Siemens Masterdrive MC Quick Startup Guide - Wittenstein

4091-D015929 02 

TPM + 

Siemens Masterdrive MC 

Quick Startup Guide 

4091-D015929 Revision: 02

Quick Startup Guide TPM + 

1 Table of Contents 

1 Table of Contents 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 TPM + 560 V Ratio 16 9 

5.2 TPM + 560 V Ratio 21 10 

5.3 TPM + 560 V Ratio 31 11 

5.4 TPM + 560 V Ratio 61 12 

5.5 TPM + 560 V Ratio 64 13 

5.6 TPM + 560 V Ratio 91 14 

6 Connection schematic TPM + 15 

6.1 TPM + with resolver 15 

6.2 TPM + with absolute encoder Heidenhain EnDat ECN1113 / EQN 112516 

6.3 TPM + with incremental encoder Heidenhain ERN 1185 17 

Page en-2 

Revision: 02 4091-D015929 Release: 07.10.2008


Modification History 

Document designation Revision Date Note 

4091-D014998-01.doc 1 22. Oct. 2007 First Edition 

4091-D014998-02.doc 2 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 Siemens Masterdrive MC. 

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. 

Page en-8 



5.1 TPM + 560 V Ratio 16 

Code Description TPM004 

S 

TPM010 

S 

TPM025 

S 

TPM050 

S 

TPM110 

S 

Stator length 30 30 45 60 75 

P060 Menu select 5 5 5 5 5 

P071 Line volts [Vrms] 400 400 400 400 400 

P095 Select Mot Type 3 3 3 3 3 

P102 Motor Rtd Amps [Arms] 1,00 1,20 5,60 13,40 16,30 

P109 Motor #Pole Pairs 4 4 6 6 6 

P113 Mot Rtd Torque 0,70 1,20 5,50 13,50 16,40 

P120 Main Field Induc [mH] 16,6 11,4 2,9 1,5 1,2 

P121 Stator Resist [mOhm] 14090 10650 1100 220 160 

P128 Max Current [Arms] 3,20 5,20 17,00 40,00 70,00 

P130 Select MotEncod 

2-pole resolver (SBR) 1 1 1 1 1 

SinCos encoder Singleturn / 4 4 4 4 4 

Multiturn Heidenhain 

Incremental encoder ERN1185 3 3 3 3 3 

P131 Select TmpSensor 1 1 1 1 1 

P132 Angle Offset 0 0 0 0 0 

P136 Encoder pulse# 512 512 512 512 512 

P147 SelectMultiturn 1 

Singleturn ECN1113 9 9 9 9 9 

Multiturn EQN1125 8 8 8 8 8 

P290 Sel V/f, I-Reg 0 Vectorial current control 

P296 Dynamic I-Reg 0 Highest dynamic response 

P340 SamplingFreq [kHz] 10 10 10 10 10 

P350 Ref Amps [Arms] 2 3,20 5,20 17,00 40,00 70,00 

P351 Ref Volts [Vrms] 400 400 400 400 400 

P352 Ref Frequency [Hz] 3 400 400 600 500 500 

P353 Ref Speed [1/min] 3 6000 6000 6000 5000 5000 

P354 Ref Torque [Nm] 2 2,0 3,8 12,1 28,9 43,9 

P452 n (max, FWDSpeed) [%] 3 100 100 100 100 100 

P453 n (max, REVSpeed) [%] 3 100 100 100 100 100 

P060 Return menu select 1 1 1 1 1 

Based on the default settings the speed loop can be optimized by the parameters P223, P235 and P240. 

1 In case of using firmware revisions < 2.4 the setup of the encoders ECN1113 and EQN1125 cannot be done with the 

parameter P147. The setup of the encoder has to be done manually with the following parameters: 

ECN1113: P147=0, P148.001=9, P148.002=0, P149.001=0x101, P149.002=0x13 

EQN1125: P147=0, P148.001=9, P148.002=12, P149.001=0x101, P149.002=0x25 

2 The Ref values for current / torque are set to maximum. Continuous operation is not possible with this setting. Please adjust 

according to your application. 

3 The Ref values for frequency / speed are set to maximum. Please adjust according to your application. 

Page en-9 


TPM + 


5.2 TPM + 560 V Ratio 21 


S 

TPM010 

S 

TPM025 

S 

TPM050 

S 

TPM110 

S 

























P350 Ref Amps [Arms] 2 2,60 5,20 17,00 34,50 70,00 



P353 Ref Speed [1/min] 3 6000 6000 6000 5000 5000 

P354 Ref Torque [Nm] 2 1,6 3,8 12,1 25,3 43,9 







ECN1113: P147=0, P148.001=9, P148.002=0, P149.001=0x101, P149.002=0x13 

EQN1125: P147=0, P148.001=9, P148.002=12, P149.001=0x101, P149.002=0x25 




Page en-10 



5.3 TPM + 560 V Ratio 31 


S 

TPM010 

S 

TPM025 

S 

TPM050 

S 

TPM110 

S 

























P350 Ref Amps [Arms] 2 2,20 4,70 14,30 29,80 70,00 



P353 Ref Speed [1/min] 3 6000 6000 6000 5000 5000 

P354 Ref Torque [Nm] 2 1,4 3,4 10,3 22,3 43,9 







ECN1113: P147=0, P148.001=9, P148.002=0, P149.001=0x101, P149.002=0x13 

EQN1125: P147=0, P148.001=9, P148.002=12, P149.001=0x101, P149.002=0x25 




Page en-11 


TPM + 


5.4 TPM + 560 V Ratio 61 


S 

TPM010 

S 

TPM025 

S 

TPM050 

S 

TPM110 

S 

























P350 Ref Amps [Arms] 2 1,30 2,20 5,90 12,00 30,40 



P353 Ref Speed [1/min] 3 6000 6000 6000 5000 5000 

P354 Ref Torque [Nm] 2 0,6 1,4 4,4 7,8 22,7 







ECN1113: P147=0, P148.001=9, P148.002=0, P149.001=0x101, P149.002=0x13 

EQN1125: P147=0, P148.001=9, P148.002=12, P149.001=0x101, P149.002=0x25 




Page en-12 



5.5 TPM + 560 V Ratio 64 


S 

TPM010 

S 

TPM025 

S 

TPM050 

S 

TPM110 

S 

























P350 Ref Amps [Arms] 2 1,30 2,10 5,60 12,00 28,70 



P353 Ref Speed [1/min] 3 6000 6000 6000 5000 5000 

P354 Ref Torque [Nm] 2 0,5 1,3 4,2 7,8 21,6 







ECN1113: P147=0, P148.001=9, P148.002=0, P149.001=0x101, P149.002=0x13 

EQN1125: P147=0, P148.001=9, P148.002=12, P149.001=0x101, P149.002=0x25 




Page en-13 


TPM + 


5.6 TPM + 560 V Ratio 91 


S 

TPM010 

S 

TPM025 

S 

TPM050 

S 

TPM110 

S 

























P350 Ref Amps [Arms] 2 0,90 1,40 3,80 8,70 18,80 



P353 Ref Speed [1/min] 3 6000 6000 6000 5000 5000 

P354 Ref Torque [Nm] 2 0,4 0,9 2,9 5,8 15,2 







ECN1113: P147=0, P148.001=9, P148.002=0, P149.001=0x101, P149.002=0x13 

EQN1125: P147=0, P148.001=9, P148.002=12, P149.001=0x101, P149.002=0x25 




Page en-14 



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 

U2 

V2 

W2 

Power 

terminal 

block 

(X2) 

Br + 

Br - 

Signal plug 

5 

6 

Brake optional 

Siemens 

MasterDrive MC 

Resolver plug 

(X414) 

R 

KTY 

KTY 

Ref+ 

Refshield 

Sin + 

Sin - 

Cos + 

Cos - 

5 

6 

7 

8 

3 

4 

1 

2 

9 

13 

25 

24 

9 

11 

4 

3 

5 

6 

7 

8 

+ Temp 

- Temp 

internal shield 

+ Vss 

- Vss 

SIN 

SIN 


COS 

COS 


Page en-15 


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 

U2 

V2 

W2 

Power 

terminal 

block 

(X2) 

Br + 

Br - 

Signal plug 

4 

5 

Brake optional 



SinCos plug 

(X424) 

SC 

KTY 

KTY 

A+ 

A- 

B+ 

B- 

Data + 

Data - 

clock + 

clock - 

P-Encoder 

5V Sense 

M-Encoder 

0V Sense 

8 

9 

1 

2 

17 

11 

12 

17 

3 

13 

17 

5 

14 

10 

16 

7 

15 

13 

25 

3 

4 

5 

6 

7 

8 

15 

23 

24 

10 

12 

1 

14 

2 

16 

+ Temp 

- Temp 

A 

*A 


B 

*B 


Data 

*Data 


Clock 

*Clock 

P-Encoder 

5V Sense 

M-Encoder 

0V Sense 

Page en-16 



6.3 TPM + with incremental encoder Heidenhain ERN 1185 



power plug 

M 

3 

PE 

U 

V 

W 

PE 

1 

2 

6 

PE 

U2 

power 

V2 

terminal block 

(A1) 

W2 

Br + 

Br - 

signal plug 

4 

5 

brake optional 



SinCos plug 

(X424) 

SC 

KTY 

KTY 

8 

9 

A+ / Ua1+ 

A- / Ua1- 

1 

2 

17 

B+ / Ua2+ 

11 

B- / Ua2- 

12 

17 

R+ / Ua0+ 

3 

R- / Ua0- 13 

17 

C+ / Ua3+ 

5 

C- / Ua3- 

6 

P-Encoder 

10 

5V Sense 16 

M-Encoder 

7 

0V Sense 15 

D+ / Ua4+ 14 

D- / Ua4- 

4 

13 

25 

3 

4 

5 

6 

7 

8 

17 

18 

24 

19 

20 

1 

14 

2 

16 

21 

22 

+ Temp 

- Temp 

A 

*A 


B 

*B 


R 

*R 


C 

*C 

P-Encoder 

5V Sense 

M-Encoder 

0V Sense 

D 

*D 

Page en-17 


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

Siemens Masterdrive MC Quick Startup Guide - Wittenstein

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