Skip to content Skip to navigation menu

NEMA 23 Integrated Step-Servo Motors

Based on the rich experience of TSM integrated step-servo, MOONS' once again successfully melt servo control technology into a stepper motor, revolutionary create a separate motor & driver package solution – SS with ultimate performance. Motor frame sizes available is Nema23. SS provides more intelligent combination of flexible, contribute to a more wider range of applications.
● Multi-axis field bus control
● Intelligent built-in controller
● Compact all-in-one solution
● Efficient, smooth, accurate, fast
● Enhanced motor, optimized design
Brand Name: MOONS'
Price: USD  392.0  -  631.0  EA

Free shipping to North America and Europe for orders of $100 or more

Payment Methods

Buyer Protection:
Free Exchange if the item has quality problems within 1 year. Learn more


The Step Servo is an innovative revolution for the world of stepping motor, it enhances the stepping motor with servo technology to create a product with exceptional feature and broad capability.TSM is MOONS’ 3rd generation integrated step-servo and compact motor+drive+encoder+controller all-in-one solution. With improved technology, TSM upgrades significant key features based on 2nd generation SSM and operates more efficiently and intelligently.


Closed Loop·Very tight position and velocity control for the most demanding applications
·Robust servo loops that tolerate wide fluctuations in load inertia and frictional loading.
·The TSM17/23/24/34 achieve precise positioning to within ±1 count (0.018°) using a high resolution (20000 counts/rev) encoder
·The TSM11 achieves precise positioning to within ±1 count (0.2°) using a high resolution (4096 counts/rev) encoder.
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.
Lower Heating/High Efficiency·Uses only the current required by the application, generating minimum heat output.
·When stand-still, current can reach nearly zero for extremely low heat output.
·Being able to use almost 100% of torque, allows for more efficient and compact motor usage.
Smooth & Accurate·Space vector current control with 5000 line high resolution encoder, gives smooth and quiet operation, especially at low speeds.
------A feature never found with traditional stepper motors
·High stiffness due to the nature of the stepper motor combined with the highly responsive servo control
------Accurate position control both while running and static positioning
Fast ResponseWhen 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.
High Torque·Because the SSM operates in full servo mode, all the available torque of the motor can be used. The motor can provide as much as 50% more torque in many applications. High torque capability often eliminates the need for gear reduction.
·Boost torque capability can provide as much as 50% more torque for short, quick moves.
Motion Monitoring·For difficult control situations where performing a precise move is necessary, the Step-Setvo Quick Tuner provide 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.
Key Enhancement based on SSM family·Up to 8 digital inputs, 4 digital outputs and 1 analog input for S/Q/C types ( TSM17/23/24/34 only )
·A/B/Z differential encoder signal output supported for P type ( TSM17/23/24/34 only )
·Automatic load inertia detection
·On board daisy chain connection for field bus control (RS-485, Modbus/RTU, CANopen, TSM17/23/24/34 only)
·On board daisy chain over Ethernet  ( TSM34 only )
·Multiple homing features for S/Q types
·Software limit for S/Q types
·Auxiliary power input for Keep Alive function (TSM34 only)

Model Numbering System

Ordering Information 

Model Torque Control I/O(*) RS-232 RS-485/422 Modbus/RTU CANopen
TSM23P-2AG 1.0N·m P 4DI,3DO,EO      
TSM23S-2AG S 8DI,4DO,1AI,EO      
TSM23Q-2AG Q    
TSM23C-2CG C 8DI,4DO,1AI    
TSM23P-3AG 1.5N·m P 4DI,3DO,EO      
TSM23S-3AG S 8DI,4DO,1AI,EO      
TSM23Q-3AG Q      
TSM23C-3CG C 8DI,4DO,1AI    
TSM23P-4AG 2.5N·m P 4DI,3DO,EO      
TSM23S-4AG S 8DI,4DO,1AI,EO      
TSM23Q-4AG Q    
TSM23C-4CG C 8DI,4DO,1AI    

Power Amplifier

Amplifier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 20 KHz
Output Torque TSM23C-2CG: Up to 1.0N•m Continuous(1.3 N•m Boost)
TSM23C-3CG: Up to 1.5N•m Continuous(2.0 N•m Boost)
Power Supply External 12 - 70 VDC power supply required
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground)


Electronic Gearing Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Encoder Resolution 20000 counts/rev
Speed Range Up to 3600rpm
Filters Digital input noise filter, Smoothing filter, PID filter, Notch filter
Non-Volatile Storage Configurations are saved in FLASH memory on-board the DSP
Modes of Operation CANopen slave node plus stored Q Program execution
Digital Inputs Digital Inputs Adjustable bandwidth digital noise rejection filter on all inputs
X1/X2/X7/X8: Optically isolated, 5-24 volt differential or single-ended input, Minimum pulse width = 100 μs, Maximum pulse frequency = 5 KHz
Function: general purpose input, or CW/CCW Limit input
X3/X4X5/X6 : Optically isolated, 5-24 volt single-ended input, Minimum pulse width = 100 μs, Maximum pulse frequeny = 5 KHz
Function: Servo on/off, Alarm/Fault Reset, or general purpose input
Digital Output Y1/Y2/Y3/Y4: Optically isolated, 30V/100mA max Open Collector Output.
Function: Alarm/Fault, In Position(dynamic/static), Brake Control, Tach out, Timing out, or
general purpose usage
CANopen & RS-232


Ambilent Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
Humdity 90% Max., non-condensing
Mass TSM23C-2CG: 850 g
TSM23C-3CG: 1200 g
Rotor Inertia TSM23C-2CG:260 g•cm2
TSM23C-3CG:460 g•cm2

Compare Item Price
Buy Now
TSM23S-2AG $427.00
TSM23S-3AG $439.00
TSM23P-2AG $392.00
TSM23P-3AG $403.00
TSM23Q-4RG $584.00
TSM23S-4RG $491.00
TSM23S-3RG $446.00
TSM23Q-3AG $521.00
TSM23Q-2AG $507.00
TSM23S-2RG $433.00
TSM23Q-2RG $514.00
TSM23Q-3RG $529.00
TSM23C-2CG $562.00
TSM23C-3CG $576.00
TSM23P-4AG $445.00
TSM23S-4AG $485.00
TSM23Q-4AG $576.00
TSM23C-4CG $631.00

Dimension (Units: mm) 

Front Shaft Diameter
* 6.35 mm diameter shaft available upon request

2D Drawings
Title Type Size(KB) Date View times Download
TSM23Q-2RG_2D Drawing.pdf PDF 47 2017-05-18 3
TSM23C-2CG_2D Drawing.pdf PDF 79 2017-05-18 2
TSM23P-3AG_2D Drawing.pdf PDF 52 2017-05-18 2
TSM23C-2CG_2D Drawing.dwg DWG 224 2017-05-18 1
TSM23Q-3RG_2D Drawing.dwg DWG 153 2017-05-18 1
TSM23P-2AG_2D Drawing.pdf PDF 52 2017-05-18 1
TSM23S-2AG_2D Drawing.dwg DWG 261 2017-05-18 1
TSM23S-2AG_2D Drawing.pdf PDF 52 2017-05-18 1
TSM23Q-2AG_2D Drawing.dwg DWG 261 2017-05-18 1
TSM23Q-2AG_2D Drawing.pdf PDF 52 2017-05-18 1
TSM23S-3AG_2D Drawing.pdf PDF 52 2017-05-18 0
TSM23S-3RG_2D Drawing.dwg DWG 251 2017-05-18 0
TSM23Q-3AG_2D Drawing.dwg DWG 261 2017-05-18 0
TSM23S-3RG_2D Drawing.pdf PDF 47 2017-05-18 0
TSM23C-3CG_2D Drawing.dwg DWG 223 2017-05-18 0
TSM23Q-3AG_2D Drawing.pdf PDF 52 2017-05-18 0
TSM23C-3CG_2D Drawing.pdf PDF 77 2017-05-18 0
TSM23P-2AG_2D Drawing.dwg DWG 159 2017-05-18 0
TSM23Q-3RG_2D Drawing.pdf PDF 47 2017-05-18 0
TSM23P-3AG_2D Drawing.dwg DWG 261 2017-05-18 0
TSM23S-2RG_2D Drawing.dwg DWG 251 2017-05-18 0
TSM23S-2RG_2D Drawing.pdf PDF 47 2017-05-18 0
TSM23S-3AG_2D Drawing.dwg DWG 261 2017-05-18 0
TSM23Q-2RG_2D Drawing.dwg DWG 153 2017-05-18 0
3D Model
Title Type Size(KB) Date View times Download
TSM23Q-3RG_3D Drawing.step STEP 3752 2017-05-18 5
TSM23Q-2AG_3D Drawing.step STEP 3845 2017-05-18 3
TSM23C-3CG_3D Model.step STEP 4818 2017-05-18 2
TSM23C-2CG_3D Drawing.step 4856 2017-05-18 1
TSM23Q-2RG_3D Drawing.step STEP 3795 2017-05-18 1
TSM23S-2AG_3D Drawing.step STEP 3845 2017-05-18 0
TSM23S-3RG_3D图纸.STEP STEP 3752 2017-12-27 0
TSM23S-2RG_3D Drawing.step STEP 3795 2017-05-18 0
TSM23S-3AG_3D Drawing.step STEP 3837 2017-05-18 0
TSM23S-3RG_3D Drawing.step STEP 3752 2017-05-18 0
TSM23P-2AG_3D Drawing.step STEP 3845 2017-05-18 0
TSM23P-3AG_3D Drawing.step STEP 3837 2017-05-18 0
TSM23Q-3AG_3D Drawing.step STEP 3837 2017-05-18 0
TSM23S-3RG_3D图纸.STEP STEP 3752 2017-12-27 0
Title Type Size(KB) Date View times Download
TSM Family Brochure.PDF PDF 1978 2018-09-05 66
User Manual
Title Type Size(KB) Date View times Download
TSM23Q/S_User Manual.pdf PDF 2692 2017-05-18 33
TSM23C_User Manual.pdf PDF 2407 2017-05-18 4
TSM23P_User Manual.pdf PDF 1942 2017-05-18 4
Title Type Size(KB) Date View times Download
Stepper Products General Catalog_20180531.pdf PDF 27992 2017-12-20 247
Title Type Size(KB) Date View times Download
TSM23 Series_CE.pdf PDF 1123 2017-05-18 0
TSM23 Series_RoHS.pdf PDF 230 2017-05-18 0
Title Type Size(KB) Date View times Download
Step-Servo Quick Tuner Setup RAR 37248 2017-06-08 54
RS485 Bus Utility Setup RAR 1898 2017-06-14 37
CANopen Test Tool Setup ZIP 5498 2017-06-14 24

Delivery & Packaging

Logistics tracking

Ensure your ordered products are always safely packaged from easy click to fast delivery to your hands

Professional Product Label

Considering all possible harsh application environments, MOONS' specially designed labels for each product, which pass water-resistance test, durability rub test, high temperature resistance and corrosion resistance tests.

Besides, our product labels are attached with QR code linking to product details, which is convenient for clients to view the detail product page with their mobile phones.

Note: This label design is suitable for products of stepper motor.

(Professional packing box and unique appearance design)

(Single item packed with EPE)

(Multi-products packed with another box)

Safely Packaging

In order to ensure your shipments withstand the long trip and arrive safely and intact, MOONS' specially designed Individual package to pass the drop test with its stable structure.
Besides,the package is made from recyclable materials, providing you with professional safety delivery.
Whether just single item or multi-products the clients buy, all products are packed twice to avoid the damage further.

Shipping Visualization

For each case, products are carefully packed by experienced warehouse staff and the key processes are recorded by photos, which are then posted on our website, so that clients could clearly know the packing process and logistics status after placing order.

(Product in the box)

(Add the invoice)

(Label the commodity)

(The logistics waybill attached)

Fast Delivery

Fast Cross-Border Delivery
MOONS' chooses DHL as our main international express shipping partner. As the world's leading logistics specialist, DHL provides our customers with fast and professional inter- national door-to-door delivery service.
Estimated Delivery Time: e.g. China-USA major cities 3 business days.

Warehouse Management

MOONS’ has an experienced warehouse management team, all products and materials are clearly classified and neatly arranged.