Triamec TSD350-10 Hardware Manual
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Triamec TSD350-10 Hardware Manual

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Document
HWTSD350_0-1_HardwareManual_EP
Version
007, 2023-01-31
Source
Q:\Doc\Hardware\HWTSD\TSD350\HWTSD350_HardwareManual\
Destination
T:\doc\Hardware
Owner
ab
Hardware Manual
TSD350-10, TSD350-15, Revisions 0 and 1
www.triamec.com

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  • Page 1 Hardware Manual TSD350-10, TSD350-15, Revisions 0 and 1 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.

  • Page 2: Table Of Contents

    Table of Contents 1 General..............................5 1.1 Target Group...........................5 1.2 Standards Used..........................6 1.3 Symbols Used..........................6 2 Safety...............................7 2.1 Intended Use...........................8 2.1.1 Cabinet..........................8 2.1.2 Power Supply........................8 2.1.3 Motors..........................8 2.1.4 Safety..........................8 2.2 Prohibited Use..........................8 2.3 Responsibility..........................9 2.4 EC Declaration of Conformity......................9 3 Nomenclature............................10 3.1 Order Key Codes...........................10 3.1.1 DCV...........................10 3.1.2 A...
  • Page 3 Table of Contents 5.1.5 In-Drive TAMA Programming....................17 5.1.6 PC Programming.......................17 5.2 Electrical Specifications.........................18 5.2.1 Drive..........................18 5.2.2 Rated Currents........................19 5.3 EMC and Motor Properties......................20 5.3.1 Protective Earthing Conductor Current................20 5.4 Motor Brake..........................21 5.5 Dynamic Braking...........................21 5.6 Safety Function STO........................22 5.6.1 Typical Use........................22 5.6.2 Commissioning.........................22 5.6.3 Functional Description......................22 5.6.4 Safety Characteristic Data....................24...
  • Page 4 Table of Contents 7.8 Fieldbus Connection (X5, X6)......................38 7.8.1 Tria-Link..........................38 7.8.2 EtherCAT...........................38 7.9 Option Modules (X10, X11)......................39 7.10 Encoder (X20, X21)........................40 7.10.1 Analog sin/cos Encoder with Index...................41 7.10.2 Digital Encoder with sin/cos Signals.................42 7.10.3 Digital Encoder without sin/cos Signals................43 7.10.4 Incremental RS422 Encoder....................44 7.10.5 Incremental RS422 Fast Encoder..................45 7.10.6 Incremental TTL Encoder with Index................46 7.11 Digital Inputs and Outputs (X30, X31)..................47...

  • Page 5: General

    1 General Dear user! This manual describes the TSD350 series of Triamec servo drives. In order to start operation of your drive quickly and without problems, read this manual before carrying out any operation with the Tri - amec hardware.

  • Page 6: Standards Used

    General Standards Used 1.2 Standards Used Standard Content EN ISO 13849-1:2015 Safety of machinery: Safety-related parts of control systems IEC 60204 Safety of machinery: Electrical equipment of machines IEC 60364 Low-voltage electrical installations EN 60529:1989 Degrees of protection provided by enclosures (IP Code) IEC 60664-1:2020 Insulation coordination for equipment within low-voltage systems IEC 60721-3-2:2018...

  • Page 7: Safety

    Discharge your body before touching the servo drive. Notice: Notice: Please contact Triamec Motion AG in case of missing information or doubt regarding the install- ation procedures, safety or any other issue. Safety Information During operation there are hazards, with the possibility of death, serious injury or material damage. Do not open or touch the equipment during operation.

  • Page 8: Intended Use

    2.1.2 Power Supply The servo drive must be connected to a compatible power supply. Possible devices are Triamec TP350 for the TSD350 servo drives. Connection to power supplies is described in chapter 7.5.1. 2.1.3 Motors The TSD350 family of servo drives is exclusively intended for driving suitable synchronous servomotors, asynchronous motors, voice coil and DC motors.

  • Page 9: Responsibility

    2.4 EC Declaration of Conformity Triamec Motion AG provides EC declarations of conformity upon request to info@triamec.com. Notice: This product can cause high-frequency interference in non industrial environments. This can require Notice: measures for interference suppression like additional external EMC filters.

  • Page 10: Nomenclature

    ENFF GYXC Table 1: Example part number of a TSD350-10-EH-ENFF-GYXC dual-axis servo drive with 350V nominal voltage, 10Arms per axis and EtherCAT fieldbus, supporting electrical commutation frequencies >=600Hz. It has an addi- tional encoder module on extension slot 0 and a fast Fourier transform module on slot 1. The servo drive further in- cludes the software options for gantry stage control and eccentricity compensation.

  • Page 11: Commutation Speed

    3.2 Accessories Triamec Motion AG delivers some useful accessories for the servo drives. The table below shows the most helpful items. For more information contact Triamec Motion AG or visit the Triamec homepage www.triamec.com.

  • Page 12: Handling

    4 Handling 4.1 Nameplate The nameplate depicted below is attached to the side of the servo drive. Drive Serial Number Hardware Type Electrical Hardware Supply Revision Output Voltage and Current max. ambient Enclosure Rating Temperature Figure 1: Nameplate of the TSD series servo drives 4.2 Transport ...

  • Page 13: Storage

    Handling Transport TSD350 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 Shock limit Dropping height of packed device max. 0.25m Frequency Amplitude Acceleration Vibration limit 2Hz ≤ f < 9Hz 3.5mm not applicable 9Hz ≤...

  • Page 14: Packaging

    Handling Packaging 4.4 Packaging Triamec servo drives come in a recyclable cardboard box with the following content. TSD350 Dimensions W x D x H 320 x 240 x 80mm Labeling label on box Delivery content  Servo drive TSD350  Mating connectors X1, X2, X4, X30, X31, X40, X41 ...

  • Page 15: Disposal

    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. HWTSD350_0-1_HardwareManual_EP007 2023-01-31...

  • Page 16: Technical Description

    The Triamec digital servo drives TSD350 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 fieldbuses, Tria-Link a flexible fieldbus developed by Triamec, and Ether- CAT, a standardized fieldbus.

  • Page 17: Communication

    Technical Description Features 5.1.4 Communication  Stand-alone operation  Tria-Link fieldbus with host (PC) by PCI-/PCI-Express card TLxxx and inter servo drive communication with up to 200Mbps.  EtherCAT servo drives with standard EtherCAT COE slave, may be used as DC-master function. 5.1.5 In-Drive TAMA Programming ...

  • Page 18: Electrical Specifications

    Technical Description Electrical Specifications 5.2 Electrical Specifications 5.2.1 Drive TSD350-10 TSD350-15 Units DC-Bus voltage nominal DC-Bus voltage range 24 - 400 Motor Configuration AC 2 or 3 phase synchronous or asynchronous, DC Min. Motor Inductance µH Current Continuous 50 kHz 100 kHz 11.25...

  • Page 19: Rated Currents

    Technical Description Electrical Specifications mon ground of all outputs is galvanically isolated from the logic supply. An external supply must be provided, which may be the lo- gic supply. Max. 3.7A continuous for all 4 outputs together. Turn-On time: Typical: 100us max. 250us; Turn-Off time: Typical: 100us max.

  • Page 20: Emc And Motor Properties

     Input protection circuitry must protect the DC-Bus from external Burst and Surge events. Safety Information For insulation or voltage tests, all Triamec servo drives must be disconnected! WARNING Notice: For more information regarding recommended grounding and shielding instructions, refer Notice: to Application Note [7].

  • Page 21: Motor Brake

    DC-Bus may increase. Using the Triamec TP350 supports this situation with the brake resistor in the Power supply. Using the Triamec TP350 power supply, several servo drives of the same series can be operated on a common DC bus link, without requiring any additional measures. Energy fed back by one servo drive is stored in the power supply capacitors.

  • Page 22: 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 23 Technical Description Safety Function STO 5.6.3.1 Standard Case If STO is activated simultaneously on both channels as intended, the servo drive will enter a safe state:  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.

  • Page 24: Safety Characteristic Data

    Technical Description Safety Function STO 5.6.4 Safety Characteristic Data The following table shows safety specification (in addition to the electrical STO specification in chapter 5.2.1). Value Safety level SIL3 Ple CAT 3 3E-9 h 2E-4 (Proof-Test Interval equals Mission Time) 95% for STO (Hardware Fault Tolerances HFT1) 96% for Diagnostics (Hardware Fault Tolerances HFT0) Type...

  • Page 25: Commutation Frequency Limitation

    The European Union issued export restrictions for frequency converters to some countries. Under some conditions, export to these countries is simplified. Triamec servo drives for simplified export contain a limitation of the commutation frequency described in this document. For the correct ordering details refer to chapter 3.1.4.

  • Page 26: Mechanical Specifications

    Technical Description Mechanical Specifications 5.8 Mechanical Specifications TSD350 Weight 2850g Dimensions: W x H x D 67 x 263 x 230mm 5.9 Ambient and Mounting Conditions TSD350 Site altitude up to 1000m above sea level without restriction, higher than 1000m above sea level with reduced power 1% per 100m, max.

  • Page 27: 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 drop into any CAUTION device.

  • Page 28: Guide To Mechanical Installation

    Mechanical Installation Guide to Mechanical Installation 6.2 Guide to Mechanical Installation The following notes help to carry out the mechanical installation. 6.2.1 Site Gap B  The servo drive should be mounted into a lockable control cab- inet. Refer to chapter 5.9. ...

  • Page 29: 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 electrical connections while power of any source is on. Isolate the device from the power supply before working on it.
  • Page 30 Electrical Installation Safety Instructions - Lines of the same electric circuit must be twisted. - Avoid unnecessary cable lengths and loops. HWTSD350_0-1_HardwareManual_EP007 2023-01-31...

  • Page 31: Guide To Electrical Installation

    Electrical Installation 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.

  • Page 32: Overview Of Servo Drive Connections

    Electrical Installation Overview of Servo Drive Connections 7.3 Overview of Servo Drive Connections Axis 1 Axis 0 Drive TSD350 Switch/ Brake Feedback DigIn1 Switch DigIn2 DigIn3 DigIn4 Feedback DigIn5 DigIn6 Temp Brake P24V P24ret Motor DigOut1 DigOut2 Motor +24VDC 24VDC Ground Ground Isolation...

  • Page 33: Connectors And Terminals

    Triamec TAM SystemExplorer. In/Out The USB connector (mini-B) can be connected to a Microsoft® Windows® based notebook/PC. It’s possible to monitor and configure the servo drive within Triamec TAM System Explorer. X10/X11 In/Out...

  • Page 34: Electrical Supplies (X1, X2)

    A power-switch or relay in the DC-bus link is allowed only, if it has a soft-start functionality as supplied by the Triamec power supplies TP350. Please note if not using a Triamec power supply: The servo drives have no built in brake-resistor. When decelerating a mechanical load, currents can get negative, refer to chapter 5.5.

  • Page 35: Logic Supply (X2)

    Electrical Installation Electrical Supplies (X1, X2) 7.5.2 24V Logic Supply (X2) The servo drive requires a 24V DC supply (PELV type mandat- ory) for its internal logic and for the supply of the connected encoders. The Logic Supply connector X2 is found at the front side of the drive.

  • Page 36: Safe Function Outputs (X3)

    Electrical Installation Safe Function Outputs (X3) 7.6 Safe Function Outputs (X3) The Safe Function Output connector X3 is found at the front side of the drive. The cable must be shorter than 20m. Use shielded cables if longer than 0.5m. Figure 9: Safe Function Outputs connector (X3) Pin Layout X3 Name...

  • Page 37: Safe Torque Off Sto (X4)

    Electrical Installation Safe Torque Off STO (X4) 7.7 Safe Torque Off STO (X4) The STO connector X4 is found at the front side of the drive. The cable must be shorter than 20m. Use shielded cables if longer than 0.5m. Figure 11: STO connector (X4) Pin Layout X4 Name...

  • Page 38: Fieldbus Connection (X5, X6)

    Beckhoff Automation and is now managed by the EtherCAT Technology Group (ETG). The servo 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 39: Option Modules (X10, X11)

    Electrical Installation Option Modules (X10, X11) 7.9 Option Modules (X10, X11) Two option module connectors provides access to extended functions, if the corresponding option module is installed. The desired functions has to be ordered and are installed during production. The chapter 3.1.5 describes the different available options. Please refer to [5] for further informations about functionality, pinout and software access.

  • Page 40: Encoder (X20, X21)

    Electrical Installation Encoder (X20, X21) 7.10 Encoder (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 op- tional TTL inputs.

  • Page 41: Analog Sin/Cos Encoder With Index

    Electrical Installation Encoder (X20, X21) 7.10.1 Analog sin/cos Encoder with Index Analog sin/cos Encoder with index channel. Pin Layout X20/X21 Name Encoder +5VDC Encoder Supply Figure 16: Encoder jack (X20,X21) ChA+ Channel A positive, Cosine 1Vpp 15-pin female D-Sub socket ChB+ Channel B positive, Sine 1Vpp ChZ+...

  • Page 42: Digital Encoder With Sin/Cos Signals

    Electrical Installation Encoder (X20, X21) 7.10.2 Digital Encoder with sin/cos Signals Single-turn or Multi-turn Digital Encoder (EnDat 2.1/2.2, BiSS B, BiSS C) with analog sin/cos signals. This encoder type is operated as analog sin/cos Encoder. The Absolute position (and some additional informa- tion) is read during initialization using the digital serial interface.

  • Page 43: Digital Encoder Without Sin/Cos Signals

    Electrical Installation Encoder (X20, X21) 7.10.3 Digital Encoder without sin/cos Signals Single-turn or Multi-turn Digital Encoder (Endat 2.2, BiSS B, BiSS C, Tamagawa, Nikon) without analog sin/cos signals. Digital absolute posi- tion information is transmitted at every position controller cycle digit- ally coded to the position controller.

  • Page 44: Incremental Rs422 Encoder

    Electrical Installation Encoder (X20, X21) 7.10.4 Incremental RS422 Encoder Connecting an incremental encoder with index channel. Pin Layout X20/X21 Name Encoder +5VDC Encoder Supply ChA+ Channel A positive, RS-422 input 15-pin female Figure 19: Encoder jack (X20,X21) D-Sub socket ChB+ Channel B positive, RS-422 input ChZ+ Index channel positive, RS-422 input...

  • Page 45: Incremental Rs422 Fast Encoder

    Electrical Installation Encoder (X20, X21) 7.10.5 Incremental RS422 Fast Encoder Connecting an incremental RS422 encoder for pulse frequencies up to 10MHz. Pin Layout X20/X21 Name Encoder +5VDC Encoder Supply 15-pin female ChZ+ Index channel positive, RS-422 input Figure 20: Encoder jack (X20,X21) D-Sub socket n.c.

  • Page 46: Incremental Ttl Encoder With Index

    Electrical Installation Encoder (X20, X21) 7.10.6 Incremental TTL Encoder with Index Connecting an incremental TTL encoder with index channel via EncIn0 and EncIn1. Pin Layout X20/X21 Name Encoder +5VDC Encoder Supply 15-pin female n.c. do not connect D-Sub socket Figure 21: Encoder jack (X20,X21) n.c.

  • Page 47: Digital Inputs And Outputs (X30, X31)

    Electrical Installation Digital Inputs and Outputs (X30, X31) 7.11 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 galvan- ically isolated to each other.

  • Page 48: Digital Outputs

    Electrical Installation Digital Inputs and Outputs (X30, X31) 24VDC X30+X31 S1..6 In-Return DigIn1 DigIn2 DigIn3 DigIn4 DigIn5 DigIn6 Figure 23: Digital input connection 7.11.2 Digital Outputs The table below describes the pinout of the output pins, see 5.2.1 for detailed specification of the out- put channels.
  • Page 49 Electrical Installation Digital Inputs and Outputs (X30, X31) 24VDC Power Supply X30, X31 P24V P24ret P24ret Figure 24: Typical actuator (valve) connection Notice: Notice: Outputs DO1 are available at connector X40 and X41 too. This makes it possible to connect the motor brakes within the motor connector.

  • Page 50: Motor Connection (X40, X41)

    Make sure protective earth on connector and functional earth on shield are connected Notice: properly. Notice: For more information regarding recommended grounding and shielding instructions, refer Notice: to Triamec Motion AG Application Note "Grounding Instructions" [7]. 7.12.1.1 3-Phase AC Motor Connection Pin Layout X40/X41 Name Description Min. Cross Section of Wire Max.
  • Page 51 Motor Connection (X40, X41) 7.12.1.2 2-Phase AC Motor Connection Pin Layout X40/X41 Name Description Min. Cross Section of Wire Max. Current TSD350-10: 1.0mm 10 Arms Motor phase P2 voltage TSD350-15: 1.5mm 15 Arms TSD350-10: 1.0mm 10 Arms Motor phase P- voltage TSD350-15: 1.5mm...

  • Page 52: Motor Temperature

    Electrical Installation Motor Connection (X40, X41) 7.12.2 Motor Temperature A resistive motor temperature sensor which meas- ures the temperature of the motor windings may be connected to X40 and X41, see chapter 5.2.1 for sup- ported types and ranges. Use X40 for axis 0 and X41 for axis 1.

  • Page 53: Motor Brake

    Electrical Installation Motor Connection (X40, X41) 7.12.3 Motor Brake A motor brake may be connected to X40 and X41. Use X40 for axis 0 and X41 for axis 1. The connected motor brake is controlled via digital output DO1 of the corresponding axis.

  • Page 54: 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] and additional documentation on our website.  The guides for the Beckhoff TwinCat Interfaces for Tria-Link servo drives [3] and for EtherCAT servo drives [4].

  • Page 55: System Status Indicator

    Commissioning and Diagnostics Status Indicators 8.1.1 System Status Indicator The System Status (Sys Status) indicator shows the overall status of the servo drive. Errors and warnings from STO Status and Link Status are passed to the System Status indicator. However, warnings or errors on Axis Status are not displayed with this indicator.

  • Page 56: Run And Error Link Status

    Commissioning and Diagnostics Status Indicators 8.1.3 Run and Error Link Status The Run and Error Link Status indicator shows information about the fieldbus status. The signalling of the two fieldbuses is not the same and is described in more detail in the following chapters. 8.1.3.1 Tria-Link If no link is used the servo drive can be configured in stand-alone mode.

  • Page 57: 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 –...

  • Page 58: References

    References The documents referenced in this manual [1] “TP50-TP350 Power Supplies Hardware Manual”, HWTP50-TP350_E_HardwareManual_EP009.pdf, Triamec Motion AG, 2022 [2] “Servo Drive Setup Guide”, ServoDrive-SetupGuide_EP018.pdf, Triamec Motion AG, 2022 [3] ”TwinCAT: Tria-Link Setup Guide”, SWTC_TwinCAT-UserGuide_EP027.pdf, Triamec Motion AG, 2022 [4] ”TwinCAT: EtherCAT Setup Guide”, SWTC_TwinCAT-UserGuideEcat_EP009, Triamec Motion AG, 2022 [5] “Option Modules Manual”,...

  • Page 59: Glossary

    Standardized network interface found on Ethernet or network cables Safety Integrity Level Safe torque off Space vector modulation TAM System Explorer Tool for commissioning, analysis and optimization of a TAM system Triamec Motion AG TN-C-S Terre neutre combiné séparé TwinCAT Beckhoff automation software...

  • Page 60: Revision History

    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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