Bosch Rexroth IndraDrive Quick Startup Guide - Wittenstein

4091-D015000 03 

TPM + 

Bosch Rexroth IndraDrive 

Quick Startup Guide 

4091-D015000 Revision: 03

Quick Startup Guide TPM + 

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 + 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 

Page en-2 

Revision: 03 4091-D015000 Release: 07.10.2008


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-Straße 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. 

Page en-3 


TPM + 


2 General Information 

2.1 Description, designations 

The AC servo actuator TPM + (hereafter referred to as servo actuator) is a combination of a lowbacklash 

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. 

Page en-4 



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. 

Page en-5 


TPM + 


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 

Wiring 

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. 

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. 

Page en-6 



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 

B 

C 

D 

E 

F 

G 

H 

I 

J 

K 

L 

M 

N 

O 

P 

Q 

R 

S 

Ordering codes 

Article code 

Intermediate voltage 

Maximum permitted current 

Maximum moment of the gear output 

Maximum gear output speed 

Continuous stall current 

Continuous stall moment at gear 

output 

Brake voltage 

For use with drive 

Lubricant 

Mounting position 

Lubricant quantity 

Type of protection 

Insulation class 

Date 

Specifications for UL approval 

Series number 

UL logo 

Designation: 

TPM 010S-110R-6PB1-055A-W 

Size 

Characteristic 

TPM 004/010/025/050/110 

W = Angle mounting socket 

Design code 

G = Straight mounting socket 

S = Standard 

Code letter stator length 

G = Grease filling 

see catalogue 

L = Food safe 

Motor size 

X = Special 

Ratio i 

Clearance specification 

Feedback system 

1 = Standard 

0 = reduced 

R = 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 

Brake 

B = with brake 

O = without brake 

Temperature sensor 

P = PTC 

K = KTY 

Operating voltage 

5 = 320 V 

6 = 560 V 

Page en-7 


TPM + 


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 encoder’s 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 

Page en-8 



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 8 8 8 8 8 

stage [kHz] 

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 


P-0-0510 Rotor inertia 

without brake [kgm²] 0,00002 0,00003 0,00026 0,00096 0,00131 

with brake [kgm²] 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 16,64 11,40 2,98 1,51 1,20 

[mH] 

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 

0000 0000 0000 0000 0000 

Hiperface 

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 [µs] 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. 

Page en-9 


TPM + 


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] 














with brake [kgm²] 0,00002 0,00004 0,00027 0,00106 0,00141 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-10 



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] 














with brake [kgm²] 0,00002 0,00004 0,00027 0,00104 0,00138 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-11 


TPM + 


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] 














with brake [kgm²] 0,00001 0,00002 0,00010 0,00034 0,00104 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-12 



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] 














with brake [kgm²] 0,00001 0,00002 0,00010 0,00033 0,00103 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-13 


TPM + 


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] 














with brake [kgm²] 0,00001 0,00002 0,00010 0,00033 0,00103 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-14 



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] 














with brake [kgm²] 0,00002 0,00004 0,00027 0,00106 0,00141 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-15 


TPM + 


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] 














with brake [kgm²] 0,00002 0,00004 0,00027 0,00106 0,00141 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-16 



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] 














with brake [kgm²] 0,00002 0,00004 0,00027 0,00104 0,00138 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-17 


TPM + 


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] 














with brake [kgm²] 0,00001 0,00002 0,00010 0,00034 0,00104 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-18 



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] 














with brake [kgm²] 0,00001 0,00002 0,00010 0,00033 0,00103 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-19 


TPM + 


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] 














with brake [kgm²] 0,00001 0,00002 0,00010 0,00033 0,00103 



[mH] 











0000 0000 0000 0000 0000 

Hiperface 




















Page en-20 



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. 

power plug 

M 

3 

PE 

U 

V 

W 

PE 

2 

4 

1 

PE 

A1 

A2 

A3 

power 

terminal 

block 

(X5) 

Br + 

Br - 

feedback plug 

PTC / KTY 

PTC / KTY 

5 

6 

5 

6 

brake optional 

Br + 

Br - 

brake / Temp.Sensor 

(X6) 

3 +24VBr 

4 0VBr 

1 MotTemp+ 

2 MotTemp- 

Bosch Rexroth 

IndraDrive 

R 

Ref+ 

Refshield 

Sin + 

Sin - 

Cos + 

Cos - 

7 

8 

3 

4 

1 

2 

9 

12 

4 

2 

9 

3 

10 

VCC_Encoder 

GND-Encoder 

A+ 

A- 

B+ 

B- 

encoder 

interface 

EN1 

Page en-21 


TPM + 


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



power plug 

M 

3 

PE 

U 

V 

W 

PE 

1 

2 

6 

PE 

A1 

A2 

A3 

power 

terminal 

block 

(X5) 

SC 

feedback plug 

4 

Br + 

5 

Br - 

PTC / KTY 

8 

9 

PTC / KTY 

1 

A+ 

A- 

2 

17 

B+ 

11 

B- 

12 

17 

3 

Daten + 

13 

Daten - 

17 

5 

Takt + 

14 

Takt - 

10 

P-Encoder 

16 

5V Sense 

M-Encoder 

7 

0V Sense 15 


Br + 

Br - 

Brake / Temp.Sensor 

(X6) 

3 +24VBr 

4 0VBr 

1 

2 

MotTemp+ 

MotTemp- 



7 A+ 

8 A- 

14 GND_Schirm 

6 B+ 

5 B- 

14 GND_Schirm 

9 EncData+ 

15 EncData- 

14 GND_Schirm 

11 EncCLK+ 

13 EncCLK- 

12 VCC_Encoder 

1 Sense+ 

10 GND_Encoder 

2 Sense- 

encoder 

interface 

EN2 

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



power plug 

M 

3 

PE 

U 

V 

W 

PE 

1 

2 

6 

PE 

A1 

A2 

A3 

power 

terminal 

block 

(X5) 

HIP 

Br + 

Br - 

feedback plug 

PTC / KTY 

PTC / KTY 

cos 

Refcos 

sin 

Refsin 

+485 

-485 

8V 

GND 

shield 

4 

5 

3 

4 

8 

1 

5 

6 

2 

7 

12 

10 

9 


Br + 

Br - 



encoder 

interface 

ENS 

brake / Temp.Sensor 

(X6) 

3 +24VBr 

4 0VBr 

1 MotTemp+ 

2 MotTemp- 

2 A+ 

3 A- 

5 B+ 

6 B- 

7 EncData+ 

8 EncData- 

11 VCC_Encoder 

4 GND_Encoder 

Page en-22 



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 

F2074 Absolute encoder out of window 

F2075 

F2076 

E2063 Velocity command value > 

limit S-0-0091 

F2018 Device overtemperature shutdown 

F2019 Motor overtemperature shutdown 

F2021 Motor temperature monitor 

defective 

F2022 Device temperature monitor 

defective 

Initial start-up 

Speed command 

exceeds the value 

for bipolar limit in S- 

0-091 

Wrong 

parameterisation of 

temperature sensor 

routine. 

Set absolute measurement 

Adjust the value for S-0-0091 

according your application. 

Verify the scaling of your 

application. 

Reconfigure the parameters P-0- 

0512 and P-0-0513 according to 

your TPM. 

Page en-23 


4091-D015003 : 02 

WITTENSTEIN motion control GmbH 

Walter-Wittenstein-Straße 1 

97999 Igersheim 

WITTENSTEIN - being one with the future 

www.wittenstein.de 

enAC: XXXXXXXX 4091-D015003 Revision: 02

Bosch Rexroth IndraDrive Quick Startup Guide - Wittenstein

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