TSM34Q/C - Moons` Industries (Europe) s.r.l.

TSM34Q/C - Moons` Industries (Europe) s.r.l.
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
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement