4091 D014999 02

4091-D014999
02
TPM+
Siemens Sinamics S120
Quick Startup Guide
4091-D014999
Revision: 02
Quick Startup Guide 1 Table of Contents

Table of Contents General Information 2.1 Description, designations 2.2 Whom does this manual concern? 2.3 Which signs and symbols are referred to in this manual? 2.4 Exclusion of liability 2.5 EC low-voltage directive / EMC regulations 2.6 Copyright 3 Safety 3.1 Intended use 3.2 Improper use 3.3 Safety Instructions
3.3.1 General safety instructions
TPM+
1 2
2 4 4 4 4 4 4 4 5 5 5 5
5
Type plate information identification 7 4.1 Identification plate, designation 7 5 Setting the parameters 8 5.1 TPM+ 560 V Ratio 16 9 + 5.2 TPM 560 V Ratio 21 9 10 5.3 TPM+ 560 V Ratio 31 5.4 TPM+ 560 V Ratio 61 10 5.5 TPM+ 560 V Ratio 64 11 + 5.6 TPM 560 V Ratio 91 11 5.7 Configuration Encoder TPM+ with Resolver 12 + 5.8 Configuration Encoder TPM with Heidenhain EnDat Multiturn or Singleturn 12 + 5.9 Configuration Encoder TPM with incremental encoder Heidenhain ERN1185 12 6 Connection schematic TPM+ 13 13 6.1 TPM+ with resolver 6.2 TPM+ with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125 14 6.3 TPM+ with incremental encoder Heidenhain ERN1185 14
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Revision: 02 4091-D014999 Release: 07.10.2008
Quick Startup Guide
TPM+
Modification History
Document designation 4091-D014999-01.doc 4091-D014999-02.doc Revision 1 2 Date 25. Okt. 2007 07. Okt. 2008 Note First Edition Adaption of Corporate Design
Service In case you have technical questions, please contact: WITTENSTEIN motion control GmbH Customer Service Walter-Wittenstein-Strae 1 D-97999 Igersheim Tel.: +49 (0) 79 31 / 4 93- 10900 Fax: +49 (0) 79 31 / 4 93- 10903 Email: service-wmc@wittenstein.de
WITTENSTEIN motion control GmbH 2008 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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TPM+ 2 General Information

2.1 Description, designations
Quick Startup Guide
The 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 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
2008, 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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Quick Startup Guide 3 Safety

3.1 Intended use
TPM+
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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TPM+
Quick Startup Guide
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 direct voltage) and the polarity.
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Quick Startup Guide 4 Type plate information identification
TPM+
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: A B C D E F G H I J K L M N O P Q R S Ordering codes Article code Intermediate voltage Maximum permitted current Maximum moment of the gear output Maximum gear output speed Continuous stall current Continuous stall moment at gear output Brake voltage For use with drive Lubricant Mounting position Lubricant quantity Type of protection Insulation class Date Specifications for UL approval Series number UL logo
Fig. 4.2
Designation:
TPM 010S-110R-6PB1-055A-W
Size TPM 004/010/025/050/110 Design code S = Standard G = Grease filling L = Food safe X = Special Ratio i Feedback system R = Resolver 2-pin I = Incremental value encoder optical S = EnDat absolute encoder, Singleturn M = EnDat absolute encoder, Multiturn N = Hiperface absolute encoder, Singleturn K = Hiperface absolute encoder, Multiturn
Characteristic W = Angle mounting socket G = Straight mounting socket Code letter stator length see catalogue Motor size Clearance specification 1 = Standard 0 = reduced Brake B = with brake O = without brake Temperature sensor P = PTC K = KTY Operating voltage 5 = 320 V 6 = 560 V
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TPM+ 5 Setting the parameters
Quick Startup Guide
The tables in chapter 5 contain all of the parameters that are required for the initial start-up of a TPM+ servo actuator from WITTENSTEIN motion control at a Siemens Sinamics S120. The parameters can be entered with the Siemens STARTER software in the dialog Drive navigator Device configuration Carry out drive configuration. In the dialog Calculation of the motor/controller data enable the checkbox Complete calculation without equiv. circuit diag. data. 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.
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Quick Startup Guide
TPM+
5.1 TPM+ 560 V Ratio 16

Code Parameter Stator Length Rated motor current Rated motor velocity Motor pole pair number Motor torque constant Maximum motor speed Maximum motor current Motor limit current Motor moment of inertia without brake Motor moment of inertia with brake Motor stator resistance, cold Motor stator leakage inductance Rated motor torque Motor voltage constant Motor stall current Motor stall torque Unit mm Arms 1/min Nm/Arms 1/min Arms Arms kgm kgm Ohm mH Nm Volt Arms Nm TPM 004S 30 1,00 4400 4 0,69 6000 3,20 3,20 0,00002 0,00002 14,09 16,64 0,50 42,18 1,00 0,70 TPM 010S 30 1,20 4000 4 0,96 6000 5,20 5,20 0,00003 0,00004 10,65 11,40 0,90 58,50 1,20 1,20 TPM 025S 45 5,60 3500 6 0,98 6000 17,00 17,00 0,00026 0,00027 1,10 2,98 1,90 59,50 5,60 5,50 TPM 050S 60 13,40 2800 6 1,00 5000 40,00 40,00 0,00096 0,00106 0,22 1,51 1,90 60,94 13,40 13,50 TPM 110S 75 16,30 2900 6 1,00 5000 70,00 70,00 0,00131 0,00141 0,16 1,20 0,70 60,94 16,30 16,40
p305 p311 p314 p316 p322 p323 p338 p341 p341 p350 p356 p312 p317 p318 p319
5.2 TPM+ 560 V Ratio 21

Code Parameter Stator Length Rated motor current Rated motor velocity Motor pole pair number Motor torque constant Maximum motor speed Maximum motor current Motor limit current Motor moment of inertia without brake Motor moment of inertia with brake Motor stator resistance, cold Motor stator leakage inductance Rated motor torque Motor voltage constant Motor stall current Motor stall torque Unit mm Arms 1/min Nm/Arms 1/min Arms Arms kgm kgm Ohm mH Nm Volt Arms Nm TPM 004S 30 1,00 4400 4 0,69 6000 2,60 2,60 0,00002 0,00002 14,09 16,64 0,50 42,18 1,00 0,70 TPM 010S 30 1,20 4000 4 0,96 6000 5,20 5,20 0,00003 0,00004 10,65 11,40 0,90 58,50 1,20 1,20 TPM 025S 45 5,60 3500 6 0,98 6000 17,00 17,00 0,00026 0,00027 1,10 2,98 1,90 59,50 5,60 5,50 TPM 050S 60 12,20 2800 6 1,00 5000 35,00 35,00 0,00096 0,00106 0,22 1,51 1,90 60,94 12,20 13,50 TPM 110S 75 16,30 2900 6 1,00 5000 70,00 70,00 0,00131 0,00141 0,16 1,20 0,70 60,94 16,30 16,40
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TPM+
5.3 TPM+ 560 V Ratio 31
Code Parameter Stator Length Rated motor current Rated motor velocity Motor pole pair number Motor torque constant Maximum motor speed Maximum motor current Motor limit current Motor moment of inertia without brake Motor moment of inertia with brake Motor stator resistance, cold Motor stator leakage inductance Rated motor torque Motor voltage constant Motor stall current Motor stall torque Unit mm Arms 1/min Nm/Arms 1/min Arms Arms kgm kgm Ohm mH Nm Volt Arms Nm TPM 004S 30 1,00 4400 4 0,69 6000 2,20 2,20 0,00002 0,00002 14,09 16,64 0,50 42,18 1,00 0,70 TPM 010S 30 1,20 4000 4 0,96 6000 4,70 4,70 0,00003 0,00004 10,65 11,40 0,90 58,50 1,20 1,20 TPM 025S 45 5,60 3500 6 0,98 6000 14,30 14,30 0,00026 0,00027 1,10 2,98 1,90 59,50 5,60 5,50
Quick Startup Guide
TPM 050S 60 13,40 2800 6 1,00 5000 30,80 30,80 0,00094 0,00104 0,22 1,51 1,90 60,94 13,40 13,50
TPM 110S 75 16,30 2900 6 1,00 5000 70,00 70,00 0,00128 0,00138 0,16 1,20 0,70 60,94 16,30 16,40
5.4 TPM+ 560 V Ratio 61

Code Parameter Stator Length Rated motor current Rated motor velocity Motor pole pair number Motor torque constant Maximum motor speed Maximum motor current Motor limit current Motor moment of inertia without brake Motor moment of inertia with brake Motor stator resistance, cold Motor stator leakage inductance Rated motor torque Motor voltage constant Motor stall current Motor stall torque Unit mm Arms 1/min Nm/Ar ms 1/min Arms Arms kgm kgm Ohm mH Nm Volt Arms Nm TPM 004S 15 0,70 5800 4 0,46 6000 1,30 1,30 0,00001 0,00001 18,72 15,00 0,30 28,28 0,70 0,40 TPM 010S 15 0,90 5500 4 0,78 6000 2,20 2,20 0,00002 0,00002 20,00 15,00 0,50 47,52 0,90 0,70 TPM 025S 15 1,80 4500 6 1,01 6000 5,90 5,90 0,00009 0,00010 6,73 9,46 1,40 61,25 1,80 1,90 TPM 050S 15 3,50 3500 6 0,96 5000 12,00 12,00 0,00024 0,00034 2,00 5,55 2,10 58,50 3,50 3,40 TPM 110S 60 12,90 3900 6 1,00 5000 31,30 31,30 0,00094 0,00104 0,22 1,51 1,90 60,94 12,90 13,50
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Quick Startup Guide
TPM+
5.5 TPM+ 560 V Ratio 64

5.6 TPM+ 560 V Ratio 91

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TPM+
5.7 Configuration Encoder TPM+ with Resolver
Quick Startup Guide
In the dialog "Configuration - Encoder" of the drive configuration assistant the follwing settings has to be done: Encoder name: Resolver Encoder evaluation: SMC10 xxx Enable the checkbox Enter data Click on the button Encoder data. Enter the following data in the dialog Encoder data: Measuring system: No. of pole pairs: Resolver 1
5.8 Configuration Encoder TPM+ with Heidenhain EnDat Multiturn or Singleturn

In the dialog "Configuration - Encoder" of the drive configuration assistant the follwing settings has to be done: Encoder name: EnDat Encoder evaluation: SMC20 xxx Enable the checkbox Enter data Click on the button Encoder data. Enter the following data in the dialog Encoder data: Measuring system: Absolute EnDat protocol Enable the checkbox Identify encoder
5.9 Configuration Encoder TPM+ with incremental encoder Heidenhain ERN1185

In the dialog "Configuration - Encoder" of the drive configuration assistant the follwing settings has to be done: Encoder name: Incremental Encoder evaluation: SMC20 xxx Enable the checkbox Enter data Click on the button Encoder data. Enter the following data in the dialog Encoder data: Measuring system: Pulses/revolution: Encoder type: Commutation information: Incremental sine/cosine 2048 Incremental one zero mark Coarse synchronisation with C/D track
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Quick Startup Guide 6 Connection schematic TPM+

Detailed information on cable design and the type of shielding can be found in the documentation from the servo drive manufacturer.
TPM+
For the connection of the power cable at X1 a special connector is necessary, which is not in the scope of delivery of the Sinamics S120. The connector has to be ordered separately from Siemens under the order number 6SL3162-2MA00-0AA0. See Fig. 2. For the connection of the motor feedback to the Siemens DRIVE-CLiQ bus the module SMC10 for Resolver or SMC20 for absolute or incremental feedback is necessary. This modules can be ordered from Siemens under the order number 6SL3055-0AA00-5AA0 (SMC10) or 6SL30550AA00-5BA1 (SMC20). See Fig. 1.
Fig. 1
Fig. 2
6.1 TPM+ 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.
power plug
PE PE 2
PE U2 V2 W2 power terminal block (X1)
M
3
Br +
Br -
brake optional

SMC10 (X520)
feedback plug
KTY KTY 5 6
13 25 24 9 11 4 3 5 6 7 8
Ref+ Ref-
7 8 3 4 1 2
Sin + Sin -
Cos + Cos -
+ Temp - Temp internal shield + Vss - Vss SIN SIN internal shield COS COS internal shield
shield
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TPM+
Quick Startup Guide
6.2 TPM+ with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125
power plug
PE PE 1
PE U2 V2 W2 power terminal block (X1)
M
3
Br +
Br -
brake optional

SMC20 (X520)
feedback plug
KTY KTY A+ A8 9 1 2 17 B+ B11 12 17 Data + Data 3 13 17 clock + clock P-Encoder 5V Sense M-Encoder 0V Sense 5 14 10 16 7 15
13 25 3 4 5 6 7 8 15 23 24 10 12 1 14 2 16
SC
+ Temp - Temp A *A internal shield B *B internal shield Data *Data internal shield Clock *Clock P-Encoder 5V Sense M-Encoder 0V Sense
6.3 TPM+ with incremental encoder Heidenhain ERN1185

power plug
PE PE 1
PE U2 power V2 terminal block (X1) W2
M
3
Br +
Br -
brake optional

SMC20 (X520)
feedback plug
KTY KTY A+ / Ua1+ A- / Ua18 9 1 2 17 B+ / Ua2+ B- / Ua211 12 17 R+ / Ua0+ R- / Ua03 13 17 C+ / Ua3+ C- / Ua3P-Encoder 5V Sense M-Encoder 0V Sense D+ / Ua4+ D- / Ua45 6 10 16 7 15 14 4
13 25 3 4 5 6 7 8 17 18 24 19 20 1 14 2 16 21 22
SC
+ Temp - Temp A *A internal shield B *B internal shield R *R internal shield C *C P-Encoder 5V Sense M-Encoder 0V Sense D *D
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4091-D015003
: 02
WITTENSTEIN motion control GmbH Walter-Wittenstein-Strae 1 97999 Igersheim
WITTENSTEIN - being one with the future www.wittenstein.de
enAC: XXXXXXXX
4091-D015003
Revision: 02

4091 D014999 02

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4091-D014999

Quick Startup Guide

Quick Startup Guide 1 Table of Contents

Quick Startup Guide

TPM+ 2 General Information

Quick Startup Guide

2.2 Whom does this manual concern?

2.3 Which signs and symbols are referred to in this manual?

The safety instructions symbols are described in section 3 Safety.

2.4 Exclusion of liability

2.5 EC low-voltage directive / EMC regulations

Quick Startup Guide 3 Safety

3.2 Improper use

3.3 Safety Instructions

Quick Startup Guide

Quick Startup Guide 4 Type plate information identification

4.1 Identification plate, designation

TPM+ 5 Setting the parameters

Quick Startup Guide

Quick Startup Guide

5.1 TPM+ 560 V Ratio 16

5.2 TPM+ 560 V Ratio 21

Quick Startup Guide

5.4 TPM+ 560 V Ratio 61

Quick Startup Guide

5.5 TPM+ 560 V Ratio 64

5.6 TPM+ 560 V Ratio 91

Quick Startup Guide

5.8 Configuration Encoder TPM+ with Heidenhain EnDat Multiturn or Singleturn

5.9 Configuration Encoder TPM+ with incremental encoder Heidenhain ERN1185

Quick Startup Guide 6 Connection schematic TPM+

6.1 TPM+ with resolver

PE U2 V2 W2 power terminal block (X1)

Siemens Sinamics S120

Quick Startup Guide

PE U2 V2 W2 power terminal block (X1)

Siemens Sinamics S120

6.3 TPM+ with incremental encoder Heidenhain ERN1185

PE U2 power V2 terminal block (X1) W2

Siemens Sinamics S120

WITTENSTEIN motion control GmbH Walter-Wittenstein-Strae 1 97999 Igersheim

WITTENSTEIN - being one with the future www.wittenstein.de

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