TSM34Q/C Integrated Step-Servo Motor Hardware Manual Rev. 1.0 SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD. TSM34Q/C Hardware Manual Table of Contents 1 Introduction........................................................................................................ 4 1.1 Features.................................................................................................. 4 1.2 Block Diagrams....................................................................................... 5 1.3 Safety Instructions................................................................................... 8 2 Getting Started................................................................................................... 9 2.1 Installing Software................................................................................... 9 2.2 Mounting the Hardware........................................................................... 9 2.3 Choosing a Power Supply....................................................................... 10 2.3.1 Supply Voltage ........................................................................ 10 2.3.2 Auxiliary Supply Voltage (Keep Alive Function)......................... 10 2.3.2.1 Keep Alive Recovery with I/O Function........................ 10 2.3.2.2 Keep Alive Recovery with SCL..................................... 10 2.3.3 Regeneration Clamp................................................................ 11 2.3.4 Supply Current......................................................................... 11 3 Installation/Connections..................................................................................... 15 3.1 Connecting the Power Supply................................................................. 15 3.1.1 Connect Main Power Supply ................................................... 15 3.1.2 Connect Auxiliary Power Supply (Optional).............................. 15 3.2 Connecting the TSM34Q/C Communications......................................... 16 3.2.1 Connecting to a PC using RS-232........................................... 16 3.2.2 Connecting to a Host using RS-485......................................... 16 3.2.3 Connecting to a Host using CANopen...................................... 18 3.2.3.1 Node ID....................................................................... 19 3.2.3.2 Setting the Bitrate........................................................ 19 3.2.4 Choosing the Right COM Port.................................................. 19 3.2.5 Connecting to a PC using Ethernet.......................................... 20 3.3 Inputs and Outputs.................................................................................. 25 3.3.1 Connector Pin Diagram............................................................ 25 3.3.2 STEP & DIR Digital Inputs........................................................ 26 3.3.3 X3/X4/X5/X6 Digital Input......................................................... 27 3.3.4 X7/X8 Digital Input.................................................................... 28 3.3.5 AIN Input................................................................................... 28 3.3.6 Programmable Output Y1/Y2/Y3.............................................. 29 3.3.7 Programmable Output Y4......................................................... 30 4 Troubleshooting................................................................................................. 31 4.1 Status (STAT) LED Error Codes............................................................... 31 4.2 Auxiliary Power (AUX) LED...................................................................... 31 Rev. 1.0 0006152016 2 +86 400-820-9661 TSM34Q/C Hardware Manual 5 Reference Materials........................................................................................... 32 5.1 Torque-Speed Curves............................................................................. 32 5.2 Mechanical Outlines................................................................................ 32 5.3 Technical Specifications.......................................................................... 33 5.4 Optional Accessories............................................................................... 34 5.5 SCL Command Reference...................................................................... 36 6 Contacting MOONS’.......................................................................................... 38 TSM34 Models Available Model TSM34Q-1AG Communications RS-232 RS-485 TSM34Q-1DG TSM34Q-3RG TSM34Q-3DG TSM34Q-5AG TSM34Q-5RG TSM34Q-5DG TSM34Q-6AG CANopen TSM34Q-1RG TSM34Q-3AG Ethernet TSM34Q-6RG TSM34Q-6DG TSM34C-1CG TSM34C-3CG TSM34C-5CG TSM34C-6CG +86 400-820-9661 3 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 1 Introduction Thank you for selecting MOONS’ TSM34Q/C Integrated Motor. The TSM line of integrated stepservo 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 24 to 70 volt DC power supply, auxiliary power from 12 to 48 volt DC • 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 CANopen Mode (CiA 301, CiA402 standard) -- Torque mode -- Velocity mode Modbus/RTU bus Control • Communications: RS-232 , RS-485, CANopen or Ethernet • 5000 line (20,000 counts/rev) encoder feedback • Available torque: TSM34□-1□G: Up to 2.7Nm Continuous (3.2Nm Boost) TSM34□-3□G: Up to 5.2Nm Continuous (6.1 Nm Boost) TSM34□-5□G: Up to 6.7Nm Continuous (7.2Nm Boost) TSM34□-6□G: Up to 8.1Nm Continuous (9.7 Nm Boost) • I/O: 8 optically isolated digital inputs, with adjustable bandwidth digital noise rejection filter, 5 to 24 volts 4 optically isolated digital outputs, 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 Efficient, Accurate, Fast, Smooth Intelligent, Compact Rev. 1.0 0006152016 4 +86 400-820-9661 TSM34Q/C Hardware Manual 1.2 Block Diagrams + 12 - 48 VDC External Power Supply + - RS232 Version TX,RX,GND RS485 Version TX+,TX-,RX+,RX-,GND Comm Port 1 RS485 Version TX+,TX-,RX+,RX-,GND Comm Port 2 - AUX Conn 24 - 70 VDC External Power Supply 3.3VDC Internal Logic Supply GND +5VDC (100mA max) +5V Voltage Temp Detect DSP Driver Controller Optical ISO MOSFET PWM Power Amplifier Over Current Detect I/O Connector Y1 Y2 Y3 YCOM Y4+ Y4- 5 Volt DC Power Supply RS232 or RS485 GND X1+ X1X2+ X2X3 X4 X5 X6 XCOM X7+ X7X8+ X8- Block Diagram Power Conn TSM34 RS232 or RS485 motor encoder Status AUX Optical Iso AIN A+ Encoder Outputs A B+ BZ+ Z- +86 400-820-9661 Line Driver 5 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 12 - 48 VDC External Power Supply + - - CANopen CANH,CANL,GND RS232 TX,RX,GND AUX Conn + 5 Volt DC Power Supply Comm Port 1 24 - 70 VDC External Power Supply Block Diagram Power Conn TSM34 CANopen RS232 CANopen CANH,CANL,GND Comm Port 2 CANopen GND GND DSP Driver Controller MOSFET PWM Power Amplifier Over Current Detect Optical ISO I/O Connector Y1 Y2 Y3 YCOM Y4+ Y4- Voltage Temp Detect +5VDC (100mA max) +5V X1+ X1X2+ X2X3 X4 X5 X6 XCOM X7+ X7X8+ X8- 3.3VDC Internal Logic Supply motor encoder Status AUX Optical Iso AIN Encoder Outputs A+ AB+ BZ+ Z- Rev. 1.0 0006152016 Line Driver 6 +86 400-820-9661 TSM34Q/C Hardware Manual + 12 - 48 VDC External Power Supply + - 5 Volt DC Power Supply Comm Port 1 - AUX Conn 24 - 70 VDC External Power Supply Block Diagram Power Conn TSM34 Ethernet Ethernet RX+,RX-,TX+,TX- Comm Port 2 Ethernet Ethernet RX+,RX-,TX+,TX- GND GND DSP Driver Controller MOSFET PWM Power Amplifier Over Current Detect Optical ISO I/O Connector Y1 Y2 Y3 YCOM Y4+ Y4- Voltage Temp Detect +5VDC (100mA max) +5V X1+ X1X2+ X2X3 X4 X5 X6 XCOM X7+ X7X8+ X8- 3.3VDC Internal Logic Supply motor encoder Status AUX Optical Iso AIN A+ Encoder Outputs A B+ BZ+ Z- +86 400-820-9661 Line Driver 7 Rev. 1.0 0006152016 TSM34Q/C 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. 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 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. Rev. 1.0 0006152016 8 +86 400-820-9661 TSM34Q/C 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 Keep Alive function is required, an external 12 - 48 volt DC power supply will be needed for auxiliary power • a small flat blade screwdriver for tightening the connectors (included) • a PC running Microsoft Windows XP, or Windows 7, 8, or 10 • a MOONS’ programming cable (included with RS-232 Models; RS-485 converters are available from MOONS’) 2.1 Installing Software Before utilizing the TSM34Q/C 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 MOONS’ website • Connect the drive to the PC using the programming cable. When using RS-485, it is best to be setup in a 4-Wire configuration (see Section 3.2.2 “Connecting to a host using RS-485”.) When using Ethernet, see Section 3.2.5 “Connecting to a PC using Ethernet”. • 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 firmware version. At this point, it is ready for use. 2.2 Mounting the Hardware As with any step motor, the TSM34 must be mounted so as to provide maximum heat sinking and airflow. Keep enough space around the Integrated Motor to allow for the airflow. • • • +86 400-820-9661 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). Never put the drive where it can get wet. Never use the drive where metal or other electrically conductive particles can infiltrate the drive. 9 Rev. 1.0 0006152016 TSM34Q/C 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 TSM34 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 TSM34 to produce higher temperatures. Using power supplies with voltage outputs that are near the drive’s maximum may significantly 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 flash 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 flash 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 flashing 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 generated. This alarm displays as a flashing LED pattern and a bit in the alarm code which can be read by the host using the AL command. Rev. 1.0 0006152016 10 +86 400-820-9661 TSM34Q/C Hardware Manual 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 Specifications” 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 flashes, 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 TSM34 are shown in the charts below at different power supply voltage inputs. The TSM34 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. +86 400-820-9661 11 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.5 6 3 5 2.5 4 2 3 1.5 1 0.5 0 0 10 20 30 40 50 Torque Amps Torque(N.m) TSM34□-1□G 24V Power Supply Current 2 Supply Current Full Load 1 Supply Current No Load 0 Speed(RPS) TSM34□-1□G 48V Power Supply Current 3.5 6 5 2.5 4 2 3 1.5 1 0.5 0 0 10 20 30 40 50 Torque Amps Torque(N.m) 3 2 Supply Current Full Load 1 Supply Current No Load 0 Speed(RPS) 3.5 6 3 5 2.5 4 2 3 1.5 1 0.5 0 0 10 20 30 40 50 Torque Amps Torque(N.m) TSM34□-1□G 70V Power Supply Current 2 Supply Current Full Load 1 Supply Current No Load 0 Speed(RPS) Rev. 1.0 0006152016 12 +86 400-820-9661 TSM34Q/C Hardware Manual 6 6 5 5 4 4 3 3 2 2 Supply Current Full Load 1 1 Supply Current No Load 0 0 10 20 30 40 50 Torque Amps Torque(N.m) TSM34□-3□G 24V Power Supply Current 0 Speed(RPS) 7 6 6 5 5 4 4 3 3 2 1 0 0 10 20 30 40 50 Torque Amps Torque(N.m) TSM34□-3□G 48V Power Supply Current 2 Supply Current Full Load 1 Supply Current No Load 0 Speed(RPS) 7 6 6 5 5 4 4 3 3 2 1 0 0 10 20 30 40 50 Torque Amps Torque(N.m) TSM34□-3□G 70V Power Supply Current 2 Supply Current Full Load 1 Supply Current No Load 0 Speed(RPS) +86 400-820-9661 13 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual TSM34□-5□G 24V Power Supply Current 6 8 7 5 4 5 4 3 3 Torque Amps Torque(N.m) 6 2 Supply Current Full Load 1 Supply Current No Load 2 1 0 0 10 20 30 40 50 0 Speed(RPS) TSM34□-5□G 48V Power Supply Current 6 8 7 5 4 5 3 4 3 Torque Amps Torque(N.m) 6 2 Supply Current Full Load 1 Supply Current No Load 2 1 0 0 10 20 30 40 50 0 Speed(RPS) TSM34□-5□G 70V Power Supply Current 8 6 7 5 4 5 4 3 3 2 Supply Current Full Load 1 Supply Current No Load 2 1 0 0 10 20 30 40 50 Torque Amps Torque(N.m) 6 0 Speed(RPS) Rev. 1.0 0006152016 14 +86 400-820-9661 TSM34Q/C 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 + Vin - V+ VTo Earth Ground Power Supply 24-70VDC + Vout RC880 V+ VAUX+ AUX- V+ VAUX Power Supply 12-48VDC 3.1.2 Connect Auxiliary Power Supply (Optional) 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 “AXU-” 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. +86 400-820-9661 15 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.2 Connecting the TSM34Q/C Communications The TSM34Q/C is available with different communications types, RS-232 (TSM34□ -□AG), RS485 (TSM34Q -□RG), CANopen (TSM34C-□CG) or Ethernet (TSM34□ -□DG). Each type requires a different hardware connection for interface to a PC or other Host system. The RS-232 version comes with a cable that will provide the interface to an RS-232 port through a DB9 style connector. The RS-485 version requires the user to provide both the cabling and the RS-485 interface. The CANopen version requires the user to provide daisy chain cables and interface. For Ethernet communication products, a CAT5e STP cable is provided in the package. Below are descriptions of how to interface all of these serial communication types to a PC. 3.2.1 Connecting to a PC using RS-232 Locate the TSM34 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 TSM34. Secure the cable to the PC with the screws on the DB9 connector. GND TX +5V RX 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. If this is a concern the RS-485 version which has “hardening” built into the port input and output should be used. 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 use of Category 5 cable is recommended as it is widely used for computer networks, inexpensive, easily obtained and certified for quality and data integrity. The TSM34 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 TSM34Q RS-485 version with the Step-Servo Quick Tuner software, it is better to be connected in the Four-Wire configuration (see below). COM1 1 Rev. 1.0 0006152016 5 COM2 1 5 16 PIN Signal Color 1 RX+ Black 2 RX- Brown 3 TX+ Red 4 TX- Orange 5 GND Yellow +86 400-820-9661 TSM34Q/C Hardware Manual 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; the other drives’ GND terminals 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. NOTE: If the PC does not have an RS-485 serial port, a converter is required. You can contact MOONS’ to buy a USB to RS-485 converter. RX+ RXTX+ TXGND to PC TX+ to PC TXto PC RX+ to PC RXto PC GND RX+ RXTX+ TX- RX+ RXTX+ TXGND Drive #1 GND RX+ RX- RX+ RXTX+ TXGND 120Ω RX+ RXTX+ TXGND Drive #2 Drive #N 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 TSM34 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 Step- Servo Quick Tuner software. It is not necessary to set the transmit delay in a four wire system. RX+ RXTX+ TXGND to PC TX+ (B) to PC TX- (A) to PC GND RX+ RXTX+ TXGND Drive #1 RX+ RX- RX+ RXTX+ TXGND RX+ RXTX+ TXGND Drive #2 120Ω RX+ RXTX+ TXGND Drive #N 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. +86 400-820-9661 17 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.2.3 Connecting to a Host using CANopen Two standard 5-pin disconnectable crimp style connectors are used for the communications interface of a TSM34C. Only COM1 can be used for RS-232 serial interface and CANopen daisychain by the other cable included with TSM34C. So only COM1 can be used to configure the TSM34 drive by RS-232 serial interface. COM1 1 COM2 5 1 PIN 5 COM1 COM2 Color 1 RS-232_TX NC Black 2 RS-232_RX NC Brown 3 CAN_H CAN_H Red 4 CAN_L CAN_L Orange 5 GND GND Yellow The TSM34C is configured using a combination of rotary switches and an RS-232 serial link, and then may be deployed on a distributed CANopen network. The RS-232 interface is used for configuration, tuning, node ID setting and Q program downloading. The CANopen network should be connected in a daisy-chain fashion, with a 120 ohm terminating resistor at each end of the network. R termination* 120 ohm nominal CAN_L CAN_GND CAN_SHLD CAN_H DSUB9 Female CAN_H CAN_SHLD CAN_L CAN_GND CAN_BUS R termination* 120 ohm nominal 4 3 2 1 4 3 2 1 n* CAN_H CAN_SHLD CAN_L CAN_GND 1 2 3 4 5 6 7 8 9 .1” Spacing Spring Plug .1” Spacing Spring Plug n: Cable may be made with up to 127 drive connectors. Termination is only required at each end. R termination: Network must be terminated at each end with a 120 ohm resistor. Locate the TSM34C 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 5-pin crimp style connector into one of the two appropriate connectors on the TSM34C. 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. If this is a concern the RS-485 version which has “hardening” built into the port input and output should be used. Rev. 1.0 0006152016 18 +86 400-820-9661 TSM34Q/C Hardware Manual 3.2.3.1 Node ID Each node on a CANopen network must have a unique Node ID. The Node ID is configured by using Step-Servo Quick Tuner. CANopen Node IDs are seven bits long, with a range of 1 - 127. 3.2.3.2 Setting the Bitrate The CANopen network bitrate is set by using Step-Servo Quick Tuner software. The bit rate must be the same for all nodes on the CANopen network. Any changes to the bit rate require either a power cycle or a CANopen reset command to take effect. 3.2.4 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)” (1) 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. • 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. (2) Connect the adapter to the PC, this USB adapter COM port should then be displayed. (3) Choose this new COM(n) port in the StepServo Quick Tuner software. 1 2 +86 400-820-9661 19 3 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.2.5 Connecting to a PC using Ethernet This process requires three steps: • Physically connect the drive to the network (or directly to the PC). There are 2 RJ45 connectors on the drive labeled COM1 and COM2. -- If the Ethernet network is connected in a daisy-chain fashion, the connection should be from Drive#1 COM2 to Drive#2 COM1, Drive#2 COM2 to Drive#3 COM1 and so on. -- If using a router or hub on the network, the connection should be from the router or hub to the drive. Either of the two COM ports may be used, but take care to not connect to both COM ports as this may cause the communication to work incorrectly. • Set the drive’s IP address • Set the appropriate networking properties on the PC Ethernet IDn ID2 ID1 ID4 RS485/422 Daisy Chain ID3 ID2 ID1 Router Note: The following italicized sections are taken from the “Host Command Reference - Appendix G: eSCL (SCL over Ethernet) Reference”. For more information, please read the rest of the guide. It can be downloaded from MOONS’ website Power up Default processing for the IP address (units without rotary switches) With the cable disconnected for at least 5 seconds the default will be 10.10.10.10 (the delay time can be configured in the Step-Servo software). If the cable is is connected at power up it set to the factory default 192.168.1.10 or the configured setting Addresses, Subnets, and Ports Every device on an Ethernet network must have a unique IP address. In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are connected through special network equipment (e.g. router). Subnets are defined by the choices of IP addresses and subnet masks. If you want to know the IP address and subnet mask of your PC, select Start…All Programs… Accessories…Command Prompt. Then type “ipconfig” and press Enter. You should see something like this: Rev. 1.0 0006152016 20 +86 400-820-9661 TSM34Q/C Hardware Manual If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then your machine can only talk to another network device whose IP address matches yours in the first three octets. (The numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose first two octets match yours. Be sure to ask your system administrator before doing this. Your network may be segmented for a reason. Your drive IP address can be set by using Step-Servo Quick Tuner software. The default address is “192.168.1.10”. The universal recovery address is always “10.10.10.10”. If someone were to change the other settings and not write it down or tell anyone then you will not be able to communicate with your drive. The only way to “recover” it is to use the universal recovery address. Setting the address to “0.0.0.0”, means using the “DHCP” function. It commands the drive to get an IP address from a DHCP server on the network. The IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how the administrator has configured DHCP. The DHCP setting is reserved for advanced users. Your PC, or any other device that you use to communicate with the drive, will also have a unique address. One of the great features of Ethernet is the ability for many applications to share the network at the same time. Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the first command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. The drive will also refuse traffic from other IP addresses that is headed for the eSCL port. The first application to talk to a drive “owns” the drive. This lock is only reset when the drive powers down. If you need help choosing a port number for your application, you can find a list of commonly used port numbers at http://www.iana.org/assignments/port-numbers. One final note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more efficient than TCP, but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped. Option 1: Connect a Drive to Your Local Area Network If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get connected. This technique also allows you to connect multiple drives to your PC. If you are on a corporate network, check with the system administrator before connecting anything new to the network. They should be able assign a suitable address and help you get going. If you are not sure which addresses are already used on your network, you can find out using “Angry IP scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But be careful: an address might appear to be unused because a computer or other device is currently turned off. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”. The address you choose for your drive might get assigned to something else by the DHCP server at another time. +86 400-820-9661 21 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual NIC LAN SWITCH or ROUTER PC DRIVE If the PC’s address is not in one of the configured drive subnets, you will have to change your subnet mask to 255.255.0.0 in order to talk to your drive. To change your subnet mask: 1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings” 2. You should see an icon for your network interface card (NIC). Right click and select properties. 3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. On Windows 7/8/Vista, look for “(TCP/IPv4)” 4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address and a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next section of this manual: “Using DHCP”. 5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to “255.255.0.0” and click OK. Using DHCP (not recommended) If you want to use your drive on a network where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the IP address to “0.0.0.0”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. The only catch is that you won’t know what address the server assigns to your drive. As it may be difficult to resolve addresses with DHCP, this method is not recommended. Rev. 1.0 0006152016 22 +86 400-820-9661 TSM34Q/C Hardware Manual Option 2: Connect a Drive Directly to Your PC 1. Connect one end of a CAT5e STP cable into the LAN card (NIC) on your PC and the other to the drive. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes. 2. The default IP address is “192.168.1.10”. 3. To set the IP address of your PC: a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings” 4. You should see an icon for your network interface card (NIC). Right click and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)” 5. Select the option “Use the following IP address”. Then enter the address “192.168.1.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card. 6. Next, enter the subnet mask as “255.255.255.0”. 7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet. 8. Because you are connected directly to the drive, anytime the drive is not powered on, your PC will annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.” Option 3: Use Two Network Interface Cards (NICs) This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, preventing possible IP conflicts or excessive traffic. 1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the drive using a CAT5e cable. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes. 2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in RJ45 Ethernet connection as your second NIC. 3. The default IP address is “192.168.1.10”. 4. To set the IP address of the second NIC: a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings” 5. You should see an icon for your newly instated NIC. Right click again and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)” +86 400-820-9661 23 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 6. Select the option “Use the following IP address”. Then enter the address “192.168.1.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card. 7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet. 8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.” Rev. 1.0 0006152016 24 +86 400-820-9661 TSM34Q/C Hardware Manual 3.3 Inputs and Outputs The TSM34Q/C 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 8 digital inputs and 1 analog input: • X1/STEP & X2/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 step, (start/stop)/direction (oscillator mode), or general purpose input. • X3 & X4 are low speed software programmable input and can be used for Motor Enable/ Disable and Alarm/Fault Reset function, or general purpose input • X5/X6/X7/X8 are low speed software programmable input and can be used for CW/CCW Jog, CW/CCW Limit, Speed 1/Speed 2 (oscillator mode), or general purpose input • 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 27 28 ABZY4YCOM Y2 X8X7GND +5V X6 X4 DIRSTEP- A+ B+ Z+ Y4+ Y3 Y1 X8+ X7+ AIN XCOM X5 X3 DIR+ STEP+ 1 +86 400-820-9661 25 2 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.3.2 STEP & DIR Digital Inputs The TSM34 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. Or you can use these inputs with Wait Input(WI), Feed to Sensor(FS), Seek Home(SH) and other SCL or Q commands. The functions for X1/STEP and X2/DIR can be configured by Step-Servo Quick Tuner software 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. DIR+ +5v - +24v out Indexer with Sinking Outputs DIR DIRSTEP+ TSM34 STEP- STEP Connecting to Indexer with Sinking Outputs Indexer with Sourcing Outputs DIR DIR+ COM DIR- STEP STEP+ TSM34 STEP- Connecting to Indexer with Sourcing Outputs Indexer with Differential Outputs DIR+ DIR+ DIR- DIR- STEP+ STEP+ STEP- STEP- TSM34 Connecting to Indexer with Differential Outputs Many high-speed indexers have differential outputs Master Encoder A+ STEP+ A- STEP- B+ DIR+ B- DIR- TSM34 Wiring for Encoder Following Rev. 1.0 0006152016 26 +86 400-820-9661 TSM34Q/C Hardware Manual 3.3.3 X3/X4/X5/X6 Digital Input While the STEP and DIR inputs are designed for high-speed digital input operation, the X3/X4/ X5/X6 input are designed for low speed digital input operation between 5 and 24 volts optically Isolated Single-ended input. 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. 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 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 X3/X4/X5/X6 input to various commonly used devices. +86 400-820-9661 27 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.3.4 X7/X8 Digital Input The X7/X8 inputs are designed for low speed digital input operation between 5 and 24 volts optically isolated differential input. They are normally used for end of travel limit switches. The diagrams below show how to connect the X7/X8 Inputs to various commonly used devices. + 5 - 24V Power Supply - X7/X8+ + NPN Proximity Sensor output TSM34 - X7/X8- Connecting an NPN type Proximity Sensor to an Input (when prox sensor activates, input goes low) + 5 - 24V Power Supply + PNP Proximity Sensor output X7/X8+ TSM34 - - X7/X8- Connecting a PNP type Proximity Sensor to an Input (when prox sensor activates, input goes low) 3.3.5 AIN Input The TSM34-Q/C 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 TSM34-Q/C 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 Rev. 1.0 0006152016 +5v AIN GND 100 mA limit Signal Conditioning +5v OUT 1 - 10k pot Ω AIN TSM34 GND Connecting a Potentiometer to the Analog Input 28 +86 400-820-9661 TSM34Q/C Hardware Manual 3.3.6 Programmable Output Y1/Y2/Y3 TThe TSM34Q/C drives feature three optically isolated digital outputs (Y1 to Y3). Y1, Y2 and Y3 share a 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. These outputs can also 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. 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. + Load Y1 5 - 24V Power Supply TSM34 - YCOM Connecting a Sinking Output 5 - 24V Power Supply PLC COM - + Y2 TSM34 IN YCOM Connecting a Sourcing Output relay + 5 - 24V Power Supply Y3 TSM34 - 1N4935 suppresion diode YCOM Driving a Relay +86 400-820-9661 29 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 3.3.7 Programmable Output Y4 TSM34-Q/C drives feature one optically isolated digital output Y4. The Y4+(collector) and Y4(emitter) terminals of the transistor are available at the connector. This allow the output to be configured for current sourcing or sinking. Y4 can be set to provide an output frequency proportional to motor speed (tach signal) or to provide a timing output (50 pulses/rev) or to indicate whether the motor is in position(static) Diagrams of various connection types follow. + Load Y4+ 5 - 24V Power Supply TSM34 - Y4- Connecting a Sinking Output 5 - 24V Power Supply PLC COM - + Y4+ TSM34 IN Y4- Connecting a Sourcing Output relay + 5 - 24V Power Supply Y4+ TSM34 - 1N4935 suppresion diode Y4- Driving a Relay Rev. 1.0 0006152016 30 +86 400-820-9661 TSM34Q/C Hardware Manual 4 Troubleshooting 4.1 Status (STAT) LED Error Codes The TSM34 uses red and green LEDs 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. See 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 flash 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. +86 400-820-9661 31 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 5 Reference Materials 5.1 Torque-Speed Curves Note: All torque curves are at 10 amps rated continuous current. TSM34□-1□G 24V 48V TSM34□-3□G 70V 3.5 48V 70V 6.0 2.5 Torque (N·m) Torque (N·m) 3.0 2.0 1.5 1.0 0.5 5.0 4.0 3.0 2.0 1.0 0 0 10 20 30 40 0 50 0 Speed (rps) TSM34□-5□G 10 20 30 40 50 Speed (rps) 24V 48V 70V TSM34□-6□G 10.0 48V 70V 10.0 8.0 8.0 Torque (N·m) Torque (N·m) 24V 7.0 6.0 4.0 2.0 6.0 4.0 2.0 0 0 10 20 30 40 0 50 0 Speed (rps) 10 20 30 40 50 Speed (rps) 5.2 Mechanical Outlines 86 Max. L 37 69.6 4- Ø6.5 2 69.6 B-B B 13 25 86 Max. 121 136.7 Ø 73 B 10 Ø14 Unit: mm 13 86 Model Length ”L” TSM34□-1□G 112.5 TSM34□-3□G 143 TSM34□-5□G 172.5 TSM34□-6□G 203 Rev. 1.0 0006152016 Front shaft diameter 14 32 +86 400-820-9661 TSM34Q/C 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 TSM34Q/C-1□G: Up to 2.7N•m Continuous (3.2 N•m Boost) TSM34Q/C-3□G: Up to 5.2N•m Continuous (6.1 N•m Boost) TSM34Q/C-5□G: Up to 6.7N•m Continuous (7.2 N•m Boost) TSM34Q/C-6□G: Up to 8.1N•m Continuous (9.7 N•m Boost) Power Supply External 24 - 70 VDC main power supply, 12-48 VDC auxiliary power supply Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground) 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 TSM34Q: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands (SCL or eSCL), Q program execution TSM34C: CANopen control with stored Q program execution Adjustable bandwidth digital noise rejection filter on all inputs X1/X2: Optically isolated, 5-24 volt, min. pulse width = 250 ns, max. pulse frequency = 2 MHz Digital Inputs Function: Pulse/Direction, CW/CCW Pulse, A/B quadrature (encoder following), (start/stop)/direction (oscillator mode), or general purpose input X3/X4: Optically isolated, 5-24 volt, min. pulse width = 100 μs, max. pulse frequency = 5 KHz Function: Servo on/off, Alarm/Fault Reset, or general purpose input X5/X6/X7/X8: Optically isolated, 5-24 volt. Min. pulse width = 100 μs, Max. pulse frequency = 5 KHz Function: CW/CCW Limit, Speed 1/Speed 2 (oscillator mode), or general purpose input Y1/Y2/Y3/Y4: Optically isolated, 30V/100mA max Open Collector Output. Digital Outputs Function: Alarm/Fault, In Position (dynamic/static), Brake Control, Tach out, Timing out, or general purpose usage Encoder Output Standard Line driver outputs: A+/A-/B+/B-/Z+/Z-; 26C31 line driver, 20 mA sink or source max Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits Communication Interface RS-232 , RS-485, CANopen, Ethernet Physical Ambient Temperature 0 to 40°C (32 to 104°F) when mounted to a suitable heatsink Humidity 90% Max., non-condensing Mass TSM34Q/C-1□G: 2100 g TSM34Q/C-3□G: 3200 g TSM34Q/C-5□G: 4300 g TSM34Q/C-6□G: 5500 g Rotor Inertia TSM34Q/C-1□G: 915 g•cm2 TSM34Q/C-3□G: 1480 g•cm2 TSM34Q/C-5□G: 2200 g•cm2 TSM34Q/C-6□G: 3660 g•cm2 +86 400-820-9661 33 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 5.4 Optional Accessories Power Supplies MOONS’ recommends using the following switching power supplies P/N:MF150A24AG-V 150W, 24VDC 170 152 65 199 157 18 11.5MAX 5 45 8 2 1 8 2 49.5 3 4-M4 L=4mm 4 3 9.5 63 63 5 5 6 FAN Air flow direction 9.5 99 4 99 4-M4 L=4mm 1 18 18 9 11.5MAX P/N:MF320A48AG-V 320W, 48VDC 7 6 V ADJ. 7 4MAX V ADJ. LED CN3 2 1 LED 4-M4 L=4mm 5 CN3 4 8 1 117 52 25 12.5 12.5 25 44 12.5 25 3-M4 L=4mm 25 28 Regeneration Clamp 130 28.6 P/N: RC880 76 85 94 When using a regulated power supply you may encounter a problem with regeneration. The kinetic energy caused by regeneration is transferred back to the power supply. This can trip the overvoltage protection of a switching power supply, causing it to shut down. 85 45 MOONS’ offers the RC880 “regeneration clamp” to solve this problem. If in doubt, use an RC880 for the first installation. If the “regen” LED on the RC880 never flashes, you don’t need the clamp. USB Converter Model: MS-USB-RS232-01 Description: USB-RS-232 converter Model: MS-USB-RS485-01 Description: USB-RS-485 converter Model: MS-USB-CAN-01 Description: USB-CAN converter Power Connector P/N 5452570 Rev. 1.0 0006152016 Vendor Phoenix 34 +86 400-820-9661 TSM34Q/C Hardware Manual Cables Housing:PUDP-28V-S(JST) Crimp:SPUD-001T-P0.5(JST) General Purpose I/O Cable (unshielded) P/N 1101-100 1101-200 1101-500 Length 1m 2m 5m 27 28 1 2 L±50 Pin No. Assignment Description Color Pin No. Assignment High Speed Digital Input BLU 15 X8+ BLU/WHT 16 X8- 1 X1+ 2 X1- 3 X2+ 4 5 Description X8 Digital Input Color GRN GRN/WHT YEL 17 Y1 Y1 Digital Input X2- High Speed Digital Input YEL/WHT 18 Y2 Y2 Digital Input YEL X3 X3 Digital Input GRN 19 Y3 Y3 Digital Input BRN 6 X4 X4 Digital Input ORG 20 YCOM Y Output COM 7 X5 X5 Digital Input GRY 21 Y4+ 8 X6 X6 Digital Input PPL 22 Y4- Y4 Digital COM BLU BLK RED RED/WHT 9 XCOM X Digital Input COM WHT 23 Z+ Encoder Output Z BLK 10 +5V +5V Analog Voltage RED 24 Z- (if applicable) BLK/WHT 11 AIN Analog Input BLU 25 B+ Encoder Output B GRN Analog Input Ground 12 GND 13 X7+ 14 X7- X7 Digital Input BLK 26 B- (if applicable) GRN/WHT ORG 27 A+ Encoder Output A ORG ORG/WHT 28 A- (if applicable) ORG/WHT General Purpose I/O Cable (shielded) P/N 1102-100 1102-200 1102-500 Length 1m 2m 5m Housing:PUDP-28V-S(JST) Crimp:SPUD-001T-P0.5(JST) 27 UL2464 AMG24 10Pair 28 10 1 2 20±3 30±3 2000±100 Pin No. Assignment 1 X1+ 2 X1- 3 X2+ 4 X2- Description Color Pin No. Assignment High Speed Digital Input BLK 15 NC RED 16 NC High Speed Digital Input BLK 17 Y1 Y1 Digital Output BLK WHT 18 Y2 Y2 Digital Output BRN Description Color 5 X3 X3 Digital Input BLK 19 Y3 Y3 Digital Output BLK 6 X4 X4 Digital Input GRN 20 YCOM Y Output COM ORG 7 NC 21 NC 8 NC 22 NC 9 XCOM X Input COM BLK 23 Z+ Encoder Output Z RED 10 +5V +5V Analog Voltage BLU 24 Z- (if applicable) WHT 11 AIN Analog Input BLK 25 B+ Encoder Output B RED 12 GND Analog Input Ground YEL 26 B- (if applicable) GRN 13 NC 27 A+ Encoder Output A RED 14 NC 28 A- (If applicable) BLU +86 400-820-9661 35 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual CANopen Daisy Chain Communication Cable RS-485 Daisy Chain Communication Cable P/N 2111-050 2111-100 2111-300 2111-500 Length 0.5m 1m 3m 5m P/N 2112-050 2112-100 2112-300 2112-500 Length 0.5m 1m 3m 5m Housing: ZER-05V-S(JST) Housing: ZER-05V-S(JST) 1 5 J1 5 1 1 5 J1 J2 5 1 Housing: ZER-05V-S(JST) Crimp: SZE-002T-P0.3(JST) Crimp: SZE-002T-P0.3(JST) Housing: ZER-05V-S(JST) Crimp: SZE-002T-P0.3(JST) Crimp: SZE-002T-P0.3(JST) L±100 L±100 RS-232 Communication Cable (C Type) RS-232 Communication Cable (Q Type) P/N 2101-150 Length 1.5m 1 5 15±2 B A A J1 1 6 P/N 2113-150 Length 1.5m 1500±20 B 9 J2 DB/9PFemale J2 10 1 DGND 2 TX 3 VCC 4 RX B 1 J1 20 J2 Connector(JST) Housing:ZER-04-S Crimp:SZE-002T-P0.3 DB/9P Female 5 Connector(JST) Housing: ZER-05-S Crimp: SZE-002T-P0.3 Ethernet Daisy Chain Communication Cable (Q Type) Common Type Flexible Type Length(L) 2012-030 2013-030 0.3m 2012-300 2013-300 3m L 8 L 8 1 5.5 SCL Command Reference The Serial Command Language (SCL) was developed to give users a simple way to control a motor drive via a serial port. This eliminates the need for separate motion controllers or indexers to supply Pulse and Direction signals to the drive. It also provides an easy way to interface to a variety of other industrial devices such as PLCs and HMIs, which often have standard or optional serial ports for communicating to other devices. Some examples of typical host devices might be: • • • • A Windows based PC running MOONS’ software An industrial PC running a custom or other proprietary software application A PLC with an ASCII module/serial port for sending text strings An HMI with a serial connection for sending text strings SCL commands control the motion of the step motor, use of the inputs and outputs, and configure aspects of the drive such as motor current and microstep resolution. In SCL mode, the TSM34Q receives commands from the host, executing them immediately or sending them to a command buffer and then executing them directly from the buffer. The TSM34Q also can create a stored program for stand-alone operation. The communications protocol of SCL is simple in that the host initiates all communication, with one exception. The only time the drive will initiate communication is at power-up. At that time, the drive will send an identifier to tell the software which drive is connected and what the firmware version is. Rev. 1.0 0006152016 36 +86 400-820-9661 1 TSM34Q/C Hardware Manual There are two types of SCL commands: buffered and immediate. Buffered commands are loaded into and then executed out of the drive’s command buffer. Buffered commands are executed one at a time and in sequential order. The buffer can be filled with commands without the host controller needing to wait for a specific command to execute before sending the next command. Special buffer commands enable the buffer to be loaded and to pause for a desired time. Immediate commands are not buffered, but are executed immediately, running in parallel with a buffered command if necessary. Immediate commands are designed to access the drive at any time and can be sent as often as needed. This allows a host controller to get information from the drive at a high rate, most often for checking drive status or motor position. The basic structure of a command packet from the host to the drive is always a text string followed by a carriage return. The text string is composed of the command itself, followed by any required parameters. A carriage return denotes the end of transmission to the drive. The syntax of the command is: XXAB<cr> where XX designates the command (always composed of 2 uppercase letters), and A and B define the possible parameters. These parameters can vary in length, can be letters or numbers, and are often optional. Once a drive receives the <cr> (carriage return), it will determine whether or not it understood the command-if it did, it will either execute or buffer the command. The drive can also be programmed ahead of time to send a response as to whether or not it understood the command as well as any error code. Some SCL commands transfer data to the drive for immediate or later use. These data values are stored in data registers and remain there until new commands change the values or power is removed from the drive. Some data registers in a drive are Read-Only and contain predefined information about the drive which can also be read through SCL commands. Because of the intense nature of serial communications required in host mode applications, there is a serial communication Protocol (PR) command available that will adjust a drive’s serial communications protocol to best fit an application. Typically this command is used when configuring a drive and saved as part of the startup parameters. But it can be used at any time to dynamically alter the serial communications. The Host Command Reference contains the complete command listing as well as instructions on connecting and configuring the TSM34Q/C for use in SCL mode, using the Data Registers and the Protocol command. It also contains detailed information on: • • • • Host Serial Communications Host Serial Connections Alarm and Status Codes Working with Inputs and Outputs The Host Command Reference is available from the MOONS’ website at http://www. moonsindustries.com under Products/Drives1/Downloads/manuals. +86 400-820-9661 37 Rev. 1.0 0006152016 TSM34Q/C Hardware Manual 6 Contacting MOONS’ ■■ MOONS' Headquarters Ningbo Room 309, Tower B, Taifu Plaza, 565 Jiangjia Road Jiangdong District, Ningbo, 315040 P.R. China Tel: +86 (0)574 87052739 Fax: +86 (0)574 87052365 No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China Tel: +86 (0)21 52634688 Fax: +86 (0)21 52634098 Email: [email protected] Guangzhou Room 4006, Tower B, China Shine Plaza, 9 Linhe Xi Road Tianhe District, Guangzhou, 510610 P.R. China Tel: +86 (0)20 38010153 Fax: +86 (0)20 38103661 ■■ MOONS' International Trading Company 4/F, Building 30, 69 Guiqing Road, Cao He Jin Hi-Tech Park Shanghai 200233, P.R. China Tel: +86 (0)21 64952755 Fax: +86 (0)21 64951993 ■■ North America ■■ Domestic Offices MOONS’ Industries (America), Inc. 1113 North Prospect Avenue, Itasca, IL 60143 USA Tel: +1 630 833 5940 Fax: +1 630 833 5946 Shenzhen Room 2209, 22/F, Kerry Center, No. 2008 Renminnan Road Shenzhen 518001 P.R. China Tel: +86 (0)755 25472080 Fax: +86 (0)755 25472081 Beijing Room 816, Block B, China Electronics Plaza, No. 3 Danling Street Haidian District Beijing 100080 P.R. China Tel: +86 (0)10 58753312 Fax: +86 (0)10 58752279 Nanjing Room 302, Building A, Tengfei Creation Center, 55 Jiangjun Ave, Jiangning District, Nanjing 211100 P.R. China Tel: +86 (0)25 52785841 Fax: +86 (0)25 52785485 Qingdao Room 1012, Zhuoyue Tower, No. 16 Fengcheng Road, Shibei Dristrict, Qingdao 266000 P.R. China Tel: +86 (0)532 80969935 Fax: +86 (0)532 80919938 LIN ENGINEERING, INC. 16245 Vineyard Blvd., Morgan Hill, CA 95037 USA Tel: +1 408 9190200 Fax: +1 408 9190201 ■■ Europe MOONS’ Industries Europe S.R.L. Via Torri Bianche 1, 20871 Vimercate (MB), Italy Tel: +39 039 62 60 521 Mail: [email protected] ■■ South-East Asia Wuhan Room 3001, World Trade Tower, No. 686 Jiefang Ave Jianghan District, Wuhan 430022 P.R. China Tel: +86 (0)27 85448742 Fax: +86 (0)27 85448355 MOONS’ Industries (South-East Asia) PTE LTD. 33 Ubi Avenue 3 #08-23 Vertex Singapore 408868 Tel: +65 6634 1198 Fax: +65 6634 1138 Chengdu Room 1917, Western Tower No. 19, 4th Section of South People Road, Wuhou District, Chengdu 610041 P.R. China Tel: +86 (0)28 85268102 Fax: +86 (0)28 85268103 ■■ 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: +81 (0)45-4755788 Fax: +81 (0)45 4755787 Xi' an Room 1006, Block D, Wangzuo International City No. 1 Tangyan Road, Xi’an 710065 P.R. China Tel: +86 (0)29 81870400 Fax: +86 (0)29 81870340 Rev. 1.0 0006152016 APPLIED MOTION PRODUCTS, INC. 404 Westridge Drive, Watsonville, CA 95076, USA Tel: +1 831 7616555 Fax: +1 831 7616544 38 +86 400-820-9661
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