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4091-D02106801TPM powerBosch Rexroth IndraDriveQuick Startup Guide4091-D021074Revision: 02

TPM powerQuick Startup GuideRevision 04.2010First releaseCompletion TPM Power 050 / 110All5ServiceIn case you have technical questions,please contact:WITTENSTEIN motion control GmbHCustomer ServiceWalter-Wittenstein-Straße 1D-97999 IgersheimTel.: 49 (0) 79 31 / 493- 10900Fax: 49 (0) 79 31 / 493- 10903E-Mail: [email protected] WITTENSTEIN motion control GmbH 2010This 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, datanetworks), even in parts.Subject to technical and content changes without notice.Seite en-1Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide1 Table of Contents12Table of ContentsGeneral Information2.1Description, designations2.2Whom does this manual concern?2.3Which signs and symbols are referred to in this manual?2.4Exclusion of liability2.5EC low-voltage directive / EMC regulations2.6Copyright3 Safety3.1Intended use3.2Improper use3.3Safety Instructions3.3.1233333334444General safety instructions44Type plate information – identification4.1Identification plate, designation5 Setting the parameters5.1Commutation offset5.2TPM with temperature sensor KTY 84-1305.3TPM with temperature sensor PTC STM1605.4TPM power 560 V – Ratio 4 – 355.5TPM power 560 V – Ratio 40 – 1005.6TPM power 320 V – Ratio 4 – 355.7TPM power 320 V – Ratio 40 – 1005.8Mass moment of inertia – Parameter P-0-05106 Connection schematic TPM power6.1TPM power with resolver6.2TPM power with absolute encoder Heidenhain EnDat ECN1113 / EQN 11256.3TPM power with absolute encoder Sick-Stegmann Hiperface SKS / SKM 367 Diagnostic messages during initial start-up667777891011121313141516Seite en-2Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide2 General Information2.1 Description, designationsThe AC servo actuator TPM (hereafter referred to as servo actuator) is a combination of a lowbacklash 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 thisoperating 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 liabilityWITTENSTEIN 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 regulationsThe 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 tobe 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 theservo amplifier documentation for installation information pertaining to EMC) as they are definedfor the given application.2.6 Copyright 2009, WITTENSTEIN motion control GmbHAll of the product brand names which appear in this manual are trademarks of the relevantcompanies. If the and/or symbols are omitted, this does imply that the name is a free brandname.Seite en-3Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide3 Safety3.1 Intended useThe 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 andtorques: www.w-m-c.de. Please consult our technical service if your servo actuator is more than a year old. In thisway you receive valid data. Please be sure to read the documentation provided by the manufacturer of the servoactuator.3.2 Improper useAny use transgressing the above-named restrictions (especially higher torques and speeds) isnot 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 InstructionsThe 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.AttentionThis symbol warns you of the risk of damage to the servo actuator.EnvironmentThis symbol warns of environmental pollution risk.3.3.1 General safety instructionsWorking on the servo actuatorDANGER!Improperly executed work can lead to injury and damage. Always ensure that the servo actuator is only installed, maintained, and dismantled bytrained technicians.Seite en-4Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup GuideDANGER!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 specialistelectrician. 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 ortools near it.MaintenanceDANGER!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 thesafety devices are not operating. Check that all safety devices have been mounted and are activated.WiringDANGER!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 theservo actuator. Observe the prescribed voltage for the brakes (usually 24 V DC) and the polarity.Seite en-5Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide4 Type plate information – identification The technical specifications can be found on your servo actuator's type plate according to thefollowing scheme.4.1 Identification plate, designationThe following specifications can be found on the identification plate:Bild 4.2ABCDEFGHIJKLMNOOrdering codeDC-Bus voltageMaximum currentMaximum torque at gear outputMaximum gear output speedContinuous stall currentContinuous stall torque at gear outputBrake voltageLubricantMounting positionFor use with driveType of protectionInsulation classManufacturing dateSerial numberDesignation:Seite en-6Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide5 Setting the parametersThe tables in chapter 5 contain all of the parameters that are required for the initial start-up of aTPM power servo actuator from WITTENSTEIN motion control at a servo drive Bosch RexrothIndraDrive.When the servo actuator and the servo drive are properly connected, these parametersguarantee 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 controllerdepending on the application.Follow the details of the type plate.Data for combinations not shown here are available on demand.5.1 Commutation offsetFor 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 withBosch Rexroth IndraDrive the commutation offset is already stored in the encoder’s memory andno manual input of the commutation offset is necessary.5.2 TPM with temperature sensor KTY 84-130CodeP-0-0512Value35.3 TPM with temperature sensor PTC STM160CodeP-0-0512P-0-0513 #0P-0-0513 #1P-0-0513 #2P-0-0513 #3P-0-0513 #4P-0-0513 #5P-0-0513 #6P-0-0513 #7P-0-0513 #8P-0-0513 #9P-0-0513 #10P-0-0513 #11P-0-0513 #12P-0-0513 -0-0513 #14P-0-0513 #15P-0-0513 #16P-0-0513 #17P-0-0513 #18P-0-0513 #19P-0-0513 #20P-0-0513 #21P-0-0513 #22P-0-0513 #23P-0-0513 #24P-0-0513 #25P-0-0513 #26P-0-0513 540064007Seite en-7Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide5.4 TPM power 560 V – Ratio 4 – -0-0018P-0-0051P-0-0074Motor typeType of construction of motorSwitching frequency of the power stageNumber of pole pairsTorque/force constantEncoder type 1 ResolverEncoder type 1 EnDatEncoder type 1 HiperfaceTPMP004S TPMP010S TPMP025S TPMP050S ,0910101010108888844444Torque/force peak limitCommutation offset ResolverCommutation offset EnDatCommutation offset HiperfaceRotor inertiaDirect-axis inductance of motorQuadrature-axis inductance of motorStator resistanceVelocity polarity parameter ResolverVelocity polarity parameter EnDatVelocity polarity parameter HiperfacePostion polarities ResolverPostion polarities EnDatPostion polarities HiperfaceTorque/force polarity parameterResolverTorque/force polarity parameter EnDatTorque/force polarity 000001110000-000000000000000000001Bipolar torque/force limit valueCurrent loop p. gain 1Current loop integral action time 1Motor peak currentMotor current at standstillMaximum motor speedFeedback 1 resolution ResolverFeedback 1 resolution EnDatFeedback 1 resolution HiperfaceMotor warning temperatureMotor shutdown temperatureVelocity loop proportional gainVelocity loop integral action timeVelocity loop smooth. time constant%V/AmsAeffAeff1/min C 814,4100,0038,60500015121281301450,2102502Holding brake control wordDrive on delay timeDrive off delay timeTorque of holding 07P-0-0540TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S333512315292334512512512Commutation offset stored in encoderCommutation offset stored in encoderSee Chapter 0001Subject to static and dynamic loads as well as the lambda factor the max. acceleration motor current has to bereduced. We recommend a detailed calculation with Cymex.2For actuators without brake P-0-0525 has to be set to 0.Seite en-8Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide5.5 TPM power 560 V – Ratio 40 – P-0-0018P-0-0051P-0-0074Motor typeType of construction of motorSwitching frequency of the power stageNumber of pole pairsTorque/force constantEncoder type 1 ResolverEncoder type 1 EnDatEncoder type 1 HiperfaceTPMP004S TPMP010S TPMP025S TPMP050S ,0810101010108888844444Torque/force peak limitCommutation offset ResolverCommutation offset EnDatCommutation offset HiperfaceRotor inertiaDirect-axis inductance of motorQuadrature-axis inductance of motorStator resistanceVelocity polarity parameter ResolverVelocity polarity parameter EnDatVelocity polarity parameter HiperfacePostion polarities ResolverPostion polarities EnDatPostion polarities HiperfaceTorque/force polarity parameterResolverTorque/force polarity parameter EnDatTorque/force polarity 000001110000-000000000000000000001Bipolar torque/force limit valueCurrent loop p. gain 1Current loop integral action time 1Motor peak currentMotor current at standstillMaximum motor speedFeedback 1 resolution ResolverFeedback 1 resolution EnDatFeedback 1 resolution HiperfaceMotor warning temperatureMotor shutdown temperatureVelocity loop proportional gainVelocity loop integral action timeVelocity loop smooth. time constant%V/AmsAeffAeff1/min C 0,150,0021,90500015121281301450,2102502Holding brake control wordDrive on delay timeDrive off delay timeTorque of holding 07P-0-0540TPMP004S TPMP010S TPMP025S TPMP050S TPMP110S300512323300440512512512Commutation offset stored in encoderCommutation offset stored in encoderSee Chapter 00001Subject to static and dynamic loads as well as the lambda factor the max. acceleration motor current has to bereduced. We recommend a detailed calculation with Cymex.2For actuators without brake P-0-0525 has to be set to 0.Seite en-9Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide5.6 TPM power 320 V – Ratio 4 – -0-0018P-0-0051P-0-0074Motor typeType of construction of motorSwitching frequency of the power stageNumber of pole pairsTorque/force constantEncoder type 1 ResolverEncoder type 1 EnDatEncoder type 1 HiperfaceTPMP004S TPMP010S 4Torque/force peak limitCommutation offset ResolverCommutation offset EnDatCommutation offset HiperfaceRotor inertiaDirect-axis inductance of motorQuadrature-axis inductance of motorStator resistanceVelocity polarity parameter ResolverVelocity polarity parameter EnDatVelocity polarity parameter HiperfacePostion polarities ResolverPostion polarities EnDatPostion polarities HiperfaceTorque/force polarity parameterResolverTorque/force polarity parameter EnDatTorque/force polarity parameterHiperface%kgm²mHmHOhm-1Bipolar torque/force limit valueCurrent loop p. gain 1Current loop integral action time 1Motor peak currentMotor current at standstillMaximum motor speedFeedback 1 resolution ResolverFeedback 1 resolution EnDatFeedback 1 resolution HiperfaceMotor warning temperatureMotor shutdown temperatureVelocity loop proportional gainVelocity loop integral action timeVelocity loop smooth. time constant2Holding brake control wordDrive on delay timeDrive off delay timeTorque of holding 0207P-0-0540TPMP004S TPMP010S TPMP025S333314295512512512Commutation offset stored in encoderCommutation offset stored in encoderSee Chapter V/AmsAeffAeff1/min C 01261,110030204,51004020131Subject to static and dynamic loads as well as the lambda factor the max. acceleration motor current has to bereduced. We recommend a detailed calculation with Cymex.2For actuators without brake P-0-0525 has to be set to 0.Seite en-10Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide5.7 TPM power 320 V – Ratio 40 – P-0-0018P-0-0051P-0-0074Motor typeType of construction of motorSwitching frequency of the power stageNumber of pole pairsTorque/force constantEncoder type 1 ResolverEncoder type 1 EnDatEncoder type 1 HiperfaceTPMP004S TPMP010S 4Torque/force peak limitCommutation offset ResolverCommutation offset EnDatCommutation offset HiperfaceRotor inertiaDirect-axis inductance of motorQuadrature-axis inductance of motorStator resistanceVelocity polarity parameter ResolverVelocity polarity parameter EnDatVelocity polarity parameter HiperfacePostion polarities ResolverPostion polarities EnDatPostion polarities HiperfaceTorque/force polarity parameterResolverTorque/force polarity parameter EnDatTorque/force polarity parameterHiperface%kgm²mHmHOhm-1Bipolar torque/force limit valueCurrent loop p. gain 1Current loop integral action time 1Motor peak currentMotor current at standstillMaximum motor speedFeedback 1 resolution ResolverFeedback 1 resolution EnDatFeedback 1 resolution HiperfaceMotor warning temperatureMotor shutdown temperatureVelocity loop proportional gainVelocity loop integral action timeVelocity loop smooth. time constant2Holding brake control wordDrive on delay timeDrive off delay timeTorque of holding 0207P-0-0540TPMP004S TPMP010S TPMP025S300323303512512512Commutation offset stored in encoderCommutation offset stored in encoderSee Chapter %V/AmsAeffAeff1/min C 1261,110030204,51004020131Subject to static and dynamic loads as well as the lambda factor the max. acceleration motor current has to bereduced. We recommend a detailed calculation with Cymex.2For actuators without brake P-0-0525 has to be set to 0.Seite en-11Revision: 024091-D021074Release: 14.04.2010

TPM powerQuick Startup Guide5.8 Mass moment of inertia – Parameter 0252835405070100P-0-0510 - Mass moment of inertia without brake 000720,0009980,0009500,0009070,0