Applied Motion Products TSM23C Manuale utente
TSM23C
Integrated Step-Servo Motor
Hardware Manual
920-0082 Rev. B
2
920-0082
Rev. B
TSM23C Hardware Manual
Contents
1 Introduction.......................................................................................................3
1.1 Features.................................................................................................3
1.2 Block Diagram........................................................................................4
1.3 Safety Instructions..................................................................................5
2 Getting Started..................................................................................................6
2.1 Installing Software..................................................................................6
2.2 Mounting the Hardware..........................................................................6
2.3 Choosing a Power Supply......................................................................7
2.3.1 Voltage ...................................................................................7
2.3.2 Regeneration Clamp ...............................................................7
2.3.3 Current ....................................................................................8
3 Installation/Connections....................................................................................12
3.1 Connecting the Power Supply................................................................12
3.2 Connecting the TSM23C Communications............................................13
3.2.1 Node ID...................................................................................14
3.2.2 Setting the Bitrate....................................................................14
3.3 Inputs and Outputs.................................................................................15
3.3.1 Connector Pin Diagram...........................................................15
3.3.2 X1 & X2 Digital Input...............................................................16
3.3.3 X3/X4/X5/X6 Digital Input........................................................17
3.3.4 X7/X8 Digital Input...................................................................18
3.3.5 Programmable Output Y1/Y2/Y3.............................................19
3.3.6 Programmable Output Y4........................................................20
4 Troubleshooting ................................................................................................21
4.1 LED Error Codes....................................................................................21
5 Reference Materials..........................................................................................22
5.1 Torque-Speed Curves ............................................................................22
5.2 Mechanical Outlines...............................................................................23
5.3 Technical Specications .........................................................................24
5.4 Optional Accessories..............................................................................25
5.5 Cables....................................................................................................26
6 Contacting Applied Motion Products.................................................................28
Model Communications
RS-232 CANopen
TSM23C-2CG
TSM23C-3CG
TSM23C-4CG
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TSM23C Hardware Manual
1 Introduction
Thank you for selecting the Applied Motion Products TSM23C Integrated
Motor. The TSM line of integrated StepSERVO™ motors combines servo
technology with an integrated motor to create a product with exceptional
features 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:
CANopen(compliant 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:
TSM23C-2CG: Up to 1.0 N•m Continuous(1.3 N•m Boost)
TSM23C-3CG: Up to 1.5 N•m Continuous(2.0 N•m Boost)
TSM23C-4CG: Up to 2.4 N•m Continuous (3.2 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,0 to 5 volts
Dierential encoder outputs (A±, B±, Z±), 26C31 line driver, 20 mA sink or source max
• Technological advances:
Full servo control, Closed loop
Ecient, Accurate, Fast, Smooth
Intelligent, Compact
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1.2 Block Diagram
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
TSM23C
I/O Connector
+
+5VDC (100mA max)
GND
Status
AIN
Optical
Iso
RS-232 & CANopen
Comm
Conn Power
Conn
GND
+5V
RS-232
RXD,+5V,TXD,GND,GND
and
CANopen
CANH, CANL, GND
-
X1
X2
X3
X4
X5
X6
X7
X8
Y1
Y2
Y3
Y4
Optical
ISO
A+
A -
B+
B -
Z+
Z-
Line
Driver
Encoder Outputs
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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 diculty.
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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 XP, Vista, or Windows 7 or 8
• an Applied Motion Products programming cable for RS-232 interface and another cable for
CANopen daisy-chain(both included with TSM23C, CANopen converters are available from
Applied Motion Products)
2.1 Installing Software
Before utilizing the TSM23C Integrated StepSERVO™ Motor and Step-Servo Quick Tuner
Software in an application, the following steps are necessary:
• Install the Step-Servo Quick Tuner software from the Applied Motion Products website.
• Connect the drive to the PC using the programming cable.
• 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 TSM23C 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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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 TSM23C 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 TSM23C 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.
RC880 Regen Clamp
LEDs
Green - Power
Red - Regen on
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2.3.3 Current
The maximum supply currents required by the TSM23C are shown in the charts below at dierent
power supply voltage inputs. The TSM23C 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 dierent 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
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23C-2CG 24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23C-2CG 48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
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0
0.5
1
1.5
2
2.5
3
3.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23C-2CG 70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23C-3CG 24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23C-3CG 48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
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TSM23C Hardware Manual
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0
1
2
3
4
5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23□-4□G 24V Power
Amps
Continuous
Torque
Boost
Supply Current
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0
1
2
3
4
5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23□-4□G 48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM23C-3CG 70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
Indice
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