Page 1
TSM23P
Integrated Step-Servo Motor
Hardware Manual
Rev. A
Page 2
TSM23P 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
3.1 Connecting the Power Supply .........................................................12
3.2 Connecting the TSM23P Communications .....................................13
3.3 Inputs and Outputs ..........................................................................14
3.3.1 Connector Pin Diagram ........................................................................14
3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs .................................16
3.3.3 X3/EN and X4/AR Digital Inputs ...........................................................17
3.3.4 Programmable Outputs ........................................................................18
4 Troubleshooting ......................................................................... 19
4.1 LED Error Codes .............................................................................19
5 Reference Materials .................................................................. 20
5.1 Mechanical Outlines ........................................................................20
5.2 Technical Specications ................................................................... 21
5.3 Torque-Speed Curves ...................................................................... 22
6 Contacting Applied Motion Products .......................................... 23
Rev. A
920-0083
Model
TSM23P-2AG
TSM23P-3AG
TSM23P-4AG
Communications
RS-232
2
Page 3
TSM23P Hardware Manual
1 Introduction
Thank you for selecting the Applied Motion Products TSM23P
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 70 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:
TSM23P-2AG: Up to 1.0N
TSM23P-3AG: Up to 1.5N
TSM23P-4AG: Up to 2.4N•m Continuous(3.2 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
•m Continuous(1.3 N•m Boost)
•m Continuous(2.0 N•m Boost)
3
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TSM23P Hardware Manual
1.2 Block Diagram
12-70 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+
TSM23P
Block Diagram
+
-
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
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TSM23P 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.
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TSM23P Hardware Manual
2 Getting Started
The following items are needed:
• A 12 - 70 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 TSM23P 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 TSM23P 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.
• Always provide airow around the drive.
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TSM23P 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 TSM23P 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 TSM23P 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 75 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 75 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 75 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 75 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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TSM23P Hardware Manual
2.3.3 Current
The maximum supply currents required by the TSM23P are shown in the charts below at different
power supply voltage inputs. The TSM23P 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.
TSM23P-2AG 24V Power
1.5
3.5
1.2
0.9
0.6
Torque(N.m)
0.3
0
0 10 20 30 40 50
Speed(RPS)
TSM23P-2AG 48V Power
1.5
1.2
0.9
0.6
Torque(N.m)
0.3
3
2.5
2
1.5
1
0.5
0
3.5
3
2.5
2
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
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0
0 10 20 30 40 50
Speed(RPS)
8
0
Page 9
TSM23P Hardware Manual
1.5
TSM23P-2AG 70V Power
3.5
1.2
0.9
0.6
Torque(N.m)
0.3
0
0 10 20 30 40 50
Speed(RPS)
TSM23P-3AG 24V Power
2.5
2
1.5
1
Torque(N.m)
0.5
3
2.5
2
1.5
1
0.5
0
3.5
3
2.5
2
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)
TSM23P-3AG 48V Power
2.5
2
1.5
1
Torque(N.m)
0.5
0
0 10 20 30 40 50
Speed(RPS)
0
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
9
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TSM23P Hardware Manual
TSM23P-3AG 70V Power
2.5
3.5
2
1.5
1
Torque(N.m)
0.5
0
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
0 10 20 30 40 50
Speed(RPS)
5
TSM23□-4□G 24V Power
4.5
4
4
3
2
Torque(N.m)
1
3.5
3
2.5
2
1.5
1
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
0.5
0
0
0 10 20 30 40 50
Rev. A
920-0083
Speed(RPS)
TSM23□-4□G 48V Power
5
4
3
2
Torque(N.m)
1
0
0 10 20 30 40 50
Speed(RPS)
10
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Page 11
TSM23P Hardware Manual
TSM23□-4□G 70V Power
5
4
3
2
Torque(N.m)
1
0
0 10 20 30 40 50
Speed(RPS)
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
11
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TSM23P Hardware Manual
Vout
3 Installation/Connections
3.1 Connecting the Power Supply
Use 16 to 20-gauge wire to connect the TSM23 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 Power Supply+
To Power Supply-
To Earth Ground
-
Vin
+
+
Vout
-
RC880
V- V+
V- V+
TSM
MOONS' 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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TSM23P Hardware Manual
3.2 Connecting the TSM23P Communications
The TSM23P 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 TSM23P within 1.5 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 TSM23P . 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.
GND
TXD
+5V
RXD
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TSM23P Hardware Manual
3.3 Inputs and Outputs
All 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
NC
NC
NC
XCOM
NC
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
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TSM23P 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
0VDC
15
20 YCOM
23 ENC Z+
24 ENC Z-
25 ENC B+
26 ENC B-
27 ENC A+
28 ENC A-
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TSM23P Hardware Manual
Connecting to Indexer with Differential Outputs
3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs
The TSM23 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+
DIR+
Indexer
with
Differential
DIR-
STEP+
DIR-
STEP+
Outputs
STEP-
STEP-
TSM23
TSM23
TSM23
A+
Master
Encoder
A-
B+
B-
Wiring for Encoder Following
Rev. A
920-0083
STEP+
STEP-
TSM23
DIR+
DIR-
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TSM23P Hardware Manual
Connecting a PNP type Proximity Sensor to an Input
3.3.3 X3/EN and X4/AR Digital Inputs
The TSM23 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 TSM23 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
TSM23
Supply
-
X3/X4
Connecting the Input to a Switch or Relay
5 - 24
volt DC
Power
Supply
+
+
NPN
Proximity
-
Sensor
-
output
XCOM
TSM23
X3/X4
Connecting an NPN type Proximity Sensor to an Input
output
X3/X4
TSM23
5 - 24
volt DC
Power
+
+
PNP
Proximity
Sensor
-
Supply
-
XCOM
17
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TSM23P Hardware Manual
3.3.4 Programmable Outputs
The TSM23P 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
IN
Connecting a Sourcing Output
+
relay
+
1N4935 suppresion diode
-
Y1
TSM23
YCOM
Y2
TSM23
YCOM
Y3
TSM23
YCOM
Rev. A
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Driving a Relay
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TSM23P Hardware Manual
4 Troubleshooting
4.1 LED Error Codes
The TSM23P 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
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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TSM23P Hardware Manual
5 Reference Materials
5.1 Mechanical Outlines
L±1
75
88
M
24
20
Ø8
Ø38.1
1.6
7
7.5 Flat
56.4 Max.
47.14
50.9
4-Ø5.1
47.14
56.4 Max.
Unit:mm
Model Length”L” Length”M”
TSM23P-2AG 95.2 24.5
TSM23P-3AG 117.2 46.5
TSM23P-4AG 120.6 49.9
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TSM23P Hardware Manual
5.2 Technical Specications
Power Amplier
Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 20 KHz
TSM23P-2AG: Up to 1.0N•m Continuous(1.3 N•m Boost)
Output Torque
Power Supply External 12 - 70 VDC power supply required
TSM23P-3AG: Up to 1.5N•m Continuous(2.0 N•m Boost)
TSM23P-4AG: Up to 2.4N•m Continuous(3.2 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, Smoothing lter, PID lter, Notch lter
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP
Modes of Operation TSM23P: 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
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
TSM23P-2AG: 850 g
Mass
Rotor Inertia
TSM23P-3AG: 1200 g
TSM23P-4AG: 1400 g
TSM23P-2AG: 260 g•cm
TSM23P-3AG: 460 g•cm
TSM23P-4AG: 365 g•cm
2
2
2
21
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TSM23P Hardware Manual
5.3 Torque-Speed Curves
Note: all torque curves were measured at 20,000 steps/rev.
Note: 5 amp rating is continuous, 7.5 amp rating is boost
TSM23P-2AG
1.5
1.2
0.9
0.6
Continuous
Boost
24V 48V 70V
24V 48V 70V
Torque(N·m)
0.3
0
0 10 20 30 40 50
Speed(rps)
2.5
2
1.5
TSM23P-3AG
Continuous
Boost
24V 48V 70V
24V 48V 70V
1
Torque(N·m)
0.5
0
0 10 20 30 40 50
Speed(rps)
TSM23□-4□G
3.5
3
2.5
2
1.5
Torque(N.m)
1
0.5
0
0 10 20 30 40 50
Boost
24V 48V 70V
24V 48V 70V
Speed(rps)
Rev. A
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22
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TSM23P 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
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