Servo Drives

Triamec TSD350
Triamec TSD350

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, 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
100 kHz

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

15

30

6900

** 14s maximum for TSD80 and TSD130, 2s 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 3x208-480V AC, 9.5-38kW

 

Axis

PWM

VDC
nominal

Power
supply

Arms

Apeak**

Motor
kW AC

Dimensions
wxhxd mm

TSP700-10

1

3 Level
100 kHz

700

3x208-480V
AC
±10% (L-L),
50/60Hz

10

20

9.55

69x315x295

TSP700-20

20

40

19.1

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, 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 sporting 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.

Fieldbus Variants

E   EtherCAT
T   Tria-Link

Commutation Speed Variants

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 PUXC
TSP 700 - 30 - TL - ANNO    
TSD 130 - 10 - EL - NONO - GY
TSP 700 - 10 - TH        

 

The TSD350-10-EH-ENFF-PUXC 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 pulsing unit (on the EN module) and eccentricity compensation.

Documents, CAD Models and Firmware

Documents, CAD Files and Firmware Downloads are available in the Support section.

Documents

CAD Models

Firmware Updates

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