Moons' TSM34P-1AG, TSM34P-3AG, TSM34P, TSM34P-5AG, TSM34P-6AG Hardware Manual

TSM34P

Integrated Step-Servo Motor

Hardware Manual

Rev. 1.0

SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD.

TSM34P Hardware Manual

Table of 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 the Software ............................................................................ 6

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

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

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

2.3.2 Auxiliary Supply Voltage (Keep Alive Function) ....................... 7

2.3.2.1 Keep Alive Recovery with I/O Function ....................... 7

2.3.2.2 Keep Alive Recovery with SCL .................................... 7

2.3.3 Regeneration Clamp ............................................................... 8

2.3.4 Supply Current ........................................................................ 8

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

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

3.1.1 Connect Main Power Supply .................................................. 12

3.1.2 Connect Auxiliary Power Supply ............................................ 12

3.2 Connecting the TSM34P Communications ............................................13

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

3.2.2 Choosing the Right COM Port ................................................. 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 Y1, Y2, Y3 Programmable Outputs ......................................... 18

4 Troubleshooting ................................................................................................ 19

4.1 Status (STAT) LED Error Codes .............................................................. 19

4.2 Auxiliary Power (AUX) LED ..................................................................... 19

5 Reference Materials .......................................................................................... 20

5.1 Torque Speed Curves ............................................................................. 20

5.2 Mechanical Outlines ............................................................................... 20

5.3 Technical Specications ......................................................................... 21

5.4 Optional Accessories ............................................................................... 22

6 Contacting MOONS’..........................................................................................25

Rev. 1.0

0006152016

2

[phone]

TSM34P Hardware Manual

TSM34P Models Available

Model

TSM34P-1AG

TSM34P-3AG

TSM34P-5AG

TSM34P-6AG

Communications

RS-232









1 Introduction

Thank you for selecting MOONS’ TSM34P 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 24 to 70 volt DC power supply, auxiliary power from 12 to 48 volt DC

• 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

• TSM34P-1AG: Up to 2.9N•m Continuous

• TSM34P-3AG: Up to 5.6N•m Continuous

• TSM34P-5AG: Up to 7.2N•m Continuous

• TSM34P-6AG: Up to 9.5N•m Continuous

• 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

[phone]

3

Rev. 1.0

0006152016

TSM34P Hardware Manual

1.2 Block Diagram

TSM34P RS-232

rewoP

24 - 70 VDC

External

Power Supply

12 - 48VDC

External

Power Supply

RS-232 Version

TX,RX,GND

X1+
X1­X2+
X2­X3
X4
XCOM

Y1
Y2
Y3
YCOM

+

-

+

-

nnoC

nnoC

AUX

mmoC

Port

I/O Connector

Block Diagram

RS-232

Optical

ISO

Optical

ISO

5 Volt DC

Power Supply

3.3VDC
Internal

Logic

Supply

DSP

Driver

Controller

Voltage

Temp

Detect

Status

AUX

MOSFET

PWM

Power

Amplifier

Over

Current

Detect

motor

encoder

Encoder Outputs

A+

A ­B+
B ­Z+
Z-

Line

Driver

Rev. 1.0

0006152016

4

[phone]

TSM34P Hardware Manual

1.3 Safety Instructions

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

for their jobs.

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

Equipment damage or serious injury to personnel can result from the failure to follow all applicable
codes and standards. 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.

[phone]

5

Rev. 1.0

0006152016

TSM34P Hardware Manual

2 Getting Started

The following items are needed:

• a 24 - 70 Volt DC power supply, see the section below entitled “Choosing a Power Supply” for
help in choosing the right one

• If the Keep Alive function is required, an external 12 - 48 volt DC power supply will be needed
for auxiliary power

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

• a PC running Microsoft Windows XP, or Windows 7, 8, or 10

• a MOONS’ programming cable (included)

2.1 Installing the Software

Before using the TSM34P Integrated Step-Servo Motor and Step-Servo Quick Tuner Software in
an application, the following steps are necessary. See the Quick Setup Guide for brief information

on setting up and conguring the PC and drive.

• Download the Step-Servo Quick Tuner from MOONS' website.

• Install the Step-Servo Quick Tuner software application.

• Connect the drive to the PC using the programming cable. (See section 3.2.1 "Connecting to a

PC using RS-232")

• Choose the correct COM port. (See Section 3.2.2 "Choosing the Right COM Port")

• Run the software application.

• Apply power to the drive.

• The software will communicate with the drive and display the model & rmware version.

• Follow the steps in the Step-Servo Quick Tune” to set up.

2.2 Mounting the Hardware

As with any step motor, the TSM34P must be mounted so as to provide maximum heat sinking

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

Rev. 1.0

0006152016

6

[phone]

TSM34P 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 Supply Voltage

The TSM34P is designed to give optimum performance at 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 TSM34P to produce higher temperatures. Using power supplies with voltage outputs that are

near the drive’s maximum may signicantly reduce the operational duty-cycle.

The extended range of operation can be as low as 18VDC minimum to as high as 75VDC
maximum. When operating below 18VDC, 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 18VDC for reliable operation. Absolute minimum power
supply input is 18VDC. If the input supply drops below 18VDC the low voltage alarm will be
triggered. This will not fault the drive.

Absolute maximum power supply input is 75VDC 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 75VDC, 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 75VDC.

2.3.2 Auxiliary Supply Voltage (Keep Alive Function)

Apart from the main power supply, TSM34 also has an auxiliary power input (AUX power) for
keep alive function of the drive. When the main power supply is off, the AUX power will keep the
logic power on, allowing the drive to remember its state data (motor position, etc.). This allows
the motor to resume operation from its previous position without a homing routine when the main
power is switched back on.

When the main power is removed while the auxiliary power is still on, the drive will show a fault.

If the AUX power supply range is 12-15VDC, the status LED will ash a 3 red, 2 green pattern

indicating the internal voltage is out of range. If the AUX power supply is 15-48VDC, the status

LED will ash a 4 red, 2 green pattern indicating a power supply undervoltage. When the main

power supply is restored the drive will not automatically clear the fault. It will need to be cleared by
the I/O function or SCL commands.

2.3.2.1 Keep Alive Recovery with I/O Function

1. After the main power is removed and the logic remains powered, an undervoltage or internal

bad voltage fault is generated. This alarm will display as a ashing LED pattern which can be

checked by the codes listed in Section 4.1 “Status (STAT) LED Error Codes”.

2. After the main power supply has been restored, the fault must be cleared. Use the alarm reset
function through input 4 (X4) which can be set in the Step-Servo Quick Tuner software. If an
internal bad voltage alarm occurred, the motor will remain disabled. Use the servo on function
through input 3 (X3), also set by the software. If an undervoltage occurred, the motor will reenable
after using the alarm reset function.

3. Resume motion and normal program operation.

2.3.2.2 Keep Alive Recovery with SCL

1. After the main power is removed and the logic remains powered, an undervoltage fault is

[phone]

7

Rev. 1.0

0006152016

TSM34P Hardware Manual

generated. This alarm displays as a ashing LED pattern and a bit in the alarm code which can be

read by the host using the AL command.

2. Monitor the main power supply using the IU command. the IU command reads in units of

0.1V. For example, at 24 volts the response to the IU command will be IU=240. See Section 5.3

“Technical Specications” for acceptable operational voltage limits.

3. After the main power supply has been restored, the fault must be cleared. To clear the fault,

send the AR command. The alarm word will become 0. If the fault that occurred wasinternal
voltage out of range, the motor will remain disabled. Send the ME command to enable the motor.
The the fault was undervoltage, the motor will be enabled after the AR command is sent.

4. As the motor may have moved while the main power was lost, the EP command may be used

to verify the motor’s current position.

5. Resume motion and normal program operation.

2.3.3 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.

LEDs
Green- Power
Red - Regen on

RC880 Regen Clamp

2.3.4 Supply Current

The maximum supply currents required by the TSM34P are shown in the charts below at different
power supply voltage inputs. The TSM34P 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.

Rev. 1.0

0006152016

8

[phone]

TSM34P Hardware Manual

TSM34□-1□G 24V Power Supply Current

3.5

6

3

2.5

2

1.5

Torque(N.m)

1

0.5

0

0 10 20 30 40 50

Speed(RPS)

TSM34□-1□G 48V Power Supply Current

3.5

3

2.5

2

1.5

Torque(N.m)

1

0.5

5

4

3

2

1

0

6

5

4

3

2

1

Amps

Amps

Torque

Supply Current
Full Load

Supply Current
No Load

Torque

Supply Current
Full Load

Supply Current
No Load

0

0 10 20 30 40 50

Speed(RPS)

TSM34□-1□G 70V Power Supply Current

3.5

3

2.5

2

1.5

Torque(N.m)

1

0.5

0

0 10 20 30 40 50

Speed(RPS)

0

6

5

4

3

2

1

0

Amps

Torque

Supply Current
Full Load

Supply Current
No Load

[phone]

9

Rev. 1.0

0006152016

TSM34P Hardware Manual

TSM34□-3□G 24V Power Supply Current

6

6

5

4

3

Torque(N.m)

2

1

0

0 10 20 30 40 50

Speed(RPS)

TSM34□-3□G 48V Power Supply Current

7

6

5

4

3

Torque(N.m)

2

1

5

4

3

2

1

0

6

5

4

3

2

1

Amps

Amps

Torque

Supply Current
Full Load

Supply Current
No Load

Torque

Supply Current
Full Load

Supply Current
No Load

0

0 10 20 30 40 50

Speed(RPS)

TSM34□-3□G 70V Power Supply Current

7

6

5

4

3

Torque(N.m)

2

1

0

0 10 20 30 40 50

Speed(RPS)

0

6

5

4

3

2

1

0

Amps

Torque

Supply Current
Full Load

Supply Current
No Load

Rev. 1.0

0006152016

10

[phone]

TSM34P Hardware Manual

TSM34□-5□G 24V Power Supply Current

8

6

7

6

5

4

3

Torque(N.m)

2

1

0

0 10 20 30 40 50

Speed(RPS)

TSM34□-5□G 48V Power Supply Current

8

7

6

5

5

4

3

2

1

0

6

5

4

Amps

Torque

Supply Current
Full Load

Supply Current
No Load

Torque

4

3

Torque(N.m)

2

1

0

0 10 20 30 40 50

Speed(RPS)

TSM34□-5□G 70V Power Supply Current

8

7

6

5

4

3

Torque(N.m)

2

1

3

Amps

Supply Current

Amps

Full Load

Supply Current
No Load

Torque

Supply Current
Full Load

Supply Current
No Load

2

1

0

6

5

4

3

2

1

[phone]

0

0 10 20 30 40 50

Speed(RPS)

11

0

Rev. 1.0

0006152016

TSM34P Hardware Manual

3 Installation/Connections

3.1 Connecting the Power Supply

Use 16 to 20-gauge wire to connect the TSM34 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 10 amp fast acting fuse in line with the “+” power supply lead.

3.1.1 Connect Main Power Supply

Connect power supply “+” to drive’s “V+” terminal

Connect power supply “-” to drive’s “V-” terminal

TSM34 needs 24 to 70VDC for the main power supply

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

TSM

V+

V-

To Earth Ground Power Supply

24-70VDC

Vin

+

-

RC880

+

Vout

-

V+

V-

AUX+

AUX-

V+

V-

AUX Power Supply
12-48VDC

3.1.2 Connect Auxiliary Power Supply

If auxiliary power is needed to use the Keep Alive function, an extra power supply is required.

Connect power supply “+” to drive’s “AUX+” terminal

Connect power supply “-” to drive’s “AUX-” terminal

TSM34 needs 12 to 48VDC for the auxiliary power supply

When using the optional auxiliary power supply, the main power must be applied
prior to the auxiliary power.

Rev. 1.0

0006152016

12

[phone]

TSM34P Hardware Manual

3.2 Connecting the TSM34P Communications

The TSM34P comes with a cable that will provide the interface to an RS-232 port through a DB9
style connector.

3.2.1 Connecting to a PC using RS-232

Locate the TSM34P 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 TSM34P. 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 to RS-232 Serial Converter will
be needed. You can contact MOONS’ to buy a USB to RS-232 converter.

Warning: 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

3.2.2 Choosing the Right COM Port

Open the “Device Manager” on the PC. If the PC has an built-in RS-232 serial port, “Ports (COM
& LPT)” will be displayed. Connect the PC and drive with the included RS-232 communication
cable. Choose the connected COM(n) port in the Step-Servo Quick Tuner software.

[phone]

13

Rev. 1.0

0006152016

TSM34P Hardware Manual

If the PC does not have an RS-232 serial port, or has one but using a USB port is preferred, a
USB to RS-232 serial port adapter will be needed.

Open the “Device Manager” on the PC. There may or may not be a "Ports” selection. Connect
the adapter to the PC, this USB adapter COM port should then be displayed. Choose this new
COM(n) port in the Step-Servo Quick Tuner software.

3.3 Inputs and Outputs

All TSM34P drives include 4 digital inputs and 3 digital outputs.

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+

1 2

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

Rev. 1.0

0006152016

14

[phone]

TSM34P 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

20 YCOM

[phone]

0VDC

15

23 ENC Z+

24 ENC Z-

25 ENC B+

26 ENC B-

27 ENC A+

28 ENC A-

Rev. 1.0

0006152016

TSM34P Hardware Manual

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

The TSM34P 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 functions for X1/STEP and X2/DIR can be congured by the Step-Servo Quick Tuner

software. The function are as follows:

X1/STEP: Step signal; CW pulse signal; Quadrature signal A

X2/DIR : Direction signal; CCW pulse signal; Quadrature signal B

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

+5v - +24v out

Indexer
with
Sinking
Outputs

DIR

STEP

DIR+

DIR-

STEP+

STEP-

Connecting to Indexer with Sinking Outputs

Indexer
with
Sourcing
Outputs

DIR

COM

STEP

DIR+

DIR-

STEP+

STEP-

Connecting to Indexer with Sourcing Outputs

Indexer
with
Differential
Outputs

DIR+

DIR-

STEP+

STEP-

DIR+

DIR-

STEP+

STEP-

TSM34

TSM34

TSM34

Rev. 1.0

0006152016

Connecting to Indexer with Differential Outputs

Many high-speed indexers have differential outputs

Master
Encoder

A+

A-

B+

B-

STEP+

STEP-

DIR+

DIR-

Wiring for Encoder Following

16

TSM34

[phone]

TSM34P Hardware Manual

3.3.3 X3/EN and X4/AR Digital Inputs

The TSM34 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.

The functions for X3/EN and X4/AR can be congured by the Step-Servo Quick Tuner software.

The functions are as follows:

X3/EN: Enable signal for the motor; General purpose

X4/AR: Waring and Fault Alarm reset signal; General purpose

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 TSM34 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.

XCOM

TSM34

X3/X4

5 - 24V

Power Supply

+

Switch or Relay

(closed = logic low)

-

Connecting the Input to a Switch or Relay

XCOM

TSM34

X3/X4

5 - 24V

Power Supply

+

+

NPN

Proximity

-

Sensor

-

output

Connecting an NPN type Proximity Sensor to an Input

(when prox sensor activates, input goes low)

[phone]

output

X3/X4

TSM34

XCOM

5 - 24V

Power Supply

+

+

PNP

Proximity

Sensor

-

-

Connecting a PNP type Proximity Sensor to an Input

(when prox sensor activates, input goes low)

17

Rev. 1.0

0006152016

TSM34P Hardware Manual

3.3.4 Y1, Y2, Y3 Programmable Outputs

The TSM34P drives feature three optically isolated digital outputs (Y1, Y2 and Y3) which share
the 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, to provide an output frequency proportional to motor

speed (tach signal), 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) or
through the Step-Servo Quick Tuner software. 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 - 24V

Power Supply

PLC

+

Load

-

Connecting a Sinking Output

5 - 24V

Power Supply

-

COM

IN

Connecting a Sourcing Output

+

relay

Y1

TSM34

YCOM

Y2

TSM34

YCOM

Rev. 1.0

0006152016

5 - 24V

Power Supply

+

Y3

TSM34

1N4935 suppresion diode

-

Driving a Relay

18

YCOM

[phone]

TSM34P Hardware Manual

4 Troubleshooting

4.1 Status (STAT) LED Error Codes

The TSM34P 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 the software manual for information on how to do this and which
warnings may be masked.

Code Error

Solid green no alarm, motor disabled

Flashing green no alarm, motor enabled

1 red, 1 green position limit

1 red, 2 green move while disabled

2 red, 1 green CCW limit

2 red, 2 green CW limit

3 red, 1 green drive over temperature

3 red, 2 green internal voltage out of range

3 red, 3 green blank Q segment

4 red, 1 green power supply overvoltage

4 red, 2 green power supply undervoltage

5 red, 1 green over current

6 red, 1 green open winding

6 red, 2 green bad encoder

7 red, 1 green communication error

7 red, 2 green ash memory error

NOTE: Items in bold italic represent drive Faults, which automatically disable the motor.

4.2 Auxiliary Power (AUX) LED

If the auxiliary power is connected, this yellow LED will be solid when the power is on.

[phone]

19

Rev. 1.0

0006152016

TSM34P Hardware Manual

Speed (rps)

5 Reference Materials

5.1 Torque Speed Curves

Note: All torque curves are at 10 amps rated continuous current.

TSM34□-1□G

3.5

3.0

2.5

2.0

1.5

Torque (N·m)

1.0

0.5

0

0 10 20 30 40 50

TSM34□-5□G

10.0

8.0

6.0

4.0

Torque (N·m)

2.0

0

0 10 20 30 40 50

24V 48V 70V

Speed (rps)

24V 48V 70V

Speed (rps)

5.2 Mechanical Outlines

TSM34□-3□G

7.0

6.0

5.0

4.0

3.0

Torque (N·m)

2.0

1.0

0

0 10 20 30 40 50

TSM34□-6□G

10.0

8.0

6.0

4.0

Torque (N·m)

2.0

0

0 10 20 30 40 50

24V 48V 70V

Speed (rps)

48V 70V

121

136.7

10

Unit: mm

Model Length ”L”

TSM34P-1AG 112.5

TSM34P-3AG 143

TSM34P-5AG 172.5

TSM34P-6AG 203

37L

B

25

2

Ø 73

B

Ø

14

Front shaft

diameter

14

B-B

13

86 Max.

69.6

13

86

4-Ø6.5

69.6
86 Max.

Rev. 1.0

0006152016

20

[phone]

TSM34P Hardware Manual

5.3 Technical Specications

Power Amplier

Amplier Type Dual H-Bridge, 4 Quadrant

Current Control 4 state PWM at 20 KHz

TSM34P-1AG up to 2.7 N•m Continuous (3.2 N•m Boost)

Output Torque

Power Supply External 24-70VDC main power supply, 12-48VDC auxiliary power supply

TSM34P-1AG up to 5.2 N•m Continuous (6.1 N•m Boost)
TSM34P-1AG up to 6.7 N•m Continuous (7.2 N•m Boost)
TSM34P-1AG up to 8.1 N•m Continuous (9.7 N•m Boost)

Protection

Electronic Gearing

Encoder Resolution 20000 counts/rev

Speed Range Up to 3600 rpm

Filters Digital input noise lter, Smoothing lter, PID lter, Notch lter

Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP

Modes of Operation TSM34P: Step & Direction, CW/CCW pulse, A/B quadrature pulse

Digital Inputs

Digital Outputs

Encoder Output

Communication
Interface

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

Controller

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

X1/STEP+/-: Optically isolated, 5-24 volt; minimum pulse width = 250 ns;
maximum pulse frequency = 2MHz

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

X2/DIR+/-: Optically isolated, 5-24 volt; minimum pulse width = 250 ns;
maximum pulse frequency = 2MHz

Functions: Direction, CCW step, B quadrature (encoder following)

X3/EN, X4/AR: Optically isolated, 5-24 volt

Functions: Enable, Alarm reset or general purpose input
Y1/Y2/Y3: Optically isolated, 30V/100 mA max
Functions: Fault, In position, Brake, Tach, Timing or general purpose

programmable
Standard Line driver outputs: A+/A-/B+/B-/Z+/Z-; 26C31 line driver, 20 mA

sink or source max

RS-232

[phone]

21

Rev. 1.0

0006152016

TSM34P Hardware Manual

Physical

Ambient
Temperature

0 to 40°C (32 -104°F) when mounted to a suitable heatsink

Humidity 90% max, non-condensing

TSM34P-1AG: 2100 g

Mass

TSM34P-3AG: 3200 g
TSM34P-5AG: 4300 g
TSM34P-6AG: 5500 g

TSM34P-1AG: 915 g•cm2

Rotor Inertia

TSM34P-3AG: 1480 g•cm2
TSM34P-5AG: 2200 g•cm2
TSM34P-6AG: 3660 g•cm2

5.4 Optional Accessories

Power Supplies

MOONS' recommends using the following switching power supplies

P/N:MF150A24AG-V 150W, 24VDC P/N:MF320A48AG-V 320W, 48VDC

11.5MAX

89.5

3-M4 L=4mm

25

170

152

65 45

4-M4 L=4mm

117 28

18

1863

49.5

99

25

44

12.5

9

1

2

3

4

5

6

7

V ADJ.

CN3

2

LED

1

11.5MAX

8

9.5

12.5

25 130

199
157

Air flow direction

4-M4 L=4mm

4-M4 L=4mm

5

18

63

FAN

4MAX

1

2

3

4

5

99

6

7

V ADJ.

CN3

5 4

8 1

LED

52

25

12.5

Regeneration Clamp

P/N: RC880

28.6

76

45

When using a regulated power supply
you may encounter a problem with
regeneration. The kinetic energy caused
by regeneration is transferred back

94

85

85

to the power supply. This can trip the
overvoltage protection of a switching
power supply, causing it to shut down.

MOONS' offers the RC880 “regeneration clamp” to solve this problem. If in doubt, use an RC880

for the rst installation. If the “regen” LED on the RC880 never ashes, you don’t need the clamp.

USB Converter

Model: MS-USB-RS232-01
Description: USB-RS-232 converter

Rev. 1.0

22

[phone]

0006152016

TSM34P Hardware Manual

Power Connector

P/N Vendor

5452570 Phoenix

Cables

Housing:PUDP-28V-S(JST)
Crimp:SPUD-001T-P0.5(JST)

General Purpose I/O Cable (unshielded)

P/N Length

1101-100 1m
1101-200 2m
1101-500 5m

Pin No. Assignment Description Color

1 X1+

2 X1- BLU/WHT

3 X2+

4 X2- YEL/WHT

5 X3 X3 Digital Input GRN

6 X4 X4 Digital Input ORG

7 X5 X5 Digital Input GRY

8 X6 X6 Digital Input PPL

9 XCOM X Digital Input COM WHT

10 +5V +5V Analog Voltage RED

11 AIN Analog Input BLU

12 GND Analog Input Ground BLK

13 X7+

14 X7- ORG/WHT

High Speed Digital

Input

High Speed Digital

Input

X7 Digital Input

BLU

YEL

ORG

27 28

1

2

L±50

Pin No. Assignment Description Color

15 X8+

16 X8- GRN/WHT

17 Y1 Y1 Digital Input BLU

18 Y2 Y2 Digital Input YEL

19 Y3 Y3 Digital Input BRN

20 YCOM Y Output COM BLK

21 Y4+

22 Y4- RED/WHT

23 Z+

24 Z- BLK/WHT

25 B+

26 B- GRN/WHT

27 A+

28 A- ORG/WHT

X8 Digital Input

Y4 Digital COM

Encoder Output Z

(if applicable)

Encoder Output B

(if applicable)

Encoder Output A

(if applicable)

GRN

RED

BLK

GRN

ORG

[phone]

23

Rev. 1.0

0006152016

TSM34P Hardware Manual

General Purpose I/O Cable (shielded)

P/N Length

1102-100 1m
1102-200 2m
1102-500 5m

Pin No. Assignment Description Color

1 X1+

2 X1- RED

3 X2+

4 X2- WHT

High Speed Digital

Input

High Speed Digital

Input

BLK

BLK

5 X3 X3 Digital Input BLK

6 X4 X4 Digital Input GRN

7 NC

8 NC

9 XCOM X Input COM BLK

10 +5V +5V Analog Voltage BLU

11 AIN Analog Input BLK

12 GND Analog Input Ground YEL

13 NC

14 NC

27 28

1

Housing:PUDP-28V-S(JST)
Crimp:SPUD-001T-P0.5(JST)

10

20

2

30

±3

±3

UL2464 AMG24 10Pair

2000

±100

Pin No. Assignment Description Color

15 NC

16 NC

17 Y1 Y1 Digital Output BLK

18 Y2 Y2 Digital Output BRN

19 Y3 Y3 Digital Output BLK

20 YCOM Y Output COM ORG

21 NC

22 NC

23 Z+

24 Z- WHT

25 B+

26 B- GRN

27 A+

28 A- BLU

Encoder Output Z

(if applicable)

Encoder Output B

(if applicable)

Encoder Output A

(If applicable)

RED

RED

RED

RS-232 Communication Cable

P/N Length

2101-150 1.5m

9

6

DB/9PFemale

B

5

B

J1

1

1500±20

15±2

A

1

10

20

Connector(JST)

Housing:ZER-04-S

Crimp:SZE-002T-P0.3

A

DGND

1

TX

J2

2

VCC

3

RX

4

Rev. 1.0

0006152016

24

[phone]

TSM34P Hardware Manual

6 Contacting MOONS’

■ MOONS' Headquarters

No. 168 Mingjia Road Industrial Park North
Minhang District Shanghai 201107, P.R. China
Tel: [phone]
Fax: [phone]
Email: [e-mail]

■ MOONS' International Trading Company

4/F, Building 30, 69 Guiqing Road, Cao He Jin Hi-Tech Park
Shanghai 200233, P.R. China
Tel: [phone]
Fax: [phone]

■ Domestic Ofces

Shenzhen
Room 2209, 22/F, Kerry Center, No. 2008 Renminnan Road
Shenzhen 518001 P.R. China
Tel: [phone]
Fax: [phone]

Beijing
Room 816, Block B, China Electronics Plaza,
No. 3 Danling Street Haidian District Beijing 100080 P.R. China
Tel: [phone]
Fax: [phone]

Nanjing
Room 302, Building A, Tengfei Creation Center,
55 Jiangjun Ave, Jiangning District, Nanjing 211100 P.R. China
Tel: [phone]
Fax: [phone]

Qingdao
Room 1012, Zhuoyue Tower, No. 16 Fengcheng Road,
Shibei Dristrict, Qingdao 266000 P.R. China
Tel: [phone]
Fax: [phone]

Wuhan
Room 3001, World Trade Tower, No. 686 Jiefang Ave
Jianghan District, Wuhan 430022 P.R. China
Tel: [phone]
Fax: [phone]

Ningbo
Room 309, Tower B, Taifu Plaza, 565 Jiangjia Road
Jiangdong District, Ningbo, 315040 P.R. China
Tel: [phone]
Fax: [phone]

Guangzhou
Room 4006, Tower B, China Shine Plaza, 9 Linhe Xi Road
Tianhe District, Guangzhou, 510610 P.R. China
Tel: [phone]
Fax: [phone]

■ North America

MOONS’ Industries (America), Inc.
1113 North Prospect Avenue, Itasca, IL 60143 USA
Tel: [phone]
Fax: [phone]

APPLIED MOTION PRODUCTS, INC.
404 Westridge Drive, Watsonville, CA 95076, USA
Tel: [phone]
Fax: [phone]

LIN ENGINEERING, INC.
16245 Vineyard Blvd., Morgan Hill, CA 95037 USA
Tel: [phone]
Fax: [phone]

■ Europe

MOONS’ Industries Europe S.R.L.
Via Torri Bianche n.1 20059 Vimercate (MB) Italy
Tel: [phone]
Fax: [phone]

■ South-East Asia

MOONS’ Industries (South-East Asia) PTE LTD.
33 Ubi Avenue 3 #08-23 Vertex Singapore 408868
Tel: [phone]
Fax: [phone]

Chengdu
Room 1917, Western Tower
No. 19, 4th Section of South People Road, Wuhou District,
Chengdu 610041 P.R. China
Tel: [phone]
Fax: [phone]

Xi' an
Room 1006, Block D, Wangzuo International City
No. 1 Tangyan Road, Xi’an 710065 P.R. China
Tel: [phone]
Fax: [phone]

[phone]

■ Japan

MOONS' INDUSTRIES JAPAN CO., LTD.
Room 601, 6F, Shin Yokohama Koushin Building
2-12-1, Shin-Yokohama, Kohoku-ku, Yokohama
Kanagawa, 222-0033, Japan
Tel: [phone]
Fax: [phone]

25

Rev. 1.0

0006152016