TXM24 RS232/485 - Applied Motion

TXM24 RS232/485 - Applied Motion
TXM24 RS232/485
Integrated Step-Servo Motor
Hardware Manual
920-0087
Rev. D
TXM24 RS232/485 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 TXM24 Communications..............................12
3.2.1 Connecting to the PC using RS-232........................................ 12
3.2.2 Connecting to a Host using RS-485......................................... 13
3.3 Inputs and Outputs.................................................................15
3.3.1
3.3.3
3.3.4
3.3.5
Connector Pin Diagram............................................................ 15
EN Digital Input........................................................................ 17
AIN Input................................................................................... 18
Programmable Output.............................................................. 19
4 Troubleshooting..................................................................20
5 Reference Materials...........................................................21
5.1 Torque-Speed Curves.............................................................21
5.2 Mechanical Outlines...............................................................22
5.3 Technical Specifications..........................................................24
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TXM24 RS232/485 Hardware Manual
1 Introduction
Thank you for selecting the Applied Motion Products TXM24 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 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 (Encoder Following)
* Analog Position
* Serial Commanded Position
Q Programming(Q Verision only)
* Stand alone operation
• Communications:
RS-232 , RS-485 or Modbus/RTU
• 5000 line (20,000 counts/rev) encoder feedback
• Available torque:
TXM24S/Q-3XG: Up to 2.4N•m Continuous (3.0 N•m Boost)
TXM24S/Q-1XG: Up to 0.82N•m Continuous (1.03 N•m Boost)
• I/O:
3 optically isolated digital inputs, with adjustable bandwidth digital noise rejection filter, 5 to 24 volts
1 optically isolated digital output, 30V/100 mA max.
1 analog input for speed and position control, 0 to 5 volts
• Technological advances:
Full servo control, Closed loop
Efficient, Accurate, Fast, Smooth
Intelligent, Compact
• IP65 protected with three M12 connectors(RS232 version)
• IP65 protected with four M12 connectors(RS485 version)
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TXM24 RS232/485 Hardware Manual
1.2 Block Diagram
TXM24S/Q
+
-
RS-232
TX,RX,GND
or
RS-485
RX+,RX-,TX+,TX-,GND
Comm
Conn
12 - 70 VDC
External
Power Supply
Power
Conn
Block Diagram
3.3VDC
Internal
Logic
Supply
+5VDC (100mA max)
+5V
I/O Connector
STEP+
STEP-
EN+
EN-
RS-232 or RS-485
GND
GND
DIR+
DIR-
5 Volt DC
Power Supply
OUT+
OUT-
Optical
Iso
Digital
Filter
Software
Filter
Optical
Iso
Digital
Filter
Software
Filter
Optical
Iso
Digital
Filter
Software
Filter
Voltage
Temp
Detect
DSP
Driver
Controller
MOSFET
PWM
Power
Amplifier
Over
Current
Detect
motor
encoder
Status
Optical
Iso
AIN
I/O Configurations
STEP (5 to 24 volts)
DIR (5 to 24 volts)
EN (5 to 24 volts)
OUT (30V, 100mA)
Step
CW step
A quadrature (encoder following)
CW limit
CW jog
Start/stop (oscillator mode)
General purpose input
Direction
CCW step
B quadrature (encoder following)
CCW limit
CCW jog
Direction (oscillator mode)
General purpose input
Enable
Alarm/fault reset
Speed 1/speed 2 (oscillator mode)
General purpose input
Fault
Motion
Tach
In position
Brake
General purpose programmable
Model
TXM24S-1AG, TXM24S-3AG
Communications
RS-232
RS-485


TXM24S-1RG, TXM24S-3RG
TXM24Q-1AG, TXM24Q-3AG



TXM24Q-1RG, TXM24Q-3AG
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Modbus/RTU
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TXM24 RS232/485 Hardware Manual
1.3 Safety Instructions
Only qualified personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualified personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualifications 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 qualified 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 difficulty.
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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 PC running Microsoft Windows XP, Vista, or Windows 7 or 8
2.1 Installing Software
Before utilizing the TXM24 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. When using RS-485, it must be
setup in a 4-Wire configuration (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...Applied Motion Products...Step-Servo Quick
Tuner
• Apply power to the drive.
• The software will recognize the drive and display the model and firmware version. At this point,
it is ready for use.
2.2 Mounting the Hardware
As with any step motor, the TXM24 must be mounted so as to provide maximum heat sinking and
airflow. Keep enough space around the Integrated Motor to allow for airflow.
• Never use the drive where there is no airflow or where other devices cause the
surrounding air to be more than 40°C (104°F)
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TXM24 RS232/485 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 TXM24 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 TXM24 to produce higher temperatures. Using power supplies with voltage outputs
that are near the drive maximum may significantly 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 flashes, the clamp is not necessary.
LEDs
Green - Power
Red - Regen on
RC880 Regen Clamp
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2.3.3 Current
The maximum supply currents required by the TXM24 are shown in the charts below at different
power supply voltage inputs. The TXM24 power supply current is lower than the winding currents
because it uses switching amplifiers 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 significantly 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.
TXM24□-3□G 24V Power
3.5
5
4.5
3
4
3.5
2
3
1.5
2
2.5
Amps
Torque(N.m)
2.5
1.5
1
1
0.5
Torque
Continuous
Boost
Supply Current
Full Load
No Load
0.5
0
0
0
10
20
30
40
50
Speed(RPS)
TXM24□-3□G 48V Power
3.5
5
4.5
3
4
3.5
2
3
1.5
2
2.5
1.5
1
1
0.5
0.5
0
0
0
10
20
30
40
Speed(RPS)
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8
50
Amps
Torque(N.m)
2.5
Torque
Continuous
Boost
Supply Current
Full Load
No Load
TXM24 RS232/485 Hardware Manual
TXM24□-3□G 70V Power
3.5
5
4.5
3
4
3.5
2
3
1.5
2
2.5
1.5
1
Amps
Torque(N.m)
2.5
Torque
Continuous
Boost
Supply Current
Full Load
No Load
1
0.5
0.5
0
0
0
10
20
30
40
50
Speed(RPS)
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TXM24 RS232/485 Hardware Manual
3 Installation/Connections
To meeting the IP65 protection, a suitable mating connector should be chosen.
For more information, please see the Accessories section.
3.1 Connecting the Power Supply
Use 16 to 20-gauge wire to connect the TXM24 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
Digital I/O
RS232 COMM port1
Power
Digital I/O
.
RS485 COMM port1
Power
RS485 COMM port2
Power
2
Color of mating cable
Applied Motion P/N 3004-277-5M
Pin no.
V+
BN\BU
1\3
V-
WH\BK
2\4
Signal
1
J2
3
4
View of motor side connector
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TXM24 RS232/485 Hardware Manual
3.2 Connecting the TXM24 Communications
The TXM24 is available with two types of serial communications, RS-232 (TXM24S/Q -3AG) or
RS-485 (TXM24S/Q -3RG). Each type requires a different hardware connection for interface to
a PC or other Host system. The RS-232 version requires the user to provide the M12 mating
cable to RS-232 port on PC. The RS-485 version requires the user to provide the M12 mating
cable and the RS-485 interface. Below are descriptions of how to interface both of these serial
communication types to a PC.
3.2.1 Connecting to the PC using RS-232
Locate the TXM24 within 1.5 meters of the PC.
Communication port
Signal
Color of mating cable
Applied Motion P/N 3004-278-5M
Pin no.
RX
BN
1
NC
WH
2
TX
BU
3
GND
BK
4
N/C
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. If this is a
concern the RS-485 version should be used.
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TXM24 RS232/485 Hardware Manual
3.2.2 Connecting to a Host using RS-485
RS-485 communication allows connection of more than one drive to a single host PC, PLC, HMI
or other computer. It also allows the communication cable to be long (more than 300 meters or
1000 feet).
The TXM24 can be used with either Two-Wire or Four-Wire RS-485 implementation. The
connection can be point-to-point (i.e. one drive and one host) or a multi-drop network (one host
and up to 32 drives).
NOTE: To use the TXM24 RS-485 version with the Step-Servo Quick Tuner software, it must
be connected in the Four-Wire configuration (see below)
Communication port
Signal
Color of mating cable
Applied Motion P/N 3004-288-5M
Pin no.
RX+
BN
1
RX-
WH
2
TX+
BU
3
TX-
BK
4
GND
GN/YE
5
View of motor side connector
Four-Wire Configuration
Four-Wire Systems utilize separate transmit and receive wires. One pair of wires must connect the
host’s transmit signals to each drive’s RX+ and RX- terminals. The other pair connects the drive’s
TX+ and TX- terminals to the host’s receive signals. A logic ground terminal is provided on each
drive and can be used to keep all drives at the same ground potential. This terminal connects
internally to the DC power supply return (V-), so if all the drives on the RS-485 network are
powered from the same supply, only one drive’s GND terminal should be connected to the
host computer ground, others’ GND terminal must not connect the logic grounds.
Because the host in a four-wire system never needs to disable its transmitter, software is
simplified. Some converters make this process very difficult to implement and can delay
communications.
to PC GND
to PC RXto PC RX+
to PC TXto PC TX+
TXTX+
RX-
GND
RX+
GND
GND
TXRX+
RXTX+
TXRX+
RXTX+
Drive #1
Drive #2
120Ω
Drive #3
NOTE: If the PC does not have an RS-485 serial port, a converter is required.
You can contact Applied Motion Products to buy a USB to RS-485 converter.
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Two-Wire Configuration
In a 2-wire system, the host must disable its transmitter before it can receive data. This must
be done quickly before a drive begins to answer a query. The TXM24 includes a transmit delay
parameter that can be adjusted to compensate for a host that is slow to disable its transmitter. This
adjustment can be made over the network using the TD command, or it can be set using the StepServo Quick Tuner software. It is not necessary to set the transmit delay in a four wire system.
to PC TX- (A)
to PC TX+ (B)
GND
GND
GND
to PC GND
TX-
TXRX+
RX-
TX+
Drive #1
RX+
Drive #2
RX-
TXTX+
120Ω
Drive #3
NOTE: If the PC does not have an RS-485 serial port, a converter is required.
You can contact Applied Motion Products to buy a USB to RS-485 converter.
Assigning Addresses
Before the entire system is wired, each drive will need to connect individually to the host computer
so that it can be assigned a unique address.
Once the drive has been connected to the PC as described above, launch the Step-Servo Quick
Tuner software. Apply power to the drive. If a drive has already been configured, click the Upload
button so that the Step-Servo Quick Tuner settings match those of the drive. When operating the
drive in SCL mode it will need to be assigned an address. This is done on the Drive Configuration
tab where a list of address options can be seen. The numerals 0..9 or the special characters ! “ #
$ % & ‘ ( ) * + , - . / : ; < = > ? @ may be used as addresses. Make sure each drive on the network
has a unique address. On a 2-wire network, the Transmit Delay may also need to be set. Most
adapters work well with 10 milliseconds. Once the address has been assigned, click Download to
save the settings to the drive.
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TXM24 RS232/485 Hardware Manual
3.3 Inputs and Outputs
The TXM24 has three types of inputs:
• High speed digital inputs for step & direction commands or encoder following, 5 to 24 volt logic
• Low speed digital input for other signals, 5 to 24 volt logic
• Analog input for analog speed and positioning modes
All drives include 3 digital inputs and 1 analog input
• STEP & DIR are high-speed digital inputs for commanding position. Quadrature signals from
encoders can also be used. When not being used for the Step & Direction function these
inputs can be used for CW & CCW Limit, CW & CCW Jogging and Run/Stop & Direction
Velocity modes.
• EN is a low speed software programmable input and can be used for Motor Enable and/or
Alarm Reset. This input can also be connected to a sensor, switch or other device for use with
Wait Input (WI), Seek Home (SH), Feed to Sensor (FS), On Input (OI) and other commands.
• AIN is an analog input for a velocity or position command signal. It can accept 0-5 volts and
has gain, filtering, offset and dead-band settings.
3.3.1 Connector Pin Diagram
IO
Signal
Color of mating cable
Applied Motion P/N 3004-290-5M
Pin no.
Step+
BN
1
Step-
WH
3
Dir+
PK
5
Dir-
GY
8
En+
YE
6
En-
GN
4
OUT+
GYPK
11
OUT-
RDBU
12
+5V
RD
9
AIN
VT
10
GND
BK
7
N/C
BU
2
15
View of motor side connector
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TXM24 RS232/485 Hardware Manual
3.3.2 STEP & DIR Digital Inputs
The diagrams below show how to connect the STEP & DIR Inputs to various commonly used
devices.
DIR+
+5v to +24v out
Indexer
with
Sinking
Outputs
DIR
DIRSTEP+
TXM24
STEP-
STEP
Connecting to Indexer with Sinking Outputs
Indexer
with
Sourcing
Outputs
DIR
DIR+
COM
DIR-
STEP
STEP+
TXM24
STEP-
Connecting to Indexer with Sourcing Outputs
DIR+
DIR+
Indexer
DIRwith
Differential STEP+
Outputs
DIRSTEP+
TXM24
STEP-
STEP-
Connecting to Indexer with Differential Outputs
Many high-speed indexers have differential outputs
Master
Encoder
A+
STEP+
A-
STEP-
B+
DIR+
B-
DIR-
TXM24
Wiring for Encoder Following
5 - 24
volt DC
Power
Supply
+
direction switch
DIR+
DIR-
run/stop switch
(closed = run)
STEP+
STEP-
Using Mechanical Switches
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3.3.3 EN Digital Input
While the STEP and DIR inputs are designed for high-speed digital input operation, the Enable
(EN) input is designed for low speed digital input operation between 5 and 24 volts.
Note: If current is flowing into or out of an input, the logic state of that input is low or
closed. If no current is flowing, or the input is not connected, the logic state is high or
open.
The diagrams below show how to connect the EN input to various commonly used devices.
5 - 24
volt DC
Power
Supply
+
EN+
TXM24
Switch or Relay
(closed = logic low)
-
EN-
Connecting the Input to a Switch or Relay
5 - 24
volt DC
Power
Supply
+
-
EN+
+
NPN
Proximity
Sensor
-
TXM24
output
EN-
Connecting an NPN type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
5 - 24
volt DC
Power
Supply
+
output
+
PNP
Proximity
Sensor
EN+
TXM24
-
-
EN-
Connecting a PNP type Proximity Sensor to an Input
(when prox sensor activates, input goes high)
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3.3.4 AIN Input
The TXM24 drives have an analog input (AIN) which can accept a signal range of 0 to 5 volts. The
drive can be configured to operate at a speed or position that is proportional to the analog signal.
Use the Step-Servo Quick Tuner software to set the signal range, offset, dead-band and filter
frequency. The TXM24 provides a +5 volt 100mA limit voltage supply that can be used to power
external devices such as potentiometers. It is not the most accurate supply for reference, for more
precise readings use an external supply that can provide the desired accuracy.
I/O Connector
inside drive
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+5v
AIN
+5v OUT
100 mA limit
Signal
Conditioning
1 - 10k
pot
Ω
AIN
TXM24
GND
GND
Connecting a Potentiometer
to the Analog Input
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TXM24 RS232/485 Hardware Manual
3.3.5 Programmable Output
The TXM24 drives feature one optically isolated digital output (OUT). 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. The OUT+
(collector) and OUT- (emitter) terminals of the transistor are available at the connector. This allows
the output to be configured for current sourcing or sinking.
Diagrams of various connection types follow.
Do not connect the output to more than 30 volts. The current through the output terminal
must not exceed 100mA.
5 - 24
volt DC
Power
Supply
+
Load
OUT+
TXM24
-
OUT-
Connecting a Sinking Output
5 - 24VDC
Power Supply
PLC
COM
-
+
OUT+
TXM24
IN
OUT-
Connecting a Sourcing Output
relay
5 - 24
volt DC
Power
Supply
+
OUT+
TXM24
-
1N4935 suppresion diode
OUT-
Driving a Relay
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4 Troubleshooting
LED Error Codes
The TXM24 uses bi-colour LED to indicate status. When the motor is enabled, the green LED
flashes slowly. When the green LED is solid, the motor is disabled. Errors are indicated by
combinations of red and green flashes as shown below. This feature can be disabled for certain
warnings but not for alarms.
Code
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Error
Solid green
no alarm,motor disabled
Flashing green
no alarm,motor enabled
1 red,1 green
motor stall
2 red,1 green
ccw limit
2 red,2 green
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
flash 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
7 red,1 green
communication error
7 red,2 green
flash memory error
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TXM24 RS232/485 Hardware Manual
5 Reference Materials
5.1 Torque-Speed Curves
TXM24□-3□G
Continuous
24V
48V
70V
Boost
24V
48V
70V
3.5
Torque(N·m)
3
2.5
2
1.5
1
0.5
0
0
10
20
30
40
50
Speed(rps)
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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5.2 Mechanical Outlines
RS232 Version - TXM24X-3XX
24
60
20 Flat
47.14
9.5 Flat
Ø10
47.14
4-Ø4.5
8
Ø38.1
1.5
130.8
111
60
Unit:mm
RS485 Version - TXM24X-3XX
60
24
47.14
9.5Flat
8
Ø38.1
1.5
131.3
95.5
111
60.5
Unit:mm
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4-Ø4.5
47.14
Ø10
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TXM24 RS232/485 Hardware Manual
RS232 Version - TXM24X-1XX
RS485 Version - TXM24X-1XX
23
Rev. D
920-0087
TXM24 RS232/485 Hardware Manual
5.3 Technical Specifications
Power Amplifier
Amplifier Type
Dual H-Bridge, 4 Quadrant
Current Control
4 state PWM at 20 KHz
Output Torque
TXM24S/Q-3XG: Up to 2.4N•m Continuous (3.0 N•m Boost)
TXM24S/Q-1XG: Up to 0.82N•m Continuous (1.03 N•m Boost)
Power Supply
External 12 - 70 VDC power supply required
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 filter, Analog input noise filter, Smoothing filter, PID filter, Notch filter
Non-Volatile Storage
Configurations are saved in FLASH memory on-board the DSP
Modes of Operation
TXM24S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator,
joystick), streaming commands(SCL)
TXM24Q: All TXM24S modes of operation plus stored Q program execution
Digital Inputs
Adjustable bandwidth digital noise rejection filter on all inputs
STEP+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns,
Maximum pulse frequency = 2 MHz
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop (oscillator
mode), or general purpose input
Digital Inputs
DIR+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns,
Maximum pulse frequency = 2 MHz
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog, direction
(oscillator mode), or general purpose input
EN+/- : Optically isolated, 5-24 volt. Minimum pulse width = 100 μs,
Maximum pulse frequeny = 10 KHz
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode), or general purpose input
Digital Output
OUT+/-: Optically isolated, 30V/100 mA max.
Function: Fault, tach, in position, brake, or general purpose programmable
Analog Input
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits
Communication
Interface
RS-232, RS-485 or Modbus/RTU
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
Rev. D
920-0087
TXM24S/Q-3XG: 2000 g = 70.55 oz
TXM24S/Q-1XG: 1049 g = 37 oz
TXM24S/Q-3XG:900 g•cm2 = 1.27 X 10-2 oz-in-S2
TXM24S/Q-1XG:260 g•cm2 = 3.97E-03 oz-in-S2
TXM24S/Q-3XG 5.15 inches (130.8mm)
TXM24S/Q-1XG 3.5 inches (88.9mm)
24
TXM24 RS232/485 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
RS232
3004-278-5M
5-pin Mating Cable, M12 1.5m 22AWG, straight
RS485
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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Rev. D
920-0087
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