TPM. Servo actuators - Setting new standards in dynamics, precision and compactness

Transcription

1 New 3Stage High Torque model TPM TPM Servo actuators Setting new standards in dynamics, precision and compactness

2 10 6

3 Overview WITTENSTEIN group 4 5 TPM product features, applications 6 9 Design properties & features TPM series Technical data, characteristic curves and drawings TPM series Technical data, characteristic curves and drawings Options and accessories Brake, temperature sensors, feedback systems, cables Servo controllers, plug connections Index Ordering codes 47

4 Overview Overview WITTENSTEIN group WITTENSTEIN G The WITTENSTEIN G, with its 750 employees worldwide, develops, produces and distributes highprecision planetary gears, entire electromechanical drive systems, as well as C servo systems and motors, amongst other products. reas of application include industrial robots, machine tools and packaging machines, paper and printing machines, elevators, the Formula 1, as well as the aerospace industry. Technological competence and ongoing innovation ensure the success of the WITTENSTEIN G. Creative and motivated employees are the basis of the company's acclaim. In the past two fiscal years, more than 200 new employees have joined the company. The turnover yielded by products that are less than 5 years old amounts to approx. 85 percent. Every tenth Euro is invested in research and development, more than 12 percent of the employees work in these fields. Page 4 Technical solutions: Customer benefit in the foreground alpha getriebebau GmbH Lowbacklash servo gears, planetary windlasses with integrated servo drives, as well as the servo design software cymex. WITTENSTEIN motion control GmbH Integrated electromechanical, rotative and linear servo systems. Intelligent units with the highest precision and dynamics. WITTENSTEIN cyber motor GmbH Development and distribution of mini C servomotors for industrial applications. Characteristics: Highest power density and reliability.

5 Overview Company premises in Igersheim/Harthausen: Inspiration for innovation 750 motivated employees: Enthusiasm and emotion WITTENSTEIN intens GmbH Development, manufacture, sale and distribution of intelligent, innovative implants for orthopedic and accident surgery. WITTENSTEIN bastian GmbH Development, manufacture, sales and distribution of innovative gear technology. Implemented in, for example, the Formula 1 and the aerospace industry. WITTENSTEIN aerospace & simulation GmbH Development, manufacture, sales and distribution of electromechanical control systems, active control units for aeronautical applications and haptic systems with force feedback for simulators. Page 5

6 Page 6 Product features Product features With the TPM and TPM C servo actuators, the WITTENSTEIN motion control GmbH is providing the drive technology market with products that set new standards in precision, dynamics, power density and compactness. Resolver feedback is standard. Optional single or multiturn absolute feedbacks with EnDat (Heidenhain) or Hiperface (Stegmann) interfaces available. TPM 004 TPM 010 TPM 025 TPM 025 TPM 050 TPM 050 TPM 110 TPM 110 Optional permanent magnet holding brake up to 40 up to 100 High Torque High Torque High Torque up to 300 Brushless C servo motor up to 480 up to 650 up to 950 Rotatable connectors up to 1600 Lowbacklash precision planetary gearhead Torque overview up to 2600

7 Product features High dynamic performance n integral brushless C servomotor was designed to work with the alpha planetary gearheads to provide a high torquetoinertia ratio, optimized for high dynamic performance. Connecting the motor to the gearhead without a coupling improves the stiffness of the unit while reducing the moment of inertia by approximately 40% compared to customary motor/gearhead units. Product features High power density high pole count motor optimizes use of the magnetic material and yields the most power in the smallest package. In the new 3stage TPM version, the torque range has been considerably extended while maintaining the same compact design. Compact design/reduced weight Integrating the servomotor and gearhead into one package sets new standards for reduced size and weight. It is approximately 62% shorter and weights much less than a traditional motor/gearhead combination of comparable power. This is especially important for applications where mounting space is limited or where the motor itself is part of the moving load, e.g. robotics and gantries. High positioning accuracy/efficiency Directly mounting the drive elements to the output flange reduces overall size and provides high torsional rigidity and short settling times. The pinion is integrated directly into the motor shaft, resulting in a much shorter motortopinion distance. This design results in much higher positioning accuracy <1 arc minute of backlash and higher dynamics, for shorter cycle times and reduced production costs for the customer application. In addition, the TPM/TPM feature overall efficiency >85%. Direct mount/reduced components The TPM/TPM can be mounted from either the front or the rear of the mounting flange. The application load mounts direcly to the driving flange, eliminating the need for a coupling. Dual tapered roller bearings in the output stage (from size 050) eliminate the need for additional support bearings in the customer application. In addition, two swiveling connectors allow for easy cable routing. Maintenance free High quality synthetic lubricants provide lubrication for the service life of the product. Smooth motion and quiet operation The TPMs are characterized by low torque ripple for extremely smooth operation. They feature low noise levels of less then 65 db(). Simple integration The TPM can be operated with most of the brushless servo controllers on the market. Preassembled cables and controllerspecific startup instructions simplify installation and startup. Optional absolute feedback n optional single or multiturn absolute encoder eliminates the necessity for homing on startup. Page 7

8 pplications pplications Yxlon Six TPM drives on two swivel axes and one rotating axis control an Xray testing system for cast parts. move to a new position and an Xray inspection occur within one second, repeating up to 300 times per part. The rapid positioning and testing procedure requires short settling times, which are achieved because of the low weight, high torsional rigidity and low inertia of the TPM drives. Unicor Page 8 winding unit without dancer roll forms the terminating unit of an extrusion machine for 25 mm wide plastic strips. Constant tension is required for smooth winding of the stripes. The high torsional rigidity and excellent dynamics of the TPM drive enables rapid torque regulation, within an torqueadjustment range of 1:40.

9 pplications pplications SIG Robotics Three TPM drives control the movement of the three axes of this fast pick and place robot, with up to 120 pick and place cycles per minute. The TPM was chosen for this application because of its high dynamic performance, low weight, small overall length and high reliability. Installed in a plant for dosing liquid products, three TPM drives control the piston dosing pump, a rotary valve and the containerlifting device. Because of its compact design, three TPM drives are incorporated into a 50 cm x 50 cm x 75 cm space. Page 9 Gasti

10 TPM 004 Technical data TPM 004 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear 21, 31, 61, 91 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 31 i = 21, 61, 91 i= 31 i = 21, 61, 91 Standard Reduced i = 31 i = 91 i= 21 i = 31 i= 61 i= ,000 6, , Motor data i = 21, 31 i = 61, 91 DC bus voltage U D VDC Peak torque 6) M Max Continuous stall torque M Nominal torque M N Peak current 6) I Max Nominal current I N Noload speed 6) n 0 min 1 9,100 13,500 Nominal speed 6) n N min 1 7,625 11,100 Max. power P Max kw Moment of inertia with resolver J Mot. kgcm General data Protection class IP64 Permissible transmission temperature C 10 to +90 Mounting position ny Lubrication Synthetic oil, ISO VG 220 Paint RL 5002 (Blue) Noise level (n 1 = 3000 min 1 ) db() 65 Weight without/with brake kg 2.6/3.0 at i = 21/31 2.4/2.7 at i = 61/91 Page 10 Direction of rotation Insulation class 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center motor and gearhead in same direction F 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

11 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC i = 21 i = 31 i = 61 i = 91 Page 11 TMP 004 Characteristic curves

12 Page 12 TPM 004 Drawings TPM 004, i = 21, 31 Heidenhain motor encoder Stegmann motor encoder for ORing Ø 66 x 2 Total length L for other options Without brake 157 for ORing Ø 66 x 2 With brake 200 You can obtain all DXF files and 3D models for all versions at Standard version with resolver without brake at i = 21/31 TPM R...OH.030 View Flange according to ISO9409 with additional thread 6 deep TPM R...BP.030 7xM5 / 7 deep Standard version with resolver with brake at i = 21/31

13 Standard version with resolver without brake at i = 61/91 TPM R...OH.015 Signal connector (rotatable) View B Standard version with resolver with brake at i = 61/91 TPM R...BP.015 for ORing Ø 66 x 2 Power connector (rotatable) Total length L for other options TPM 004, i = 61, 91 Without brake Heidenhain motor encoder Stegmann motor encoder 142 for ORing Ø 66 x 2 Flange according to ISO9409 with additional thread With brake 185 Flange according to ISO9409 with additional thread Page 13 TPM 004 Drawings

14 TPM 010 Technical data TPM 010 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear 21, 31, 61, 91 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 31 i = 21, 61, 91 i= 31 i = 21, 61, 91 Standard Reduced i = 31 i = 91 i= 21 i = 31 i= 61 i= ,000 6, , Motor data i = 21, 31 i = 61, 91 DC bus voltage U D VDC Peak torque 6) M max Continuous stall torque M Nominal torque M N Peak current 6) I Max Nominal current I N Noload speed 6) n 0 min 1 5,800 7,800 7,000 7,700 Nominal speed 6) n N min 1 4,875 6,775 5,900 6,550 Max. power P Max kw Moment of inertia with resolver J Mot. kgcm General data Protection class IP64 Permissible transmission temperature C 10 to +90 Mounting position ny Lubrication Synthetic oil, ISO VG 220 Paint RL 5002 (Blue) Noise level (n 1 = 3000 min 1 ) db() 65 Weight without/with brake kg 4.9/5.3 at i = 21/31 4.4/4.9 at i = 61/91 Page 14 Direction of rotation Insulation class motor and gearhead in same direction F 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

15 TPM 010 Technical data TPM 010 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear 21, 31, 61, 91 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 31 i = 21, 61, 91 i= 31 i = 21, 61, 91 Standard Reduced i = 31 i = 91 i= 21 i = 31 i= 61 i= ,000 6, , Motor data i = 21, 31 i = 61, 91 DC bus voltage U D VDC Peak torque 6) M max Continuous stall torque M Nominal torque M N Peak current 6) I Max Nominal current I N Noload speed 6) n 0 min 1 5,800 7,800 7,000 7,700 Nominal speed 6) n N min 1 4,875 6,775 5,900 6,550 Max. power P Max kw Moment of inertia with resolver J Mot. kgcm General data Protection class IP64 Permissible transmission temperature C 10 to +90 Mounting position ny Lubrication Synthetic oil, ISO VG 220 Paint RL 5002 (Blue) Noise level (n 1 = 3000 min 1 ) db() 65 Weight without/with brake kg 4.9/5.3 at i = 21/31 4.4/4.9 at i = 61/91 Page 14 Direction of rotation Insulation class motor and gearhead in same direction F 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

16 Page 16 TPM 010 Drawings TPM 010, i = 21, 31 Heidenhain motor encoder Stegmann motor encoder Total length L for other options Without brake With brake for ORing Ø 90 x 3 6 deep Standard version with resolver without brake at i = 21/31 7xM6 / 10 deep You can obtain all DXF files and 3D models for all versions at for ORing Ø 90 x 3 TPM010...R...OH.030 View 7 deep Standard version with resolver with brake at i = 21/31 TPM R...BP.030 Flange according to ISO9409 with additional thread

17 Standard version with resolver without brake at i=61/91 TPM010...R...OH.015 Power connector (rotatable) View B Standard version with resolver with brake at i=61/91 TPM R...BP.015 Signal connector (rotatable) for ORing Ø 90 x 3 Total length L for other options TPM 010, i = 61, 91 Without brake Heidenhain motor encoder 191 Stegmann motor encoder 170 for ORing Ø 90 x 3 With brake Page 17 TPM 010 Drawings

18 Page 18 TPM 025 Technical Data TPM 025 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) Moment of inertia reflected to the input Motor data DC bus voltage Peak torque 6) Continuous stall torque Nominal torque Peak current 6) Nominal current Noload speed 6) Nominal speed 6) Max. power Moment of inertia with resolver General data Protection class Permissible transmission temperature Mounting position Lubrication Paint Noise level (n 1 = 3000 min 1 ) Weight without/with brake Direction of rotation Insulation class 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear U D M max M 0 MN I Max I N n 0 n N P Max J Mot. C db() kg 3) t 20 C ambient temperature 4) Based on the flange center min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 VDC min 1 min 1 kw kgcm 2 i = 31 i = 21, 61, 91 i= 31 i = 21, 61, 91 Standard reduziert i = 31 i = 91 i= 21 i = 31 i= 61 i= ,000 5, , i = 21, 31 i = 61, ,380 6, ,800 5,200 4,838 5,625 6, IP64 10 to +90 ny Synthetic oil, ISO VG 220 RL 5002 (Blue) /9.8 at i = 21/31 7.6/8.4 at i = 61/91 motor and gearhead in same direction F 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead 21, 31, 61, 91

19 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC Nominal point 600V DC i = 21 i = 31 i = 61 i = 91 Page 19 TPM 025 Characteristic curves

20 Page 20 TPM 025 Drawings TPM 025, i = 21, 31 Heidenhain motor encoder Stegmann motor encoder for ORing Ø 114 x 3 Total length L for other options Without brake With brake for ORing Ø 114 x 3 You can obtain all DXF files and 3D models for all versions at Standard version with resolver without brake at i = 21/31 TPM R...OH deep 6 deep Flange according to ISO9409 with additional thread Standard version with resolver with brake at i = 21/31 TPM R...BP.045 View

21 Standard version with resolver without brake at i=61/91 TPM R...OH.015 TPM 025 Drawongs View B Power connector (rotatable) Signal connector (rotatable) for ORing Ø 114 x 3 Total length L for other options TPM 025, i = 61, 91 Without brake Heidenhain motor encoder 196 Stegmann motor encoder 192 With brake for ORing Ø 114 x 3 Standard version with resolver with brake at i=61/91 TPM R...BP.015 Page 21

22 Page 22 TPM 050 Technical Data TPM 050 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input Motor data DC bus voltage Peak torque 6) Continuous stall torque Nominal torque Peak current 6) Nominal current Noload speed 6) Nominal speed 6) Max. power Moment of inertia with resolver General data i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear U D M Max M 0 M N I Max I N n 0 n N P Max J Mot. 21, 31, 61, 91 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 31 i = 21, 61, 91 i= 31 i = 21, 61, 91 Standard Reduced i = 31 i = 91 i= 21 i = 31 i= 61 i= , ,000 4, ,130 1, i = 21, 31 i = 61, 91 VDC min 1 6,380 7,180 5,000 5,900 min 1 5,375 6,000 3,775 4,562 kw kgcm Protection class Operating temperature range Mounting position Lubrication Paint Noise level (n 1 = 3000 min 1 ) C db() IP64 10 to +90 ny Synthetic oil, ISO VG 220 RL 5002 (Blau) 65 Weight without/with brake kg 21.3/23.7 at i = 21/ /16.2 at i = 61/91 Direction of rotation Insulation class motor and gearhead in same direction F 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

23 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC Nominal point 600V DC i = 21 i = 31 i = 61 i = 91 Page 23 TPM 050 Characteristic curves

24 Page 24 TPM 050 Drawings TPM 050, i = 21, 31 Heidenhain motor encoder Stegmann motor encoder Total length L for other options Without brake for ORing Ø 145 x 3 With brake for ORing Ø 145 x 3 You can obtain all DXF files and 3D models for all versions at Standard version with resolver without brake at i = 21/31 TPM R...OH deep View Flange according to ISO9409 with additional thread 15 deep 6 deep Standard version with resolver with brake at i = 21/31 TPM R...BP.060

25 Standard version with resolver without brake at i=61/91 TPM R...OH.015 Power connector (rotatable) View B 114 Signal connector (rotatable) Standard version with resolver with brake at i=61/91 TPM R...BP for ORing Ø 145 x 3 Total length L for other options TPM 050, i = 61, 91 Heidenhain motor encoder Stegmann motor encoder Without brake With brake for ORing Ø 145 x 3 Page 25 TPM 050 Drawings

26 TPM 110 Technical Data TPM 110 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear 21, 31, 61, 91 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 31 i = 21 / i = 61, 91 i= 31 i = 61, 91 i= 21 Standard Reduced i = 31 i = 91 i= 21 i = 31 i= 61 i= 91 1,600 1,100 / 1,300 2,750 1, ,500 3, ,050 3,064 1, Motor data i = 21, 31 i = 61, 91 DC bus voltage Peak torque 6) Continuous stall torque Nominal torque Peak current 6) Nominal current Noload speed 6) Nominal speed 6) Max. power U D M Max M 0 M N I Max I N n 0 n N P Max VDC min 1 min 1 kw ,700 2, ,326 3, ,380 5, ,180 6, Moment of inertia with resolver J Mot. kgcm General data Protection class IP64 Operating temperature range C 10 to +90 Mounting position ny Lubrication Synthetic oil, ISO VG 220 Paint RL 5002 (Blue) Noise level (n 1 = 3000 min 1 ) db() 65 Weight without/with brake kg 37.1/39.6 at i = 21/ /38.3 at i = 61/91 Page 26 Direction of rotation Insulation class motor and gearhead in same direction F 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

27 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC Nominal point 600V DC i = 21 i = 31 i = 61 i = 91 Page 27 TPM 110 Characteristic curves

28 Page 28 TPM 110 Drawings TPM 110, i = 21, 31 Heidenhain motor encoder Stegmann motor encoder for ORing Ø 200 x 5 Total length L for other options Without brake for ORing Ø 200 x 5 With brake Standard version with resolver without brake at i = 21/31 View Flange according to ISO9409 with additional thread 20 deep You can obtain all DXF files and 3D models for all versions at TPM R...OH deep Standard version with resolver with brake at i = 21/31 TPM R...BP deep

29 Standard version with resolver without brake at i=61/91 TPM R...OH.060 Power connector (rotatable) View B Standard version with resolver with brake at i=61/91 TPM R...BP.060 Signal connector (rotatable) for ORing Ø 200 x 5 Total length L for other options TPM 110, i = 61, 91 Heidenhain motor encoder Stegmann motor encoder Without brake With brake for ORing Ø 200 x 5 Page 29 TPM 110 Drawings

30 Page 30 High Torque TPM 025 Technical data TPM 025 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input Motor data DC bus voltage Peak torque 6) Continuous stall torque Nominal torque Peak current 6) Nominal current Noload speed 6) Nominal speed 6) Max. power Moment of inertia with resolver General data Protection class Operating temperature range Mounting position Lubrication Paint Noise level (n 1 = 3000 min 1 ) Weight without/with brake Direction of rotation Insulation class 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear U D M Max M 0 M N I Max I N n 0 n N P Max JMot. C db() kg 3) t 20 C ambient temperature 4) Based on the flange center min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 110 i = 220 VDC min 1 min 1 kw kgcm 2 i = 110, ,300 5, IP64 10 to +90 ny Synthetic oil, ISO VG 220 RL 5002 (Blue) /9.3 motor and gearhead in same direction F 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead 110, , ,000 3, , ,800 6,

31 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC Nominal point 600V DC i = 110 i = 220 Page 31 High Torque TPM 025 Characteristic curves

32 Page 32 High Torque TPM 025 Drawings for ORing Ø 114 x 3 for ORing Ø 114 x 3 Standard version with resolver without brake at i=110/220 TPM R...OH.015 You can obtain all DXF files and 3D models for all versions at Standard version with resolver with brake at i=110/220 TPM R...BP.015

33 TPM 025, i = 110, 220 Heidenhain motor encoder Stegmann motor encoder Total length L for other options Signal connector (rotatable) Without brake View B With brake Power connector (rotatable) View 6 deep 12 deep Page 33 High Torque TPM 025 Drawings

34 TPM 050 Technical data High Torque TPM 050 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input Motor data i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear 110, 220 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 110 i = , ,000 2, ,130 1, i = 110, 220 DC bus voltage U D VDC Peak torque 6) M Max Continuous stall torque M Nominal torque M N Peak current 6) I Max Nominal current I N Noload speed 6) n 0 min 1 5,000 5,900 Nominal speed 6) n N min 1 3,775 4,562 Max. power P Max kw Moment of inertia with resolver J Mot. kgcm General data Protection class IP64 Operating temperature range C 10 to +90 Mounting position ny Lubrication Synthetic oil, ISO VG 220 Paint RL 5002 (Blue) Noise level (n 1 = 3000 min 1 ) db() 70 Weight without/with brake kg 17.6/18.8 Direction of rotation motor and gearhead in same direction Insulation class F Page 34 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

35 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC Nominal point 600V DC i = 110 i = 220 Page 35 High Torque TPM 050 Characteristic curves

36 Page 36 High Torque TPM 050 Drawings Standard version with resolver without brake at i=110/220 TPM R...OH.015 for ORing Ø 145 x 3 for ORing Ø 145 x 3 brake at i=110/220 TPM R...OH.015 You can obtain all DXF files and 3D models for all versions at Standard version with resolver with

37 Total length L for other options TPM 050, i = 110, 220 Without brake Heidenhain motor encoder 263 Stegmann motor encoder 263 Power connector (rotatable) View B With brake Signal connector (rotatable) 15 deep View 6 deep Page 37 High Torque TPM 050 Drawings

38 TPM 110 Technical data High Torque TPM 110 Technical data, characteristic curves and drawings Gearhead data Ratio Max. acceleration torque 1) Emergency Stop torque 2) Nominal output torque Max. input speed Nominal input speed 3) Torsional backlash Torsional rigidity Max. axial force 4) Max. tilting torque Tilting rigidity Noload running torque (n 1 = 3000 min 1 ) 5) Moment of inertia reflected to the input Motor data i T 2B T 2Not T 2N n 1Max n 1N j t C t21 F 2Max M 2TiltMax C 2K T 012 J Gear 110, 220 min 1 min 1 arcmin /arcmin N /arcmin kgcm 2 i = 110 i = 220 2,600 6,500 1,570 4,500 2, ,050 3,064 1, i = 110, 220 DC bus voltage U D VDC Peak torque 6) M Max Continuous stall torque M Nominal torque MN Peak current 6) I Max Nominal current I N Noload speed 6) n 0 min 1 6,380 7,180 Nominal speed 6) n N min 1 5,375 6,000 Max. power P Max kw Moment of inertia with resolver JMot. kgcm General data Protection class IP64 Operating temperature range C 10 to +90 Mounting position ny Lubrication Synthetic oil, ISO VG 220 Paint RL 5002 (Blue) Noise level (n 1 = 3000 min 1 ) db() 70 Weight without/with brake kg 43.6/46.0 Direction of rotation motor and gearhead in same direction Insulation class F Page 38 1) 1000 cycles per hour 2) Permissible 1000 times during the life span of the gearhead 3) t 20 C ambient temperature 4) Based on the flange center 5) t 20 C gearhead temperature 6) Limit motor values to maximum values of the gearhead

39 The maximum and nominal values of the gearhead can limit the output values in some circumstances. Torque T 2 [] Torque T 2 [] Speed n 2 [1/min] Speed n 2 [1/min] Max. output torque 320V DC Nominal torque 320V DC Holding torque: brake Max. output torque 600V DC Nominal torque 600V DC Nominal point 320V DC Nominal point 600V DC i = 110 i = 220 Page 39 High Torque TPM 110 Characteristic curves

40 Page 40 High Torque TPM 110 Drawings Standard version with resolver without brake at i=110/220 TPM R...OH.060 for ORing Ø 200 x 5 Standard version with resolver with brake at i=110/220 TPM R...BP.060 for ORing Ø 200 x 5 You can obtain all DXF files and 3D models for all versions at

41 TPM 110, i = 110, 220 Heidenhain motor encoder Stegmann motor encoder Power connector (rotatable) Total length L for other options View B Without brake With brake Signal connector (rotatable) 19 deep View 8 deep Page 41 High Torque TPM 110 Drawings

42 Options Options Electricallyreleased holding brake compact permanentmagnet brake is available for holding the rotor when the power is off. It is characterized by backlashfree operation, dragfree when disengaged, unlimited ON time and constant torque at high operating temperatures. Data TPM 004 only with resolver TPM 004 TPM 010, TPM() 025 Temperature sensors The following temperature sensors are available with various servo controllers. They measure temperature directly at the motor coil. PTC Positive temperature coefficient thermistor KTY Linear temperature coefficient thermistor NTC Negative temperature coefficient thermistor Feedback systems Various feedback systems are available for position encoding. single turn brushless resolver feedback is standard for TPM. This robust feedback device is suitable for many applications with normal demands for smooth running and precision. For higher technical demands, optical encoders are available from Heidenhain and Stegmann. Using the EnDat and Hiperface interfaces, position values as well as information regarding startup and drive data can be stored to and retrieved from the TPM. See page 46 for the respective pin assignments. Page 42 TPM() 050 (i=61/91/110/220) TPM() 110, TPM 050 (i=21/31) Holding torque at 20 C Holding torque at 100 C Dynamic torque Moment of inertia Weight Release/set time Coil resistance at 20 C Supply voltage kgcm 2 kg ms Ω V DC / / / % 10% / / Current

43 Comparison of TPM feedback devices Page 43 Comparison of TPM feedback devices Parameter Encoder type Operating voltage Data interface Electronic type plate Form of the incremental signals Number of sin/cos periods per revolution Reference track available bsolute position when main power is on bsolute resolution Multiturn function Multiturn measuring range Max. operating temperature Min. operating temperature Moment of inertia Unit V Pos./rev Rev. C C 10 2 kgcm 2 ERN1387 Incremental 5 1 Vss 2048 (within 1 revolution) Resolver bs. Singleturn 7 (10 KHz) 1 (within 1 revolution) 1 Sin/Cos period 1 Sin/Cos period SRM50/66K bs. Multiturn Hiperface 1 Vss ,6 HEIDENHIN STEGMNN ECN1313 EQN1325 SRS50/66K bs. Singleturn bs. Multiturn bs. Singleturn EnDat EnDat Hiperface 1 Vss 1 Vss 1 Vss (within 1 revolution) (within 1 revolution) ,6 2, TPM 004 0,2 1 TPM () TPM ,4

44 ccessories ccessories Cables Matching signal and power cables for the tested servo controllers listed on page 45 are available. Please supply the following data when you order: Complete TPM description Desired length of cable, in 5 meter increments. Exact type description of servo controller to be used The cables have excellent quality: Suitable for cable tracks, because highly flexible wires in accordance with DIN VDE 0295, class 6 Oil and fire proof Free of halogen, silicon and CFC Mechanical characteristics: Max. tensile strength Max. permissible torsion Permissible operating temperature Min. permissible bending radius Number of bending cycles Max. permissible acceleration Max. permissible speed Page 44 Static 50 N/mm 2 conductor diameter Dynamic 20 N/mm 2 conductor diameter ±30 /m Static: 50 C to +80 C Flexed: 20 C to +70 C 10 x D (outer diameter of cable) ) 5 million (at bending radius 10 x D) 5 m/sec m/min ) D conductor diameter Power cable TPM 004 TPM() 050 (i=61, 91, 110, 220) TPM 050 (i=21, 31), TPM() ,2 mm 15,1 mm 4 x 1,5 mm x 0,75 mm 2 4 x 2,5 mm x 1 mm 2 Signal cable 10 mm

45 Servo controller The TPM/TPM C servo actuators can be operated with a wide variety of servo controllers. The subsequent table listed all tested controllers with information on the correct option choices, feedbacks, temperature sensor and DC bus voltage. Servo controller For a number of these, a written startup manual is available. It contains all relevant parameter settings of the respective manufacturer to ensure that the startup can be performed in the shortest possible time. Manufacturer Series/type Resolver feedback device Temperature sensor DC bus voltage Page 45 Incremental EnDat interface Hiperface interface PTC NTC KTY V DC 600V DC Cannot be implemented with TPM... MK 2) tlas Copco Berger Lahr 2) Bosch 2) B & R 2) CT 1) ESR Pollmeier Hauser Hannifin 2) Bosch Rexroth (Indramat) 1) KEB 1) Lenze 1) Nord 2) Danaher Motion 1) (Seidel Kollmorgen) MKKSYN KU DMC 2 Twin Line Servo Dyn D copos UniDrive Trio/Mididrive Digital Compax Ecodrive 03 Ecodrive 03, 16 DIX 04 Combivert S4 Global Drive 93xx SK 1000 E Servostar 600/ , , Siemens 1) S.B.C. 2) SimoDrive 611U SimoDrive 611D/840D Master Drive MC HPD LVD Information on additional controllers can be supplied on request. = possible = not available 1) = Startup manual available 2) = Startup manual in preparation

46 Plug connections Plug connections Resolver, Singleturn Power connector Signal connector Temperature sensor Optional 2x NTC Temperature sensor 2 4 Servo motor ground Temperature sensor Temperature sensor Electrically released brake/optional cos/s1 coslow/s3 sin/s2 sinlow/s4 Ref/R1 Reflow/R2 Shield Resolver Stegmann encoder, Single and Multiturn Hiperface Signal connector n.c. Temperature sensor Temperature sensor Power connector Electrically released brake/optional REFCOS +48S SIN REFSIN 48S COS Gnd 8V Shield Encoder: SRS 050/66K SRM 050/66K Heidenhain encoder, Single and Multiturn EnDat Signal connector Temperature sensor Optional 2x NTC Temperature sensor Power connector Temperature sensor Temperature sensor KTY84130/PTC Electrically released brake/optional Ua1 *Ua1 Ua2 *Ua2 Data *Data Cycle *Cycle MEncoder OVSense PEncoder 5V Sense n.c. n.c. n.c. Digital servo feedback ECN1313 / ECN1325 Heidenhain encoder, incremental Signal connector Temperature sensor Temperature sensor KTY84130 Page 46 Power connector Electrically released brake/optional Ua1 *Ua1 n.c. Ua2 *Ua2 Ua0 *Ua0 Ua3 *Ua3 Ua4 *Ua4 MEncoder OV Sense PEncoder 5V Sense Digital servo feedback ERN1387

47 Ordering codes Ordering codes TPM M 600K BP1 Size TPM 004 / 010 / 025 / 050 / 110 TPM 025 / 050 / 110 Ratio 21 / 31 / 61 / 91 (TPM) 110 / 220 (TPM) Backlash 1 = Standard < 3 (5) arcmin 0 = Reduced < 1 (3) arcmin (values in brackets: TPM 004) Brakes BP = Permanent magnet brake OH = Without brake Motor encoder R = Resolver S = Singleturn absolute encoder EnDat M = Multiturn absolute encoder EnDat N = Singleturn absolute encoder Hiperface K = Multiturn absolute encoder Hiperface I = Incremental encoder Page 47 Temperature sensor P = PTC N = NTC K = KTY DC bus voltage 320 = 320V DC at controller input voltage 1x230V/3x230V C 600 = 600V DC at controller input voltage 3x400V C dditional options without codes Straight plug connections Painted in RL 9005 (black) Synthetic oil, ISO PG68 UL approbation Explosionproof model (on request)