Commissioning Manual

TorkDrive® Servo Motors

SIEMENS SINAMICS

09/2014 1017934
09/2014 1017923
Content

1. General ............................................................................................................... 3
1.1 Description of Safety Alert Symbols .......................................................................... 4
1.2 Disclaimer and Copyright ............................................................................................ 4

2. Safety and Installation Instructions ................................................................5

2.1 Hazards..........................................................................................................................5
2.2 Intended Purpose ........................................................................................................ 6
2.3 Non Intended Purpose................................................................................................. 6

3. Instructions for Third Party Systems ............................................................... 7

3.1 General .......................................................................................................................... 7

4. Commissioning .................................................................................................. 7

5. Drive Parameter for SINAMICS........................................................................ 8

5.1 TorkDrive®-100A .......................................................................................................... 8
5.2 TorkDrive®-140A .......................................................................................................... 9
5.3 TorkDrive®-210A ......................................................................................................... 10
5.4 TorkDrive®-290A.......................................................................................................... 11
5.5 TorkDrive®-370A ......................................................................................................... 12

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1. General
About this documentation
This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of
Harmonic Drive AG.
The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers,
offering support during selection and calculation of the servo actuators, servo motors and accessories.

Rules for storage

Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation
when re-selling the product.

Additional documentation
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional
documents. Documentation is provided for all products offered by Harmonic Drive AG and can be found on the website.

www.harmonicdrive.de

Third-party systems
Documentation for parts supplied by third party suppliers, associated with Harmonic Drive components, is not
included in our standard documentation and should be requested directly from the manufacturers.

Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to
obtain the relevant documents for each device.

Your feedback
Your experiences are important to us. Please send suggestions and comments about the products and
documentation to:

Harmonic Drive AG
Marketing and Communications
Hoenbergstraße 14
65555 Limburg / Lahn
E-Mail: info@harmonicdrive.de

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1.1 Description of Safety Alert Symbols
Symbol Meaning
Indicates an imminent hazardous situation. If this is not avoided,
death or serious injury could occur.

Indicates a possible hazard. Care should be taken or death or serious

injury may result.

Indicates a possible hazard. Care should be taken or slight or minor

injury may result.

Describes a possibly harmful situation. Care should be taken to

avoid damage to the system and surroundings.

This is not a safety symbol. This symbol indicates important

information.

Warning of a general hazard. The type of hazard is determined by

the specific warning texts.

Warning of dangerous electrical voltage and its effects.

Beware of hot surfaces.

Beware of suspended loads.

Precautions when handling electrostatic sensitive components.

1.2 Disclaimer and Copyright

The contents, images and graphics contained in this catalogue are protected by copyright. In addition to the copyright,
logos, fonts, company and product names can also be protected by brand law or trademark law. The use of texts,
extracts or graphics requires the permission of the publisher or rights holder.

We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for
mistakes which may have occurred. Notification of any mistakes or suggestions for improvements will be gratefully
received and any necessary corrections will be included in subsequent editions.

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2. Safety and Installation Instructions
Please take note of the information and instructions in this document. Specialy designed models may differ in
technical detail. If in doubt, we strong recommend that you contact the manufacturer, giving the type designation and
serial number for clarification.

2.1 Hazards

Electric servo actuators and motors have dangerous live rotating parts. All work during connection, operation, repair
and disposal must be carried out by qualified personnel as described in the standartds EN 50110-1 and IEC 60364!
Before starting any work, and especially before opening covers, the actuator must be properly isolated. In addition to
the main circuits, the user also has to pay attention to any auxilliary circuits.

Observing the five safety rules:

• Disconnect mains
• Prevent reconnection
• Test for absence of harmful voltages
• Ground and short circuit
• Cover or close off nearby live parts

The measures taken above should only be withdrawn when the work has been completed and the device is fully
assembled. Improper handling can cause damage to persons and property. The respective national, local and factory
specific regulations must be adhered to.

The surface temperature of the gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should
not be touched.

Cables must not come into direct contact with hot surfaces.

Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with pacemakers, implants or
similar. Vulnerable groups must not be in the immediate vicinity of the products themselves.

Built-in holding brakes alone are not safety brakes. Particularly with unsupported vertical axes, the functional safety
and security can only be achieved with additional, external mechanical brakes.

The successful and safe use of gears, motors and servo actuators requires proper transport, storage and assembly as
well as correct operation and maintenance.

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Use suitable lifting equipment to move and lift gears, motors and servo actuators with a weight > 20kg.

Special versions of products may differ in the specification from the standard. Further applicable data sheets,
catalogues and offers of the special version have to be considered.

2.2 Intended Purpose

The Harmonic Drive® servo actuators and motors are intended for industrial or commercial applications. They comply
with the relevant parts of the harmonised EN 60034 standards series.

Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar
machines.

The servo actuators and motors may only be operated within the operating ranges and environmental conditions shown
in the documentation (altitude, degree of protection, temperature range etc.).
Before plant and machinery which have Harmonic Drive® servo actuators and motors built into them are commissioned,
the compliance must be established with the Machinery Directive, Low Voltage Directive and EMC guidelines.

Plant and machinery with inverter driven motors must satisfy the protection requirements in the EMC guidelines. It is
the responsibility of the installer to ensure that installation is undertaken correctly.
Signal and power lines must be shielded. The EMC instructions from the inverter manufacturer must be observed in
order that installation meets the EMC regulations.

2.3 Non Intended Purpose

The use of servo actuators and motors outside the areas of application mentioned above or, inter alia, other than in
the operating areas or environmental conditions described in the documentation is considered as non-intended
purpose.

Direct operating from the mains supply is not allowed.

The following areas of application are, inter alia, those considered as non-intended purpose:
• Aerospace
• Areas at risk of explosion
• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of
radio-activity
• Vacuum
• Machines for domestic use
• Medical equipment which comes into direct contact with the human body
• Machines or equipment for transporting or lifting people
• Special devices for use in annual markets or leisure parks

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3. Instructions for Third Party Systems

3.1 General

Please observe the documentation of the SIEMENS AG and the Harmonic Drive AG before putting the system into
operation.

Quicklink to Engineering Data TorkDrive® www.harmonicdrive.de/1090

A detailed description of the electrical connection is given within the "Engineering Data" manual of the selected
product.

4. Commissioning

Commissioning must be executed in accordance with the documentation of Harmonic Drive AG.

Before commissioning, please check that:

• The actuator is properly mounted,
• All electrical connections and mechanical connections are designed according to requirements,
• The protective earth is properly connected,
• All attachments (brakes, etc.) are operational,
• Appropriate measures have been taken to prevent contact with moving and live parts,
• The maximum speed nmax is specified and cannot be exceeded,
• The setup of the drive parameters has been executed,
• The commutation is adjusted correctly.

Check the direction of rotation of the load uncoupled.

In the event of changes in the normal operating behaviour, such as increased temperature, noise or vibration, switch
the actuator off. Determine the cause of the problem and contact the manufacturer if necessary. Even if the actuator
is only on test, do not put safety equipment out of operation.

This list may not be complete. Other checks may also be necessary.

Due to heat generation from the actuator itself, tests outside the final mounting position should be limited to 5
minutes of continuous running at a motor speed of less than 1000 rpm.

These values should not be exceeded in order to avoid thermal damage to the actuator.

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5. Drive Parameter for SINAMICS
For the position control, speed control and current control loop of the SINAMICS® converter system it is necessary to
set the drive parameters according to the following tables.

5.1 TorkDrive-100A
Symbol
MD-Name MD-Nr.: TorkDrive-100A
[Unit]
Version [] 30-AA 50-AA 70-AA 30-AA 50-AA 70-AA
Cooling method Water Convection
Encoder type selection p0400 [] -
Rotary encoder pulse number p0408 [I/U] -
Encoder inversion actual value p0410 [] -
Motor type selection p0300 [] 2
Motor code number selection p0301 [] 0
Rated motor current p0305 [Arms] 3 5 8 1,1 1,7 2,0
Rated motor speed p0311 [rpm] 1400 1500 1700 1800 1800 2000
Motor pole pair number p0314 [] 11
Motor torque constant p0316 [Nm/Arms] 3,3 3,5 3,2 3,6 3,6 3,4
Motor voltage constant p0317 [V/1000rpm] 220 220 205 220 220 205
Motor stall current p0318 [Arms] 2,1 3,5 5,7 0,7 1,1 1,4
Motor stall torque p0319 [Nm] 7,1 12,2 18,2 2,5 4,1 4,8
Maximum motor speed p0322 [rpm] 2000
Maximum motor current p0323 [Arms] 6 12 18 2 6 6
Motor stall torque correction factor p0326 [%] 100
Optimum motor load angle p0327 [°] 90
Motor reluctance torque constant p0328 [mH] 0
Motor limit current p0338 [Arms] 6 12 18 2 6 6
Motor moment of inertia (M128S) p0341 [kgm²] 3,9E-4 6,4E-4 9,0E-4 3,9E-4 6,4E-4 9,0E-4
Motor stator resistance cold p0350 [Ω] 14,6 9,0 3,9 14,6 9,0 3,9
Motor stator leakage inductance p0356 [mH] 16,5 9,8 6,0 18,7 11,2 6,75
Current controller adaptation
p0391 [Arms] 6 12 18 6 12 18
starting point KP
Current controller adaptation
p0392 [Arms] 6 12 18 6 12 18
starting point KP adapted
Current controller adaptation p gain
p0393 [%] 100
adaptation
Motor temperature alarm threshold p0604 [°C] 110
Motor temperature fault threshold p0605 [°C] 130
Comments All not given values are according to the SIEMENS standard parameters

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5.2 TorkDrive-140A
Symbol
MD-Name MD-Nr.: TorkDrive-140A
[Unit]
Version [] 30-AA 50-AA 70-AA 30-AA 50-AA 70-AA
Cooling method Water Convection
Encoder type selection p0400 [] -
Rotary encoder pulse number p0408 [I/U] -
Encoder inversion actual value p0410 [] -
Motor type selection p0300 [] 2
Motor code number selection p0301 [] 0
Rated motor current p0305 [Arms] 9 18 18 3 6 6
Rated motor speed p0311 [rpm] 1500 1500 1500 1500 1500 1500
Motor pole pair number p0314 [] 11
Motor torque constant p0316 [Nm/Arms] 2,3 1,9 2,9 2,6 2,2 2,9
Motor voltage constant p0317 [V/1000rpm] 157 130 177 157 130 177
Motor stall current p0318 [Arms] 6,4 12,7 12,7 2,1 4,2 4,2
Motor stall torque p0319 [Nm] 14,8 24,7 33,9 5,5 9,2 12,7
Maximum motor speed p0322 [rpm] 1500
Maximum motor current p0323 [Arms] 18 36 36 6 12 12
Motor stall torque correction factor p0326 [%] 100
Optimum motor load angle p0327 [°] 90
Motor reluctance torque constant p0328 [mH] 0
Motor limit current p0338 [Arms] 18 36 36 6 12 12
Motor moment of inertia (M128S) p0341 [kgm²] 1,0E-3 1,7E-3 2,4E-3 1,0E-3 1,7E-3 2,4E-3
Motor stator resistance cold p0350 [Ω] 2,3 0,7 0,85 2,3 0,7 0,85
Motor stator leakage inductance p0356 [mH] 6,8 3,0 3,8 8,3 3,8 4,5
Current controller adaptation
p0391 [Arms] 18 36 36 6 12 12
starting point KP
Current controller adaptation
p0392 [Arms] 18 36 36 6 12 12
starting point KP adapted
Current controller adaptation p gain
p0393 [%] 100
adaptation
Motor temperature alarm threshold p0604 [°C] 110
Motor temperature fault threshold p0605 [°C] 130
Comments All not given values are according to the SIEMENS standard parameters

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5.3 TorkDrive-210A
Symbol
MD-Name MD-Nr.: TorkDrive-210A
[Unit]
Version [] 30-AA 50-AA 70-AA 30-AA 50-AA 70-AA
Cooling method Water Convection
Encoder type selection p0400 [] -
Rotary encoder pulse number p0408 [I/U] -
Encoder inversion actual value p0410 [] -
Motor type selection p0300 [] 2
Motor code number selection p0301 [] 0
Rated motor current p0305 [Arms] 18 18 30 5,2 6,0 9,0
Rated motor speed p0311 [rpm] 1000 1000 1000 1000 1000 1000
Motor pole pair number p0314 [] 22
Motor torque constant p0316 [Nm/Arms] 3,4 5,6 4,4 3,7 5,8 4,7
Motor voltage constant p0317 [V/1000rpm] 219 353 282 219 353 282
Motor stall current p0318 [Arms] 12,7 12,7 21,2 3,7 4,2 6,4
Motor stall torque p0319 [Nm] 43 71 94 13 25 30
Maximum motor speed p0322 [rpm] 1000
Maximum motor current p0323 [Arms] 36 36 56 12 12 18
Motor stall torque correction factor p0326 [%] 100
Optimum motor load angle p0327 [°] 90
Motor reluctance torque constant p0328 [mH] 0
Motor limit current p0338 [Arms] 36 36 56 12 12 18
Motor moment of inertia (M128S) p0341 [kgm²] 0,01 0,016 0,022 0,01 0,016 0,022
Motor stator resistance cold p0350 [Ω] 1,0 1,2 0,5 1,0 1,2 0,5
Motor stator leakage inductance p0356 [mH] 1,8 2,9 1,4 2,0 3,2 1,4
Current controller adaptation
p0391 [Arms] 36 36 56 12 12 18
starting point KP
Current controller adaptation
p0392 [Arms] 36 36 56 12 12 18
starting point KP adapted
Current controller adaptation p gain
p0393 [%] 100
adaptation
Motor temperature alarm threshold p0604 [°C] 110
Motor temperature fault threshold p0605 [°C] 130
Comments All not given values are according to the SIEMENS standard parameters

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5.4 TorkDrive-290A
Symbol
MD-Name MD-Nr.: TorkDrive-290A
[Unit]
Version [] 30-AA 50-AA 70-AA 30-AA 50-AA 70-AA
Cooling method Water Convection
Encoder type selection p0400 [] -
Rotary encoder pulse number p0408 [I/U] -
Encoder inversion actual value p0410 [] -
Motor type selection p0300 [] 2
Motor code number selection p0301 [] 0
Rated motor current p0305 [Arms] 30 30 45 6,0 6,0 9,0
Rated motor speed p0311 [rpm] 800 750 800 800 730 670
Motor pole pair number p0314 [] 33
Motor torque constant p0316 [Nm/Arms] 4,0 6,7 5,9 4,3 7,3 6,4
Motor voltage constant p0317 [V/1000rpm] 220 220 205 220 220 205
Motor stall current p0318 [Arms] 21,2 21,2 31,8 4,2 4,2 6,4
Motor stall torque p0319 [Nm] 85 141 189 18 31 41
Maximum motor speed p0322 [rpm] 800
Maximum motor current p0323 [Arms] 56 56 85 12 12 18
Motor stall torque correction factor p0326 [%] 100
Optimum motor load angle p0327 [°] 90
Motor reluctance torque constant p0328 [mH] 0
Motor limit current p0338 [Arms] 56 56 85 12 12 18
Motor moment of inertia (M128S) p0341 [kgm²] 0,024 0,039 0,056 0,010 0,016 0,022
Motor stator resistance cold p0350 [Ω] 0,35 0,7 0,25 0,35 0,7 0,25
Motor stator leakage inductance p0356 [mH] 1,1 1,8 0,98 1,2 2,0 1,1
Current controller adaptation
p0391 [Arms] 56 56 85 12 12 18
starting point KP
Current controller adaptation
p0392 [Arms] 56 56 85 12 12 18
starting point KP adapted
Current controller adaptation p gain
p0393 [%] 100
adaptation
Motor temperature alarm threshold p0604 [°C] 110
Motor temperature fault threshold p0605 [°C] 130
Comments All not given values are according to the SIEMENS standard parameters

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5.5 TorkDrive-370A
Symbol
MD-Name MD-Nr.: TorkDrive-370A
[Unit]
Version [] 30-AA 50-AA 70-AA 30-AA 50-AA 70-AA
Cooling method Water Convection
Encoder type selection p0400 [] -
Rotary encoder pulse number p0408 [I/U] -
Encoder inversion actual value p0410 [] -
Motor type selection p0300 [] 2
Motor code number selection p0301 [] 0
Rated motor current p0305 [Arms] 45 45 60 9,0 9,0 18,0
Rated motor speed p0311 [rpm] 800 640 600 800 710 485
Motor pole pair number p0314 [] 33
Motor torque constant p0316 [Nm/Arms] 4,1 5,8 7,3 4,8 8,0 8,6
Motor voltage constant p0317 [V/1000rpm] 289 482 518 289 482 518
Motor stall current p0318 [Arms] 31,8 31,8 42,4 6,4 6,4 12,7
Motor stall torque p0319 [Nm] 130 216 308 30 51 110
Maximum motor speed p0322 [rpm] 800
Maximum motor current p0323 [Arms] 85 85 113 18 18 36
Motor stall torque correction factor p0326 [%] 100
Optimum motor load angle p0327 [°] 90
Motor reluctance torque constant p0328 [mH] 0
Motor limit current p0338 [Arms] 85 85 113 18 18 36
Motor moment of inertia (M128S) p0341 [kgm²] 0,058 0,098 0,138 0,058 0,098 0,138
Motor stator resistance cold p0350 [Ω] 0,2 0,25 0,2 0,2 0,25 0,2
Motor stator leakage inductance p0356 [mH] 0,98 1,6 1,3 1,2 2,0 1,7
Current controller adaptation
p0391 [Arms] 85 85 113 18 18 36
starting point KP
Current controller adaptation
p0392 [Arms] 85 85 113 18 18 36
starting point KP adapted
Current controller adaptation p gain
p0393 [%] 100
adaptation
Motor temperature alarm threshold p0604 [°C] 110
Motor temperature fault threshold p0605 [°C] 130
Comments All not given values are according to the SIEMENS standard parameters

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