TLD01 GB PDF

Technical documentation
Twin Line Drive 01x

Power Electronic System for
stepping motors
TLD01x
Operating system: 1.1xx
Order no.: 9844 1113 102
Edition: a112, 10.00
A product from:
SIG Positec BERGERLAHR
GmbH & Co. KG
Breslauer Str. 7
D-77933 Lahr
Tel. +49 (0) 7821 - 946 - 01
Fax +49 (0) 7821 - 946 - 313
http://www.sig-berger.de
Advice, Service and Sales:

SIG Positec Automation GmbH
Breslauer Str. 7
D-77933 Lahr
Tel. +49 (0) 7821 - 946 - 02
Fax +49 (0) 7821 - 946 - 220
http://www.sig-positec.de
9844 1113 102, a112, 10.00
TLD01x
-2
Twin Line Drive TLD01x
TLD01x
Table of contents
Table of contents
Glossaries . . . . . . . . . . . . . . . . . . . . . . . . . . . V-3
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . V-3
Product name . . . . . . . . . . . . . . . . . . . . . . . . . V-3
Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-4
Written conventions and note symbols . . . . . . . . . . . . . V-5
1 The power electronic system
1.1
Scope of supply . . . . . . . . . . . . . . . . . . .
1-1
1.2
Documentation and literature . . . . . . . . . . . .
1-3
1.3
Unit series . . . . . . . . . . . . . . . . . . . . . .
1-3
1.4
Unit overview . . . . . . . . . . . . . . . . . . . .
1-4
1.5
Operating function . . . . . . . . . . . . . . . . . .
1-6
1.6
1.6.1
1.6.2
Guidelines and standards . . . . . . . . . . . . . .

Declaration of conformity and CE labelling . . .
Regulations and standards . . . . . . . . . . .
1-7
1-7
1-9
2.1
Danger categories . . . . . . . . . . . . . . . . . .
2-1
2.2
Safety instructions . . . . . . . . . . . . . . . . . .
2-1
2.3
2.3.1
2.3.2
Use for the purpose intended . . . . . . . . . . . .

Ambient conditions . . . . . . . . . . . . . . . .
Intended use . . . . . . . . . . . . . . . . . . .
2-2
2-2
2-2
2.4
Qualification of the personnel . . . . . . . . . . . .
2-3
2.5
Safety devices . . . . . . . . . . . . . . . . . . . .
2-3
2 Safety
3 Technical data
3.1
3.1.1
3.1.2
Mechanical data . . . . . . . . . . . . . . . . . . . 3-1

Power Electronic System TLD01x . . . . . . . . 3-1
Accessories . . . . . . . . . . . . . . . . . . . 3-2
3.2
3.2.1
3.2.2
3.2.3
Electronic data . . . . . . . .
Power Electronic System
UL 508C certification . . .
Accessories . . . . . . .
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3-3
3-3
3-4
3-5
4.1
Electromagnetic compatibility, EMC . . . . . . . . .
4-1
4.2
System components . . . . . . . . . . . . . . . . .
4-4
4.3
4.3.1
4.3.2
4.3.3
Mechanical installation . . . . .
Installing the power electronic
Fitting the unit label . . . . .
Fitting accessories . . . . . .
4-5
4-5
4-6
4-7
9844 1113 102, a112, 10.00
4 Installation
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V-1
Table of contents
TLD01x
4.4
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.4.6
4.4.7
4.5
4.5.1
Electrical installation . . . . . . . . . .
Mains connection . . . . . . . . . .
Motor connection . . . . . . . . . .
Connecting the 24 V supply voltage
Connection of a holding brake . . .
Connection to interface PULSE-C .
Connection to the interface for
rotation monitoring
Connection of accessories . . . . .
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4-8
. . 4-9
. 4-10
. 4-13
. 4-14
. 4-15
4-22
4-24
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Wiring examples . . . . . . . . . . . . . . . . . .
Stepping motor control with no
rotation monitoring
4-26
4-26
4.6
Checking wiring
. . . . . . . . . . . . . . . . . .
4-27
4.7
Installation troubleshooting . . . . . . . . . . . . .
4-28
5 Commissioning
5.1
Commissioning procedure . . . . . . . . . . . . .
5-1
5.2
Safety instructions . . . . . . . . . . . . . . . . .
5-1
5.3
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
Starting up the power electronic system . .

Setting the phase current . . . . . . . .
Setting DIP switches . . . . . . . . . .
Testing the function of the limit switch .
Checking the holding brake . . . . . . .
Motor test operation . . . . . . . . . .
Optimizing the performance of the motor
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5-2
5-2
5-3
5-4
5-5
5-6
5-7
6 Operating functions
6.1
Positionierbetrieb . . . . . . . . . . . . . . . . . .
6-1
6.2
6.2.1
6.2.2
Functions of the power electronic system . . . . .

6-2
Monitoring functions . . . . . . . . . . . . . . . 6-2
Braking function with TL HBC . . . . . . . . . . 6-3
7 Diagnosis and error rectification

7.1
Operational status indicators and transitions . . . .
7-1
7.2
Error display and rectification
. . . . . . . . . . .
7-2
7.3
Malfunctions in movement mode . . . . . . . . . .
7-4
8 Service, Maintenance and Warranty

8.1
Service address . . . . . . . . . . . . . . . . . .
8-1
8.2
Shipping, storage and disposal
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8-2
9.1
List of accessories . . . . . . . . . . . . . . . . .
9-1
9.2
List of spare parts . . . . . . . . . . . . . . . . .
9-1
10 Unit label
10.1
V-2
Illustration of the unit label . . . . . . . . . . . . .
10-1
Stichwortverzeichnis . . . . . . . . . . . . . . . . . . . .
A-1
9844 1113 102, a112, 10.00
9 Accessories and spare part
TLD01x
Glossaries
Glossaries
Abbreviations
Abbreviation
Meaning
AC
Alternating current
DC
Direct current
Encoder
EC
European Community
EMC
Electromagnetic compatibility
EU
European Union
I/O
Input / output
Inc
Increments
IT System
I: isolated; T: terre (French) - i.e., not grounded
LED
Light-Emitting Diode
Motor
PELV
Protected Extra Low Voltage
RC
Residual current
Abbreviation
Product Designation
Term used
TLD01x
Twin Line Drive 01x
TL HBC
Twin Line Holding

Brake Controller
Holding Brake Controller
9844 1113 102, a112, 10.00
Product name
V-3
Glossaries
TLD01x
Technical Terms
Actual position of the motor
See Angular position of the motor
Angular position of the motor
The angular position of the motor corresponds to the angular position of

the rotor in the motor housing, and refers to the zero point or index point
of the position sensor.
DC-line
The DC-line generates the necessary direct current for operating the
motor and provides the amplifier with the necessary energy. The DC-line
acts as a buffer to energy fed back by the motor.
Drive solution
The drive solution comprises the drive system with its Twin Line Unit and
motor, as well as the system mechanics forming an integral part of the
chain of motion.
Drive system
The drive system consists of the Twin Line Unit and the motor.
Direction of rotation
Rotation of the motor shaft in a clockwise or anticlockwise direction. A

clockwise direction of rotation is given when the motor shaft rotates
clockwise as the observer faces the end of the protruding shaft.
Encoder
Sensor for recording the angular position of a rotating element. Mounted

on the motor, the encoder signals the angular position of the rotor.
High/open
Signal status of an input or output signal; when no signal is present, signal voltage is high (high level).
Incremental signals
Index-impuls
IT system
Limit switch
Angular steps of an encoder in the form of square-wave pulse

sequences. The pulses signal changes in position.
Encoder signal for referencing the rotor position in the motor. The
encoder sends one index pulse per revolution.
Mains with no ground potential reference, since it is not grounded I: isolation ; T: terre (French): ground
Switches which signal any overrun on the permissible travel.
Low/open
Signal status of an input or output signal; when no signal is present, signal voltage is low (low level)
Power amplifier
This is the unit that controls the motor. The power amplifier generates
currents for controlling the motor in accordance with the positioning signals from the control unit.
Power controller
V-4
The actual position of the drive system gives the absolute or relative
positions of moved components in the system.
See Power amplifier
PULSE-C
Pulse direction interface for recording external position presets via pulse
direction signals for the positioning of the motor
Pulse direction signals
Digital signals with variable pulse frequencies which signal changes in

position and rotation direction via separate signal wires.
Rotation monitoring
Detects variations in the position of a motor. The actual position reported

by the encoder is compared to the setpoint. If the variation exceeds a
defined limit, a contouring error is reported.
RS422 level
The signal status is calculated from the differential voltage of one positive and one inverted negative signal. Two signal wires must therefore
be connected for one signal.
9844 1113 102, a112, 10.00
Actual position of the drive system
TLD01x
Glossaries
Sense regulation
Watchdog
The voltage drop on the supply lines is compensated in such a way that
the output voltage at the sense terminals has the correct value. The output voltage is only activated once the sense lines have been connected.
Device in the unit which detects internal faults. If a fault occurs, the
amplifier is switched off immediately.
Written conventions and note symbols

Action symbols E
This action symbol is used for step-by-step instructions which can be

carried out as they are described. If one of the instructions leads to a
noticeable response from the unit, this will be given after the description
of the action to be carried out. In this way you will receive direct confirmation that a particular step has been correctly carried out.
Enumeration symbol
The enumeration symbol is used for listing individual points in a given

information group in summary form. If the result of steps or sequences
is described, the step to be carried out is described first.
This symbol is used for general notes which give additional

information about the unit.
9844 1113 102, a112, 10.00
Passages which are preceded by this symbol may have to

be discussed in more detail with SIG Positecs customer
service. You will find contact addresses for SIG Positec
under Service address, page 8-1.
V-5
TLD01x
9844 1113 102, a112, 10.00
Glossaries
V-6
TLD01x
The power electronic system
1.1
Scope of supply
E Check the parts supplied to make sure they are complete.
Keep the original packaging in case the unit has to be returned to the
manufacturer to be added to or repaired.
Scope of supply power electronic

system
The scope of supply of the TLD01x power electronic system includes:

Item Qty.
Designation
Order No.
TLD011, TLD012
Type code
Hood for covering the front
1 or 2 shielding terminals SK14 for motor connec- 6250 1101 400

tions (two shielding terminals for units with no
internal mains filter)
plug caps for terminal strips
documentation on the TLD01x on CD-ROM,

multilingual
9844 1113 138
9844 1113 102, a112, 10.00
Optional equipment for the power electronic system:

Item Qty.
Designation
Order number
TLD01x...RM with rotation monitoring
type code
1, 6
TLD01xNF... no internal mains filter
type code
Fig. 1.1
TLD01x with and without rotation monitoring
1-1
Accessories
TLD01x
The following accessories are available for the power electronic system:
Item Qty.
Designation
connector set for complete assembly
Order No.
6250 1519 001
6250 1317 xxx 1)
motor cable 1.5 mm
pulse direction cable for PULSE-C interface

2 x socket, 15-pin
1 x socket, 15-pin, one end open
6250 1447 yyy 2)

6250 1452 yyy 2)
encoder cable for encoder interface
6250 1440 xxx 1)
Holding Brake Controller TL HBC
6250 1101 606
external mains filter for devices with no inter- 5905 1100 200
6250 1101 900
nal filter
for TLD011 NF, 4 A
for TLD012 NF, 10 A
1) Cable length xxx: 003, 005, 010, 020: 3 m, 5 m, 10 m, 20 m, longer lengths on

request;
2) Cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m;
Accessories for the TLD01x
9844 1113 102, a112, 10.00
Fig. 1.2
1-2
TLD01x
1.2
Documentation and literature
Manuals for the power electronic

system
1.3
Twin Line HMI, Manual for the Human-Machine Interface HMI,

Order no.: 9844 1113 091
Unit series
The power electronic system TLD01x is member of the SIG Positec Twin
Line unit series for controlling stepping motors and AC servomotors.
The power electronic system functions as a stand-alone power amplifier
with an integrated control and power unit.
The power electronic system is available with two power amplifiers with
a similar housing design. Electrical connections and functional scope
are identical for both units.
Fig. 1.3
Type code
Power Electronic System TLD011 and TLD012
The power class of the power electronic system is indicated by the last
digit in the device name TLD01x of the type code.
TLD01x x PULSE x
Twin Line Drive
with no shaft signal
for stepping motors
rotation monitoring
x:
- not fitted
RM - with rotation
monitoring
9844 1113 102, a112, 10.00
internal mains filter

x: F - with mains filter (230V)
NF - no mains filter
(230V/115V)
power class
x: 1 - 350 W
2 - 750 W
PULSE: position setpoints as pulse direction signal or
pulse forward / pulse back signal (only with the RM option)
Fig. 1.4
Type code of the power electronic system TLD01x
1-3
1.4
TLD01x
Unit overview
Fig. 1.5
Power Electronic System TLD01x
Mains connection
The power supply for the amplifier is connected to the mains. A power
electronic system with a built-in mains filter can be operated without any
further noise suppression on the supply side.
Motor connection
The unit supplies current for a stepping motor via the 3-phase connection. The maximum power output is monitored by the unit. The motor
connection is short-circuit protected and is checked for ground faults
when the amplifier is enabled.
DC-line connection
The devices DC-line voltage is available at the DC-line terminals. DCline capacitors can be supported by external capacitors in order to
absorb sudden, excess braking energy.
PULSE-C interface
This interface is used to define the setpoint incrementally as a pulse signal. Control signals for enabling the amplifier and for changing stepping
resolution and current setpoint are also transmitted via this interface.
Rotation monitoring
The power electronic system receives A/B signals for monitoring the
stepping motors position as well as a signal for checking the motor temperature via the rotation monitoring function. The encoders electronic
circuits receive the power supply they need from the rotation monitoring
connection.
Rotation monitoring can be fitted to the unit as an optional extra.
Voltage selector switch
1-4
The unit can be connected to a mains voltage of 115 V or 230 V using

the voltage selector switch. The voltage selector switch is only available
for units with no mains filter (NF option).
9844 1113 102, a112, 10.00
Output signals at the PULSE-C interface report malfunctions or operational readiness.
TLD01x
Signal interface
The power supply for control loops and for controlling the fan must be
provided by an external 24 VDC power supply via the signal interface.
Cables for a holding brake or control circuits for the TL HBC holding
brake controller are connected at the brake terminal.
Status display
A 7-segment display gives information on the operating status of the

power electronic system. If a malfunction occurs, the display will blink
and display the fault code.
DIP switch
The stepping resolution is configured, and control signal functions set by

means of the 8-way DIP switch
Rotary switch
The maximum motor r.m.s. current is limited by means of the rotary

switch. The setting value for the maximum motor current is given on the
motors type plate.
LED for DC-line voltage

Air discharge and fan
The LED lights when voltage is present in the DC line.

A built-in fan sucks cold air into the unit from below and discharges the
operating heat from the unit through the upper air outlet vents. Temperature sensors on the power amplifiers heat sink protect the unit from
overheating.
Block wiring diagram
Signals and function blocks of the power electronic system with rotation monitoring
9844 1113 102, a112, 10.00
Fig. 1.6
1-5
1.5
TLD01x
Operating function
The power electronic system moves a stepping motor in accordance
with a preset value. The setpoint signal is generated by a positioning or
NC controller, and fed into the unit as a pulse signal at the PULSE-C
interface.
9844 1113 102, a112, 10.00
If rotation monitoring is also fitted, the power electronic system registers

the position of the motor and signals if steps are lost which can for example be caused by blockages or motor overload.
1-6
TLD01x
1.6
Guidelines and standards
1.6.1
Declaration of conformity and CE labelling

The EG guidelines define the minimum requirements - particularly
safety requirements - applicable to a product and must be complied with
by all manufacturers and dealers marketing the product in the member
states of the European Union (EU).
The EC guidelines describe the main requirements made of a product.
The technical details are laid down in the harmonized standards, which
for Germany take the form of the DIN EN standards. If there is not yet
any EC standard applicable to a particular product area, existing technical standards and regulations will apply.
CE labelling
With the declaration of conformity and the CE labelling of the product the
manufacturer certifies that his product complies with all relevant requirements of the EC guidelines. He is permitted to sell and use the product
throughout the EC.
Machine guideline
The Twin Line unit is not a machine in the sense of the machines EC
guideline (89/392/EEC). It has no function-associated moving parts.
The unit may however be a component part of a machine or installation.
Provided the rest of the machine complies with the machines guideline
and it has been set up in accordance with the EMC testing code of SIG
Positec, conformity with the machines guidelines can be certificated.
EMC guideline
The EC guidelines on electromagnetic compatibility (89/336/EEC)

applies to units which can cause electromagnetic interference or whose
operation can be impaired by such interference.
Compliance with the EMC guideline cannot be checked for the Twin Line
unit until it has been installed into a machine or installation. The instructions provided under Installation must be complied with to guarantee
the Twin Line unit is EMC-safe when fitted in the machine or installation
and before use of the unit is permitted.
Low voltage guideline
The EC guideline on low voltages (73/23/EEC) lays down safety requirements for 'electrical apparatus' as protection against the risks which can
originate in such devices and which can be created in response to external influences.
As specified by the low voltage guidelines the Twin Line unit conforms to
EN 50178 and to the following peripheral conditions:
Protection class 1
Contamination degree 2 (only standard unit)
The declaration of conformity certificates that the device satisfies the

requirements of the EC guideline cited. For the Twin Line unit a declaration of conformity in accordance with the EC low voltages guideline
has been issued.
9844 1113 102, a112, 10.00
Declaration of conformity
1-7
Fig. 1.7
1-8
TLD01x
Conformity as per the EC low voltages guideline
9844 1113 102, a112, 10.00
TLD01x
1.6.2
Regulations and standards
Standards concerning safe

operation of the Twin Line units
EN 60204 - (VDE 0113 Part 1: 1998): Electrical equipment of machines,

General requirements
DIN VDE 0100, Regulations regarding the installation of high-voltage
systems with voltages up to 1000 V
DIN VDE 0106-100, 1983, Protection against electrical shock; Location
of actuation elements in the vicinity of operating resources liable to accidental contact
DIN VDE 0470-1,1992, IP protection types
EN 954-1: Safety of machines, Safety of components of control devices,
Part 1: General design principles
Standards regarding compliance

with EMC limit values
EN 61000-4-1 (IEC 1000-4-1: 1992): Testing and measurement procedures, Section 1: Overview of noise immunity testing procedures
9844 1113 102, a112, 10.00
EN 50082-2 (VDE 0839 Part 82-2: 1996): Basic technical standard,

Noise immunity, Industrial sector
1-9
TLD01x
9844 1113 102, a112, 10.00
1-10
TLD01x
Safety
2.1
Danger categories
Safety
Safety notes and general information are indicated by special symbols

in the manual. In addition you will find symbols and instructions affixed
to your Twin Line unit which warn you of possible dangers and help you
to operate the unit safely.
Depending on the seriousness of the danger, danger symbols are
divided into three danger categories. The symbols shown emphasize
the danger situation to which the warning applies.
DANGER!
This is an indication of direct personal danger.
Can lead to serious injuries with fatal consequences if not
observed.
WARNING!
Indication of a recognizable danger.
If the warning is ignored, the danger can lead to serious
injury with fatal consequences, and to the unit or system
parts being permanently damaged.
CAUTION!
Indication of a danger.
If this is ignored, minor personal injury and light damage to
the unit or system may be the result.
2.2
Safety instructions
DANGER!
Electric shock from high voltage!
Follow safety rules when working on electrical systems:
Switch off the power to the unit
Make sure the unit cannot be switched on again inadvertently
Confirm that no voltage is present
Cover or shield neighboring system parts which are live.
9844 1113 102, a112, 10.00
DANGER!
Before starting work on the connections of the power unit
or on the motor terminals, wait for the 4 minutes discharge
time and then measure the residual voltage on the DC-line
terminals DC+ and DC- . The residual voltage must not
be higher than 48 VDC before you work on the connections.
If additional DC-line capacitors are fitted, the discharge
time increases to up to 10 minutes. Wait for this length of
time, and then measure the residual voltage.
2-1
Safety
TLD01x
2.3
Use for the purpose intended
2.3.1
Ambient conditions
Ambient temperature
0C to +50 C
Transport and storage temperature

Relative humidity
-40 C to +70 C
15% to 85%
(no condensation permissible)
Installation height,
operation with no reduction in performance
h <1000 m above ms
Vibrating stress in the enterprise according to DIN IEC 68-2-6

number of cycles:
10
Domain of frequency :
10Hz to 500Hz
amplitude of acceleration:
20m/s2
Continous chocing according to DIN IEC 68-2-29
number of chocs:
1000/direction
(directions: x,y,z for pos. and neg. direction, totally: 6000)
top acceleration:
150m/s2
Protection type
2.3.2
IP20
Intended use
The power electronic system is an electrical device for actuating and
controlling a variable-speed drive with a permanent-field synchronous
servomotor or AC servomotor for short.
Only an AC servomotor may be operated with the power electronic
system. The motor must be approved by SIG Positec for operation with
the unit.
The motor connections of multiple units may not be connected to each
other.
Units may not be connected in parallel to the DC-line output.
The power electronic system may be used for industrial applications in
the system configuration described.
The power electronic system may only be started up and operated after
it has been correctly installed to meet EMC requirements
The power electronic system must be installed and firmly mounted in a
switch cabinet. It may be used only with cables and accessories specified by SIG Positec.
9844 1113 102, a112, 10.00
The power electronic system may not be used in IT networks, as they

have no ground potential. Interference suppression filters for correct
EMC installation will only work properly with a ground potential connection.
2-2
TLD01x
2.4
Safety
Qualification of the personnel

Work on and with the power electronic system may only be carried out
by qualified personnel.
Qualified personnel can use their technical training, knowledge and
experience to assess the work to be done and to recognize and avoid
possible dangers.
Qualified personnel will be aware of the current standards, regulations
and accident prevention regulations which must be observed when
working on the unit.
2.5
Safety devices
The power electronic system unit monitors a range of signals from system and installation components.
Safety devices coupled with the unit, protect the system and operating
personnel. The following components and limit values are monitored:
Monitoring
Purpose and protective function
Short-circuits
Monitor the motor cable for short circuit between

motor phases, functional safety and protection of
unit
Overvoltage and under- Monitor the DC line for overvoltage and undervoltvoltage
age, functional safety and protection of unit
Temperature
Monitor the power amplifier and motor 1) with sensors for overtemperature, protection of unit
Rotation fault
On units with rotation monitoring, contouring error

signal in case of excessive positional deviation,
functional safety
9844 1113 102, a112, 10.00
1) Motor monitoring only for units with optional rotation monitoring
2-3
TLD01x
9844 1113 102, a112, 10.00
Safety
2-4
TLD01x
Technical data
Technical data
3.1
Mechanical data
3.1.1
Power Electronic System TLD01x

Weight
Device protection
TLD011 and TLD012 with rotation monitoring

Protection to DIN EN 60529: 1991
Dimensions
2.2 kg
IP 20
TLD01x
Width [mm]
81
Height [mm]
212.5
Length [mm]
184.5
Dimensions TLD011 and TLD012
9844 1113 102, a112, 10.00
Fig. 3.1
3-1
Technical data
3.1.2
TLD01x
Accessories
Holding brake controller TL HBC
Dimensions (H x W x D)
Installation on top-hat rail
55 mm
Holding brake controller
9844 1113 102, a112, 10.00
Fig. 3.2
107 mm x 104 mm x 76 mm
3-2
TLD01x
Technical data
3.2
Electronic data
3.2.1

Mains connection
TLD011/TLD011P
TLD012/TLD012P
Mains voltage [VAC]

only for TLD01x NF:
1x
230 -20%/+15%
1x1
15 -20%/+15%
1x
230 -20%/+15%
1x
115 -20%/+15%
Mains frequency [Hz]
47 - 63
47 - 63
Current consumption
[A]
2 (230 V)
4 (115 V)
5 (230 V)
10 (115 V)
Starting current [A]
< 60
< 60
Power factor cos
> 0.6
> 0.6
Power loss [W]
40
60
Mains buffering [ms]
<5
<5
Overvoltage strength
(DIN EN 61800-3)
between phases: 1 kV, phases to earth: 1 kV
Leakage current 1)
[mA]
< 30
< 30
10 C, K or similar
10 C, K or similar
10 C, K or similar
10 C, K or similar
Fuse, external [A] /

characteristic
for 230 V
for 115 V
1) Leakage currents are measured with an RC circuit in accordance with IEC60990.

The value can be higher if measured directly. Advice on using earth leakage circuit-breakers on request.
Motor connection
TLD011
TLD012
0.35
0.75
switching frequency
[kHz]
16
16
nominal current
[A. r.m.s.], r.m.s. value
Power class
1)
[kW]
1) Max. effective electrical power of the unit for nominal current and 115 VAC or
230 VAC mains voltage.
24 V DC supply
PELV, DIN 19240, reverse polarity protected

Input
Voltage range
Ripple
Current consumption
20 V to 30 V
< 2 VSS
1.5 A
9844 1113 102, a112, 10.00
Voltage drop-out buffering time (at 24 V) no brake connection 20 ms
3-3
Technical data
TLD01x
Interface PULSE-C
Signal inputs
symmetrical
asymmetrical
RS422 voltage compatible

4.5 V to 30V
connected electrically to 24VGND
Input resistance
Input frequencies:
Stepping rate (PULSE/PV, DIR/PR)
Motor current control (PWM)
5 k
200 kHz
6 kHz to 25 kHz
Number of steps
200, 400, 500, 1000,

2000, 4000, 5000, 10000
Signal outputs (ACTIVE, FUNCT_OUT)
Open Collector outputs,

short-circuit protected
30 V
50 mA
Output voltage
Output current, maximum
Rotation monitoring (optional)
Signal inputs (A, B)
RS422 level
connected electrically to 24VGND
Input frequency
400 kHz
1 600 000 Inc/s
Encoder resolution
1000 lines
Output
Encoder supply (SENSE)
Brake controller
5 V 5%, 300 mA
Sense-controlled
Short-circuit and overload-proof
Signal output (ACTIVE_CON)

Output voltage
Output current, maximum
Voltage drop at 0.5 A
short-circuit protected
30 V
1.7 A
1V
Reference potential (ACTIVE_GND)
3.2.2
GND of 24 V
UL 508C certification
The Twin Line Drive 01x is certified to UL 508C with the following data.
Mains connection
Unit
Mains voltage
[V]
Mains
Current [A]
frequency [Hz]
Phases
TLCX11
230 115
47-63
24
TLCX12
230 115
47-63
5 7.5
Unit
Motor voltage
[V]
Motor
Motor current
frequency [Hz] [A]
Phases
TLCX11
0-230
0-2500
TLCX12
0-230
0-2500
Accessories
3-4
Holding brake controller, TL HBC

Power supply 24 V
9844 1113 102, a112, 10.00
Motor data
TLD01x
3.2.3
Technical data
Accessories
TL HBC holding brake controller
Supply voltage, input

Input current
Output, brake
DC-voltage
Power at 24 V for 100 ms
Continuous current
DC-voltage with voltage drop
Current at 12 V
20 V to 30 V
Input current = 0.5 A + brake current
20 V to 30 V
0.5 A to 2.5 A
0.5 A to 1.5 A
9.5 V to 15 V
0.5 A to 2 A
9844 1113 102, a112, 10.00
Safe electrical isolation between 24 V input, control input and brake output
3-5
TLD01x
9844 1113 102, a112, 10.00
Technical data
3-6
TLD01x
Installation
Installation
4.1
Electromagnetic compatibility, EMC

Strong electromagnetic interference occurs in the power area of the
power electronic system which can influence signals coming from control cables and system parts and which can endanger the operational
reliability of the system if suitable protective measures are not taken.
The power electronic system meets the requirements of the EC directives on EMC noise resistance and on noise output as specified in
EN-61800-3, as long as the following steps have been taken during
installation.
Control cabinet setup
EMC measures
Effect
Use zinc or chrome-plated mounting plates, make

large contact surface connections for metal parts,
remove paint from bearing surfaces
Good conductivity due

to two-dimensional contacts
Ground the control cabinet, door and mounting

plate by means of metal tapes or cables with a
diameter greater than 10 mm2
Reduction of EMC emissions
Mount power components and control components Reduction of mutual

separately, minimum distance 25 cm, reduce inter- interference injection
ference injection from either component by using
multiple-ground dividing plates
Reduction of mutual
interference injection
9844 1113 102, a112, 10.00
Fit switching devices such as contactors, relays or

solenoids with interference suppressors or spark
suppressors (e.g. diodes, varistors, RC elements)
4-1
Installation
TLD01x
Cabling
EMC measures
Effect
Keep cables as short as possible, no safety loops, Avoidance of capacitive

short cables from the star point in the control cabi- and inductive interfernet to outlying ground connection
ence injection
Use cable clamps to connect a large surface area of Reduction of EMC emisthe shield from all shielded cables to the mounting sions
plate at the control cabinet entry.
Lay the cables spatially separated from each other:
- Signal cables and power cables
- Mains and motor cables
- Mains filter input and output cables
Reduction of mutual
interference injection,
reduction of emissions,
increasing resistance to
interference
Connect large surface areas of cable shields, use

cable sleeves and tapes
Low shielding effect if

the connection is not
made over large surface
area, reduction of emissions
Ground a large surface area of the shields of digital Avoidance of interfersignal cables at each end or via sub-D housing
ence on control cables,
reduction of emissions
Screen analogue signal lines at one end only at the Avoidance of ripple
power drive, at the other end via capacitor,
loops due to low-free.g. 10 nF / 100V MKT
quency interference
Use only shielded motor cables with copper braid- Controlled discharge of
ing and at least 85% covering, ground a large sur- interference currents,
face area of the shield at each end. Only use motor reduction of emissions
and encoder cables recommended by SIG Positec.
If the motor and machine are not conductively con- Reduction of emissions,
nected, for example by an insulated Flange or a
increase in resistance to
non-flat connection, ground the motor with a
interference
grounding wire (> 10 mm2) or ground strap.
Additional shielding
effect
9844 1113 102, a112, 10.00
Ground unused cable wires from control circuits at

both ends of the cable (does not apply to motor
cable)
4-2
TLD01x
Installation
Fig. 4.1
EMC measures and subdivisions of the control cabinet
WARNING!
Malfunctions and risk of injury!
The EMC of cables must be guaranteed if the unit is to
function reliably and free of faults. The use of unsuitable,
non-EMC-secure cables can damage the unit and lead to
malfunctions.
Motor leads and encoder cables are especially critical signal circuits.
Use SIG Positec cables for them. SIG Positec motor and encoder cables
have been tested for EMC stability. In addition these cables can be used
as trailing cables.
9844 1113 102, a112, 10.00
You can find information on the cables in the Accessories and spare
part section on page 9-1.
4-3
Installation
4.2
TLD01x
System components
Besides the components included in the scope of delivery, further system components are required for connecting the power electronic
system:
3-phase stepping motor
Motor cable
Signal cable
Encoder cable for units fitted with rotation monitoring
Mains cable and mains fuses
External power supply unit, 24 VDC with safe isolation - PELV
External mains filter for units with no built-in mains filter
control cabinet
Additional filters and chokes for mains connection and motor connection, depending on system configuration.
NC control or PLC for automatic operation
9844 1113 102, a112, 10.00
4-4
TLD01x
Installation
4.3
Mechanical installation
4.3.1
Installing the power electronic system

Before installation...
E Check the unit for outwardly visible damage such as dents in the
housing or broken connection terminals. Do not install damaged
units.
DANGER!
Danger from high voltages, possibility of permanent damage to the units electronic circuitry
Make sure when installing that no loose parts such as
pieces of wire or mounting parts fall into the unit. Loose,
conductive parts inside the unit can endanger life by forming parasitic voltages and permanently damaging the unit
through short-circuits.
Control cabinet
The control cabinet must be big enough to allow both unit and accessories such as ballast resistor controller and holding brake controller to be
firmly mounted and connected in line with EMC requirements.
Operating heat from the unit and other components must be able to dissipate by means of the switch cabinet ventilation.
Mounting distances
The unit is fitted with a built-in fan. Ventilation slots on and under the unit
must be kept at least 70 mm away from neighbouring units or walls.
Fig. 4.2
Mounting distances, dimensions in mm
E Position the unit in the control cabinet such that the heated air flow
from other units, for example from an external ballast resistor, does
not result in undesired heating of the cooling air.
E Mount the unit vertically with the mains connection at the top.
9844 1113 102, a112, 10.00
E Mount the unit on a galvanized metal plate. The back wall of the unit
must be in good contact with the metal plate across its whole surface area.
Painted surfaces have an insulating effect. Before fixing

the unit to a painted mounting plate, scratch off the paint
over a wide surface area in the places where the unit is to
be mounted, to ensure that it has a good connection with
the grounded plate.
4-5
Installation
4.3.2
TLD01x
Fitting the unit label

The unit label supplies information on the meaning of all operating
states displayed on the 7-segment display, and on signal interface
assignment. An example of the unit label which you can copy is provided
in section Unit label, Page 10-1.
E Stick the unit label on the inside of the hood on the side where the
signal plugs are connected.
Fig. 4.3
Sticking the unit label in the side of the hood
9844 1113 102, a112, 10.00
After the electrical installation has been completed and the unit hood
mounted, the cables for connection to the mains and the cables for both
upper signal connections are led out through the top of the hood, while
the motor cable and other signal cables are taken out through the bottom.
4-6
TLD01x
4.3.3
Installation
Fitting accessories
Mains filter
The power electronic system is supplied with a built-in mains filter as

standard. A special version of the unit can also be ordered with no mains
filter.
Do not use the units with external mains filters unless you can make test
measurements at the unit of the functioning and the EMC of a selected
mains filter.
The type plate on the front of the unit states whether a mains filter is built
in or not:
F: With mains filter, e.g. TLD01x F
NF: Without mains filter, e.g. TLD01x NF
Select a two-stage mains filter, e.g. for a frequency converter. The size
and selection of a suitable filter is for the system designer to decide.
9844 1113 102, a112, 10.00
E Fit the mains filter near the mains connection and on the same
mounting plate. The length of cable to the power electronic system
should not be longer than 50 cm. The cable must be shielded and
grounded at both ends.
4-7
Installation
4.4
TLD01x
Electrical installation
WARNING!
Malfunctions and danger of injury arising from interference
with other units!
Connect the unit correctly with respect to EMC. Control signals suffering interference can generate unexpected signal
states which can impair the functioning of the unit.
DANGER!
Follow safety rules when working on electrical systems:
Switch off the power to the unit
Make sure the unit cannot be switched on again inadvertently
Confirm that no voltage is present
Cover or shield any neighbouring system parts which are live.
DANGER!
Work on the power supply circuit may only be carried out
when the power supply has been switched off.
Lock the main switch and lock access to it.
9844 1113 102, a112, 10.00
Installing the power electronic system and other components and connecting it to the power supply may only be carried out by qualified personnel.
4-8
TLD01x
4.4.1
Installation
Mains connection
Connect the main cable
E Connect the mains cables to screw terminals PE, N and L
Fig. 4.4
Wire end ferrules
The connection diameter for the mains cables is 1.5 to 2.5 mm2.
Protect mains phase: For connection to 230 V: 10 A (C, K characteristic or similar) for connection to 115 V: 10 A (C, K characteristic
or similar)
For units with no built-in mains filter, NF types, any mains cable over
20 cm in length must be shielded between filter and unit terminals
and grounded on both ends.
Terminal screws should be tightened to 0.4 Nm - 0.5 Nm.
Cable wires can be connected without end ferrules.
For units with a hood, the cable must be led upwards from the point
of connection.
If you use wire end ferrules, pay attention to the following:
Applies to TLD032 only: Do not use end ferrules with a plastic collar
on wires with a cable diameter of 2.5 mm2.
Only use square end ferrules to ensure that they cannot work loose
after screws are tightened.
Strip the insulation from the cable to a length of 10 mm.
If a fault occurs, fault currents with DC component may arise. For singlephase units, an e.l.c.b. for fault currents with a pulsating DC component
can be fitted.
9844 1113 102, a112, 10.00
Earth leakage circuit-breaker
Mains connection
4-9
Installation
4.4.2
TLD01x
Motor connection
DANGER!
High voltage danger due to induced voltage!
Do not touch the wires or contacts of the motor cable when
the motor is turning. Even when they are not connected to
the power electronic system motors will create high
induced voltages when the motor shaft rotates. Make sure
that the motor is not driven by external sources while installation work is going on.
Connecting motor wires
E Connect the motor wires and protective ground to terminals U, V, W

and PE. The assignment of wires must be the same at the motor as
at the unit.
Terminal
Connection
Colour
motor wire
brown (bn)
motor wire
blue (bl)
motor wire
black (bk)
PE
protective conductor (screen tracer wire) -
Connecting the motor cable to the unit
9844 1113 102, a112, 10.00
Fig. 4.5
4-10
TLD01x
Installation
Fig. 4.6
Cable cross-section: 1.5 mm2
Maximum cable length: 20 m
The tightening torque for the terminal screws is 0.4 Nm-0.5 Nm.
The individual conductors of the cable can be connected without

wire end ferrules.
For units with a hood, the cable must be routed upwards from the
point of connection.
Fig. 4.7
9844 1113 102, a112, 10.00
Wire end ferrules
Connecting the motor cable to a motor with terminal box or connector
Preparing the motor cable
If you use wire end ferrules, pay attention to the following:
Only use square end ferrules to ensure that they cannot work loose
after screws are tightened.
The wire must fill the wire end ferrule over its whole length. Only
then has the connection been safely carried out, ensuring maximum current carrying capacity and vibration resistance.
4-11
Installation
TLD01x
The motor cable is a source of interference and must be carefully laid:
The shield braiding of the motor cable must be connected to the

motor housing and to the unit housing as well as to the switch cabinet entry with a large surface area connection. Use the supplied
shielded terminal for the connection to the housing.
The motor cable and signal cables must be laid at a distance of at

least 20 cm from each other. If the distance is less than this, the
motor cable and signal cables must be separated by grounded
screening plates.
9844 1113 102, a112, 10.00
EMC measures
4-12
TLD01x
4.4.3
Installation
Connecting the 24 V supply voltage

E Route the 24 V supply lines to the unit via a grounded 24 VDC transformer (PELV).
Fig. 4.8
24 V connection
Pin
Signal
Active
Meaning
I/O
24VDC
24 VDC supply voltage, internally connected to pin 2
24VDC
24 VDC supply voltage
24VGND
GND for 24 VDC voltage, internally connected to pin 4 and pin 6

(ACTIVE_GND)
24VGND
GND for 24 VDC voltage
The second 24 VDC and GND connection can be used as a 24 V

output for further devices or for cascading several units. The maximum terminal current is 7.5 A.
When specifying the 24 V power supply, take into consideration

additional devices such as the holding brake and the holding brake
controller.
To ensure that the position of the motor is preserved when the supply voltage to the power unit is switched off, the ENABLE input signal must be at Low before the supply voltage is removed. The
external 24 V supply voltage must remain switched on, and no
external torque may affect the motor.
Lay the 24 V supply line at a distance of at least 20 cm from other

lines to ensure EMC protection. For cable lengths of more than 2 m,
make a twisted pair of the 0 V and 24 V supply wires.
The tightening torque of terminal screws 1-34 is 0.22 to 0.25 Nm.
9844 1113 102, a112, 10.00
4-13
Installation
4.4.4
TLD01x
Connection of a holding brake

For motors with a holding brake, the brake can be connected directly to
the signal interface or via the holding brake controller TL HBC. Connection of the holding brake controller is described on page 4-23 under
Connection of accessories.
Use the following circuit when controlling the brake directly in order to
protect the motor against overheating. The circuit reduces the excitation
current immediately after the brake is operated.
The values for R1 and C1 are given for SIG Positec motors VRDM 39...
and VRDM 311.. .
Motor
VRDM 39...
VRDM 311..
Resistor R1
24 , min. 6
18 , min. 8
Capacitor C1
4700 F / 25 V
6800 F / 25 V
Fig. 4.9
Connection of the brake controller
To ensure safe functioning of the holding brake for vertical loads, the
static load torque may not exceed 25% of the motor holding torque.
Only use cables with the following specifications:
Cable diameter [mm ]

max. cable length
[m]
1)
TLD011
TLD012
1.5
1.5
20
20
9844 1113 102, a112, 10.00
1) Longer cable lengths on request
4-14
TLD01x
4.4.5
Installation
Connection to interface PULSE-C

Connection
The PULSE-C interface is fitted with a 15-pole sub-D plug with an M3

thread.
Fig. 4.10
PULSE-C interface
Pin
Signal
Color 1)
Pairs
Meaning
I/O
PULSE (PV)
white
Motor step Pulse or motor step forward PV
PULSE (PV)
brown
Motor step Pulse or motor step forward PV, inverted
DIR (PR)
green
Sense of rotation Dir or motor step backward PR
10
DIR (PR)
yellow
Sense of rotation Dir or motor step backward PR,

inverted
ENABLE (GATE)
grey
Enable signal
11
ENABLE (GATE)
pink
Enable signal, inverted
PWM
blue
Phase current value
12
PWM
rot
Phase current value, inverted
STEP2_INV
black
Switch to angular resolution
STEP2_INV
purple
Switch to angular resolution, inverted
GND
grey/pink
ground, signal available internally on 24 V GND via

resistor
ACTIVE
red/blue
Drive ready
13
FUNCT_OUT
white/green 7
Contouring fault signal
14
GND
brown/
green

resistor
15
GND
white/yellow

resistor
1) Color details refer to the cable available as an accessory.
9844 1113 102, a112, 10.00
For units with a hood, the cable must be routed upwards from the point
of connection.
4-15
Installation
TLD01x
Cable specification
Function
Shielded cable
Minimum diameter of signal wires 0.14 mm2
Twisted-pair wires
Grounding of screen at both ends
Maximum length at RS422 connection 100 m with open collector

connection up to 10 m
Setpoint defined by pulse direction signals fed in externally

Reference signals for step-by-step positioning of the motor and control
signals for motor current, angular resolution and for enabling the power
amplifier are transmitted via the PULSE-C interface. At the same time
the power electronic system signals operational readiness or a possible
malfunction via the interface.
PULSE (PV), DIR (PR)
The square-wave signals PULSE (PV) and DIR (PR) can be combined
for two operating modes. The setting of DIP switch 6 determines the
operating mode:
PULSE/DIR: Pulse direction signal with DIP 6 ON

PV/PR: Pulseforward - Pulsebackward signal with DIP 6 OFF
PV/PR signals can only be used with units with rotation monitoring.
You will find information on the DIP switches on page 5-3 under Setting
DIP switches.
Pulse direction operating mode
The motor executes an angular step with the leading edge of the PULSE
signal. The direction of rotation is controlled by the DIR signal.
Fig. 4.11 Pulse direction signal

Pin
Signal
Function
Value
1, 9
PULSE
Motor step
low -> high
Clockwise direction of rotation

Anticlockwise direction of rotation
low / open
high
9844 1113 102, a112, 10.00
2, 10 DIR
4-16
TLD01x
Installation
Pulseforward - pulsebackward
operating mode
The PV (PULSE) signal is used to execute a movement of the motor in

a clockwise direction, and the PR (DIR) signal a movement in an anticlockwise direction.
Fig. 4.12 Pulseforward/Pulsebackward signal

Pin
Signal
Function
Value
1, 9
PULSE (PV)
PV: Step in a clockward direction of

rotation
low -> high
2, 10 DIR (PR)
PR: Step in anticlockwise direction of low -> high

rotation
The maximum permissible frequency of PULSE (PV) and DIR (PR) is

200 kHz.
ENABLE (GATE)
The ENABLE (GATE) input performs two functions which are set via DIP
switch 5:
ENABLE function: enable and disable the power amplifier,

DIP 5 = OFF
GATE function: enable and disable the pulse input, DIP 5 = ON
You can find information on the DIP switches on page 5-3 under Setting
DIP switches.
ENABLE function
The ENABLE(GATE) function enables the amplifier which can then control the motor. DIP switch 5 has to be set at OFF for this to work.
Pin
Signal
Function
Value
3, 11
ENABLE
Disable power amplifier

Enable power amplifier
low / open
high
In addition the trailing edge at the ENABLE input is used to acknowledge

a fault.
If there is no operating fault, the ACTIVE output displays operational
readiness for approx. 100 ms after the power amplifier has been enabled. For units with no rotation monitoring or brake, pulses can now be
sent.
9844 1113 102, a112, 10.00
For units with brake or rotation monitoring, there is a delay before pulses
can be sent in order to release the holding brake or initialize the encoder.
4-17
Installation
TLD01x
Fig. 4.13 Enabling and disabling of the power amplifier with delay TW
Twin Line unit...
No brake
With brake
No rotation monitoring
TW= 0 ms
TW= 100 ms
With rotation monitoring
TW= 300 ms
TW= 300 ms
If the ENABLE signal is removed, the power amplifier remains active for
150 ms to allow any holding brake present to be applied. If a fault occurs
leading to the power amplifier being switched off, ACTIVE removes current to the motor at the same time.
You can find a description of the ENABLE function in motor operation on
page 5-6.
GATE function
The GATE signal disables pulses at the setpoint input without switching
off operational readiness. In a multi-axis system the GATE function can
be used to select individual axes. For the GATE function DIP switch 5
must be set to ON.
Pin
Signal
Function
Value
3, 11
ENABLE
(GATE)
Enable power amplifier Disable

power amplifier
low/open high
Fig. 4.14 Signal sequence when the unit is switched on in the GATE function
4-18
9844 1113 102, a112, 10.00
The following illustration shows the movement of the motor when the
GATE function is activated. There may be no pulse for 1.5 ms before and
after the change in the GATE signal.
TLD01x
Installation
STEP2_INV
The resolution of the number of steps of the motor can be increased by

a factor of ten by enabling this function via DIP switch 1 and by activating
it with the STEP2_INV signal. STEP2_INV reverses the DIP switch setting.
Pin
Signal
Function
Value
5, 6
STEP2_INV
Angular resolution:
- as set on DIP 1
- DIP 1 setting inverted
low/open
high
When the interface is operated with a WPxxx SIG Berger Lahr position
controller, STEP2_INV is at its Low threshold.
The following illustration shows the movement of the motor when the
STEP2_INV signal is activated. There may be no pulse for 1.5 ms before
or after the change in the STEP2_INV signal.
Fig. 4.15 Signal sequence when number of steps is changed
PWM
The pulse width modulation signal can be used to reduce the preset
motor phase current and with it the motor torque by between 0% and
100%.
Pin
Signal
Function
Value
4, 12
PWM
Maximum motor phase current

Reduced motor phase current
low/open
high
If the PWM input is permanently high, no phase current flows and the
motor is without power. If the level remains low, the motor runs at the set,
maximum phase current.
Only use the PWM control together with the ENABLE

function, not with the Gate function. With the GATE
function the motor will receive the full motor current if the
PWM control is switched off or fails.
9844 1113 102, a112, 10.00
ACTIVE
The output shows the operational readiness of the power electronic

system.
Pin
Signal
Function
Value
ACTIVE
Power amplifier is disabled Power high

amplifier is enabled
low
ACTIVE is an Open Collector output to GND.
4-19
Installation
TLD01x
FUNCT_OUT
The output signals a contouring error when an encoder is connected

and rotation monitoring has been activated.
Pin
Signal
Function
13
FUNCT_OUT Normal operating state

Contouring error signal
Value
low
high
If FUNCT_OUT signals a contouring error, the signal must be reset

before further operation. You can find information on this on page 7-2
under Error display and rectification.
FUNCT_OUT is an Open Collector output to GND.
Circuit of the signal inputs
It is recommended that signal inputs be switched via the RS422 interface.

The diagram shows the circuitry of the signal inputs PULSE (PV),
DIR (PR) and ENABLE. Up to 10 inputs of the PULSE-C module can be
connected to an RS422-C transmitter.
Fig. 4.16 Circuit of the signal inputs, L: Cable length
9844 1113 102, a112, 10.00
For cable lengths 10 m and frequencies 50 kHz, Open Collector outputs can be used if interference resistance requirements are low.
4-20
TLD01x
4.4.6
Installation
Connection to the interface for rotation monitoring

The optional encoder interface is only fitted in units with rotation monitoring.
Connection
The interface is equipped with a 15-pole sub-D female connector with

M3 thread.
Fig. 4.17 Interface for rotation monitoring, view of motor connector: soldering
side
Pin
Signal
Colour 1)
Pa
Significance
I/O
white
Encoder signal canal A
brown
Canal A, inverted
12
green
Canal B
yellow
Canal B, inverted
5VDC
red
Encoder supply, 5 V, max. 300 mA
5VGND
blue
Encoder supply, ground
10
+SENSE
violet
Positive sense line
2)
2)
11
-SENSE
black
Negative sense line
TEMP_MOT
grey/rosa
Error of temperature , inverted
red/blue
not occupied
not occupied
not occupied
13
not occupied
14
not occupied
15
not occupied
1) The indices to the colour refer to the cables being receivef as ass
2) Sense lines have to be connected to activate the 5VDC.
For units with a hood, the cable must be led upwards from the point of
connection.
9844 1113 102, a112, 10.00
Cable specification
Shielded cable
Minimum diameter of signal wires 0.25 mm2, 5VDC and 5VGND

0.5 mm2
Twisted-pair wires
Double-sided grounding of shield
Maximum length 100 m
4-21
Installation
TLD01x
Function
The angular position of the motor is signalled incrementally by means of

A/B square-wave signals via the connection. By comparing them with
the setpoint, the unit detects stepping errors and reports a contouring
error, if the maximum value of 6.4 is exceeded.
The power electronic system does not evaluate index pulses.
Fig. 4.18 Timing diagram with a positive A/B signal, counting forwards and
backwards
Temperature monitoring
Pin
Signal
Function
Value
TEMP_MOT Temperature range OK

Motor overheating or cable break
high
low
In order to use the monitoring function, an encoder with 1000 lines must
be fitted.
9844 1113 102, a112, 10.00
Encoder type
The winding temperature of the motor is monitored by means of the

TEMP_MOT signal. The signal also reports whether or not the encoder
is connected.
4-22
TLD01x
4.4.7
Installation
Connection of accessories
The brake on motors with a holding brake can be connected directly or

via the TL HBC holding brake controller.
With the holding brake controller the control signal ACTIVE_CON of the
positioning controller is amplified with the result that the brake responds
quickly, generating as little heat as possible.
Fig. 4.19 Connection of the TL HBC holding brake controller
Connection
Connection of the motor cable is described on page 4-10.

E Connect the die control port clamps B+ and B- to the holding brake
controller.
E Connect the ACTIVE_CON and ACTIVE_GND control circuits of
the holding brake controller to the signal interface.
E Connect the 24 VDC voltage supply to the holding brake controller.
The holding brake controllers power requirement depends on the
switching current for the holding brake:
Brake controller input current [A] = 0.5 A + switching current [A]
E Set the voltage reduction switch to 1.
The voltage reduction function is described in chapter Braking function
with TL HBC on page 6-3.
External capacitors
The power drive can store excess braking energy via the DC-line connection in an external electrolytic capacitor. This allows the increase in
the DC-line voltage to be reduced on frequent braking.
9844 1113 102, a112, 10.00
Only use capacitors with the following specification:
TLD011
TLD012
Voltage stability
> 450 V
> 450 V
external capacitance
<500 F
<1000 F
4-23
Installation
TLD01x
Cable specification
Connection
Screened cable
Screen earthed on both sides
Maximum cable length 3 m
Minimum cross-section: 1.5 mm2
E Connect the wires from the DC-line terminals to the capacitor terminals.Pay attention to correct polarity: DC+ to + and DC- to -. Otherwise device and capacitor can be destroyed.
9844 1113 102, a112, 10.00
Fig. 4.20 Connection of external capacitor
4-24
TLD01x
Installation
4.5
Wiring examples
4.5.1
Stepping motor control with no rotation monitoring
Fig. 4.21 Wiring example for stepping motor control
Signal interface:
Pin
1/9
2/10
Signal
PULSE (PV)
DIR (PR)
1)
1)
3/11
ENABLE (GATE)
4/12
PWM
5/6
STEP2_INV
1)
1)
Active
Meaning
I/O
high/low
Pulse signal or pulse forward signal
high/low
Direction signal or pulse backward signal
high/low
Enable signal for power amplifier, DIP switch 5 set to OFF
high/low
Phase current value
high/low
Angular resolution, inversion of DIP switch settings
Ground
7, 14,
15
GND
ACTIVE
high
Drive ready
13
FUNCT_OUT
high
Contouring error signal
1) Minimum assignment of signal interface for start-up
Power supply connection and brake connection:
9844 1113 102, a112, 10.00
Pin
1, 2
Signal
24 VDC
1)
1)
Active
Meaning
I/O
+ 24 VDC Supply voltage
GND for 24 VDC supply voltage
3, 4
24 VGND
ACTIVE_CON
high
Drive ready, control signal for brake/relay
ACTIVE_GND
GND for brake/relay control voltage
1) Minimum assignment of signal interface for start-up
4-25
Installation
4.6
TLD01x
Checking wiring
E Carry out these checks:
System check and initialization
Are all cables and connectors safely installed and connected?
Are any live cable ends exposed?
Are the control lines connected correctly?
No control signals may be sent to the motor during the wiring test.
WARNING!
Destruction of the motor!
The motor may only be operated when the phase current
has been correctly set. Driving the motor with the phase
current too high will destroy it immediately.
E To check the wiring, pull out the connector for the PULSE-C interface.
E Select the ENABLE function with DIP switch 5 set to OFF.
Fig. 4.22 Wiring test without PULSE-C connector: DIP 5 ENABLE to OFF
E Switch on the primary power supply.

E Switch on the 24 V power supply.
Device OK
The status display changes first from 1 to 2, then to 3.

During this procedure the unit carries out a self-test, checks the operating data, the internal monitoring devices and the connected sensors.
The DC-line is charged.The D2 DC-line LED lights.
E Switch off the power supplies again.
Before operating the unit, reconnect the PULSE-C connector.
4-26
Installation troubleshooting
Operational status indicator 2
If the controller hangs in the switching-on state '2', this indicates an internal fault in the unit which can only be identified and corrected by SIGPositec.
Operational status indicator 3
If the display does not change from 3 to 4, check whether the mains
voltage is switched on and the mains connections correctly wired up.
Operational status indicator

flashing
The unit has detected a fault. In the section Diagnosis and error rectification on page 7-1 you will find a listing which includes the causes of
faults.
9844 1113 102, a112, 10.00
4.7
TLD01x
Commissioning
Commissioning
5.1
Commissioning procedure
Carry out the following start-up steps even if you are using
an already configured unit under changed operating
conditions. Incorrectly set values could cause permanent
damage to the power electronic system and the motor.
Checklist
Information
Check the Twin Line unit for correct mounting and cabling. In the InstallaWhen carrying out this check, use the wiring diagrams of the tion section,
system configuration or the wiring examples in the chapter page 4-1
Wiring examples, page 4-25.
5.2
Set the phase current
page 5-2
Set the DIP switches
page 5-3
Check the handbrake function when wired up
Page 5-5
Test run
Page 5-6
Optimize the response characteristics of the motor
Page 5-7
Safety instructions
Commissioning may only be carried out by qualified personnel with a
knowledge of automatic control engineering.
WARNING!
Incorrectly set parameters can cause the motor to start
unexpectedly leading to a risk of crushing and of damage
to the system!
Close off the danger area and start up the motor when it is
disconnected mechanically from the system and is not
under load.
WARNING!
Danger of injury and destruction of system parts from runaway motor!
In error class 3 or 4, or if the unit fails, the motor will no
longer be actively braked and it will run at high speed
against a mechanical stop.
WARNING!
Destruction of power drive!
Do not change the settings for phase current and DIP
switches unless the mains voltage has been switched off.
9844 1113 102, a112, 10.00
WARNING!
Danger of injury and destruction of system parts from runaway motor or error class 3 or 4!
5-1
Commissioning
TLD01x
5.3
Starting up the power electronic system
5.3.1
Setting the phase current

The power electronic system controls motor torque by means of the
phase current. A large phase current generates high torque. To avoid
damage to the motor, the maximum permissible phase current on the
unit must be limited.
WARNING!
Damage to or destruction of the motor from phase current
being set too high!
The phase current on the unit must not be set higher than
the nominal phase current of the motor. If no value is given
for the nominal current, select the next smaller phase current on the unit.
Rotary switch
Phase current
Fig. 5.1
Setting phase current
E Select the rotary switch position for the maximum phase current
from the table.
5-2
r.m.s. value of the max. phase current [A]

TLD011
TLD012
0.40
1.75
0.50
2.00
0.60
2.25
0.70
2.50
0.80
2.75
0.90
3.00
1.00
3.25
1.20
3.50
1.40
3.75
1.60
4.00
1.80
4.25
2.00
4.50
2.25
4.75
2.50
5.00
2.75
6.00
3.00
7.00
9844 1113 102, a112, 10.00
Rotary Switch
TLD01x
5.3.2
Commissioning
Setting DIP switches

The DIP switches are used to set control signals for current reduction,
enabling power amplifiers, pulses and rotation monitoring.
DIP 1, 2 and 3
Number of steps
Fig. 5.2
Setting the number of steps
Setting the number of steps
E Set the number of steps with DIP switches 3, 2 and 1. The number
of steps selected via STEP0 and STEP1 can be increased by a factor of ten via STEP2.
The STEP2 setting can be inverted by means of the input signal
STEP2_INV of the PULSE-C interface. You will find the signal settings
for this on page 4-19.
DIP 4 and 5
Current reduction and ENABLE/GATE function
Fig. 5.3
Current reduction
Setting current reduction and ENABLE/GATE
Current reduction reduces the motor current to around 70% 100 ms after
the last pulse edge is received. The motor can thus cool down during
standstill.
9844 1113 102, a112, 10.00
If the motor is driving a vertical shaft, current reduction can

lead to loads dipping as the torque is also reduced to
around 70%.
5-3
Commissioning
TLD01x
ENABLE (GATE)
The ENABLE (GATE) signal at the signal interface can perform two
functions:
ENABLE function: enable and disable amplifier, DIP 5 = OFF
GATE function: enable and disable pulse input, DIP 5 = ON
In addition a rising edge at the ENABLE/GATE input is used to acknowledge an error message.
The GATE function allows switching between individual shafts in a multishaft system, by enabling pulses for the active shaft and disabling those
for other shafts.
DIP 6 and 8
Pulse mode and rotation monitoring
Fig. 5.4
Pulse mode
Setting PULSE/DIR signals and rotation monitoring functions
Position setpoints can be fed into the signal interface as pulse direction
signals or as a pulse forward / pulse backward signal. The power electronic system converts input signals into movements of the motor in
accordance with the DIP switch settings.
For the version of the unit with no rotation monitoring, only

pulse direction signals are evaluated. The DIP switch
setting is not relevant.
Rotation monitoring
Rotation monitoring can be deactivated by means of the DIP switch. The

unit then ceases to monitor for contouring errors even when encoder
signals are present.
9844 1113 102, a112, 10.00
For the version of the unit with no rotation monitoring, the DIP switch setting is not relevant.
5-4
TLD01x
5.3.3
Commissioning
Testing the function of the limit switch

Motor travel can be controlled by means of a limit switch. Signals from
the limit switch must be monitored by the external controller, and when
triggered it must interrupt setpoint pulses to the power drive.
E Check limit switch functions before starting up the motor in the system.
5.3.4
Checking the holding brake

Carry out this test when you are using a motor with a holding brake.
WARNING!
Danger of injury if the brake function fails!
Protect the danger zone before starting up, and carry out
function test at no load.
Check the brake function with the push-button switch on the holding
brake controller.
If the holding brake controller is to enable the button, the controller must
not be switched by the power electronic system:
E Disconnect the ACTIVE_CON control cable at the power electronic
system or switch off the 24 V supply to the power electronic system.
E Press the button on the holding brake controller several times in
order to alternately release and re-apply the brake. The LED on the
controller lights up when the brake is activated and thus released.
9844 1113 102, a112, 10.00
E Test the effectiveness of the brake: when the brake is released the
shaft can be moved by hand, when the brake is on, this is not possible.
5-5
Commissioning
5.3.5
TLD01x
Motor test operation

WARNING!
Danger of injury and damage to system parts from unexpected acceleration of the motor.
Carry out the first test run with no connected loads.
If the motor has already been installed in the system, make
sure that unexpected movements of the motor do not
cause any damage.
Check the motors direction of

rotation
E Switch on the external 24 VDC supply voltage and the 230 V supply
for the power controller.
E Activate the ENABLE signal, if the ENABLE function has been
selected with DIP switch 5=OFF.
The operating display changes to 4. The amplifier is enabled.
E Start the first test with a low pulse frequency. When the DIR signal
is deactivated, the motor must rotate clockwise.
Fig. 5.5
Direction of rotation of the motor
For the version with no encoder, the motors direction of rotation can be
reversed by swapping over two motor phases.
If the motor follows the pulse signals, the motor is being correctly controlled.
9844 1113 102, a112, 10.00
E Switch off the voltage supply and install the motor in the system.
5-6
TLD01x
5.3.6
Commissioning
Optimizing the performance of the motor

Determining and testing limit
frequencies
To obtain the best possible operation of the motor with the power electronic system, the limit frequencies must be set for the start/stop phase
and the acceleration phase on the NC controller.
The limit frequencies of a motor are determined depending on the
torque of the motor and on the external mass moment of inertia from the
stepping motors characteristic curve.
E Calculate the systems moment of inertia brought to bear on the
shaft.
E With reference to the motors characteristic curve and torque, work
out the values for the
Start/Stop frequency
maximum start/stop frequency
the gradient of the frequency ramp.
At no load, the motor accelerates from a standstill with no stepping error

by means of the start/stop frequency. If external forces of inertia are
being exerted on the motor, a lower start/stop frequency must be
selected.
The same applies to the limit frequency for braking the motor to a speed
of 0.
Fig. 5.6
Characteristic curves of the linear ramp with and without external

moments of inertia.
Before the sense of rotation is reversed, the pulse frequency must be

limited to the start/stop frequency to enable the change of direction to be
carried out without any loss of step.
Frequency ramp
In the acceleration and breaking area above the start/stop frequency,

the control frequency must be changed continuously in accordance with
the frequency ramp. The gradient of the frequency ramp is dependent on
the external mass moment of inertia and on the motor type.
9844 1113 102, a112, 10.00
E Program the frequency data in the NC or positioning controller, and

start a test operation under real load conditions.
5-7
TLD01x
9844 1113 102, a112, 10.00
Commissioning
5-8
TLD01x
Operating functions
Operating functions
6.1
Positionierbetrieb
The power electronic system moves a stepping motor in accordance
with a preset reference value. The setpoint signal is generated by a positioning or NC controller, and made available as a pulse signal at the
PULSE-C interface.
If a rotation monitor is also fitted and activated via DIP switches, the
power electronic system identifies the position of the motor and signals
step losses which can for example arise from the motor being blocked or
overloaded.
Fig. 6.1
The setpoint is made available as a pulse direction signal P/R. If an

encoder has been fitted, the setpoint can be transmitted as a
pulseforward /pulse backward signal PV/PR.
9844 1113 102, a112, 10.00
Setpoint
Positioning control of a stepping motor with rotation monitoring
6-1
Operating functions
TLD01x
6.2
Functions of the power electronic system
6.2.1
Monitoring functions
Various monitoring systems protect motor and power amplifier from
overloading and overheating, as well as recording positional deviations
of the drive. You will find an overview of all monitoring functions under
Safety devices on page 2-3.
Error messages and warnings are shown as blinking values on the 7segment display of the power electronic system.
Temperature monitoring
Sensors in the power electronic system measure the temperature of the

power amplifier. When an encoder connection is fitted, the operating
temperature of the motor can be recorded and monitored via the
encoder cable.
If the temperature of the motor or the power amplifier exceeds the permitted temperature threshold for more than five seconds, the power
electronic system will shut down the amplifier and report a temperature
fault.
When an encoder is fitted, the angular position of the motor is transmitted incrementally with A/B square-wave signals. By comparing them
with the setpoint, the unit detects stepping faults and reports a contouring error if the limit value of 6.4 is exceeded.
Error message via the PULSE-C

interface
The FUNCT_OUT output of the PULSE-C interface can be used to

report a contouring error to an NC controller. At the same time the amplifier is disabled and the ACTIVE signal changes to High.
9844 1113 102, a112, 10.00
Contouring error
6-2
TLD01x
6.2.2
Operating functions
Braking function with TL HBC

On motors with a holding brake, the brake prevents the deenergized
motor from making any unintended movements. The power electronic
system controls the holding brake either directly or via the holding brake
controller TL HBC which is available as an accessory.
Holding brake control system
The holding brake controller TL HBC amplifies the ACTIVE_CON control signal of the signal interface, operating the brake so that it switches
rapidly and generates as little heat as possible. In addition to this, the
brake connection which is in the same cable as the power connections
to the motor is safely insolated from the signal connections of the power
electronic system if there are insulation breaks in the motor cable.
For set-up and function test, the holding brake can be released with the
push-button switch fitted to the holding brake control system.
Brake signals
Voltage reduction
ACTIVE_CON switches to high and releases the brake as soon as the

amplifier is enabled and the motor has holding torque.
I/O signal
Function
Value
ACTIVE_CON
Brake disengaged, no braking torque

Brake engaged, braking torque
high
low / open
ACTIVE_GND
GND connection for ACTIVE_CON
low
The control voltage from the holding brake control system is variable if
the voltage reduction function is switched on. The voltage is then 24 V
for approx. 100 ms and afterwards falls back to its holding voltage of
12 V.
Fig. 6.2
Time diagram, brake function with voltage reduction on
9844 1113 102, a112, 10.00
When the supply voltage is switched on, the holding brake control system and the switch/Taster function are reset. No voltage is present on
the control terminals of the brake, and the control system LED is off.
6-3
TLD01x
9844 1113 102, a112, 10.00
Operating functions
6-4
TLD01x
Diagnosis and error rectification
7.1
Operational status indicators and transitions

Status display in the unit
The D2 LED on the motor plug lights, when voltage is present in the DCline.
The 7-segment display represents the operating states of the power
electronic system in coded form.
Display Operating status
0
24 V switched on
Initialization of the unit electronics
The power amplifier is not ready to switch on
Switching on the power amplifier is disabled
The power amplifier is ready to switch on
The device is working in the operating mode selected
A quick stop is being executed
8, 9
An error has been detected and the error response activated
0-A
Indicates the error value
flashing
9844 1113 102, a112, 10.00
Operating transitions
The conditions for changing between the operating states displayed and
the reactions of the power electronic system to an error follow a fixed
sequence.
Fig. 7.1
Operating states and transitions of the power electronic system
7-1
7.2
TLD01x
Error display and rectification

Error display
Resetting the error message
The cause of an operating malfunction is displayed
by a blinking number in the 7-segment display
by the error response of the power electronic system
When the malfunction has been rectified, the message can be acknowledged by removing the ENABLE signal at the signal interface. DIP
switch 5 must be set to OFF for this.
If DIP switch 5 is set to ON, the GATE function is activated. An error message can in this case only be acknowledged by switching the 24 V supply off and on.
Error response
The power electronic system triggers an error response when a malfunction occurs. Depending on the seriousness of the fault, the unit
responds in accordance with one of the following error classes:
Error
class
Response
Meaning
Warning
Signal only, no interruption of movement mode
Fatal error
Amplifier and control circuits shut down The unit can

only be activated when the error has been rectified.
Uncontrolled
operation
Amplifier and control circuit shut down. Error

response can only be reset by switching off the unit.
Error rectification
Display Error
Error
class
Cause
Error rectification
dark
Display is dark
Distribution voltage missing
Check distribution voltage et fuses
Display is dark
Distribution voltage incorrectly connected
Connect correctly
Undervoltage
DC-line voltage under threshold for

switching off the drive
Check mains voltage / connections to the

unit
Contouring error
Drive is blocked Start/Stop frequency Reduce load or motor torque Check rotary
too high Ramp frequency too high
switch position for motor current Settings
on the NC controller: Set start/stop frequency lower Reduce acceleration frequency
Maximum motor
speed
Maximum motor speed exceeded
Reduce pulse frequency
Motor power
Short-circuit or ground fault in motor

circuit
Check connections, change motor cable
Position sensor
Only for TLD01x with rotation monitor- Check encoder cable and encoder. Swap
ing: encoder or encoder cable broken cable, swap motor
Overvoltage
DC-line overvoltage
9844 1113 102, a112, 10.00
Use external capacitor
7-2
TLD01x
Display Error
Error
class
Cause
Error rectification
Overtemperature 3
amplifier
Amplifier overheated
Reduce load, use current reduction to

reduce power
Overtemperature 3
motor
Only for TLD01x with encoder connection: Motor overheated Temperature sensor not connected or broken
Allow motor to cool, use motor with larger

rated power, use current reduction to
reduce power Check/swap encoder cable
Watchdog
internal system error
Switch unit off/on, Change unit
Timing error
Timing of GATE, STEP2_INV or

PULSE not maintained
Check timing characteristics of signals at

the PULSE-C interface.
7.3
Malfunctions in movement mode

Faults
Cause
Rectification
Motor not turning

and has no holding
torque
Signal input
PWM: high
Deactivate current control

(PWM)
Signal input: ENABLE:

low
Activate enabling of amplifier

(ENABLE)
Motor incorrectly connected
Connect motor correctly
Signal input GATE: high Deactivate GATE signal on

Motor not turning,
GATE function, to enable
but does have holdpulses
ing torque
Motor is turning
unevenly
Motor is turning in
the wrong direction
Pulse frequency
Check timing and signal voltage level of pulse signals

(PULSE, DIR)
Pulse frequency
Check timing and signal voltage level of pulse signals

(PULSE, DIR)
Overload
Reduce load
Motor broken
Change motor
Motor phasesare the

wrong way round
Check / change motor connection
Check signals, connect cor+DIR/-DIR incorrectly

connected PV/PR sig- rectly
nals are the wrong way
round
Phase current wrongly
set
Set motor phase current by

values given on the motor type
plate and in start-up phase
current table
9844 1113 102, a112, 10.00
Motor torque too

low
7-3
TLD01x
9844 1113 102, a112, 10.00
7-4
TLD01x
Service, Maintenance and Warranty
8.1
Service address
Please address questions or problems to your SIG Positec contact person or directly to SIG Positec. SIG Positec will be happy to give you the
name of its customer service outlet in your area.
Hardware hotline
For questions concerning the unit, service or on-site commissioning
Telephone: +49 (07821) 946 257
Fax: +49 (07821) 946 430
Lotus Notes: Hotline, Hardware
Internet e-mail: hw.hotline@sig-positec.de
Software hotline
For questions concerning software or field bus
Telephone: +49 (07821) 946 360
Fax: +49 (07821) 946 430
Lotus Notes: Hotline, Software
Internet e-mail: sw.hotline@sig-positec.de
RED office
Repairs and spare parts service
Telephone: +49 (07821) 946 606
Fax: +49 (07821) 946 202
Lotus Notes: RED, Buero
Internet, e-mail: red@sig-positec.de
Maintenance
The Twin Line unit requires no maintenance

E Check the state of the filter in the switch cabinet ventilator regularly.
Checking intervals depend on the ambient conditions on site.
Have repairs to the unit carried out only by SIG Positec to

ensure that the unit continues to operate reliably.
No warranty claims can be entertained if the unit has been opened.
9844 1113 102, a112, 10.00
Warranty
8-1
8.2
TLD01x
Shipping, storage and disposal

DANGER!
Switch off the power supply at the main switch before
removing the unit.
DANGER!
Wait the 4 minutes discharge time (TLD038: 6 minutes)
before working on the connections to the electronic power
system or motor terminals. and then measure the residual
voltage at the DC-line terminals DC+ and DC-. The residual voltage may not exceed 48 VDC.
Shipping
The unit must be protected against impact while in transit. Use the original packaging for this purpose.
Storage
Store the unit only under the given, permissible ambient conditions for
room temperature and humidity.
Protect the unit from dust and dirt.
Disposal
The power electronic system is made from various materials which can
be recycled or which must be separately disposed of.
For recycling purposes, split the unit into the following parts
Housing, screws and terminals for ferrous metal recycling
Cables for copper recycling
Connectors, hood for plastics recycling
9844 1113 102, a112, 10.00
Circuit boards and electronic components must be disposed of separately in accordance with the relevant environmental protection laws.
Send these parts for special waste disposal.
8-2
TLD01x
Accessories and spare part
9.1
List of accessories
Accessories for the power electronic system are the following ones:
Qty.
Description
Order number
Set of connectors for complete configuration

2
6250 1519 001

6250 1317 xxx 1)
Motor cable 1.5 mm
Pulse direction cable for PULSE-C interface

2 x female connector, 15-pole.
1 x female connector, 15-pole, one end open
6250 1447 yyy 2)

6250 1452 yyy 2)
Encoder cable for rotation monitoring
6250 1440 xxx 1)
Brake controller TL HBC
6250 1101 606
1) Cable length xxx: 003, 005, 010, 020, 030: 3 m, 5 m, 10 m, 20 m, 30 m;

2) Cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m;
9.2
List of spare parts

Qty.
Description
Order number
TLD011, TLD012
Typenschlssel
Shielded terminal SK14
6250 1101 400
Documentation on the TLD01x on CD-ROM, mul- 9844 1113 138

tilingual
9844 1113 102, a112, 10.00
9-1
TLD01x
9844 1113 102, a112, 10.00
9-2
TLD01x
Unit label
10
Unit label
10.1
Illustration of the unit label

E Copy the unit label and stick it to the inside of the Twin Line units
hood.
9844 1113 102, a112, 10.00
Fig. 10.1 Unit label
10-1
TLD01x
9844 1113 102, a112, 10.00
Unit label
10-2
TLD01x
Index
Index
Numerics
7-segment display, see status display
A
Accessories
connecting 4-24
Installation 4-7
Order nos. 9-1
Scope of supply 1-2
Technical data 3-5
ACTIVE signal, function 4-20
Ambient conditions 2-2
B
Brake controller, see Holding brake controller
Braking function 6-3
C
Cascading, max. terminal current for 4-13
CE labelling 1-7
Contouring error
Limit value 6-2
Message via FUNCT_OUT signal 4-20
monitoring function 6-2
Control cabinet 4-5
Correcting operating errors 7-4
Current reduction 4-20
9844 1113 102, a112, 10.00
D
Danger categories 2-1
Declaration of conformity 1-7
Deinstallation 8-2
Diagram
A/B signals 4-23
ENABLE signal 5-6
Enabling amplifier without rotation monitoring 4-18
GATE signal 4-19
Start/Stop frequency and ramp 5-7
STEP2_INV signal 4-19
DIP switches
1, STEP2 5-3
2, STEP1 5-3
3, STEP0 5-3
4, Current reduction 5-3
5, ENABLE (GATE) 5-4
6, Pulse mode 5-4
8, Rotation monitoring 5-4
DIR signal, see PULSE/DIR signals
Disposal 8-2
A-1
Index
TLD01x
E
EC guidelines 1-7
EMC guideline 1-7
ENABLE signal
Diagram 5-6
DIP setting 5-4
Function 4-18
Encoder
Cable specification 4-22
connecting 4-22
deactivating monitoring function 5-4
Function 4-23
initializing 4-18
Error class
Meaning 7-2
Error message reset 7-2
Error rectification 7-3
F
Fan 1-5
Fitting the unit label 4-6
Frequency ramp 5-7
FUNCT_OUT-Signal, Function 4-20
G
GATE signal
Diagram 4-19
DIP setting 5-4
Function 4-19
H
HMI hand-held operating unit
Manual 1-3
Holding brake
connecting 4-14
Holding brake control system
function 6-3
connecting 4-24
Dimensions 3-2
Technical data 3-5
Holding brake, Function check 5-5
9844 1113 102, a112, 10.00
I
Intended use 2-2
Interface PULSE-C
Cable specification 4-16
Signals 4-16
Interface signal
ACTIVE_CON 6-3
IT networks, Use in 2-2
L
Laying motor cables 4-10
LED DC-line voltage 1-5
Limit frequency 5-7
A-2
TLD01x
Index
M
Mains connection
24 V+ supply 4-13
Mains filter, unit designations 4-7
Maintenance 8-1
Malfunctions in movement mode 7-4
Motor connection 1-4
Motor phase current, see phase current
Motor terminals 4-10
Mounting distances 4-5
O
Open collector circuit 4-21
Operating states and transitions 7-1
Optimizing the performance 5-7
P
Performance of the motor, optimizing 5-7
Phase current
reducing 4-20
setting 5-2
Power electronic system
24 V+ connection wiring 4-13
electrical installation 4-84-22
mechanical installation 4-54-7
Motor connecting 4-10
Overview 1-4
Power classes 1-3
PULSE-C connecting 4-15
Type code 1-3
Unit overview 1-4
Wiring interface for rotation monitoring 4-22
Protection type 2-2
PULSE/DIR signals
DIP setting 5-4
PULSE/DIR-signals
Function 4-16
PULSE-C
Assignment 4-15
PULSE-C, see interface PULSE-C
PV/PR signals
DIP setting 5-4
Function
PWM-Signal, Function 4-20
Q
Qualification of the personnel 2-3
9844 1113 102, a112, 10.00
R
Residual-current circuit-breakers 4-9
Rotation error 6-2
A-3
Index
TLD01x
S
Safety devices 2-3
Safety instructions 2-1
Safety notes 2-1
Service address 8-1
Shipping 8-2
Signal inputs
Circuit diagram 4-21
Start/Stop frequency 5-7
Status display 1-5, 7-1
STEP2_INV signal
Diagram 4-19
Function 4-19
Storage 8-2
Synchronous servomotor 2-2
T
Time diagram
Brake function 6-3
Pulse direction signal 4-16
Pulse forward / backward signal 4-17
TLD01x, see Power electronic system
Torque reduction 4-20
Type code 1-3
U
Unit label
fitting 4-6
Specimen 10-1
Unit series Twin Line Drive 01x (TLD01x) 1-3
V
Voltage reduction 6-3
9844 1113 102, a112, 10.00
W
Warranty 8-1
Wiring examples 4-26
A-4

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Technical documentation

Twin Line Drive 01x

Advice, Service and Sales:

9844 1113 102, a112, 10.00

Twin Line Drive TLD01x

Documentation and literature . . . . . . . . . . . .

Guidelines and standards . . . . . . . . . . . . . .

Use for the purpose intended . . . . . . . . . . . .

Qualification of the personnel . . . . . . . . . . . .

Mechanical data . . . . . . . . . . . . . . . . . . . 3-1

Electromagnetic compatibility, EMC . . . . . . . . .

9844 1113 102, a112, 10.00

Twin Line Drive TLD01x

Starting up the power electronic system . .

Functions of the power electronic system . . . . .

7 Diagnosis and error rectification

Operational status indicators and transitions . . . .

Error display and rectification

Malfunctions in movement mode . . . . . . . . . .

8 Service, Maintenance and Warranty

Shipping, storage and disposal

List of spare parts . . . . . . . . . . . . . . . . .

Illustration of the unit label . . . . . . . . . . . . .

Twin Line Drive TLD01x

9844 1113 102, a112, 10.00

9 Accessories and spare part

I: isolated; T: terre (French) - i.e., not grounded

Protected Extra Low Voltage

Twin Line Drive 01x

Power Electronic System

Twin Line Holding

Holding Brake Controller

9844 1113 102, a112, 10.00

Twin Line Drive TLD01x

Actual position of the motor

See Angular position of the motor

Angular position of the motor

The angular position of the motor corresponds to the angular position of

Rotation of the motor shaft in a clockwise or anticlockwise direction. A

Sensor for recording the angular position of a rotating element. Mounted

Angular steps of an encoder in the form of square-wave pulse

See Power amplifier

Pulse direction signals

Digital signals with variable pulse frequencies which signal changes in

Detects variations in the position of a motor. The actual position reported

Twin Line Drive TLD01x

9844 1113 102, a112, 10.00

Actual position of the drive system

Written conventions and note symbols

This action symbol is used for step-by-step instructions which can be

The enumeration symbol is used for listing individual points in a given

This symbol is used for general notes which give additional

9844 1113 102, a112, 10.00

Passages which are preceded by this symbol may have to

Twin Line Drive TLD01x

9844 1113 102, a112, 10.00

Twin Line Drive TLD01x

The power electronic system

The power electronic system

Scope of supply power electronic

The scope of supply of the TLD01x power electronic system includes:

Hood for covering the front

1 or 2 shielding terminals SK14 for motor connec- 6250 1101 400