Escolar Documentos
Profissional Documentos
Cultura Documentos
TPM(A)
004 110
SIEMENS
SIMODRIVE 611 U/D
Version
Date
File
Doc.No.
:
:
:
:
1.3
th
20 April 2005
4091_D004455_4.doc
4091-D004455-04
Table of Contents
TABLE OF CONTENTS........................................................................................................................ 2
1
Modification History
Document Designation
QSG SIEMENS SimoDrive10.doc
4091_D004455_2.doc
Version
1.0
1.1
Date
27. Sep. 2002
15th April 2004
4091_D004455_3.doc
4091_D004455_4.doc
1.2
1.3
Note
First edition
Correction Wiring diagrams, TPM004,
TPMA 025 , 050, 110 added
Correction armature inductance
Correction 5.1
Contact address:
WITTENSTEIN motion control GmbH
Walter-Wittenstein-Strasse 1
97 999 Igersheim
Tel.
Fax
Email
4091_D004455_4.doc
Page 2 of 12
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.
4091_D004455_4.doc
Page 3 of 12
Please select the input parameters corresponding to the nameplate values of your TPM.
Plug form
STD = angle
SEG = straight
XXX = custom
Ratio
21 / 31 / 61 / 91 (TPM)
110 / 154 / 220 (TPMA)
Standard
IF = industry standard
UL = UL recognised
file E220160
Motor encoder
R = Resolver
S = Singleturn Heidenhain EnDat
M = Multiturn Heidenhain EnDat
N = Singleturn Stegmann Hiperface
K = Multiturn Stegmann Hiperface
I = Heidenhain incremental encoder
Stator length
Clearance specification
1 = Standard < 3 arcmin
(TPM 004: < 5 arcmin)
0 = Reduced < 1 arcmin
(TPM 004: < 3 arcmin)
Intermediate voltage
320
600
Brake
BP = Permanent magnetic
brake
OH = Without brake
Temperature sensor
P = PTC STM 160 in accordance with
DIN 44081 / 44082
N = NTC
K = KTY 84-130
4091_D004455_4.doc
Page 4 of 12
Description
DC Bus Voltage
ratio 21 / 31
stator length
1103 Rated motor current [Arms]
1104 Maximum motor current [Arms]
1113
1114
1115
1116
1117
1118
1400
1103
1104
1113
1114
1115
1116
1117
1118
1400
1112
1122
1136
1146
1180
1181
1182
1407
1409
Ratio i = 21
Ratio i = 31
Torque constant [Nm/Arms]
Voltage constant [Vrms/1000rpm]
Armature resistance [Ohm]
Armature inductance [mH]
i = 21, Moment of inertia without brake [kgm]
i = 21, Moment of inertia with brake [kgm]
i = 31, Moment of inertia without brake [kgm]
i = 31, Moment of inertia with brake [kgm]
Motor zero-speed current [Arms]
Rated motor speed [rpm]
ratio 61 / 91
stator length
Rated motor current [Arms]
Maximum motor current [Arms]
ratio i = 61
ratio i = 91
Torque constant [Nm/Arms]
Voltage constant [Vrms/1000rpm]
Armature resistance [Ohm]
Armature inductance [mH]
i = 61, Moment of inertia without brake [kgm]
i = 61, Moment of inertia with brake [kgm]
i = 91, Moment of inertia without brake [kgm]
i = 91, Moment of inertia with brake [kgm]
Motor zero-speed current [Arms]
Rated motor speed [rpm]
Common data
No. of pole pairs of motor
Motor current limit [Arms]
Motor no-load current [Arms]
Maximum motor speed [rpm]
Lower current limit adaption [%]
Upper current limit adaption [%]
Factor current controller adaption [%]
Speed controller P gain [Nms/rad]
Speed controller reset time [ms]
TPM 004
600V
TPM 010
600V
TPM 025
600V
TPM 050
600V
TPM 110
600V
30
0.7
30
1.1
45
3.1
60
5.6
75
9.7
2.40
2.10
0.67
40.7
23.7
15.3
0.000017
0.000023
0.000017
0.000023
0.8
6000
5.00
5.00
0.83
50.4
9.65
10.2
0.000041
0.000049
0.000040
0.000048
1.3
6450
10.60
8.90
1.16
70.3
1.9
5.0
0.000248
0.000257
0.000244
0.000253
4.4
5900
41.80
36.40
0.91
54.8
0.18
1.2
0.000946
0.000969
0.000935
0.000958
15.3
4650
26.20
26.20
1.51
91.1
0.36
2.7
0.001367
0.001542
0.001311
0.001486
12.1
1
3500
15
0.5
15
0.7
15
1.8
15
2.6
60
5.6
1.20
0.80
0.45
27.4
30.55
13.8
0.000008
0.000015
0.000008
0.000015
0.6
6000
2.40
1.50
0.77
46.7
22.1
15.3
0.000023
0.000030
0.000023
0.000030
0.8
6450
7.00
4.80
0.76
45.9
4.6
6.3
0.000087
0.000095
0.000087
0.000095
2.3
5900
13.70
9.70
1.02
61.5
2.25
6.3
0.000234
0.000257
0.000233
0.000256
3.6
4650
37.10
23.90
0.91
54.8
0.18
1.2
0.000995
0.001170
0.000988
0.001163
15.3
0.15
7000
60
100
30
0.1
10
6
6
Parameter 1104
0.2
0.35
0.5
7000
6000
5000
60
60
60
100
100
100
30
30
30
0.1
0.1
0.1
10
10
10
3500
6
0.75
4500
60
100
30
0.1
10
The maximum useable speed is limited to 1.2 times rated motor speed. Depending on the application cycle higher values are
Page 5 of 12
Description
TPMA 025
TPMA 050
TPMA 110
600V
600V
600V
15
15
60
1.8
2.6
5.6
Ratio i = 110
7.00
13.70
41.40
Ratio i = 154
5.50
11.30
28.80
Ratio i = 220
3.70
7.10
19.20
0.76
1.02
0.91
45.9
61.5
54.8
4.6
2.25
0.18
6.3
6.3
1.2
0.000089
0.000243
0.001032
DC Bus Voltage
ratio 110 / 154 / 220
stator length
1103 Rated motor current [Arms]
1104 Maximum motor current [Arms]
0.000098
0.000266
0.001208
0.000087
0.000235
0.001000
0.000096
0.000258
0.001175
0.000087
0.000231
0.000984
0.000095
0.000254
0.001159
2.3
3.6
15.3
4200
3300
Parameter 1104
4200
0.75
0.75
0.75
6000
5000
4500
60
60
60
100
100
100
30
30
30
0.1
0.1
0.1
10
10
10
The maximum useable speed is limited to 1.2 times rated motor speed. Depending on the application cycle higher values are
Page 6 of 12
5.1
5.2
Encoder type:
Inversion of Actual Speed Value:
Pulses Per Revolution:
5.3
NO
1
ABSOLUTE EnDat
NO
TPM 004:
TPM 010 TPM 110:
TPMA 025 TPMA110:
512
2048
2048
Encoder type:
Inversion of Actual Speed Value:
Commutation Information:
Pulses Per Revolution:
4091_D004455_4.doc
Page 7 of 12
6.1
M
3
Br +
Br -
PE
PE
U2
V2
W2
brake optional
Siemens
SimoDrive 611U
resolver plug
(X411)
signal plug
KTY
KTY
Ref+
Ref-
Sin +
Sin -
Cos +
Cos -
shield
4091_D004455_4.doc
power
terminal
block
(A1)
13
25
24
9
11
4
3
5
6
7
8
1
2
+ Temp
- Temp
internal shield
+ Vss
- Vss
SIN
SIN
internal shield
COS
COS
internal shield
Page 8 of 12
6.2
TPM(A) with absolute rotary encoder ECN 1313 / EQN 1325 / ECN 1113 /
EQN1125 (611 U/D)
power plug
PE
M
3
Br +
Br -
PE
PE
U2
V2
W2
brake optional
Siemens
SimoDrive 611U/D
SinCos plug
(X411)
signal plug
KTY
KTY
13
25
A+
A-
3
4
5
6
7
8
15
23
24
10
12
1
14
2
16
17
B+
B-
11
12
17
Data +
13
clock +
clock -
14
P-Encoder
10
17
5V Sense
M-Encoder
0V Sense
6.3
Data -
SC
power
terminal
block
(A1)
16
7
15
+ Temp
- Temp
A
*A
internal shield
B
*B
internal shield
Data
*Data
internal shield
Clock
*Clock
P-Encoder
5V Sense
M-Encoder
0V Sense
TPM(A) with incremental rotary encoder ERN 1387 / ERN1185 (for 611 U/D)
power plug
PE
M
3
Br +
Br -
PE
PE
U2
power
V2 terminal block
(A1)
W2
brake optional
Siemens
SimoDrive 611U/D
incremental-plug
(X411)
signal plug
KTY
KTY
A+ / Ua1+
A- / Ua1-
13
25
3
4
5
6
7
8
17
18
24
19
20
1
14
2
16
21
22
17
B+ / Ua2+
B- / Ua2-
11
12
17
R+ / Ua0+
R- / Ua0-
13
17
SC
4091_D004455_4.doc
C+ / Ua3+
C- / Ua3-
P-Encoder
10
5V Sense
16
M-Encoder
0V Sense
15
D+ / Ua4+
14
D- / Ua4-
+ Temp
- Temp
A
*A
internal shield
B
*B
internal shield
R
*R
internal shield
C
*C
P-Encoder
5V Sense
M-Encoder
0V Sense
D
*D
Page 9 of 12
4000 7451
6SN1123-1AA00-0CA1
6SN1123-1AA00-0DA1
4000 7452
50m
L
4000 7691
TPM(A) 110
4000 7643
6SN1123-1AA00-0CA1
6SN1123-1AA00-0DA1
4000 7678
4000 7690
021
031
TPM(A) 050
4000 7642
6SN1123-1AA00-0BA1
6SN1123-1AA00-0AA1
4000 6093
4000 7689
4000 6170
6SN1123-1AA00-0BA1
6SN1123-1AA00-0AA1
6SN1123-1AA00-0AA1
4000 6169
4000 7688
021, 031
061, 110
091, 154, 220
4000 5415
TPM(A) 025
4000 3879
6SN1123-1AA00-0AA1
6SN1123-1AA00-0HA1
4000 6331
4000 5414
021, 031
061, 091
4000 3878
TPM 010
4000 6330
10m
4000 5413
TPM 004
5m
4000 3877
controller
1
recommendation WMC
320V
600V
6SN1123-1AA00-0HA1
4000 6329
4000 5412
Resolver
size
4000 3876
TPM type
feedback
4000 6328
7.1
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 004-050 i=61/91
KABELL-TPM_-xxSTD_-RES015-STG
KABELL-TPM_-xxSTD_-RES025-STG
feedback
KABELS-TPM_-xxSIE_-RES000-STG
4091_D004455_4.doc
Page 10 of 12
TPM(A) with absolute incremental encoder ECN 1313 / EQN 1325 / ECN 1113 / EQN 1125
50m
S
G: 4000 5919 / W: 4000 7647
4000 5920
4000 7695
6SN1123-1AA00-0CA1
6SN1123-1AA00-0DA1
4000 7328
4000 7694
TPM(A) 110
4000 7679
6SN1123-1AA00-0CA1
6SN1123-1AA00-0DA1
4000 7693
4000 6054
021
031
TPM(A) 050
4000 7692
6SN1123-1AA00-0BA1
6SN1123-1AA00-0AA1
4000 5468
4000 6833
6SN1123-1AA00-0AA1
6SN1123-1AA00-0AA1
4000 5467
061, 110
091, 154, 220
TPM(A) 025
4000 6832
6SN1123-1AA00-0AA1
6SN1123-1AA00-0HA1
6SN1123-1AA00-0BA1
4000 5466
021, 031
061, 091
021, 031
TPM 010
4000 6831
controller
WMC Article code of power- (L) and feedback cable (S) [G: straight; W: angled]
1
recommendation WMC
5m
10m
15m
20m
25m
30m
40m
320V
600V
L
S
L
S
L
S
L
S
L
S
L
S
L
S
6SN1123-1AA00-0HA1
G: 4000 5408 / W: 4000 6049
4000 5465
TPM 004
Absolut
size
single-/multiturn encoder
with EnDat
TPM type
feedback
4000 6830
7.2
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 ECN1313 / EQN1325 resp. ECN 1113 / EQN 1125
all cable complete and for dynamic laying
Cable
power TPM 004-050 i=61/91
KABELL-TPM_-xxSTD_-END015-STG
KABELL-TPM_-xxSTD_-END025-STG
feedback
KABELS-TPM_-xxSIE_-END000-STG
KABELS-TPM_-xxSIE_-END000-STW
4091_D004455_4.doc
Page 11 of 12
50m
S
4000 7651
4000 5920
4000 7695
6SN1123-1AA00-0CA1
6SN1123-1AA00-0DA1
4000 7650
4000 7328
4000 7694
6SN1123-1AA00-0CA1
6SN1123-1AA00-0DA1
4000 7649
4000 7679
021
031
TPM(A) 050
4000 7693
6SN1123-1AA00-0BA1
6SN1123-1AA00-0AA1
4000 7648
4000 6054
4000 7692
6SN1123-1AA00-0BA1
6SN1123-1AA00-0AA1
6SN1123-1AA00-0AA1
4000 6911
4000 5468
021, 031
061, 110
091, 154, 220
4000 6833
TPM(A) 025
4000 6910
6SN1123-1AA00-0AA1
6SN1123-1AA00-0HA1
4000 5467
4000 6832
021, 031
061, 091
4000 6909
TPM 010
10m
4000 5466
5m
4000 6831
controller
1
recommendation WMC
320V
600V
6SN1123-1AA00-0HA1
TPM 004
TPM(A) 110
4000 6908
Incremental encoder
size
4000 5465
TPM type
feedback
4000 6830
7.3
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
KABELL-TPM_-xxSTD_-END015-STG
KABELL-TPM_-xxSTD_-END025-STG
feedback
KABELS-TPM_-xxSIE_-INK000-STG
4091_D004455_4.doc
Page 12 of 12