Table of Contents
Advertisement
Quick Links
Keep all manuals belonging to this product during its life span. Pass all manuals to future owners and
users of this product. This English version is the original version of the product manual.
Document
HWTSD80-TSD130_0-3_HardwareManual_EP
Version
003
Source
Q:\doc\Hardware\HWTSD\TSD80-TSD130\Rev0-3\HWTSD80-TSD130_HardwareManual\
Destination
T:\doc\Hardware
Owner
up
Copyright © 2017
Triamec Motion AG
All rights reserved.
Disclaimer
This document is delivered subject to the following conditions and restrictions:
This document contains proprietary information belonging to Triamec Motion AG. Such information
is supplied solely for the purpose of assisting users of Triamec products.
The text and graphics included in this manual are for the purpose of illustration and reference only.
The specifications on which they are based are subject to change without notice.
Information in this document is subject to change without notice.
Hardware Manual
TSD80 / TSD130 Revisions 1, 2, and 3
Triamec Motion AG
Industriestrasse 49
6300 Zug / Switzerland
2019-09-23
+41 41 747 4040
Phone
info@triamec.com
Email
www.triamec.com
Web
Advertisement
Table of Contents
Related Manuals for Triamec TSD80
Summary of Contents for Triamec TSD80
- Page 1 Disclaimer This document is delivered subject to the following conditions and restrictions: This document contains proprietary information belonging to Triamec Motion AG. Such information is supplied solely for the purpose of assisting users of Triamec products. The text and graphics included in this manual are for the purpose of illustration and reference only.
-
Page 2: Table Of Contents
Contents 1 General..............................4 1.1 Target group............................4 1.2 Standards used..........................4 1.3 Abbreviations..........................5 1.4 Symbols used..........................5 2 Safety...............................6 2.1 Intended use...........................7 2.2 Prohibited use..........................7 2.3 Responsibility..........................7 2.4 CE conformance and Declaration of conformity................8 3 Ordering..............................9 3.1 Ordering guide..........................9 3.2 Accessories............................9 4 Handling..............................10 4.1 Nameplate.............................10 4.2 Transport............................10 4.3 Storage............................11... - Page 3 7.3 Overview of Drive Connections....................26 7.4 Electrical supplies..........................28 7.4.1 24V Logic supply (X2)......................28 7.4.2 DC-Bus (X1)........................29 7.5 STO (X3+X4)...........................30 7.6 Field-bus connection (X5, X6).......................31 7.7 Option Modules (X10, X11)......................32 7.8 Feedback Systems (X20, X21)......................33 7.8.1 Analog Sin/Cos Encoder with Index...................34 7.8.2 Analog Encoder with EnDat....................35 7.8.3 Encoder with EnDat 2.2.....................36 7.8.4 Incremental RS422 Encoder with Index................37...
-
Page 4: General
1 General Dear user! This manual describes the TSD80/TSD130 series of Triamec digital servo drives. In order to be able to start operation of your Triamec drive quickly without problems, we suggest you to read this manual be- fore carrying out any operation with the Triamec hardware. -
Page 5: Abbreviations
Light-emitting diode Performance Level Pulse-width modulation Safety Integrity Level Safe torque off Space vector modulation Triamec Motion AG AC voltage DC voltage Verband der Elektrotechnik, Society of German Electrical Technicians Table 2: Abbreviations 1.4 Symbols used The following table lists the symbols that are used in this manual. Each symbol belongs to its danger class with the risk which arises when not complying the safety instruction. -
Page 6: Safety
Do not touch electronic components and contacts of the drive (electrostatic discharge may de- NOTICE stroy components). Discharge your body before touching the drive. Please contact Triamec Motion AG in case of missing information or doubt regarding the instal- NOTICE lation procedures, safety or any other issue. -
Page 7: Intended Use
Power supply The drive must be connected to a compatible power supply. Possible devices are Triamec TP80 for TSD80 Drives and Triamec TP130 for TSD130 Drives. Power supply must be galvanically isolated from the supply mains. Connection to power supplies is described in chapter 7.4.2. -
Page 8: Ce Conformance And Declaration Of Conformity
The standard IEC 61800-5-2 'Safety of machines' stipulates safety requirements for electrical controls. They are intended for the safety of personnel and machinery as well as for maintaining the functional capability of the machine or plant concerned, and must be observed. The function of an emergency stop system does not necessarily cut the power supply to the drive. -
Page 9: Ordering
TOE1 choose “-E1”. Leave the dash part away for a drive without option module, e.g. “TSD80”. 3.2 Accessories Triamec Motion AG delivers some useful accessories for the drives. The table below shows the most helpful items. For more information contact Triamec Motion AG or visit the Triamec homepage using following address www.triamec.com. -
Page 10: Handling
Place the servo drive on a conductive surface. If the packaging is damaged, check the unit for visible damage. In such an event, inform the shipper and the manufacturer. TSD80, TSD130 Temperature -25°C (-13°F) and +70°C (+158+C), max. rate of change 20K / hour Humidity less than 95% at max +40°C without condensation... -
Page 11: Storage
30 minutes to the DC-Bus terminals (J1). Table 7: Conditions during Storage. 4.4 Packaging Triamec drives come in a recyclable cardboard box with the following content TSD80, TSD130 Dimensions W x D x H 343 x 228 x 58mm... -
Page 12: Maintenance, Cleaning And Repair
Triamec Motion AG. 4.7 Disposal We take old devices and accessories back for professional disposal (WEEE-2002/96/EC-Guidelines). Transport costs are the responsibility of the sender. Disassemble the equipment as described in chapter 4.5 and send it to Triamec Motion AG. HWTSD80-TSD130_0-3_HardwareManual_EP003 2019-09-23 12/45... -
Page 13: Technical Description
The Triamec digital servo drives TSD80/TSD130 series master even the most difficult motion problems: Highly dynamic positioning tasks or on the other hand very precise motion. This series is available for two field buses, Tria-Link a flexible field bus developed by Triamec, and EtherCAT, a standardized field bus. -
Page 14: Electrical Specifications
Control Application on Windows PC via TAM SDK for Microsoft® .NET Framework Control Application on Beckhoff TwinCAT PLC with CNC or NCI Control Application on Linux PC via C++ Kernel driver 5.2 Electrical Specifications 5.2.1 General TSD80 TSD130 Motor Configurations Rated Motor Voltage 80 VDC... - Page 15 TSD80 TSD130 Digital Inputs 6 Inputs per axis, isolated from the logic supply, 24V, 1200μs. Digital Outputs 2 isolated high-side switches per axis, 24V, 1A continuous, 2A peak. The common ground of both outputs is galvanically isolated from the logic supply. An external supply must be provided, which may be the logic supply.
-
Page 16: Rated Currents
All the specifications below are given for an ambient temperature ranging from +5°C (41°F) to +40°C (104°F). Switching frequency Rated output current Peak output current TSD80 50kHz 10Arms 100kHz 7.5Arms TSD130... -
Page 17: Protective Earthing Conductor Current
During braking with the aid of the motor, energy is fed back to the drive system and the voltage of the DC-Bus may increase. Using the Triamec TP80 or TP130 supports this situation with the brake resistor in the Power supply. -
Page 18: Safety Function Sto
TwinCat users: Be aware that the system level designer might have chosen to disable direct error event reporting from the triamec module to the user. It is at the system level designers responsibil - ity to propagate the plc-axis errors during commissioning in this case. -
Page 19: Safety Characteristic Data
The warning state "Not-ReadyToSwitchOn/STO-Active" is entered when STO is activated from the switched off state "ReadyToSwitchOn". This state is left without reset, if the STO is inactivated. The error state "FaultPending/STO-Active" is entered when STO is activated from the switched on state "Operational". This state is left only with a reset command. -
Page 20: Prohibited Use
There is a danger of elec- DANGER trical shock with personal injury. Table 12: Safety Information STO. 5.6 Mechanical specifications TSD80, TSD130 Weight 1370g Dimensions: W x H x D 51 x 230 x 170mm... -
Page 21: Ambient And Mounting Conditions
5.7 Ambient and mounting conditions TSD80, TSD130 Site altitude up to 1000m above sea level without restriction, higher than 1000m above sea level with reduced power 1% per 100m, max. 2500m above sea level Mounting Position Vertical or horizontal, see 6.2... -
Page 22: Mechanical Installation
6 Mechanical Installation 6.1 Safety Instructions Symbol Safety Information - There is a danger of electrical shock by high EMC level which could result in injury, if the servo amplifier (or the motor) isn't properly EMC-grounded. - During installation work strictly avoid that drill chips, screws or other foreign substances CAUTION drop into any device. -
Page 23: Guide To Mechanical Installation
M4-Screws in a distance of 220mm at the back side of the drive. The Dimensions of drive and the mounting hole positions are shown in chapter 5.6. TSD80, TSD130 Gap between drives Screws 2 x M4 or M5 Table 14: Distances of drives in cabinet. -
Page 24: Electrical Installation
7 Electrical Installation 7.1 Safety Instructions Symbol Safety Information There is a danger of electrical arcing with serious personal injury. Never connect or disconnect electri - cal connections while power of any source is on. Isolate the device from the power supply before work- ing on it. -
Page 25: Guide To Electrical Installation
7.2 Guide to electrical installation The following notes help to carry out the electrical installation. The installation procedure is described as an example. A different procedure may be appropriate or necessary, depending on the application of the equipment. Connectors and cables ... -
Page 26: Overview Of Drive Connections
DO1HS DO1LS Motor +24VDC 24VDC Ground Ground STO In1 Safety Isolation STO Ret STO In2 n.c. n.c. Supply n.c. -24V+ TPxxx DC-Bus+ DC-Bus- X5/X6 Field bus Mains Mains Fuse Switch Isolating Transformer Figure 5: Connection diagram TSD80/TSD130. HWTSD80-TSD130_0-3_HardwareManual_EP003 2019-09-23 26/45... - Page 27 The auxiliary Ethernet connector is currently unused. It is intended for future TCP/IP compatible operation of the TSD80. In/Out The USB connector (mini-B) can be connected to a Microsoft® Windows® based notebook/PC. Together with Triamec's TAM-Explorer, the drive can be monitored („observed“) at any time. X10/X11 In/Out...
-
Page 28: Electrical Supplies
7.4 Electrical supplies The power supply for the drive is separated into the supplies for logic and power sections. NOTICE The DC-Bus voltage can be switched on and off independently of the Logic Power. Standard op- erating procedure, however, is to power the logic before powering DC-Bus. 7.4.1 24V Logic supply (X2) The servo drive requires a 24VDC supply (PELV type sufficient) for its internal logic and for the... -
Page 29: Dc-Bus (X1)
Triamec power supplies TP80 and TP130. Please note if not using a Triamec power supply: The servo drives have no built in brake-resis - tor. When decelerating a mechanical load, currents can get negative, refer to chapter 5.4. -
Page 30: Sto (X3+X4)
7.5 STO (X3+X4) The STO connector X4 is found at the top side of the drive. The cable must be shorter than 20m. Use shielded cables if longer than 0.5m. Figure 11: STO connectors (X3+X4). Pin Layout X3 Name Description internal STO 24 V 24 V for X4, if STO is not used (connect to Pin 1 and 3 of X4) internal STO GND... -
Page 31: Field-Bus Connection (X5, X6)
Beckhoff Automation and is now managed by the EtherCAT Technology Group (ETG). The drive must be connected to the EtherCAT PCI-Adapter card and the other Triamec devices in a chain topology starting with the Adapter card. The jacks (X5(Line In), X6(Line Out)) are not equivalent, the control flow has to be regarded. -
Page 32: Option Modules (X10, X11)
7.7 Option Modules (X10, X11) Two option module connectors access extended functions, if the corresponding option module is installed. Installation has to be done during production. Cur- rently available functions are TOE1 An additional encoder input with the same specification as the built-in encoder (500kHz) ... -
Page 33: Feedback Systems (X20, X21)
7.8 Feedback Systems (X20, X21) Two encoder connectors are available by default (two more are available with option modules). They are located at the front side of the drive. X20 feeds axis 0. X21 feeds axis 1. Each connector supports various encoder types/protocols and some optional TTL inputs. -
Page 34: Analog Sin/Cos Encoder With Index
7.8.1 Analog Sin/Cos Encoder with Index Analog (Sin/Cos) encoder with index channel. Pin Layout X20/X21 Name Encoder +5VDC Encoder Supply 15-pin female ChA+ Channel A positive, Cosine 1Vpp D-Sub socket ChB+ Channel B positive, Sine 1Vpp ChZ+ Index channel positive, RS-422 input n.c. -
Page 35: Analog Encoder With Endat
7.8.2 Analog Encoder with EnDat Single-turn or Multi-turn analog (Sin/Cos) encoder with EnDat 2.1/2.2 in- terface. This encoder type is operated as analog Sin/Cos encoder. The ab- solute position (and some additional information) will be read within the digital serial interface using the EnDat2.1/2.2 protocol. RS422 index channel is not available in this configuration. -
Page 36: Encoder With Endat 2.2
7.8.3 Encoder with EnDat 2.2 Single-turn or Multi-turn Encoder with EnDat 2.1/2.2 interface without Analog sin/cos signals (Endat 2.2). Digital position information is transmit- ted at every position controller cycle digitally coded to the position con- troller. This encoder mode is usually not recommended and is NOTICE supported yet with the Beckhoff-TwinCAT interface. -
Page 37: Incremental Rs422 Encoder With Index
7.8.4 Incremental RS422 Encoder with Index Connecting an incremental encoder with index channel. Pin Layout X20/X21 Name Encoder +5VDC Encoder Supply 15-pin female ChA+ Channel A positive, RS-422 input D-Sub socket ChB+ Channel B positive, RS-422 input ChZ+ Index channel positive, RS-422 input n.c. -
Page 38: Incremental Ttl Encoder With Index
7.8.5 Incremental TTL Encoder with Index Connecting an incremental TTL encoder with index channel via EncIn0 and EncIn1. The source for position latch during homing can be cho- NOTICE sen between ChZ (RS-422) or EncIo2/3 in the software. Pin Layout X20/X21 Name Encoder +5VDC... -
Page 39: Digital Inputs And Outputs (X30+X31)
7.9 Digital inputs and outputs (X30+X31) The digital inputs and outputs are available at the front side of the drive. All inputs and outputs are galvanic isolated from the logic supply. The connectors X30 and X31 are not galvanically isolated to each other. X30 is assigned to axis 0, X31 to axis 1. -
Page 40: Digital Outputs
7.9.2 Digital Outputs The table below describes the pin out of the output pins, see chapter 5.2.1 for detailed specification of the output channels. The digital outputs are high-side switches and require an external supply between pin1 and pin2 for operation. The next chapter shows an example wiring for a motor-holding brake. Pin Layout X30/X31 Name Description... -
Page 41: Motor Connection (X40+X41)
7.10 Motor connection (X40+X41) This connector feeds the motor windings and an external temperature sensor. 7.10.1 Motor Power Connection The drive supports different motor configurations. All motor configurations use connectors at the bottom side of the drive. X40 is for axis 0 and X41 is for axis 1. The motor cable must be shielded. - Page 42 2-Phase AC Motor connection X40, X41 Figure 25: 2-phase motor connection. Pin Layout X40/X41 Name Description Maximum Current Cross-Section of Wire Protective earth Same or larger than UVW Motor phase P1 voltage 1.5mm min, 2.5mm 15 Arms Motor phase P voltage 1.5mm min, 2.5mm 15 Arms...
-
Page 43: Motor Temperature
7.10.2 Motor temperature A resistive motor temperature sensor which measures the temperature of the motor windings may be connected to X40 and X41, see chapter 5.2.1 for supported types and ranges. Use X40 for axis 0 and X41 for axis 1. Figure 27: Motor temperature connector. -
Page 44: Commissioning And Diagnostics
8 Commissioning and Diagnostics The following utilities are available for commissioning The TAM System Explorer software which is used for all commissioning and analysis work flows The setup guide [2]. The Beckhoff TwinCat Interfaces for Tria-Link drives ([3]) and for EtherCAT drives ([4]). Immediate state information is available through five bi-colored LEDs on the front side. -
Page 45: Appendix
All Triamec Motion AG products are warranted for a period of 12 months from the time of installa- tion, or 18 months from time of shipment, whichever comes first. No other warranties, expressed or implied –...
Need help?
Do you have a question about the TSD80 and is the answer not in the manual?
Questions and answers