| PT100 channel | Yes | No | No |
| Mounting | Machine back‑plate, wide temp & high vibration | DIN rail inside cabinet | DIN rail inside cabinet |
| Temperature range | ‑40~+70℃ | +5~+50℃ | +5~+50℃ |
| I/O allocation | 16DI/8DO | 16DI/16DIO | 16DI/16DIO |
QDIO16/16 and RDIO16/16 target centralized cabinet‑based I/O expansion; MOOG D136‑006‑001 targets off‑cabinet harsh‑condition deployment plus temperature measurement capability.
Recommended Matching Part Numbers
- MSC‑R D136‑003‑002 Ruggedized Motion Controller (EtherCAT master for MOOG D136‑006‑001)
- MSC II D136‑002‑003 Motion Controller (EtherCAT master port)
- MSD G391‑001‑001 MSD Motion Controller (EtherCAT master)
- MACS development environment D138‑001‑001 single developer license
- D138‑002‑002 Motion license key for motion control library
- CB03223‑001 MSC‑R cable kit for M12 field wiring
- CA98502‑001 USB‑M12 adapter cable for on‑site commissioning
FAQ
Q：Can MOOG D136‑006‑001 connect directly to MSC‑I controller?
A：No. MOOG D136‑006‑001 is EtherCAT slave. MSC‑I has no native EtherCAT master. It must pair with EtherCAT‑capable masters including MSC‑R, MSC II or MSD motion controller.
Q：Does MOOG D136‑006‑001 support 2‑wire PT100 sensors?
A：Hardware is designed for 4‑wire PT100. 2‑wire wiring introduces cable resistance error and is not recommended.
Q：What is maximum daisy‑chain quantity for MOOG D136‑006‑001?
A：No fixed hardware upper limit. Total quantity depends on EtherCAT master resource and cycle time. Request technical assessment from Moog for project design.
Q：Can MOOG D136‑006‑001 run with third‑party EtherCAT master hardware?
A：It follows standard EtherCAT slave specification and works with third‑party masters. Configure object dictionary for PT100 and I/O per hardware manual.
Q：What is load rating for digital outputs of MOOG D136‑006‑001?
A：0.5 A per single channel. Total current of all 8 activated outputs cannot go above 4 A. External fuse arrangement is required.
Q：Can MOOG D136‑006‑001 install on DIN rail directly?
A：Standard unit supports back‑plate screw mounting only. Order CA94286‑001 DIN‑rail mounting kit for DIN‑rail installation.
Q：Is separate software license mandatory for MOOG D136‑006‑001 hardware?
A：No extra license for I/O hardware itself. MACS software requires valid Controls or Motion license key.
Q：What do different blink patterns of MOOG D136‑006‑001 EtherCAT LED indicate?
A：Off = initialization; Blinking = pre‑operational; Single flash = safe‑operational; Solid ON = operational; Fast repeated flash = initialization or boot‑loader fault.
Related Moog Model List
D136‑003‑002 MSC‑R Ruggedized Motion Controller
D136‑002‑003 MSC II Motion Controller
D136‑001‑007 MSC I Motion Controller
G391‑001‑001 MSD Motion Controller
D137‑001‑011 QAIO 2/2 Analog Module
D137‑001‑007 QAIO16/4‑V Analog Module
D137‑001‑005 QDIO16/16‑0.5 Digital Module
D137‑002‑001 RDIO16/16 Remote Digital Module
D137‑001‑010 QEBUS‑CAN Communication Module
D137‑004‑003 RDISP22 Operator Panel
D137‑004‑004 5.7‑inch Dialog Controller
D138‑002‑001 Controls License Key
D138‑002‑002 Motion License Key
Notes
- MOOG D136‑006‑001 EtherCAT port uses M12 D‑coded connector. Do not fit other M12 coding variants.
- Use strictly 4‑wire PT100 wiring to minimize measuring error from cable resistance.
- MOOG D136‑006‑001 is IP20 at terminal section. Keep terminals away from direct liquid splash. Only the housing can withstand harsh ambient conditions.
- Power input must be 24 VDC SELV isolated supply, input voltage shall never exceed 36 VDC.
- When daisy‑chaining multiple MOOG D136‑006‑001 modules, observe official EtherCAT cable‑length specification.
- Configuration and programming require MACS software. Old MACS versions may lack device description file; import the correct ESI file.
Product Tags
Moog D136‑006‑001,MSC‑R‑IO,Moog I/O extension module,EtherCAT slave module,rugged IO module,PT100 acquisition module,M3000 motion control accessory,distributed digital IO module,wide‑temperature industrial I/O module,Moog motion controller expansion unit
