Option Module Guide. Option modules of the TSD drive series, Revisions A, B, and C

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Option Module Guide

Option modules of the TSD drive series, Revisions A, B, and C

Version Date Editor Comment

000 2016-11-21 mvx Initial edit with updates from LH 001 2019-09-02 mvx Add encoder modules and error codes 002 2020-07-20 mvx Add TOA1 and TOA4 modules

003 2020-12-21 mvx Change to new option module names

Document HWTO_OptionModuleGuide_EP Version 003

Source /Users/banzledin/Documents/Triamec/Triamec Document Repo/doc/Hardware/HWTO/ Destination T:\doc\Hardware

Owner mvx

Triamec Motion AG Industriestrasse 49 6300 Zug / Switzerland Phone +41 41 747 4040 Email [email protected] Web www.triamec.com

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.

1. Introduction

This describes option modules of the TSD and new TSP servo drive series.

Up to two option modules may be integrated into one drive. If only one module is integrated, it is hooked up to the place “0” which corresponds to axis0 and connector X10.

The LEDs placed next to the X10 connector show the status of each module

dark module not present red-steady start-up failure, fatal red-blink error in operation green-steady operational

Option modules may be directly accessed and changed by the TAM System Explorer option module node (see left figure “Access periphery registers”) or made persistent using standard registers (see right figure).

Figure 2: Accessing the option module parameters

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2. Additional Encoders

The pin layout and electrical specification are identical to the standard encoder inputs X20, X21. Refer to the hardware manual for the possible encoder modes. Serial encoder modes are not yet supported

for option modules. Ask Triamec Motion AG, if you want to use a serial protocol for an option module

encoder.

Connect the following signals to the option module connectors X10 (axis0) and X11 (axis1):

Pin SinCos

+Index +EndatSinCos (Endat 22) _RS422Incremental_TTL Description

1 +5VDC Encoder Supply

2 ChA+ ChA+  _ChA+  _{Channel A positive, Cosine 1Vpp}

3 ChB+ ChB+  ChB+  Channel B positive, Sine 1Vpp

4 ChZ+ Data+ Data+ ChZ+ ChZ+ RS-422 input: Index channel or Endat data

5  _Clock+ _Clock+   _{RS-422 input clock, endat only}

6 Gnd Supply Ground

7 ChA- ChA-  _ChA-  _{Channel A negative, Cosine 1Vpp}

8 ChB- ChB-  ChB-  Channel B negative, Sine 1Vpp

9 ChZ- Data- Data- ChZ- ChZ- RS-422 input: Index channel or Endat data

10  _Clock- _Clock-   _{RS-422 input clock, endat only}

11 EncIO0 chA TTL Level Inputs

(max 5VDC Input, 3.3V Output)

12 EncIO1 chB

13 EncIO2

14 EncIO3

15 Gnd Signal Ground

The additional encoder may be used for various purposes. It may be used as a second encoder input if two encoders feed one axis. The motor commutation might be done with this additional encoder or with the standard encoder. These choices have to be selected using the encoder topology selector as detailed in the application node AN107.

2.1. EN (TOE1)

This module implements a standard encoder input. Refer to the hardware manual X20, X21 for the elec-trical specifications.

2.2. EH (TOE2)

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3. Analog Inputs A1 and AN (TOA4)

The A1 and AN (formerly named TOA4) modules implement eight analog inputs (4 differential and 4 sin-gle-ended)

A1 AN Unit

Range 10 Range 5 Range 2.5

Differential input Range ±10 ±10 ±5 (*) ±2.5 (*) V Resolution (no missing codes)

Accuracy (Max NL+Offset) Accuracy (Gain) 152 ±3.0 ±0.05 152 ±3.0 ±0.05 76 ±1.5 ±0.05 38 ±0.8 ±0.05 μV mV % Cut-off frequency 22.5 22.5 15 11 kHz

Input Voltage Absolute Maximum

Input Voltage Standard Operation ±24±10 ±24±10 VV (*) The range will be configurable in a later firmware release

The pin assignments of the module connector (see figure 1)

Pin Signal Notes

7 2 AnalogIn0+ AnalogIn0-8 3 AnalogIn1+ AnalogIn1-9 4 AnalogIn2+ AnalogIn2-10 5 AnalogIn3+ AnalogIn3-11 12 6 AnalogIn4+ AnalogIn5+

AnalogIn45-The inputs 4 and 5 share the same reference ground

13 14 15 AnalogIn6+ AnalogIn7+

AnalogIn67-The inputs 6 and 7 share the same reference ground

In the software interface, the measured voltage of the analog inputs 0..7 are available at

Axes[0]/Signals/OptionModule/AnalogIn[i]

at a 100 kHz sampling rate.

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4. UN (TOU1)

The UN (formerly named "TOU1") module implements two general purpose functions: Analog inputs with 10kHz sampling and a PWM output.

4.1. Analog Inputs

The UN module implements four analog inputs (single-ended)

Pin Signal Input

Range Max. Input Voltage Resolution Bandwidth 7 _AnalogIn0 _±5V _±30V 166μV 1.5kHz 2 _AnalogIn1 _±5V _±30V 166μV 1.5kHz 8 _AnalogIn2 _±5V _±30V 166μV 1.5kHz 3 _AnalogIn3 _±5V _±30V 166μV 1.5kHz 6 _{Analog ground}

The measured voltage of analog inputs 0..3 is available at

Axes[0]/Signals/OptionModule/AnalogIn[i]

at a 10 kHz sampling rate. There are no configuration registers for this function.

4.2. PWM output

The UN module also implements a pulse width modulation (PWM) function. This is not synchronized to the master bus clock. Use the pulse train option "PT", if a synchronized PWM is required.

Pin Signal Output

Voltage Frequency Resolution 13 _PWM _3.3V _10kHz 21 ns 5 _{Digital ground}

The PWM duty cycle is controlled through the Command register (of type “Float”)

Axes[0]/Commands/OptionModule/PwmOut

with the value range 0.0f to 1.0f, where  0 = 0% PWM

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5. Pulse Train Option PT (TOF2)

This module implements a PulseTrain module. This is a pulse generator for several motion positioning signals. It may be used as control output for e.g. laser modules or as encoder emulation. It supports

 encoder quadrature signals  pulse and direction signals  up and down signals  pwm signal

The motion positioning signals can be controlled in ei-ther positioning mode (absolute position) or velocity mode (relative position).

The module generates two signals A and B. Each signal is wired to both single ended and differential outputs of the option module connector as shown in Figure 3. The module is configured using the register address 0x0 of the device PulseTrain(OptA) which contains four components, mode, source, inversion and downsam-pling. The sum of the following four components is saved into this configuration register.

Mode Config-Data Description

Tristate 0x0000'0000 The units are disabled and the outputs are tristate.

Encoder position 0x0000'0001 _{In position mode the number of output pulses is the}

delta between actual SetPoint and the last SetPoint. The maximal position step inside one update (Down-sampling*10us) must not exceed 16384 due to sign mismatch. The Pulse Train equally distributes the pulses and ensures an exact pulse count.

Pulse/direction position 0x0000'0011

up/down position 0x0000'0021

encoder velocity 0x0000'0041 _{In velocity mode the number of output pulses is given}

by the value of SetPoint. The pulse frequency will be f = 100kHz / Downsampling * SetPoint.

pulse direction velocity 0x0000'0051

up/down velocity 0x0000'0061

left aligned pwm 0x0000'0081 _{The pwm mode creates a pwm signal (channel A is}

reg-ular, channel B is inverted) with respect to the down-sampling. The desired pwm ratio can be written to the

SetPoint Register (100% = 100'000/n, 0% = 0). For n see

downsampling below. The source of SetPoint is selectable

Source Config-Data Description

Pin Signal Description

1 Vdd Output 5.2V max 250mA 5 A Differential 3.3V 10 A 4 B Differential 3.3V 9 B 11 E0 =A, Single-ended 3.3V 12 E1 =B, Single-ended 3.3V 13 E2 =A, Single-ended 3.3V 14 E3 =B, Single-ended 3.3V 15 DGnd Digital ground

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The outputs may be inverted:

Invertion Config-Data Description

Standard 0x0000'0000 Standard

Inverted 0x0000'0004 Outputs inverted

The downsampling from 100kHz is specified:

Downsampling Config-Data Description Update rate 10 kHz 0x000a'0000

Option Module Guide. Option modules of the TSD drive series, Revisions A, B, and C