Moons' TSM34P-1AG User manual

TSM34P
Integrated Step-Servo Motor
Hardware Manual
Rev. 1.0
SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD.

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Table of Contents
1 Introduction ....................................................................................................... 3
1.1 Features ................................................................................................. 3
1.2 Block Diagram ....................................................................................... 4
1.3 Safety Instructions.................................................................................. 5
2 Getting Started.................................................................................................. 6
2.1 Installing the Software............................................................................ 6
2.2 Mounting the Hardware.......................................................................... 6
2.3 Choosing a Power Supply...................................................................... 7
2.3.1 Supply Voltage ....................................................................... 7
2.3.2 Auxiliary Supply Voltage (Keep Alive Function)....................... 7
2.3.2.1 Keep Alive Recovery with I/O Function....................... 7
2.3.2.2 Keep Alive Recovery with SCL.................................... 7
2.3.3 Regeneration Clamp ............................................................... 8
2.3.4 Supply Current ........................................................................ 8
3 Installation/Connections.................................................................................... 12
3.1 Connecting the Power Supply................................................................ 12
3.1.1 Connect Main Power Supply .................................................. 12
3.1.2 Connect Auxiliary Power Supply ............................................ 12
3.2 Connecting the TSM34P Communications ............................................ 13
3.2.1 Connecting to a PC using RS-232 .......................................... 13
3.2.2 Choosing the Right COM Port................................................. 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 Y1, Y2, Y3 Programmable Outputs ......................................... 18
4 Troubleshooting ................................................................................................ 19
4.1 Status (STAT) LED Error Codes.............................................................. 19
4.2 Auxiliary Power (AUX) LED..................................................................... 19
5 Reference Materials.......................................................................................... 20
5.1 Torque Speed Curves............................................................................. 20
5.2 Mechanical Outlines............................................................................... 20
5.3 Technical Specications ......................................................................... 21
5.4 Optional Accessories............................................................................... 22
6 Contacting MOONS’.......................................................................................... 25

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1 Introduction
Thank you for selecting MOONS’ TSM34P 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 capabilities. 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
• 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
• TSM34P-1AG: Up to 2.9N•m Continuous
• TSM34P-3AG: Up to 5.6N•m Continuous
• TSM34P-5AG: Up to 7.2N•m Continuous
• TSM34P-6AG: Up to 9.5N•m Continuous
• 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
TSM34P Models Available
Model Communications
RS-232
TSM34P-1AG 
TSM34P-3AG 
TSM34P-5AG 
TSM34P-6AG 

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1.2 Block Diagram
Block Diagram
TSM34P RS-232
MOSFET
PWM
Power
Amplifier
24 - 70 VDC
External
Power Supply
Voltage
Temp
Detect
Over
Current
Detect
motor
encoder
5 Volt DC
Power Supply
DSP
Driver
Controller
3.3VDC
Internal
Logic
Supply
+
RS-232
rewoP
nnoC
-
12 - 48VDC
External
Power Supply
+
AUX
nnoC
-
mmoCPort
A+
A -
B+
B -
Z+
Z-
Line
Driver
Encoder Outputs
I/O Connector
Optical
ISO
X1+
X1-
X2+
X2-
X3
X4
XCOM
Y1
Y2
Y3
YCOM
Optical
ISO
RS-232 Version
TX,RX,GND
Status
AUX

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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. 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.

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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 the Keep Alive function is required, an external 12 - 48 volt DC power supply will be needed
for auxiliary power
• a small at blade screwdriver for tightening the connectors (included)
• a PC running Microsoft Windows XP, or Windows 7, 8, or 10
• a MOONS’ programming cable (included)
2.1 Installing the Software
Before using the TSM34P Integrated Step-Servo Motor and Step-Servo Quick Tuner Software in
an application, the following steps are necessary. See the Quick Setup Guide for brief information
on setting up and conguring the PC and drive.
• Download the Step-Servo Quick Tuner from MOONS' website.
• Install the Step-Servo Quick Tuner software application.
• Connect the drive to the PC using the programming cable. (See section 3.2.1 "Connecting to a
PC using RS-232")
• Choose the correct COM port. (See Section 3.2.2 "Choosing the Right COM Port")
• Run the software application.
• Apply power to the drive.
• The software will communicate with the drive and display the model & rmware version.
• Follow the steps in the Step-Servo Quick Tune” to set up.
2.2 Mounting the Hardware
As with any step motor, the TSM34P must be mounted so as to provide maximum heat sinking
and airow. Keep enough space around the Integrated Motor to allow for the 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.

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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 TSM34P 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 TSM34P to produce higher temperatures. Using power supplies with voltage outputs that are
near the drive’s maximum may signicantly 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 ash 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 ash 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 ashing 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

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generated. This alarm displays as a ashing LED pattern and a bit in the alarm code which can be
read by the host using the AL command.
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 Specications” 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 ashes, the clamp is not necessary.
RC880 Regen Clamp
2.3.4 Supply Current
The maximum supply currents required by the TSM34P are shown in the charts below at different
power supply voltage inputs. The TSM34P 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.
LEDs
Green- Power
Red - Regen on

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0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
TSM34□-1□G 70V Power Supply Current
Torque
Supply Current
Full Load
Supply Current
No Load
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
TSM34□-1□G 48V Power Supply Current
Torque
Supply Current
Full Load
Supply Current
No Load
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
Torque
Supply Current
Full Load
Supply Current
No Load
TSM34□-1□G 24V Power Supply Current

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TSM34□-3□G 70V Power Supply Current
0
1
2
3
4
5
6
0
1
2
3
4
5
6
7
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
Torque
Supply Current
Full Load
Supply Current
No Load
0
1
2
3
4
5
6
0
1
2
3
4
5
6
7
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
TSM34□-3□G 48V Power Supply Current
Torque
Supply Current
Full Load
Supply Current
No Load
0
1
2
3
4
5
6
0
1
2
3
4
5
6
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
TSM34□-3□G 24V Power Supply Current
Torque
Supply Current
Full Load
Supply Current
No Load

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TSM34□-5□G 70V Power Supply Current
0
1
2
3
4
5
6
0
1
2
3
4
5
6
7
8
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
Torque
Supply Current
Full Load
Supply Current
No Load
TSM34□-5□G 24V Power Supply Current
0
1
2
3
4
5
6
0
1
2
3
4
5
6
7
8
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
Torque
Supply Current
Full Load
Supply Current
No Load
TSM34□-5□G 48V Power Supply Current
0
1
2
3
4
5
6
0
1
2
3
4
5
6
7
8
0 10 20 30 40 50
Amps
Torque(N.m)
Speed(RPS)
Torque
Supply Current
Full Load
Supply Current
No Load

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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.
3.1.2 Connect Auxiliary Power Supply
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 “AUX-” 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.
RC880
TSM
V-
V+
AUX-
Vin
+
-
To Earth Ground Power Supply
24-70VDC
12-48VDC
AUX Power Supply
AUX+
V-
V+
V-
V+
Vout
+
-

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3.2 Connecting the TSM34P Communications
The TSM34P comes with a cable that will provide the interface to an RS-232 port through a DB9
style connector.
3.2.1 Connecting to a PC using RS-232
Locate the TSM34P 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 TSM34P. 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.
3.2.2 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)” 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.
GND
TXD
+5V
RXD

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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. Connect
the adapter to the PC, this USB adapter COM port should then be displayed. Choose this new
COM(n) port in the Step-Servo Quick Tuner software.
3.3 Inputs and Outputs
All TSM34P drives include 4 digital inputs and 3 digital outputs.
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

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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-

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3.3.2 X1/STEP and X2/DIR High Speed Digital Inputs
The TSM34P 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.
The functions for X1/STEP and X2/DIR can be congured by the Step-Servo Quick Tuner
software. The function are 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.
+5v - +24v out
DIR
STEP
DIR+
DIR-
STEP+
STEP-
Indexer
with
Sinking
Outputs
Connecting to Indexer with Sinking Outputs
TSM34
DIR
COM
STEP
Indexer
with
Sourcing
Outputs
DIR+
DIR-
STEP+
STEP-
Connecting to Indexer with Sourcing Outputs
TSM34
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
TSM34
A+
A-
B+
STEP+
STEP-
DIR+
DIR-
B-
Master
Encoder
Wiring for Encoder Following
TSM34

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3.3.3 X3/EN and X4/AR Digital Inputs
The TSM34 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.
The functions for X3/EN and X4/AR can be congured by the Step-Servo Quick Tuner software.
The functions are as follows:
X3/EN: Enable signal for the motor; General purpose
X4/AR: Waring and Fault Alarm reset signal; General purpose
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 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 - 24V
Power Supply
Connecting the Input to a Switch or Relay
XCOM
X3/X4
+
-
TSM34
Switch or Relay
(closed = logic low)
5 - 24V
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
TSM34
5 - 24V
Power Supply
Connecting a PNP type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
X3/X4
XCOM
+
-
+
-TSM34
PNP
Proximity
Sensor
output

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3.3.4 Y1, Y2, Y3 Programmable Outputs
The TSM34P drives feature three optically isolated digital outputs (Y1, Y2 and Y3) which share
the 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, to provide an output frequency proportional to motor
speed (tach signal), to provide a timing output (50 pulses/rev), or to indicate whether the motor
is in position (static).
These outputs can also be turned on and off by program instructions like Set Output (SO) or
through the Step-Servo Quick Tuner software. 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
Connecting a Sinking Output
Load
TSM34
5 - 24V
Power Supply
COM
IN
Y2
YCOM
PLC
Connecting a Sourcing Output
TSM34
+
-
5 - 24V
Power Supply
+
-
Driving a Relay
Y3
YCOM
relay
TSM34
5 - 24V
Power Supply 1N4935 suppresion diode

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4 Troubleshooting
4.1 Status (STAT) LED Error Codes
The TSM34P 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 the 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 ash 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.

20
Rev. 1.0
0006152016
TSM34P Hardware Manual
[phone]
5 Reference Materials
5.1 Torque Speed Curves
Note: All torque curves are at 10 amps rated continuous current.
5.2 Mechanical Outlines
B
B
37L
25
2
10
121
136.7
Ø 73
69.6
86 Max.
4-Ø6.5
69.6
86 Max.
86
13
13
Ø 14
B-B
Unit: mm
Model Length ”L” Front shaft
diameter
TSM34P-1AG 112.5
14
TSM34P-3AG 143
TSM34P-5AG 172.5
TSM34P-6AG 203
0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
0 10 20 30 40 50
24V 48V 70V
TSM34□-1□G
Torque (N·m)
Speed (rps)
0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
0 10 20 30 40 50
24V 48V 70V
TSM34□-3□G
Torque (N·m)
Speed (rps)
0
2.0
4.0
6.0
8.0
10.0
24V 48V 70V
0 10 20 30 40 50
TSM34□-5□G
Torque (N·m)
Speed (rps)
48V 70V
0
2.0
4.0
6.0
8.0
10.0
0 10 20 30 40 50
TSM34□-6□G
Torque (N·m)
Speed (rps)