TSM. Step-Servo. Integrated

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1 TSM Integrated sed o l C p Loo Multi-axis field bus control Intelligent built-in controller Compact all-in-one solution Efficient, smooth, accurate & fast Enhanced motor optimized design Compliant

Features The is an innovative revolution for the world of motion control; it enhances the

3rd Party Control IDn ID ID Muti-Axis Network V Analog Velocity Analog Position Ain

position and velocity control for the most demanding applications.

Precise positioning to within ± count (.8 ) using high resolution (, counts/rev) encoder.

Low Heating/High Efficiency Feedback Uses only the current required by the application,

When at stand-still, the current can reach nearly zero for extremely low heat output.

Heat Loss energy Power Output 3% Heat Loss energy Power Output 8% Stepper TSM Smooth &

2 Features The is an innovative revolution for the world of motion control; it enhances the stepper motors with servo technology to create a product with exceptional features and broad capabilities. TSM is Applied Motion Products' integrated compact motor+drive+encoder+controller all-in-one solution. Multi-functional Capability RS-48 UP TO 3 AXES UP TO 7 AXES Pulse&Dir CW/CCW Pulse Control 3rd Party Control IDn ID ID Muti-Axis Network V Analog Velocity Analog Position Ain Downloading Analog Control Motion Program Stand Alone Operation Closed Loop High accuracy position and velocity control for the most demanding applications. Robust servo loops that tolerate wide fluctuation in load inertia and frictional loading. Precise positioning to within ± count (.8 ) using high resolution (, counts/rev) encoder. Motion Command Servo Controller Velocity Amplifier Closed Loop Torque Position Motor Encoder Low Heating/High Efficiency Feedback Uses only the current required by the application, generating minimum heat output. When at stand-still, the current can reach nearly zero for extremely low heat output. Being able to use all available torque allows for more efficient and compact motor usage. Heat Loss energy Power Output 3% Heat Loss energy Power Output 8% Stepper TSM Smooth & Accurate Space vector current control with line high resolution encoder gives smooth and quiet operation, especially at low speeds A feature never found with traditional stepping motors High stiffness due to the nature of the stepping motor combined with the highly responsive servo control Accurate position control both while running and static positioning Stepper TSM ± Count Error ( counts/rev)

Features Fast Response Distance Step Typical Application for Servo When performing fast point-to-point moves, the high torque output and advanced servo control provides a very responsive system far

3 Features Fast Response Distance Step Typical Application for Servo When performing fast point-to-point moves, the high torque output and advanced servo control provides a very responsive system far exceeding what can be done with a conventional stepper system. Velocity High Torque Because the TSM operates in full servo mode, all the available torque of the motor can be used. The motor can provide as much as % more torque in many applications. High torque capability often eliminates the need for gear reduction. % Boost Boost torque capability can provide as much as % more torque for short, quick moves. 7% % Motion Monitoring Stepper Rated Torque TSM For difficult control situations where performing a precise move is necessary, the Quick Tuner provides an easy to use interface for performing and monitoring the motion profile. Many common parameters such as Actual Speed or Position Error can be monitored to evaluate system performance. The monitoring is interactive with the servo tuning capability so that optimum performance can be achieved. Easy Tuning : : : Pre-defined tuning parameters for maximum control performance and stability. Easy selection list provides the level of control desired. In most cases NO extra manual tuning is required. Load Inertia Key Enhancements Based on the SSM Family Up to 8 digital inputs, 4 digital outputs and analog inputs for S/Q/C type A/B/Z differential encoder signal output supported for P type Automatic load inertia detection On board daisy chain connection for field bus control(rs-48, Modbus/RTU, CANopen) Multiple homing features for S/Q type Software limit for S/Q type Built-in position table up to 63 points for S type 3

Software Quick Tuner Features Friendly interface Easy setup in just three steps Drive setup and configuration

help Built-in Q Programming Features Single-axis motion control Stored program execution Multi-tasking

Utility Features Stream SCL commands from the command line Simple interface with powerful capability Easy setup

Useful motion parameters Write and save SCL command scripts Integrated online help Supports all RS-48 drives

performance CAN bus monitor and log history function Kvaser/PEAK/ZLG adapter support FREE DOWNLOAD Our software

4 Software Quick Tuner Features Friendly interface Easy setup in just three steps Drive setup and configuration Servo tuning and sampling Motion testing and monitoring Write and save SCL command scripts Integrated online help Built-in Q Programming Features Single-axis motion control Stored program execution Multi-tasking Conditional processing Math functions Data registers Motion profile simulation Integrated online help RS48 Bus Utility Features Stream SCL commands from the command line Simple interface with powerful capability Easy setup with RS-48 for 3 axis network motion control Monitoring status of I/O, drive, alarm and the other parameters Useful motion parameters Write and save SCL command scripts Integrated online help Supports all RS-48 drives CANopen Test Tool Features Friendly User Interface Multiple operation mode support Multi-thread, high performance CAN bus monitor and log history function Kvaser/PEAK/ZLG adapter support FREE DOWNLOAD Our software and user manual can be downloaded from our website: All software applications run on Windows 7 or 8, Vista, XP, 3-bit or 64-bit 4

System Configuration -P Pulse Input Type Controlled via pulse generator, indexer or motion controller.

Communication Cable P/N: 34-94 I/O Cable( meters) P/N: 34-38 (unshielded) P/N: 34-39 (shielded) PC/Configuration PLC Motion control card Pulse generator Supply

Configuration Controlled via pulse signals, analog signal or Applied Motion Products SCL streaming serial commands.

serial port Pulse control Analog control Host real time control using SCL via RS-3/RS-48 Up to 3 axes per channel for RS-48 Position Table (up to 63 points selected

5 System Configuration -P Pulse Input Type Controlled via pulse generator, indexer or motion controller. Main Features Accepts three types of pulse signal input as Pulse&Direction, CW/CCW and Encoder signal output, A/B/Z differential USB-RS3 Converter P/N: 34-3 RS3 Communication Cable P/N: I/O Cable( meters) P/N: (unshielded) P/N: (shielded) PC/Configuration PLC Motion control card Pulse generator Supply Voltage TSM7P: - 48VDC TSM3P: - 7VDC AC Source Regeneration Clamp DC Power Supply P/N: RC88 W P/N PSA4 3W P/N PS3A48 -S Basic Type with Serial Communication Configuration Controlled via pulse signals, analog signal or Applied Motion Products SCL streaming serial commands. PC Main Features USB-RS3 Converter P/N: 34-3 USB-RS48 Converter P/N: 8-3 Serial realtime control Applied Motion Products SCL Motion Control Host controller with serial port Pulse control Analog control Host real time control using SCL via RS-3/RS-48 Up to 3 axes per channel for RS-48 Position Table (up to 63 points selected by digital inputs) *RS48 Version connect to another RS-48 device or terminal resistor I/O Cable ( meters) P/N34-38 (unshielded) P/N: (shielded) PLC,Sensor,I/O Supply Voltage TSM7S: - 48VDC TSM3S: - 7VDC AC Source Regeneration Clamp DC Power Supply P/N: RC88 W P/N: PSA4 3W P/N: PS3A48

Main Features Stand-alone operation plus Serial host control Math operations USB-RS3 Converter P/N: 34-3 USB-RS48 Communication cable P/N: 8-3 Modbus/RTU Host Controller DownLoad Q program Serial

6 System configuration Configuration -Q Built-in Programmable Motion Controller (Includes Modbus/RTU Type) Run stand-alone, stored programs. Commands for controlling motion, inputs & outputs, drive configuration and status, as well as math operations, register manipulation, and multi-tasking. Main Features Stand-alone operation plus Serial host control Math operations USB-RS3 Converter P/N: 34-3 USB-RS48 Communication cable P/N: 8-3 Modbus/RTU Host Controller DownLoad Q program Serial real time control (when needed) PC Host controller with serial port Register manipulation Multi-tasking With all features in S type *RS48 Version connect to another RS-48 device or terminal resistor Modbus/RTU network, up to 3 axes per channel I/O Cable ( meters) P/N: (unshielded) P/N: (shielded) PLC,Sensor,I/O Supply Voltage TSM7Q: - 48VDC TSM3Q: - 7VDC AC Source Regeneration Clamp DC Power Supply P/N: RC88 W P/N: PSA4 3W P/N: PS3A48 P/N: RC88 W P/N: PSA4 3W P/N: PS3A48 AC Source -CANopen Type Operates on a CANopen communication network and conforms to CiA3 and CiA4. It supports runing stored Q programs via Applied Motion Products-specific CANopen objects. Regeneration Clamp DC Power Supply Main Features Supply Voltage TSM7C: - 48VDC TSM3C: - 7VDC TSM4C: - 7VDC CANopen network Up to 7 axes per channel Objects for Q programming I/O Cable ( meters) P/N: (unshielded) P/N: (shielded) PLC,Sensor,I/O Connect to another CANopen slave node or terminal resistor USB-CAN Converter P/N: MS-USB-CAN Couverter DownLoad Q program via RS-3 CiA3 CiA4 CANopen PCMaster 6

7 Specifications Frame size 4mm Pulse input type TSM7P-AG TSM7P-AG TSM7P-3AG Model Basic type TSM7S- G TSM7S- G TSM7S-3 G Q program type (Includes Modbus/RTU type) TSM7Q- G TSM7Q- G TSM7Q-3 G CANopen type TSM7C-CG TSM7C-CG TSM7C-3CG Holding Torque N m.8.4. Rotor Inertia g cm Supply Voltage VDC -48 Encoder Resolution counts/rev Maximum Speed RPM Mass g Enter A(RS3) or R(RS48) in the box( ) within the model name Torque Curves TSM7 - G Boost V 4V 48V V 4V 48V TSM7 - G Boost V 4V 48V V 4V 48V TSM7-3 G Boost V 4V 48V V 4V 48V Torque(N m).3.. Torque(N m) Torque(N m) Speed(rps) 3 4 Speed(rps) 3 4 Speed(rps) Electrical Specifications Pulse input type TSM7P- AG Basic type TSM7S- G Q program type TSM7Q- G CANopen type TSM7C- CG Control Command Pulse input Pulse input Analog signal Position table SCL Pulse input Analog signal SCL Q Program Modbus/RTU Q program CANopen Pulse signal type Pulse+Direction CW/CCW Pulse Pulse+Direction CW/CCW Pulse Pulse+Direction CW/CCW Pulse - Maximum Input Pulse Frequency MHz, Minimum Pulse Width=ns MHz, Minimum Pulse Width=ns MHz, Minimum Pulse Width=ns Digital Input Digital Output Analog Input - - Encoder Output Digital Input Specification Digital Onput Specification Analog Input Specification Supply Voltage Protection, counts/rev A/B/Z Differential Optical Isolated -4VDC Optical Isolated 3VDC/mA AIN referenced to GND, Range VDC, Resolution:bits -48VDC Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground) Comunication RS-3 RS-3 or RS-48 RS-3 or RS-48 RS-3&CANopen Protocol - SCL Modbus/RTU or SCL CANopen Enter motor length,,3 in the box( ) within the model name Enter A(RS3) or R(RS48) in the box( ) within the model name 7

8 Specifications Frame size 6mm Pulse input type TSM3P-AG TSM3P-3AG TSM3P-4AG Model Basic type TSM3S- G TSM3S-3 G TSM3S-4 G Q program type (Includes Modbus/RTU type) TSM3Q- G TSM3Q-3 G TSM3Q-4 G CANopen type TSM3C-CG TSM3C-3CG TSM3C-4CG Holding Torque N m...4 Rotor Inertia g cm Supply Voltage VDC -7 Encoder Resolution counts/rev Maximum Speed RPM Mass g 8 4 Enter A(RS3) or R(RS48) in the box( ) within the model name Torque Curves. TSM3 - G Boost 4V 48V 7V 4V 48V 7V. TSM3-3 G Boost 4V 48V 7V 4V 48V 7V 3. TSM3-4 G Boost 4V 48V 7V 4V 48V 7V. 3. Torque(N m) Torque(N m).. Torque(N m) Speed(rps) 3 4 Speed(rps) 3 4 Speed(rps) Electrical Specifications Pulse input type TSM3P- AG Basic type TSM3S- G Q program type TSM3Q- G CANopen type TSM3C- CG Control Command Pulse input Pulse input Analog signal Position table SCL Pulse input Analog signal SCL Q Program Modbus/RTU Q program CANopen Pulse signal type Pulse+Direction CW/CCW Pulse Pulse+Direction CW/CCW Pulse Pulse+Direction CW/CCW Pulse - Maximum Input Pulse Frequency MHz, Minimum Pulse Width=ns MHz, Minimum Pulse Width=ns MHz, Minimum Pulse Width=ns - Digital Input Digital Output Analog Input - Encoder Output, counts/rev A/B/Z Differential, counts/rev A/B/Z Differential, counts/rev A/B/Z Differential - Digital Input Specification Digital Onput Specification Analog Input Specification Supply Voltage Protection Optical Isolated -4VDC Optical Isolated 3VDC/mA AIN referenced to GND, Range VDC, Resolution: bits -7VDC Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground) Comunication RS-3 RS-3 or RS-48 RS-3 or RS-48 RS-3&CANopen Protocol - SCL Modbus/RTU or SCL CANopen Enter motor length,3 or 4 in the box( ) within the model name Enter A(RS3) or R(RS48) in the box( ) within the model name 8

9 Specifications RS48 or Modbus/RTU Specifications CANopen Specifications Interface RS48 or Modbus/RTU Interface CANopen CiA3 CiA4 Baud Rate(bps) 96/9/384/76/ Bit Rate(bps) M/8K/K/K/K/K/K/.K Maximum Distance Due to transmission baud rate Maximum Distance Due to transmission bit rate Maximum Connections 3 axes per channel Maximum Slave Nodes 7 axes per channel Communication Cable Twisted Shielded Cable Communication Cable Twisted Shielded Cable Address Setting Via Quick Tuner General Specifications Node ID Setting On Board Rotary Switch: Lower 4 bits H-FH Quick Tuner: Upper 3 bits H-7FH TSM Integrated Insulation Class Class B(3 o C) Insulation Resistance Dielectric Strength Operating Environment Degree of Protection Ambient Temperature Ambient Humidity Atmosphere MΩ/DCV VAC minute ~+4 o C(non-freezing) 9% or less(non-condensing) No corrosive gases, dust, water or oil IP Permissible Overhung Load and Permissible Thrust Load (Unit:N) Frame Size 4mm Model TSM7 - G TSM7 - G TSM7-3 G TSM3 - G Permissible Overhung Load Distance(L) from Shaft End(mm) Permissible Thrust Load Less than the motor mass Thrust Load Overhung Load 6mm TSM3-3 G TSM3-4 G L± L 4-M3 深 Max. 3 Dimensions (Unit:mm) 6 Ø6 Ø Max. TSM7 Model L M TSM3. Flat TSM7 - G TSM7 - G 7 3. TSM7-3 G L± 4-M3 Depth Max Ø6 Ø Max. 74 Model L M TSM3 - G M TSM3-3 G TSM3-4 G L± Max Ø. 7 Ø8 Ø Max.. Flat Flat M 43. M.9 * mm diameter shaft L± available per 4 request. 6.4 Max. * 6.3 mm diameter shaft available per request Ø Ø8 Ø Max. 9.± 4 6. Max Ø Flat 9 77 Ø Ø Max. M Flat ± 4 6. Max Ø Ø Ø Max. 9. at

Accessories Optional Accessories P/N Catagory Technical Specification PSA4 Switching power supplier W, 4V PS3A48 Switching power supplier 3W, 48V RC88 Regenaration Clamp 8VDC Max.

Daisy Chain 34-3- M Cable CANopen Daisy Chain * stands for length, unit:cm, ex.

MAX 8 99 7 4-M4 L=4mm Air flow direction 4-M4 L=4mm FAN 4MAX V ADJ.

Regeneration occurs when the kinetic energy of the motor and load is transferred back to the power supply during deceleration.

10 Accessories Optional Accessories P/N Catagory Technical Specification PSA4 Switching power supplier W, 4V PS3A48 Switching power supplier 3W, 48V RC88 Regenaration Clamp 8VDC Max. W 34-3 USB Converter USB-RS3 8-3 USB Converter USB-RS M Cable I/O cable,unshielded M Cable I/O cable,shielded Cable RS3 communication cable M Cable RS48 Daisy Chain M Cable CANopen Daisy Chain * stands for length, unit:cm, ex.m stands for meter Switching Power Supplies Applied Motion Products recommends the following switching power supplies P/N:PSA4 W, 4VDC P/N:PS3A48 3W, 48VDC.MAX M4 L=4mm Air flow direction 4-M4 L=4mm FAN 4MAX V ADJ. C N3 4 8 Regeneration Clamp P/N: RC88 When using a regulated power supply you may encounter a problem with regeneration. Regeneration occurs when the kinetic energy of the motor and load is transferred back to the power supply during deceleration. This can trip the overvoltage protection of a switching power supply, causing it to shut down. Applied Motion Products offers the RC88 regeneration clamp to solve this problem. If in doubt, use an RC88 for your first installation. If the regen LED on the RC88 never flashes, you don t need the clamp MAX LE D V ADJ. C N LE D 3-M4 L=4mm M4 L=4mm USB Converter Model: 34-3 Description: USB-RS3 converter Model: 8-3 Description: USB-RS48 converter

11 ± J DGND TX VCC RX DB/9P Female Connector(JST) Housing: ZER--S Crimp: SZE-T-P.3 TSM Integrated Accessories General Purpose I/O Cable (unshielded) Housing:PUDP-8V-S(JST) Crimp:SPUD-T-P.(JST) P/N M M M Length m m m 7 8 L± Pin No. Assignment Description Color Pin No. Assignment Description Color X+ BLU X8+ GRN High Speed Digital Input X8 Digital Input X- BLU/WHT 6 X8- GRN/WHT 3 X+ YEL 7 Y Y Digital Input BLU High Speed Digital Input 4 X- YEL/WHT 8 Y Y Digital Input YEL X3 X3 Digital Input GRN 9 Y3 Y3 Digital Input BRN 6 X4 X4 Digital Input ORG YCOM Y Output COM BLK 7 X X Digital Input GRY Y4+ RED Y4 Digital COM 8 X6 X6 Digital Input PPL Y4- RED/WHT 9 XCOM X Digital Input COM WHT 3 Z+ Encoder Output Z BLK +V +V Analog Voltage RED 4 Z- (if applicable) BLK/WHT AIN Analog Input BLU B+ Encoder Output B GRN GND Analog Input Ground BLK 6 B- (if applicable) GRN/WHT 3 X7+ ORG 7 A+ Encoder Output A ORG X7 Digital Input 4 X7- ORG/WHT 8 A- (if applicable) ORG/WHT General Purpose I/O Cable (shielded) Housing:PUDP-8V-S(JST) Crimp:SPUD-T-P.(JST) UL464 AMG4 Pair P/N M M M Length m m m 7 8 3±3 ±3 ± Pin No. Assignment Description Color Pin No. Assignment Description Color X+ BLK NC High Speed Digital Input X- RED 6 NC 3 X+ BLK 7 Y Y Digital Output BLK High Speed Digital Input 4 X- WHT 8 Y Y Digital Output BRN X3 X3 Digital Input BLK 9 Y3 Y3 Digital Output BLK 6 X4 X4 Digital Input GRN YCOM Y Output COM ORG 7 NC NC 8 NC NC 9 XCOM X Input COM BLK 3 Z+ Encoder Output Z RED +V +V Analog Voltage BLU 4 Z- (if applicable) WHT AIN Analog Input BLK B+ Encoder Output B RED GND Analog Input Ground YEL 6 B- (if applicable) GRN 3 NC 7 A+ Encoder Output A RED 4 NC 8 A- (If applicable) BLU RS48 Daisy Chain Communication Cable P/N Length M.m 34-3-M m M 3m 34-3-M m CANopen Daisy Chain Communication Cable P/N Length M.m 34-3-M m M 3m 34-3-M m Housing: ZER-V-S(JST) Crimp: SZE-T-P.3(JST) Housing: ZER-V-S(JST) Crimp: SZE-T-P.3(JST) Housing: ZER-V-S(JST) Crimp: SZE-T-P.3(JST) Housing: ZER-V-S(JST) Crimp: SZE-T-P.3(JST) J J J J L± L± RS3 Communication Cable (P/S/Q Type) P/N Length m RS3 Communication Cable (C Type) P/N Length m B 9 B J 6 DB/9PFemale ± A Connector(JST) Housing:ZER-4-S Crimp:SZE-T-P A B J J

Numbering System TSM Series TSM 7 S- A G Frame Size 7,3,4 Control Mode P=Pulse Type S=Basic Type Q=Q Program Type (Modbus/RTU Type) C=CANopen Type Motor Size = Stack = Stack 3 = 3 Stack Feedback

TSM3P-AG P 4DI,3DO,EO TSM7S-AG S 8DI,4DO,AI TSM7S-RG.8N m TSM7Q-AG Q 8DI,4DO,AI TSM7Q-RG TSM7C-CG C 8DI,4DO,AI TSM3S-AG S TSM3S-RG 8DI,4DO.

4N m TSM7Q-AG Q 8DI,4DO,AI TSM7Q-RG TSM7C-CG C 8DI,4DO,AI TSM3S-3AG S TSM3S-3RG 8DI,4DO.

12 Numbering System TSM Series TSM 7 S- A G Frame Size 7,3,4 Control Mode P=Pulse Type S=Basic Type Q=Q Program Type (Modbus/RTU Type) C=CANopen Type Motor Size = Stack = Stack 3 = 3 Stack Feedback G=-line encoder Communication A=RS-3 R=RS-48 C=CANopen Model Torque Control I/O(*) RS-3 RS-48 Modbus/RTU CANopen Model Torque Control I/O(*) RS-3 RS-48 Modbus/RTU CANopen TSM7P-AG P 4DI,3DO,EO TSM3P-AG P 4DI,3DO,EO TSM7S-AG S 8DI,4DO,AI TSM7S-RG.8N m TSM7Q-AG Q 8DI,4DO,AI TSM7Q-RG TSM7C-CG C 8DI,4DO,AI TSM3S-AG S TSM3S-RG 8DI,4DO.N m TSM3Q-AG AI,EO Q TSM3Q-RG TSM3C-CG C 8DI,4DO,AI TSM7P-AG P 4DI,3DO,EO TSM3P-3AG P 4DI,3DO,EO TSM7S-AG S 8DI,4DO,AI TSM7S-RG.4N m TSM7Q-AG Q 8DI,4DO,AI TSM7Q-RG TSM7C-CG C 8DI,4DO,AI TSM3S-3AG S TSM3S-3RG 8DI,4DO.N m TSM3Q-3AG AI,EO Q TSM3Q-3RG TSM3C-3CG C 8DI,4DO,AI TSM7P-3AG P 4DI,3DO,EO TSM3P-4AG P 4DI,3DO,EO TSM7S-3AG S 8DI,4DO,AI TSM7S-3RG.N m TSM7Q-3AG Q 8DI,4DO,AI TSM7Q-3RG TSM7C-3CG C 8DI,4DO,AI TSM3S-4AG S TSM3S-4RG 8DI,4DO.4N m TSM3Q-4AG AI,EO Q TSM3Q-4RG TSM3C-4CG C 8DI,4DO,AI * DI: Digital Input; DO: Digital Output; EO: Encoder Output; AI: Analog Input 44 Westridge Dr. Watsonville, CA 976, USA Tel (83) 76-6 Fax (83) Distributed by: The model names, specifications, appearances and other details of products featured in this brochure are subject to change without notice for purposes of improvement. Please check with our sales office to confirm that the stated information is valid before you examine or order any product featured in the brochure. 9-7A

TSM. Step-Servo. Integrated

TSM. Step-Servo. Integrated TSM Integrated New 3 rd Generation Muti-axis field bus control Intelligent built-in controller Compact all-in-one solution Efficient smooth accurate fast Enhanced motor optimized design Closed Loop Compliant