TSM23Q-2RG

TSM23Q-2RG ETC2 | Alldatasheet

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Technical content

www.Applied-Motion.com TSM23Q-2RG NEMA 23 Integrated StepSERVO™ Motor w/ Q Programming & Modbus/RTU 1pc. - 514.00 50pc. - 385.50 Product Features StepSERVO™ technology featuring space vector current control NEMA 23 frame size Q programming control mode for stand-alone operation Modbus/RTU for easy PLC and HMI communication “Boost” torque of 25-50% higher than holding torque RS-485 port for programming and communications Built-in 20,000 count/rev encoder for closed-loop control Applied Motion Products, Inc. 404 Westridge Dr. Watsonville, CA 95076, USA 1-800-525-1609 Tel (831) 761-6555 Fax (831) 761- 6544

The TSM23Q-2RG integrated StepSERVO™ is a drive+motor unit, fusing a NEMA 23 step motor and a servo drive into a single device. Power to the drive, located at the rear of the motor, must be supplied by an external DC supply. See Related and Recommended Products below for compatible 24 and 48 volt DC power supplies StepSERVO technology combines the high torque capabilities of a step motor with the closed loop dynamic control of a servo system. The result is a highly customizable all-in-one motion control solution that operates quietly and efficiently, requiring only the minimum amount of current to maintain commanded position and velocity. Boost torque of 25-50% higher than the rated holding torque that is available from this integrated StepSERVO motor increases the limits of acceleration, leading to faster cycle times. With software selectable servo loops that have been pre-tuned for various inertial loads, the TSM StepSERVO can be applied in systems where a traditional stepper would not be capable of achieving the high accuracy required. The TSM23Q-2RG integrated StepSERVO can be operated in several different control modes, including Streaming Command mode using either SCL or Modbus/RTU, Pulse & Direction mode, and Velocity mode, plus it has the ability to run a Q program stored in non-volatile memory. Q programs are created using Applied Motion’s Q Programmer™ software, which provides powerful commands for motion, I/O, conditional processing, multi-tasking, math functions, and more. All TSM23 units are setup, configured and tuned using Applied Motion’s Step-Servo Quick Tuner software with built in Q Programmer. Each TSM23 integrated stepper comes with 8 digital inputs, 4 digital output, and 1 analog input. The digital inputs accept signals of 5-24 VDC and can be used for connecting pulse & direction signals, end-of-travel limit switches, jog switches, quadrature encoder signals, PLC outputs, sensors, or many other signal types. The digital outputS can be connected to PLC inputs, counters, lights, relays, or other devices. The analog input accepts 0-5 VDC signals and can be used for velocity and position control. The TSM23Q-2RG comes with an RS-485 port for programming and serial communications to allow for the use either Modbus/RTU or Applied Motion’s Streaming Command Language (SCL). An integral 5000-line (20,000 count/rev) incremental encoder is housed inside the same enclosure as the drive electronics and used for closed- loop servo control to attain highly accurate position and velocity control. Encoder counts can be accessed over the network or from within the Q program using SCL registers. What’s in the Box? TSM23Q-2RG integrated motor Mating power connector (2-pin) 3004-308-2M I/O cable (for details see Accessories below) 3004-310-1M RS-485 cable (for details see Accessories below) 3004-313-1M RS-485/CANopen cable (for details see Accessories below) Screwdriver Quick Setup Guide (also available in Downloads) NOT included: DC power supply (required), see Power Supplies below Regen clamp (optional), see Accessories below Additional accessories available below

Description

Part Number: TSM23Q-2RG Supply Voltage: 12-70 VDC Supply Voltage Type: DC Control Modes: Analog Torque / Velocity Streaming Commands Analog Positioning Encoder Following Q Programming Velocity Control Modbus Communication Ports: RS-485 Encoder Feedback: Yes Setup Method: Software setup Digital Inputs: Digital Outputs: Analog Inputs: 1 single-ended Circuit Protection: Short circuit Over-voltage Under-voltage Over-temp Status LEDs: 1 red, 1 green Frame Size: NEMA 23 Holding Torque: 142 oz-in Step Angle: 1.8 deg Rotor Inertia: 3.68E-03 oz-in-sec Length: 3.76 inches Weight: 30 oz Operating Temperature Range: 0-85 °C Ambient Temperature Range: 0-40 °C Ambient Humidity: 90% max, non-condensing Insulation Class: Class B (130 ºC) Maximum Radial Load: 17 lbs Maximum Thrust Load: 1.8 lbs Specifications

Part No. TSM23Q-2RG 1pc. $514.00 25pc. $442.04 50pc. $385.50 100pc. Request a Quote for 100+ piece pricing. Pricing Manuals: TSM23S-Q Hardware Manual_EN-AMP_11-21-14_920-0081A.pdf TSM23S-Q_Quick Set-up guide_EN-AMP10.14_920-0074A.pdf Host Command Reference Rev I.pdf ModbusManual_920-0072E.pdf Datasheet: http://s3.amazonaws.com/applied-motion-pdf/TSM23Q-2RG.pdf 2D Drawing: TSM23Q-2RG_RevA.pdf 3D Drawing: TSM23X-2XX.igs Application Notes: StepSERVO Tuning Guide_962-0002A.pdf APPN0034B-ModbusRTU-from-Proface-HMI-with-Q.zip APPN0026B-LabVIEW-communication-using-streaming-commands.zip APPN0019_Analog-positioning-using-Q-program.zip APPN0018_EZ-Series-Touchpanel-HMI.zip Software: SCL Utility Step-Servo Quick Tuner Sample Code: scldemo.zip Downloads Software

1pc. NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, EtherNet/IP, Velocity Control 142 Ethernet, EtherNet/IP Yes $575.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, EtherNet/IP, Velocity Control 212 Ethernet, EtherNet/IP Yes $585.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, EtherNet/IP, Velocity Control 340 Ethernet, EtherNet/IP Yes $595.00 NEMA 11 15-30 VDC Step & Direction, Streaming Commands, Encoder Following, Q Programming, Velocity Control, Modbus 9.2 RS-485 Yes $257.00 NEMA 11 15-30 VDC Step & Direction, Streaming Commands, Encoder Following, Q Programming, Velocity Control, Modbus 11.3 RS-485 Yes $264.00 NEMA 11 15-30 VDC Step & Direction, Streaming Commands, Encoder Following, Q Programming, Velocity Control, Modbus 17.7 RS-485 Yes $271.00 NEMA 17 12-48 VDC Q Programming, CANopen CANopen Yes $547.00 NEMA 17 12-48 VDC Q Programming, CANopen CANopen Yes $551.00 NEMA 17 12-48 VDC Q Programming, CANopen CANopen Yes $554.00 NEMA 17 12-48 VDC Step & Direction, Encoder Following RS-232 Yes $378.00 NEMA 17 12-48 VDC Step & Direction, Encoder Following RS-232 Yes $380.00 NEMA 17 12-48 VDC Step & Direction, Encoder Following RS-232 Yes $383.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-232 Yes $412.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-485 Yes $418.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-232 Yes $415.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-485 Yes $421.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-232 Yes $418.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-485 Yes $424.00 NEMA 23 12-70 VDC Q Programming, CANopen 142 CANopen Yes $562.00 NEMA 23 12-70 VDC Q Programming, CANopen 212 CANopen Yes $576.00 NEMA 23 12-70 VDC Q Programming, CANopen 340 CANopen Yes $631.00 NEMA 23 12-70 VDC Step & Direction, Encoder Following 142 RS-232 Yes $392.00 NEMA 23 12-70 VDC Step & Direction, Encoder Following 212 RS-232 Yes $403.00 NEMA 23 12-70 VDC Step & Direction, Encoder Following 340 RS-232 Yes $445.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 142 RS-232 Yes $507.00 Products in the Series StepSERVO™ Integrated Motors SSM23IP-2EG SSM23IP-3EG SSM23IP-4EG TSM11Q-1RM TSM11Q-2RM TSM11Q-3RM TSM17C-1CG TSM17C-2CG TSM17C-3CG TSM17P-1AG TSM17P-2AG TSM17P-3AG TSM17Q-1AG TSM17Q-1RG TSM17Q-2AG TSM17Q-2RG TSM17Q-3AG TSM17Q-3RG TSM23C-2CG TSM23C-3CG TSM23C-4CG TSM23P-2AG TSM23P-3AG TSM23P-4AG TSM23Q-2AG

Velocity Control, Modbus NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 142 RS-485 Yes $514.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 212 RS-232 Yes $521.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 212 RS-485 Yes $529.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 340 RS-232 Yes $576.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 340 RS-485 Yes $584.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 142 RS-232 Yes $427.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 142 RS-485 Yes $433.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 212 RS-232 Yes $439.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 212 RS-485 Yes $446.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 340 RS-232 Yes $485.00 NEMA 23 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 340 RS-485 Yes $491.00 NEMA 24 12-70 VDC Q Programming, CANopen 116 RS-232, CANopen Yes $824.00 NEMA 24 12-70 VDC Q Programming, CANopen 340 RS-232, CANopen Yes $868.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, EtherNet/IP, Velocity Control 116 Ethernet, EtherNet/IP Yes $854.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, EtherNet/IP, Velocity Control 340 Ethernet, EtherNet/IP Yes $898.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 116 RS-232 Yes $763.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control 116 Ethernet Yes $785.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 116 RS-485 Yes $774.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 340 RS-232 Yes $807.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control 340 Ethernet Yes $829.00 Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Part Number Frame Size Supply Voltage Control Modes Holding Torque Communication Ports Encoder Feedback 1pc. TSM23Q-2RG TSM23Q-3AG TSM23Q-3RG TSM23Q-4AG TSM23Q-4RG TSM23S-2AG TSM23S-2RG TSM23S-3AG TSM23S-3RG TSM23S-4AG TSM23S-4RG TXM24C-1CG TXM24C-3CG TXM24IP-1EG TXM24IP-3EG TXM24Q-1AG TXM24Q-1EG TXM24Q-1RG TXM24Q-3AG TXM24Q-3EG

Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 340 RS-485 Yes $818.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 116 RS-232 Yes $636.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 116 Ethernet Yes $658.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 116 RS-485 Yes $647.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 340 RS-232 Yes $672.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 340 Ethernet Yes $694.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Velocity Control 340 RS-485 Yes $683.00 Part Number Frame Size Supply Voltage Control Modes Holding Torque Communication Ports Encoder Feedback 1pc. TXM24Q-3RG TXM24S-1AG TXM24S-1EG TXM24S-1RG TXM24S-3AG TXM24S-3EG TXM24S-3RG

1pc. NA 24-48 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus NA RS-232 No $467.00 NA 24-48 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus NA RS-232 Yes $540.00 NA 24-48 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus NA RS-232, RS-485 No $570.00 NA 24-48 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus NA RS-232, RS-485 Yes $625.00 NA 24-80 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus NA RS-232 No $515.00 NA 24-80 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Velocity Control, Modbus NA RS-232 Yes $580.00 NA 24-80 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus NA RS-232, RS-485 No $630.00 NA 24-80 VDC Step & Direction, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus NA RS-232, RS-485 Yes $690.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-232 Yes $347.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-232 No $272.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-485 Yes $353.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-232 Yes $350.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-232 No $275.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-485 Yes $356.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-485 No $281.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-232 Yes $353.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-232 No $288.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-485 Yes $360.00 NEMA 17 12-48 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus RS-485 No $295.00 Products in the Series Modbus Products 5000-128 5000-130 5000-132 5000-134 5000-138 5000-140 5000-142 5000-144 STM17Q-1AE STM17Q-1AN STM17Q-1RE STM17Q-2AE STM17Q-2AN STM17Q-2RE STM17Q-2RN STM17Q-3AE STM17Q-3AN STM17Q-3RE STM17Q-3RN

Programming, Modbus NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus 125 RS-232 Yes $440.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus 125 RS-232 No $365.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 125 RS-485 Yes $447.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 125 RS-485 No $372.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus 210 RS-232 Yes $456.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, SiNet Hub Compatible, Modbus 210 RS-232 No $381.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 210 RS-485 Yes $463.00 NEMA 23 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 210 RS-485 No $388.00 NEMA 24 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 340 RS-232 Yes $564.00 NEMA 24 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 340 RS-232 No $489.00 NEMA 24 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 340 RS-485 Yes $572.00 NEMA 24 12-70 VDC Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 340 RS-485 No $497.00 NEMA 24 12-70 VDC Step & Direction, Analog Torque / Velocity, Velocity (Oscillator), Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Modbus 340 RS-232 Yes $772.00 NEMA 17 12-48 VDC Q Programming, CANopen CANopen Yes $547.00 NEMA 17 12-48 VDC Q Programming, CANopen CANopen Yes $551.00 NEMA 17 12-48 VDC Q Programming, CANopen CANopen Yes $554.00 NEMA 17 12-48 VDC Step & Direction, Encoder Following RS-232 Yes $378.00 NEMA 17 12-48 VDC Step & Direction, Encoder Following RS-232 Yes $380.00 NEMA 17 12-48 VDC Step & Direction, Encoder Following RS-232 Yes $383.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-232 Yes $412.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-485 Yes $418.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-232 Yes $415.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-485 Yes $421.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-232 Yes $418.00 NEMA 17 12-48 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus RS-485 Yes $424.00 Part Number Frame Size Supply Voltage Control Modes Holding Torque Communication Ports Encoder Feedback 1pc. STM23Q-2AE STM23Q-2AN STM23Q-2RE STM23Q-2RN STM23Q-3AE STM23Q-3AN STM23Q-3RE STM23Q-3RN STM24QF-3AE STM24QF-3AN STM24QF-3RE STM24QF-3RN SWM24QF-3AE TSM17C-1CG TSM17C-2CG TSM17C-3CG TSM17P-1AG TSM17P-2AG TSM17P-3AG TSM17Q-1AG TSM17Q-1RG TSM17Q-2AG TSM17Q-2RG TSM17Q-3AG TSM17Q-3RG

Q Programming, CANopen 142 CANopen Yes $562.00 NEMA 23 12-70 VDC Q Programming, CANopen 212 CANopen Yes $576.00 NEMA 23 12-70 VDC Q Programming, CANopen 340 CANopen Yes $631.00 NEMA 23 12-70 VDC Step & Direction, Encoder Following 142 RS-232 Yes $392.00 NEMA 23 12-70 VDC Step & Direction, Encoder Following 212 RS-232 Yes $403.00 NEMA 23 12-70 VDC Step & Direction, Encoder Following 340 RS-232 Yes $445.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 142 RS-232 Yes $507.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 142 RS-485 Yes $514.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 212 RS-232 Yes $521.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 212 RS-485 Yes $529.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 340 RS-232 Yes $576.00 NEMA 23 12-70 VDC Analog Torque / Velocity, Streaming Commands, Analog Positioning, Encoder Following, Q Programming, Velocity Control, Modbus 340 RS-485 Yes $584.00 Part Number Frame Size Supply Voltage Control Modes Holding Torque Communication Ports Encoder Feedback 1pc. TSM23C-2CG TSM23C-3CG TSM23C-4CG TSM23P-2AG TSM23P-3AG TSM23P-4AG TSM23Q-2AG TSM23Q-2RG TSM23Q-3AG TSM23Q-3RG TSM23Q-4AG TSM23Q-4RG