TSM Torque servo motor



TSM60 Torque servo motor
 


  TSM integrated torque servo product features
  CAN communication torque servo motor features                            RS-485 communication torque servo motor features

  ·Isolated CAN communication (EasyCan protocol, easy, quick to get started,
    Rate 1M). Supports contour position mode and cycle synchronization mode.
   · 15-bit absolute encoder with one pulse up to 32768.
   · Multi-turn absolute value (requires battery). Pulse mode: power on again
    Move back to the power off position. Communication mode: The position can be recorded by power off.
   · Multi-stage DD motor structure, high torque output.
   · Integrated servo, simplify wiring, and ultra-small size.
   · Low noise, low vibration, high speed positioning, high reliability.
   FOC field oriented vector control with position/speed closed loop.
   · Can work in zero lag given pulse state, followed by zero lag.
   · 16-bit electronic gear function.
   · Provide serial port host computer to monitor motor status and modify parameters.
   · Position mode, support pulse + direction signal, encoder follow
   ·Speed mode, support PWM duty cycle signal speed control
   · With blocking, overcurrent protection, overvoltage protection.
  
 · 15-bit absolute encoder with one pulse up to 32768.
   · Multi-turn absolute value (requires battery). Pulse mode: power on again
    Move back to the power off position. Communication mode: The position can be recorded by power off.
   · Multi-stage DD motor structure, high torque output.
   · Integrated servo, simplify wiring, and ultra-small size.
   · Low noise, low vibration, high speed positioning, high reliability.
   FOC field oriented vector control with position/speed closed loop.
   · Can work in zero lag given pulse state, followed by zero lag.
   · 16-bit electronic gear function.
   Modbus RTU communication (19200, 8, N, 1).
   · Position mode, support pulse + direction signal
   · With blocking, overcurrent protection, overvoltage protection.

 
 
  TSM42/57/60 integrated torque servo motor
  ·NiMotion TSM integrated torque servo motor simplifies wiring and is ultra-small
  
   
 
 
  Model parameter   TSMA6020B-*-A   TSMD6020B-*-A
  power supply   Voltage   36VDC ±10%   36VDC ±10%
  Current   7A   7A
  Motor parameters   Torque   2 N.m   1 N.m
  Rated speed   1000rpm   2000rpm
  Maximum speed   1500rpm   2500rpm
  power   200W   200W
  Feedback signal   Single-turn 15-position magnetoelectric encoder (32768 pulses per turn)
  cooling method   Natural cooling
  Position control mode   Maximum input pulse frequency   500kHz
     Pulse command mode   Pulse + direction, phase A + phase B
     Electronic gear ratio   Setting range 1~65535 ratio 1~65535
    Position sampling frequency   2kHz
  Protective function    Blocking alarm
  Communication Interface   Easycan (CAN communication, rate 1M)
  Use environment   Ambient temperature   0~40℃
  Motor allows maximum temperature   85℃
  humidity   5~95℃ RH No condensation
  Note: * indicates support for CAN/CANopen bus, RS-485 communication mode
 
  CAN/RS-485 communication power supply and control signal interface
  Terminal number   name   Features
  1   +24V   DC power supply positive, +24V. If the positive and negative terminals are connected, the power supply will be directly shorted, and the drive may be damaged.
  2   GND   DC power ground. If the positive and negative terminals are connected, the power supply will be directly shorted, and the drive may be damaged.
  3   PU+(+5V)   Pulse control signal: pulse rising edge is valid; PU-high time 3.3~5V, low level 0~0.5V For reliable response pulse signal, the pulse width should be greater than 1.2μs. If you use +12V or +24V, you need a string resistor.
  4   PU-(PU)
  5   DIR+(+5V)   Direction signal; high/low level signal, in order to ensure reliable commutation of the motor, the direction signal should be established before the pulse signal for at least 5μs. DIR-high level 3.3~5V,
   0~0.5V when low level
  6   DIR-(DIR)
 
  Communication and output interface
  Terminal number: Facing the terminal, the lower row is 12345 from left to right, and the upper row is 6 7 8 9 10 from left to right.

 
  
  CAN communication and output interface
  1   CANL   Can communication port, use CAN communication to supply CAN_5V, COM power supply 5V
  2   RX   Drive serial port receiving port (TTL level)
  3   TX   Drive serial port send port (TTL level)
  4   CANH   Can communication port, use CAN communication to supply CAN_5V, COM power supply 5V
  5   GND   Serial port GND
  6   CAM   The output signal is common to the 485 power supply.
  7   WR   The alarm signal is output and the internal is the optocoupler NPN output. Normally high impedance state, and communicate with COM when alarming
  8   RDY   The servo is ready for the signal. After the servo is working normally, the optocoupler NPN outputs a turn-on signal. After the power is turned off, the battery is powered by a high-impedance state.
  9   ZO   Encoder zero output. Zero signal optocoupler NPN output turn-on signal
  10   CAN_5V   485 communication 5V power supply, external power supply is required. (This power supply is powered by the controller)
 
  RS-485 communication and output interface
  Terminal number   name   Features
  1   NC  
  2   485A   485 Communication
  3   485B    485 Negative communication
  4   NC  
  5   NC  
  6   COM   The output signal is common to the 485 power supply.
  7   WR   The alarm signal is output and the internal is the optocoupler NPN output. Normally high impedance state, and communicate with COM when alarming
  8   RDY/PF   The servo is ready for the signal/in-position signal. After power-on automatic operation, there is signal (conduction), when the following error is less than 0.5°, the signal is (conducted), the following error is greater than 0.5°, no signal (high impedance)
  9   ZO   Encoder zero output. Zero signal optocoupler NPN output turn-on signal
  10   485_5V   485 communication 5V power supply, external power supply is required. (This power supply is powered by the controller)
 
  Status indication and alarm
  After the power is turned on, the red light is green once to check if the LED is working properly. Then the green light is on and the red light is off. If an alarm condition is encountered, the cause can be judged by flashing red, or the alarm code can be read via modbus.
  
  CAN status indication and alarm
  Alarm code   Flashing red light   Alarm reason   Alarm processing
  0X14   a long flash, four short flashes   Blocking alarm   Downtime
 
  RS-485Status indication and alarm
  Alarm code   Flashing red light   Alarm reason   Alarm processing
  0X12   One long flash and two short flashes   Blocking alarm   Downtime
  0X14   a long flash, four short flashes   Blocking alarm   Downtime