Moons' AMP StepSERVO TSM14POE Series User manual

TSM14POE
StepSERVO Integrated Motor
Hardware Manual
920-0153 A
01/23/2020

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Contents
1 Introduction........................................................................4
1.1 Features.................................................................................4
1.2 Block Diagram .......................................................................5
1.3 Safety Instructions.................................................................6
2 Getting Started ..................................................................7
2.1 Installing Software .................................................................7
2.2 Mounting the Hardware .........................................................7
2.3 Choosing a Power Supply .....................................................8
3.2 Connecting the Drive to Your PC using Ethernet...................9
4 Troubleshooting.................................................................17
5 Reference Materials ..........................................................18
5.1 Mechanical Outlines ..............................................................18
5.2 Technical Specications.........................................................19
5.3 Torque-Speed Curves............................................................20
6 Contacting Applied Motion Products..................................22

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TSM14POE Models Available
Model Connector Communication
RJ45 M12 8 Pin X-Coded EtherNet/IP
TSM14POE3M-IPEJ  
TSM14POE3M-IPEM  

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1 Introduction
Thank you for selecting the Applied Motion Products TSM14POE StepSERVO Integrated Motor.
The TSM line of integrated step-servo motors combines servo technology with an integrated motor
to create a product with exceptional features and broad 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 closed-loop step motor in an integrated package
• Communication and power over Ethernet (POE+). Powered switch or injector required.
Recommended injector: BV Tech POE-I100G (AMP part number 1000-382)
• Control Modes:
Torque Control
• Commanded
Velocity Control
• Commanded Velocity (Jogging)
Position Control
• Serial Commanded Position
Q Programming
• Executes stored Q programs
• Conditional processing & multi-tasking
• Math functions, register manipulation
• Communications:
Ethernet TCP/IP or UDP, EtherNet/IP industrial networking , Modbus/TCP
• 1024 line (4096 count/turn) encoder feedback
• Available torque:
Up to 29 oz-in continuous (37 oz-in boost)
• Technological advances:
Full servo control, Closed loop
Efcient, Accurate, Fast, Smooth
Intelligent, Compact
Single cable for power and communication

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1.2 Block Diagram
Block Diagram
MOSFET
PWM
Power
Amplifier
Voltage
Temp
Detect
Over
Current
Detect
motor
encoder
5 Volt DC
Power Supply
DSP
Driver
Controller
3.3VDC
Internal
Logic
Supply
TSM14POE
42.5-57 VDC
IP Address Selection
Ethernet
Comm
Conn
100 Mbit Ethernet
POE+ power
3
4
2
1
0
F
E
D
C
B
A
9
8
7
6
5
Status

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1.3 Safety Instructions
Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly,
installation, operation, and maintenance of motors, and who meet the appropriate qualications
for their jobs.
To minimize the risk of potential safety problems, all applicable local and national codes regulating
the installation and operation of equipment should be followed. These codes may vary from area
to area and it is the responsibility of the operating personnel to determine which codes should be
followed, and to verify that the equipment, installation, and operation are in compliance with the
latest revision of these codes.
Equipment damage or serious injury to personnel can result from the failure to follow all applicable
codes and standards. Applied Motion Products does not guarantee the products described in
this publication are suitable for a particular application, nor do they assume any responsibility for
product design, installation, or operation.
• Read all available documentation before assembly and operation. Incorrect handling of the
products referenced in this manual can result in injury and damage to persons and machinery.
All technical information concerning the installation requirements must be strictly adhered to.
• It is vital to ensure that all system components are connected to earth ground. Electrical
safety is impossible without a low-resistance earth connection.
• This product contains electrostatically sensitive components that can be damaged by incorrect
handling. Follow qualied anti-static procedures before touching the product.
• During operation keep all covers and cabinet doors shut to avoid any hazards that could
possibly cause severe damage to the product or personal health.
• During operation, the product may have components that are live or have hot surfaces.
Be alert to the potential for personal injury. Follow recommended precautions and safe operating
practices emphasized with alert symbols. Safety notices in this manual provide important
information. Read and be familiar with these instructions before attempting installation, operation,
or maintenance. The purpose of this section is to alert users to the possible safety hazards
associated with this equipment and the precautions necessary to reduce the risk of personal injury
and damage to equipment. Failure to observe these precautions could result in serious bodily
injury, damage to the equipment, or operational difculty.

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2 Getting Started
The following items are needed:
• A POE+ rated Ethernet switch or injector.
Recommended:
- Injector: BV Tech POE-I100G (Applied Motion P/N 1000-382).
- Switch: BV Tech POE-SW801.
• A PC running Microsoft Windows XP, Vista, or Windows 7 or 8 or 10. 32 or 64 bits.
• A CAT6 network cable (not included).
2.1 Installing Software
Before utilizing the TSM14POE StepSERVO Integrated Motor and Step-Servo Quick Tuner
Software in an application, the following steps are necessary:
• Download and install the Step-Servo Quick Tuner software.
• If you intend to connect the drive directly to your PC, congure your computer to use IP
address 10.10.10.11. (For instructions on connecting your TSM drive to a local area network
(LAN), please consult the appropriate hardware manual).
• On the TSM drive, select switch position 0, which will assign IP address 10.10.10.10. (See the
hardware manual for further details on selecting IP addresses for the drive and PC).
• Launch the software by clicking: Start / All Programs / Applied Motion Products / Step-Servo
Quick Tuner or use the desktop shortcut.
• Connect the TSM to the injector or power switch using a Ethernet cable.
• Click “Connect” in the software. The drive model and rmware revision should be
automatically displayed in the Step-Servo Quick Tuner software.
2.2 Mounting the Hardware
As with any step motor, the TSM14POE must be mounted so as to provide
maximum heat sinking and airow. Keep enough space around the Integrated Motor
to allow for airow.
• Never use the drive where there is no airow or where other devices cause the
surrounding air to be more than 40°C (104°F).
• Never put the drive where it can get wet.
• Never use the drive where metal or other electrically conductive particles can
inltrate the drive.
• Always provide airow around the drive.

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2.3 Choosing a Power Supply
Please choose a POE+ (IEEE 802.3at Type 2) compatible injector or powered switch.
Modes A and B are supported.
Recommended injector: BV Tech POE-I100G (AMP part number 1000-382).
Recommended powered Ethernet switch: BV Tech POE-SW801.

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3.2 Connecting the Drive to Your PC using Ethernet
This process requires three steps
• Physically connect the drive to your network (or directly to the PC).
• Set the drive’s IP address.
• Set the appropriate networking properties on your PC.
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 dened 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 “ipcong” and press Enter. You should see something
like this:
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 rst 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 rst two octets match yours. Be sure to ask
your system administrator before doing this. Your network may be segmented for a reason.

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Your drive includes a 16 position rotary switch for setting its IP address. The factory default address
for each switch setting is shown in the table on the next page.
Settings 1 through E can be changed using the Step-Servo Quick Tuner software. Setting 0 is
always “10.10.10.10”, the universal recovery address. If someone were to change the other settings
and not write it down or tell anyone (I’m not naming names here, but you know who I’m talking
about) then you will not be able to communicate with your drive. The only way to “recover” it is to
use the universal recovery address.
Rotary Switch IP Address
0 10.10.10.10
1 192.168.1.10
2 192.168.1.20
3 192.168.1.30
4 192.168.0.40
5 192.168.0.50
6 192.168.0.60
7 192.168.0.70
8 192.168.0.80
9 192.168.0.90
A 192.168.0.100
B 192.168.0.110
C 192.168.0.120
D 192.168.0.130
E 192.168.0.140
F DHCP
Setting F is “DHCP”, which 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 congured 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.
On the drive, switch settings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”).
The mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”).
One of the great features of Ethernet is the ability for many applications to share the network at the
same time.

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Ports are used to direct trafc 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 rst 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 any
trafc from other IP addresses that is headed for the eSCL port. The rst 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 nd a list of commonly used
port numbers at http://www.iana.org/assignments/port-numbers.
One nal 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
efcient 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, please check with your system administrator before connecting anything new
to the network. He or she should be able assign you a suitable address and help you get going.
If you are not sure which addresses are already used on your network, you can nd 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.
PC
NIC
LAN DRIVE
POWERED
SWITCH

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Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the
address table above. If none of the default addresses are acceptable for your network, you can
enter a new table of IP addresses using Step-Servo Quick Tuner software. If your network uses
addresses starting with 192.168.0, the most common subnet, you will want to choose an address
from switch settings 4 through E. Another common subnet is 192.168.1. If your network uses
addresses in this range, the compatible default selections are 1, 2 and 3.
If your PC address is not in one of the above private 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 and 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”.

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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 DCHP
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 rotary switch to “F”. 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. Step-Servo Quick Tuner software can nd your drive using the Drive Discovery
feature, as long as your network isn’t too large. With the drive connected to the network and
powered on, select Drive Discovery from the Drive Tools menu.
You will see a dialog such as this:
Normally, Drive Discovery will only detect one network interface card (NIC), and will select it
automatically. If you are using a laptop and have both wireless and wired network connections, a
second NIC may appear.

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Please select the NIC that you use to connect to the network to which you’ve connected your drive.
Then click OK. Drive Discovery will notify you as soon as it has detected a drive.
If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery
will look for additional drives on your network. Once you’ve told Drive Discovery which drive is
yours, it will automatically enter that drive’s IP address in the IP address text box so that you are
ready to communicate.
Option 2: Connect a Drive Directly to Your PC
It doesn’t get much simpler than this:
1. Connect one end of a CAT6 Ethernet cable into the LAN card (NIC) on your PC and the other into
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. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.
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”.

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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 “10.10.10.11”. This will
give your PC an IP address that is on the same subnet as the drive. Windows will know to direct
any trafc 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.”

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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 conicts or excessive trafc.
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 CAT6 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. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.
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)”.
6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will
give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any
trafc 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.”

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4 Troubleshooting
LED Error Codes
The TSM14POE uses red and green LEDs to indicate status. When the motor is enabled, the
green LED ashes slowly. When the green LED is solid, the motor is disabled. Errors are indicated
by combinations of red and green ashes as shown below. This feature can be disabled for certain
warnings but not for alarms. See Step-Servo Quick Tuner software help manual on how to do this
and which warnings may be masked.
Code
Error
solid green
flashing green
1 red, 1 green
1 red, 2 green
2 red, 1 green
2 red, 2 green
3 red, 1 green
3 red, 2 green
3 red, 3 green
4 red, 1 green
4 red, 2 green
7 red, 1 green
4 red, 3 green
5 red, 1 green
5 red, 2 green
6 red, 1 green
6 red, 2 green
7 red, 2 green
motor disabled
motor enabled
position limit
drive disabled
ccw limit
cw limit
over temperature
internal voltage
non-volatile memory error
over voltage
under voltage
non-volatile double error
over current
peak current time limit
open winding
encoder failure
communication error
save failed
Items in bold are Drive Faults.

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5 Reference Materials
5.1 Mechanical Outlines
TSM14POE3M-IPEJ - RJ45
TSM14POE3M-IPEM - M12

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5.2 Technical Specications
Power Amplier
Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 20 KHz
Output Torque Up to 27 oz-in continuous, 32 oz-in peak
Power Supply POE+ injector or powered switch required
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-
ground)
Controller
Encoder Resolution 4096 counts/rev
Speed Range See torque-speed curves
Filters PID lter, Notch lter
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP
Modes of Operation EtherNet/IP (implicit and explicit messaging) or Modbus/TCP, streaming commands(SCL),
stored Q program execution
Communication
Interface 100 Mbit Ethernet with auto crossover and POE+ (IEEE 802.3at Type 2)
Physical
Ambilent Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
Humdity 90% Max., non-condensing
Mass 400 g
Rotor Inertia 35 g-cm2

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5.3 Torque-Speed Curves
Note: Torque curves were measured at 4096 steps/rev.
-
5
10
15
20
25
30
35
40
0 5 10 15 20 25 30 35 40 45 50
oz-in
rev/sec
TSM14POE Speed-Torque Curve
Peak
Continuous
Peak
Continuous