Wittenstein TPM+ power User manual

4091
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D021068
01
TPM+power
Control Techniques Unidrive SP
Quick Startup Guide
4091-D021077
Revision: 02

Quick Startup Guide TPM
+
power
Seite en-1
Revision: 02 4091-D021077 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: [e-mail]
© 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.

TPM
+
power Quick Startup Guide
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Revision: 02 4091-D021077 Release: 14.04.2010
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 TPM
+
motor feedback Resolver 7
5.2 TPM
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motor feedback Heidenhain EnDat 7
5.3 TPM
+
motor feedback Sick-Stegmann Hiperface 8
5.4 TPM
+
power 560 V – Ratio 4 – 35 9
5.5 TPM
+
power 560 V – Ratio 40 – 100 10
5.6 TPM
+
power 320 V – Ratio 4 – 35 11
5.7 TPM
+
power 320 V – Ratio 40 – 100 12
6Connection schematic TPM
+
power 13
6.1 TPM
+
power with resolver 13
6.2 TPM
+
power with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125 14
6.3 TPM
+
power with absolute encoder Stegmann SKS 36 / SKM 36 15

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power
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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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power Quick Startup Guide
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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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Revision: 02 4091-D021077 Release: 14.04.2010
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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+
power Quick Startup Guide
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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 Control
Techniques Unidrive SP.
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 TPM
+
motor feedback Resolver
The parameter of the motor feedback has to be entered before connecting the motor.
Wrong parameters can damage the motor feedback or the drive.
Parameter Function Unit TPM 004S TPM 010S TPM 025S TPM 050S TPM 110S
03.26 Speed feedback selector Slot 1, Slot 2 or Slot 3 depending on slot for SM-Resolver
03.40 Drive encoder error
detection level
0 0 0 0 0
xx.10 Equivalent lines per
revolution
1024 1024 1024 1024 1024
xx.13 Resolver excitation 1 (2:1) 1 (2:1) 1 (2:1) 1 (2:1) 1 (2:1)
xx.15 Resolver poles 2Poles (0) 2Poles (0) 2Poles (0) 2Poles (0) 2Poles (0)
00.43 Encoder phase angle ° 180 180 180 180 180
5.2 TPM
+
motor feedback Heidenhain EnDat
The parameter of the motor feedback has to be entered before connecting the motor.
Wrong parameters can damage the motor feedback or the drive.
Parameter Function Unit TPM 004S TPM 010S TPM 025S TPM 050S TPM 110S
03.26 Speed feedback selector drv (0)
03.36 Drive encoder supply
voltage
5V 5V 5V 5V 5V
03.38 Drive encoder type SC.EnDat SC.EnDat SC.EnDat SC.EnDat SC.EnDat
03.41 Drive encoder auto-
configuration
ON (1) ON (1) ON (1) ON (1) ON (1)
00.43 Encoder phase angle ° 180 180 180 180 180

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power Quick Startup Guide
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5.3 TPM
+
motor feedback Sick-Stegmann Hiperface
The parameter of the motor feedback has to be entered before connecting the motor.
Wrong parameters can damage the motor feedback or the drive.
Parameter Function Unit TPM 004S TPM 010S TPM 025S TPM 050S TPM 110S
03.26 Speed feedback selector drv (0)
03.36 Drive encoder supply
voltage
8V 8V 8V 8V 8V
03.38 Drive encoder type SC.Hiper SC.Hiper SC.Hiper SC.Hiper SC.Hiper
03.41 Drive encoder auto-
configuration
ON (1) ON (1) ON (1) ON (1) ON (1)
00.43 Encoder phase angle ° 120 120 120 120 120

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power
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5.4 TPM
+
power 560 V – Ratio 4 – 35
Par. Description Unit TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S
0,07
Speed controller proportional
gain (Kp1) 1/rad s-1 0,005 0,005 0,01 0,01 0,01
0,08
Speed controller integral
gain (Ki1) 1/rad 1 1 1 1 1
0,09
Speed controller differential
feedback gain (Kd1) s 0,00 0,00 0,00 0,00 0,00
0.38
1
Current controller Kp gain - See note 1
0.39
1
Current controller Ki gain - See note 1
0,41 Maximum switching frequency kHz 16 16 16 16 16
0,42 Number of motor poles - 8 12 12 12 12
0,46 Motor rated current Arms 1,56 5,40 13,70 19,00 38,60
0,48 Operating mode selector - SERVO SERVO SERVO SERVO SERVO
1,06 Maximum reference clamp RPM 6000 6000 6000 5000 5000
4.05
2
Motoring current limit % 333 315 292 334 259
4.06
2
Regen current limit % 333 315 292 334 259
4.07
2
Symmetrical current limit % 333 315 292 334 259
4,15 Thermal time constant s 100 200 400 400 400
4,16 Thermal protection mode - 1 or 0 depending on application
5,08 Rated Speed RPM 6000 6000 6000 5000 5000
5,17 Stator resistance Ohm 21,30 2,20 0,45 0,27 0,08
5,24 Transient inductance (Ls) mH 22,80 6,00 3,00 2,10 0,90
5,32 Motor torque per amp, Kt Nm/Arms 0,97 0,98 1,00 1,19 1,09
7,15 T8 analogue input 3 mode - th th th th th
1
Automatic calculation by setting #0.40 to 6 after input of R and L in #5.17 and 5.24.
2
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.

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+
power Quick Startup Guide
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Revision: 02 4091-D021077 Release: 14.04.2010
5.5 TPM
+
power 560 V – Ratio 40 – 100
Par. Description Unit TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S
0,07
Speed controller proportional
gain (Kp1) 1/rad s-1 0,005 0,005 0,01 0,01 0,01
0,08
Speed controller integral
gain (Ki1) 1/rad 1 1 1 1 1
0,09
Speed controller differential
feedback gain (Kd1) s 0,00 0,00 0,00 0,00 0,00
0.38
1
Current controller Kp gain - See note 1
0.39
1
Current controller Ki gain - See note 1
0,41 Maximum switching frequency kHz 16 16 16 16 16
0,42 Number of motor poles - 8 12 12 12 12
0,46 Motor rated current Arms 1,00 1,86 4,00 7,50 21,90
0,48 Operating mode selector - SERVO SERVO SERVO SERVO SERVO
1,06 Maximum reference clamp RPM 6000 6000 6000 5000 5000
4.05
2
Motoring current limit % 300 323 300 440 228
4.06
2
Regen current limit % 300 323 300 440 228
4.07
2
Symmetrical current limit % 300 323 300 440 228
4,15 Thermal time constant s 100 200 400 400 400
4,16 Thermal protection mode - 1 or 0 depending on application
5,08 Rated Speed RPM 6000 6000 6000 5000 5000
5,17 Stator resistance Ohm 40,00 13,50 4,00 1,81 0,25
5,24 Transient inductance (Ls) mH 30,00 18,90 11,10 5,10 1,90
5,32 Motor torque per amp, Kt Nm/Arms 0,78 1,02 0,97 0,91 1,08
7,15 T8 analogue input 3 mode - th th th th th
1
Automatic calculation by setting #0.40 to 6 after input of R and L in #5.17 and 5.24.
2
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.

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+
power
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Revision: 02 4091-D021077 Release: 14.04.2010
5.6 TPM
+
power 320 V – Ratio 4 – 35
Par. Description Unit TPMP004S TPMP010S TPMP025S
0,07
Speed controller proportional
gain (Kp1) 1/rad s-1 0,005 0,005 0,01
0,08
Speed controller integral
gain (Ki1) 1/rad 1,00 1,00 1,00
0,09
Speed controller differential
feedback gain (Kd1) s 0 0 0
0.38
1
Current controller Kp gain - See note 1
0.39
1
Current controller Ki gain - See note 1
0,41 Maximum switching frequency kHz 16 16 16
0,42 Number of motor poles - 8 12 12
0,46 Motor rated current Arms 2,70 9,35 23,73
0,48 Operating mode selector - SERVO SERVO SERVO
1,06 Maximum reference clamp RPM 6000 6000 6000
4.05
2
Motoring current limit % 333 314 295
4.06
2
Regen current limit % 333 314 295
4.07
2
Symmetrical current limit % 333 314 295
4,15 Thermal time constant s 100 200 400
4,16 Thermal protection mode - 1 or 0 depending on application
5,08 Rated Speed RPM 6000 6000 6000
5,17 Stator resistance Ohm 7,10 0,73 0,13
5,24 Transient inductance (Ls) mH 7,33 2,00 1,00
5,32 Motor torque per amp, Kt Nm/Arms 0,56 0,56 0,58
7,15 T8 analogue input 3 mode - th th th
1
Automatic calculation by setting #0.40 to 6 after input of R and L in #5.17 and 5.24.
2
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.

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+
power Quick Startup Guide
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Revision: 02 4091-D021077 Release: 14.04.2010
5.7 TPM
+
power 320 V – Ratio 40 – 100
Par. Description Unit TPMP004S TPMP010S TPMP025S
0,07
Speed controller proportional
gain (Kp1) 1/rad s-1 0,005 0,005 0,01
0,08
Speed controller integral
gain (Ki1) 1/rad 1,00 1,00 1,00
0,09
Speed controller differential
feedback gain (Kd1) s 0 0 0
0.38
1
Current controller Kp gain - See note 1
0.39
1
Current controller Ki gain - See note 1
0,41 Maximum switching frequency kHz 16 16 16
0,42 Number of motor poles - 8 12 12
0,46 Motor rated current Arms 1,73 3,22 6,93
0,48 Operating mode selector - SERVO SERVO SERVO
1,06 Maximum reference clamp RPM 6000 6000 6000
4.05
2
Motoring current limit % 300 323 303
4.06
2
Regen current limit % 300 323 303
4.07
2
Symmetrical current limit % 300 323 303
4,15 Thermal time constant s 100 200 400
4,16 Thermal protection mode - 1 or 0 depending on application
5,08 Rated Speed RPM 6000 6000 6000
5,17 Stator resistance Ohm 13,30 4,50 1,33
5,24 Transient inductance (Ls) mH 10,00 6,30 3,70
5,32 Motor torque per amp, Kt Nm/Arms 0,45 0,59 0,56
7,15 T8 analogue input 3 mode - th th th
1
Automatic calculation by setting #0.40 to 6 after input of R and L in #5.17 and 5.24.
2
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.

Quick Startup Guide TPM
+
power
Seite en-13
Revision: 02 4091-D021077 Release: 14.04.2010
6 Connection schematic TPM
+
power


Detailed information on cable design and the type of shielding can be found in the
documentation from the servo drive manufacturer.
6.1 TPM
+
power with resolver
WITTENSTEIN motion control offers pre-manufactured and drag chain compatible cablesets for
this servo drive. Please take the required order informations from the TPM+ catalogue.

TPM
+
power Quick Startup Guide
Seite en-14
Revision: 02 4091-D021077 Release: 14.04.2010
6.2 TPM
+
power with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125
WITTENSTEIN motion control offers pre-manufactured and drag chain compatible cablesets for
this servo drive. Please take the required order informations from the TPM+ catalogue.

Quick Startup Guide TPM
+
power
Seite en-15
Revision: 02 4091-D021077 Release: 14.04.2010
6.3 TPM
+
power with absolute encoder Stegmann SKS 36 / SKM 36
WITTENSTEIN motion control offers pre-manufactured and drag chain compatible cablesets for
this servo drive. Please take the required order informations from the TPM+ catalogue.

4091
-
D015003
:
02
enAC: XXXXXXXX 4091-D015003 Revision: 02
WITTENSTEIN motion control GmbH
Walter-Wittenstein-Straße 1
97999 Igersheim
WITTENSTEIN - being one with the future
www.wittenstein.de