Sensory nerves:

An afferent nerve conveying impulses that are processed by the central nervous system to become part of the organism’s perception of itself and of its environment.

The main function of the sensory nervous system is to inform the central nervous system about stimuli impinging on us from the outside or within us. By doing so, it informs us about any changes in the internal and external environment.

Sensory nerves contain only afferent fibers, long dendrites of sensory neurons. Motor nerves have only efferent fibers, long axons of motor neurons. Mixed nerves contain both types of fibers. A connective tissue sheath called the epineurium surrounds each nerve.

Motor nerves:

A motor nerve is a nerve located in the central nervous system (CNS), usually the spinal cord, that sends motor signals from the CNS to the muscles of the body. This is different from the motor neuron, which includes a cell body and branching of dendrites, while the nerve is made up of a bundle of axons.

Motor nerves have only efferent fibers, long axons of motor neurons.