Moons' TSM24P User manual

TSM24P
Integrated Step-Servo Motor
User Manual
Rev. 1.0
AMP & MOONS’ Automation

2
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
Contents
1 Introduction.................................................................................. 5
1.1 Features.............................................................................................5
1.2 Block Diagram ...................................................................................6
1.3 Safety Instructions .............................................................................7
2 Getting Started ............................................................................ 8
2.1 Installing Software .............................................................................8
2.2 Mounting the Hardware .....................................................................8
2.3 Choosing a Power Supply .................................................................9
2.3.1 Voltage ..................................................................................................9
2.3.2 Regeneration Clamp ..............................................................................9
2.3.3 Current .................................................................................................10
3 Installation/Connections ............................................................ 12
3.1 Connecting the Power Supply .........................................................12
3.2 Connecting the TSM24P Communications......................................13
3.2.1 Connecting to the PC using RS-232 ....................................................13
3.3 Inputs and Outputs ..........................................................................14
3.3.1 Connector Pin Diagram ........................................................................14
3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs .................................16
3.3.3 X3/EN and X4/AR Digital Inputs...........................................................17
3.3.4 Programmable Outputs ........................................................................18
4 Drive Conguration.................................................................... 19
4.1 Quick Tuner Toolbar.........................................................................19
4.1.1 Open, Save and Print ...........................................................................19
4.1.2 Restore.................................................................................................20
4.1.3 Alarm History ........................................................................................20
4.1.4 LED Flashing........................................................................................20
4.1.5 Drive & Revision...................................................................................20
4.1.6 Communication ....................................................................................21
4.1.7 Servo On/Off ........................................................................................21
4.1.8 Alarms ..................................................................................................21
4.1.9 Upload & Download..............................................................................21
4.2 Basic Conguration..........................................................................22
4.2.1 Maximum Currents ...............................................................................22
4.2.2 Digital Input Filter .................................................................................22
4.2.3 Electronic Gearing................................................................................22
4.2.4 Positioning Error Fault .........................................................................22

3Rev. 1.0
0012072012
TSM24P User Manual
[phone]
4.2.5 Maximum Speed ..................................................................................23
4.2.6 Maximum Acceleration ........................................................................23
4.3 Position Mode ..................................................................................24
4.3.1 Basic Conguration .............................................................................24
4.3.2 Position Control - Digital.......................................................................25
4.3.3 I/O Denition - Digital ...........................................................................26
5 Tuning - Sampling...................................................................... 27
5.1 Velocity Control Loop (V Loop)........................................................27
5.1.1 Gain: The Velocity Proportional Term (VP)...........................................28
5.1.2 IntegGain: The Velocity Integral Term (VI)............................................28
5.1.3 FF Gain: Acceleration Feed-forward Term (KK) ...................................28
5.1.4 PID Filter: Torque Command Filter Term (KC)......................................28
5.2 Position Control Loop ......................................................................29
5.2.1 Gain: The Position Proportional Term (KP) ..........................................29
5.2.2 The Position Integral Term (KI) - Not Implemented ..............................29
5.2.3 Deri Gain: The Derivative Term (KD)....................................................29
5.2.4 Deri Filter: Torque Command Filter Term (KE) .....................................30
5.3 Notch lter........................................................................................30
5.3.1 Frequency: Notch Filter Center Frequency ..........................................30
5.3.2 BandWidth: Notch Filter Frequency Bandwidth....................................30
5.4 Getting Ready for Tuning.................................................................31
5.5 Tuning the Velocity Loop..................................................................32
5.5.1 Entering a Sample Move ......................................................................32
5.5.2 Performing a Move ...............................................................................32
5.5.3 Adjusting tuning parameters.................................................................33
5.5.4 Adding in the FF Gain (KK) parameter .................................................35
5.5.5 Filter parameter ....................................................................................35
5.5.6 Verify the Drive Current ........................................................................36
5.5.7 Finishing up ..........................................................................................36
5.6 Tuning the Position loop ..................................................................36
5.6.1 Entering a Sample Move ......................................................................36
5.6.2 Performing a Move ...............................................................................37
5.6.3 Adjusting the Gain (KP) and Deri Gain (KD) parameters .....................37
5.6.4 The Deri Filter (KE) parameter .............................................................37
5.6.5 Filter parameter (again)........................................................................37
5.6.6 Verify the Drive Current ........................................................................37
5.6.7 Finishing up ..........................................................................................37
5.7 Using Auto Trigger Sampling ...........................................................38

4
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
5.7.1 Setting up Auto Trigger.........................................................................38
5.8 Setting the Notch lter .....................................................................39
6 SCL Test & Monitor.................................................................... 40
6.1 SCL Test ..........................................................................................40
6.2 Move Testing....................................................................................40
6.2.1 Jog Move..............................................................................................40
6.2.2 Single Move..........................................................................................41
6.2.3 Homing .................................................................................................41
6.3 Motion Status...................................................................................41
6.4 Monitor.............................................................................................42
6.5 I/O Status.........................................................................................42
6.6 Alarm................................................................................................42
6.7 Drive Status .....................................................................................43
7 Troubleshooting ......................................................................... 44
8 Reference Materials .................................................................. 45
8.1 Mechanical Outlines (Unit:mm)........................................................45
8.2 Torque-Speed Curves......................................................................45
8.3 Technical Specications...................................................................46
8.4 SCL Command Reference ..............................................................47
9 Contacting MOONS’ .................................................................. 49
Model
Communication
RS-232
TSM24P-3AG 

5Rev. 1.0
0012072012
TSM24P User Manual
[phone]
1 Introduction
Thank you for selecting the MOONS’ TSM24P Integrated Motor.The
TSM line of integrated step-servo motors combines servo technology
with an integrated motor to create a product with exceptional feature
and broad capability. We hope our commitment to performance, quality
and economy will result in a successful motion control project.
1.1 Features
• Programmable, Digital servo driver and motor in an integrated
package
• Operates from a 12 to 70 volt DC power supply
• Control Modes:
* Position Control
* Digital Signal type
Step & Direction
CW & CCW pulse
A/B Quadrature (Encoder Following)
• Communications:
* RS-232
• 5000 line (20,000 counts/rev) encoder feedback
• Available torque:
* TSM24P-3AG: Up to 2.4 Nm Continuous(3.0 Nm Boost)
• I/O:
* 4 optically isolated digital inputs, with adjustable bandwidth digital noise rejection lter,5 to
24 volts
* 3 optically isolated digital outputs, 30V/100 mA max.
* Differential encoder outputs (A±, B±, Z±), 26C31 line driver, 20 mA sink or source max
• Technological advances:
* Full servo control, Closed loop
* Efcient, Accurate, Fast, Smooth
* Intelligent, Compact

6
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
1.2 Block Diagram
Block Diagram
MOSFET
PWM
Power
Amplifier
12-70 VDC
External
Power Supply
Voltage
Temp
Det.
Over
Current
Det.
motor
encoder
5 Volt DC
Power Supply
3.3VDC
Internal
Logic
Supply
TSM24P
I/O Connector
+
X1/STEP
Digital
Filter
Software
Filter
Status
A+
A -
B+
B -
Z+
Z-
Optical
Iso
Line
Driver
RS-232
Comm
Conn
Power
Conn
X2/DIR
X3/EN
X4/AR
Y1/ALARM
Y2/IN POSITION
Y3/BRAKE
Encoder Outputs
RS-232
TX, RX, GND, +5V
-
DSP
Driver
Controller
Optical
Iso

7Rev. 1.0
0012072012
TSM24P User Manual
[phone]
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. 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 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.
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 difculty.

8
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
2 Getting Started
The following items are needed:
• A 12 - 70 volt DC power supply, see the section below entitled “Choosing a Power Supply” for
help in choosing the right one
• A small at blade screwdriver for tightening the connectors (included)
• A PC running Microsoft Windows 2000, XP, Vista, or Windows 7
• The MOONS’ CD (included)
• A MOONS’ programming cable (included)
2.1 Installing Software
Before utilizing the TSM24P 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 the CD.
• Connect the drive to the PC using the programming cable.
• Connect the drive to the power supply. See instructions below.
• Launch the software by clicking Start...Programs...MOONS’.
• Apply power to the drive.
• The software will recognize the drive and display the model and rmware version. At this point,
it is ready for use.
2.2 Mounting the Hardware
As with any step motor, the TSM24P 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.

9Rev. 1.0
0012072012
TSM24P User Manual
[phone]
2.3 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.3.1 Voltage
The TSM24P is designed to give optimum performance between 24 and 48 Volts DC. Choosing
the voltage depends on the performance needed and motor/drive heating that is acceptable and/or
does not cause a drive over-temperature. Higher voltages will give higher speed performance but
will cause the TSM24P to produce higher temperatures. Using power supplies with voltage outputs
that are near the drive maximum may signicantly reduce the operational duty-cycle.
The extended range of operation can be as low as 10 VDC minimum to as high as 75 VDC
maximum. When operating below 18 VDC, the power supply input may require larger capacitance
to prevent under-voltage and internal-supply alarms. Current spikes may make supply readings
erratic. The supply input cannot go below 10 VDC for reliable operation. Absolute minimum power
supply input is 10 VDC. If the Input supply drops below 10 VDC the low voltage alarm will be
triggered. This will not fault the drive.
Absolute maximum power supply input is 75 VDC at which point an over-voltage alarm and fault
will occur. When using a power supply that is regulated and is near the drive maximum voltage
of 75 VDC, a voltage clamp may be required to prevent over-voltage when regeneration occurs.
When using an unregulated power supply, make sure the no-load voltage of the supply does not
exceed the drive’s maximum input voltage of 75 VDC.
2.3.2 Regeneration Clamp
If a regulated power supply is being used, there may be a problem with regeneration. When a
load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred
back to the power supply, possibly tripping the over-voltage protection of a regulated power
supply, causing it to shut down. This problem can be solved with the use of 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 ashes, the clamp is not necessary.
RC880 Regen Clamp
LEDs
Green - Power
Red - Regen on

10
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
2.3.3 Current
The maximum supply currents required by the TSM24P are shown in the charts below at different
power supply voltage inputs. The TSM24P power supply current is lower than the winding currents
because it uses switching ampliers 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 signicantly 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.
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM24P-3AG 24V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM24P-3AG 48V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load

11 Rev. 1.0
0012072012
TSM24P User Manual
[phone]
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
TSM24P-3AG 70V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load

12
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
3 Installation/Connections
3.1 Connecting the Power Supply
Use 16 to 20-gauge wire to connect the TSM24 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.
Be careful not to reverse the wires. Reversing the connection may open the internal
fuse on the drive and void the warranty.
MOONS' offers two matched power supplies for use with the TSM24P.
A 24VDC, 150W(P/N MF150A24AG-V) and a 48VDC 320W(P/N MF320A48AG-V).
These power supplies have current over load capability making them ideal for use.
(To use with a switch power supplier, a RC880 regen must be connected in system)
The RC880 regeneration clamp is for use where regeneration from the motor may cause damage
to the drive. In these cases the RC880 is connected between the drive and power supply and
absorbs regenerated energy.
To Power Supply-
To Power Supply+ To Earth Ground
RC880
TSM
V-V+
V-V+
Vin
-
+
Vout
+
-
Power Supply

13 Rev. 1.0
0012072012
TSM24P User Manual
[phone]
3.2 Connecting the TSM24P Communications
The TSM24P comes with a cable that will provide the interface to an RS-232 port through a DB9
style connector.
3.2.1 Connecting to the PC using RS-232
Locate the TSM24P within 2.5 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 TSM24P . 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 Serial Converter will be needed.
You can contact MOONS’ to buy a USB to RS-232 converter.
The RS-232 circuitry does not have any extra electrical “hardening” and care should be taken
when connecting to the RS-232 port as hot plugging could result in circuit failure.
GND
TX
+5V
RX

14
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
3.3 Inputs and Outputs
TSM24P drives include 4 digital inputs
X1/STEP & X2/DIR are high-speed 5-24 volt logic digital inputs for commanding position.
Quadrature signals from encoders can also be used.
X3/EN and X4/AR are 5-24 volt logic digital inputs. X3/EN is used for motor enable/disable. X4/AR
is used for alarm reset.
3.3.1 Connector Pin Diagram
ENC A-
ENC B-
ENC Z-
NC
YCOM
Y2/IN POSITION
NC
NC
NC
NC
NC
X4/ALARM RESET
X2/DIR-
X1/STEP-
ENC A+
ENC B+
ENC Z+
NC
Y3/BRAKE
Y1/ALARM
NC
NC
NC
XCOM
NC
X3/SERVO ON
X2/DIR+
X1/STEP+
27 28
1 2

15 Rev. 1.0
0012072012
TSM24P User Manual
[phone]
DrivesUser Control
1 X1/STEP+
2 X1/STEP-
3 X2/DIR+
4 X2/DIR-
9 XCOM
5-24VDC
0VDC
0VDC
0VDC
Under 30V
5 X3/SERVO ON
6 X4/ALARM RESET
17 Y1/ALARM
18 Y2/IN POSITION
19 Y3/BRAKE
20 YCOM
23 ENC Z+
24 ENC Z-
25 ENC B+
26 ENC B-
27 ENC A+
28 ENC A-

16
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs
The TSM24 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 diagrams below show how to connect the STEP & DIR Inputs to various commonly used
devices.
+5v to +24v out
DIR
STEP
DIR+
DIR-
STEP+
STEP-
Indexer
with
Sinking
Outputs
Connecting to Indexer with Sinking Outputs
TSM24
DIR
COM
STEP
Indexer
with
Sourcing
Outputs
DIR+
DIR-
STEP+
STEP-
Connecting to Indexer with Sourcing Outputs
TSM24
DIR+
DIR-
STEP+
DIR+
DIR-
STEP+
STEP-
STEP-
Indexer
with
Differential
Outputs
Connecting to Indexer with Differential Outputs
Many high-speed indexers have differential outputs
TSM24
A+
A-
B+
STEP+
STEP-
DIR+
DIR-
B-
Master
Encoder
Wiring for Encoder Following
TSM24
DIR+
DIR-
STEP+
STEP-
5 - 24
volt DC
Power
Supply
Using Mechanical Switches
+direction switch
run/stop switch
(closed = run)
TSM24

17 Rev. 1.0
0012072012
TSM24P User Manual
[phone]
3.3.3 X3/EN and X4/AR Digital Inputs
The TSM24 drives include two single ended inputs: X3/EN and X4/AR. 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 TSM24 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 owing into or out of an input, the logic state of that input is low or closed. If no
current is owing, or the input is not connected, the logic state is high or open.
The diagrams below show how to connect the inputs to various commonly used devices.
5 - 24
volt DC
Power
Supply
Connecting the Input to a Switch or Relay
XCOM
X3/X4
+
-
TSM24
Switch or Relay
(closed = logic low)
5 - 24
volt DC
Power
Supply
Connecting an NPN type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
XCOM
X3/X4
+
-
+
NPN
Proximity
Sensor
-output
TSM24
5 - 24
volt DC
Power
Supply
Connecting a PNP type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
X3/X4
XCOM
+
-
+
PNP
Proximity
Sensor
-
output
TSM24

18
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
3.3.4 Programmable Outputs
The TSM24P 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 when the motor is moving or to indicate whether the motor is in
position.
• Y3 can be set to control a motor brake, or to provide an output frequency proportional to motor
speed (tach signal) or to provide a timing output (50 pulses/rev)
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.
+
-
Y1
YCOM
5 - 24
volt DC
Power
Supply
Connecting a Sinking Output
Load
TSM24
COM
IN
Y2
YCOM
PLC
Connecting a Sourcing Output
5 - 24VDC
Power Supply
TSM24
+
-
+
-
5 - 24
volt DC
Power
Supply
Driving a Relay
Y3
YCOM
relay
1N4935 suppresion diode
TSM24

19 Rev. 1.0
0012072012
TSM24P User Manual
[phone]
4 Drive Conguration
Step-Servo Quick Tuner is the PC based software application used to congure, and perform
servo tuning, drive testing and evaluation of the TSM. System servo control gains, drive
functionality, and I/O conguration are set with Quick Tuner. It also contains an oscilloscope
function to help set the servo control gains.
4.1 Quick Tuner Toolbar
4.1.1 Open, Save and Print
In addition to exchanging settings with a drive, the Step-Servo Quick Tuner software can also save
& load settings using the PC’s hard drive.
The Open button brings up a dialog box showing all the Step-Servo Quick Tuner les on the hard
drive.
When a large number of identical machines are being built it is useful to be able to exactly
duplicate each set-up. When development of one machine is completed and the motion control is
working correctly, it can be saved to a le. When the next machine is built, the set-up le may be
opened and downloaded to that drive. One of the advantages of programmable, digital control is
this easy duplication of system settings.
With the Save button a set-up can be saved to the hard drive. Long le names may be used just
as with other 32 bit Windows programs, such as Microsoft Word or Excel.
The Print button allows a hard copy of a program to be printed on any system printer. The
standard Windows printer dialog is used, allowing the choice of typical printer settings.

20
Rev. 1.0
0012072012
TSM24P User Manual
[phone]
4.1.2 Restore
The Restore button will reset all parameters in the drive to the ones set by the factory (defaults).
Note - as this will erase all parameters that have been changed, it may be desired to save them to
a le rst.
4.1.3 Alarm History
The TSM stores a log of previous alarm conditions viewable in the Alarm History. When an alarm
occurs, the drive stores the information on which alarm conditions were triggered. As a fault may
trigger more than one alarm condition, the drive stores all of them for reference. This information
can then be viewed in the Alarm History dialog to help with drive and system problem solving. The
drive stores up to 8 sets of alarm conditions. The Alarm History dialog can also be used to clear
the Alarm History.
4.1.4 LED Flashing
Clicking on this button will bring up a screen where the LED
ashing for certain warnings can be masked. Alarm fault conditions
are not allowed to be masked and will always be indicated by the
drive’s LEDs. Masking alarm warnings only prevents the indication
of the alarm by the LEDs. The alarm warning will still be set in the
Alarm status code and in the Alarm History. See section 7 on
“Troubleshooting” below for an explanation of these codes.
4.1.5 Drive & Revision
When Step-Servo Quick Tuner is connected to an TSM Integrated
Motor the drive model, sub-model, and rmware revision are
automatically indicated. If working ofine (no drive is connected),
the Drive model and sub-model can be selected from the drop
down lists. The model and sub-model information is found on the
label of the TSM integrated motor.