Wittenstein TPM+ power User manual

4091
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D021068
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TPM+power
Bosch Rexroth IndraDrive
Quick Startup Guide
4091-D021074
Revision: 02

Quick Startup Guide TPM
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power
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Revision: 02 4091-D021074 Release: 14.04.2010
Revision history
Revision Date Comment Chapter
01 08.07.2009 First release All
02 14.04.2010 Completion TPM+ Power 050 / 110 5
Service
In case you have technical questions,
please contact:
WITTENSTEIN motion control GmbH
Customer Service
Walter-Wittenstein-Straße 1
D-97999 Igersheim
Tel.: [phone]
Fax: [phone]
E-Mail: serv[email protected]
© WITTENSTEIN motion control GmbH 2010
This documentation is copyright protected.
WITTENSTEIN motion control GmbH reserves all the rights to photo-mechanical reproduction,
copying, and the distribution by special processes (such as computers, file media, data
networks), even in parts.
Subject to technical and content changes without notice.

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power Quick Startup Guide
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1 Table of Contents
1Table of Contents 2
2General Information 3
2.1 Description, designations 3
2.2 Whom does this manual concern? 3
2.3 Which signs and symbols are referred to in this manual? 3
2.4 Exclusion of liability 3
2.5 EC low-voltage directive / EMC regulations 3
2.6 Copyright 3
3Safety 4
3.1 Intended use 4
3.2 Improper use 4
3.3 Safety Instructions 4
3.3.1 General safety instructions 4
4Type plate information – identification 6
4.1 Identification plate, designation 6
5Setting the parameters 7
5.1 Commutation offset 7
5.2 TPM
+
with temperature sensor KTY 84-130 7
5.3 TPM
+
with temperature sensor PTC STM160 7
5.4 TPM
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power 560 V – Ratio 4 – 35 8
5.5 TPM
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power 560 V – Ratio 40 – 100 9
5.6 TPM
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power 320 V – Ratio 4 – 35 10
5.7 TPM
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power 320 V – Ratio 40 – 100 11
5.8 Mass moment of inertia – Parameter P-0-0510 12
6Connection schematic TPM
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power 13
6.1 TPM
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power with resolver 13
6.2 TPM
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power with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125 14
6.3 TPM
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power with absolute encoder Sick-Stegmann Hiperface SKS / SKM 36 15
7Diagnostic messages during initial start-up 16

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2 General Information
2.1 Description, designations
The AC servo actuator TPM
+
(hereafter referred to as servo actuator) is a combination of a low-
backlash planetary gearhead and an AC servo motor.
The following manual contains the following points:
•
••
•Safety Instructions
•
••
•Parameter lists for the TPM
+
series
•
••
•Connection schematic for TPM
+
2.2 Whom does this manual concern?
This manual concerns all persons who install, operate, or maintain this servo actuator.
They may only carry out work on the servo actuator, if they have read and understood this
operating manual. Please pass the safety instructions on to other persons as well.
2.3 Which signs and symbols are referred to in this manual?


An “action instruction”, which requires you to carry out an action.
∇
∇∇
∇With a “check” you can specify whether the device is ready for the next work stage.
☺
☺☺
☺A “usage tip” shows you an option of facilitating or improving operations.
The safety instructions symbols are described in section 3“Safety”.
2.4 Exclusion of liability
WITTENSTEIN motion control is not liable for damages or injury caused by:
•
••
•Improper utilization of the servo actuator and the servo amplifier or
•
••
•Incorrect setting of operating parameters.
2.5 EC low-voltage directive / EMC regulations
The servo actuator has been constructed in accordance with EC directive 73/23/EEC.
During installation and connection of the electrical components, the relevant regulations have to
be observed (for example wire cross sections, fuse protection, etc.).
Meeting all requirements for the entire system is the responsibility of the system's manufacturer.
You may only operate the equipment if you comply to the national EMC regulations (refer to the
servo amplifier documentation for installation information pertaining to EMC) as they are defined
for the given application.
2.6 Copyright
© 2009, WITTENSTEIN motion control GmbH
All of the product brand names which appear in this manual are trademarks of the relevant
companies. If the ® and/or ™ symbols are omitted, this does imply that the name is a free brand
name.

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3 Safety
3.1 Intended use
The servo actuator is designed for industrial applications. Its purpose is to drive machines.
Please refer to our catalogue or our Internet page for the maximum permitted speeds and
torques: www.w-m-c.de.


Please consult our technical service if your servo actuator is more than a year old. In this
way you receive valid data.


Please be sure to read the documentation provided by the manufacturer of the servo
actuator.
3.2 Improper use
Any use transgressing the above-named restrictions (especially higher torques and speeds) is
not compliant with the regulations, and is thus prohibited.
The operation of the servo actuator is prohibited if:
•
••
•It was not installed according to regulations (for example fastening bolts).
•
••
•The servo actuator is very dirty, damaged or blocked.
•
••
•It is operated without lubricant.
•
••
•The cables are damaged or improperly connected.
•
••
•The operating parameters have not been set properly.
3.3 Safety Instructions
The following symbols are used in this manual to warn you of hazards:
DANGER!
This symbol warns you of danger of injury to yourself and others.
Attention
This symbol warns you of the risk of damage to the servo actuator.
Environment
This symbol warns of environmental pollution risk.
3.3.1 General safety instructions
Working on the servo actuator
DANGER!
Improperly executed work can lead to injury and damage.


Always ensure that the servo actuator is only installed, maintained, and dismantled by
trained technicians.

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DANGER!
Current-flow through the body or arcing can lead to grave injury and death.


Only perform tasks on the electrical system if you are:
•
••
•A trained electrician.
•
••
•A person trained in electro-technology, working under the supervision of a specialist
electrician.


Always adhere to the five safety rules for the de-energised state:
•
••
•De-energise.
•
••
•Secure against being turned on (for example by locking it).
•
••
•Ensure that de-energised state exists.
•
••
•Attach ground line and short-circuit the equipment.
•
••
•Cover and safeguard any live parts in the immediate vicinity.
DANGER!
Impurities spinning through the air can cause grave injury.


Before putting the servo actuator into operation, check that there are no impurities or
tools near it.
Maintenance
DANGER!
An unintentional start of the machine during maintenance work can lead to serious accidents.


Ensure that no one can start the machine while you are working on it.
DANGER!
Even only briefly running the machine during maintenance work can lead to accidents if the
safety devices are not operating.


Check that all safety devices have been mounted and are activated.
Wiring
DANGER!
Incorrect wiring can lead to injuries and damage.


Only use power and signal cables recommended by WITTENSTEIN motion control.


Do not cut off power and signal cables, and do not insert extensions.


Make sure that the U-U, V-V and W-W motor phases are correctly connected.


Make sure that the motor encoder interface of the servo controller is compatible to the
servo actuator.


Observe the prescribed voltage for the brakes (usually 24 V DC) and the polarity.

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4 Type plate information – identification


The technical specifications can be found on your servo actuator's type plate according to the
following scheme.
4.1 Identification plate, designation
The following specifications can be found on the identification plate:
Bild 4.2
A Ordering code
B DC-Bus voltage
C Maximum current
D Maximum torque at gear output
E Maximum gear output speed
F Continuous stall current
G Continuous stall torque at gear output
H Brake voltage
I Lubricant
J Mounting position
K For use with drive
L Type of protection
M Insulation class
N Manufacturing date
O Serial number
Designation:

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5 Setting the parameters
The tables in chapter 5contain all of the parameters that are required for the initial start-up of a
TPM
+
power servo actuator from WITTENSTEIN motion control at a servo drive Bosch Rexroth
IndraDrive.
When the servo actuator and the servo drive are properly connected, these parameters
guarantee that the servo actuator can be operated at idle with speed control.
Based on these default settings, you can optimize the dynamics of the speed controller
depending on the application.
Follow the details of the type plate.
Data for combinations not shown here are available on demand.
5.1 Commutation offset
For TPM
+
with resolver the commutation offset is entered in parameter P-0-0508.
For TPM
+
with Stegmann Hiperface and Heidenhain Endat, which are orderd for operation with
Bosch Rexroth IndraDrive the commutation offset is already stored in the encoder’s memory and
no manual input of the commutation offset is necessary.
5.2 TPM
+
with temperature sensor KTY 84-130
Code Value
P-0-0512 3
5.3 TPM
+
with temperature sensor PTC STM160
Code Value Code Value
P-0-0512 100 P-0-0513 #14 160
P-0-0513 #0 20 P-0-0513 #15 200
P-0-0513 #1 30 P-0-0513 #16 250
P-0-0513 #2 40 P-0-0513 #17 425
P-0-0513 #3 50 P-0-0513 #18 940
P-0-0513 #4 60 P-0-0513 #19 2665
P-0-0513 #5 70 P-0-0513 #20 4000
P-0-0513 #6 80 P-0-0513 #21 4001
P-0-0513 #7 90 P-0-0513 #22 4002
P-0-0513 #8 100 P-0-0513 #23 4003
P-0-0513 #9 110 P-0-0513 #24 4004
P-0-0513 #10 120 P-0-0513 #25 4005
P-0-0513 #11 130 P-0-0513 #26 4006
P-0-0513 #12 140 P-0-0513 #27 4007
P-0-0513 #13 150

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power Quick Startup Guide
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5.4 TPM
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power 560 V – Ratio 4 – 35
Code Beschreibung Einheit TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S
S-0-0141 Motor type - TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S
P-0-4014 Type of construction of motor - 0 0 0 0 0
P-0-0001 Switching frequency of the power stage kHz 8 8 8 8 8
P-0-0018 Number of pole pairs - 4 6 6 6 6
P-0-0051 Torque/force constant Nm/Aeff 0,97 0,98 1,00 1,19 1,09
P-0-0074 Encoder type 1 Resolver - 10 10 10 10 10
Encoder type 1 EnDat - 8 8 8 8 8
Encoder type 1 Hiperface - 4 4 4 4 4
P-0-0109
1
Torque/force peak limit % 333 315 292 334 259
P-0-0508 Commutation offset Resolver - 512 512 512 512 512
Commutation offset EnDat - Commutation offset stored in encoder
Commutation offset Hiperface - Commutation offset stored in encoder
P-0-0510 Rotor inertia kgm² See Chapter 5.5
P-0-4016 Direct-axis inductance of motor mH 11,40 3,00 1,50 1,05 0,45
P-0-4017 Quadrature-axis inductance of motor mH 11,40 3,00 1,50 1,05 0,45
P-0-4048 Stator resistance Ohm 21,30 2,20 0,45 0,27 0,08
S-0-0043 Velocity polarity parameter Resolver - 0111 0111 0111 0111 0111
Velocity polarity parameter EnDat - 0000 0000 0000 0000 0000
Velocity polarity parameter Hiperface - 0000 0000 0000 0000 0000
S-0-0055 Postion polarities Resolver - 1111 1111 1111 1111 1111
Postion polarities EnDat - 0000 0000 0000 0000 0000
Postion polarities Hiperface - 0000 0000 0000 0000 0000
S-0-0085
Torque/force polarity parameter
Resolver - 0111 0111 0111 0111 0111
Torque/force polarity parameter EnDat - 0000 0000 0000 0000 0000
Torque/force polarity parameter
Hiperface - 0000 0000 0000 0000 0000
S-0-0092
1
Bipolar torque/force limit value % 333 315 292 334 259
S-0-0106 Current loop p. gain 1 V/A 60,19 15,84 7,92 5,54 2,38
S-0-0107 Current loop integral action time 1 ms 1,4 3,6 8,9 10,3 14,4
S-0-0109 Motor peak current Aeff 5,20 17,00 40,00 63,50 100,00
S-0-0111 Motor current at standstill Aeff 1,56 5,40 13,70 19,00 38,60
S-0-0113 Maximum motor speed 1/min 6000 6000 6000 5000 5000
S-0-0116 Feedback 1 resolution Resolver - 1 1 1 1 1
Feedback 1 resolution EnDat - 512 512 512 512 512
Feedback 1 resolution Hiperface - 128 128 128 128 128
S-0-0201 Motor warning temperature °C 130 130 130 130 130
S-0-0204 Motor shutdown temperature °C 145 145 145 145 145
S-0-0100 Velocity loop proportional gain As/rad 0,05 0,05 0,1 0,1 0,2
S-0-0101 Velocity loop integral action time ms 10 10 10 10 10
P-0-0004 Velocity loop smooth. time constant µs 250 250 250 250 250
P-0-0525
2
Holding brake control word - 100 100 100 100 100
S-0-0206 Drive on delay time ms 12 30 42 50 200
S-0-0207 Drive off delay time ms 10 20 20 40 50
P-0-0540 Torque of holding brake Nm 1,1 4,5 13 23 72
1
Subject to static and dynamic loads as well as the lambda factor the max. acceleration motor current has to be
reduced. We recommend a detailed calculation with Cymex.
2
For actuators without brake P-0-0525 has to be set to 0.

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power
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Revision: 02 4091-D021074 Release: 14.04.2010
5.5 TPM
+
power 560 V – Ratio 40 – 100
Code Beschreibung Einheit TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S
S-0-0141 Motor type - TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S
P-0-4014 Type of construction of motor - 0 0 0 0 0
P-0-0001 Switching frequency of the power stage kHz 8 8 8 8 8
P-0-0018 Number of pole pairs - 4 6 6 6 6
P-0-0051 Torque/force constant Nm/Aeff 0,78 1,02 0,97 0,91 1,08
P-0-0074 Encoder type 1 Resolver - 10 10 10 10 10
Encoder type 1 EnDat - 8 8 8 8 8
Encoder type 1 Hiperface - 4 4 4 4 4
P-0-0109
1
Torque/force peak limit % 300 323 300 440 228
P-0-0508 Commutation offset Resolver - 512 512 512 512 512
Commutation offset EnDat - Commutation offset stored in encoder
Commutation offset Hiperface - Commutation offset stored in encoder
P-0-0510 Rotor inertia kgm² See Chapter 5.5
P-0-4016 Direct-axis inductance of motor mH 15,00 9,45 5,55 2,55 0,95
P-0-4017 Quadrature-axis inductance of motor mH 15,00 9,45 5,55 2,55 0,95
P-0-4048 Stator resistance Ohm 40,00 13,50 4,00 1,81 0,25
S-0-0043 Velocity polarity parameter Resolver - 0111 0111 0111 0111 0111
Velocity polarity parameter EnDat - 0000 0000 0000 0000 0000
Velocity polarity parameter Hiperface - 0000 0000 0000 0000 0000
S-0-0055 Postion polarities Resolver - 1111 1111 1111 1111 1111
Postion polarities EnDat - 0000 0000 0000 0000 0000
Postion polarities Hiperface - 0000 0000 0000 0000 0000
S-0-0085
Torque/force polarity parameter
Resolver - 0111 0111 0111 0111 0111
Torque/force polarity parameter EnDat - 0000 0000 0000 0000 0000
Torque/force polarity parameter
Hiperface - 0000 0000 0000 0000 0000
S-0-0092
1
Bipolar torque/force limit value % 300 323 300 440 228
S-0-0106 Current loop p. gain 1 V/A 79,20 49,90 29,30 13,46 5,02
S-0-0107 Current loop integral action time 1 ms 1,0 1,9 3,7 3,7 10,1
S-0-0109 Motor peak current Aeff 3,00 6,00 12,00 33,00 50,00
S-0-0111 Motor current at standstill Aeff 1,00 1,86 4,00 7,50 21,90
S-0-0113 Maximum motor speed 1/min 6000 6000 6000 5000 5000
S-0-0116 Feedback 1 resolution Resolver - 1 1 1 1 1
Feedback 1 resolution EnDat - 512 512 512 512 512
Feedback 1 resolution Hiperface - 128 128 128 128 128
S-0-0201 Motor warning temperature °C 130 130 130 130 130
S-0-0204 Motor shutdown temperature °C 145 145 145 145 145
S-0-0100 Velocity loop proportional gain As/rad 0,05 0,05 0,1 0,1 0,2
S-0-0101 Velocity loop integral action time ms 10 10 10 10 10
P-0-0004 Velocity loop smooth. time constant µs 250 250 250 250 250
P-0-0525
2
Holding brake control word - 100 100 100 100 100
S-0-0206 Drive on delay time ms 12 30 42 50 200
S-0-0207 Drive off delay time ms 10 20 20 40 50
P-0-0540 Torque of holding brake Nm 1,1 4,5 13 23 72
1
Subject to static and dynamic loads as well as the lambda factor the max. acceleration motor current has to be
reduced. We recommend a detailed calculation with Cymex.
2
For actuators without brake P-0-0525 has to be set to 0.