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 4.21.1

  • Release 2024-02-29
  • FIX: Pulsing unit: Support static output changes
  • NEW: Option module EH: Digital count up to 10 MHz with revision >= 5B
  • FIX: Option module EH: Support Pulsing unit
  • Caution: Firmware downgrade to 4.19.x is not possible with TSD80 Rev5E
  • 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
  • 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.
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • Release 2021-11-03
  • New: software position limits
  • New: Stator decoupling mode
  • New: Encoder Diagnostics
  • New: Support TSP700-30
  • 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.
  • Release 2021-08-30
  • Encoder option modules are now more robust against large analog phase amplitudes of the encoder inputs
  • 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.
  • Release 2021-02-26
  • New gantry features, fixes and improvements.
  • Release 2020-12-17
  • New gantry features, fixes and improvements.
  • 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
  • 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
  • Release 2019-12-17
  • Release 2020-01-20