Page 1
TSM17S/Q
Integrated Step-Servo Motor
Hardware Manual
Rev. A
Page 2
TSM17S/Q 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 TSM17S/Q Communications ..................................13
3.2.1 Connecting to the PC using RS-232 ....................................................13
3.2.2 Connecting to a Host using RS-485 .....................................................14
3.3 Inputs and Outputs ..........................................................................16
3.3.1 Connector Pin Diagram ........................................................................16
3.3.2 STEP & DIR Digital Inputs ....................................................................17
3.3.3 X3/X4/X5/X6 Digital Input .....................................................................18
3.3.4 X7/X8 Digital Input ................................................................................19
3.3.5 AIN Input ............................................................................................... 20
3.3.6 Programmable Output Y1/Y2/Y3 ..........................................................21
3.3.7 Programmable Output Y4 .....................................................................22
4 Troubleshooting ......................................................................... 23
5 Reference Materials .................................................................. 24
5.1 Mechanical Outlines ........................................................................24
5.2 Technical Specications ................................................................... 25
5.3 Torque-Speed Curves ...................................................................... 26
5.4 SCL Command Reference ..............................................................27
6 Contacting Applied Motion Products .......................................... 29
Rev. A
920-0084
Model
TSM17S-1AG
TSM17S-1RG
TSM17S-2AG
TSM17S-2RG
TSM17S-3AG
TSM17S-3RG
TSM17Q-1AG
TSM17Q-1RG
TSM17Q-2AG
TSM17Q-2RG
TSM17Q-3AG
TSM17Q-3RG
Communications
RS-232 RS-485 Modbus/RTU
2
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TSM17S/Q Hardware Manual
1 Introduction
Thank you for selecting the Applied Motion Products TSM17S/Q Integrated
Motor.The TSM line of integrated step-servo motors combines servo
technology with an integrated motor to create a product with exceptional
feature and broad capability. 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:
Torque Control
* Analog input
* SCL commanded
Velocity Control
* Digital input Control Velocity
* Analog velocity
* SCL Commanded Velocity (Jogging)
Position Control
* Digital Signal type
Step & Direction
CW & CCW pulse
* Analog Position
* Serial Commanded Position
Q Programming(Q Verision only)
* Stand alone operation
• Communications:
RS-232 , RS-485 or Modbus/RTU
• 5000 line (20,000 counts/rev) encoder feedback
• Available torque:
TSM17□-1□G: Up to 0.28N•m Continuous(0.35 N•m Boost)
TSM17□-2□G: Up to 0.42N•m Continuous(0.52 N•m Boost)
TSM17□-3□G: Up to 0.52N•m Continuous(0.68 N•m Boost)
• I/O:
8 optically isolated digital inputs,
volts
4 optically isolated digital output, 30V/100 mA max.
1 analog input for speed and position control, 0 to 5 volts
• Technological advances:
Full servo control, Closed loop
Efcient, Accurate, Fast, Smooth
Intelligent, Compact
with adjustable bandwidth digital noise rejection lter, 5 to 24
3
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TSM17S/Q Hardware Manual
1.2 Block Diagram
TSM17S/Q
Block Diagram
12 - 48 VDC
External
Power Supply
RS-232
RXD,+5V,TXD,GND,GND
RX+,RX-,TX+,TX-,GND
or
RS-485
GND
+5V
X1
X2
X3
X4
X5
X6
X7
X8
Y1
Y2
Y3
Y4
AIN
+
-
Conn
Power
RS-232 or RS-485
Conn
Comm
GND
+5VDC (100mA max)
I/O Connector
Optical
ISO
Optical
Iso
5 Volt DC
Power Supply
3.3VDC
Internal
Logic
Supply
DSP
Driver
Controller
Voltage
Temp
Detect
Status
MOSFET
PWM
Power
Amplifier
Over
Current
Detect
motor
encoder
Rev. A
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TSM17S/Q Hardware Manual
1.3 Safety Instructions
Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualications 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 qualied 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 difculty.
5
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TSM17S/Q 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 with RS-232 Models; RS-485
converters are available from Applied Motion Products)
2.1 Installing Software
Before utilizing the TSM17S/Q Integrated Step-Servo Motor and Step-Servo Quick Tuner Software
in an application, the following steps are necessary:
• Install the Step-Servo Quick Tuner software from the Applied Motion Products website.
• Connect the drive to the PC using the programming cable. When using RS-485, it must be
setup in a 4-Wire conguration (see “Connecting to a host using RS-485” below.)
• 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 TSM17S/Q must be mounted so as to provide maximum heat sinking
and airow. Keep enough space around the Integrated Motor to allow for airow.
• Never use the drive where there is no airow 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
inltrate the drive.
Rev. A
920-0084
• Always provide airow around the drive.
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TSM17S/Q 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 TSM17S/Q 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 TSM17S/Q to produce higher temperatures. Using power supplies with voltage
outputs that are near the drive maximum may signicantly 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 18 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
RC880 Regen Clamp
7
Red - Regen on
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TSM17S/Q Hardware Manual
2.3.3 Current
The maximum supply currents required by the TSM17S/Q are shown in the charts below at
different power supply voltage inputs. The TSM17S/Q power supply current is lower than the
winding currents because it uses switching ampliers 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 signicantly 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.
TSM17□-1□G 12V Power
0.4
0.3
0.2
Torque(N.m)
0.1
1.5
1
0.5
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
0
0 10 20 30 40 50
Speed(RPS)
TSM17□-1□G 24V Power
0.4
0.3
0.2
Torque(N.m)
0.1
0
0 10 20 30 40 50
Speed(RPS)
0
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Rev. A
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TSM17S/Q Hardware Manual
TSM17□-1□G 48V Power
0.4
1.5
0.3
0.2
Torque(N.m)
0.1
0
0 10 20 30 40 50
Speed(RPS)
TSM17□-2□G 12V Power
0.6
0.5
0.4
0.3
0.2
Torque(N.m)
0.1
1
0.5
0
1.5
1
0.5
Torque
Supply Current
Amps
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Continuous
Boost
Full Load
No Load
0
0 10 20 30 40 50
Speed(RPS)
TSM17□-2□G 24V Power
0.6
0.5
0.4
0.3
0.2
Torque(N.m)
0.1
0
0 10 20 30 40 50
Speed(RPS)
0
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
9
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TSM17S/Q Hardware Manual
TSM17□-2□G 48V Power
0.6
0.5
1.5
0.4
0.3
0.2
Torque(N.m)
0.1
0
0 10 20 30 40 50
Speed(RPS)
TSM17□-3□G 12V Power
0.7
0.6
0.5
0.4
0.3
0.2
Torque(N.m)
0.1
1
0.5
0
1.5
1
0.5
Torque
Supply Current
Amps
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Continuous
Boost
Full Load
No Load
0
0 10 20 30 40 50
Speed(RPS)
TSM17□-3□G 24V Power
0.7
0.6
0.5
0.4
0.3
0.2
Torque(N.m)
0.1
0
0 10 20 30 40 50
Speed(RPS)
0
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Rev. A
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TSM17S/Q Hardware Manual
TSM17□-3□G 48V Power
0.7
0.6
1.5
0.5
0.4
0.3
0.2
Torque(N.m)
0.1
0
0 10 20 30 40 50
Speed(RPS)
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
11
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TSM17S/Q 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
To Earth Ground
To Power Supply+
V- V+
-
To Power Supply-
Vin
+
+
Vout
RC880
-
V- V+
TSM
Applied Motion Products offers two matched power supplies for use with the TSM.
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.
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TSM17S/Q Hardware Manual
3.2 Connecting the TSM17S/Q Communications
The TSM17S/Q is available with two types of serial communications, RS-232 (TSM17S/Q -□AG)
or RS-485 (TSM17S/Q -□RG). Each type requires a different hardware connection for interface to
a PC or other Host system. The RS-232 version comes with a cable that will provide the interface
to an RS-232 port through a DB9 style connector. The RS-485 version requires the user to provide
both the cabling and the RS-485 interface. Below are descriptions of how to interface both of
these serial communication types to a PC.
3.2.1 Connecting to the PC using RS-232
Locate the TSM17S/Q 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 spring
clamp style connector on the TSM17S/Q . Secure the cable to the PC with the screws on the DB9
connector.
RXD
+5V
TXD
GND
GND
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. If this is a
concern the RS-485 version should be used.
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TSM17S/Q Hardware Manual
3.2.2 Connecting to a Host using RS-485
RS-485 communication allows connection of more than one drive to a single host PC, PLC, HMI
or other computer. It also allows the communication cable to be long (more than 300 meters
or 1000 feet). The use of Category 5 cable is recommended as it is widely used for computer
networks, inexpensive, easily obtained and certied for quality and data integrity.
The TSM17S/Q can be used with either Two-Wire or Four-Wire RS-485 implementation. The
connection can be point-to-point (i.e. one drive and one host) or a multi-drop network (one host
and up to 32 drives).
NOTE: To use the TSM17S/Q RS-485 version with the Step-Servo Quick Tuner software, it
must be connected in the Four-Wire conguration (see below)
RX+
RXTX+
TXGND
RS-485 Connector Diagram
Four-Wire Conguration
Four-Wire Systems utilize separate transmit and receive wires. One pair of wires must connect the
host’s transmit signals to each drive’s RX+ and RX- terminals. The other pair connects the drive’s
TX+ and TX- terminals to the host’s receive signals. A logic ground terminal is provided on each
drive and can be used to keep all drives at the same ground potential. This terminal connects
internally to the DC power supply return (V-), so if all the drives on the RS-485 network are
powered from the same supply, only one drive’s GND terminal should be connected to the
host computer ground, others’ GND terminal must not connect the logic grounds.
Because the host in a four-wire system never needs to disable its transmitter, software is
simplied. Some converters make this process very difcult to implement and can delay
communications.
NOTE: If the PC does not have an RS-485 serial port, a converter is required.
You can contact Applied Motion Products to buy a USB to RS-485 converter.
120Ω
to PC TX+
to PC TXto PC RX+
to PC RXto PC GND
RX+
RXTX+
TXGND
RX+
RXTX+
TXGND
RX+
RXTX+
TXGND
RX+
RX-
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Drive #1
Drive #2
14
Drive #N
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TSM17S/Q Hardware Manual
Two-Wire Conguration
In a 2-wire system, the host must disable its transmitter before it can receive data. This must be
done quickly before a drive begins to answer a query. The TSM17S/Q includes a transmit delay
parameter that can be adjusted to compensate for a host that is slow to disable its transmitter. This
adjustment can be made over the network using the TD command, or it can be set using the StepServo Quick Tuner software. It is not necessary to set the transmit delay in a four wire system.
120Ω
RX+
RX-
to PC TX+ (B)
to PC TX- (A)
to PC GND
RX+
RXTX+
TXGND
Drive #1
RX+
RXTX+
TXGND
Drive #2
RX+
RXTX+
TXGND
Drive #N
NOTE: If the PC does not have an RS-485 serial port, a converter is required.
You can contact Applied Motion Products to buy a USB to RS-485 converter.
Assigning Addresses
Before the entire system is wired, each drive will need to connect individually to the host computer
so that it can be assigned a unique address.
Once the drive has been connected to the PC as described above, launch the Step-Servo Quick
Tuner software. Apply power to the drive. If a drive has already been congured, click the Upload
button so that the Step-Servo Quick Tuner settings match those of the drive. When operating the
drive in SCL mode it will need to be assigned an address. This is done on the Drive Conguration
tab where a list of address options can be seen. The numerals 0..9 or the special characters ! “ #
$ % & ‘ ( ) * + , - . / : ; < = > ? @ may be used as addresses. Make sure each drive on the network
has a unique address. On a 2-wire network, the Transmit Delay may also need to be set. Most
adapters work well with 10 milliseconds. Once the address has been assigned, click Download to
save the settings to the drive.
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TSM17S/Q Hardware Manual
3.3 Inputs and Outputs
The TSM17S/Q has three types of inputs:
• High speed digital inputs for step & direction commands or encoder following, 5 to 24 volt logic
• Low speed digital input for other signals, 5 to 24 volt logic
• Analog input for analog speed and positioning modes
All drives include 8 digital inputs and 1 analog input
• X1/STEP & X2/DIR are high-speed digital inputs for commanding position. Quadrature signals
from encoders can also be used. When not being used for the Step & Direction function these
inputs can be used for CW & CCW step, or general purpose input
• X3 & X4 are low speed software programmable input and can be used for Motor Enable/
Disable and Alarm/Fault Reset function, or general purpose input
• X5/X6/X7/X8 are low speed software programmable input and can be used for CW/CCW Jog,
Speed 1/Speed 2 (oscillator mode), CW/CCW Limit, or general purpose input
• AIN is an analog input for a velocity or position command signal. It can accept 0-5 volts and
has gain, ltering, offset and dead-band settings.
3.3.1 Connector Pin Diagram
NC
NC
NC
Y4+
Y3
Y1
X8+
X7+
AIN
XCOM
X5
X3
DIR+
STEP+
27 28
NC
NC
NC
Y4YCOM
Y2
X8X7GND
+5V
X6
X4
DIRSTEP-
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TSM17S/Q Hardware Manual
3.3.2 STEP & DIR Digital Inputs
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+
DIR+
Indexer
with
Differential
DIR-
STEP+
DIR-
STEP+
Outputs
STEP-
STEP-
TSM17
TSM17
TSM17
Connecting to Indexer with Differential Outputs
Many high-speed indexers have differential outputs
5 - 24
volt DC
Power
Supply
+
direction switch
run/stop switch
(closed = run)
Using Mechanical Switches
17
DIR+
DIR-
STEP+
STEP-
TSM17
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TSM17S/Q Hardware Manual
3.3.3 X3/X4/X5/X6 Digital Input
While the STEP and DIR inputs are designed for high-speed digital input operation, the X3/X4/
X5/X6 input are designed for low speed digital input operation between 5 and 24 volts optically
Isolated Single-ended input.
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 X3/X4/X5/X6 input to various commonly used devices.
User Control
5-24VDC
5-24VDC
0VDC
NPN
Sensor
0VDC
Drives
XCOM
X3
X4
X5
X6
Drives
XCOM
+
-
X3
X4
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5-24VDC
PNP
Sensor
0VDC
Drives
+
-
X3
XCOM
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TSM17S/Q Hardware Manual
3.3.4 X7/X8 Digital Input
The X7/X8 input are designed for low speed digital input operation between 5 and 24 volts
optically Isolated differential input. They are normally used for end of travel limit switches. The
diagrams below show how to connect the X7/X8 Inputs to various commonly used devices.
5 - 24
volt DC
Power
Supply
+
+
NPN
Proximity
-
Sensor
-
output
X7/X8+
TSM17
X7/X8-
Connecting an NPN type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
output
X7/X8+
TSM17
5 - 24
volt DC
Power
+
+
PNP
Proximity
Sensor
-
Supply
-
X7/X8-
Connecting a PNP type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
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TSM17S/Q Hardware Manual
3.3.5 AIN Input
The TSM17S/Q drives have an analog input (AIN) which can accept a signal range of 0 to 5 volts.
The drive can be congured to operate at a speed or position that is proportional to the analog
signal. Use the Step-Servo Quick Tuner software to set the signal range, offset, dead-band and
lter frequency. The TSM17S/Q provides a +5 volt/100mA limit voltage supply that can be used to
power external devices such as potentiometers. It is not the most accurate supply for reference,
for more precise readings use an external supply that can provide the desired accuracy.
inside drive
rotcennoC O/I
+5v
AIN
GND
100 mA limit
Signal
Conditioning
1 - 10k
pot
Ω
Connecting a Potentiometer
+5v OUT
AIN
GND
TSM17
to the Analog Input
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TSM17S/Q Hardware Manual
3.3.6 Programmable Output Y1/Y2/Y3
The TSM17S/Q 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.
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.
User Control Drives
5-24VDC
5-24VDC
Power Supply
Y1
YCOM
Y2
Y3
0VDC
Load
+
-
Y1
YCOM
Y2
Y3
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3.3.7 Programmable Output Y4
TSM17S/Q drives feature one optically isolated digital output Y4. The Y4+(collector) and Y4(emitter) terminals of the transistor are available at the connector. This allow the output to be
congured for current sourcing or sinking.
Y4 can be set 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).
Diagrams of various connection types follow.
5 - 24
volt DC
Power
Supply
PLC
+
Load
-
Connecting a Sinking Output
5 - 24VDC
Power Supply
-
COM
IN
Connecting a Sourcing Output
+
relay
Y4+
TSM17
Y4-
Y4+
TSM17
Y4-
5 - 24
volt DC
Power
Supply
+
1N4935 suppresion diode
-
Driving a Relay
Y4+
TSM17
Y4-
Do not connect the output to more than 30 volts. The current through the output terminal
must not exceed 100mA.
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4 Troubleshooting
LED Error Codes
The TSM17S/Q 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
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5 Reference Materials
5.1 Mechanical Outlines
74
61
L±1
M
20
15
2
Ø6
5.5 Flat
Unit:mm
Model Length (L) Length (M)
TSM17S/Q-1□G 69.5 26.6
TSM17S/Q-2□G 75 32.1
TSM17S/Q-3□G 83.5 40.6
4-M3 Depth 4.5
Ø22
42.3 Max.
31
31
42.3 Max.
43.5
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5.2 Technical Specications
Power Amplier
Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 20 KHz
TSM17S/Q-1□G: Up to 0.28N•m Continuous(0.35 N•m Boost)
Output Torque
Power Supply External 12 - 48 VDC power supply required
TSM17S/Q-2□G: Up to 0.42N•m Continuous(0.52 N•m Boost)
TSM17S/Q-3□G: 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-toground)
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, Analog input noise lter, Smoothing lter, PID lter, Notch lter
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP
TSM17S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator,
Modes of Operation
Digital Inputs
joystick), streaming commands(SCL)
TSM17Q: All TSM17S/Q modes of operation plus stored Q program execution
X1/X2: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns,
Maximum pulse frequency = 2 MHz
Function: Pulse/Direction, CW/CCW Pulse, A/B quadrature (encoder following), (start/stop)/
direction (oscillator mode), or general purpose input
X3/X4: Optically isolated, 5-24 volt. Minimum pulse width = 100 μs,
Maximum pulse frequency = 5 KHz
Function: Servo on/off, Alarm/Fault Reset, or general purpose input
X5/X6/X7/X8: Optically isolated, 5-24 volt. Minimum pulse width = 100 μs,
Maximum pulse frequency = 5 KHz
Function: CW/CCW Limit, Speed 1/Speed 2 (oscillator mode), or general purpose input
Y1/Y2/Y3/Y4: Optically isolated, 30V/100mA max Open Collector Output.
Digital Outputs
Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits
Communication
Interface
Function: Alarm/Fault, In Position(dynamic/static), Brake Control, Tach out, Timing out,
or general purpose usage
RS-232 , RS-485 or Modbus/RTU
Physical
Ambilent Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
Humdity 90% Max., non-condensing
TSM17S/Q-1□G: 280 g
Mass
Rotor Inertia
TSM17S/Q-2□G: 360 g
TSM17S/Q-3□G: 440 g
TSM17S/Q-1□G:38 g•cm
TSM17S/Q-2□G:57 g•cm
TSM17S/Q-3□G:82 g•cm
2
2
2
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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
TSM17□-1□G
0.4
0.3
0.2
Torque(N·m)
0.1
0
0 10 20 30 40 50
Continuous
Boost
12V 24V 48V
12V 24V 48V
Speed(rps)
TSM17□-2□G
0.6
0.5
0.4
Continuous
Boost
12V 24V 48V
12V 24V 48V
0.3
0.2
Torque(N·m)
0.1
0
0 10 20 30 40 50
Speed(rps)
TSM17□-3□G
0.7
0.6
0.5
0.4
0.3
Torque(N·m)
0.2
0.1
0
0 10 20 30 40 50
Continuous
Boost
12V 24V 48V
12V 24V 48V
Speed(rps)
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5.4 SCL Command Reference
The Serial Command Language (SCL) was developed to give users a simple way to control a
motor drive via a serial port. This eliminates the need for separate motion controllers or indexers
to supply Pulse and Direction signals to the drive. It also provides an easy way to interface to a
variety of other industrial devices such as PLCs and HMIs, which often have standard or optional
serial ports for communicating to other devices. Some examples of typical host devices might be:
• A Windows based PC running Applied Motion Products software
• An industrial PC running a custom or other proprietary software application
• A PLC with an ASCII module/serial port for sending text strings
• An HMI with a serial connection for sending text strings
SCL commands control the motion of the step motor, use of the inputs and outputs, and congure
aspects of the drive such as motor current and microstep resolution.
In SCL mode, the TSM23S/Q receives commands from the host, executing them immediately or
sending them to a command buffer and then executing them directly from the buffer. It cannot,
however, create a stored program for stand-alone operation. For that function, the TSM23Q is
needed.
The communications protocol of SCL is simple in that the host initiates all communication, with
one exception. The only time the drive will initiate communication is at power-up. At that time, the
drive will send an identier to tell the software which drive is connected and what the rmware
version is.
There are two types of SCL commands: buffered and immediate. Buffered commands are loaded
into and then executed out of the drive’s command buffer. Buffered commands are executed
one at a time and in sequential order. The buffer can be lled with commands without the host
controller needing to wait for a specic command to execute before sending the next command.
Special buffer commands enable the buffer to be loaded and to pause for a desired time.
Immediate commands are not buffered, but are executed immediately, running in parallel with a
buffered command if necessary. Immediate commands are designed to access the drive at any
time and can be sent as often as needed. This allows a host controller to get information from the
drive at a high rate, most often for checking drive status or motor position.
The basic structure of a command packet from the host to the drive is always a text string followed
by a carriage return. The text string is composed of the command itself, followed by any required
parameters. A carriage return denotes the end of transmission to the drive.
The syntax of the command is
XXAB<cr>
where XX designates the command (always composed of 2 uppercase letters), and A and B
dene the possible parameters. These parameters can vary in length, can be letters or numbers,
and are often optional. Once a drive receives the <cr> (carriage return), it will determine whether
or not it understood the command-if it did, it will either execute or buffer the command. The drive
can also be programmed ahead of time to send a response as to whether or not it understood the
command as well as any error code.
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Some SCL commands transfer data to the drive for immediate or later use. These data values
are stored in data registers and remain there until new commands change the values or power
is removed from the drive. Some data registers in a drive are Read-Only and contain predened
information about the drive which can also be read through SCL commands.
Because of the intense nature of serial communications required in host mode applications,
there is a serial communication Protocol (PR) command available that will adjust a drive’s
serial communications protocol to best t an application. Typically this command is used when
conguring a drive and saved as part of the startup parameters. But it can be used at any time to
dynamically alter the serial communications.
The Host Command Reference contains the complete command listing as well as instructions on
connecting and conguring the TSM23S/Q for use in SCL mode, using the Data Registers and
the Protocol command. It also contains detailed information on:
• Host Serial Communications
• Host Serial Connections
• Alarm and Status Codes
• Working with Inputs and Outputs
The Host Command Reference is available from the Applied Motion Products website at http://
www.applied-motion.com
under the SCL Utility download section.
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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
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