Siemens Sinamics S120 Quick Startup Guide - Wittenstein

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Siemens Sinamics S120 Quick Startup Guide - Wittenstein

4091-D014999 02TPM +Siemens Sinamics S120Quick Startup Guide4091-D014999 Revision: 02


Quick Startup Guide TPM +1 Table of Contents1 Table of Contents 22 General Information 42.1 Description, designations 42.2 Whom does this manual concern? 42.3 Which signs and symbols are referred to in this manual? 42.4 Exclusion of liability 42.5 EC low-voltage directive / EMC regulations 42.6 Copyright 43 Safety 53.1 Intended use 53.2 Improper use 53.3 Safety Instructions 53.3.1 General safety instructions 54 Type plate information – identification 74.1 Identification plate, designation 75 Setting the parameters 85.1 TPM + 560 V Ratio 16 95.2 TPM + 560 V Ratio 21 95.3 TPM + 560 V Ratio 31 105.4 TPM + 560 V Ratio 61 105.5 TPM + 560 V Ratio 64 115.6 TPM + 560 V Ratio 91 115.7 Configuration Encoder TPM + with Resolver 125.8 Configuration Encoder TPM + with Heidenhain EnDat Multiturnor Singleturn 125.9 Configuration Encoder TPM + with incremental encoderHeidenhain ERN1185 126 Connection schematic TPM + 136.1 TPM + with resolver 136.2 TPM + with absolute encoder Heidenhain EnDat ECN1113 /EQN 1125 146.3 TPM + with incremental encoder Heidenhain ERN1185 14Page en-2Revision: 02 4091-D014999 Release: 07.10.2008


Quick Startup Guide TPM +Modification HistoryDocument designation Revision Date Note4091-D014999-01.doc 1 25. Okt. 2007 First Edition4091-D014999-02.doc 2 07. Okt. 2008 Adaption of Corporate DesignServiceIn case you have technical questions,please contact:WITTENSTEIN motion control GmbHCustomer ServiceWalter-Wittenstein-Straße 1D-97999 IgersheimTel.: +49 (0) 79 31 / 4 93- 10900Fax: +49 (0) 79 31 / 4 93- 10903Email: service-wmc@wittenstein.de© WITTENSTEIN motion control GmbH 2008This 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-3Revision: 02 4091-D014999 Release: 07.10.2008


TPM +Quick Startup Guide2 General Information2.1 Description, designationsThe AC servo actuator TPM + (hereafter referred to as servo actuator) is a combination of a lowbacklashplanetary 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 thisoperating 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 liabilityWITTENSTEIN 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 regulationsThe 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 tobe 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 theservo amplifier documentation for installation information pertaining to EMC) as they are definedfor the given application.2.6 Copyright© 2008, WITTENSTEIN motion control GmbHAll of the product brand names which appear in this manual are trademarks of the relevantcompanies. If the ® and/or symbols are omitted, this does imply that the name is a free brandname.Page en-4Revision: 02 4091-D014999 Release: 07.10.2008


Quick Startup Guide TPM +3 Safety3.1 Intended useThe 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 andtorques: www.w-m-c.de. Please consult our technical service if your servo actuator is more than a year old. In thisway you receive valid data. Please be sure to read the documentation provided by the manufacturer of the servoactuator.3.2 Improper useAny use transgressing the above-named restrictions (especially higher torques and speeds) isnot 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 InstructionsThe 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.AttentionThis symbol warns you of the risk of damage to the servo actuator.EnvironmentThis symbol warns of environmental pollution risk.3.3.1 General safety instructionsWorking on the servo actuatorDANGER!Improperly executed work can lead to injury and damage. Always ensure that the servo actuator is only installed, maintained, and dismantled bytrained technicians.Page en-5Revision: 02 4091-D014999 Release: 07.10.2008


TPM +Quick Startup GuideDANGER!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 specialistelectrician. 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 ortools near it.MaintenanceWiringDANGER!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 thesafety 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 theservo actuator. Observe the prescribed voltage for the brakes (usually 24 V direct voltage) and thepolarity.Page en-6Revision: 02 4091-D014999 Release: 07.10.2008


Quick Startup Guide TPM +4 Type plate information – identification The technical specifications can be found on your servo actuator's type plate according to thefollowing scheme.4.1 Identification plate, designationThe following specifications can be found on the identification plate:Fig. 4.2ABCDEFGHIJKLMNOPQRSOrdering codesArticle codeIntermediate voltageMaximum permitted currentMaximum moment of the gear outputMaximum gear output speedContinuous stall currentContinuous stall moment at gearoutputBrake voltageFor use with driveLubricantMounting positionLubricant quantityType of protectionInsulation classDateSpecifications for UL approvalSeries numberUL logoDesignation:TPM 010S-110R-6PB1-055A-WSizeCharacteristicTPM 004/010/025/050/110W = Angle mounting socketDesign codeG = Straight mounting socketS = StandardCode letter stator lengthG = Grease fillingsee catalogueL = Food safeMotor sizeX = SpecialRatio iClearance specificationFeedback system1 = Standard0 = reducedR = Resolver 2-pinI = Incremental value encoder opticalS = EnDat absolute encoder, SingleturnM = EnDat absolute encoder, MultiturnN = Hiperface absolute encoder,SingleturnK = Hiperface absolute encoder,MultiturnBrakeB = with brakeO = without brakeTemperature sensorP = PTCK = KTYOperating voltage5 = 320 V6 = 560 VPage en-7Revision: 02 4091-D014999 Release: 07.10.2008


TPM +Quick Startup Guide5 Setting the parametersThe tables in chapter 5 contain all of the parameters that are required for the initial start-up of aTPM + servo actuator from WITTENSTEIN motion control at a Siemens Sinamics S120.The parameters can be entered with the Siemens STARTER software in the dialog “Drivenavigator – Device configuration – Carry out drive configuration”.In the dialog “Calculation of the motor/controller data” enable the checkbox “Complete calculationwithout equiv. circuit diag. data”.When the servo actuator and the servo drive are properly connected, these parametersguarantee 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 controllerdepending on the application.Follow the details of the type plate.Data for combinations not shown here are available on demand.Page en-8Revision: 02 4091-D014999 Release: 07.10.2008


Quick Startup Guide TPM +5.1 TPM + 560 V Ratio 16Code Parameter Unit TPM004STPM010STPM025STPM050STPM110SStator Length mm 30 30 45 60 75p305 Rated motor current Arms 1,00 1,20 5,60 13,40 16,30p311 Rated motor velocity 1/min 4400 4000 3500 2800 2900p314 Motor pole pair number 4 4 6 6 6p316 Motor torque constant Nm/Arms 0,69 0,96 0,98 1,00 1,00p322 Maximum motor speed 1/min 6000 6000 6000 5000 5000p323 Maximum motor current Arms 3,20 5,20 17,00 40,00 70,00p338 Motor limit current Arms 3,20 5,20 17,00 40,00 70,00p341 Motor moment of inertia kgm² 0,00002 0,00003 0,00026 0,00096 0,00131without brakep341 Motor moment of inertia kgm² 0,00002 0,00004 0,00027 0,00106 0,00141with brakep350 Motor stator resistance, Ohm 14,09 10,65 1,10 0,22 0,16coldp356 Motor stator leakage mH 16,64 11,40 2,98 1,51 1,20inductancep312 Rated motor torque Nm 0,50 0,90 1,90 1,90 0,70p317 Motor voltage constant Volt 42,18 58,50 59,50 60,94 60,94p318 Motor stall current Arms 1,00 1,20 5,60 13,40 16,30p319 Motor stall torque Nm 0,70 1,20 5,50 13,50 16,405.2 TPM + 560 V Ratio 21Code Parameter Unit TPM004STPM010STPM025STPM050STPM110SStator Length mm 30 30 45 60 75p305 Rated motor current Arms 1,00 1,20 5,60 12,20 16,30p311 Rated motor velocity 1/min 4400 4000 3500 2800 2900p314 Motor pole pair number 4 4 6 6 6p316 Motor torque constant Nm/Arms 0,69 0,96 0,98 1,00 1,00p322 Maximum motor speed 1/min 6000 6000 6000 5000 5000p323 Maximum motor current Arms 2,60 5,20 17,00 35,00 70,00p338 Motor limit current Arms 2,60 5,20 17,00 35,00 70,00p341 Motor moment of inertia kgm² 0,00002 0,00003 0,00026 0,00096 0,00131without brakep341 Motor moment of inertia kgm² 0,00002 0,00004 0,00027 0,00106 0,00141with brakep350 Motor stator resistance, Ohm 14,09 10,65 1,10 0,22 0,16coldp356 Motor stator leakage mH 16,64 11,40 2,98 1,51 1,20inductancep312 Rated motor torque Nm 0,50 0,90 1,90 1,90 0,70p317 Motor voltage constant Volt 42,18 58,50 59,50 60,94 60,94p318 Motor stall current Arms 1,00 1,20 5,60 12,20 16,30p319 Motor stall torque Nm 0,70 1,20 5,50 13,50 16,40Page en-9Revision: 02 4091-D014999 Release: 07.10.2008


TPM +Quick Startup Guide5.3 TPM + 560 V Ratio 31Code Parameter Unit TPM004STPM010STPM025STPM050STPM110SStator Length mm 30 30 45 60 75p305 Rated motor current Arms 1,00 1,20 5,60 13,40 16,30p311 Rated motor velocity 1/min 4400 4000 3500 2800 2900p314 Motor pole pair number 4 4 6 6 6p316 Motor torque constant Nm/Arms 0,69 0,96 0,98 1,00 1,00p322 Maximum motor speed 1/min 6000 6000 6000 5000 5000p323 Maximum motor current Arms 2,20 4,70 14,30 30,80 70,00p338 Motor limit current Arms 2,20 4,70 14,30 30,80 70,00p341 Motor moment of inertia kgm² 0,00002 0,00003 0,00026 0,00094 0,00128without brakep341 Motor moment of inertia kgm² 0,00002 0,00004 0,00027 0,00104 0,00138with brakep350 Motor stator resistance, Ohm 14,09 10,65 1,10 0,22 0,16coldp356 Motor stator leakage mH 16,64 11,40 2,98 1,51 1,20inductancep312 Rated motor torque Nm 0,50 0,90 1,90 1,90 0,70p317 Motor voltage constant Volt 42,18 58,50 59,50 60,94 60,94p318 Motor stall current Arms 1,00 1,20 5,60 13,40 16,30p319 Motor stall torque Nm 0,70 1,20 5,50 13,50 16,405.4 TPM + 560 V Ratio 61Code Parameter Unit TPM004STPM010STPM025STPM050STPM110SStator Length mm 15 15 15 15 60p305 Rated motor current Arms 0,70 0,90 1,80 3,50 12,90p311 Rated motor velocity 1/min 5800 5500 4500 3500 3900p314 Motor pole pair number 4 4 6 6 6p316 Motor torque constant Nm/Ar 0,46 0,78 1,01 0,96 1,00msp322 Maximum motor speed 1/min 6000 6000 6000 5000 5000p323 Maximum motor current Arms 1,30 2,20 5,90 12,00 31,30p338 Motor limit current Arms 1,30 2,20 5,90 12,00 31,30p341 Motor moment of inertia kgm² 0,00001 0,00002 0,00009 0,00024 0,00094without brakep341 Motor moment of inertia with kgm² 0,00001 0,00002 0,00010 0,00034 0,00104brakep350 Motor stator resistance, cold Ohm 18,72 20,00 6,73 2,00 0,22p356 Motor stator leakage mH 15,00 15,00 9,46 5,55 1,51inductancep312 Rated motor torque Nm 0,30 0,50 1,40 2,10 1,90p317 Motor voltage constant Volt 28,28 47,52 61,25 58,50 60,94p318 Motor stall current Arms 0,70 0,90 1,80 3,50 12,90p319 Motor stall torque Nm 0,40 0,70 1,90 3,40 13,50Page en-10Revision: 02 4091-D014999 Release: 07.10.2008


Quick Startup Guide TPM +5.5 TPM + 560 V Ratio 64Code Parameter Unit TPM004STPM010STPM025STPM050STPM110SStator Length mm 15 15 15 15 60p305 Rated motor current Arms 0,80 0,90 1,80 3,50 12,80p311 Rated motor velocity 1/min 5500 4800 3800 3100 3200p314 Motor pole pair number 4 4 6 6 6p316 Motor torque constant Nm/Ar 0,46 0,78 1,01 0,96 1,00msp322 Maximum motor speed 1/min 6000 6000 6000 5000 5000p323 Maximum motor current Arms 1,30 2,10 5,60 12,00 29,80p338 Motor limit current Arms 1,30 2,10 5,60 12,00 29,80p341 Motor moment of inertia kgm² 0,00001 0,00002 0,00009 0,00023 0,00093without brakep341 Motor moment of inertia with kgm² 0,00001 0,00002 0,00010 0,00033 0,00103brakep350 Motor stator resistance, cold Ohm 18,72 20,00 6,73 2,00 0,22p356 Motor stator leakage mH 15,00 15,00 9,46 5,55 1,51inductancep312 Rated motor torque Nm 0,30 0,50 1,40 2,10 1,90p317 Motor voltage constant Volt 28,28 47,52 61,25 58,50 60,94p318 Motor stall current Arms 0,80 0,90 1,80 3,50 12,80p319 Motor stall torque Nm 0,40 0,70 1,90 3,40 13,505.6 TPM + 560 V Ratio 91Code Parameter Unit TPM004STPM010STPM025STPM050STPM110SStator Length mm 15 15 15 15 60p305 Rated motor current Arms 0,50 0,70 1,50 3,20 9,00p311 Rated motor velocity 1/min 5800 5500 4500 3500 3900p314 Motor pole pair number 4 4 6 6 6p316 Motor torque constant Nm/Ar 0,46 0,78 1,01 0,96 1,00msp322 Maximum motor speed 1/min 6000 6000 6000 5000 5000p323 Maximum motor current Arms 0,90 1,40 3,80 8,70 20,90p338 Motor limit current Arms 0,90 1,40 3,80 8,70 20,90p341 Motor moment of inertia kgm² 0,00001 0,00002 0,00009 0,00023 0,00093without brakep341 Motor moment of inertia with kgm² 0,00001 0,00002 0,00010 0,00033 0,00103brakep350 Motor stator resistance, cold Ohm 18,72 20,00 6,73 2,00 0,22p356 Motor stator leakage mH 15,00 15,00 9,46 5,55 1,51inductancep312 Rated motor torque Nm 0,30 0,50 1,40 2,10 1,90p317 Motor voltage constant Volt 28,28 47,52 61,25 58,50 60,94p318 Motor stall current Arms 0,50 0,70 1,50 3,20 9,00p319 Motor stall torque Nm 0,40 0,70 1,90 3,40 13,50Page en-11Revision: 02 4091-D014999 Release: 07.10.2008


TPM +Quick Startup Guide5.7 Configuration Encoder TPM + with ResolverIn the dialog "Configuration - Encoder" of the drive configuration assistant the follwing settingshas to be done:Encoder name: ResolverEncoder evaluation: SMC10 xxxEnable the checkbox „Enter data“Click on the button „Encoder data“. Enter the following data in the dialog „Encoder data“:Measuring system: ResolverNo. of pole pairs: 15.8 Configuration Encoder TPM + with Heidenhain EnDat Multiturn or SingleturnIn the dialog "Configuration - Encoder" of the drive configuration assistant the follwing settingshas to be done:Encoder name: EnDatEncoder evaluation: SMC20 xxxEnable the checkbox „Enter data“Click on the button „Encoder data“. Enter the following data in the dialog „Encoder data“:Measuring system: Absolute EnDat protocolEnable the checkbox „Identify encoder“5.9 Configuration Encoder TPM + with incremental encoder Heidenhain ERN1185In the dialog "Configuration - Encoder" of the drive configuration assistant the follwing settingshas to be done:Encoder name: IncrementalEncoder evaluation: SMC20 xxxEnable the checkbox „Enter data“Click on the button „Encoder data“. Enter the following data in the dialog „Encoder data“:Measuring system: Incremental sine/cosinePulses/revolution: 2048Encoder type:Incremental – one zero markCommutation information: Coarse synchronisation with C/D trackPage en-12Revision: 02 4091-D014999 Release: 07.10.2008


Quick Startup Guide TPM +6 Connection schematic TPM + Detailed information on cable design and the type of shielding can be found in thedocumentation from the servo drive manufacturer.For the connection of the power cable at X1 a special connector is necessary, which is not in thescope of delivery of the Sinamics S120.The connector has to be ordered separately from Siemens under the order number6SL3162-2MA00-0AA0. See Fig. 2.For the connection of the motor feedback to the Siemens DRIVE-CLiQ bus the module SMC10for Resolver or SMC20 for absolute or incremental feedback is necessary. This modules can beordered from Siemens under the order number 6SL3055-0AA00-5AA0 (SMC10) or 6SL3055-0AA00-5BA1 (SMC20). See Fig. 1.Fig. 1 Fig. 26.1 TPM + with resolverWITTENSTEIN motion control offers pre-manufactured and drag chain compatible cablesets forthis servo drive. Please take the required order informations from the TPM+ catalogue.power plugM3PEUVWPE241PEU2V2W2powerterminalblock(X1)Br +Br -feedback plug56brake optionalSiemensSinamics S120SMC10(X520)RKTYKTYRef+RefshieldSin +Sin -Cos +Cos -567834129132524911435678+ Temp- Tempinternal shield+ Vss- VssSINSINinternal shieldCOSCOSinternal shieldPage en-13Revision: 02 4091-D014999 Release: 07.10.2008


TPM +Quick Startup Guide6.2 TPM + with absolute encoder Heidenhain EnDat ECN1113 / EQN 1125WITTENSTEIN motion control offers pre-manufactured and drag chain compatible cablesets forthis servo drive. Please take the required order informations from the TPM+ catalogue.power plugM3PEUVWPE126PEU2V2W2powerterminalblock(X1)Br +Br -feedback plug45brake optionalSiemensSinamics S120SMC20(X520)SCKTYKTYA+A-B+B-Data +Data -clock +clock -P-Encoder5V SenseM-Encoder0V Sense89121711121731317514101671513 + Temp25 - Temp3 A4 *A5 internal shield6 B7 *B8 internal shield15 Data23 *Data24 internal shield10 Clock12 *Clock1 P-Encoder14 5V Sense2 M-Encoder16 0V Sense6.3 TPM + with incremental encoder Heidenhain ERN1185WITTENSTEIN motion control offers pre-manufactured and drag chain compatible cablesets forthis servo drive. Please take the required order informations from the TPM+ catalogue.power plugM3PEUVWPE126PEU2powerV2 terminal block(X1)W2Br +Br -feedback plug45brake optionalSiemensSinamics S120SMC20(X520)SCKTY8KTY9A+ / Ua1+ 1A- / Ua1- 21711B+ / Ua2+B- / Ua2-12173R+ / Ua0+R- / Ua0- 1317C+ / Ua3+5C- / Ua3-610P-Encoder5V Sense 16M-Encoder70V Sense 15D+ / Ua4+ 14D- / Ua4- 4132534567817182419201142162122+ Temp- TempA*Ainternal shieldB*Binternal shieldR*Rinternal shieldC*CP-Encoder5V SenseM-Encoder0V SenseD*DPage en-14Revision: 02 4091-D014999 Release: 07.10.2008


4091-D015003 : 02WITTENSTEIN motion control GmbHWalter-Wittenstein-Straße 197999 IgersheimWITTENSTEIN - being one with the futurewww.wittenstein.deenAC: XXXXXXXX 4091-D015003 Revision: 02

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