Firmware for the TSD and TSP Series

Use TAM System Explorer to install the firmware file (*.TAMfw) on a servo drive.

Release Notes for all Versions

Current Firmware 4.21.2

  • Release 2024-04-23
  • FIX: Firmware update bug fixes
  • Caution: Firmware downgrade to 4.19.x is not possible with TSD80 Rev5E

Firmware 4.20.5

  • Release 2024-02-21
  • NEW: Hysteresis for Coulomb-Feedforward
  • CHG: Compensation and Cogging tables refactured
  • CHG: Limit switch generates an EmergencyStop
  • CHG: EtherCAT minor interface changes
  • FIX: Bugfixes for EtherCAT and Gantry
  • Caution: Firmware downgrade to 4.19.x is not possible with TSD80 Rev5E

Firmware 4.19.12

  • Release 2024-02-23
  • NEW: Support SingleTurnEndat.
  • CHG: Revert Option Module EH firmware to 4.16.10 because of known analog encoder issue on the EH-Module.
  • FIX: Bugfixes for EtherCAT
  • Caution: TSD80 Rev5E is only supported from firmware 4.20.x.

Firmware 4.18.10

  • Release 2023-04-24
  • New: New cogging compensation
  • New: axis compensation
  • New: 100kHz LowPass
  • New: AnalogInput to controller and AnalogOutput from controller
  • New: FastRS422 encoder
  • New: OnePositionTwoMotors mode
  • New: support for the pulsing unit.
  • New: New EncoderTopology OptionD.
  • New: Show both axes on TSP700 devices.
  • Fix: Tria-Link synchronization issue introduced in 4.18.3
  • Fix: TriaLink Bridge-Mode, PU-Mode, ...
  • Caution!: Firmware downgrade must be done by TAM SDK 7.19.0 or newer

Firmware 4.16.10

  • Release 2022-11-25
  • New: TSP700 overcurrent detection on phases
  • Fix: TSP700-10 Rev 2: DcBus overcurrent was not active on board A
  • Fix: OptionModule FF should also support digital inputs
  • Fix: Occational OptionModule "8965 BootError opt module missing"
  • Fix: The product must be masked by 0x7FF for the dynamic config of the FPGA
  • Fix: Biss encoders stay in the encoderBusy state after commit
  • Caution!: Firmware downgrade must be done by TAM SDK 7.19.0 or newer

Firmware 4.16.5

  • Release 2022-08-12
  • Maintain BrakeTiming after DcBusVoltage error
  • FieldWeakening implemented
  • LimitSwitch during homing
  • StoppingMode for Airbearings during Phasing
  • EtherCAT: Optimized PDO-Interrupt and Cyclic telegram content specified using Triamec parameters
  • Caution!: Firmware downgrade must be done by TAM SDK 7.19.0 or newer

Firmware 4.15.5

  • Release 2022-06-08
  • Endat Encoder activate CRC and ERR1 errors by default
  • Optimized I2t when changing the PWM frequency
  • New functions for Homing
  • Fix: encoder amplitude limits and TSP700 external brake model
  • Use TAM SDK >= 7.18.0 to support continuousCurrentDiagnostic registers

Firmware 4.15.4

  • Release 2022-05-17
  • Endat Encoder activate CRC and ERR1 errors by default
  • Optimized I2t when changing the PWM frequency
  • New functions for Homing
  • Use TAM SDK >= 7.18.0 to support continuousCurrentDiagnostic registers

Firmware 4.14.5

  • Release 2022-01-25
  • Support for PTC-1K Motor Temperature-Sensors
  • Smooth Commit of the Position Controller
  • Known Bug: The global position latch inputs EncIn2 and EncIn3 are currently not functional
  • Use TAM SDK >= 7.17.1 to support persistent cyclic data and smooth commit

Firmware 4.14.4

  • Release 2021-12-21
  • New: Persistent cyclic data
  • New: Smooth Commit of the Position Controller
  • Known Bug: The global position latch inputs EncIn2 and EncIn3 are currently not functional
  • Use TAM SDK >= 7.17.1 to support persistent cyclic data and smooth commit

Firmware 4.13.13

  • Release 2021-11-03
  • New: software position limits
  • New: Stator decoupling mode
  • New: Encoder Diagnostics
  • New: Support TSP700-30

Firmware 4.12.16

  • Release 2021-09-21
  • Bugfix 15 fixes a boot problem, an internal voltage OutOfRange problem and a problem with the FastEncoder-DigInputs.
  • New Tama functions use large persistent tables based on filesystem.
  • New dump files for error diagnostics.

Firmware 4.12.12

  • Release 2021-08-30
  • Encoder option modules are now more robust against large analog phase amplitudes of the encoder inputs

Firmware 4.12.10

  • Release 2021-06-25
  • We strongly propose to use this release because of faster reaction to OverCurrent events!
  • New Tama functions use large persistent tables based on filesystem.
  • New dump files for error diagnostics.
  • fixes and improvements.

Firmware 4.10.7

  • Release 2021-02-26
  • New gantry features, fixes and improvements.

Firmware 4.10.5

  • Release 2020-12-17
  • New gantry features, fixes and improvements.

Firmware 4.9.7

  • Release 2020-10-15
  • This firmware update is recommended for all TSD drive types and solves an occational SafeTorqueOffStartup error caused by an unwanted watchdog reset of the safety monitor during STO pulse tests

Firmware 4.8.7

  • Release 2020-04-14
  • This firmware update is recommended for all TSD drive types and solves an occational SafeTorqueOffStartup error caused by an unwanted watchdog reset of the safety monitor during STO pulse tests

Firmware 4.8.2

  • Release 2019-12-17

Firmware 4.7.8

  • Release 2020-01-20