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MODBUS RTU NEMA24 Integrated Stepper Motor

Multi-turn Absolute Encoder

$141.00

Type

Model No

Mounting Flange Size & Hole Spacing

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The IM24ET Series Integrated Motors represent a perfect integration of stepper drivers and stepper motors, combining the technologies of both in a single unit.

They are fully compatible with 1599-revolution mechanical absolute encoders, which not only save installation space but also streamline wiring connections.

By reducing your design and production costs, they stand as the premier choice for your stepper system solutions.

Frame Size: NEMA24
Holding Torque: 1.1–3.5 N·m
Supply Voltage: 24–60 VDC
Supported Protocols: Modbus/RTU, RS485
Built-in Programmable Multi-Turn Feedback: 1599 revolutions; supports user-defined home position with memory, no sensor required
Software Limit Function Supported: More reliable than mechanical limit switches
Closed-Loop Control: 4096-line (16384 counts) encoder feedback
Torque Modes Supported: Homing on collision, constant torque, object gripping
Input Compatibility: 5–24 VDC; Output: Open-collector (OC) output, withstanding voltage up to 30 VDC
Comprehensive Protection Features: Over-voltage, under-voltage, over-current, winding open-circuit, and position deviation protection
Non-Volatile Memory: Configuration parameters stored in the on-chip FLASH of the MCU
Wide Filter Frequency Range: 50 kHz–5 MHz adjustable, factory default at 300 kHz
User-friendly PC interface with full-featured functionality

Motor Parameters (two type flange size and hole spacing)

Model No.	Total Length L (mm)	Length L1 (mm)	Shaft Dia. (mm)	Flange Size. (mm)	Phase Current (A)	Resistance (Ω)	Inductance (mH)	Holding Torque (N.m)	Inertia (g.cm²)	Weight (g)
IM24ET22S	92.8	21	8	38.1/36	5	0.45	1.4	2.2	490	1100
IM24ET30S	109.8	21	8	38.1/36	5	0.58	2.4	3.0	690	1400
IM24ET22B	92.8	30	8	38.1/36	5	0.45	1.4	2.2	490	1100
IM24ET30B	109.9	30	8	38.1/36	5	0.58	2.4	3.0	690	1400

Flange Size: 38.1 mm; Mounting Hole Spacing: 47.14 mm, drawing as below:

Flange Size: 36 mm; Mounting Hole Spacing: 50 mm, drawing as below:

Block Diagram:

RS485 Multi-turn Absolute Encoder type Integrated Stepper Motor

Terminal Definition

Terminal	Color	Name	Description
1	Red	V	24~60VDC
2	Black	V-	GND
3	Yellow	X com	INPUT COM, compatible with NPN and PNP
4	Yel/BLK	X0	3 Programmable Inputs (Active Low) Port functions configurable via commands or host computer. Pulse Mode: X0 = Pulse, X1 = Direction
5	Blue	X1
6	Blu/BLK	X2
7	Green	Y2	Y0: Default alarm output, Normally Closed (NC), Y1: Default position reached output, Normally Closed (NC) Y2: Undefined,Users may configure or redefine the functions of the corresponding ports via commands. Y2 can be customized to input X3 upon request before delivery; it defaults to an output port.
8	Gre/BLK	Y1
9	Purple	Y0
10	Pur/BLK	Y com	OUTPUT COM, COM GND
11	Orange	485A	RS485 Communication port, default baud rate is 115200
12	Ora/BLK	485B	RS485 Communication port, default baud rate is 115200

3-channel isolated digital signal input, the function of each input channel can be configured via software or commands, with the correspondence between input signals and functions as follows:

Signal	Interface	Function
X0	X0,Xcom	• General Input (Default) • Pulse / Limit / Home / Emergency Stop / Speed Switch / Interrupt Positioning / Forward Rotation
X1	X1,Xcom	• General Input (Default) • Pulse / Direction / Limit / Home / Emergency Stop / Speed Switch / Interrupt Positioning / Reverse Rotation
X2	X2,Xcom	• General Input (Default) • Limit / Home / Emergency Stop / Speed Switch / Interrupt Positioning

XCOM is the common positive terminal for single-ended input signals and shall be connected to the positive pole of the power supply.
It only accepts sinking NPN signals.
The figure below illustrates the typical wiring configurations for the X0–X2 input ports.

3-channel isolated digital signal output, the function of each output channel can be configured via software or commands, with the correspondence between output signals and functions as follows:

Signal	Interface	Function
Y0	Y0, Ycom	• Alarm Output (Default) • Alarm / Position Reached / Running Status
Y1	Y1, Ycom	• Position Reached Output (Closed Loop Default) • Running Status Output (Open Loop Default) • Alarm / Position Reached / Running Status
Y2	Y2, Ycom	• General Purpose Output (Default) • Alarm / Position Reached / Running Status

The figure below illustrates the typical wiring configurations for the Y0–Y2 output ports.

Warning: Output terminal → DC voltage ＜ 30V, Inflow current ≤ 50mA.

CRC Check Routine (C#)

UInt16 Funct_CRC16(unsigned char * puchMsg, UInt16 DataLen)
{
  UInt16 i,j,tmp;
  UInt16 crcdata=0xFFFF;
  for(i=0;i<DataLen;i )
  {
    crcdata=(*puchMsg)^crcdata;
    puchMsg ;
    for(j=0;j<8;j )
    {
      tmp=crcdata&0x0001;
      crcdata=crcdata>>1;
      if(tmp){
        crcdata=crcdata^0xA001;
      }
    }
  }
  return crcdata;
}

RS485 Integrated Stepper Motor Commissioning and Control Software:

Modbus Poll

Adampower

Quick Start Guide – Follow the steps below:

1. Extract the zip file, open CommFile folder and Click Step-Config.exe or Adampower.exe

2. Open Project.

3. Click Browse

4. Select the Project.prj in the Project folder, in the same path as CommFile.

5. Double Click the Project.prj path

6. Right Click Modbus_485, and Click Property:

7. Click Property ComNN, Choose COM port, Baud rate and click Save and OK.


8. Start to use software control the RS485 Integrated stepper motor by below buttons: