Wittenstein TPM Series Troubleshooting guide

TPM(A)
004 – 110
SEIDEL
SERVOSTAR 600
Quick Startup Guide
Version : 1.1
Date : 07. September 2006
File : 4091_D006391_02.doc
Doc.No. : 4091-D006391-02
Technical changes reserved!

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 2 of 14
Table of Contents
TABLE OF CONTENTS.......................................................................................................................... 2
1 GENERAL INFORMATION AND SAFETY INSTRUCTIONS ........................................................ 3
2 NAME PLATE DATA DETAILS ...................................................................................................... 4
3 PARAMETER LIST TPM ⇔
⇔⇔
⇔SERVOSTAR 600 ............................................................................. 5
3.1 S ELECTION OF THE MOTOR FEEDBACK AND ENCODER OFFSET ........................................................ 5
3.2 TPM WITH 320 V DC- BUS ........................................................................................................... 6
3.3 TPM WITH 600 V DC- BUS ........................................................................................................... 7
3.4 TPMA WITH 320 V DC- BUS ......................................................................................................... 8
3.5 TPMA WITH 600 V DC- BUS ......................................................................................................... 9
4 CONNECTION SCHEMATIC TPM ⇔
⇔⇔
⇔SERVOSTAR 600 ............................................................ 10
4.1 TPM WITH R ESOLVER -F EEDBACK .............................................................................................. 10
4.2 TPM WITH ABSOLUTE ROTARY ENCODER H EIDENHAIN ECN 1313 / EQN 1325 ............................ 10
4.3 TPM WITH ABSOLUTE ROTARY ENCODER S TEGMANN SRS / SRM 050......................................... 11
5 ASSIGNMENT TPM ⇔
⇔⇔
⇔SERVO AMPLIFIER ⇔
⇔⇔
⇔CABLE SET ..................................................... 12
5.1 TPM WITH R ESOLVER -F EEDBACK .............................................................................................. 12
5.2 TPM WITH ABSOLUTE ROTARY ENCODER H EIDENHAIN ECN 1313 / EQN 1325 ............................ 13
5.3 TPM WITH ABSOLUTE ROTARY ENCODER S TEGMANN SRS 050 / SRM 050.................................. 14
Modification History
Document Designation Version Date Note
4091_D006391_1.doc 1.0 06.06.2003 First edition
4091_D006391_02.doc 1.1 07.09.2006 TPM004, TPMA added
Contact address:
WITTENSTEIN motion control GmbH
Walter-Wittenstein-Strasse 1
97 999 Igersheim
Tel. : 07931 / 493-0
Fax : 07931 / 493-200
Email :
[e-mail]

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 3 of 14
1 General Information and Safety Instructions
This guide serves as an aid during start-up and inspection of TPM motor gear units with servo am-
plifiers. It contains the following points:
• Parameter lists for the TPM series
• Connection schematic for TPM
• Assignment table TPM – Servo amplifier - cable set
Please be sure to carefully read through this document before starting up the TPM and also be
sure to read the documentation provided by the manufacturer of the servo amplifier.
WITTENSTEIN motion control will not be held liable for the consequences of the im-
proper, negligent, or incorrect installation or setting of the servo amplifier's operating
parameters.
All of the installation, operation, and safety information provided in the servo amplifier
documentation is to be observed.
Observe all of the national safety regulations and guidelines of the country where the device is being used.
All transportation, installation, start-up, and service work is to be performed by qualified technicians. Quali-
fied technicians are those who are completely familiar with the assembly, installation, and operating proce-
dures, as well as all warnings and safety measures in accordance with the country-specific regulations. Fur-
thermore, they are trained, instructed, and authorised to set the electrical circuits and other devices into op-
eration in accordance with safety regulations.
The drives are intended to be installed in machines being used in commercial applications. You may only
operate the equipment if you comply to the national EMC regulations (refer to the servo amplifier documenta-
tion for installation information pertaining to EMC) as they are defined for the given application.
Note: All of the product brand names which appear in this Quick Start Guide are trademarks of the relevant
companies. If the ® and/or ™ symbols are omitted, this does imply that the name is a free brand name.

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 4 of 14
2 Name plate data details
Please select the input parameters corresponding to the nameplate values of your TPM.
TPM 010–091 M–600 K–BP 1–015 IF STD
Size
TPM 004 / 010 / 025 / 050 / 110
TPMA 025 / 050 / 110
Plug form
STD = angle
SEG = straight
XXX = custom
Ratio
21 / 31 / 61 / 91 (TPM)
110 / 154 / 220 (TPMA)
Standard
IF = industry standard
UL = UL recognised
file E220160
Stator length Motor encoder
R = Resolver
S = Singleturn Heidenhain EnDat®
M = Multiturn Heidenhain EnDat®
N = Singleturn Stegmann Hiperface®
K = Multiturn Stegmann Hiperface®
I = Heidenhain incremental encoder
Clearance specification
1 = Standard < 3 arcmin
(TPM 004: < 5 arcmin)
0 = Reduced < 1 arcmin
(TPM 004: < 3 arcmin)
Intermediate voltage
320
600
Brake
BP = Permanent magnetic
brake
OH = Without brake
Temperature sensor
P = PTC STM 160 in accordance with
DIN 44081 / 44082
N = NTC
K = KTY 84-130

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 5 of 14
3 Parameter list TPM / TPMA ⇔
⇔⇔
⇔Servostar 600
The following table contains all of the parameters that are required for the initial start-up of a TPM motor-
gear unit from WITTENSTEIN motion control together with a Seidel Servostar 600. When the TPM and the
servo amplifier are properly connected, these parameters guarantee that the TPM can be operated without
load in speed control. Based on these default settings, the dynamics of the speed loop can be optimized de-
pending on the application.
3.1 Selection of the motor feedback and encoder offset
For the selection of the motor feedback and the encoder offset the following inputs must be done:
1. Open the screen Terminal in the Drive software
2. Depending on the motor feedback enter the following commands:
Resolver: MRESPOLES 2
FBTYPE 0
Heidenhain EnDat: FBTYPE 4
Stegmann Hiperface: FBTYPE 2
After input of FBTYPE <WERT>, please confirm the message „Save to EEPROM and reset?“ with „YES“
3. After the restart open the Screen Terminal and enter the encoder offset with the command MPHASE <OFFSET>
Instead of <OFFSET> enter he appropriate value of the following parameter list
4. For TPM with Resolver you must save the offset in the amplifier with the input of the command SAVE
For TPM with EnDat you must store the offset to the encoder with the command HSAVE
For TPM with Hiperface you must store the offset to the encoder with the two commands HSAVE ERASE and
HSAVE
5. Restart the amplifier with the input of COLDSTART

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 6 of 14
3.2 TPM with 320 V DC-bus
Screen Page
Parameter
TPM004
TPM010
TPM025
TPM050
TPM110
DC-Bus Voltage
Feedback Feedback Type
No. of Poles
Offset 90 90 270 270 270
Bandwith
Feedback Type
Offset 90 90 90 90 90
Feedback Type
Offset 150 150 150 150 150
Speed Speed Limit [rpm] 7000 7000 6000 5000 4500
Rotary Direction
Overspeed [rpm] 7250 7250 6250 5250 4750
Kp 0.3 0.3 0.3 0.4 0.5
Tn [ms] 10 10 10 10 10
PID-T2
T-Tacho
Ratio 21 / 31
Stator Length 030 030 045 060 075
Motor Number - Name 0-NN 0-NN 0-NN 0-NN 0-NN
No. of Poles 8 8 12 12 12
I0 [Arms] 1.5 1.7 8.7 23.9 18.0
I0max @ i = 21 [Arms] 4.2 7.3 24.2 42.0 42.0
I0max @ i = 31 [Arms] 3.7 5.7 19.7 42.0 42.0
L [mH] 10.2 12.2 2.5 1.0 2.4
Max Speed [rpm] 7000 7000 6000 5000 4500
Holding Brake
Current Irms [Arms] 1.5 1.7 8.7 23.9 18.0
Ipeak @ i = 21 [Arms] 4.2 7.3 24.2 42.0 42.0
Ipeak @ i = 31 [Arms] 3.7 5.7 19.7 42.0 42.0
Kp
1
0.77 0.92 0.88 0.35 1.20
Tn [ms] 0.4
Ratio 61 / 91
Stator Length 015 015 015 015 060
Motor Number - Name 0-NN 0-NN 0-NN 0-NN 0-NN
No. of Poles 8 8 12 12 12
I0 [Arms] 1.2 1.2 3.7 5.2 23.9
I0max @ i = 61 [Arms] 2.5 3.5 12.9 22.2 42.0
I0max @ i = 91 [Arms] 1.7 2.4 8.7 14.9 32.1
L [mH] 9.1 13.1 5.2 6.1 1.0
Max Speed [rpm] 7000 7000 6000 5000 4500
Holding Brake
Current Irms [Arms] 1.2 1.2 3.7 5.2 23.9
Ipeak @ i = 61 [Arms] 2.5 3.5 12.9 22.2 42.0
Ipeak @ i = 91 [Arms] 1.7 2.4 8.7 14.9 32.1
Kp
1
0.34 0.49 0.78 1.53 0.50
Tn [ms]
0.4
0.6
EnDat
HIPERFACE
Positive
with / without
0.2
0.6
with / without
0.6
320 V
Resolver
2
600
1
The value Kp of the current controller is acquired in addiction of the recommended WMC amplifier size.
You find the recommended amplifier size under the topic „Assignment TPM – servo amplifier – cable set“.
For the usage of a different amplifier size you can calculate the value with the formula:
Kp = 25 * Nominal current amplifier [A] * Inductance [mH] / 1000

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 7 of 14
3.3 TPM with 600 V DC-bus
Screen Page
Parameter
TPM004
TPM010
TPM025
TPM050
TPM110
DC-Bus Voltage
Feedback Feedback Type
No. of Poles
Offset 90 90 270 270 270
Bandwith
Feedback Type
Offset 90 90 90 90 90
Feedback Type
Offset 150 150 150 150 150
Speed Speed Limit [rpm] 7000 7000 6000 5000 4500
Rotary Direction
Overspeed [rpm] 7250 7250 6250 5250 4750
Kp 0.2 0.3 0.3 0.4 0.5
Tn [ms] 10 10 10 10 10
PID-T2
T-Tacho
Ratio 21 / 31
Stator Length 030 030 045 060 075
Motor Number - Name 0-NN 0-NN 0-NN 0-NN 0-NN
No. of Poles 8 8 12 12 12
I0 [Arms] 0.8 1.3 4.4 15.3 12.1
I0max @ i = 21 [Arms] 2.4 5.0 10.6 36.0 26.2
I0max @ i = 31 [Arms] 2.1 4.5 10.6 31.7 26.2
L [mH] 30.6 20.3 10.0 2.4 5.4
Max Speed [rpm] 7000 7000 6000 5000 4500
Holding Brake
Current Irms [Arms] 0.8 1.3 4.4 15.3 12.1
Ipeak @ i = 21 [Arms] 2.4 5.0 10.6 36.0 26.2
Ipeak @ i = 31 [Arms] 2.1 4.5 10.6 31.7 26.2
Kp
1
1.15 1.52 1.50 0.84 1.89
Tn [ms]
Ratio 61 / 91
Stator Length 015 015 015 015 060
Motor Number - Name 0-NN 0-NN 0-NN 0-NN 0-NN
No. of Poles 8 8 12 12 12
I0 [Arms] 0.6 0.8 2.3 3.6 15.3
I0max @ i = 61 [Arms] 1.2 2.5 7.0 13.7 28.9
I0max @ i = 91 [Arms] 0.8 1.6 5.1 9.9 19.4
L [mH] 27.6 30.5 12.5 12.5 2.4
Max Speed [rpm] 7000 7000 6000 5000 4500
Holding Brake
Current Irms [Arms] 0.6 0.8 2.3 3.6 15.3
Ipeak @ i = 61 [Arms] 1.2 2.5 7.0 13.7 28.9
Ipeak @ i = 91 [Arms] 0.8 1.6 5.1 9.9 19.4
Kp
1
1.04 1.14 0.94 1.88 0.60
Tn [ms]
600 V
Resolver
2
600
EnDat
HIPERFACE
Positive
0.2
0.6
0.6
with / without
0.6
with / without
1
The value Kp of the current controller is acquired in addiction of the recommended WMC amplifier size.
You find the recommended amplifier size under the topic „Assignment TPM – servo amplifier – cable set“.
For the usage of a different amplifier size you can calculate the value with the formula:
Kp = 25 * Nominal current amplifier [A] * Inductance [mH] / 1000

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 8 of 14
3.4 TPMA with 320 V DC-bus
Screen Page
Parameter
TPMA025
TPMA050
TPMA110
DC-Bus Voltage
Feedback Feedback Type
No. of Poles
Offset 270 270 270
Bandwith
Feedback Type
Offset 90 90 90
Feedback Type
Offset 150 150 150
Speed Speed Limit [rpm] 6000 5000 4500
Rotary Direction
Overspeed [rpm] 6250 5250 4750
Kp 0.3 0.4 0.5
Tn [ms] 10 10 10
PID-T2
T-Tacho
Ratio 110 / 154 / 220
Stator Length 015 015 060
Motor Number - Name 0-NN 0-NN 0-NN
No. of Poles 12 12 12
I0 [Arms] 3.7 5.2 23.9
I0max @ i = 110 [Aeff] 10.8 19.6 61.6
I0max @ i = 154 [Aeff] 8.4 16.0 42.6
I0max @ i = 220 [Aeff] 5.7 9.8 28.3
L [mH] 5.2 6.1 1.0
Max Speed [rpm] 6000 5000 4500
Holding Brake
Current Irms [Arms] 3.7 5.2 23.9
Ipeak @ i = 110 [Aeff] 10.8 19.6 61.6
Ipeak @ i = 154 [Aeff] 8.4 16.0 42.6
Ipeak @ i = 220 [Aeff] 5.7 9.8 28.3
Kp
1
0.78 1.53 0.50
Tn [ms]
with / without
0.6
Positive
0.2
0.6
EnDat
HIPERFACE
320
Resolver
2
600
1
The value Kp of the current controller is acquired in addiction of the recommended WMC amplifier size.
You find the recommended amplifier size under the topic „Assignment TPM – servo amplifier – cable set“.
For the usage of a different amplifier size you can calculate the value with the formula:
Kp = 25 * Nominal current amplifier [A] * Inductance [mH] / 1000

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 9 of 14
3.5 TPMA with 600 V DC-bus
Screen Page
Parameter
TPMA025
TPMA050
TPMA110
DC-Bus Voltage
Feedback Feedback Type
No. of Poles
Offset 270 270 270
Bandwith
Feedback Type
Offset 90 90 90
Feedback Type
Offset 150 150 150
Speed Speed Limit [rpm] 6000 5000 4500
Rotary Direction
Overspeed [rpm] 6250 5250 4750
Kp 0.3 0.4 0.5
Tn [ms] 10 10 10
PID-T2
T-Tacho
Ratio 110 / 154 / 220
Stator Length 015 015 060
Motor Number - Name 0-NN 0-NN 0-NN
No. of Poles 12 12 12
I0 [Arms] 2.3 3.6 15.3
I0max @ i = 110 [Aeff] 7.0 13.7 41.4
I0max @ i = 154 [Aeff] 5.4 11.2 28.7
I0max @ i = 220 [Aeff] 3.6 7.0 19.2
L [mH] 12.5 12.5 2.4
Max Speed [rpm] 6000 5000 4500
Holding Brake
Current Irms [Arms] 2.3 3.6 15.3
Ipeak @ i = 110 [Aeff] 7.0 13.7 41.4
Ipeak @ i = 154 [Aeff] 5.4 11.2 28.7
Ipeak @ i = 220 [Aeff] 3.6 7.0 19.2
Kp
1
0.94 1.88 0.60
Tn [ms]
600 V
Resolver
2
600
EnDat
HIPERFACE
Positive
0.2
0.6
with / without
0.6
1
The value Kp of the current controller is acquired in addiction of the recommended WMC amplifier size.
You find the recommended amplifier size under the topic „Assignment TPM – servo amplifier – cable set“.
For the usage of a different amplifier size you can calculate the value with the formula:
Kp = 25 * Nominal current amplifier [A] * Inductance [mH] / 1000

Quick Startup Guide Seidel Servostar 600
Document-No.: 4091-D006391-02 Date: 07. September 2006 Page 10 of 14
4 Connection schematic TPM ⇔
⇔⇔
⇔Servostar 600
4.1 TPM with Resolver-Feedback
M
PE
W
V
U
R
Ref +
Cos -
Sin +
Ref -
Shield
PTC
PTC
Br -
Br +
PE
2
1
4
6
5
5
2
1
4
3
8
7
6
9
Power Plug
Signal Plug
PE
W
V
U
Brake optional
Sin -
Cos +
3
Resolver Plug
(X2)
Br+
Br-
4
6
5
2
3
1
Seidel
Servostar
Power
Terminal
Block
(X9)
4
8
7
3
9
5
6
2
Temp
Temp
+ Reference
- COS
+ COS
- SIN
+ SIN
- Reference
4.2 TPM with absolute rotary encoder Heidenhain ECN 1313 / EQN 1325
M
PE
W
V
U
SC
A+
Data -
B+
A-
KTY
KTY
Br -
Br +
PE
1
6
2
5
4
8
13
3
12
11
2
1
9
Power Plug
Signal Plug
PE
W
V
U
13
5
1
9
3
11
7
14
Brake optional
B-
Data +
3
Encoder (X1)
Takt - 14
5
15
8
Takt +
5V Sense 16
10
12
4
P-Encoder
0V Sense 15
7
10
2
M-Encoder
17
17
17
+ Temp
- Temp
A +
A -
B +
U
P
Sense
U
P
Supply
CLOCK
CLOCK
DATA
DATA
B -
0 V Sense
0 V VSupply
Br+
Br-
4
6
5
2
3
1
Seidel
Servostar
Power
Terminal
Block
(X9)