Applied Motion TSM17P-1AG User Manual

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Page 1

TSM17P

Integrated Step-Servo Motor

Hardware Manual

Rev. A

Page 2

TSM17P Hardware Manual

Contents

1 Introduction .................................................................................. 3

1.1 Features ............................................................................................. 3

1.2 Block Diagram ...................................................................................4

1.3 Safety Instructions .............................................................................5

2 Getting Started ............................................................................ 6

2.1 Installing Software .............................................................................6

2.2 Mounting the Hardware .....................................................................6

2.3 Choosing a Power Supply .................................................................7

2.3.1 Voltage ..................................................................................................7

2.3.2 Regeneration Clamp ..............................................................................7

2.3.3 Current ...................................................................................................8

3 Installation/Connections ............................................................ 12

3.1 Connecting the Power Supply .........................................................12

3.2 Connecting the TSM17P Communications ......................................13

3.2.1 Connecting to the PC using RS-232 ....................................................13

3.3 Inputs and Outputs ..........................................................................13

3.3.1 Connector Pin Diagram ........................................................................13

3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs .................................15

3.3.3 X3/EN and X4/AR Digital Inputs ...........................................................16

3.3.4 Programmable Outputs ........................................................................17

4 Troubleshooting ......................................................................... 18

5 Reference Materials .................................................................. 19

5.1 Mechanical Outlines ........................................................................19

5.2 Technical Specications ................................................................... 20

5.3 Torque-Speed Curves ...................................................................... 21

6 Contacting Applied Motion Products .......................................... 22

Communications

Model

TSM17P-1AG √ TSM17P-2AG √ TSM17P-3AG √

Rev. A 920-0086

RS-232

Page 3

TSM17P Hardware Manual

1 Introduction

Thank you for selecting the Applied Motion Products TSM17P Integrated Motor.The TSM line of integrated step-servo motors combines servo technology with an integrated motor to create a product with exceptional features and broad capabilities. We hope our commitment to performance, quality and economy will result in a successful motion control project.

1.1 Features

• Programmable, digital servo driver and motor in an integrated package

• Operates from a 12 to 48 volt DC power supply

• Control Modes:

* Position Control * Digital Signal type

Step & Direction CW & CCW pulse A/B Quadrature (Encoder Following)

• Communications:

* RS-232

• 5000 line (20,000 counts/rev) encoder feedback

• Available torque:

* TSM17P-1AG: Up to 0.28N•m Continuous(0.35 N•m Boost) * TSM17P-2AG: Up to 0.42N•m Continuous(0.52 N•m Boost) * TSM17P-3AG: Up to 0.52N•m Continuous(0.68 N•m Boost)

• I/O: * 4 optically isolated digital inputs, with adjustable bandwidth digital noise rejection lter,5 to

24 volts * 3 optically isolated digital outputs, 30V/100 mA max. * Differential encoder outputs (A±, B±, Z±), 26C31 line driver, 20 mA sink or source max

• Technological advances:

* Full servo control, Closed loop * Efcient, Accurate, Fast, Smooth * Intelligent, Compact

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TSM17P Hardware Manual

1.2 Block Diagram

TSM17P

Block Diagram

12-48 VDC

External

Power Supply

RS-232

TX, RX, GND, +5V

X1/STEP

Y1/ALARM

Y2/IN POSITION

Y3/BRAKE

Encoder Outputs

X2/DIR

X3/EN

X4/AR

A+

A -

B+

Z+

B -

Z-

Conn

Power

Conn

Comm

I/O Connector

RS-232

Optical

Iso

Optical

Iso

Line

Driver

Digital Filter

Software Filter

5 Volt DC

Power Supply

3.3VDC

Internal

Logic

Supply

DSP Driver Controller

Voltage

Temp

Det.

Status

MOSFET

PWM

Power

Amplifier

Over

Current

Det.

motor

encoder

Rev. A 920-0086

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TSM17P Hardware Manual

1.3 Safety Instructions

Only qualied personnel should transport, assemble, install, operate, or maintain this equipment. Properly qualied personnel are persons who are familiar with the transport, assembly, installation, operation, and maintenance of motors, and who meet the appropriate qualications for their jobs.

To minimize the risk of potential safety problems, all applicable local and national codes regulating the installation and operation of equipment should be followed. These codes may vary from area to area and it is the responsibility of the operating personnel to determine which codes should be followed, and to verify that the equipment, installation, and operation are in compliance with the latest revision of these codes.

Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. Applied Motion Products does not guarantee the products described in this publication are suitable for a particular application, nor do they assume any responsibility for product design, installation, or operation.

Read all available documentation before assembly and operation. Incorrect handling of the products referenced in this manual can result in injury and damage to persons and machinery. All technical information concerning the installation requirements must be strictly adhered to.

It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible without a low-resistance earth connection.

This product contains electrostatically sensitive components that can be damaged by incorrect

handling. Follow qualied anti-static procedures before touching the product.

During operation keep all covers and cabinet doors shut to avoid any hazards that could possibly cause severe damage to the product or personal health.

During operation, the product may have components that are live or have hot surfaces.

Never plug in or unplug the Integrated Motor while the system is live. The possibility of electric arcing can cause damage.

Be alert to the potential for personal injury. Follow recommended precautions and safe operating practices emphasized with alert symbols. Safety notices in this manual provide important information. Read and be familiar with these instructions before attempting installation, operation, or maintenance. The purpose of this section is to alert users to the possible safety hazards associated with this equipment and the precautions necessary to reduce the risk of personal injury and damage to equipment. Failure to observe these precautions could result in serious bodily

injury, damage to the equipment, or operational difculty.

Rev. A

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TSM17P Hardware Manual

2 Getting Started

The following items are needed:

• A 12 - 48 volt DC power supply, see the section below entitled “Choosing a Power Supply” for

help in choosing the right one

• A small at blade screwdriver for tightening the connectors (included)

• A PC running Microsoft Windows XP, Vista, or Windows 7 or 8

• An Applied Motion Products programming cable (included)

2.1 Installing Software

Before utilizing the TSM17P Integrated Step-Servo Motor and Step-Servo Quick Tuner Software in an application, the following steps are necessary:

• Download and install the Step-Servo Quick Tuner software from Applied Motion Products’

website.

• Connect the drive to the PC using the programming cable.

• Connect the drive to the power supply. See instructions below.

• Launch the software by clicking Start...Programs...Applied Motion Products.

• Apply power to the drive.

• The software will recognize the drive and display the model and rmware version. At this point,

it is ready for use.

2.2 Mounting the Hardware

As with any step motor, the TSM17P must be mounted so as to provide maximum heat sinking

and airow. Keep enough space around the Integrated Motor to allow for airow.

• Never use the drive where there is no airow or where other devices cause the

surrounding air to be more than 40°C (104°F).

• Never put the drive where it can get wet.

• Never use the drive where metal or other electrically conductive particles can inltrate the drive.

• Always provide airow around the drive.

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TSM17P Hardware Manual

2.3 Choosing a Power Supply

The main considerations when choosing a power supply are the voltage and current requirements for the application.

2.3.1 Voltage

The TSM17P is designed to give optimum performance between 24 and 48 Volts DC. Choosing the voltage depends on the performance needed and motor/drive heating that is acceptable and/or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the TSM17P to produce higher temperatures. Using power supplies with voltage outputs

that are near the drive maximum may signicantly reduce the operational duty-cycle.

The extended range of operation can be as low as 10 VDC minimum to as high as 55 VDC maximum. When operating below 10 VDC, the power supply input may require larger capacitance to prevent under-voltage and internal-supply alarms. Current spikes may make supply readings erratic. The supply input cannot go below 10 VDC for reliable operation. Absolute minimum power supply input is 10 VDC. If the Input supply drops below 10 VDC the low voltage alarm will be triggered. This will not fault the drive.

Absolute maximum power supply input is 55 VDC at which point an over-voltage alarm and fault will occur. When using a power supply that is regulated and is near the drive maximum voltage of 55 VDC, a voltage clamp may be required to prevent over-voltage when regeneration occurs. When using an unregulated power supply, make sure the no-load voltage of the supply does not exceed the drive’s maximum input voltage of 55 VDC.

2.3.2 Regeneration Clamp

If a regulated power supply is being used, there may be a problem with regeneration. When a load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred back to the power supply, possibly tripping the over-voltage protection of a regulated power supply, causing it to shut down. This problem can be solved with the use of an Applied Motion Products RC880 Regeneration Clamp. It is recommended that an RC880 initially be installed in an

application. If the “regen” LED on the RC880 never ashes, the clamp is not necessary.

LEDs Green - Power Red - Regen on

RC880 Regen Clamp

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TSM17P Hardware Manual

2.3.3 Current

The maximum supply currents required by the TSM17P are shown in the charts below at different power supply voltage inputs. The TSM17P power supply current is lower than the winding currents

because it uses switching ampliers to convert a high voltage and low current into lower voltage

and higher current. The more the power supply voltage exceeds the motor voltage, the less current will be required from the power supply.

It is important to note that the current draw is signicantly different at higher speeds depending

on the torque load to the motor. Estimating how much current is necessary may require a good analysis of the load the motor will encounter.

TSM17P-1AG 12V Power

0.4

0.3

0.2

Torque(N.m)

0.1

1.5

0.5

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

0 10 20 30 40 50

Speed(RPS)

TSM17P-1AG 24V Power

0.4

0.3

0.2

Torque(N.m)

0.1

0 10 20 30 40 50

Speed(RPS)

1.5

0.5

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

Rev. A 920-0086

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TSM17P Hardware Manual

TSM17P-1AG 48V Power

0.4

1.5

0.3

0.2

Torque(N.m)

0.1

0 10 20 30 40 50

Speed(RPS)

TSM17P-2AG 12V Power

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1

1.5

0.5

Torque

Supply Current

Amps

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

Continuous Boost

Full Load No Load

0 10 20 30 40 50

Speed(RPS)

TSM17P-2AG 24V Power

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1

0 10 20 30 40 50

Speed(RPS)

1.5

0.5

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

Rev. A

920-0086

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TSM17P Hardware Manual

TSM17P-2AG 48V Power

0.6

0.5

1.5

0.4

0.3

0.2

Torque(N.m)

0.1

0 10 20 30 40 50

Speed(RPS)

TSM17P-3AG 12V Power

0.7

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1

0.5

1.5

0.5

Torque

Supply Current

Amps

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

Continuous Boost

Full Load No Load

0 10 20 30 40 50

Speed(RPS)

TSM17P-3AG 24V Power

0.7

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1

0 10 20 30 40 50

Speed(RPS)

1.5

0.5

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

Rev. A 920-0086

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TSM17P Hardware Manual

TSM17P-3AG 48V Power

0.7

0.6

1.5

0.5

0.4

0.3

0.2

Torque(N.m)

0.1

0 10 20 30 40 50

Speed(RPS)

0.5

Torque

Supply Current

Amps

Continuous Boost

Full Load No Load

Rev. A

920-0086

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TSM17P Hardware Manual

3 Installation/Connections

3.1 Connecting the Power Supply

Use 16 to 20-gauge wire to connect the TSM17 to a power supply. It contains an internal fuse connected to the “+” terminal that is not user replaceable. If a user serviceable fuse is desired, install a 6.3 amp fast acting fuse in line with the “+” power supply lead.

Be careful not to reverse the wires. Reversing the connection may open the internal fuse on the drive and void the warranty.

Power Supply

V- V+

TSM

To Power Supply+

To Power Supply-

To Earth Ground

RC880

Vin

Vout

Applied Motion Products offers two matched power supplies for use with the TSM17P.

A 24VDC, 150W(P/N PS150A24) and a 48VDC 320W(P/N PS320A48).

These power supplies have current over load capability making them ideal for use.

(To use with a switch power supplier, a RC880 regen must be connected in system)

The RC880 regeneration clamp is for use where regeneration from the motor may cause damage to the drive. In these cases the RC880 is connected between the drive and power supply and absorbs regenerated energy.

Rev. A 920-0086

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TSM17P Hardware Manual

3.2 Connecting the TSM17P Communications

The TSM17P comes with a cable that will provide the interface to an RS-232 port through a DB9 style connector.

3.2.1 Connecting to the PC using RS-232

Locate the TSM17P within 2.5 meters of the PC. Plug the DB9 connector of the communication cable that came with the drive into the serial port of the PC. Plug the small end into the crimp style connector on the TSM17P . Secure the cable to the PC with the screws on the DB9 connector.

Note: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed. You can contact Applied Motion Products to buy a USB to RS-232 converter.

The RS-232 circuitry does not have any extra electrical “hardening” and care should be taken when connecting to the RS-232 port as hot plugging could result in circuit failure.

RXD

+5V

TXD GND GND

3.3 Inputs and Outputs

TSM17P drives include 4 digital inputs

X1/STEP & X2/DIR are high-speed 5-24 volt logic digital inputs for commanding position. Quadrature signals from encoders can also be used.

X3/EN and X4/AR are 5-24 volt logic digital inputs. X3/EN is used for motor enable/disable. X4/AR is used for alarm reset.

3.3.1 Connector Pin Diagram

27 28

ENC A+ ENC B+ ENC Z+

NC Y3/BRAKE Y1/ALARM

XCOM

X3/SERVO ON

X2/DIR+

X1/STEP+

ENC AENC BENC ZNC YCOM Y2/IN POSITION NC NC NC NC NC X4/ALARM RESET X2/DIRX1/STEP-

1 2

Rev. A

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TSM17P Hardware Manual

DrivesUser Control

1 X1/STEP+

2 X1/STEP-

3 X2/DIR+

4 X2/DIR-

0VDC

5-24VDC

0VDC

9 XCOM

5 X3/SERVO ON

6 X4/ALARM RESET

Under 30V

17 Y1/ALARM

18 Y2/IN POSITION

19 Y3/BRAKE

Rev. A 920-0086

20 YCOM

0VDC

23 ENC Z+

24 ENC Z-

25 ENC B+

26 ENC B-

27 ENC A+

28 ENC A-

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TSM17P Hardware Manual

3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs

The TSM17 drives include two high-speed inputs: X1/STEP and X2/DIR. They accept 5 to 24 volt single-ended or differential signals, up to 2 MHz. Typically these inputs connect to an external controller that provides step & direction command signals. You can also connect a master encoder to the high-speed inputs for “following” applications.

The diagrams below show how to connect the STEP & DIR Inputs to various commonly used devices.

+5v to +24v out

Indexer

DIR

DIR+

DIR-

with Sinking Outputs

STEP

STEP+

STEP-

Connecting to Indexer with Sinking Outputs

DIR

DIR+

Indexer with Sourcing

COM

STEP

DIR-

STEP+

Outputs

STEP-

Connecting to Indexer with Sourcing Outputs

DIR+

Indexer with Differential

DIR-

STEP+

DIR-

STEP+

Outputs

STEP-

TSM17

Connecting to Indexer with Differential Outputs

Many high-speed indexers have differential outputs

Master Encoder

A+

A-

B+

B-

STEP+

STEP-

DIR+

DIR-

Wiring for Encoder Following

TSM17

Rev. A

920-0086

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TSM17P Hardware Manual

3.3.3 X3/EN and X4/AR Digital Inputs

The TSM17 drives include two single ended inputs: X3/EN and X4/AR. They can be used with sourcing or sinking signals, 5 to 24 volts. This allows connection to PLCs, sensors, relays and mechanical switches. Because the input circuits are isolated, they require a source of power. If you are connecting to a PLC, you should be able to get power from the PLC power supply. If you are using relays or mechanical switches, you will need a 5-24 V power supply.

What is COM?

“Common” is an electronics term for an electrical connection to a common voltage. Sometimes “common” means the same thing as “ground”, but not always. In the case of the TSM17 drives, if you are using sourcing (PNP) input signals, then you will want to connect COM to ground (power supply -). If you are using sinking (NPN) signals, then COM must connect to power supply +.

Note: If current is owing into or out of an input, the logic state of that input is low or closed. If no current is owing, or the input is not connected, the logic state is high or open.

The diagrams below show how to connect the inputs to various commonly used devices.

5 - 24 volt DC Power

Switch or Relay

(closed = logic low)

XCOM

TSM17

Supply

X3/X4

Connecting the Input to a Switch or Relay

5 - 24 volt DC Power Supply

NPN

Proximity

Sensor

output

XCOM

TSM17

X3/X4

Connecting an NPN type Proximity Sensor to an Input

(when prox sensor activates, input goes low)

output

X3/X4

TSM17

5 - 24 volt DC Power

PNP

Proximity

Sensor

Supply

XCOM

Rev. A 920-0086

Connecting a PNP type Proximity Sensor to an Input

(when prox sensor activates, input goes low)

Page 17

TSM17P Hardware Manual

3.3.4 Programmable Outputs

The TSM17P drives feature three optically isolated digital outputs (Y1 to Y3). Y1, Y2 and Y3 share a common terminal YCOM.

• Y1 can be set to signal a fault condition.

• Y2 can be set to indicate whether the motor is in position(dynamic).

• Y3 can be set to control a motor brake, or to provide an output frequency proportional to motor

speed (tach signal) or to provide a timing output (50 pulses/rev) or to indicate whether the motor is in position(static)

These outputs can also be turned on and off by program instructions like Set Output (SO). The output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. Diagrams of various connection types follow.

Do not connect the outputs to more than 30 volts. The current through each output terminal must not exceed 100mA.

5 - 24 volt DC Power Supply

PLC

5 - 24 volt DC Power Supply

Load

Connecting a Sinking Output

5 - 24VDC

Power Supply

COM

Connecting a Sourcing Output

relay

1N4935 suppresion diode

TSM17

YCOM

TSM17

YCOM

TSM17

YCOM

Driving a Relay

Rev. A

920-0086

Page 18

TSM17P Hardware Manual

4 Troubleshooting

LED Error Codes

The TSM17P uses red and green LEDs to indicate status. When the motor is enabled, the green

LED ashes slowly. When the green LED is solid, the motor is disabled. Errors are indicated by combinations of red and green ashes as shown below. This feature can be disabled for certain

warnings but not for alarms. See software manual for information on how to do this and which warnings may be masked.

Code Error

solid green motor disabled ashing green motor enabled

1 red, 1 green position limit

1 red, 2 green drive disabled

2 red, 1 green ccw limit

2 red, 2 green cw limit

3 red, 1 green over temperature

3 red, 2 green internal voltage bad

3 red, 3 green non-volatile memory error

4 red, 1 green over voltage

4 red, 2 green under voltage

4 red, 3 green non-volatile double error

5 red, 1 green over current

5 red, 2 green current limit

6 red, 1 green open winding

6 red, 2 green encoder failure

7 red, 1 green communication error

7 red, 2 green save failed

Rev. A 920-0086

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TSM17P Hardware Manual

5 Reference Materials

5.1 Mechanical Outlines

L±1

4-M3 x 4.5 MIN DEEP

Ø6

Ø22

5.5 Flat

42.3 Max. 31

42.3 Max.

43.5

Model Length”L” Length”M”

TSM17P-1AG 69.5 26.6

TSM17P-2AG 75 32.1

TSM17P-3AG 83.5 40.6

Rev. A

920-0086

Page 20

TSM17P Hardware Manual

5.2 Technical Specications

Power Amplier

Amplier Type Dual H-Bridge, 4 Quadrant Current Control 4 state PWM at 20 KHz

TSM17P-1AG: Up to 0.28N•m Continuous(0.35 N•m Boost)

Output Torque

Power Supply External 12 - 48 VDC power supply required

TSM17P-2AG: Up to 0.42N•m Continuous(0.52 N•m Boost) TSM17P-3AG: Up to 0.52N•m Continuous(0.68 N•m Boost)

Protection

Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)

Controller

Electronic Gearing Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev

Encoder Resolution 20000 counts/rev

Speed Range Up to 3600rpm Filters Digital input noise lter, Smoothing lter, PID lter, Notch lter Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP

Modes of Operation Step & Direction, CW/CCW pulse, A/B quadrature pulse

X1/STEP+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz

Function: Step, CW step, A quadrature (encoder following)

Digital Inputs

Digital Outputs

Encoder output Standard Line driver outputs including A+/A-/B+/B-/Z+/Z- are supported

X2/DIR+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz

Function: Direction, CCW step, B quadrature (encoder following) X3/EN, X4/AR: Optically isolated, 5-24 volt. Function: Enable, Alarm Reset or general purpose input

Y1, Y2, Y3: Optically isolated, 30V/100 mA max. Function: Fault, In position, Brake, Tach, Timing or general purpose

programmable

Communication Interface

RS-232

Physical

Ambilent Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink

Humdity 90% Max., non-condensing

Mass TSM17P-1AG: 280 g TSM17P-2AG: 360 g TSM17P-3AG: 440 g

Rotor Inertia TSM17P-1AG: 38g.cm2 TSM17P-2AG: 57g.cm2 TSM17P-3AG: 82g.cm

Rev. A 920-0086

Page 21

TSM17P Hardware Manual

5.3 Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev.

Note: 2 amp rating is continuous, 3 amp rating is boost

TSM17P-1AG　　　　

0.4

0.3

0.2

Torque(N·m)

0.1

0 10 20 30 40 50

Continuous

Boost

12V 24V 48V

Speed(rps)

TSM17P-2AG　　　

0.6

0.5

0.4

Continuous

Boost

12V 24V 48V

0.3

0.2

Torque(N·m)

0.1

0 10 20 30 40 50

Speed(rps)

TSM17P-3AG　　　

0.7

0.6

0.5

0.4

0.3

Torque(N·m)

0.2

0.1

0 10 20 30 40 50

Continuous

Boost

12V 24V 48V

Speed(rps)

Rev. A

920-0086

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TSM17P Hardware Manual

6 Contacting Applied Motion Products

404 Westridge Dr.

Watsonville, CA 95076, USA

1-800-525-1609

Tel (831) 761-6555

Fax (831) 761-6544

www.applied-motion.com

Rev. A 920-0086