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This user guide describes how to set up the TSD and TSP servo drive series.
Table of Contents
Document
ServoDrive-SetupGuide_EP
Version
018, 2022-08-25
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Q:\doc\Drive-Setup-Guide\
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T:\doc\
Owner
dg
Servo Drive Setup Guide
TSD and TSP Series
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www.triamec.com
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Table of Contents
Related Manuals for Triamec TSD Series
Summary of Contents for Triamec TSD Series
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Page 1: Table Of Contents
5.5 Verification of the Setup 3.1 Topology Tree 3.2 Axis Monitor 6 Advanced Topics 3.3 Scope 6.1 Commutation with Absolute Encoders 73 3.4 Triamec Workspace 3.5 TAM Configuration 7 Tria-Link Observer 3.6 Firmware Update 7.1 USB Observer 3.7 Working with Tama Programs 8 Flow Charts 3.8 Global Keys... -
Page 2: Abbreviations
Abbreviations Alternating Current Direct Current Human-Machine Interface Light Emitting Diode Personal Computer Safe Torque Off Triamec Advanced Motion TAM API TAM Application Programming Interface ServoDrive-SetupGuide_EP018 2022-08-25... -
Page 3: Introduction
Chapter 6 handles several advanced topics and chapter 7 ex- plains the Tria-Link observer. To control Triamec drives with Beckhoff TwinCAT, first setup the drives as described in this document. Then proceed to document [2] for a Tria-Link setup, or [3] for an EtherCAT setup. -
Page 4: Hardware And Software Setup
This chapter describes the hardware prerequisites and the installation of the required software used for commissioning of the drive. 2.1 Hardware Prerequisites For the commissioning of the Triamec drive with this user guide the following hardware setup is re- quired. A motor with an encoder connected to the drive. -
Page 5: Connect Drive To Pc
Hardware and Software Setup Software Installation Triamec Motion AG and acknowledge the installation process. 5. The setup process will also install the required drivers. Additional prompts might appear during this process which need to be approved. 6. In some cases a restart of the PC is required to complete the installation process. In this case, a prompt will pop up with the request to restart the PC. - Page 6 To grant the TAM System Explorer access via PCI, Go to File > Preferences > Startup > Acquired Adapters and set one of the following values: Triamec devices over PCI Triamec devices w/o Ethernet All Triamec devices ...
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Page 7: How To Use Tam System Explorer
3 How to use TAM System Explorer This chapter gives an introduction into the usage of TAM System Explorer. If TAM Software is installed correctly TAM System Explorer can be executed from the Windows Start Menu. Figure 2 shows the window after the start, containing the following panels: 1. -
Page 8: Topology Tree
How to use TAM System Explorer Topology Tree 3.1 Topology Tree After an initializing phase, the Topology Tree shows the actual hardware content of the system. The Topology Tree is built out of the following objects: Local Computer Computer on which the TAM System Explorer is running Tria-Link Adapter Card PCIe adapter card used to communicate over Tria-Link. - Page 9 How to use TAM System Explorer Topology Tree Show/Hide Registers Revert Registers Commit Registers Figure 3: TAM Topology Tree and Registers Information In order to interact with a register unfold the Topology Tree until the desired register gets visible. The registers may be hidden, to reduce vertical amount of space occupied by the tree.
- Page 10 How to use TAM System Explorer Topology Tree Only the prepare field is editable. If the prepare value has a gray background, the register is read only. A changed value gets an orange background. This state remains until it gets committed. Parameter handling buttons: Commit Updates the drive with the values of the prepare fields.
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Page 11: Axis Monitor
How to use TAM System Explorer Topology Tree Note Note The register Axes[].Informaton.AxisName is used by the axis monitor, the scope and the modules to display the axis identification. 3.2 Axis Monitor Below the Topology Tree the axes are listed in the axis monitor as a flat list. The axes are identified by the register Axes[].Information.AxisName. - Page 12 How to use TAM System Explorer Axis Monitor Character Meaning (empty) There is no Tama program on the device The virtual machine is not operational The virtual machine is operational ▶ The state is not retrieved and therefore unknown In case of a communication failure, the state of a device can be shown as Unresponsive, or even as Link down, if the entire link is broken.
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Page 13: Scope
How to use TAM System Explorer Scope 3.3 Scope The scope is a very powerful tool with a lot of functionalities. It allows to plot all register items (signals, parameters, commands) with a sampling rate of up to 100kHz. To add a new register item to the scope, simply drag it from the Topology Tree and drop it into the scope area (see also Figure 5). - Page 14 How to use TAM System Explorer Scope 3.3.1 Scope Settings To modify the scope settings, click the Scope tab in the tab panel or click the scope area to activate the Scope tab. At the right, the list of registers (called Plots) assigned to the scope is shown. On the left, the tabs with the scope settings are displayed.
- Page 15 How to use TAM System Explorer Scope Remarks Remarks A large number of plots with small sampling time will cause a huge data stream. Depending on the performance characteristic of the PC this could severely reduce the responsiveness of TAM System Explorer, especially if expensive plot styles are used e.g. if Plot > Apearance >...
- Page 16 How to use TAM System Explorer Scope You can also move plots up and down by dragging their Y axis. Use the center button to vertically center the selected plot. The scope always activates the Y grid of the Y axis that the mouse hovered over last. The Y grid is also adjusted when hovering over a plot in the plot list.
- Page 17 How to use TAM System Explorer Scope Figure 11: General tab of the Figure 12: Plot tab of the scope. Figure 13: Repeat and trigger buttons. A scope. The most commonly used The most commonly used parame- horizontal draggable line marks the trig- parameters are Default Sampling ters are LineColor, Name and ger level, the vertical draggable line de-...
- Page 18 How to use TAM System Explorer Scope 3.3.6 Zoom and Pan The scope supports different zoom and pan operations. Important For zooming press Shift while defining the zoom area with the mouse or rolling the Important mouse wheel. For panning press Ctrl while dragging the scope area with the mouse. Zooming or panning are only enabled when the scope is not running.
- Page 19 How to use TAM System Explorer Scope 3.3.8 Loading Templates Figure 15: The Scope Menu The first section of the scope menu is related to zooming and panning. The next section is used to load and save plot data followed by an analysis section and a section to reset the scope.
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Page 20: Triamec Workspace
When working with TAM System Explorer, different files are used or generated e.g. configuration files, measurement data or firmware files. The Triamec Workspace helps to manage and organize these files. Basically the workspace is a directory where all files are stored in dedicated folders. Using the workspace simplifies file handling, backup and support. -
Page 21: Tam Configuration
A default workspace is generated when the TAM Software is installed. This default workspace folder is named Triamec and it is located in the PublicDocuments folder. When TAM System Explorer is started the first time, this workspace will be loaded. After a restart of TAM System Explorer, the last used workspace will be loaded automatically. - Page 22 How to use TAM System Explorer TAM Configuration 3.5.1 Saving the TAM Configuration Persistent on the Device The following steps are required to save the TAM Configuration persistent on the drive (see also Figure 17): 1. Right-click the station of the drive and select Manage Persistence …. 2.
- Page 23 How to use TAM System Explorer TAM Configuration signed to it will be saved. If Starting from tam://... is checked, only items above the currently selected item in the Topol- ogy Tree will be saved. This is for example helpful, if only the configuration of a particular device should be saved.
- Page 24 How to use TAM System Explorer TAM Configuration Figure 19: Configuration download progress window When a TAM Configuration is loaded, the configuration is assigned to the physically existing stations ac- cording to the following scheme: If the name of a station in the tree does uniquely match with the name of a station in the configura - tion, the configuration of the station is assigned by name.
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Page 25: Firmware Update
5. Save the configuration for MB on the PC and persistent on the drive. 3.6 Firmware Update This section explains how to find a suitable firmware and how to download the firmware to the device. The newest firmware release can be downloaded from the Triamec web page: 1. Go to www.triamec.com >... - Page 26 Firmware Update 2. Open the web-page matching the product type of your device (e.g. > TSD Series). If the product type of your device is not known, you can identify it by clicking the station of the device in the Topology Tree.
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Page 27: Working With Tama Programs
How to use TAM System Explorer Firmware Update Figure 24: Firmware download via the station node. Important If the replaced firmware version is older than 4.7 or the TAM System Explorer version is Important older than 7.10 a power cycle of the drive is required to activate the new firmware! Warning Warning Safe Torque Off must not be activated before and during a firmware download. - Page 28 How to use TAM System Explorer Working with Tama Programs 3.7.1 Enabling a Tama Program For the handling of Tama programs the Tama Man- ager is used. The Tama Manager is located below the device node in the TAM Topology Tree. The following steps are needed to run a Tama pro- gram on a device: 1.
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Page 29: Global Keys
How to use TAM System Explorer Working with Tama Programs described in section 3.5.1. Remark Remark When a persisted Tama program is replaced with a new Tama program, the steps de- scribed in section 3.5.1 have to be executed again, to persist the new Tama program. A persisted Tama program will automatically be loaded after a restart of the device but remains dis- abled after restart by default. -
Page 30: Plug-In Modules
4 Plug-In Modules The whole functionality of a Triamec device can be accessed directly by interacting with the registers of Topology Tree. However, this can be rather extensive and complicated. To simplify dedicated tasks, plug- in modules can be assigned to the Topology Tree. These modules provide a graphical user interface which allows to interact with the device while reading and writing of the registers is handled by the module. - Page 31 Plug-In Modules Axis Module Figure 29: User interface of the axis module The axis module offers the following controls to interact with the axis (see also Figure 29): 1. Attach/Detach: In case the Attach button is shown, this button needs to be pressed in order to enable the controls of the module.
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Page 32: Bode Tuning
Plug-In Modules Axis Module mentation [7]. Use the stop button to decouple. 9. Jog and Stop buttons: Press the stop button to terminate an ongoing move. Continuous jog negative / positive : Pressing this button starts a continuous move. The move will run until another move button or the stop button ... -
Page 33: Bode Measurement
Plug-In Modules Bode Measurement Figure 30: Bode Tuning module. 4.3 Bode Measurement The Bode measurement allows to acquire the frequency response of the axis. This measurement is re- quired for Bode tuning and therefore has to be executed first. 4.3.1 Preparation: Warning The Bode measurement causes the axis to move. - Page 34 Plug-In Modules Bode Measurement foamed plastic can be used to underlay the axis. If the axis is equipped with a brake, the brake has to be released during the measurement. In case of air bearings the correct air pressure must be applied. 4.3.2 Measurement Setup To start the measurement click the Measure Bode Plot…...
- Page 35 Plug-In Modules Bode Measurement citement to the start of the acquisition (default 0.1s). Output Maximum: This parameter defines the maximum allowed amplitude of the voltage signal. The default value is half of the output limit according register Axes[].Parameters.CurrentCon- troller.OutputLimit. ...
- Page 36 Plug-In Modules Bode Measurement Figure 32: Bode measurement result. To use the measurement with the Bode Tuning tool, the measurement has to be saved by clicking the Save button. The measurements are saved in a file. *.csv 4.3.4 Remarks For a first recording it is recommended to use the following frequencies settings: ...
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Page 37: Controller Tuning
Plug-In Modules Bode Measurement In some cases it is required to do a closed loop measurement e.g. to avoid drifting of the axis. In this case the Method property can be set to Closed Loop Bode. A closed loop bode measurement requires stable parametrization of the position controller. - Page 38 Plug-In Modules Controller Tuning Figure 33: Bode Tuning editor with current controller and Bode plot selected. 1. Title Bar: In the title bar, the name of the selected axis is shown. Make sure the axis is consistent with the loaded measurements. 2.
- Page 39 Plug-In Modules Controller Tuning fied values. Revert: This button is used to reset the parameters to the actual drive-configuration. Compare: Press and hold this button to show the transfer functions of the actual drive-configu- ration. This can be used to compare modified parameters with the actual drive setup. 5.
- Page 40 Plug-In Modules Controller Tuning Figure 35: When opening Bode measurements, you can choose whether to append new data, or to replace all measurements currently shown in the Bode tuning win- dow. 4.4.2 Zooming and Panning This section describes how to zoom and pan the plot area: ...
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Page 41: Drive Configuration
5 Drive Configuration This chapter explains how to configure the registers in the Topology Tree to commission a servo axis. The commissioning steps are also visualized in chapter 8. 5.1 Preparation If the servo drive was already used for a different setup it is recommended to reset it to default settings right-clicking the device node in the register tree, then clicking –... - Page 42 Drive Configuration Preparation Encoder Specifications found in the encoder data sheet: Encoder pitch or encoder counts per motor revolution Max allowed encoder speed Additional information about the axis The following aspects of the axis should be considered before commissioning an axis: ...
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Page 43: Initial Setup Of The Register Tree
Parameters not covered in this section keep their default value. See section 3.1.1 on how to write and commit parameters. For people with experience in Triamec drive configura- tion, Figure 68 can lead you through the setup. - Page 44 Drive Configuration Initial Setup of the Register Tree 5.2.2 Axis[].Parameters.Motor This node contains registers related to the motor. Type: Servo axes mostly use three-phase synchronous motors for both linear and rotational axes. Set Type to SynchronousAC in this case. In case of a DC-motor (e.g.
- Page 45 Drive Configuration Initial Setup of the Register Tree 180° is expected if the alignment is correct. For a 3-phase motor, if the excitement of the axis varies depending on the position of the motor during the Bode measurement. The enabling fails immediately after the phasing of the axis. ...
- Page 46 Drive Configuration Initial Setup of the Register Tree 5.2.3 Axis[].Parameters.PathPlanner This node contains the parameters relevant for the internal path planner. These parameters do not in- fluence the trajectory generation of an external control system like TwinCAT. Nevertheless, the parame- ters need to be set to reasonable values as the internal path planner is used for testing of the controller loop and also for some moves commanded by the external control system (e.g.
- Page 47 Drive Configuration Initial Setup of the Register Tree VelocityMaximum: This parameter specifies the max allowed velocity. The following aspects need to be considered to set this parameter: design specifications e.g. max required processing speed electrical and mechanical properties of the axis (see also equation above) ...
- Page 48 Drive Configuration Initial Setup of the Register Tree torque constant of the motor are known, the parameter could be set to: Inertia FeedForwardAcceleration= TorqueConstant But in general it is recommended to set this parameter to zero for the initial setup. The parameter can then be set and optimized later based on measurements as described in section 5.4.6.
- Page 49 Drive Configuration Initial Setup of the Register Tree For a rotational encoder with 2048 lines and with the position unit in degree, the Pitch is 360°/ 2048 = 0.17578125. For a linear encoder the value for Pitch is taken from the data sheet of the encoder, e.g. 0.02 for an encoder with a pitch of 20um and position units of "mm".If an encoder with digital protocol is used refer to [8] on how to set the Pitch parameter.
- Page 50 Drive Configuration Initial Setup of the Register Tree plied, a change of direction causes a position shift of the actual position. To smoothing this shift, a second order low pass filter is applied. The dynamics of this filter can be configured with the param- eter BacklashDuration.
- Page 51 Drive Configuration Initial Setup of the Register Tree is already initialized with the correct phasing angle (see section 6.1). RotorAlignment: The rotor is aligned by applying a current to a specific phase angle. This causes the rotor to align with the magnetic field of the phases. If the rotor is not already aligned by chance, this causes a movement of the rotor.
- Page 52 Drive Configuration Initial Setup of the Register Tree In case the phasing fails because of ongoing movements of the axis. Increasing the StartTime re - duces the motion of the axis. This is a typical use case for axes with low friction e.g. axes with air-bearingins.
- Page 53 Drive Configuration Initial Setup of the Register Tree motors with very low impedance (e.g. spindles) pwm100kHz can be considered to reduce the heat- ing of the motor. Kr, Tn: These registers are used to configure the PI current controller. For initial configuration these values can be set to zero.
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Page 54: Verification Of The Encoder
Bode Tuning module provided by TAM System Explorer is used (see section 4.2). The fol- lowing sections show the structure of the controller and explain how to execute the Bode Tuning. For people with experience in Triamec drive configuration, Figure 69 can lead you through the tuning pro- cedure. - Page 55 Drive Configuration Controller Tuning Figure 43: Block-diagram of the controller structure with current controller and position controller (simplified). 5.4.1 Current Controller Structure The controller structure consists of a PI-controller with proportional gain Kr and integral time constant Tn. Additionally, the integral term can be restricted to prevent integral wind-up. Figure 44: Block-diagram of the PI current controller (simplified).
- Page 56 Drive Configuration Controller Tuning 5.4.2 Tuning of the Current Controller This section describes how the proportional gain Kr and the integral time constant Tn for the current controller can be determined with Bode Tuning. See section 5.2 on how to initially set up the other pa- rameters in the current controller structure.
- Page 57 Drive Configuration Controller Tuning Figure 46: Tuning criteria in Bode view for the current controller. Tuning criteria in Nyquist plot view (Figure 47): f) The displayed complex curve of H (f) must be outside of the 1.1 circle but as close to it as possi- ble.
- Page 58 Drive Configuration Controller Tuning 1. Set Kr = 1 and Tn = 0, and activate the Bode plot view. 2. With the cross-hair search the frequency f where H ) has a phase margin of 60° (Figure 46, marker d)). 3.
- Page 59 Drive Configuration Controller Tuning Figure 49: Block-diagram of the PIDT1 position controller. Figure 50 shows the block diagram for current feed forward. Beside the feed forward of position, veloc- ity and acceleration also coulomb friction can be compensated. The FeedForwardFilter can be used to fine tune the feed-forward transfer function.
- Page 60 Drive Configuration Controller Tuning With Position 1 latched, the signal from Encoder[1] is used. This section considers only the first case, as this is the default case for single-loop position controllers. Important Important For synchronous AC motors the measurement of the transfer function between current and position requires a valid commutation.
- Page 61 Drive Configuration Controller Tuning Figure 52: Additive, Gain controller - the parametrization of this structure correspond to the controller register in the Topology Tree. Additive, Time Constant: Figure 53 shows the parameters used to configure the PIDT1 controller if Additive, Time Constant is selected.
- Page 62 Drive Configuration Controller Tuning Additive, Gain Additive, Time Constant Tv s (s)=Kd +Kp+Ki (s)=Kr T1 s+1 T1 s +1 Tn s Kp=Kr ; Tn ; Kd =Kr Tv ; Note Note In most cases it is recommended and more intuitive to use Additive, Time Constant for the tuning of the position controller.
- Page 63 Drive Configuration Controller Tuning Figure 55: Tuning criteria in Bode view for the position controller. Tuning criteria in Nyquist plot view: f) The displayed complex curve of G (f) must be outside of the 1.3 (robust) to 1.6 (advanced) circle but as close to it as possible.
- Page 64 Drive Configuration Controller Tuning Rule of thumb for an initial setup of the position controller: 1. Set Kr = 1 and Tn = 0, activate the Bode plot view and Additive, Time Constant in the Select Con- troller Structure panel. 2.
- Page 65 Drive Configuration Controller Tuning Figure 57: Tuned position controller with a gain crossover frequency f of 500Hz and a phase margin of 48.2°. The black arrows indicate the effect of parameter changes in Bode and Nyquist plot (qualitatively). 5.4.5 Filters Filters can be used to enhance the properties of the controller loop for example by compensating me- chanical resonances.
- Page 66 Drive Configuration Controller Tuning = 2 π fd = 2 π EdgeFrequencyDenominator ω = Dd = DampingDenominator = 2 π fn = 2 π EdgeFrequencyNumerator ω = Dn = DampingNumerator The Notch2 filter can be considered as the product of a Lowpass2 defined by fd and Dd and a Highpass2 filter defined by fn and Dn (Figure 58).
- Page 67 Drive Configuration Controller Tuning Figure 59: Resonance at 2000Hz which causes an instability of the controller-loop. Figure 60: Notch2 filter with fn = dd = 2000Hz, Dn = 0.01 and Dd= 0.1 compensates the resonance. ServoDrive-SetupGuide_EP018 2022-08-25...
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Page 68: Verification Of The Setup
Drive Configuration Controller Tuning 5.4.6 Acceleration Feed Forward A proper setting of the value for FeedForwardAcceleration is very important to achieve small position errors during high dynamic movements. The value for FeedForwardAcceleration can also be determined based on the Bode Measurement: 1. - Page 69 Drive Configuration Verification of the Setup rent vector, which will move the axis in positive electrical direction. It is recommended to execute this check if: The bode measurement shows an unexpected characteristic. The axis goes in an axis error state immediately after the phasing. ...
- Page 70 Drive Configuration Verification of the Setup Figure 62: Verification of motor direction and magnetic pitch: The motor direction is correct as the signal of Angle and Position show the same direction. The magnetic pitch is 20 mm according to the measurement. 5.5.2 Commutation To verify the commutation of the axis, the axis should be enabled at different positions and it should be verified if a move can be executed:...
- Page 71 Drive Configuration Verification of the Setup 6. Reduce the Acc. and Vel. values in the Axis Module, start the scope and execute a move of at least one electrical turn. 7. Repeat this sequence at different positions. 8. If the phasing works as expected, Parameters.Commutation.EnablingMethod can be set to Auto- matic.
- Page 72 Drive Configuration Verification of the Setup If the position error shows oscillations of a certain frequency, check the Bode plot for a reason of the oscillation (see also Figure 63 and 64). Try to adjust the parameters to increase the damping (increase phase margin) or reduce the amplitude.
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Page 73: Advanced Topics
6 Advanced Topics This chapter handles topics which are not part of the basic setup of an axis described in chapter 5. 6.1 Commutation with Absolute Encoders For the commutation of a synchronous AC motor the angle between the magnetic field of the rotor and the stator windings needs to be known. - Page 74 Advanced Topics Commutation with Absolute Encoders Figure 63: The Bode plot shows an insufficient phase margin at about 200Hz which is caused by a too aggressive setup of the integral. In time domain this causes oscillations of the position at 200Hz. Figure 64: The bode plot shows a sufficient phase margin with sufficient damping.
- Page 75 Advanced Topics Commutation with Absolute Encoders pecially the commutation settings, and restart the phasing-sequence. 4. To activate commutation based on the absolute encoder set Axes[].Parameters.Commutation.En- ablingMethod to AbsoluteEncoder. 6.1.3 Save Commutation Offset to the Encoder The following steps are required to save the commutation offset to the encoder: 1.
- Page 76 Advanced Topics Commutation with Absolute Encoders mutation information. 6.1.6 Signals and States Beside the parameters used to configure phasing different commands and signals are provided to ana- lyze and debug the phasing sequence. Axes[].Commands.Commutation.Command: This register can be used to control the phasing state and to save the commutation angle to the encoder (if supported by the encoder ...
- Page 77 Advanced Topics Commutation with Absolute Encoders φ Figure 66: Commutation angle for a rotor with one pole pair. Axes[].Signals.Commutation.OffsetAngle: The commutation offset is the angle between the encoder po- sition and the zero of the commutation angle. This is the value evaluated during the phasing sequence. Axes[].Signals.PositionController.Encoders[].DigitalEncoder.PersistencyCommutationOffset: This register displays the commutation offset stored on the encoder.
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Page 78: Tria-Link Observer
Explorer with an USB Observer. If the USB cable is connected to the master PC, File > Prefereces > Startup > Acquired adapters should be set to Triamec Devices over USB. This prevents the TAM System Explorer from accessing the PCI board that is already occupied by the control system. -
Page 79: Flow Charts
8 Flow Charts Figure 68: Initial Setup Guide Workflow ServoDrive-SetupGuide_EP018 2022-08-25... - Page 80 Flow Charts Flow Charts Figure 69: Position Controller Tuning Workflow ServoDrive-SetupGuide_EP018 2022-08-25...
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Page 81: References
[4] “Ethernet Interface”, AN123_Ethernet_EP004.pdf, Triamec Motion AG, 2022 [5] “TAM API Developer Manual”, SWNET_TamApiDeveloperManual_EP033.pdf, Triamec Motion AG, 2019 [6] “Tama Compiler User Guide”, SWTAMA_CompilerUserGuide_EP026.pdf, Triamec Motion AG, 2019 [7] “Axis Coupling in TAM System Explorer Application Note”, AN131_TamSystemExplorerAxisCoupling_EP002.pdf, Triamec Motion AG, 2022 [8] “Encoder configuration for the TSD drive series”, AN107_Encoder_EP017.pdf,... -
Page 82: Revision History
Revision History Version Date Editor Comment 2020-03-02 dg Section 5.2.3 modulo settings fixed. 2020-04-20 dg Description for brake release added in section 5.2.2. 2020-09-09 dg, chm Description of CurrentController.OutputLimit and CurrentController.IntegratorOut- putLimit corrected. GUI changes adapted. 2021-02-05 bl New File Name and Product Nomenclature, various edits 2021-03-25 dg Save Tama to configuration modified;... - Page 83 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.
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