| TSM integrated torque servo product features | |||
| CAN communication torque servo motor features | RS-485 communication torque servo motor features | ||
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·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.
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· 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.
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| TSM42/57/60 integrated torque servo motor | |||
·NiMotion TSM integrated torque servo motor simplifies wiring and is ultra-small |
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| 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
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| 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. |
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| 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 |
Beijing NiMotion Control Technology Co.,Ltd.
Nanjing NiMotion Robotics Co.,Ltd.
