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Summary of Contents for Wittenstein TPM dynamic
- Page 1 4022-D018396 dynamic / high torque / power Operating Manual 4022-D018396 Revision: 07...
- Page 2 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 computers, file media, data networks), even in parts.
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Page 3: Table Of Contents
Contents About this manual ....................5 1.1 Signal words ......................5 1.2 Safety symbols.....................5 1.3 Design of the safety instructions ................6 1.4 Information symbols .....................6 Safety........................7 2.1 EU Low Voltage Directive ..................7 2.2 Dangers .......................7 2.3 Personnel ......................7 2.4 Intended use ......................7 2.5 Reasonably foreseeable misuse ................8 2.6 Guarantee and liability ..................8 2.7 General safety instructions ..................8... - Page 4 Appendix ......................26 9.1 Specifications on mounting onto a machine............26 9.1.1 Specifications for the TPM dynamic/TPM power version ......26 9.1.2 Specifications for the TPM high torque version .......... 26 9.2 Specifications on mounting on the gear output side.......... 26 9.2.1 Thread in output flange, TPM dynamic ............
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Page 5: About This Manual
Contradictory specifications in this manual thereby become obsolete. In case of questions on the special applications, please contact WITTENSTEIN alpha GmbH. The operator must ensure that these instructions are read through by all persons assigned to install, operate, or maintain the servo actuator, and that they fully comprehend them. -
Page 6: Design Of The Safety Instructions
About this manual Electric voltage Flammable Harmful to the Information environment Component sensitive to electrostatic discharge Design of the safety instructions The safety instructions of these instructions are designed according to the following pattern: 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 = Prevention of the danger... -
Page 7: Safety
Safety Safety This operating manual, especially the safety instructions and the rules and regulations valid for the operating site, must be observed by all persons working with the servo actuator. In addition to the safety instructions in this manual, also observe any (legal and otherwise) applicable environmental and accident prevention rules and regulations (e.g. -
Page 8: Reasonably Foreseeable Misuse
- Operation of the servo actuator without lubricant - Operation of a heavily soiled servo actuator - Modifications or reconstructions that have been carried out without the approval of WITTENSTEIN alpha GmbH General safety instructions Faulty electrical connections or not approved, current-carrying components can cause serious injuries and even death. - Page 9 Safety Objects flung out by rotating components can cause serious injuries. Remove objects and tools from the servo actuator before putting it into operation. Rotating components on the servo actuator can pull in parts of the body and cause serious injuries and even death. ...
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Page 10: Safety Signs
Safety Solvents and lubricants can pollute soil and water. Use and dispose of cleaning solvents and lubricants properly. Safety signs There is a safety sign on the servo actuator housing that warns against hot surfaces. This safety sign may not be removed. en-10 4022-D018396 Revision: 07... -
Page 11: Description Of The Servo Actuator
A resolver or optical encoder takes care of the commutation or speed regulation. An optional permanent-magnet holding brake is integrated into the motor. Identification plate The identification plate is attached to the servo actuator housing. WITTENSTEIN alpha GmbH - Walter-Wittenstein-Str.1 - D97999 Igersheim TPMA050S-027R-6PO1-155D-W1-000 4xxx xxxx 56,6 5000... -
Page 12: Ordering Code
Description of the servo actuator Ordering code TPM 010S-100R -6PB1-055A-W1 Pin configuration Actuator type 1 = Standard, temperature sensor over signal Version cable _ = dynamic 4 = Temperature sensor A = high torque over power cable P = power 5 = Rockwell compatible 6 = B&R compatible Size... -
Page 13: Weight Tpm + High Torque
Description of the servo actuator 3.4.2 Weight TPM high torque Size TPM Without brake [kg] i = 22 –55 14.8 25.3 76.8 i = 66 – 10.0 21.8 63.8 i = 88 10.0 21.8 63.8 i = 110 10.0 21.8 45.5 i = 154, 220 10.0... -
Page 14: Transport And Storage
Check the completeness of the delivery against the delivery note. Missing parts or damage must be notified immediately in writing to the carrier, the insurance company, or WITTENSTEIN alpha GmbH. Packaging The servo actuator is delivered packed in foil and cardboard boxes. -
Page 15: Assembly
Assembly Assembly Read the general safety instructions before beginning work (see Chapter 2.7 "General safety instructions"). Preparations Many electronic components 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. -
Page 16: Components Mounted On The Output Side
Assembly Coat the fastening screws with a threadlocker ® (e.g. Loctite 243). Fasten the servo actuator to the 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. -
Page 17: Installing Electrical Connections
Assembly Installing electrical connections Electrically live components may result in electric shocks if touched and can cause serious injuries and 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. -
Page 18: Startup And Operation
For further information, please visit our website at http://wittenstein-alpha.de or contact our Customer Service: service@wittenstein.de This data reflects the technical characteristics and the limit values of the standard engines of the - series in general units. - Page 19 Startup and operation - 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.
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Page 20: Maintenance And Disposal
Maintenance and disposal Maintenance and disposal Read the general safety instructions before beginning work (see Chapter 2.7 "General safety instructions"). The permanent magnets of the rotor send a strong magnetic field, which becomes active during the disassembling of the servo actuator. ... -
Page 21: 7.1.2 Visual Inspection
Maintenance and disposal For TPM+ power Unit TPMP TPMP TPMP TPMP TPMP Slipping speed Duration for brake de- energized Duration for brake energized Number of – cycles Tbl-6: TPM+ power For TPM+ high torque Unit TPMA TPMA TPMA TPMA TPMA i=22–88 i=110–... -
Page 22: 7.1.4 Cleaning
Maintenance and disposal Remounting the screw Make sure that it is possible to remount the screw on the gearhead without damaging the entire machine. Loosen the screw. Remove the glue residue from the threaded bore and the screw. ... -
Page 23: Disposal
Maintenance and disposal The manufacturer listed below will provide any further information on the lubricants: Standard lubricants Lubricants for the food industry (NSF-H1 registered) Castrol Industrie GmbH, Mönchengladbach Klüber Lubrication München KG, Munich Tel.: + 49 2161 909-30 Tel.: + 49 89 7876–0 www.castrol.com www.klueber.com Tbl-9: Lubricant manufacturers... -
Page 24: Malfunctions
Malfunctions Malfunctions Changed operational behavior can be an indication of existing damage to the servo actuator, or cause damage to the servo actuator. Do not put the servo actuator back into operation until the cause of the malfunction has been rectified. Rectifying of malfunctions may only be done by specially trained technicians. - Page 25 Malfunctions Fault Possible cause Solution Motor is droning and Drive is blocked Check the drive has a high power Error in the encoder line Check the encoder line consumption Incorrect controller Check that the motor parameters parameters are suitable for the implemented servo actuator Brake does not release (see fault "Brake does not release")
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Page 26: Appendix
Appendix Appendix In case of questions on the special applications, please contact WITTENSTEIN alpha GmbH. Specifications on mounting onto a machine 9.1.1 Specifications for the TPM dynamic/TPM power version Through-holes in the servo actuator housing TPM dynamic/TPM power Type/Size Bore Ø... -
Page 27: Thread In Output Flange, Tpm + High Torque
Appendix 9.2.2 Thread in output flange, TPM high torque Type/Size Bore Ø Quantity x Thread x Depth Tightening torque [mm] [ ] x [mm] x [mm] [Nm] Property class 12.9 50.0 12 x M6 x 10 15.4 63.0 12 x M8 x 12 37.3 80.0 12 x M10 x 15... -
Page 28: Technical Specifications
Appendix Technical specifications 9.4.1 Moments of inertia TPM dynamic (Total moment of inertia in respect to the motor shaft) Moments of inertia without brake with resolver [kgcm Ratio 0.21 0.32 2.16 9.07 13.14 0.32 2.16 9.07 13.14 0.32 2.17 8.94 12.84 0.12... -
Page 29: Moments Of Inertia Tpm + Power
Appendix Moments of inertia with brake with resolver [kgcm Ratio 2.25 10.0 25.6 236.87 27.5 2.22 9.83 25.15 235.41 38.5 9.74 24.79 234.13 2.18 9.69 24.61 233.44 – 2.22 10.22 128.82 2.15 10.03 125.24 2.19 2.12 9.83 24.66 0.87 9.74 24.28 0.86... -
Page 30: Motor Data, Tpm + Dynamic 320V, I = 16 - 31
Appendix Moments of inertia with brake with resolver [kgcm Ratio 0.33 2.15 9.72 132.05 0.33 2.14 9.71 23.97 131.85 0.18 0.91 3.48 77.23 0.18 0.91 3.48 8.08 77.13 0.18 0.91 3.47 8.07 77.04 0.18 0.91 3.47 8.06 76.99 Tbl-19: Moments of inertia TPM power 9.4.4 Motor data, TPM dynamic 320V, i = 16 –... -
Page 31: Motor Data, Tpm + Dynamic 320V, I = 61 - 91
Appendix 9.4.5 Motor data, TPM dynamic 320V, i = 61 – 91 General data Unit Stator length Pole pair number p Maximum torque T 0.98 28.9 Maximum current I Aeff 10.4 Maximum speed 6000 6000 6000 5000 5000 Continuous stall torque 0.36 0.67 1.86... -
Page 32: Motor Data, Tpm + Power 320V
Appendix General data Unit Ratio i 22 –110 154 –220 22 –55 66 –220 Winding resistance at 20 °C 0.81 5.23 0.16 0.81 terminal-terminal Winding inductance terminal-terminal Electrical time constant T msec Max. winding temperature °C θ * 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. -
Page 33: Motor Data, Tpm + Dynamic 560V, I = 16 - 31
Appendix 9.4.8 Motor data, TPM dynamic 560V, i = 16 – 31 General data Unit Stator length Pole pair number p Maximum torque T 12.1 28.9 43.9 Maximum current I Aeff Maximum speed 6000 6000 6000 5000 5000 Continuous stall torque 0.72 13.49 16.42... -
Page 34: Motor Data, Tpm + Dynamic 560V, I = 61 - 91
Appendix General data Unit Winding resistance at 37.4 13.5 0.45 20 °C terminal-terminal Winding inductance 18.9 11.1 terminal-terminal Electrical time constant msec Max. winding °C temperature θ * 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. -
Page 35: 11Motor Data, Tpm + Power 560V, I = 4 - 35
Appendix General data Unit Ratio i 22 – 154 – 22 – 66 – 22 – 66 – 22 – 66 – 110 – Winding 18.9 0.67 inductance terminal-terminal Electrical time msec 10.8 constant T Max. winding °C temperature θ * 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. -
Page 36: 12Motor Data, Tpm + Power 560V, I = 40 - 100
Appendix 9.4.12 Motor data, TPM power 560V, i = 40 – 100 General data Unit Stator length Pole pair number p Maximum torque T 15.6 44.2 Maximum current I Aeff Maximum speed 6000 6000 6000 5000 4500 Continuous stall torque 0.66 1.38 20.74... -
Page 37: 13Technical Specifications, Resolver
Appendix Ordering code: TPMxxxxx-xxxR-xxxx-xxxx-xx-xxx dynamic 004 dynamic 010 – 110 high torque 010 – 110 power 004 – 110 Impedance ZR0 140 ohm 70 + j 100 ohm Impedance ZS0 – 180 + j 300 ohm Impedance ZSS 120 ohm 175 + j 257 ohm Max. -
Page 38: 14Technical Specifications Stegmann Hiperface Absolute Encoder
Appendix Multiturn Ordering code: TPM xxxx-xxxV-xxxx-xxxx-x5-xxx dynamic 560V U dynamic 320V U DCBus DCBus Type SKM36 SKM36 Operating voltage 7-12 V Protocol Hiperface Hiperface Number of SinCos periods per revolution Number of Multiturn 4096 4096 revolutions Tbl-31: Technical specifications Stegmann Hiperface 9.4.16 Technical specifications Heidenhain EnDat absolute encoder Singleturn EnDat Ordering code: TPMxxxxx-xxxS-xxxx-xxxx-xx-xxx... -
Page 39: 16Technical Specifications Heidenhain Endat Absolute Encoder
Appendix 9.4.17 Technical specifications Heidenhain Incremental Incremental Ordering code: TPMxxxxx-xxxI-xxxx-xxxx-xx-xxx dynamic 004 –110 high torque 010 –110 power 004 –110 Type ERN 1185 Operating voltage Number of SinCos periods per revolution 2048 Tbl-33: Technical specifications Heidenhain Incremental 9.4.18 Technical specifications TTL Encoder incremental TTL Encoder incremental Ordering code: TPMxxxxx-xxxT-xxxx-xxxx-xx-xxx dynamic 004 –110... -
Page 40: 19Technical Specifications Temperature Sensors Kty And Ntc
Appendix Type KTY 84-130 NTC P1H104 Ordering TPMxxxxx-xxxx-xKxx-xxxx-xx-xxx TPMxxxxx-xxxx-xNxx-xxxx-xx-xxx code: Temperature Resistance, type [kohm] Resistance, type [kohm] [C] 0.882 0.940 1.000 1.062 1.127 1.194 1.262 1.334 1.407 1.482 1.560 1.640 1.722 Tbl-35: Technical specifications temperature sensors KTY and NTC 9.4.20 Technical specifications temperature sensor PTC PTC STM 160 Ordering code: TPMxxxxx-xxxx-xPxx-xxxx-xx-xxx Deactivation in case of fault... -
Page 41: 21Technical Specifications Brake Tpm + Dynamic
Appendix 9.4.21 Technical specifications brake TPM dynamic Ordering code: TPM xxxx-xxxx-xxBx-xxxx-xx-xxx Unit 004 TPM 010 TPM 025 TPM 050 TPM Voltage V DC Power A DC 0.42 0.42 0.58 0.71 0.71 consumption Holding torque at 120 C Opening time msec Closing time msec Tbl-37: Technical specifications brake TPM... -
Page 42: 22Technical Specifications Brake Tpm + High Torque
Appendix 9.4.23 Technical specifications brake TPM power Ordering code: TPMPxxxx-xxxx-xxBx-xxxx-xx-xxx Unit Ratio i 4 –70 4 –70 4 –70 4 –50 70 – Voltage V DC Power A DC 0.42 0.58 0.46 0.71 0.71 1.67 1.67 consumption Holding torque at 120 C Opening time msec Closing time... - Page 43 Appendix Option “R” —signal (pin assignment 1) Design with optical encoder —output (pin assignment 1) Revision: 07 4022-D018396 en-43...
- Page 44 Appendix Option “N” and “K” —signal (pin assignment 1) en-44 4022-D018396 Revision: 07...
- Page 45 Appendix Option “S” and “M” —signal (pin assignment 1) Revision: 07 4022-D018396 en-45...
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Page 46: 25Pin Assignment 4
Appendix 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) en-46 4022-D018396 Revision: 07... - Page 47 Appendix Option “S” and “M” —signal (pin assignment 4) Option “N” and “K” —signal (pin assignment 4) Revision: 07 4022-D018396 en-47...
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Page 48: 26Pin Assignment 5 Tpm + Dynamic
Appendix Option “R” —signal (pin assignment 4) 9.4.26 Pin assignment 5 TPM dynamic Design with optical encoder —output (pin assignment 5) en-48 4022-D018396 Revision: 07... -
Page 49: 27Pin Assignment 6
Appendix Option “E” and “V” with 320 V intermediate 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: 28Cable Setup / Cable Cross-Section
Appendix 9.4.27 Pin assignment 6 Design with optical encoder — output (pin assignment 6) Intercontec mounting socket, series production 923, 8-pin E, contact pin 4x2mm + 4x1mm Function View of plug side of actuator Earth conductor Temp + Temp - Brake + (optional) Brake - (optional) Tbl-40: Design with optical encoder —... - Page 51 Appendix 9.4.28 Cable setup / Cable cross-section For ambient temperatures up to +30 C, the following applies for cables acc. to DIN EN 60204: Continuous stall Cable current 0 –15 Aeff 4 x 1.5 mm & 2 x 0.75 mm 15 –21 Aeff 4 x 2.5 mm &...
- Page 52 2022-D016962 : 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 enAC: XXXXXXXX 2022-D016962 Revision: 01...
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