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HWTSD350_0_HardwareManual_EP
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005
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Copyright © 2021
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
TSD350 Revision 0
Triamec Motion AG
Industriestrasse 49
6300 Zug / Switzerland
2021-01-12
+41 41 747 4040
Phone
info@triamec.com
Email
www.triamec.com
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Table of Contents
Related Manuals for Triamec TSD350 Series
Summary of Contents for Triamec TSD350 Series
- 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.
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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 6.2 Guide to mechanical installation....................24 7 Electrical Installation..........................25 7.1 Safety Instructions........................25 7.2 Guide to electrical installation......................26 7.3 Overview of Drive Connections....................27 7.4 Electrical supplies..........................29 7.4.1 24V Logic supply (X2)......................29 7.4.2 DC-Bus (X1)........................30 7.5 Safe Function Outputs (X3)......................31 7.6 Safe Torque Off STO (X4).......................32 7.7 Field-bus connection (X5, X6).......................33 7.8 Option Modules (X10, X11)......................34 7.9 Feedback Systems (X20, X21)......................35...
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Page 4: General
1 General Dear user! This manual describes the TSD350 series of Triamec digital servo drives. In order to be able to start op- eration of your Triamec drive quickly without problems, we suggest you to read this manual before car - rying 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 NOTICE destroy components). Discharge your body before touching the drive. Please contact Triamec Motion AG in case of missing information or doubt regarding the in - NOTICE stallation procedures, safety or any other issue. -
Page 7: Intended Use
The servo drive must only be operated in a closed control cabinet, as defined in chapter 5.8, which may also require ventilation or cooling. Power supply The drive must be connected to a compatible power supply. Possible devices are Triamec TP350 for the TSD350 Drives. Connection to power supplies is described in chapter 7.4.2. Motors The TSD350 family of servo drives is exclusively intended for driving suitable synchronous servomotors, asynchronous motors, voice coil and DC motors. -
Page 8: Ce Conformance And Declaration Of Conformity
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. To protect against danger, it may be more beneficial to keep individual drives running or to initiate specific safety sequences. -
Page 9: Ordering
Family Options Figure 2: Example part number of a TSD350 series drive with EtherCAT and option modules TOE1 and TOE2 and HS. Decide from the following product variants when ordering a TSD family drive. The “D” in the family name denotes dual axis drives capable of driving two motors. -
Page 10: 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 3: Nameplate of the TSD series drives. 4.2 Transport ... -
Page 11: Storage
DC for about 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 TSD350 Dimensions W x D x H 320 x 240 x 80mm... -
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. HWTSD350_0_HardwareManual_EP005 2021-01-12 12/50... -
Page 13: 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 field buses, Tria-Link a flexible field bus developed by Triamec, and Eth- erCAT, a standardized field bus. -
Page 14: Electrical Specifications
In-Drive TAMA programming 100µs reaction time Virtual Machine (TAMA) that executes freely programmable code ® possible programming languages (Microsoft C#/C++/J#/Visual-Basic) 1 real-time user program in 10kHz task 1 axis coupling program in 10kHz 1 asynchronous user program ... -
Page 15: Rated Currents
TSD350 ground of all outputs is galvanically isolated from the logic supply. An external sup- ply must be provided, which may be the logic supply. Safe Digital Input 7 Same specification as Digital Inputs, galvanically connected to STO inputs. Safe Function Outputs 6 Safe Outputs, high-side switches, 24V, 50mA. - Page 16 Further restrictions on the total permissible capacity of all motors and motor cables attached to the same power supply. The expected EMC class according to the standard EN 61800-3 depending on these properties. To reach these EMC requirements, proper shielding is mandatory, see chapter 7.2. Some motor proper- ties might require a motor-side sine filter.
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Page 17: Protective Earthing Conductor Current
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 amplifiers of the same series can be operated on a com - mon DC bus link, without requiring any additional measures. Energy fed back by one drive is stored in the power supply capacitors. -
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
The European Union issued export restrictions for frequency converters to some countries. Under some conditions, export to these countries is simplified. Triamec drives for simplified export contain a limita- tion of the commutation frequency described in this document. This feature is activated at the factory if... -
Page 21: Linear Motor
n [1/min]: mechanical speed p [-]: Pole-Pairs per turn 5.6.2 Linear motor: v / dm = < 600 Hz axes[].signals.commutation.velocity/2 v [m/s]: velocity dm [m]: Distance of the magnetic period 5.6.3 DC motor: No limitation 5.7 Mechanical specifications TSD350 Weight 2850g Dimensions: W x H x D 67 x 263 x 230mm... -
Page 22: Ambient And Mounting Conditions
5.8 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. 2500m above sea level Mounting Position Vertical or horizontal, see 6.2 Ambient temperature According to IEC60721-3-3 class 3K3 in operation... -
Page 23: 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 24: Guide To Mechanical Installation
6.2 Guide to mechanical installation The following notes help to carry out the mechanical installation Site The servo drive should be mounted into a lockable control cab- inet. Refer to chapter 5.8. The site must be free from conductive or corrosive materials. Cooling ... -
Page 25: 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 elec - trical connections while power of any source is on. Isolate the device from the power supply before working on it. -
Page 26: 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 27: Overview Of Drive Connections
7.3 Overview of 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 STO Ch1 Safety STO Ret STO Ch2 Safe In7 Aux 24V... - Page 28 The Ethernet connector can be connected to a TCP/IP Network. It’s possible to mon- AN123 itor and configure the drive within Triamec TAM-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 drive within Triamec TAM- Explorer. X10/X11 In/Out Option modules...
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Page 29: 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 operating 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 supply of the connected en-... -
Page 30: Dc-Bus (X1)
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-res- istor. When decelerating a mechanical load, currents can get negative, refer to chapter 5.4. -
Page 31: Safe Function Outputs (X3)
7.5 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 11: Safe Function Outputs connector (X3). Pin Layout X3 Name Description... -
Page 32: Safe Torque Off Sto (X4)
7.6 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 13: STO connector (X4). Pin Layout X4 Name Description STO Input Ch1... -
Page 33: 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 34: Option Modules (X10, X11)
7.8 Option Modules (X10, X11) Two option module connectors access extended functions, if the corres- ponding option module is installed. Installation has to be done during pro- duction. Currently available functions are TOE1 An additional encoder input with the same specification as the built-in encoder (500kHz) ... -
Page 35: Feedback Systems (X20, X21)
7.9 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 36: Analog Sin/Cos Encoder With Index
7.9.1 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 Figure 17: Encoder jack ChZ+ Index channel positive, RS-422 input (X20,X21). -
Page 37: Absolute Encoder With Sin/Cos Signals
7.9.2 Absolute Encoder with Sin/Cos signals Single-turn or Multi-turn analog (Sin/Cos) absolute encoder with a serial inter- face (EnDat 2.1/2.2, Biss-B, Biss-C). This encoder type is operated as an analog Sin/Cos encoder. The absolute position (and some additional information) is read during initialization using the digital serial interface. -
Page 38: Absolute Encoder Without Sin/Cos Signals
7.9.3 Absolute Encoder without Sin/Cos signals Single-turn or Multi-turn absolute encoder with a serial interface without ana- log sin/cos signals (Endat 2.2, Biss-B, Biss-C, Tamagawa, Nikon). Digital position information is transmitted to the position controller at a reduced rate, de- pending on encoder specification. -
Page 39: Incremental Rs422 Encoder With Index
7.9.4 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 Figure 20: Encoder jack ChZ+ Index channel positive, RS-422 input (X20,X21). -
Page 40: Incremental Ttl Encoder With Index
7.9.5 Incremental TTL Encoder with Index Connecting an incremental TTL encoder with index channel via EncIn0 and En- cIn1. The source for position latch during homing can be chosen NOTICE between ChZ (RS-422) or EncIo2/3 in the software. Pin Layout X20/X21 Name Encoder +5VDC... -
Page 41: Digital Inputs And Outputs (X30+X31)
7.10 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 is assigned to axis 1. -
Page 42: Digital Outputs
7.10.2 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 pin 1 and pin 2 for operation. The next chapter shows a wiring example for a motor-holding brake. Pin Layout X30/X31 Name Description... -
Page 43: Motor Connection (X40+X41)
7.11 Motor connection (X40+X41) This connector feeds the motor windings, motor-holding brake and an external temperature sensor. 7.11.1 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. - Page 44 2-Phase AC Motor connection X40, X41 Figure 27: 2-phase motor connection. Pin Layout X40/X41 Name Description Cross-Section of Wire Maximum Current Motor phase P2 voltage 1.5mm min, 2.5mm 15 Arms Motor phase P- voltage 1.5mm min, 2.5mm 15 Arms Motor phase P1 voltage 1.5mm min, 2.5mm 15 Arms...
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Page 45: Motor Temperature
7.11.2 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 46: Motor Brake
7.11.3 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 O1 of the corresponding axis. See chapter 7.10.2 for additional information. -
Page 47: 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 Error: Reference source not found. The guides for the Beckhoff TwinCat Interfaces for Tria-Link drives ([3]) and for EtherCAT drives ([4]). Immediate state information is available through six bi-colored LEDs on the front side. - Page 48 Axis 0 is in error state (e.g., positionErrorLimit, over-current, ...) and axis 1 is operational System Status LED ~0.6s ~0.6s ~0.6s ~0.6s ~0.6s ~0.6s STO status LED Axis Status Axis 0 LED Axis Status Axis 1 LED STO state indications: STO Active state is indicated by a short red blinking of the STO status LED System Status LED STO status LED...
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Page 49: 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 50: Revision History
Revision History Version Date Editor Comment 10.08.18 Ab,lh First release for TSD350, based on manual of TSD80 HW Revisions 4 20.11.18 Correct DigIn naming, changed X7 Ethernet connector description 02.09.19 mvx+ab Commutation frequency limitation, DigIn spec. 20.12.19 New serial encoders, adjust power specification 12.01.21 Guide to mechanical installation updated.
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