Moons' TSM24S/Q Hardware Manual

TSM24S/Q

Integrated Step-Servo Motor

Hardware Manual

Rev. 1.0

AMP & MOONS’ Automation

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TSM24S/Q Hardware Manual

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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 ............................................................ 10

3.1 Connecting the Power Supply .........................................................10

3.2 Connecting the TSM24S/Q Communications .................................. 11

3.2.1 Connecting to the PC using RS-232 ....................................................11

3.2.2 Connecting to a Host using RS-485 .....................................................12

3.3 Inputs and Outputs ..........................................................................14

3.3.1 Connector Pin Diagram ........................................................................14

3.3.2 STEP & DIR Digital Inputs ....................................................................15

3.3.3 X3/X4/X5/X6 Digital Input .....................................................................16

3.3.4 X7/X8 Digital Input ................................................................................17

3.3.5 AIN Input ...............................................................................................17

3.3.6 Programmable Output Y1/Y2/Y3 ..........................................................18

3.3.7 Programmable Output Y4 .....................................................................19

4 Troubleshooting ......................................................................... 20

5 Reference Materials .................................................................. 21

5.1 Mechanical Outlines ........................................................................21

5.2 Technical Specications ................................................................... 22

8.3 Torque-Speed Curves ...................................................................... 23

8.4 SCL Command Reference ..............................................................24

6 Contacting MOONS’ ..................................................................26

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1 Introduction

Thank you for selecting the MOONS’ TSM24S/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 70 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

A/B Quadrature

* Analog Position
* Serial Commanded Position

Q Programming(Q Verision only)

* Stand alone operation

• Communications:
RS-232 or RS-485

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

• Available torque:

TSM24□-3□G: Up to 2.4N•m Continuous(3.0 N•m Boost)

• I/O:
8 optically isolated digital inputs,

with adjustable bandwidth digital noise rejection lter, 5 to 24

volts
4 optically isolated digital output, 30V/100 mA max.
1 analog input for speed and position control, 0 to 5 volts
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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1.2 Block Diagram

A+
A ­B+

B -

Z+
Z-

Line

Driver

Encoder Outputs

Block Diagram

MOSFET

PWM

Power

Amplifier

12 - 70 VDC

External

Power Supply

Voltage

Temp

Detect

Over

Current

Detect

motor

encoder

5 Volt DC

Power Supply

DSP

Driver

Controller

3.3VDC
Internal

Logic

Supply

TSM24S/Q

I/O Connector

+

+5VDC (100mA max)

GND

Status

AIN

Optical

Iso

RS-232 or RS-485

Comm

Conn

Power

Conn

GND

+5V

RS-232

RXD,+5V,TXD,GND,GND

or

RS-485

RX+,RX-,TX+,TX-,GND

-

X1
X2
X3
X4
X5
X6
X7
X8

Y1
Y2
Y3
Y4

Optical

ISO

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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. MOONS’ 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.

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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 2000, XP, Vista, or Windows 7

• a MOONS’ programming cable (included with RS-232 Models; RS-485 converters are

available from MOONS’)

2.1 Installing Software

Before utilizing the TSM24S/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 MOONS’ website.

• Connect the drive to the PC using the programming cable. When using RS-485, it must be

setup in a 4-Wire conguration (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...MOONS’.

• 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 TSM24S/Q 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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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 TSM24S/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 TSM24S/Q 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 a MOONS’ 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.

RC880 Regen Clamp

LEDs

Green - Power

Red - Regen on

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2.3.3 Current

The maximum supply currents required by the TSM24S/Q are shown in the charts below at
different power supply voltage inputs. The TSM24S/Q 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.

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0

0.5

1

1.5

2

2.5

3

3.5

0 10 20 30 40 50

Torque(N.m)

Speed(RPS)

TSM24□-3□G 24V Power

Amps

Continuous

Torque

Boost

Supply Current

Full Load
No Load

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0

0.5

1

1.5

2

2.5

3

3.5

0 10 20 30 40 50

Torque(N.m)

Speed(RPS)

TSM24□-3□G 48V Power

Amps

Continuous

Torque

Boost

Supply Current

Full Load
No Load