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Moons' TSM24P User Manual

Integrated step-servo motor
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TSM24P
Integrated Step-Servo Motor
User Manual
Rev. 1.0
AMP & MOONS' Automation

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Summary of Contents for Moons' TSM24P

  • Page 1 TSM24P Integrated Step-Servo Motor User Manual Rev. 1.0 AMP & MOONS’ Automation...

  • Page 2: Table Of Contents

    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...
  • Page 3 TSM24P User Manual 4.2.5 Maximum Speed ..................23 4.2.6 Maximum Acceleration ................23 4.3 Position Mode ..................24 4.3.1 Basic Configuration ................24 4.3.2 Position Control - Digital ...............25 4.3.3 I/O Definition - Digital ................26 5 Tuning - Sampling ..............27 5.1 Velocity Control Loop (V Loop) ............27 5.1.1 Gain: The Velocity Proportional Term (VP) ...........28...
  • Page 4 TSM24P User Manual 5.7.1 Setting up Auto Trigger .................38 5.8 Setting the Notch filter ..............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...

  • Page 5: Introduction

    TSM24P User Manual 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.

  • Page 6: Block Diagram

    TSM24P User Manual 1.2 Block Diagram TSM24P Block Diagram 12-70 VDC 5 Volt DC External Power Supply Power Supply 3.3VDC Voltage Internal Temp Logic RS-232 Supply Det. RS-232 MOSFET TX, RX, GND, +5V motor Power Amplifier X1/STEP X2/DIR Driver Optical...

  • Page 7: Safety Instructions

    TSM24P User Manual 1.3 Safety Instructions Only qualified personnel should transport, assemble, install, operate, or maintain this equipment. Properly qualified personnel are persons who are familiar with the transport, assembly, installation, operation, and maintenance of motors, and who meet the appropriate qualifications for their jobs.

  • Page 8: Getting Started

    2.2 Mounting the Hardware As with any step motor, the TSM24P must be mounted so as to provide maximum heat sinking and airflow. Keep enough space around the Integrated Motor to allow for airflow. •...

  • Page 9: Choosing A Power Supply

    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.

  • Page 10: Current

    TSM24P User Manual 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 amplifiers to convert a high voltage and low current into lower voltage and higher current.
  • Page 11 TSM24P User Manual TSM24P-3AG 70V Power Torque Continuous Boost Supply Current Full Load No Load Speed(RPS) Rev. 1.0 +86-400-820-9661 0012072012...

  • Page 12: Installation/Connections

    To Power Supply- Vout RC880 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.

  • Page 13: Connecting The Tsm24P Communications

    TSM24P User Manual 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.

  • Page 14: Inputs And Outputs

    TSM24P User Manual 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.
  • Page 15 TSM24P User Manual User Control Drives 1 X1/STEP+ 2 X1/STEP- 3 X2/DIR+ 4 X2/DIR- 5-24VDC 9 XCOM 0VDC 5 X3/SERVO ON 6 X4/ALARM RESET 0VDC Under 30V 17 Y1/ALARM 18 Y2/IN POSITION 19 Y3/BRAKE 20 YCOM 0VDC 23 ENC Z+...

  • Page 16: X1/Step And X2/Dir High Speed Digital Inputs

    TSM24P User Manual 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 &...

  • Page 17: X3/En And X4/Ar Digital Inputs

    TSM24P User Manual 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.

  • Page 18: Programmable Outputs

    TSM24P User Manual 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.

  • Page 19: Drive Configuration

    TSM24P User Manual 4 Drive Configuration Step-Servo Quick Tuner is the PC based software application used to configure, and perform servo tuning, drive testing and evaluation of the TSM. System servo control gains, drive functionality, and I/O configuration are set with Quick Tuner. It also contains an oscilloscope function to help set the servo control gains.

  • Page 20: Restore

    TSM24P User Manual 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 file first.

  • Page 21: Communication

    TSM24P User Manual 4.1.6 Communication When the Step-Servo Quick Tuner is connected to an TSM Integrated Motor the drive model and sub-model will cause the communications to be set to the proper type (RS-232 or RS-485). If Step-Servo Quick Tuner is unable to connect to the TSM Integrated Motor, manually selecting the communications type may help establish the connection.

  • Page 22: Basic Configuration

    For example, TSM24P can be programmed to operate at 200 steps/rev, like a full step drive. If the system is working in degrees, the drive can be programmed to operate at 36,000 steps/rev resulting in an even number of steps (100) per degree.

  • Page 23: Maximum Speed

    TSM24P User Manual The fault limit can be set as low as 10 encoder counts, or as high as 32000. During initial tuning of the system, this value should be set high so that the drive doesn’t shut down while the tuning parameters are being adjusted.

  • Page 24: Position Mode

    TSM24P User Manual 4.3 Position Mode The Position control mode is used with digital command input signal. 4.3.1 Basic Configuration This mode requires the setting of Maximum Currents, Digital Input Filter, Electronic Gearing, Positioning Error Fault, and Maximum Acceleration that will appear to the left of the Control Mode box when this option is checked.

  • Page 25: Position Control - Digital

    TSM24P User Manual 4.3.2 Position Control - Digital This mode is for systems where the position of the motor is determined by a digital input signal in the form of pulses. Digital Settings Input Noise Filter - The digital inputs used in this mode are very high speed and can be sensitive to external electrical noise.

  • Page 26: I/O Definition - Digital

    TSM24P User Manual 4.3.3 I/O Definition - Digital Options for X3/EN are: • Servo On when closed - the motor has no power when the input is open • Servo On when open - the motor has no power when the input is closed •...

  • Page 27: Tuning - Sampling

    TSM24P User Manual 5 Tuning - Sampling Being a servo motor, the TSM Integrated Motor employs sophisticated algorithms and electronics for controlling the torque, velocity and position of the motor to achieve a well behaved operation of the load. Because the motor encoder continuously tells the drive what the motor is doing, the drive can alter the current applied to the motor until the motor achieves the desired operation.

  • Page 28: Gain: The Velocity Proportional Term (Vp)

    TSM24P User Manual 5.1.1 Gain: The Velocity Proportional Term (VP) The simplest part of the Velocity Loop is the proportional, or VP, term. The drive applies current to the motor in direct proportion to the error. For example, if a motor is not moving, and the shaft is turned by hand or some other force, the drive will increase the motor current until the motor returns to “0”...

  • Page 29: Position Control Loop

    TSM24P User Manual 5.2 Position Control Loop The Position Control Loop is designed to provide the typical positioning control for a servo system. All positioning type operations use this loop including when operating in the Pulse & Direction Position Control Mode. The Position loop can also be used in the Velocity Control Mode when the Position over time control type option is selection or the Jog Mode is JM=1.

  • Page 30: Deri Filter: Torque Command Filter Term (Ke)

    TSM24P User Manual 5.2.4 Deri Filter: Torque Command Filter Term (KE) A derivative control term can be rather noisy and even though it is effective in damping the positioning control, it can cause objectionable audible or observable noise to the system. The filter is a very simple single-pole low pass filter that is used to limit this high frequency noise and make the system quieter and more stable.

  • Page 31: Getting Ready For Tuning

    TSM24P User Manual 5.4 Getting Ready for Tuning Before testing a servo-system a few more parameters need to be entered. These include the Max Speed, Acceleration and Distance (or time) requirements of the sample move. The proper profile shape of the move is needed to operate the load in the same way as what will be expected during online operation.

  • Page 32: Tuning The Velocity Loop

    TSM24P User Manual 5.5 Tuning the Velocity Loop 5.5.1 Entering a Sample Move Start by selecting the V Loop tab in the Control Loop dialog section. This will cause the Sampling to perform moves that are based on Time and operates the drive in the Speed Only Velocity mode.

  • Page 33: Adjusting Tuning Parameters

    TSM24P User Manual 5.5.3 Adjusting tuning parameters The two primary parameters for a Timed move are the Proportional (VP) & Integral (VI) gain parameters of the velocity loop. Starting with these two terms is a good way to begin tuning as they are the minimum required terms in Velocity Loop tuning.
  • Page 34 TSM24P User Manual Rev. 1.0 +86-400-820-9661 0012072012...

  • Page 35: Adding In The Ff Gain (Kk) Parameter

    TSM24P User Manual 5.5.4 Adding in the FF Gain (KK) parameter The Acceleration Feed Forward (KK) applies more current to the motor to help compensate for high inertia in the system. In a servo system more current is typically required during the acceleration and deceleration phases of the move profile.

  • Page 36: Verify The Drive Current

    TSM24P User Manual 5.5.6 Verify the Drive Current The amount of drive current can be verified at any time during the tuning process to make sure the current supplied to the motor is not being limited by the drive. If too much current is being required changes may be made to the move profile.

  • Page 37: Performing A Move

    TSM24P User Manual Sample Continuously: after the Start button is clicked, the move will be repeated and the results displayed until the Stop button is clicked. During continuous sampling the tuning gains can be changed at any time and will be updated automatically. This enables more dynamic adjustment of the gains for speeding up the tuning process.

  • Page 38: Using Auto Trigger Sampling

    TSM24P User Manual 5.7 Using Auto Trigger Sampling In cases where an external controller is used to perform move profiles, such as in the Position Control Mode using Pulse & Direction input, the Auto Trigger will allow the Sampling to collect data and display the move profile.

  • Page 39: Setting The Notch Filter

    TSM24P User Manual 5.8 Setting the Notch filter The notch filter is used when there is a specific resonate frequency present in the system and good performance requires that only the “bad” frequency be removed. Sometimes the resonate frequency is low enough that it should only be removed using the notch filter. Using the standard output filter or reducing the gain settings may compromise the system performance too much.

  • Page 40: Scl Test & Monitor

    TSM24P User Manual 6 SCL Test & Monitor 6.1 SCL Test The SCL (Serial Command Language) Test tool is used to send commands to the serial port of the connected drive. A command can be entered manually in the Command window at the bottom of the screen.

  • Page 41: Single Move

    TSM24P User Manual 6.2.2 Single Move The Single Move tool provides settings for the Command Distance, Command Speed, Acceleration, Deceleration, and Electronic Gearing for a relative or an absolute type of move. Clicking the Absolute Move button will command the drive to move the motor to the commanded position as indicated by the Command Distance setting.

  • Page 42: Monitor

    TSM24P User Manual 6.4 Monitor The Monitor tool allows the user to view five of nine different parameters at any one time. Each of the 5 dropdown lists contains the same 9 parameters that can be selected and displayed. These parameters are updated as part of the polling process and therefore the values may lag behind the actual value in the TSM.

  • Page 43: Drive Status

    TSM24P User Manual Warnings CCW Limit when the DL (Define Limits) command is configured, Input#2 has been triggered CW Limit when the DL (Define Limits) command is configured, Input#1 has been triggered Under Voltage the DC bus voltage has dropped below 10 VDC...

  • Page 44: Troubleshooting

    7 Troubleshooting LED Error Codes The TSM24P uses red and green LEDs to indicate status. When the motor is enabled, the green LED flashes slowly. When the green LED is solid, the motor is disabled. Errors are indicated by combinations of red and green flashes as shown below. This feature can be disabled for certain warnings but not for alarms.

  • Page 45: Reference Materials

    TSM24P User Manual 8 Reference Materials 8.1 Mechanical Outlines (Unit:mm) 129.15±1 60.5 Max. 47.14 4-Ø4.5 58.5 50.9 8.2 Torque-Speed Curves Note: all torque curves were measured at 20,000 steps/rev. Note: 5 amp rating is continuous, 7.5 amp rating is boost...

  • Page 46: Technical Specifications

    Amplifier Type Dual H-Bridge, 4 Quadrant Current Control 4 state PWM at 20 KHz Output Torque TSM24P-3AG: Up to 2.4N•m Continuous(3.0 N•m Boost) Power Supply External 12 - 70 VDC power supply required Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, Protection...

  • Page 47: Scl Command Reference

    In SCL mode, the TSM24P receives commands from the host, executing them immediately or sending them to a command buffer and then executing them directly from the buffer. It cannot, however, create a stored program for stand-alone operation.
  • Page 48 The SCL Utility Software Manual contains the complete command listing as well as instructions on connecting and configuring the TSM24P for use in SCL mode, using the Data Registers and the Protocol command. It also contains detailed information on:...

  • Page 49: Contacting Moons

    TSM24P User Manual 9 Contacting MOONS’ Service Center +86-400-820-9661 Headquarters No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China Tel: +86(0)21-52634688 Fax: +86(0)21-62968682 E-mail: info@moons.com.cn MOONS' Industries (America), Inc. 1113 North Prospect Avenue,Itasca, IL 60143 U.S.A.

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