Servo Drives

100kHz Control with up to 800V and 40Arms/80Apeak

Triamec servo drives have the superior control characteristics required for direct-driven axes in applications such as parallel kinematics systems, ultra-precision machining, positioning spindles, and positioning tables (<0.1nm standstill jitter). The TSD series combines two complete servo drives in one housing, with current and position controllers working in-sync at 100kHz. The TSP series has an integrated AC power supply and achieves a significant reduction of power dissipation with the 3-level 100kHz PWM technology, reducing thermal loads from the spindle motor and increasing overall precision.

Connectivity to a host PC is through the proprietary Ethernet-based fieldbus Tria-Link or via EtherCAT. Triamec Servo Drives can also be operated independently, without fieldbus.

Commissioning, non-invasive inspection and optimization is performed through auxiliary Ethernet and USB connections separate from the fieldbus. The Windows software TAM System Explorer enables convenient access to all drives and their registers, which can be displayed and logged in real-time with a sampling rate of up to 100kHz.

On-drive Programming in Microsoft^® C#: sequential controllers, higher-level controllers and axis couplings can be programmed on the drive using Tama.

PC controllers can be implemented under Windows in C# with TAM API or with Beckhoff TwinCAT.

Hard- and software options are available for dual-loop control, analog encoders with 2MHz/18bit 10MHz quadrature, analog I/O, FFT, laser PWM, and other applications, see tables below.

Features

current and position control 100kHz
path planning 10kHz / axis coupling 10kHz
PID control with 5 filter blocks, SI units
sin/cos-encoder with 65536-fold interpolation and auto-calibration
freely programmable in 10kHz cycle
redundant safe torque off

Advantages

highest stiffness
quick reaction to disturbances
precise guidance
best active damping of resonances
excellent noise suppression

TSD Series: Dual Axis 0.5-6.9kW per Axis

TSP Series: Single Axis with AC Power Supply 9.5-38kW

Configuration Examples

Drive Pictures

Documents, CADModels and Firmware

TSD Series: Dual Axis, for 24-365V DC bus, 0.5-6.9kW per Axis

	Axes	PWM	VDC nominal	Power supply	Arms per Axis	Apeak** per Axis	Motor W AC	Dimensions wxhxd mm
TSD80-06	2	2 Level 100kHz	80	24-85VDC	6	6	460	51x230x170
TSD80-10					10	20	1100
TSD80-15					15	30	1650
TSD130-10			130	24-135VDC	10	20	1680
TSD350-10			350	24-365VDC	10	20	4600	68x262x230
TSD350-15			350	24-365VDC	15	30	6900	68x262x230

** 14s maximum for TSD80 and TSD130, 1.4s maximum for TSD350. The drive continuously calculates a thermal model (i^2*t) for the three motor phases and for the three drive phases and switches off before damage can occur.

TSP Series: Single Axis, for 38-480V AC or 50-770V DC bus, 9.5-38kW

	Axis	PWM	VDC nominal	Power supply	Arms	Apeak**	Motor kW AC	Dimensions wxhxd mm
TSP700-10	1	3 Level 100kHz	700	38-480VAC ±10% (L-L), 50/60Hz 50-770VDC	10	20	9.55	69x315x295
TSP700-20					20	40	19.1	69x315x295
TSP700-40					40	80	38.2	152x315x308

** 1.4s maximum. The drive continuously calculates a thermal model (i^2*t) for the three motor phases and for the three drive phases and switches off before damage can occur.

Common Features

Supported Motors	2 and 3 phase synchronous or asynchronous AC, DC
Protection	Overtemperature: Drive, motor (KTY83/84, PT100, PT1000, PTC-1K), i2t, overvoltage, overcurrent
Safety	Safe Torque Off: SIL3/PLe
Position Measurement Analog	sin/cos 1Vss: 65536-fold interpolation, auto calibration, FIR filtering, 500kHz cut-off frequency (true interpolation up to 2MHz, quadrature up to 10MHz with option module)
Position Measurement Incremental	RS422: max. pulse frequency 10MHz TTL: max. pulse frequency 2.5MHz
Position Measurement Digital	EnDat 2.1 & 2.2, BiSS B, BiSS C, SSI, Tamagawa, Nikon (encoder types with additional sin/cos signals are recommended - specifications see 'Position Measurement Analog')
Sensorless	Sensorless commutation/control, suitable for fast spindles
Digital In Per Axis	6 inputs opt. isolated, 24V , 2x 300μs, 4x 1200μs 4 TTL level general purpose digital inputs per axis on encoder DSub connector
Digital Out Per Axis	2 outputs opt. isolated, 24V, 1A
Option Modules	2, each with a D-Sub HD15 Connector, see Hardware Options below
Logic Supply	24VDC ±10% @ 1.5A - 2.5A max. (incl. 2 Option Modules)
Fieldbus	EtherCAT 100Mbps / Tria-Link 200Mbps. Tria-Link allows for direct transmission of values from one servo drive to others on the same bus.
Service interfaces	USB / Ethernet
Programming within the Drive	Freely programmable with Tama in 10kHz real-time clock in Microsoft® C#, incl. axis couplings; additional asynchronous task
PC Programming	TAM API for Microsoft^® .NET Framework, Beckhoff TwinCAT with CNC, Python

Subject to technical changes.

Interfaces

Fieldbus Variants

E	EtherCAT
T	Tria-Link

Commutation Speed Variants

L	Simplified Export. A drive with this option supports electrical commutation frequencies <600Hz.
H	High Speed. A drive with this option supports electrical commutation frequencies >=600Hz and is subject to export restrictions to some countries.

Hardware Option Modules

Encoders

EN	Additional Standard 16bit sin/cos/RS485 Encoder 500kHz, e.g. for Dual-Loop Control
EH	High-Speed 2MHz 18bit sin/cos Encoder, quadrature up to 10MHz

I/O

AN	Analog Inputs ±5/10V, 16bit
AH	High-Speed Analog Input, 1Vpp, 16bit for customer specific applications, such as lock-in amplifiers or signal demodulation
AO	Analog Outputs, ±10V, 16bit

Other

FF	Fast Fourier Transform Module, 1Vpp, 16bit for customer specific applications, such as structure-born sound analysis for quality assurance
PT	Pulse Train Out, also for driving laser modules
NO	Placeholder: no module in this slot.

Up to two modules can be fit in a drive. See also the Option Modules Manual under Documents.

Software Options

FS	Functional Safety
GY	100kHz MIMO gantry control with decoupled linear position and yaw displacement loops
PU	Pulsing Unit for hardware generated position synchronized pulses up to 10MHz, pulse position and distance can be chosen freely (64bit float) - requires EN or EH hardware option
XC	Eccentricity compensation, averages 2 sensors on opposite sides of an encoder disc.

Configuration Examples

Series	DCV	‑	Arms	‑	Variants	[‑	Option Modules	[‑	SW Options]]
TSD	350	‑	10	‑	EH	‑	ENFF	‑	FSPUXC
TSP	700	-	30	-	TL	-	ANNO
TSD	130	-	10	-	EL	-	NONO	-	GY
TSP	700	-	10	-	TH

The TSD350-10-EH-ENFF-FSPUXC is a dual-axis servo drive with 350V nominal voltage, 10Arms per axis and EtherCAT fieldbus, supporting electrical commutation frequencies >=600Hz. It has an additional encoder module on extension slot 0 and a fast Fourier transform module on slot 1. The drive further includes the software options functional safety, pulsing unit (on the EN module) and eccentricity compensation.

Incorrect designations:

TSD80-10-EH-NONO ❌ (Without software options, NONO is not needed.)
TSD80-10-EH-GY ❌ (GY could be mistaken as an option module.)
TSD80-10-EL-AN ❌ (When there is only one option module, the empty slot must be indicated with NO.)
TSD80-10-EH-[EH]-[ANNO]-[GY] ❌ (2 to 4 dashes are correct, 0, 1 and >4 are incorrect. No brackets.)