TPM(A) CT UNIDRIVE SP. Quick Startup Guide. Version : 1.0 Date : 27 th September 2006 File : 4091_D013552_01.doc Doc.No.

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Quick Startup Guide TPM(A) 004 0 CT UNIDRIVE SP Version :.

1 Quick Startup Guide TPM(A) CT UNIDRIVE SP Version :.0 Date : 7 th September 006 File : 409_D0_0.doc Doc.No. : 409-D0-0 Technical changes reserved!

2 Table of Contents TABLE OF CONTENTS... GENERAL INFORMATION AND SAFETY INSTRUCTIONS... NAME PLATE DATA DETAILS... 4 PARAMETER LIST MOTOR FEEDBACK.... TPM(A) WITH RESOLVER.... TPM(A) WITH HEIDENHAIN ENDAT.... TPM(A) WITH STEGMANN HIRFACE... 4 PARAMETER LIST TPM 600V RATIOS /... 6 PARAMETER LIST TPM 600V RATIOS 6/ PARAMETER LIST TPMA 600V RATIOS 0 / 4 / CONNECTION SCHEMATIC TPM / TPMA TPM / TPMA WITH RESOLVER FEEDBACK TPM / TPMA WITH ABSOLUTE ROTARY ENCODER HEIDENHAIN ENDAT ECN / EQN / ECN / EQN TPM / TPMA WITH ABSOLUTE ROTARY ENCODER STEGMANN HIRFACE SRS0 / SRM ASSIGNMENT TPM(A) SERVO AMPLIFIER CABLE SET TPM / TPMA WITH RESOLVER FEEDBACK TPM / TPMA WITH ABSOLUTE ROTARY ENCODER HEIDENHAIN ECN / EQN / ECN / EQN TPM / TPMA WITH ABSOLUTE ROTARY ENCODER STEGMANN SRS 0 / SRM 0... Modification History Document Designation Version Date Note 409_D0_0.doc First edition Contact address: WITTENSTEIN motion control GmbH Walter-Wittenstein-Strasse Igersheim Tel. : / 49-0 Fax : / info@w-m-c.de Document-No.: 409-D0-0 Date: 7. September 006 Page of

3 General Information and Safety Instructions This guide serves as an aid during start-up and inspection of TPM motor gear units with servo amplifiers. 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 improper, 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. Qualified technicians are those who are completely familiar with the assembly, installation, and operating procedures, as well as all warnings and safety measures in accordance with the countryspecific regulations. Furthermore, they are trained, instructed, and authorised to set the electrical circuits and other devices into operation 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 documentation 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. Document-No.: 409-D0-0 Date: 7. September 006 Page of

4 Name plate data details The following specifications can be found on the identification plate. Please select the input parameters corresponding to the nameplate values of your drive. TPM M 600 K BP 0 IF STD Size TPM 004 / 00 / 0 / 00 / 0 TPMA 0 / 00 / 0 Ratio / / 6 / 9 (TPM) 0 / 4 / 0 (TPMA) Motor encoder R = Resolver S = Singleturn Heidenhain EnDat M = Multiturn Heidenhain EnDat N = Singleturn Stegmann Hiperface K = Multiturn Stegmann Hiperface I = Heidenhain incremental encoder Intermediate voltage Plug form STD = angle SEG = straight XXX = custom Standard IF = industry standard UL = UL recognised file E060 Stator length Clearance specification = Standard < arcmin (TPM 004: < arcmin) 0 = Reduced < arcmin (TPM 004: < arcmin) Brake BP = Permanent magnetic brake OH = Without brake Temperature sensor P = PTC STM 60 in accordance with DIN 4408 / 4408 N = NTC K = KTY 84-0 Document-No.: 409-D0-0 Date: 7. September 006 Page 4 of

5 Parameter list motor feedback. TPM(A) with Resolver The parameter for the motor feedback has to be entered before connecting the motor to the drive. If you enter wrong parameters the encoder or the drive may be damaged. Parameter Parameter name Unit TPM004 TPM00 TPM0 TPM00 TPM0 0.6 Speed feedback selector Slot, Slot or Slot depending of slot SM-Resolver xx. Resolver poles Pole (0) Pole (0) Pole (0) Pole (0) Pole (0) 00.4 Encoder phase angle TPM(A) with Heidenhain EnDat The parameter for the motor feedback has to be entered before connecting the motor to the drive. If you enter wrong parameters the encoder or the drive may be damaged Drive encoder error detection level xx.0 Equivalent lines per revolution xx. Resolver excitation (:) (:) (:) (:) (:) Parameter Parameter name Unit TPM004 TPM00 TPM0 TPM00 TPM0 0.6 Speed feedback selector drv (0) 0.6 Drive encoder supply voltage V V V V V 0.8 Drive encoder type SC.EnDat SC.EnDat SC.EnDat SC.EnDat SC.EnDat. TPM(A) with Stegmann Hiperface The parameter for the motor feedback has to be entered before connecting the motor to the drive. If you enter wrong parameters the encoder or the drive may be damaged. 0.4 Drive encoder autoconfiguration EIN () EIN () EIN () EIN () EIN () 00.4 Encoder phase angle Parameter Parameter name Unit TPM004 TPM00 TPM0 TPM00 TPM0 0.6 Speed feedback selector drv (0) 0.6 Drive encoder supply voltage 8V 8V 8V 8V 8V 0.8 Drive encoder type SC.Hiper SC.Hiper SC.Hiper SC.Hiper SC.Hiper 0.4 Drive encoder autoconfiguration EIN () EIN () EIN () EIN () EIN () 00.4 Encoder phase angle Document-No.: 409-D0-0 Date: 7. September 006 Page of

6 4 Parameter list TPM 600V ratios / 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 Unidrive SP. When the TPM and the servo amplifier are properly connected, these parameters guarantee that the TPM can be operated without load with speed control. Based on these default settings, the dynamics of the speed controller can be optimised depending on the application. Data for combinations not shown here are available on demand. Parameter Parameter name Unit TPM004 TPM00 TPM0 TPM00 TPM Maximum switching khz frequency 00.4 No. of motor poles Motor rated current A 0,7,,,6 9, Operating mode selector SERVO SERVO SERVO SERVO SERVO 0.06 Maximum reference clamp RPM Rated speed RPM Stator resistance Ohm 47,4 9,,8 0,6 0,7 0.4 Transient inductance mh 0,6 0, 0,4,4 0. Motor torque per amp, Kt Nm/A 0,67 0,8,6 0,9, 00.8 Current loop P gain After entering of R and L at #.7 and.4 the automatic calculating is started after setting #0.40 to Current loop I gain After entering of R and L at #.7 and.4 the automatic calculating is started after setting #0.40 to Thermal time constant Thermal protection mode or 0 Depending on application Speed controller P gain /rad s- 0,00 0,00 0,0 0,0 0, Speed controller I gain /rad,00,00,00,00, Speed controller D gain s Data for ratio 04.0 Motoring current limit % Regen current limit % Symmetrical current limit % Data for ratio 04.0 Motoring current limit % Regen current limit % Symmetrical current limit % Document-No.: 409-D0-0 Date: 7. September 006 Page 6 of

7 Parameter list TPM 600V ratios 6/9 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 Unidrive SP. When the TPM and the servo amplifier are properly connected, these parameters guarantee that the TPM can be operated without load with speed control. Based on these default settings, the dynamics of the speed controller can be optimised depending on the application. Data for combinations not shown here are available on demand. Parameter Parameter name Unit TPM004 TPM00 TPM0 TPM00 TPM Maximum switching khz frequency 00.4 No. of motor poles Motor rated current A 0, 0,7,8,6, Operating mode selector SERVO SERVO SERVO SERVO SERVO 0.06 Maximum reference clamp RPM Rated speed RPM Stator resistance Ohm 6, 44, 9, 4, 0,6 0.4 Transient inductance mh 7,6 0,,,,4 0. Motor torque per amp, Kt Nm/A 0,4 0,77 0,76,0 0, Current loop P gain After entering of R and L at #.7 and.4 the automatic calculating is started after setting #0.40 to Current loop I gain After entering of R and L at #.7 and.4 the automatic calculating is started after setting #0.40 to Thermal time constant Thermal protection mode or 0 Depending on application Speed controller P gain /rad s- 0,00 0,00 0,0 0,0 0, Speed controller I gain /rad,00,00,00,00, Speed controller D gain s Data for ratio Motoring current limit % Regen current limit % Symmetrical current limit % Data for ratio Motoring current limit % Regen current limit % Symmetrical current limit % Document-No.: 409-D0-0 Date: 7. September 006 Page 7 of

8 6 Parameter list TPMA 600V ratios 0 / 4 / 0 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 Unidrive SP. When the TPM and the servo amplifier are properly connected, these parameters guarantee that the TPM can be operated without load with speed control. Based on these default settings, the dynamics of the speed controller can be optimised depending on the application. Data for combinations not shown here are available on demand. Parameter Parameter name Unit TPM0 TPM00 TPM Maximum switching khz frequency 00.4 No. of motor poles Motor rated current A,8,6, Operating mode selector SERVO SERVO SERVO 0.06 Maximum reference clamp RPM Rated speed RPM Stator resistance Ohm 9, 4, 0,6 0.4 Transient inductance mh,,,4 0. Motor torque per amp, Kt Nm/A 0,76,0 0, Current loop P gain After entering of R and L at #.7 and.4 the automatic calculating is started after setting #0.40 to Current loop I gain After entering of R and L at #.7 and.4 the automatic calculating is started after setting #0.40 to Thermal time constant Thermal protection mode or 0 Depending on application Speed controller P gain /rad s- 0,0 0,0 0, Speed controller I gain /rad,00,00, Speed controller D gain s Data for ratio Motoring current limit % Regen current limit % Symmetrical current limit % Data for ratio Motoring current limit % Regen current limit % Symmetrical current limit % Data for ratio Motoring current limit % Regen current limit % Symmetrical current limit % Document-No.: 409-D0-0 Date: 7. September 006 Page 8 of

9 7 Connection schematic TPM / TPMA For detailed information about cable design and screening the documentation of the drive manufacturer has to be consulted. The parameter for the motor feedback has to be entered before connecting the motor to the drive. If you enter wrong parameters the encoder or the drive may be damaged. 7. TPM / TPMA with resolver feedback Power connector M U V W 4 U V W Power connector (X) R Br + Br - Signal connector PTC PTC Ref + Ref - Sin + Sin - Cos + Cos - Schirm Brake optional Control Techniques Unidrive SP with option modul SM-Resolver Analog input 0V / common REF HIGH REF LOW SIN HIGH SIN LOW COS HIGH COS LOW 0 Volt / screen Document-No.: 409-D0-0 Date: 7. September 006 Page 9 of

10 7. TPM / TPMA with absolute rotary encoder Heidenhain EnDat ECN / EQN / ECN / EQN Power connector M U V W 6 U V W Power connector (X) Br + Br - Singal connector 4 Brake optional Control Techniques Unidrive SP PTC PTC A+ A- B+ B th 0V common Cos Cosref Sin Sinref Encoder connector SC Daten + Daten - Takt + 4 Takt - P-Encoder 0 V Sense 6 M-Encoder 7 0V Sense 6 4 Daten Daten\ Takt Takt\ +V 0V common 7. TPM / TPMA with absolute rotary encoder Stegmann Hiperface SRS0 / SRM0 Power connector M U V W 6 U V W Power connector (X) Br + Br - Signal connector 4 Brake optional Control Techniques Unidrive SP HIP PTC PTC cos Refcos sin Refsin V GND Schirm V common 4 th Encoder Cos connector Cosref Sin 4 Sinref Daten 6 Daten\ +V 4 0V common Document-No.: 409-D0-0 Date: 7. September 006 Page 0 of

11 8 Assignment TPM(A) servo amplifier cable set 8. TPM / TPMA with resolver feedback TPM(A) type controller WMC Article code of power- (L) and feedback cable (S) feed- size i recommendation WMC m 0m m 0m m 0m 40m back 0V 600V L S L S L S L S L S L S L S TPM 004 0, 0, 06, 09 - SP40 Resolver TPM 00 TPM(A) 0 TPM(A) 00 TPM(A) 0 0, 0 - SP40 06, 09 - SP40 0, 0 - SP404 06, 0 - SP40 09, 4 SP SP SP SP40 06, 0, 4 - SP40 0, 0 - SP40 0, 0, 4 - SP40 6, 0 SP40 9, 0 - SP WMC recommendation is based on use of a power stage with maximal PWM-frequency. Please refer to WMC or controller manufactor to select optimized controller size for the application. Possibly you are a smaller controller. power- and signal cable to connect on motors with resolver feedback all cable complete and for dynamic laying power TPM(A) and TPM(A) >= 6 KABELL-TPM_-xxSTD_-RES0-STG design power cable: 4 x,mm + x ( x mm), diameter,mm, min. bending radius mm power TPM00 i=/ TPM(A) 0 KABELL-TPM_-xxSTD_-RES0-STG design power cable: 4 x,mm + x ( x mm), diameter,mm, min. bending radius mm feedback KABELS-TPM_-xxCTE_-RES000-STG design feedback cable: 4 x ( x 0,mm) + x mm, diameter 8,8mm; min. bending radius 88mm (xx = cable length according to table) Document-No.: 409-D0-0 Date: 7. September 006 Page of

12 8. TPM / TPMA with absolute rotary encoder Heidenhain ECN / EQN / ECN / EQN TPM(A) type controller WMC Article code of power- (L) and feedback cable (S) feed- size i recommendation WMC m 0m m 0m m 0m 40m back 0V 600V L S L S L S L S L S L S L S TPM 004 0, 0, 06, 09 - SP40 Absolut single-/multiturn encoder with EnDat TPM 00 TPM(A) 0 TPM(A) 00 TPM(A) 0 0, 0 - SP40 06, 09 - SP40 0, 0 - SP404 06, 0 - SP40 09, 4 SP SP SP SP40 06, 0, 4 - SP40 0, 0 - SP40 0, 0, 4 - SP40 6, 0 SP40 9, 0 - SP WMC recommendation is based on use of a power stage with maximal PWM-frequency. Please refer to WMC or controller manufactor to select optimized controller size for the application. Possibly you are a smaller controller. power- and feedback cable to connect on motors with absolut EnDat feedback ECN / EQN resp. ECN / EQN all cable complete and for dynamic laying Cable power TPM(A) and TPM(A) >= 6 KABELL-TPM_-xxSTD_-END0-STG power TPM00 i=/ TPM(A) 0 KABELL-TPM_-xxSTD_-END0-STG design power cable: 4 x,mm + x mm, diameter,mm, min. bending radius mm feedback KABELS-TPM_-xxCTSP-END000-STG design feedback cable: (xx = cable length according to table) design power cable: 4 x,mm + x mm, diameter mm, min. bending radius 0mm x ( x 0,4mm) + 4 x 0,4mm + 4 x 0,mm + x 0,mm; diameter 0mm min. bending radius 00mm Document-No.: 409-D0-0 Date: 7. September 006 Page of

13 8. TPM / TPMA with absolute rotary encoder Stegmann SRS 0 / SRM 0 TPM type controller WMC Article code of power- (L) and feedback cable (S) feed- size i recommendation WMC m 0m m 0m m 0m 40m back 0V 600V L S L S L S L S L S L S L S TPM 004 0, 0, 06, 09 - SP40 Absolut single-/multiturn encoder with Stegmann Hiperface TPM 00 TPM(A) 0 TPM(A) 00 TPM(A) 0 0, 0 - SP40 06, 09 - SP40 0, 0 - SP404 06, 0 - SP40 09, 4 SP SP SP SP40 06, 0, 4 - SP40 0, 0 - SP40 0, 0, 4 - SP40 6, 0 SP40 9, 0 - SP WMC recommendation is based on use of a power stage with maximal PWM-frequency. Please refer to WMC or controller manufactor to select optimized controller size for the application. Possibly you are a smaller controller. power- and feedback cable to connect on motors with absolut Hiperface feedback SRS 0 SRM 0 all cable complete and for dynamic laying power TPM(A) and TPM(A) >= 6 KABELL-TPM_-xxSTD_-END0-STG design power cable: 4 x,mm + x mm, diameter mm, min. bending radius 0mm power TPM00 i=/ TPM(A) 0 KABELL-TPM_-xxSTD_-END0-STG design power cable: 4 x,mm + x mm, diameter,mm, min. bending radius mm feedback KABELS-TPM_-xxCTSP-HIP000-STG design feedback cable: x ( x 0,mm), diameter 9,0 mm; min. bending radius 90mm (xx = cable length according to table) Document-No.: 409-D0-0 Date: 7. September 006 Page of

TPM + Control Techniques Unidrive SP. Quick Startup Guide. efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

TPM + Control Techniques Unidrive SP. Quick Startup Guide. efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor 4091-D015002 02 efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor + Control Techniques Unidrive SP Quick Startup Guide 4091-D015002 Revision: 02 Quick Startup Guide + 1 Table