Page 1
TXM24C
Integrated Step-Servo Motor
Hardware Manual
Rev. D
920-0088
6/15/2015
Page 2
TXM24C 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 ....................................................11
3.1 Connecting the Power Supply ...............................................11
3.2 Connecting the TXM24C Communications ............................12
3.2.1 Node ID ................................................................................... 13
3.2.2 Setting the Bitrate .................................................................... 13
3.3 Inputs and Outputs ................................................................14
3.3.1 Connector Pin Diagram ........................................................... 14
3.3.2 X1 & X2 Inputs ........................................................................ 15
3.3.3 X3, X4, X5 Input ...................................................................... 16
3.3.4 What is COM? ......................................................................... 16
3.3.5 Programmable Output ............................................................ 18
4 Troubleshooting .................................................................19
5 Reference Materials ..........................................................20
5.1 Torque-Speed Curves ............................................................20
5.2 Mechanical Outlines ..............................................................21
5.3 Technical Specications .........................................................22
5.4 Accessories ............................................................................23
6 Contacting Applied Motion Products ..................................23
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TXM24C Hardware Manual
1 Introduction
Thank you for selecting the Applied Motion Products TXM24C Integrated
Motor.The TXM 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 70 volts DC power supply
• Modes of Operation:
CANopen(complant CiA 402)
• Prole Torque
• Prole Velocity
• Prole Position
• Homing
Q Programing
• Execute stored Q programs via Applied Motion Products specic CANopen objects
• Communications:
CANopen & RS-232
• 5000 line (20,000 counts/rev) encoder feedback
• Available torque:
TXM24C-1CG: Up to 0.82N•m Continuous (1.03 N•m Boost)
TXM24C-3CG: Up to 2.4N•m Continuous (3.0 N•m Boost)
• I/O:
5 optically isolated digital inputs, with adjustable bandwidth digital noise rejection lter, 5 to 24
volts
3 optically isolated digital output, 30V/100 mA max.
• Technological advances:
Full servo control, Closed loop
Efcient, Accurate, Fast, Smooth
Intelligent, Compact
• IP65 protected with four M12 connectors
Model
TXM24C-3CG, TXM24C-3CG
Communications
RS-232 CANopen
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TXM24C Hardware Manual
1.2 Block Diagram
TXM24C
Block Diagram
12-70 VDC
External
Power Supply
RS-232
TX, RX, GND
CANopen
CANH, CANL, GND
1 X1/CW LIMIT+
3 X1/CW LIMIT-
5 X2/CCW LIMIT+
8 X2/CCW LIMIT-
10 XCOM
4 X3/SERVO ON
6 X4/ALARM RESET
11 Y1/ALARM
12 Y2/IN POSITION
9 Y3/BRAKE
2 YCOM
7 X5
+
-
Conn
Power
Conn
Comm
Conn
CANopen
I/O Connector
I/O Configurations
RS-232
CANopen
Optical
Isolation
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
Optional
X1 (5 to 24 Volts)
: CW Limit
: General Purpose
X2 (5 to 24 Volts)
: CCW Limit
: General Purpose
X3 (5 to 24 Volts)
: Servo On
: General Purpose
X4 (5 to 24 Volts)
: Alarm Reset
: General Purpose
X5 (5 to 24 Volts)
: General Purpose
Y1 (30V, 100mA)
: Alarm Output
: General Purpose
Y2 (30V, 100mA)
: In Position
: General Purpose
Y3 (30V, 100mA)
: Brake Output
: General Purpose
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TXM24C 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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TXM24C 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 PC running Microsoft Windows XP, Vista, or Windows 7 or 8
2.1 Installing Software
Before utilizing the TXM24C Integrated 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 RS-232 programming cable.
• Connect the drive to the power supply. See instructions below.
• Launch the software by clicking Start...Programs...Applied Motion Products...Step-Servo
Quick Tuner.
• 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 TXM24C 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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TXM24C 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 TXM24C 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 TXM24C 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 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
RC880 Regen Clamp
7
Red - Regen on
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TXM24C Hardware Manual
2.3.3 Current
The maximum supply currents required by the TXM24C are shown in the charts below at different
power supply voltage inputs. The TXM24C 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.
TXM24C-3CG 24V Power
3.5
3
2.5
2
1.5
1
Torque(N.m)
0.5
0
0 10 20 30 40 50
Speed(RPS)
5
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
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TXM24C-3CG 48V Power
3.5
3
2.5
2
1.5
Torque(N.m)
1
0.5
0
0 10 20 30 40 50
Speed(RPS)
8
5
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
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TXM24C Hardware Manual
TXM24C-3CG 70V Power
3.5
3
2.5
2
1.5
1
Torque(N.m)
0.5
0
0 10 20 30 40 50
Speed(RPS)
5
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
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TXM24C Hardware Manual
CANopen Com port1
(Shared with RS-232）
Digital I/O
Power CANopen Com port2
3
4
3 Installation/Connections
To meeting the IP65 protection, a suitable mating connector should be chosen. We recommend
vendor Phoenix Contact that offers mating cable with perfect match to our motor.
You can also check information of recommended mating cable from Phoenix in Accessories
section.
3.1 Connecting the Power Supply
Use 16 to 20-gauge wire if you want to build cable by yourself. TXM24C 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.
2
1
Power
Signal
V+ BN\BU 1\3
V- WH\BK 2\4
Color of mating cable
Phoenix P/N 1431678
Pin no.
J2
View of motor side connector
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TXM24C Hardware Manual
3.2 Connecting the TXM24C Communications
The communications interface for the TXM24C is two standard 5-pin M12 connectors. The
TXM24C is congured by Step-Servo Quick Tuner with RS-232 serial link, and then may be
deployed on a distributed CANopen network. The RS-232 interface is used for conguration,
tuning, node ID setting and Q program downloading.
Communication port
Signal
Color of mating cable
Applied Motion PN 3004-288-5M
Pin no.
RS-232_TXD BN 1
RS-232_RXD WH 2
GND BU 3
CAN_H BK 4
CAN_L GN/YE 5
View of motor side 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.
The CANopen network should be connected in a daisy-chain fashion, with a 120 ohm terminating
resistor at each end of network.
R termination*
120 ohm nominal
1
CAN_L
2
CAN_GND
3
4
CAN_SHLD
5
6
CAN_H
7
8
9
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DSUB9 Female
.1” Spacing Spring Plug
R termination:
Network must be terminated at each
end with a 120 ohm resistor.
CAN_L
CAN_SHLD
CAN_H
234
12
CAN_GND
1
CAN_BUS
R termination*
120 ohm nominal
n*
CAN_L
CAN_GND
CAN_SHLD
CAN_H
1
234
.1” Spacing Spring Plug
n:
Cable may be made with up to 127 drive
connectors. Termination is only required
at each end.
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TXM24C Hardware Manual
3.2.1 Node ID
Each node ID on a CANopen network must have a unique Node
ID. The Node ID is congured by using Step-Servo Quick Tuner
software. CANopen Node IDs are seven bits long, with a range of
1 - 127, or 0x01 - 0x7F in hexadecimal notation. Node ID 0x00 is
reserved in accordance with the CiA301 specication.
3.2.2 Setting the Bitrate
The CANopen network bitrate is set by the Step-Servo Quick Tuner software. The bit rate must
be the same for all nodes on the CANopen network. Any changes to the bit rate require either a
power cycle or a CANopen reset command to take effect.
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TXM24C Hardware Manual
3.3 Inputs and Outputs
The TXM24C has ve optically isolated inputs that use 5 to 24V logic.
3.3.1 Connector Pin Diagram
I/O
Signal Color of mating cable Pin no.
X1+ BN 1
YCOM BU 2
X1- WH 3
X3 GN 4
X2+ PK 5
X4 YE 6
X5 BK 7
X2- GY 8
Y3 RD 9
XCOM VT 10
Y1 GYPK 11
Y2 RDBU 12
View of motor side connector
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TXM24C Hardware Manual
3.3.2 X1 & X2 Inputs
X1 and X2 digital inputs are designed operation between 5 and 24 volts. The diagrams below
show how to connect them to various commonly used devices like sensors, switches, relays,
PLCs, etc.
inside drive
1
X1+
3
X1
-
5
X2+
8
X2
M12 I/O Connector
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.
-
X1/X2+
+
5-24V
Power Supply
TXM24C
-
X1/X2-
Connecting a Mechanical Switch to Low Speed Differential Inputs
X1/X2+
+
DC
Power
Supply
–
+
NPN
Proximity
Sensor
–
output
Connecting an NPN Proximilty Sensor to Low Speed Differential Inputs
+
DC
Power
Supply
–
+
PNP
Proximity
Sensor
–
output
TXM24C
X1/X2-
X1/X2+
TXM24C
X1/X2-
Connecting a PNP Proximilty Sensor to Low Speed Differential Inputs
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3.3.3 X3, X4, X5 Input
10
XCOM
4
X3
6
X4
7
X5
M12 I/O Connector
inside drive
3K
3K
3K
The X3, X4, X5 digital input is designed for low speed digital input operation between 5 and 24 volts. The
diagrams below show how to connect them to various commonly used devices like sensors, switches, relays, PLCs, etc.
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.
3.3.4 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 TXM24C 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 on the following pages show how to connect the inputs to various commonly used
devices.
TXM24
XCOM
TXM24
X3..X5
+
5-24V
Power
Supply
-
5-24V
Power
Supply
Another Drive
+
switch or relay
(closed=logic low)
-
Connecting an Input to a Switch or Relay
XCOM
OUT+
OUT–
X3..X5
Connecting another drive to the TXM24
(When output closes, input goes low).
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TXM24C Hardware Manual
XCOM
+
DC
Power
Supply
–
+
NPN
Proximity
Sensor
–
output
TXM24
X3..X5
Connecting an NPN Proximilty Sensor to Low Speed Differential Inputs
(when prox sensor activates, input goes low)
5-24V
Power
Supply
+
-
+
PNP
Proximity
Sensor
–
output
X3..X5
TXM24
XCOM
Connecting a PNP Type Proximity Sensor to a an input
(When prox sensor activates, input goes high)
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3.3.5 Programmable Output
The TXM24C drives feature three optically isolated digital output
(Y1,Y2,Y3). This output can be set to automatically control a motor
brake, to signal a fault condition, to indicate when the motor is in
position or to provide an output frequency proportional to motor speed
(tach signal). Or the output can 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. Y1, Y2 and Y3 can only sink current. The YCOM terminal
must be tied to power supply (-)
Diagrams of various connection types follow.
5-24 VDC
Power Supply
+ –
Y1/2/3
Load
TXM24
YCOM
Sinking Output Using Y1, Y2 or Y3
11
Y1
12
Y2
9
Y3
2
M12 I/O Connector
YCOM
TXM24
5-24 VDC
Power Supply
+ –
TXM24
Y1/2/3
YCOM
COM
IN
PLC
Sourcing Output Using Y1, Y2 or Y3
5-24 VDC
Power Supply
+ –
TXM24
relay
Y1/2/3
1N4935 suppression diode
YCOM
Driving a Relay Using Y1,Y2 or Y3
Do not connect the output to more than 30 volts. The current through the output terminal
must not exceed 100mA.
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TXM24C Hardware Manual
4 Troubleshooting
LED Error Codes
The TXM24C uses bi-colour LED 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.
Code Error
Solid green no alarm,motor disabled
Flashing green no alarm,motor enabled
1 red,1 green
2 red,1 green
2 red,2 green
motor stall (optional encoder only)
ccw limit
cw limit
3 red,1 green drive overheating
3 red,2 green internal voltage out of range
3 red,3 green
blank Q segment
4 red,1 green power supply overvoltage or excess regen
4 red,2 green power supply undervoltage
4 red,3 green
ash memory backup error
5 red,1 green Over current/short circuit
6 red,1 green Open motor winding
6 red,2 green
bad encoder signal (optional encoder only)
7 red,1 green
7 red,2 green
communication error
ash memory error
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0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
TXM24C-3CG
24V 48V 70V
24V 48V 70V
Continuous
Boost
Torque(N·m)
Speed(rps)
5 Reference Materials
5.1 Torque-Speed Curves
Note: all torque curves were measured at 20,000 steps/rev.
Note: 6 amp rating is continuous,7.5 amp rating is boost
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1.5
131.3
111
9.5Flat
60
47.14
47.14
4-Ø4.5
Ø38.1
Ø10
24
20
95.5
8
60.5
Unit:mm
5.2 Mechanical Outlines
TXM24C-1CG
TXM24C-3CG
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TXM24C Hardware Manual
5.3 Technical Specications
Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 20 KHz
Power Amplier
Output Torque
Power Supply
Protection
TXM24C-1CG: Up to 0.82N•m Continuous (1.03 N•m Boost)
TXM24C-3CG: Up to 2.4N•m Continuous (3.0 N•m Boost)
External 12 - 70 VDC power supply required
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
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP
Modes of Operation
Digital Inputs
Digital Output
PID lter, Notch lter
CANopen slave node plus stored Q Program execution
X1, X2 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V switching threshold), 50
usec minimum pulse width, maximum current = 10 mA.
X3-X5 inputs: Optically isolated, single-ended, shared common.
sinking or sourcing, 5-24 VDC logic, maximum current = 10 mA.
Y1-Y3 outputs: Optical darlington, single-ended, shared , sinking, 30 VDC max, 100 mA max,
voltage drop = 1.2V max at 100 mA.
Function: Fault, tach, in position, brake, or general purpose programmable
Communication
Interface
CANopen, RS-232
Physical
Ambient Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
Humdity 90% Max., non-condensing
Mass
Rotor Inertia
Length
TXM24C-1CG: 1049 g = 37 oz
TXM24C-3CG: 2000 g = 70.55 oz
TXM24C-1CG: 260 g•cm
TXM24C-3CG: 900 g•cm2 = 1.27 X 10-2 oz-in-S
TXM24C-1CG: 3.5 inches (88.9mm)
TXM24C-3CG: 5.15 inches (130.8mm)
2
= 3.97E-03 oz-in-S
2
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TXM24C Hardware Manual
5.4 Accessories
Mating Cables
Position Part Number Description
Power 3004-277-5M 4-pin Mating Cable, M12, 2.0m, 22AWG, straight
I/O 3004-290-5M 12-pin Mating Cable, M12,1.5m, 26AWG, straight
RS-232 & CANopen X2 3004-288-5M 5-pin Mating Cable, M12 1.5m 22AWG, straight
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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