Firmware for the TSD Series

  • 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
  • NEW: Support Files system over USB and Tria-Link
  • NEW: Improvements of the Sensorless mode
  • NEW: Support Nikon 8MHz ("16-24-F8MHz", downsampling 2)
  • NEW: Support Gantry3
  • CHG: (Breaking) move masterPosition from command to signal, MasterPosition source must not be "Ignore"
  • CHG: (Breaking) StartCurrentSineStaticVector and StartRotatingVectorConstantCurrent Q->D
  • CHG: (Breaking) Remove parameter modulationMethod
  • FIX: Support TOA4 modules
  • FIX: Ethernet connection loss during FW update
  • FIX: Persistence of DigitalEncoders
  • FIX: FPGA-OpenTrialink behavior
  • FIX: USB issues
  • FIX: BridgeMode no abo/events for slaves
  • FIX: SetPositionRelative after homing with Xnew at -1.0000000002
  • ..
  • (see releaseNotes for details)
  • 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
  • FIX: TOE1 pulldown of EncIn and reboot
  • FIX: AnalogEndat and Tamagawa Zero function
  • FIX: TOE1 pulldown of EncIn and reboot
  • FIX: USB more robust on slow PCs
  • FIX: FeedForward coulomb friction
  • ..
  • (see releaseNotes for details)
  • New Log-File with LogSeverity switches
  • New Commutation Angle Parameter
  • Ecat Touchprobe now supports option module positions
  • Fix issues for absolute encoders with sin/cos extension: AnalogBiss and AnalogEndat
  • ..
  • (see releaseNotes for details)
  • FIX: USB: Avoid timout on slow PC IN access
  • FIX: False alarm during coupling if position is close to modulo
  • ..
  • (see releaseNotes for details)
  • NEW: Absolute Encoder Commutation Commands (see AN108 and AN122)
    • StartPhasingAndSaveEncoder
    • StartPhasingAndZeroEncoder
  • NEW: Support Biss-C
  • FIX: Nameplates of Biss-B, Nikon, AnalogEndat
  • FIX: Sensorless bug introduced with 4.6.6
  • FIX: Motor temperature settings after STO, and persistency bug with STO
  • BREAKING: AnalogEndat and AnalogBiss SubresolutionCheck enabled using dataFormat "M1"
  • FIX: BridgeVoltageOutOfRange after STO
  • FIX: EtherCAT CNC-Homing issue (possibly breaking for none-TwinCAT control systems)
  • FIX: EtherCAT COE access for non-standard registers
  • FIX: AbsoluteEncoders: Negative Endat positions
  • ..
  • (see releaseNotes for details)
  • NEW: Absolute Encoder Commutation Commands (see AN108 and AN122)
    • StartPhasingAndSaveEncoder
    • StartPhasingAndZeroEncoder
  • NEW: Support Biss-C
  • FIX: Nameplates of Biss-B, Nikon, AnalogEndat
  • FIX: Sensorless bug introduced with 4.6.6
  • FIX: Motor temperature settings after STO, and persistency bug with STO
  • BREAKING: AnalogEndat and AnalogBiss SubresolutionCheck enabled using dataFormat "M1"
  • ..
  • (see releaseNotes for details)
  • !BREAKING!: Ecat product revision is now 2 for Revision4 drives (1 for revision3 drives)
  • "KNOWN BUG: Sensorless is not functional"
  • NEW: Axes[].Parameters.PathPlanner.InterpolatorDelay delays interpolator signals in microseconds.
  • NEW: Bridge Mode Ethernet to TriaLink
  • NEW: Ethernet parameters for static IP
  • NEW: Ecat: CSV-Mode and CSP with velocity based modulo estimation
  • NEW: New Digital encoder Offset functions (AN122)
  • FIX: init of tama VMs
  • ..
  • (see releaseNotes for details)

If option modules are present, TSD-4.2.0 (or newer) must have been installed before this!

  • !BREAKING! DigitalEndat: new scale (1.0 per turn)(ROT) or (1.0 per count)(LIN)
  • FIX: DigitalEndat: modulo wrap
  • NEW: Prototype support for Tamagawa and Nikon encoders
  • NEW: FeedForward coulomb friction
  • NEW: Position Stream Filter
  • FIX: TSD80: motorTemperature Configuration lost during STO
  • NEW: Prototype of logfile http://triamec-NNN/1:/log.txt (option = 0x1000)
  • CHG: Min EtherCAT cycle time is now 100us instead of 200us
  • FIX: Clearing a hidden STO safe fault was blocked in some cases
  • NEW: EtherCAT: Support Explicit Device Id with Trialink1.4.xml
  • NEW: error UnspecifiedPositionUnit on booting with unspecified scaling factor
  • ..
  • (see releaseNotes for details)

If option modules are present, TSD-4.2.0 must have been installed before this!

  • !BREAKING! SerialEncoder Persistency (Position-Offset) requires parameters.homing.method = AbsoluteEncoderN
  • Ethernet: AUTO-IP hard-coded to 0x169.254.222.222 (AN123)
  • DigitalBissB encoder
  • Latching of (slow) digital inputs with 100us resolution
  • FIX: USB: Delayed BIOS boot of attached PCs, Support USB3 plugs (Windows USB Stack 3)
  • FIX: option modules unintended downsampling
  • ..
  • (see releaseNotes for details)
  • this firmware update is mandatory for all TSD drivetypes.
  • units mm and degree possible now
  • changed Ecat Homing
  • MANDATORY fix: MotorPeakCurrent > DrivePeakCurrent can cause hardware damage
  • fixed FW update of an Option module in backup-mode
  • ...
  • (see releaseNotes for details)
  • Support for TSD350 and for TSD80/TSD130 Rev.4
  • Comissioning over Ethernet
  • EtherCAT eeprom station alias
  • EtherCAT did not lock in DcSlave situations
  • DigitalEndat is now downsampled in the position controller
  • backlash compensation based on PT2
  • USB: mass storage for firmware update
  • ...
  • (see releaseNotes for details)

Firmware: TSD80, TSD130 and MCI42

For the Triamec products TSD and MCI of hardware revision 0..3 the current firmware as well as the older firmware builds can be obtained from Triamec on request.

Current Firmware 3.1.2

  • Computing Time errors fixed
  • Sensorless mode
  • Improved short detection during enable (FPGA 2074)
  • Dual Encoder Homing and SetPosition
  • ...
  • (see releaseNotes for details)

Firmware Build_FW2096_FF2202

  • Global Trigger allows flexible trigger selection for the positions latch feature
  • High resolution PWM
  • Support Motor Temperature Sensor Type “KTY83”
  • ...
  • (see releaseNotes for details)

Firmware Build_FW2087_FF2148

  • Support for TSD80 HR02 and HR03
  • Support for TSD130 HR03
  • Support for TSD80 / TSD130 EtherCat
  • Limit switch and Homing modules
  • Optimized USB driver
  • ...
  • (see releaseNotes for details)

Firmware Build_FW2077_FF2088

  • support for TSD80 HR01 and HR02
  • stop support for old register access method
  • (see releaseNotes for details)

Firmware Build_FW2076_FF2086

  • absolute register concept improves reverse compatibility (including URI persistence)
  • rework on encoder interface
  • PWM with option module TOU1 with axis.commands.general.optionModuleStream
  • fixed some bugs
  • (see releaseNotes for details)

Firmware Build_FW2071_FF1471

  • this is a mandatory Firmware update.
  • new controller structure.
  • persistent localbus
  • (see releaseNotes for details)