TPM(A) Quick Startup Guide SIEMENS SINAMICS S120

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1 Quick Startup Guide TPM(A) SIEMENS SINAMICS S120 Version : 1.2 Date : 1 th December 200 File : 091_D012_0.doc Doc.No. : 091-D012-0 Technical changes reserved!

2 Table of Contents TABLE OF CONTENTS GENERAL INFORMATION AND SAFETY INSTRUCTIONS... 2 PARAMETER LIST TPM(A) SIMODRIVE 11 U/D... PARAMETER LISTS TPM / TPMA AT SINAMICS S PARAMETER LIST TPM I= 21, 1 SINAMICS S PARAMETER LIST TPM I= 1, 91 SINAMICS S PARAMETER LIST TPMA I= 110, 1, 220 SINAMICS S PARAMETERISATION MEASURING SYSTEM / ENCODER TPM(A) WITH RESOLVER TPM(A) WITH MULTI-TURN OR SINGLE-TURN HEIDENHAIN TPM(A) WITH INCREMENTAL ENCODER HEIDENHAIN ERN187 / ERN CONNECTION SCHEMATIC TPM(A) SINAMICS S TPM(A) WITH RESOLVER FEEDBACK (ONLY WITH SMC10) TPM(A) WITH ABSOLUTE ROTARY ENCODER ECN 11 / EQN 12 / ECN 111 / EQN112 (SMC20) TPM(A) WITH INCREMENTAL ROTARY ENCODER ERN 187 / ERN118 (SMC20) ASSIGNMENT TPM(A) SERVO AMPLIFIER CABLE SET TPM(A) WITH RESOLVER FEEDBACK TPM(A) WITH ABSOLUTE INCREMENTAL ENCODER ECN 11 / EQN 12 / ECN 111 / EQN TPM(A) WITH INCREMENTAL ROTARY ENCODER ERN 187 / ERN Modification History Document Designation Version Date Note 091_D012_01.doc July 200 First edition 091_D012_02.doc October 200 SMC module added 091_D012_0.doc Dec. 200 Correction mass moment of inertia Contact address: WITTENSTEIN motion control GmbH Walter-Wittenstein-Strasse Igersheim Tel. : / 9-0 Fax : / _D012_0.doc Date: 1 th December 200 Page 2 of 1

3 1 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. 091_D012_0.doc Date: 1 th December 200 Page of 1

4 2 Parameter list TPM(A) SimoDrive 11 U/D Please select the input parameters corresponding to the nameplate values of your TPM. TPM M 00 K BP 1 01 IF STD Size TPM 00 / 010 / 02 / 00 / 110 TPMA 02 / 00 / 110 Ratio 21 / 1 / 1 / 91 (TPM) 110 / 1 / 220 (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 E22010 Stator length Clearance specification 1 = Standard < arcmin (TPM 00: < arcmin) 0 = Reduced < 1 arcmin (TPM 00: < arcmin) Brake BP = Permanent magnetic brake OH = Without brake Temperature sensor P = PTC STM 10 in accordance with DIN 081 / 082 N = NTC K = KTY _D012_0.doc Date: 1 th December 200 Page of 1

5 Parameter lists TPM / TPMA at Sinamics S120 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 Siemens SimoDrive. 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. The parameters can be entered directly with help of the Starter Software and the Drive Navigator. 091_D012_0.doc Date: 1 th December 200 Page of 1

6 .1 Parameter list TPM i= 21, 1 Sinamics S120 Ratio 21 Code Description Unit TPM 00 TPM 010 TPM 02 TPM 00 TPM 110 p0 Rated motor current Arms 0,7 1,1,1, 9,7 p11 Rated motor speed 1/min p1 Motor pole pair number p1 Motor torque constant Nm/Arms 0,7 0,8 1,1 0,91 1,1 p22 Maximum motor speed 1/min p2 Maximum motor current Aeff 2,,0 10, 1,7 2,2 p8 Motor limit current Aeff 2,,0 10, 1,7 2,2 p1 p1 (without brake) (with brake) kgm² 0, ,0000 0,0002 0,0009 0,0017 kgm² 0, ,0000 0,0002 0, ,001 p0 Motor stator resistance Ohm 2,70 9, 1,90 0,18 0, p Motor stator leakage inductance mh 1,0 10,20,00 1,20 2,70 p12 Rated motor torque Nm 0,8 0,9,, 12,8 p17 Motor voltage constant Volt p18 Motor stall current Arms 1, 1,7 8,7 2,9 18 p19 Motor stall torque Nm 0,8 1,1 1, 17,7 Ratio 1 Code Description Unit TPM 00 TPM 010 TPM 02 TPM 00 TPM 110 p0 Rated motor current Arms 0,7 1,1,1, 9,7 p11 Rated motor speed 1/min p1 Motor pole pair number p1 Motor torque constant Nm/Arms 0,7 0,8 1,1 0,91 1,1 p22 Maximum motor speed 1/min p2 Maximum motor current Aeff 2,0,0 8,9, 2,2 p8 Motor limit current Aeff 2,0,0 8,9, 2,2 p1 p1 (without brake) (with brake) kgm² 0, ,0000 0,0002 0,0009 0,0011 kgm² 0, ,0000 0,0002 0,0009 0,0019 p0 Motor stator resistance Ohm 2,70 9, 1,90 0,18 0, p Motor stator leakage inductance mh 1,0 10,20,00 1,20 2,70 p12 Rated motor torque Nm 0,8 0,9,, 12,8 p17 Motor voltage constant Volt p18 Motor stall current Arms 1, 1,7 8,7 2,9 18 p19 Motor stall torque Nm 0,8 1,1 1, 17,7 091_D012_0.doc Date: 1 th December 200 Page of 1

7 .2 Parameter list TPM i= 1, 91 Sinamics S120 Ratio 1 Code Description Unit TPM 00 TPM 010 TPM 02 TPM 00 TPM 110 p0 Rated motor current Arms 0, 0,7 1,8 2,, p11 Rated motor speed 1/min p1 Motor pole pair number p1 Motor torque constant Nm/Arm s 0, 0,77 0,7 1,02 0,91 p22 Maximum motor speed 1/min p2 Maximum motor current Aeff 1,2 2, 7,0 1,7 7,0 p8 Motor limit current Aeff 1,2 2, 7,0 1,7 7,0 p1 p1 (without brake) (with brake) kgm² 0, , , ,0002 0,00099 kgm² 0, ,0000 0, ,0002 0,00117 p0 Motor stator resistance Ohm 0, 22,10,0 2,2 0,18 p Motor stator leakage inductance mh 1,80 1,0,0,0 1,20 p12 Rated motor torque Nm 0,21 0,1 1, 2,,9 p17 Motor voltage constant Volt 27,0,,91 1,,80 p18 Motor stall current Arms 0, 0,8 2,, 1, p19 Motor stall torque Nm 0,27 0, 1,7, 1, Ratio 91 Code Description Unit TPM 00 TPM 010 TPM 02 TPM 00 TPM 110 p0 Rated motor current Arms 0, 0,7 1,8 2,, p11 Rated motor speed 1/min p1 Motor pole pair number p1 Motor torque constant Nm/Arm s 0, 0,77 0,7 1,02 0,91 p22 Maximum motor speed 1/min p2 Maximum motor current Aeff 0,8 1,,7 9,7 2,8 p8 Motor limit current Aeff 0,8 1,,7 9,7 2,8 p1 p1 (without brake) (with brake) kgm² 0, , , ,0002 0,00099 kgm² 0, ,0000 0, ,0002 0,0011 p0 Motor stator resistance Ohm 0, 22,10,0 2,2 0,18 p Motor stator leakage inductance mh 1,80 1,0,0,0 1,20 p12 Rated motor torque Nm 0,21 0,1 1, 2,,9 p17 Motor voltage constant Volt 27,0,,91 1,,80 p18 Motor stall current Arms 0, 0,8 2,, 1, p19 Motor stall torque Nm 0,27 0, 1,7, 1, 091_D012_0.doc Date: 1 th December 200 Page 7 of 1

8 . Parameter list TPMA i= 110, 1, 220 Sinamics S120 Ratios 110, 1, 200 Code Description Unit TPM 02 TPM 00 TPM 110 p0 Rated motor current Arms 1,8 2,, p11 Rated motor speed 1/min p1 Motor pole pair number p1 Motor torque constant Nm/Arms 0,7 1,02 0,91 p22 Maximum motor speed 1/min p2 Maximum motor current (i= 110) Aeff 7,0 1,7 1, p2 Maximum motor current (i= 1) Aeff, 11,2 28,7 p2 Maximum motor current (i= 220) Aeff, 7,0 19,2 p8 Motor limit current (i= 110) Aeff 7,0 1,7 1, p8 Motor limit current (i= 1) Aeff, 11,2 28,7 p8 Motor limit current (i= 220) Aeff, 7,0 19,2 p1 (without brake, i= 110) kgm² 0, ,0002 0,0010 p1 (with brake, i= 110) kgm² 0, , ,00121 p1 (without brake, i= 1) kgm² 0, ,0002 0,00100 p1 (with brake, i= 1) kgm² 0, ,0002 0,00118 p1 (without brake, i= 220) kgm² 0, ,0002 0,00098 p1 (with brake, i= 220) kgm² 0, ,0002 0,0011 p0 Motor stator resistance Ohm,0 2,2 0,18 p Motor stator leakage inductance mh,0,0 1,20 p12 Rated motor torque Nm 1, 2,,9 p17 Motor voltage constant Volt,91 1,,80 p18 Motor stall current Aeff 2,, 1, p19 Motor stall torque Nm 1,7, 1, 091_D012_0.doc Date: 1 th December 200 Page 8 of 1

9 Parameterisation Measuring system / encoder Make following settings in the Measuring System / Encoder dialog as they apply to your version of the TPM drive..1 TPM(A) with resolver Inversion of Actual Speed Value: NO No. Pole Pairs / Speed: 1.2 TPM(A) with Multi-turn or Single-turn Heidenhain Encoder type: ABSOLUTE EnDat Inversion of Actual Speed Value: NO Pulses Per Revolution: TPM 00: 12 TPM 010 TPM 110: 208 TPMA 02 TPMA110: 208. TPM(A) with incremental encoder Heidenhain ERN187 / ERN 118 Encoder type: Incremental one zero mark Inversion of Actual Speed Value: NO Commutation Information: Coarse synchronisation with C/D track Pulses Per Revolution: _D012_0.doc Date: 1 th December 200 Page 9 of 1

10 Connection schematic TPM(A) Sinamics S120 For detailed information about cable design and screening the documentation of the drive manufacturer has to be consulted. 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 SL12-2MA00-0AA0. 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 SL0-0AA00-AA0 (SMC10) or SL0-0AA00-BA1 (SMC20). See Fig. 1. Fig. 1 Fig. 2.1 TPM(A) with resolver feedback (only with SMC10) power plug M U V W 2 1 U2 V2 W2 power terminal block (X1) Br + Br - signal plug brake optional Siemens Sinamics S120 SMC10 (X20) R KTY KTY Ref+ Refshield Sin + Sin - Cos + Cos Temp - Temp + Vss - Vss SIN SIN COS COS 091_D012_0.doc Date: 1 th December 200 Page 10 of 1

11 .2 TPM(A) with absolute rotary encoder ECN 11 / EQN 12 / ECN 111 / EQN112 (SMC20) power plug M U V W 1 2 U2 V2 W2 power terminal block (X1) Br + Br - signal plug brake optional Siemens Sinamics S120 SMC20 (X20) SC KTY KTY A+ A- B+ B- Data + Data - clock + clock - P-Encoder V Sense M-Encoder 0V Sense Temp - Temp A *A B *B Data *Data Clock *Clock P-Encoder V Sense M-Encoder 0V Sense. TPM(A) with incremental rotary encoder ERN 187 / ERN118 (SMC20) power plug M U V W 1 2 U2 power V2 terminal block (X1) W2 Br + Br - signal plug brake optional Siemens Sinamics S120 SMC20 (X20) SC KTY KTY 8 9 A+ / Ua1+ 1 A- / Ua B+ / Ua2+ 11 B- / Ua R+ / Ua0+ R- / Ua C+ / Ua+ C- / Ua- P-Encoder 10 V Sense 1 M-Encoder 7 0V Sense 1 D+ / Ua+ 1 D- / Ua Temp - Temp A *A B *B R *R C *C P-Encoder V Sense M-Encoder 0V Sense D *D 091_D012_0.doc Date: 1 th December 200 Page 11 of 1

12 Quick Start Guide Siemens Sinamics S120 Assignment TPM(A) servo amplifier cable set.1 TPM(A) with resolver feedback TPM type controller WMC Article code of power- (L) and feedback cable (S) feed- size i recommendation WMC 1 m 10m 1m 20m 2m 0m 0m 0m back 20V 00V L S L S L S L S L S L S L S L S TPM , 01, 01, SL120-1TE1-0AAx TPM , 01 - SL120-1TE1-0AAx 01, SL120-1TE1-0AAx 021, 01 - SL120-1TE21-0AAx TPM(A) 02 01, SL120-1TE1-0AAx 091, 1, SL120-1TE1-0AAx 01, 091, 110, 1 - SL120-1TE21-0AAx TPM(A) SL120-1TE1-0AAx SL120-1TE2-0AAx 01 - SL120-1TE2-0AAx TPM(A) , 01, 091, 1, SL120-1TE21-8AAx 01, SL120-1TE21-8AAx Resolver 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 able to use a smaller controller. power- and signal cable to connect on motors with resolver feedback all cable complete and for dynamic laying power TPM i=1/91 KABELL-TPM_-xxSTD_-RES01-STG design power cable: x 1,mm2 + 2 x (2 x 1mm2), diameter 12,2mm, min. bending radius 122mm power TPM00 i=21/1 TPM 110 KABELL-TPM_-xxSTD_-RES02-STG design power cable: x 2,mm2 + 2 x (2 x 1mm2), diameter 1,1mm, min. bending radius 11mm feedback KABELS-TPM_-xxSIE_-RES000-STG design feedback cable: x (2 x 0,1mm2) + x 0,1mm2 + x 0,2mm2 + 2 x 0,mm2 diameter 10mm; min. bending radius 100mm (xx = cable length according to table) 091_D012_0.doc Date: 1 th December 200 Page 12 of 1

13 Quick Start Guide Siemens Sinamics S120.2 TPM(A) with absolute incremental encoder ECN 11 / EQN 12 / ECN 111 / EQN 112 TPM type controller WMC Article code of power- (L) and feedback cable (S) [G: straight; W: angled] feed- size i recommendation WMC 1 m 10m 1m 20m 2m 0m 0m 0m back 20V 00V L S L S L S L S L S L S L S L S TPM , 01, 01, SL120-1TE1-0AAx Absolut single-/multiturn encoder with EnDat TPM 010 TPM(A) 02 TPM(A) 00 TPM(A) , 01 - SL120-1TE1-0AAx 01, SL120-1TE1-0AAx 021, 01 - SL120-1TE21-0AAx 01, SL120-1TE1-0AAx 091, 1, SL120-1TE1-0AAx 01, 091, 110, 1 - SL120-1TE21-0AAx SL120-1TE1-0AAx SL120-1TE2-0AAx 01 - SL120-1TE2-0AAx 021, 01, 091, 1, SL120-1TE21-8AAx 01, SL120-1TE21-8AAx G: / W: G: / W: G: / W: G: / W: G: / W: G: / W: G: / W: G: / W: 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 able to use a smaller controller. power- and feedback cable to connect on motors with absolut EnDat feedback ECN11 / EQN12 resp. ECN 111 / EQN 112 all cable complete and for dynamic laying Cable power TPM i=1/91 KABELL-TPM_-xxSTD_-END01-STG design power cable: x 1,mm2 + 2 x 1mm2, diameter 12mm, min. bending radius 120mm power TPM00 i=21/1 TPM 110 KABELL-TPM_-xxSTD_-END02-STG design power cable: x 2,mm2 + 2 x 1mm2, diameter 1,1mm, min. bending radius 11mm feedback KABELS-TPM_-xxSIE_-END000-STG design feedback cable: x (2 x 0,1mm2) + x 0,1mm2 + x 0,2mm2 + 2 x 0,mm2; diameter 10mm KABELS-TPM_-xxSIE_-END000-STW (xx = cable length according to table) min. bending radius 100mm 091_D012_0.doc Date: 1 th December 200 Page 1 of 1

14 Quick Start Guide Siemens Sinamics S120. TPM(A) with incremental rotary encoder ERN 187 / ERN 118 TPM type controller WMC Article code of power- (L) and feedback cable (S) feed- size i recommendation WMC 1 m 10m 1m 20m 2m 0m 0m 0m back 20V 00V L S L S L S L S L S L S L S L S TPM , 01, 01, SL120-1TE1-0AAx TPM , 01 - SL120-1TE1-0AAx 01, SL120-1TE1-0AAx 021, 01 - SL120-1TE21-0AAx TPM(A) 02 01, SL120-1TE1-0AAx 091, 1, SL120-1TE1-0AAx 01, 091, 110, 1 - SL120-1TE21-0AAx TPM(A) SL120-1TE1-0AAx SL120-1TE2-0AAx 01 - SL120-1TE2-0AAx Incremental encoder TPM(A) , 01, 091, 1, SL120-1TE21-8AAx 01, SL120-1TE21-8AAx 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 power- and signal cable to connect on motors with resolver feedback all cable complete and for dynamic laying power TPM i=1/91 KABELL-TPM_-xxSTD_-END01-STG design power cable: x 1,mm2 + 2 x 1mm2, diameter 12mm, min. bending radius 120mm power TPM00 i=21/1 TPM 110 KABELL-TPM_-xxSTD_-END02-STG design power cable: x 2,mm2 + 2 x 1mm2, diameter 1,1mm, min. bending radius 11mm feedback KABELS-TPM_-xxSIE_-INK000-STG design feedback cable: x (2 x 0,1mm2) + x 0,1mm2 + x 0,2mm2 + 2 x 0,mm2 diameter 10mm; min. bending radius 100mm (xx = cable length according to table) 091_D012_0.doc Date: 1 th December 200 Page 1 of 1

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