Wittenstein TPM BoschIndraDrive

4091-D015000 03
4091-D015000 Revision: 03
TPM
+
Bosch Rexroth IndraDrive
Quick Startup Guide

Quick Startup Guide TPM
+

Page en-2
Revision: 03 4091-D015000 Release: 07.10.2008

1 Inhalt

1 Inhalt 2
2 General Information 4
2.1 Description, designations 4
2.2 Whom does this manual concern? 4
2.3 Which signs and symbols are referred to in this manual? 4
2.4 Exclusion of liability 4
2.5 EC low-voltage directive / EMC regulations 4
2.6 Copyright 4
3 Safety 5
3.1 Intended use 5
3.2 Improper use 5
3.3 Safety Instructions 5
3.3.1 General safety instructions 5
4 Type plate information identification 7
4.1 Identification plate, designation 7
5 Setting the parameters 8
5.1 Commutation offset 8
5.2 TPM
+
with temperature sensor KTY 84-130 8
5.3 TPM
+
with temperature sensor PTC STM160 8
5.4 TPM
+
560 V Ratio 16 9
5.5 TPM
+
560 V Ratio 21 10
5.6 TPM
+
560 V Ratio 31 11
5.7 TPM
+
560 V Ratio 61 12
5.8 TPM
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560 V Ratio 64 13
5.9 TPM
+
560 V Ratio 91 14
5.10 TPM
+
320 V Ratio 16 15
5.11 TPM
+
320 V Ratio 21 16
5.12 TPM
+
320 V Ratio 31 17
5.13 TPM
+
320 V Ratio 61 18
5.14 TPM
+
320 V Ratio 64 19
5.15 TPM
+
320 V Ratio 91 20
6 Connection schematic TPM
+
21
6.1 TPM
+
with resolver 21
6.2 TPM
+
with absolute encoder Heidenhain EnDat ECN1113 /
EQN 1125 22
6.3 TPM
+
with absolute encoder Sick-Stegmann Hiperface SKS36 /
SKM36 22
7 Diagnostic messages during initial start-up 23

+

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Modification History

Document designation Revision Date Note
4091-D015000-01.doc 1 14. June 2007 First Edition
4091-D015000-02.doc 2 22. Oct. 2007 General revision
4091-D015000-03.doc 3 07. Oct. 2008 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.

TPM
+
Quick Startup Guide

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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
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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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.

TPM
+
Quick Startup Guide

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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 direct voltage) 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:

Fig. 4.2

A Ordering codes
B Article code
C Intermediate voltage
D Maximum permitted current
E Maximum moment of the gear output
F Maximum gear output speed
G Continuous stall current
H Continuous stall moment at gear
output
I Brake voltage
J For use with drive
K Lubricant
L Mounting position
M Lubricant quantity
N Type of protection
O Insulation class
P Date
Q Specifications for UL approval
R Series number
S UL logo
Designation:

TPM 010S-110R-6PB1-055A-W
Size
TPM 004/010/025/050/110
Design code
Standard
G = Grease filling
L = Food safe
X = Special
S =
Ratio i
Feedback system
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
R =
Operating voltage
5 = 320 V
6 = 560 V
Temperature sensor
P = PTC
K = KTY
Brake
with brake
O = without brake
B =
Clearance specification
Standard
0 = reduced
1 =
Motor size
Code letter stator length
see catalogue
Characteristic
Angle mounting socket
G = Straight mounting socket
W =

TPM
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Quick Startup Guide

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5 Setting the parameters

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 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 encoders memory and
no manual input of the commutation offset is necessary.

5.2 TPM
+
with temperature sensor KTY 84-130
Code Value
P-0-512 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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5.4 TPM
+
560 V Ratio 16

Code Function
S-0-0141 Motor type TPM 004S
i 16
TPM 010S
i 16
TPM 025S
i 16
TPM 050S
i 16
TPM 110S
i 16
P-0-4014 Type of construction of motor 0 0 0 0 0
P-0-0001 Switching frequency of the power output
stage [kHz]
8 8 8 8 8
P-0-0018 Number of pole pairs 4 4 6 6 6
P-0-0051 Torque/force constant [Nm/Arms] 0,69 0,96 0,98 1,00 1,00
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 Torque/force peak limit [%] 311 424 304 298 429
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
without brake [kgm] 0,00002 0,00003 0,00026 0,00096 0,00131
with brake [kgm] 0,00002 0,00004 0,00027 0,00106 0,00141
P-0-4016 Direct-axis inductance of motor [mH] 16,64 11,40 2,98 1,51 1,20
P-0-4017 Quadrature-axis inductance of motor
[mH]
16,64 11,40 2,98 1,51 1,20
P-0-4048 Stator resistance [Ohm] 28,18 21,30 2,20 0,45 0,32
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 Position polarities Resolver 1111 1111 1111 1111 1111
Position polarities EnDat 0000 0000 0000 0000 0000
Position 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 Bipolar torque/force limit value [%] 311 424 304 298 429
S-0-0106 Current loop p. gain 1 [V/A] 73,22 50,16 13,10 6,63 5,30
S-0-0107 Current loop integral action time 1 [ms] 1,1 1,0 2,7 6,7 7,4
S-0-0109 Motor peak current [Arms] 3,20 5,20 17,00 40,00 70,00
S-0-0111 Motor current at standstill [Arms] 1,00 1,20 5,60 13,40 16,30
S-0-0113 Maximum motor speed [rpm] 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 0,10 0,10 0,20
S-0-0101 Velocity loop integral action time [ms] 10 10 10 10 10
P-0-0004 Velocity loop smooth. time constant [s] 250 250 250 250 250
P-0-0525
1
Holding brake control word 100 100 100 100 100
S-0-0206 Drive on delay time [ms] 12 12 30 40 40
S-0-0207 Drive off delay time [ms] 6 6 15 20 20
P-0-0540 Torque of holding brake [Nm] 1,1 1,1 2,2 11,0 11,0
1
For actuators without brake P-0-0525 has to be set to 0.

TPM
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Quick Startup Guide

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5.5 TPM
+
560 V Ratio 21

Code Function
i 21
TPM 010S
i 21
TPM 025S
i 21
TPM 050S
i 21
TPM 110S
i 21
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00002 0,00004 0,00027 0,00106 0,00141
[mH]
16,64 11,40 2,98 1,51 1,20
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

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5.6 TPM
+
560 V Ratio 31

Code Function
i 31
TPM 010S
i 31
TPM 025S
i 31
TPM 050S
i 31
TPM 110S
i 31
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00002 0,00004 0,00027 0,00104 0,00138
[mH]
16,64 11,40 2,98 1,51 1,20
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

TPM
+
Quick Startup Guide

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5.7 TPM
+
560 V Ratio 61

Code Function
i 61
TPM 010S
i 61
TPM 025S
i 61
TPM 050S
i 61
TPM 110S
i 61
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00001 0,00002 0,00010 0,00034 0,00104
[mH]
15,00 15,00 9,46 5,55 1,51
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

+

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5.8 TPM
+
560 V Ratio 64

Code Function
i 64
TPM 010S
i 64
TPM 025S
i 64
TPM 050S
i 64
TPM 110S
i 64
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00001 0,00002 0,00010 0,00033 0,00103
[mH]
15,00 15,00 9,46 5,55 1,51
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

TPM
+
Quick Startup Guide

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5.9 TPM
+
560 V Ratio 91

Code Function
i 91
TPM 010S
i 91
TPM 025S
i 91
TPM 050S
i 91
TPM 110S
i 91
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00001 0,00002 0,00010 0,00033 0,00103
[mH]
15,00 15,00 9,46 5,55 1,51
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

+

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5.10 TPM
+
320 V Ratio 16

Code Function
i 16
TPM 010S
i 16
TPM 025S
i 16
TPM 050S
i 16
TPM 110S
i 16
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00002 0,00004 0,00027 0,00106 0,00141
[mH]
5,55 3,55 0,99 0,50 1,20
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

TPM
+
Quick Startup Guide

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5.11 TPM
+
320 V Ratio 21

Code Function
i 21
TPM 010S
i 21
TPM 025S
i 21
TPM 050S
i 21
TPM 110S
i 21
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00002 0,00004 0,00027 0,00106 0,00141
[mH]
5,55 3,55 0,99 0,50 1,20
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

+

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5.12 TPM
+
320 V Ratio 31

Code Function
i 31
TPM 010S
i 31
TPM 025S
i 31
TPM 050S
i 31
TPM 110S
i 31
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00002 0,00004 0,00027 0,00104 0,00138
[mH]
5,55 3,55 0,99 0,50 1,20
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

TPM
+
Quick Startup Guide

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5.13 TPM
+
320 V Ratio 61

Code Function
i 61
TPM 010S
i 61
TPM 025S
i 61
TPM 050S
i 61
TPM 110S
i 61
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00001 0,00002 0,00010 0,00034 0,00104
[mH]
5,00 5,00 3,15 1,85 0,50
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

+

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5.14 TPM
+
320 V Ratio 64

Code Function
i 64
TPM 010S
i 64
TPM 025S
i 64
TPM 050S
i 64
TPM 110S
i 64
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00001 0,00002 0,00010 0,00033 0,00103
[mH]
5,00 5,00 3,15 1,85 0,50
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

TPM
+
Quick Startup Guide

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5.15 TPM
+
320 V Ratio 91

Code Function
i 91
TPM 010S
i 91
TPM 025S
i 91
TPM 050S
i 91
TPM 110S
i 91
stage [kHz]
8 8 8 8 8
with brake [kgm] 0,00001 0,00002 0,00010 0,00033 0,00103
[mH]
5,00 5,00 3,15 1,85 0,50
Hiperface
0000 0000 0000 0000 0000
P-0-0525
1
1

+

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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.

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.

brake / Temp.Sensor
(X6)
M

PE
W
V
U
R
Ref+
Cos -
Sin +
Ref-
shield
PTC / KTY
PTC / KTY
Br -
Br +
PE
2
1
4
6
5
5
2
1
4
3
8
7
6
9
power plug
feedback plug
PE
A3
A2
A1
10
3
9
2
4
12
2
1
brake optional
Sin -
Cos +
power
terminal
block
(X5)
3
encoder
interface
EN1
Bosch Rexroth
IndraDrive
4
3 Br +
Br -
MotTemp-
MotTemp+
B-
B+
VCC_Encoder
A-
GND-Encoder
A+
0VBr
+24VBr

TPM
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Quick Startup Guide

Page en-22

6.2 TPM
+
with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125


M

PE
W
V
U
SC
A+
Daten -
B+
A-
PTC / KTY
PTC / KTY
Br -
Br +
PE
1
6
2
5
4
8
13
3
12
11
2
1
9
power plug
feedback plug
PE
A3
A2
A1
15
9
5
6
8
7
brake optional
B-
Daten +
power
terminal
block
(X5)
3
encoder
interface
EN2
Bosch Rexroth
IndraDrive
14
14
14
Takt -
14
5
13
11 Takt +
5V Sense
16
10
1
12 P-Encoder
0V Sense
15
7
2
10 M-Encoder
17
17
17
Brake / Temp.Sensor
(X6)
2
1
4
3 Br +
Br -
MotTemp-
MotTemp+
0VBr
+24VBr
A+
VCC_Encoder
EncCLK-
GND_Schirm
EncCLK+
EncData-
EncData+
GND_Schirm
B-
B+
GND_Schirm
A-
Sense+
GND_Encoder
Sense-

6.3 TPM
+
with absolute encoder Sick-Stegmann Hiperface SKS36 / SKM36


brake / Temp.Sensor
(X6)
M

PE
W
V
U
cos
8V
sin
Refcos
shield
PTC / KTY
PTC / KTY
Br -
Br +
PE
1
6
2
5
4
3
12
7
6
5
1
8
4
9
power plug
feedback plug
PE
A3
A2
A1
11
8
6
5
3
2
2
1
brake optional
Refsin
-485
power
terminal
block
(X5)
3
encoder
interface
ENS
Bosch Rexroth
IndraDrive
4
3 Br +
Br -
MotTemp-
MotTemp+
VCC_Encoder
EncData-
A+
B-
A-
B+
0VBr
+24VBr
+485
GND
2
10
4
7 EncData+
GND_Encoder
HIP

+

Page en-23

7 Diagnostic messages during initial start-up

During initial start-up faults may occur. Following diagnostic messages could appear with a correctly working TPM.
For further investigations please consult the documentation from Bosch Rexroth.

Diagnostic message Possible cause Solution
F2028 Excessive deviation
F8078 Velocity loop error
F8079 Velocity limit S-0-0091 exceeded

Commutation angle
not correct
Check wiring of motor and motor
feedback. Verify that P-0-0508 was
taken over correctly by the drive. If
not please activate the
commutation angle determination
routine.
F2074 Absolute encoder out of window
F2075
F2076
Initial start-up Set absolute measurement
E2063 Velocity command value >
limit S-0-0091

Speed command
exceeds the value
for bipolar limit in S-
0-091
Adjust the value for S-0-0091
according your application.
Verify the scaling of your
application.
F2018 Device overtemperature shutdown
F2019 Motor overtemperature shutdown
F2021 Motor temperature monitor
defective
F2022 Device temperature monitor
defective
Wrong
parameterisation of
temperature sensor
Reconfigure the parameters P-0-
0512 and P-0-0513 according to
your TPM.

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

Wittenstein TPM BoschIndraDrive

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