Wittenstein TPM dynamic Operating Manual Download

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4022-D018396

4022-D018396

Revision: 07

TPM

dynamic / high torque / power

Operating Manual

Summary of Contents for TPM dynamic

Page 1: ...4022 D018396 07 4022 D018396 Revision 07 TPM dynamic high torque power Operating Manual ...

Page 2: ... In case you have technical questions please contact WITTENSTEIN alpha GmbH Customer Service Walter Wittenstein Straße 1 D 97999 Igersheim Tel 49 7931 493 12900 Fax 49 7931 493 10903 E mail service wittenstein de WITTENSTEIN alpha GmbH 2017 This documentation is copyright protected reserves all the rights to photo mechanical reproduction copying and the distribution by special processes such as co...

Page 3: ...t TPM high torque 13 3 4 3 Weight TPM power 13 4 Transport and storage 14 4 1 Scope of delivery 14 4 2 Packaging 14 4 3 Transport 14 4 4 Storage 14 5 Assembly 15 5 1 Preparations 15 5 2 Mounting the servo actuator onto a machine 15 5 3 Components mounted on the output side 16 5 4 Installing electrical connections 16 6 Startup and operation 18 6 1 Safety instructions and operating conditions 18 6 2...

Page 4: ...r data TPM dynamic 560V i 16 31 33 9 4 9 Motor data TPM dynamic 560V i 61 91 34 9 4 10Motor data TPM high torque 560V 34 9 4 11Motor data TPM power 560V i 4 35 35 9 4 12Motor data TPM power 560V i 40 100 36 9 4 13Technical specifications Resolver 37 9 4 14Technical specifications Stegmann Hiperface absolute encoder 38 9 4 15Technical specifications Stegmann Hiperface absolute encoder Rockwell opti...

Page 5: ... colleagues working in the vicinity of the device to ensure individual safety The original instructions were prepared in German all other language versions are translations of these instructions 1 1 Signal words The following signal words are used to indicate possible hazards prohibitions and important information 1 2 Safety symbols The following safety symbols are used to bring your attention to ...

Page 6: ...lowing information symbols are used Indicates an action to be performed Indicates the results of an action Provides additional information on handling Electric voltage Flammable Harmful to the environment Information Component sensitive to electrostatic discharge A Safety symbol see Chapter 1 2 Safety symbols B Signal word see Chapter 1 1 Signal words C Type and consequence of the danger D Prevent...

Page 7: ...n their training and experience technicians must be able to evaluate the tasks assigned to them in order to recognize and avoid risks 2 4 Intended use The servo actuator is designed to be installed in or connected to the following machines incomplete machines or equipment Stationary large scale plant Stationary industrial tools Movable machines not intended for road use and only provided for profe...

Page 8: ...installation operating performance and ambient conditions Assembly of the servo actuator by insufficiently competent personnel 2 6 Guarantee and liability Guarantee and liability claims are excluded for personal injury and material damage in case of Ignoring the information on transport and storage Improper use misuse Improper or neglected maintenance and repair Improper assembly disassembly or im...

Page 9: ... to misuse or a machine crash see Chapter 2 5 Reasonably foreseeable misuse Replace the affected servo actuators even if no external damage is visible Hot servo actuator housing up to 125 C can cause serious burns Touch the servo actuator housing only when wearing protective gloves or after the servo actuator has been idle for some time Loose or overloaded screw connections can damage the servo ac...

Page 10: ... Safety signs Solvents and lubricants can pollute soil and water Use and dispose of cleaning solvents and lubricants properly There is a safety sign on the servo actuator housing that warns against hot surfaces This safety sign may not be removed ...

Page 11: ...two centering mechanisms for the output flange Designation Designation A Ordering code see 3 2 Ordering code K Lubrication B Article code L Mounting position C Intermediate voltage M Max speed D Continuous stall torque at gear output N Max speed of the motor E Maximum acceleration torque at the gear output O Protection class F Max acceleration torque of the motor P Insulation class G Continuous st...

Page 12: ... Size 004 010 025 050 110 Version S Standard UL G Grease filling F Food grade lubrication X Special design P Welded pinion Ratio i Feedback system R Resolver 2 pole S Singleturn absolute encoder EnDat M Multiturn absolute encoder EnDat N Singleturn absolute encoder Hiperface K Multiturn absolute encoder Hiperface T 5V TTL Incremental encoder with Hall signal E Singleturn absolute encoder Rockwell ...

Page 13: ...21 8 45 5 i 154 220 6 5 10 0 21 8 45 5 With brake kg i 22 55 8 1 15 9 27 5 80 0 i 66 10 5 22 9 67 0 i 88 8 5 10 5 22 9 67 0 i 110 8 5 10 5 22 9 46 8 i 154 220 7 0 10 5 22 9 46 8 Tbl 3 Weight kg Size TPM 004 010 025 050 110 Without brake kg i 4 10 3 6 7 2 14 0 23 6 58 8 i 16 35 3 7 7 4 14 5 25 1 59 6 i 40 100 3 3 6 0 10 3 19 4 52 3 With brake kg i 4 10 4 7 7 15 24 9 62 0 i 16 35 4 1 7 9 15 5 26 4 6...

Page 14: ...er 3 4 Weight Ambient temperatures between 20 C and 50 C are permissible for transport only 4 4 Storage Store the servo actuator in horizontal position and dry surroundings at a temperature of 0 C to 30 C in the original packaging Store the servo actuator for a maximum of 2 years For storage logistics we recommend the first in first out method Suspended loads can fall and can cause serious injurie...

Page 15: ...ponents are sensitive against electrostatic discharge ESD This concerns in particular integrated circuits IC semiconductors resistors with a tolerance of less than one percent as well as transistors and other components such as encoders Observe the directives concerning ESD protection Pressurized air can damage the servo actuator seals Do not use pressurized air to clean the servo actuator The ser...

Page 16: ...machine with the fastening screws through the through holes A Mount the servo actuator in such a way that the type plate B remains legible Do not use washers e g plain washers tooth lock washers For specified screw sizes and tightening torques see Chapter 9 1 Specifications on mounting onto a machine Tables Tbl 11 and Tbl 12 Distortions during assembly can damage the servo actuator Mount gearwheel...

Page 17: ... even death Observe the five safety rules of electrical engineering before starting electrical installation work Disconnect Secure against being switched on again Check that there is no voltage Ground and short circuit Cover neighboring and electrified parts Check that protective caps are on the plugs If protective caps are missing check the plugs for damage and soiling Electric operation in moist...

Page 18: ...ou are using Chapter 9 4 4 Motor data TPM dynamic 320V i 16 31 Chapter 9 4 5 Motor data TPM dynamic 320V i 61 91 Chapter 9 4 6 Motor data TPM high torque 320V Chapter 9 4 7 Motor data TPM power 320V Chapter 9 4 8 Motor data TPM dynamic 560V i 16 31 Chapter 9 4 9 Motor data TPM dynamic 560V i 61 91 Chapter 9 4 10 Motor data TPM high torque 560V Improper use can cause damage to the servo actuator En...

Page 19: ...evision 07 4022 D018396 en 19 Chapter 9 4 11 Motor data TPM power 560V i 4 35 Chapter 9 4 12 Motor data TPM power 560V i 40 100 Select the appropriate product size of the desired servo controller in regard to the application data ...

Page 20: ...arge holding torque to take account of these factors Our internal technical service would be glad to help you with the appropriate dimensioning A maintenance interval of 4 weeks is recommended for common industrial applications For your dimensioning observe the effective torques during running in The permanent magnets of the rotor send a strong magnetic field which becomes active during the disass...

Page 21: ...uator housing and at the output flange The prescribed tightening torques can be found in Chapter 9 1 Specifications on mounting onto a machine Tables Tbl 11 and Tbl 12 and in Chapter 9 2 Specifications on mounting on the gear output side Tables Tbl 13 Tbl 14 and Tbl 15 If while checking the tightening torque you discover that a screw can be further tightened follow the instructions in Remounting t...

Page 22: ...ng the servo actuator again for operation 7 3 Maintenance schedule 7 4 Information on the lubricant used Make sure that it is possible to remount the screw on the gearhead without damaging the entire machine Pressurized air can damage the servo actuator seals Do not use pressurized air to clean the servo actuator Maintenance work At startup After 500 operating hours or 3 months Every 4 weeks Yearl...

Page 23: ...n on disassembly and disposal of the servo actuator Dispose of the servo actuator at the recycling sites intended for this purpose Observe the locally valid regulations for disposals Standard lubricants Lubricants for the food industry NSF H1 registered Castrol Industrie GmbH Mönchengladbach Tel 49 2161 909 30 www castrol com Klüber Lubrication München KG Munich Tel 49 89 7876 0 www klueber com Tb...

Page 24: ...gs Ambient temperature too high Ensure adequate cooling Increased operating noises Damaged bearings Consult our Customer Service department Damaged gear teeth Loss of lubricant Lubricant quantity too high Wipe off discharged lubricant and continue to watch the gearhead Lubricant discharge should stop after a short time Seals not tight Consult our Customer Service department Motor does not start Po...

Page 25: ...d voltage Short circuit in the coil or at body of brake coil Consult our Customer Service department Holding brake slips Stopping torque of the brake exceeded Check the construction plan Carry out a refreshment Acceleration times are not met Load is too high Check the dimensioning Power limiting active Check the controller parameters Position error Shielding of the encoder line insufficient Inspec...

Page 26: ...12 x 6 6 M6 12 9 15 4 TPM 110 233 12 x 9 0 M8 12 9 37 3 Tbl 11 Specifications on mounting onto a machine TPM dynamic TPM power Through holes in the servo actuator housing TPM high torque Type Size Holecircle Ø mm Quantity x diameter x mm For screw size property class Tightening torque Nm TPM 010 109 16 x 5 5 M5 12 9 9 0 TPM 025 135 16 x 5 5 M5 12 9 9 0 TPM 050 168 24 x 6 6 M6 12 9 15 4 TPM 110 233...

Page 27: ...uantity x Thread x Depth x mm x mm Tightening torque Nm Property class 12 9 TPM 010 50 0 12 x M6 x 10 15 4 TPM 025 63 0 12 x M8 x 12 37 3 TPM 050 80 0 12 x M10 x 15 73 4 TPM 110 125 0 12 x M12 x 19 126 0 Tbl 14 Thread in output flange ISO9409 TPM high torque Type Size Bore Ø mm Quantity x Thread x Depth x mm x mm Tightening torque Nm Property class 12 9 TPM 004 31 5 8 x M5 x 7 9 0 TPM 010 50 0 8 x...

Page 28: ...0 11 0 17 0 76 2 49 8 83 91 0 12 0 17 0 76 2 49 8 83 Moments of inertia with brake with resolver kgcm Ratio TPM 004 TPM 010 TPM 025 TPM 050 TPM 110 16 0 23 0 34 2 35 10 07 14 14 21 0 23 0 34 2 35 10 07 14 14 31 0 22 0 34 2 36 9 93 13 84 61 0 14 0 19 0 96 3 51 9 88 64 0 13 0 19 0 95 3 49 9 83 91 0 14 0 19 0 95 3 49 9 83 Tbl 17 Moments of inertia TPM dynamic Moments of inertia without brake with res...

Page 29: ... kgcm Ratio TPM 004 TPM 010 TPM 025 TPM 050 TPM 110 4 0 39 2 38 9 98 26 42 141 73 5 0 36 2 22 9 5 24 8 131 91 7 0 33 2 08 9 07 23 34 123 10 0 31 2 8 84 22 54 118 12 16 0 32 2 02 8 94 23 07 116 99 20 0 31 1 99 8 83 22 61 116 7 25 0 31 1 98 8 81 22 55 116 3 28 0 31 1 96 8 72 22 2 115 05 35 0 31 1 96 8 71 22 17 114 85 40 0 16 0 72 2 48 6 3 60 23 50 0 16 0 72 2 48 6 28 60 13 70 0 16 0 72 2 48 6 27 60 ...

Page 30: ...5 5 13 49 16 42 Continuous stall current I0 Aeff 1 9 2 25 9 9 23 7 16 7 Torque constant K t Nm Aeff 0 4 0 56 0 56 0 58 1 Voltage constant Ke Veff krpm 24 4 34 1 34 3 35 4 61 Winding resistance at 20 C terminal terminal Ohm 9 4 7 1 0 73 0 13 0 32 Winding inductance terminal terminal mH 11 1 7 33 2 1 2 4 Electrical time constant Te msec 1 2 1 1 2 7 6 7 7 4 Max winding temperature θmax C 155 155 155 ...

Page 31: ...e terminal terminal mH 10 10 6 3 3 7 1 Electrical time constant Te msec 0 4 0 8 1 4 2 8 6 7 Max winding temperature θmax C 155 155 155 155 155 Depending on the static and dynamic loads as well as the lambda factor the continuous stall current and the maximum current of the motor needs to be limited if necessary You can determine the design for each case with our design software cymex Tbl 21 Motor ...

Page 32: ... 3 8 1 9 12 1 4 4 28 9 7 8 Maximum current I max Aeff 9 5 2 29 4 10 4 70 21 Maximum speed rpm 6000 6000 6000 6000 6000 6000 Continuous stall torque T0 Nm 1 25 0 66 4 5 1 38 11 68 3 Continuous stall current I0 Aeff 2 7 1 73 9 35 3 22 23 73 6 93 Torque constant K t Nm Aeff 0 56 0 45 0 56 0 59 0 58 0 56 Voltage constant Ke Veff krpm 34 1 27 6 34 3 35 4 35 4 33 9 Winding resistance at 20 C terminal te...

Page 33: ...al terminal mH 33 3 22 8 6 3 2 4 Electrical time constant Te msec 1 2 1 1 2 7 6 7 7 4 Max winding temperature θmax C 155 155 155 155 155 Depending on the static and dynamic loads as well as the lambda factor the continuous stall current and the maximum current of the motor needs to be limited if necessary You can determine the design for each case with our design software cymex Tbl 24 Motor data T...

Page 34: ...0 TPM 025 TPM 050 TPM 110 Ratio i 22 110 154 220 22 55 66 220 22 55 66 220 22 55 66 88 110 220 Stator length mm 45 15 60 45 60 60 120 60 60 Pole pair number p p 6 6 6 6 6 6 6 6 6 Maximum torque Tmax Nm 11 98 4 4 28 9 11 98 56 6 28 9 164 5 88 56 6 Maximumcurrent I max Aeff 17 6 40 17 63 5 40 160 100 63 5 Maximum speed rpm 4850 4850 4850 4850 4500 4850 4150 4150 4500 Continuous stall torque T0 Nm 3 ...

Page 35: ...8 Maximum current I max Aeff 5 2 17 40 63 5 100 Maximum speed rpm 6000 6000 6000 5000 4200 Continuous stall torque T0 Nm 1 25 4 5 11 68 19 3 36 9 Continuous stall current I0 Aeff 1 56 5 4 13 7 19 38 6 Torque constant K t Nm Aeff 0 97 0 98 1 1 19 1 09 Voltage constant Ke Veff krpm 58 5 59 5 61 71 9 66 1 Winding resistance at 20 C terminal terminal Ohm 21 3 2 2 0 45 0 27 0 08 Winding inductance term...

Page 36: ...rminal Ohm 40 13 5 4 1 81 0 25 Winding inductance terminal terminal mH 30 18 9 11 1 5 1 1 9 Electrical time constant Te msec 0 8 1 4 2 8 2 8 7 6 Max winding temperature θmax C 155 155 155 155 155 Depending on the static and dynamic loads as well as the lambda factor the continuous stall current and the maximum current of the motor needs to be limited if necessary You can determine the design for e...

Page 37: ...7 12 V Protocol Hiperface Number of SinCos periods per revolution 128 Multiturn Ordering code TPMxxxxx xxxK xxxx xxxx xx xxx TPM dynamic 004 110 TPM high torque 010 110 TPM power 004 110 Type SKM36 Operating voltage 7 12 V Protocol Hiperface Number of SinCos periods per revolution 128 Number of Multiturn revolutions 4096 Tbl 30 Technical specifications Stegmann Hiperface Singleturn Ordering code T...

Page 38: ...nDat Ordering code TPMxxxxx xxxS xxxx xxxx xx xxx TPM dynamic 004 110 TPM high torque 010 110 TPM power 004 110 Type ECN 1113 Operating voltage 5 V Protocol EnDat 2 1 Distinguishable positions via EnDat protocol revolutions 8192 Number of SinCos periods per revolution 512 Multiturn EnDat Ordering code TPMxxxxx xxxM xxxx xxxx xx xxx TPM dynamic 004 110 TPM high torque 010 110 TPM power 004 110 Type...

Page 39: ...n Incremental TTL Encoder incremental Ordering code TPMxxxxx xxxT xxxx xxxx xx xxx TPM dynamic 004 110 TPM high torque 010 110 TPM power 004 110 Type Sick Stegmann CKS36 Operating voltage 5 V Commutation signals The motor polar pair number appropriately programmed Increments per revolution 2048 Tbl 34 Technical specifications TTL Encoder incremental Type KTY 84 130 NTC P1H104 Ordering code TPMxxxx...

Page 40: ...fications temperature sensors KTY and NTC PTC STM 160 Ordering code TPMxxxxx xxxx xPxx xxxx xx xxx Deactivation in case of fault Characteristic line in accordance with DIN 44081 44082 Temperature C Resistance ohm 140 20 250 140 155 250 550 155 165 550 1330 165 175 1330 4000 175 4000 Tbl 36 Technical specifications temperature sensor PTC Type KTY 84 130 NTC P1H104 Ordering code TPMxxxxx xxxx xKxx x...

Page 41: ...f a varistor should be added Observe the requirements for this of the applied servo controller manufacturer Ordering code TPM xxxx xxxx xxBx xxxx xx xxx Unit TPM 004 TPM 010 TPM 025 TPM 050 TPM 110 Voltage V DC 24 24 24 24 24 Power consumption A DC 0 42 0 42 0 58 0 71 0 71 Holding torque at 120 C Nm 1 1 1 1 4 5 13 13 Opening time msec 11 11 30 42 42 Closing time msec 10 10 20 20 20 Tbl 37 Technica...

Page 42: ...anufacturer 9 4 24 Pin assignment 1 Design with resolver output size 1 pin assignment 1 Design with resolver and optical encoder output size 1 5 pin assignment 1 Ordering code TPMPxxxx xxxx xxBx xxxx xx xxx Unit TPM 004 TPM 010 TPM 025 TPM 050 TPM 110 Ratio i 4 70 100 4 70 100 4 70 100 4 50 70 100 Voltage V DC 24 24 24 24 24 24 24 24 24 Power consumption A DC 0 42 0 58 0 46 0 71 0 71 1 1 1 67 1 67...

Page 43: ...TPM Appendix Revision 07 4022 D018396 en 43 Option R signal pin assignment 1 Design with optical encoder output pin assignment 1 ...

Page 44: ...Appendix TPM en 44 4022 D018396 Revision 07 Option N and K signal pin assignment 1 ...

Page 45: ...TPM Appendix Revision 07 4022 D018396 en 45 Option S and M signal pin assignment 1 ...

Page 46: ...6 Revision 07 Option T signal pin assignment 1 9 4 25 Pin assignment 4 Design with resolver EnDat and Hiperface encoder output size 1 pin assignment 4 Design with resolver EnDat and Hiperface encoder output size 1 5 pin assignment 4 ...

Page 47: ...TPM Appendix Revision 07 4022 D018396 en 47 Option S and M signal pin assignment 4 Option N and K signal pin assignment 4 ...

Page 48: ...Appendix TPM en 48 4022 D018396 Revision 07 Option R signal pin assignment 4 9 4 26 Pin assignment 5 TPM dynamic Design with optical encoder output pin assignment 5 ...

Page 49: ...ate voltage signal pin assignment 5 With TPM dynamic product size 004 010 and 025 with 320V intermediate voltage Option E and V with 560 V intermediate voltage signal pin assignment 5 With TPM dynamic product size 050 with 320V and all product sizes with 560V intermediate voltages ...

Page 50: ...tuator Pin Function 1 U 2 Earth conductor 3 W 4 V A Temp B Temp C Brake optional D Brake optional Tbl 40 Design with optical encoder output pin assignment 6 Intercontec mounting socket series production 623 17 pin E contact pin Ø 1mm View of plug side of actuator Pin Function 1 5V Sense 2 n c 3 n c 4 0V Sense 5 n c 6 n c 7 P encoder 5V 8 clock 9 clock 10 M encoder 0V 11 n c 12 Ua2 13 Ua2 14 data 1...

Page 51: ...res up to 30 C the following applies for cables acc to DIN EN 60204 Continuous stall current Cable 0 15 Aeff 4 x 1 5 mm2 2 x 0 75 mm2 15 21 Aeff 4 x 2 5 mm2 2 x 1 mm2 21 36 Aeff 4 x 6 mm2 2 x 1 5 mm2 36 50 Aeff 4 x 10 mm2 2 x 1 5 mm2 50 66 Aeff 4 x 16 mm2 2 x 1 5 mm2 Tbl 42 Cable setup Cable cross section ...

Page 52: ...01 enAC XXXXXXXX 2022 D016962 Revision 01 WITTENSTEIN alpha GmbH Walter Wittenstein Straße 1 97999 Igersheim Germany Tel 49 7931 493 12900 info wittenstein de WITTENSTEIN one with the future www wittenstein alpha de ...

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