Triamec TSD80-06 Hardware Manual
  1. Manuals
  2. Brands
  3. Triamec Manuals
  4. Servo Drives
  5. TSD80-06
  6. Hardware manual

Triamec TSD80-06 Hardware Manual

Hide thumbs Also See for TSD80-06:
Table of Contents

Advertisement

Quick Links

Download this manual
TSD80-06, TSD80-10, TSD80-15, TSD130-10, Revisions 4 and 5
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_4-5_HardwareManual_EP
Version
009, 2023-01-31
Source
Q:\Doc\Hardware\HWTSD\TSD80-TSD130\Rev4-5\HWTSD80-TSD130_HardwareManual\
Destination
T:\doc\Hardware
Owner
ab
Hardware Manual
www.triamec.com

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the TSD80-06 and is the answer not in the manual?

Questions and answers

Related Manuals for Triamec TSD80-06

Summary of Contents for Triamec TSD80-06

  • Page 1 Hardware Manual TSD80-06, TSD80-10, TSD80-15, TSD130-10, Revisions 4 and 5 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 with Index................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 TSD80/TSD130 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 Triamec hardware. Technical data, dimensional drawings and more information can be found at www.triamec.com.

  • 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

    2 Safety Notice: The user must have read and understood this manual before carrying out any operation on Triamec Notice: hardware. The safety information must be observed every time to avoid hazards and/or material damage. Triamec Motion AG disclaims all responsibility to possible industrial accidents and material damages if the procedures &...

  • Page 8: Intended Use

    2.1.2 Power supply The servo drive must be connected to a compatible power supply. Possible devices are Triamec TP50, TPDC50, TP80, TPDC80 for TSD80 servo drives and Triamec TP130, TPDC130 for TSD130 servo drives. Connection to power supplies is described in chapter 7.5.1.

  • Page 9: Responsibility

    2.4 EC Declaration of Conformity Triamec Motion AG provides EC declarations of conformity upon request to info@ triamec .com Notice: Notice: This product can cause high-frequency interference in non industrial environments.

  • Page 10: Nomenclature

    80V and 130V products. The 80V product is available in 6Arms, 10Arms and 15Arms versions, the 130V is available in 10Arms only. All available products and variants with order key codes are listed on the website www.triamec.com. 3.1 Order Key Codes 3.1.1 DCV...

  • Page 11: Fieldbus

    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 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 Temperature Rating Figure 1: Nameplate of the TSD series servo drives 4.2 Transport ...

  • Page 13: Storage

    Handling Transport 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 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. TSD80/TSD130 Dimensions W x D x H 343 x 228 x 58mm Labeling label on box Delivery content  Servo drive TSD80 or TSD130 ...

  • Page 15: 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_4-5_HardwareManual_EP009 2023-01-31...

  • Page 16: 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 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 TSD80-06 TSD80-10 TSD80-15 TSD130-10 Units DC-Bus voltage range 24 - 95 24 - 145 Motor Configuration AC 2 or 3 phase synchronous or asynchronous, DC Min. Motor Inductance 37.5 µH Current Continuous 50 kHz 4.2 / 6...

  • Page 19: Rated Currents

    Technical Description Electrical Specifications 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. 270us Safe Digital Input 7 1 input, galvanically connected to STO common ground, 24V, In7(1200us).

  • 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 [8].

  • Page 21: Motor Brake

    During braking with the aid of the motor, energy is fed back to the servo drive system and the voltage of the DC-Bus may increase. Using the Triamec TP50,TPDC50, TP80,TPDC80 or TP130,TPDC130 supports this situation with the brake resistor in the Power supply.

  • 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 TSD80/TSD130 Weight 1380g Dimensions: W x H x D 51 x 230 x 170mm 5.9 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.

  • 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  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 - Avoid unnecessary cable lengths and loops. HWTSD80-TSD130_4-5_HardwareManual_EP009 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 TSD80/TSD130 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 System Explorer. 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...

  • 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 TP50, TP80 and TP130. 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 mandatory) for its internal logic and for the supply of the connected encoders. The Lo- gic Supply connector X2 is found at the top 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 top 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 top 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 [6] 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 ChA+ Channel A positive, Cosine 1Vpp 15-pin female D-Sub socket ChB+ Channel B positive, Sine 1Vpp Figure 16: Encoder jack (X20,X21) ChZ+ Index channel positive, RS-422 input...

  • 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 information) 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 digitally coded to the position controller.

  • Page 44: Incremental Rs422 Encoder With Index

    Electrical Installation Encoder (X20, X21) 7.10.4 Incremental RS422 Encoder with Index 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 D-Sub socket ChB+ Channel B positive, RS-422 input ChZ+ Index channel positive, RS-422 input Figure 19: Encoder jack (X20,X21)

  • 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 D-Sub socket n.c. (do not connect) Figure 20: Encoder jack (X20,X21) ChA+...

  • 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 n.c. do not connect ChZ+ Index channel positive, RS-422 input...

  • 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 24VDC Power Supply Power Supply Safety switch X30, X31 X30, X31 P24V P24V P24ret P24ret P24ret P24ret Figure 24: Typical motor brake connection without external safety switch (left), with external safety switch (right) HWTSD80-TSD130_4-5_HardwareManual_EP009 2023-01-31...

  • Page 50: Motor Connection (X40, X41)

    It is recommended to attach the motor shield directly to the electrical earth of the cabinet. Notice: For more information regarding recommended grounding and shielding instructions, refer Notice: to Triamec Motion AG Application Note "Grounding Instructions" [8]. 7.12.1.1 3-Phase AC Motor Connection Pin Layout X40/X41 Name Description Min.
  • Page 51 Electrical Installation 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 Protective earth Same or larger than UVW TSDxxx-10: 1.0mm 10 Arms Motor phase P1 voltage TSD80-15: 1.5mm 15 Arms TSDxxx-10: 1.0mm 10 Arms...

  • Page 52: Motor Temperature

    Electrical Installation Motor Connection (X40, X41) 7.12.2 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 29: Motor temperature connector Pin Layout X40/X41...

  • Page 53: Commissioning And Diagnostics

    Commissioning and Diagnostics 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 [3] and additional documentation on our website. ...

  • Page 54: 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 55: 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 56: 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 57: 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] “TPDC50-TPDC130 Power Supplies Hardware Manual”, HWTPDC50-TPDC130_E_HardwareManual_EP001.pdf, Triamec Motion AG, 2022 [3] “Servo Drive Setup Guide”, ServoDrive-SetupGuide_EP018.pdf, Triamec Motion AG, 2022 [4] ”TwinCAT: Tria-Link Setup Guide”, SWTC_TwinCAT-UserGuide_EP027.pdf, Triamec Motion AG, 2022...

  • Page 58: 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 59: 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.

This manual is also suitable for:

Tsd80-10Tsd80-15Tsd130-10

Table of Contents