驱动器
100kHz，800V
Triamec 伺服驱动器具有卓越控制特性（静止抖动<0.2nm），满足 平行运动系统、超精密加工、定位主轴和定位工作台等应用要求。 TSD 系列将两个完整的伺服驱动器组合在一个外壳中，电流和位置控制器以 100kHz同步工作。TSP 系列集成交流电源，通过 3 级 100kHz PWM 技术显着降低功耗，降低主轴电机的热损耗，提高整体精度。
基于以太网的现场总线Tria-Link或 EtherCAT实现与主机 PC 的通讯连接， 另外，Triamec 伺服驱动器也可以独立运行，无需现场总线。
通过独立于现场总线的辅助以太网和 USB 连接执行调试、检查和优化。 Windows 软件TAM System Explorer可以方便地访问所有驱动器及其寄存器，以高达 100kHz 的采样率实时显示和记录。
可使用Tama 在驱动器内进行编程，实现顺序控制、高级控制或者轴间耦合控制等。
PC作为控制器在 Windows下使用TAM API或Beckhoff TwinCAT，可用C#实现。
硬件和软件选项可用于双回路控制、5MHz/16 位模拟编码器、模拟 I/O、FFT、激光 PWM 和其他应用，请参见下表。
特点
- 100kHz电流和位置环控制
- 10kHz路径规划 / 轴耦合
- 带有 5 个滤波器块的 PID 控制，SI 单位
- 具有 65536 倍插值和自动校准的 sin/cos 编码器
- 10kHz 自由编程
- 冗余STO
优点
- 最高刚度
- 快速响应干扰
- 精准定位
- 主动抑制共振
- 出色的噪声抑制
TSD系列：双轴，24~365VDC直流供电，单轴功率1.2~7.3kW
| # |
PWM |
VDC |
Arms |
Apeak** |
Motor |
Dimensions |
||
| TSD80-06 |
2 |
2 Level |
80 |
24-85VDC |
6 |
6 |
0.7 |
51x230x170 |
| TSD80-10 |
10 |
20 |
1.2 |
|||||
| TSD80-15 |
15 |
30 |
1.7 |
|||||
| TSD130-10 |
130 |
24-135VDC |
10 |
20 |
1.8 |
|||
| TSD350-10 |
350 |
24-365VDC |
10 |
20 |
4.6 |
68x262x230 |
||
| TSD350-15 |
15 |
30 |
6.9 |
** 20s 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.
Key to the new product and option nomenclature from fall 2020.
TSP系列： 单轴，3x208~408VAC 交流供电，8.3~24kW
| # |
PWM |
VDC |
Power |
Arms |
Apeak** |
Motor |
Dimensions |
|
| TSP700-10 |
1 |
3 Level |
700 |
3x208-480V |
10 |
20 |
8.3 |
68x315x291 |
| TSP700-15 |
15 |
30 |
12.5 |
|||||
| TSP700-30 |
30 | 60 | 24.0 | 146x315x305 |
** 2s 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.
Key to the new product and option nomenclature from fall 2020.
产品特点
| 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, 500kHz cut-off frequency (true interpolation up to 5MHz with option module), FIR filtering |
| Position Measurement Incremental |
Pulse frequency 2MHz max., glitch filtering Standards: RS422, TTL |
| Position Measurement Serial |
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% @ 900mA max. |
| Field-bus - real time | EtherCAT 100Mbps / Tria-Link 200Mbps. Tria-Link allows for direct transmission of values from one servo drive to others on the same bus. |
| Host (PC) Connection | PCI Express board TL (accessories), EtherCAT or stand-alone, additionally via USB and/or Ethernet |
| Programming on 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.
总线形式
| E | EtherCAT |
| T | Tria-Link |
换相速度
| 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. |
硬件可选模块
反馈
| EN | Additional Standard 16bit Sin/Cos/RS485 Encoder, e.g. for Dual-Loop Control |
| EH | High-Speed 5MHz 18bit Sin/Cos Encoder |
| ED* | 10MHz Incremental Position Measurement |
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 |
| UN | Universal A/D-I/O with Cortex-M4 |
其他选项
| FF | Fast Fourier Transform Module, 1Vpp, 16bit |
| PT | Pulse Train Out, also for driving laser modules |
| NO | Placeholder: no module in this slot. |
如上硬件模块适合所有TSD和TSP系列，每个驱动器最多选择两个模块。详见手册文档。Documents.
* Upcoming
软件功能选项
| GY | 100kHz MIMO gantry control with decoupled linear position and yaw displacement loops |
| XC | Eccentricity compensation, averages 2 sensors on opposite sides of an encoder disc. |
配置示例
| Series | DCV | ‑ | Arms | ‑ | Variants | [‑ | Option Modules | [‑ | SW Options]] |
| TSD | 350 | ‑ | 10 | ‑ | EH | ‑ | ENFF | ‑ | GYXC |
| TSP | 700 | - | 30 | - | TL | - | ANNO | ||
| TSD | 130 | - | 10 | - | EL | - | NONO | - | GY |
| TSP | 700 | - | 10 | - | TH |
The TSD350-10-EH-ENFF-GYXC 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 for gantry stage control and eccentricity compensation.
