Metronix ARS 2100 SE Manual
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Metronix ARS 2100 SE Manual

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Metronix Meßgeräte und Elektronik GmbH
Kocherstraße 3
38120 Braunschweig
Germany
Servo drives ARS 2100 SE
Phone:
+49-(0)531-8668-0
Telefax:
+49-(0)531-8668-555
E-Mail:
vertrieb@metronix.de
http://www.metronix.de
Standard Edition
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  • Page 1 Servo drives ARS 2100 SE Standard Edition Manual Metronix Meßgeräte und Elektronik GmbH Phone: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 38120 Braunschweig E-Mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 2 In the case of serious deviations from the user documentation, Metronix has the right and the obligation to repair, unless it would involve an unreasonable effort. A possible liability does not include deficiencies caused by deviations from the operating conditions intended for the device and described in the user documentation.
  • Page 3 Page 3 Revision Information Author: Metronix Meßgeräte und Elektronik GmbH Product Manual „Servo drives ARS 2100 SE“ Manual title: File name: P-HB_ARS2100_SE_5p0_EN_mBre.docx Version 5.0 December 2015 TABLE OF CONTENTS: Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 4: Table Of Contents

    TECHNICAL DATA.....................35 4.1 General Technical data................35 4.2 Operating and display elements.............36 4.3 Supply [X9]....................37 4.4 Motor connection [X6]................38 4.4.1 Current derating................38 4.5 Motor feedback connection [X2A] and [X2B]........42 4.5.1 Resolver connection [X2A]............42 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 5 4.6.7 Incremental encoder output [X11]..........48 FUNCTION OVERVIEW..................49 5.1 Motors......................49 5.1.1 Synchronous servo motors............49 5.1.2 Linear motors................49 5.2 Functions of the ARS 2100 SE series servo drives......50 5.2.1 Compatibility................50 5.2.2 Pulse width modulation (PWM)...........50 5.2.3 Set point management..............52 5.2.4 Torque-controlled mode..............52 5.2.5...
  • Page 6 8.6 Connection: Resolver [X2A]..............85 8.6.1 Device side [X2A]................85 8.6.2 Counterplug [X2A]...............85 8.6.3 Pin assignment [X2A]..............85 8.6.4 Cable type and design [X2A]............86 8.6.5 Connection notes [X2A]..............86 8.7 Connection: Encoder [X2B]..............87 8.7.1 Device side [X2B]................87 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 7 8.11.4 Cable type and design [X19].............101 8.12 Connection [X40]..................102 8.13 SD-/SDHC-/MMC-Card................102 8.13.1 Supported card types..............102 8.13.2 Supported functions..............102 8.13.3 Supported file systems..............102 8.13.4 File names.................102 8.13.5 Pin assignment SD-/SDHC-/MMC-Card........103 8.13.6 BOOT-DIP-Switch..............104 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 8 INITIAL OPERATION..................110 10.1 General notes on connection..............110 10.2 Tools / material..................110 10.3 Connecting the motor................110 10.4 Connecting the servo drive ARS 2100 SE to the power supply..111 10.5 Connecting the PC (USB interface)............111 10.6 Checking operability................111 SERVICE FUNCTIONS AND ERROR MESSAGES........112 11.1 Protection and service functions............112...
  • Page 9 Servo drive ARS 2100 SE: Mounting plate..............67 Figure 12: Connection to power supply [X9] and motor [X6]............68 Figure 13: Complete setup of the ARS 2100 SE (example with STO) with motor and PC....71 Figure 14: Supply [X9]........................74 Figure 15: Motor connection [X6]....................78...
  • Page 10 Page 10 Table of Tables: Table 1: Scope of supply ARS 2100 SE with STO..............13 Table 2: Scope of supply ARS 2100 SE without STO...............13 Table 3: Connector set: POWER connector................13 Table 4: Connector set: DSUB connector.................14 Table 5: Connector set: Shield connector.................14 Table 6: Technical data: Ambient conditions and qualification...........35...
  • Page 11 Pin assignment: USB interface [X19]................101 Table 42: Pin assignment: SD- and SDHC-Card...............103 Table 43: Pin assignment: MMC-Card..................103 Table 44: EMC requirements: First and second environment...........106 Table 45: Operating mode and error display................115 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 12: Documentation

    1 Table 46: Error messages 116General 1.1 Documentation This product manual serves the purpose of a safe use of the ARS 2100 SE series servo drives. It contains safety notes, which must be complied with. Further information can be found in the following manuals: ...

  • Page 13: Scope Of Supply

    Page 13 1.2 Scope of supply The scope of supply includes: Table 1: Scope of supply ARS 2100 SE with STO Servo drive ARS 2100 SE with STO Type ARS 2102 SE ARS 2105 SE ARS 2108 SE Metronix part number...
  • Page 14 Table 5: Connector set: Shield connector Connector set: Shield connector This connector set includes two shield terminals (SK14) ARS 2102 SE ARS 2105 SE ARS 2108 SE Type Metronix part number 9200-0202-00 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 15: Safety Notes For Electrical Drives And Controllers

    Important information and notes. Caution! Nonobservance may result in severe property damages. DANGER! Nonobservance may result in property damages and in personal injuries. Caution! Dangerous voltages. The safety note indicates a possible perilous voltage. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 16: General Notes

    Page 16 2.2 General notes In case of damage resulting from non-compliance with the safety notes in this manual, Metronix Meßgeräte und Elektronik GmbH will not assume any liability. Prior to the initial use you must read the Safety notes for electrical drives and controllers, starting on page 15 and chapter 8.14 Notes on safe and EMC-compliant...
  • Page 17 Inappropriate handling of the servo drive and non-compliance with the warnings as well as inappropriate intervention in the safety features may result in property damage, personal injuries, electric shock or in extreme cases even death. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 18: Danger Resulting From Misuse

    Surfaces of device housing may be hot! Risk of injury! Risk of burning! DANGER! Dangerous movements! Danger to life, serious personal injury or property damage due to unintentional movements of the motors! Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 19: Safety Notes

    The general setup and safety regulations for work on power installations (for example DIN, VDE, EN, IEC or other national and international regulations) must be complied with. Non-compliance may result in death, personal injury or serious property damages. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 20 More standards to be respected by the user: EN 574 Safety of machinery - Two-hand control devices EN 1088 Safety of machinery - Interlocking devices associated with guards EN ISO 13850 Safety of machinery - Emergency stop Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 21: Safety Notes For Assembly And Maintenance

    (screws, nuts, cable sections) from falling into the servo drive. Also make sure that the external power supply of the servo drive (24 V) is switched off. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 22 The servo drive and in particular the brake resistor, externally or internally, can assume high temperatures, which may cause serious burns. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 23: Protection Against Contact With Electrical Parts

    DC bus or in the case of an unconnected brake resistor, this rapid discharge may be rendered ineffective. The servo drives can carry voltage until up to 5 minutes after being switched off (residual capacitor charge). Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 24: Protection Against Electrical Shock By Means Of Protective Extra-Low Voltage (Pelv)

    0 to 50 Volts. Only connect voltages and circuits with protection against dangerous voltages. Such protection may be achieved by means of isolation transformers, safe optocouplers or battery operation. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 25: Protection Against Dangerous Movements

    The safety regulations applying to the system are also taken into consideration. Random movements or other malfunctions may be caused by switching the safety installations off, by bypassing them or by not activating them. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 26: Protection Against Contact With Hot Parts

    Before accessing devices let them cool down for 10 minutes after switching them off. Touching hot parts of the equipment such as the housing, which contain heat sinks and resistors, may cause burns! Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 27: Protection During Handling And Assembly

    Use lifting devices and tools appropriately. If necessary, use suitable protective equipment (for example goggles, protective footwear, protective gloves). Do not stand underneath hanging loads. Remove leaking liquids on the floor immediately to prevent slipping. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 28: Product Description

    The ARS 2000 SE series servo drives includes types with single-phase and three-phase supply. Type key: Example using the ARS 2105 SE Figure 1: Type key The single-phase supply types are designed for connection to the 230 VAC mains. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 29  Speed and angle synchronisation with electronic gear system via incremental encoder input or fieldbus  Extensive modes of operation for synchronisation  Various methods for homing  Jogging  Teach-in mode Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 30  For the ARS 2000 SE series servo drives with the integrated safety function STO: “STO” (Safe Torque Off, corresponds to EN 60204 Stop 0), SIL 3 in accordance with ISO EN 61800-5-2 / PL e in accordance with ISO EN 13849-1 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 31: Power Supply

    1.1.1.1 Behaviour during switch-on  As soon as the servo drive ARS 2100 SE is supplied with the input voltage, the DC bus is charged (< 1 s) using the brake resistor as a precharging resistor, the DC link relay deactivated.

  • Page 32: Dc Bus Coupling, Dc Supply

    DC bus is exceeded, the braking energy can be converted into heat by the internal brake resistor. The brake chopper is software-driven. The internal brake resistor is overload-protected by means of software and hardware. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 33: Communication Interfaces

    In any case, the servo drive of this design always works as a slave to the fieldbus. 3.4.1 USB interface [X19] This interface was mainly intended as a parameterisation interface, but it can also be used for controlling the servo drives. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 34: Udp Interface [X18]

    3.4.3 CAN interface [X4] The CANopen protocol as per DS301 with application profile DSP402 is implemented. The specific Metronix CAN protocol of the previous ARS devices is no longer supported by the ARS 2000 SE series. 3.4.4 I/O functions and device control Ten digital inputs provide the elementary control functions (see chapter 4.6.5 I/O interface [X1],...

  • Page 35: Technical Data

    Type ARS 2102 SE ARS 2105 SE ARS 2108 SE Dimensions including the 261 mm*54,6 mm*205 mm mounting plate (H*W*D) Housing dimensions 200 mm*54 mm*200 mm (H*W*D) Weight approximately 1,8 kg Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 36: Operating And Display Elements

     2000   3400  4.2 Operating and display elements On the front the ARS 2100 SE series servo drives have two LEDs and one seven-segment display to indicate the operating status. Table 10: Display elements and RESET button...

  • Page 37: Supply [X9]

    ARS 2102 SE ARS 2105 SE ARS 2108 SE  50   25  Brake resistance  2500 W Continuous power  460 V  400 V Max. operating voltage (at output) Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 38: Motor Connection [X6]

    **) "As a guideline". 4.4.1 Current derating The ARS 2100 SE series servo drives have a current derating during nominal operation. The rated current and the time of the maximum allowed peak current of the servo drive depend on different factors.
  • Page 39 Therefore, in the following you will find two tables for the ARS 2108 SE: the first one applies to blocked or slowly rotated motors (electrical rotational frequency  2 Hz); the second one applies to faster rotated motors (electrical rotational frequency  3 Hz). Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 40: Table 15: Ars 2102 Se: Rated Current For An Ambient Temperature Of 40 °C

    Output current (A Max. output current (A 13,2 17,6 Max. allowed time (s) Power stage clock frequency (kHz) Output current (A Max. output current (A 11,1 14,8 Max. allowed time (s) Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 41: Table 17: Ars 2108 Se: Rated Current For Blocked Or Slowly Rotated Motor

    Output current (A Max. output current (A 12,6 18,9 25,2 Max. allowed time (s) Power stage clock frequency (kHz) Output current (A Max. output current (A 10,4 15,6 20,8 Max. allowed time (s) Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 42: Table 18: Ars 2108 Se: Rated Current For Rotated Motor (F  3 Hz) And For An Ambient Temperature Of  40 °C

    Output current (A Max. output current (A 12,6 18,9 25,2 Max. allowed time (s) Power stage clock frequency (kHz) Output current (A Max. output current (A 10,4 15,6 20,8 Max. allowed time (s) Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 43: Motor Feedback Connection [X2A] And [X2B]

    ® the "Motor Data" menu of the Metronix ServoCommander parameterisation program so that the ARS 2100 SE determines the speed correctly. The number of pairs of poles of the motor (P ) is 0Motor always an integer multiple of the number of pairs of poles of the resolver (P ).

  • Page 44: Encoder Connection [X2B]

    EnDat (Heidenhain) and HIPERFACE (Sick-Stegmann) Output supply 5 V or 12 V; max. 300 mA; current-limited control via sensor lines Set point programmable via SW Standard incremental encoders without commutation signals: Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 45 This type of encoder is used with low-cost linear motor applications, to save the costs for the provision of the commutation signals (hall sensor). With this type of encoder the ARS 2100 SE series servo drives carry out an automatic pole position determination after power-on.
  • Page 46 (1 – 16384 lines/rotation). There is an additional offset angle for the hall sensor signals. It is determined during motor identification or can be set via the parameterisation software Metronix ServoCommander ® . In general, the hall sensor offset angle is zero.

  • Page 47: Communication Interfaces

    ISO/DIS 11898, full CAN controller, max. 1 MBaud CANopen protokoll as per DS301 and DSP402 4.6.4 SD-/SDHC-/MMC-Card Table 25: Technical data: SD-/SDHC-/MMC-Card Communication interface Values Card type SD, SDHC and MMC File system FAT12, FAT16 and FAT32 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 48: I/O Interface [X1]

    24 V, max. 100 mA DIN 10 DOUT 3 Freely configurable, optional use as input 24 V, max. 100 mA DIN 11 DOUT 4 [X6] Holding brake 24 V, max. 1 A Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 49: Incremental Encoder Input [X10]

    RS422- specifikation Max. input frequency 1000 kHz Pulse direction interface: CLK, #CLK, DIR, #DIR, RESET, In accordance with RS422- #RESET specifikation Supply output 5 V, max. 100 mA Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 50: Incremental Encoder Output [X11]

    As per RS422 specification speciality N-Trace disconnectable = 66  Output impedance a,diff Limit frequency > 1,8 MHz (lines/s) Limit Edge sequence Can be limited by parameters Output supply 5 V, max. 100 mA Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 51: Function Overview

    5.1.2 Linear motors Besides rotary applications, the ARS 2100 SE series servo drives are also suitable for linear drives. Here also, permanently excited synchronous linear motors are supported. Due to the high signal processing quality, the ARS 2100 SE series servo drives are particularly suitable for driving air-core and iron-core synchronous motors with low motor inductances (2 …...

  • Page 52: Functions Of The Ars 2100 Se Series Servo Drives

    5.2.2 Pulse width modulation (PWM) The ARS 2100 SE series servo drives are able to vary the clock frequency in the current controller circuit. In most cases the settings can be made using the parameterisation software Metronix ServoCommander ®...

  • Page 53: Table 30: Output Voltage At The Motor Terminals In The Case Of A Dc Bus Circuit Voltage

    Page 53 The ARS 2100 SE series servo drive also features a sine modulation or alternatively a sine modulation with third harmonic. This increases the effective converter output voltage. The type of modulation can be selected via the Metronix ServoCommander ®...

  • Page 54: Set Point Management

    The motor speed exactly follows the speed set by the set point management. The cycle time of the speed control loop for the servo drive ARS 2100 SE is twice the PWM period duration, thus typically 208,4 µs. However, it can also be set as an integer multiple of the current controller cycle time.

  • Page 55: Torque-Limited Speed Control

    (speed synchronisation via [X10] for speed controller). 5.2.6 Torque-limited speed control The ARS 2100 SE series servo drives support torque-limited speed-controlled operation with the following features:  Fast updating of the limit value, for example in 200 µs cycle ...

  • Page 56: Positioning And Position Control

    The ARS 2100 SE series servo drives allow master-slave operation, which in the following will be called synchronisation. The servo drives can serve as master or slave. If the servo drive ARS 2100 SE is the master, it can provide the slave with its current rotor position at the incremental encoder output [X11].

  • Page 57: Contouring Control With Linear Interpolation

    The implementation of the clock synchronisation allows simultaneous movements for multi-axis applications in conjunction with “interpolated positioning mode”. All ARS 2100 SE series servo drives, that is the entire controller cascade, will be synchronized to the external clock signal. Pending positioning values in the case of multiple axes are then taken over and executed simultaneously without jitter.
  • Page 58 Page 58 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 59: Electronic Cam Disk

    Via the parameterisation program Metronix ServoCommander ® the servo drive ARS 2100 SE can provide the following functionalities:  Cam disks with cam switches and axis error compensations can be loaded from an Excel table  Display, activation and online manipulation of cam disks ...

  • Page 60: Positioning Mode

     Different options on the setup of path programs The positioning sets can be activated via all bus systems or via the parameterisation software Metronix ServoCommander ® . The positioning process can be controlled via digital inputs. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 61: Relative Positioning

    Since the acceleration changes continuously, the drive is extremely gentle on the mechanics. at time optimal jerk limit jerk limit a(t) a(t) a(t) v(t) v(t) v(t) Figure 4: Driving profiles of the servo drive ARS 2100 SE Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 62: Homing

    Every positioning control requires a defined zero at start-up, which is determined by means of a homing. The ARS 2100 SE series servo drives can do this homing on their own. As reference signals it evaluates different inputs, for example the limit switch inputs.

  • Page 63: Optional Stop Input

    The ARS 2100 SE servo drive supports jogging in a positive and negative direction. You can define a separate running speed and separate accelerations for every direction. In addition, you can assign one input for jogging in a positive direction and one input for jogging in a negative direction.

  • Page 64: Functional Safety Technology

    Figure 6. For further information please refer to the Product Manual “STO (Safe Torque Off) for the servo drives ARS 2000 SE”. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 65: Figure 6: Schematic Representation Of The Integrated Safety Function Sto

    Page 65 Figure 6: Schematic representation of the integrated safety function STO Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 66: Mechanical Installation

    150mm is recommended!  Mounting distance: The servo drive ARS 2100 SE may be installed adjacently in one switch cabinet without a gap, proper usage and installation on a heat-dissipating rear panel provided. Please note that excessive heat may cause premature aging and/or damaging of the device.

  • Page 67: Installation Free Space And Mounting Distance

    Page 67 7.2 Installation free space and mounting distance Figure 7: Servo drives ARS 2100 SE with and without STO: Installation free space and mounting distance Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 68: View Of The Device

    Page 68 7.3 View of the device Figure 8: Servo drive ARS 2102 SE: Front view Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 69 Page 69 Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 70: Figure 9: Servo Drive Ars 2102 Se: Top View

    Page 70 [X11] OUT [X10] IN [X1] I/O [X9] Figure 9: Servo drive ARS 2102 SE: Top view Figure 10: Servo drive ARS 2102 SE: Bottom view Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 71: Mounting

    Page 71 7.4 Mounting The ARS 2100 SE series servo drives have attachment lugs on the top and the bottom of the device. These lugs are used to mount the servo drive vertically to a control cabinet plate. The lugs are part of the cooling body profile. This is why the best possible heat transfer to the control cabinet plate has to be ensured.

  • Page 72: Electrical Installation

    Page 72 8 Electrical installation 8.1 Connector configuration The ARS 2100 SE series servo drives are connected to the supply voltage, the motor, the brake resistor and the holding brakes as shown in Figure 12. ARS 2100 SE 100 VAC ... 230 VAC...
  • Page 73 Page 73 The operation of the ARS 2100 SE series servo drives requires a 24V voltage supply source for the electronics supply, which is connected to the terminals +24V and GND24V. The connection to the supply for the power output stage is either made to terminals L and N for AC supply or to ZK+ and ZK- for DC supply.

  • Page 74: Ars 2100 Se Complete System

    Page 74 8.2 ARS 2100 SE complete system The complete servo drive ARS 2100 SE system is shown in Figure 13. The following components are required for using the servo drive:  Main switch mains supply  Fault current protection switch type B (RCD), AC/DC sensitive 300mA (if this is required by an application) ...

  • Page 75: Figure 13: Complete Setup Of The Ars 2100 Se (Example With Sto) With Motor And Pc

    Page 75 Figure 13: Complete setup of the ARS 2100 SE (example with STO) with motor and PC Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 76: Connection: Power Supply [X9]

    Page 76 8.3 Connection: Power supply [X9] The servo drive ARS 2100 SE receives its 24 VDC power supply for the control electronics via connector [X9]. The mains voltage supply is single-phase. As an alternative to AC feed or for the purpose of DC bus coupling a direct DC supply for the DC bus is possible.

  • Page 77: Pin Assignment [X9]

    However, similar cables from other manufacturers, for example Lütze or Helukabel, may also be used. For the 230 VAC supply:  LAPP KABEL ÖLFLEX CLASSIC 110; 3 x 1,5 mm² Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 78: Connection Notes [X9]

    PHOENIX COMBICON MSTB 2,5/9-ST-5,08 BK ARS 2108 SE: The servo drive ARS 2100 SE has an internal brake chopper with brake resistor. For more brake power it is possible to connect an external brake resistor to the connector [X9]. If no external brake resistor is used, a bridge must be connected between PIN 5 and PIN 6 so that the DC bus precharge, when the mains power supply is “ON”, and the DC...

  • Page 79: Connection: Motor [X6]

     ARS 2102 SE and ARS 2105 SE PHOENIX MINI-COMBICON connector housing 12-pole, KGG-MC1,5/12 BK  ARS 2108 SE PHOENIX COMBICON connector housing 12-pole, KGS-MSTB 2,5/9 BK  Coding to PIN 1 (BR-) Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 80: Pin Assignment [X6]

    Please comply with Chapter 9 Additional requirements for the servo drives concerning the UL approval on page 113. The cable shield of the motor cable must also be connected to the servo drive housing (PE screw terminal). Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 81: Cable Type And Design [X6]

    LAPP KABEL ÖLFLEX SERVO FD 755 P; 4 G 2,5 + 2 x (2 x 0,75) CP; 15,1 mm, with tinned total Cu shield for highly flexible use in drag chains Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 82: Connection Notes [X6]

     Connect total shield on motor side flat to connector or motor housing; maximum length 40 mm Via terminals ZK+ and ZK- the DC buses of several ARS 2100 SE series servo drives can be interconnected. The coupling of the DC bus is interesting for applications with high brake energies or if movements have to be carried out even in the case of power failure.

  • Page 83: Figure 16: Connecting A Holding Brake With High Current Draw (> 1A) To The Device

    The switching of inductive direct current via relay produces strong currents and sparking. For interference suppression we recommend integrated RC suppressor elements, for example by Evox RIFA, denomination: PMR205AC6470M022 (RC element with 22  in series with 0.47 µF). Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 84: Connection: I/O Communication [X1]

    24 V inputs and outputs: These signals refer to the 24 V supply voltage of the servo drive ARS 2100 SE which is fed via [X9], and separated from the reference potential of the control module by means of optocouplers.

  • Page 85: Figure 17: Basic Circuit Diagram Connector [X1]

    Basic circuit diagram connector [X1] The servo drive ARS 2100 SE comprises one differential (AIN 0) and two single-ended analogue inputs, designed for input voltages within a range of 10V. The inputs AIN 0 and #AIN 0 are lead to the control via twisted cables (twisted pair design).

  • Page 86: Device Side [X1]

    1:1 to the differential inputs of the servo drive ARS 2100 SE. The reference potential AGND is connected to the reference potential of the control. This is necessary in order to prevent the differential input of the servo drive ARS 2100 SE from being overridden by high "common-mode interference".

  • Page 87: Pin Assignment [X1]

    Output operational DOUT 1 24 V / 100 mA Output freely programmable DOUT 2 24 V / 100 mA Output freely programmable DOUT 3 24 V / 100 mA Output freely programmable Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 88: Cable Type And Design [X1]

    This internal cable shield is connected to AGND (Pin 1 or 14) on one side of the ARS 2100 SE. It can be connected on both sides in order to establish a connection between the reference potentials of the control and the servo drive ARS 2100 SE. Pins 1 and 14 are directly connected to each other inside the controller.

  • Page 89: Connection: Resolver [X2A]

    In addition, a low-impedance connection of the outer cable shield to the housing of the servo drive has to be established. Therefore, the outer cable shield of the angle encoder cable must be connected to the housing of the angle encoder connector. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 90: Cable Type And Design [X2A]

    Pin assignment: Resolver connection [X2A]  The outer shield is always connected to PE (connector housing) on the servo drive.  The three inner shields are connected on one side of the servo drive ARS 2100 SE to Pin 3 of [X2A].

  • Page 91: Connection: Encoder [X2B]

     Digital incremental encoder 8.7.1 Device side [X2B]  D-SUB connector, 15-pole, female 8.7.2 Counterplug [X2B]  D-SUB connector, 15-pole, male  Housing for 15-pole D-SUB connector with bolting screws 4/40 UNC Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 92: Pin Assignment [X2B]

    In addition, a low-impedance connection of the outer cable shield to the housing of the servo drive has to be established. Therefore, the outer cable shield of the angle encoder cable must be connected to the housing of the angle encoder connector. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 93: Table 36: Pin Assignment: Incremental Encoder With Serial Interface (For Example Endat, Hiperface ) [X2B]

    In addition, a low-impedance connection of the outer cable shield to the housing of the servo drive has to be established. Therefore, the outer cable shield of the angle encoder cable must be connected to the housing of the angle encoder connector. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 94: Cable Type And Design [X2B]

     a minimum cross-section of 0,25 mm² for an angle encoder cable length up to 25 m  a minimum cross-section of 0,5 mm² for an angle encoder cable length up to 50 m. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 95: Connection Notes [X2B]

    [X2B]! Therefore, start the parameterisation software Metronix ServoCommander ® and select Parameters/Device parameters/Angle encoder settings. Figure 20: Metronix ServoCommander ® : Angle encoder settings [X2B] Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 96: Figure 21: Pin Assignment: Incremental Encoder With Serial Communication Interface (For Example Endat, Hiperface ) [X2B]

    Male COS_Z0 #COS_Z0 SIN_Z0 #SIN_Z0 Shield connector Cable shield SK 14 (optional) Connector housing Figure 21: Pin assignment: Incremental encoder with serial communication interface ® (for example EnDat, HIPERFACE ) [X2B] Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 97: Figure 22: Pin Assignment: Digital Incremental Encoder [X2B]

    Page 97 Figure 22: Pin assignment: Digital incremental encoder [X2B] Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 98: Connection: Incremental Encoder Input [X10]

    RS422 Reference GND for encoder Shield for the connection cable + 5 V / 5 % Auxiliary supply (short circuit-proof), load with 100 mA 100 mA maximum! Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 99: Cable Type And Design [X10]

    RS422. Processing of other signals and levels (for example 5V single-ended or from a PLC) may be possible. Please contact your sales representative. Figure 23: Pin assignment: Incremental Encoder Input [X10] Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 100: Connection: Incremental Encoder Output [X11]

    Reference GND for encoder Shield for connection cable + 5 V / 5 % Auxiliary supply (short-circuit-proof), load with 100 mA 100mA maximum The value for RA is the differential output resistance Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 101: Cable Type And Design [X11]

    Pin assignment: Incremental Encoder Output [X11] The output driver at the signal output provides differential signals (5 V) as per interface standard RS422. Up to 32 other servo drives may be driven by one device. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 102: Connection: Can-Bus [X4]

    For terminating the CAN bus on both ends, an integrated 120 Ohm resistor is provided and can be switched on with the CAN Term switch at the ARS 2000 SE front. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 103: Cable Type And Design [X4]

    DIP switch “CAN TERM” that is located on the front panel (see Figure 8 and Figure 26)  Shielded cables with exactly two twisted pairs must be used for cabling Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 104: Figure 26: Integrated Can Terminating Resistor

     The cores of the other pair are used jointly for CAN-GND  The shield of the cable is led to the CAN shield connections for all nodes  For suitable and Metronix-recommended cables please refer to chapter 8.10.4 Cable type and design [X4] ...

  • Page 105: Connection: Usb [X19]

    In order to set up a USB connection, it is mandatory to use a twisted and shielded (4-core) cable since, otherwise, the transmission may be subject to interferences. In addition, it must be ensured that the cable has a wave impedance of 90 Ω. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 106: Connection [X40]

    8.3 file and directory names have at most eight characters (letters or numbers) followed by a period “.” and a filename extension of at most three characters. File and directory names may only consist of upper-case characters and numbers. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 107: Pin Assignment Sd-/Sdhc-/Mmc-Card

    Host to Card Commands and Data Vss1 Supply Voltage Ground Supply Voltage Ground Supply Voltage Supply Voltage Clock Clock Vss2 Supply Voltage Ground Supply Voltage Ground DAT/DO Data 0 Card to Host Data and Status Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 108: Boot-Dip-Switch

    When there is no SD-/MMC-Card in the card slot of the servo drive and the BOOT-DIP-Switch is in the position “ON” (firmware download requested), the error 29-0 is triggered after a restart/reset. This error stops all further performances. This means that there is no communication possible via USB. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 109: Notes On Safe And Emc-Compliant Installation

     Superimposed control In order to increase interference immunity and to decrease interference emissions the servo drive ARS 2100 SE already comprises output chokes and mains filters, so that it can be operated without additional shielding and filtering devices in most applications.

  • Page 110: Emc Areas: First And Second Environment

    Page 110 8.14.3 EMC areas: first and second environment Proper installation and wiring of all connecting cables provided, the ARS 2100 SE series servo drives fulfil the requirements of product standard EN 61800-3. This standard no longer refers to "classes", but to so-called environments.

  • Page 111: Emc Compliant Cabling

     Motor cable and angle encoder cable must be shielded  The shield of the motor cable is connected to the housing of the servo drive ARS 2100 SE (shield connection terminal). The cable shield also has to be connected to the associated servo drive so that the leakage currents can flow back into the servo drive causing the leakage ...

  • Page 112: Operation With Long Motor Cables

    To prevent such discharge, protective caps are available (for example Spoerle). The ARS 2100 SE series servo drives have been designed to provide high interference immunity. For that reason, some individual functional blocks are electrically isolated. Inside the device the signals are transmitted via optocouplers.

  • Page 113: Additional Requirements For The Servo Drives Concerning The Ul Approval

    The sensor has to be connected to the servo drive and the temperature monitoring has to be activated accordingly on the software side. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 114: Initial Operation

     Apply the shield of the motor or angle encoder cable over a large contact area with the aid of the shield connection clamp SK14  Check all connections again Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 115: Connecting The Servo Drive Ars 2100 Se To The Power Supply

     Plug the plug A of the USB interface cable into the socket for the USB interface of the PC  Plug the plug A of the USB interface cable into the socket [X19] USB of the ARS 2100 SE servo drive ...

  • Page 116: Service Functions And Error Messages

    11.1 Protection and service functions 11.1.1 Overview The ARS 2100 SE series servo drives have a powerful sensor analysis, which monitors the proper functioning of the controller, power output stage, motor and communication with the outside world. All occurring errors are stored in an internal error memory. Most errors will cause the controller unit to shut down the servo drive and the power output stage.

  • Page 117: Temperature Monitoring Of The Heat Sink

    11.1.6 I²t monitoring The ARS 2100 SE servo drives comprise an I²t monitoring to limit the average power loss in the power output stage and in the motor. Since the occurring power loss in the power electronics and in the motor in the worst case increases square with the current, the squared current value is assumed as the measure for the power loss.

  • Page 118: Initial Operation Status

    Servo drives, which are sent to Metronix for service, will be equipped with a different firmware and other parameters for testing purposes. Before the next initial operation at the customer the servo drive ARS 2100 SE must be parameterised again. The parameterisation software Metronix ServoCommander ®...

  • Page 119: Operating Mode And Error Messages

    A warning is displayed at least twice on the seven-segment-display. The numbers are successively indicated. Option “STO” (Safe Torque-Off) only active for the ARS 2000 SE devices with STO. (seven-segment display = “H”, blinking with a frequency of 2 Hz) Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

  • Page 120: Error Messages

    An exchangeable error buffer has been plugged (module change) into another device. No measures required. Log add-on: Permanent event Information: Entry in permanent event memory. memory and FSM module “An additional record was found.” No measures required. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 121 Motor Overtemperature Check the connecting cables of the temperature (analogue): wire break sensor (broken wire). Check the parameterisation of wire break detection system (threshold value). Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 122 Failure of internal voltage 15 V Please return the device to our sales partner. Faulty encoder supply Short circuit in the power output Motor defective? stage Short circuit in the cable? Power output stage defective? Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 123 The internal monitoring system of the angle encoder at [X2B] has detected an error. Communication error? If necessary, contact the Technical Support. Encoder at [X2B] not supported Please contact the Technical Support. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 124 The required index pulse is not provided. Homing: timeout The maximum time that has been parameterised for homing has been reached before the homing run could be completed. Check the parameterisation of the time. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 125 Check the start sequence of the application. Replace the device. If the error has been successfully eliminated by replacing the device, return the replaced device to your sales partner. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 126 Check the angle encoder settings. Invalid Hall signals Check the connection. Check the data sheet as to whether the encoder provides 3 Hall signals with 120° or 60° segments. If necessary, contact the Technical Support. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 127 Sensor defective? Check the parameterisation of the sensor or the characteristic curve of the sensor. If the error occurs also when the sensor is bypassed, return the device to our sales partner. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 128 If necessary, request an update from the Technical Support. Device functionality restricted! Please return the device to our sales partner. Invalid power module type Check the firmware version. If necessary, request an update from the Technical Support. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 129 Operating hours counter corrected Operating hours counter converted No SD card Please contact the Technical Support SD card: initialisation error SD card: data error SD card: write error SD card: firmware download error Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 130 Power supply failure during the Check the power supply. controller enabling process Phase failure Following error, encoder Check the settings of the incremental encoder emulation emulation (number of lines). If necessary, contact the Technical Support. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 131 Check the settings for the operating modes in unknown operation mode the IDN S-0-0032 to S-0-0035. selected Sercos: Increase the baud rate. T3 invalid Shift the point of time T3 manually. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 132 (S-0-0026 / S-0-0027). 0027 Sercos: Check the weighting settings. error during the conversion If necessary, contact the Technical Support. Sercos: Technology module defective? SERCON 410b mode active Replace the technology module. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 133 The positioning target cannot be reached with position: stop the current positioning options or boundary conditions. Positioning: reversal of rotation Check the positioning parameters. not permissible: stop Positioning: reversal of rotation not permissible after a stop Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 134 The maximum number of PDOs must not be greater than the factor tp between the position controller and IPO (menu: Parameters/Controller parameters/Cycle times). SDO error occurred Please contact the Technical Support. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 135  If only a module with a more recent version is available: Load firmware that is appropriate for the module, see type designation on the module. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 136 Control ports STO-A and STO-B are time overrun not actuated simultaneously. Action: Check discrepancy time. Cause: Control ports STO-A and STO-B are not wired in the same way. Action: Check circuitry of the inputs. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 137 In this case, the error occurs when the basic device moves in the blocked direction in the Positioning mode. Action: Check application and change if necessary. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 138 Action: See USF0, error 53-0. USF3: Safety condition violated Cause: Violation of monitored speed limits of the SSF3 in operation / when USF3 / SSF3 requested. Action: See USF0, error 53-0. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 139  With b) If the actual speed value is very noisy at rest. Check and if necessary adjust expert parameters for speed recording and detection of idling Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 140  With b) If the actual speed value is very noisy when at rest: Check and if necessary adjust expert parameters for speed recording and detection of standstill. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 141 (energised).  Only if brake control takes place via DOUT4x and an external brake controller: Deactivate 24 hr monitoring in the SBC parameters if the external brake controller allows this. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 142 Standstill > 24 hrs have not changed by a minimum amount for 24 hours (when safety function is requested). Action: Terminate SS2 or SOS and move axle at least once during this time. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 143 / screening).  Check the supply voltage for the ENDAT encoder.  Check the motor cable / screening on motor and drive side – EMC malfunctions may trigger the error. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 144 (P06.07) should be at least 30% ... 50% above the maximum acceleration actually occurring.  In case of an angle jump in the position data transmitted from the basic device - Acknowledge error once. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 145 µC2 has detected an angle difference or rotational speed difference or difference in capture times for the position encoders. Action: Timing disrupted. If the error occurs again after a reset, the safety module is presumably faulty. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 146 Disconnect the brake connection lines at X6.  If there is no error in the connection wiring, there may be an internal error in the module (check by swapping the module). Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 147 (high control cabinet temperature, high power consumption / output to motor, large number of occupied slots), a servo drive of the next higher output level should be used. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 148 - this may overload the communication connection.  Check whether the firmware versions of the safety module and basic device and the versions of the Metronix ServoCommander® and SafetyTool are compatible. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 149 Action:  Internal malfunction in the servo drive.  Check whether the firmware versions of the safety module and basic device and the versions of the Metronix ServoCommander ® SafetyTool are compatible. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 150  Safety module may be faulty – is error eliminated after replacing the module?  Check whether new firmware for the servo drive or a new version of the safety module is available from the manufacturer. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 151 Check whether the error occurs again. FSM: Log file - write error Please contact the Technical Support. FSM: Parameter set - save Please contact the Technical Support. error Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 152 Wrong protocol (no CAN over EtherCAT)? Check the EtherCAT wiring. EtherCAT: invalid RPDO length Check the protocol. Check the RPDO configuration of the servo drive EtherCAT: invalid TPDO length and of the control system. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 153 Check the DeviceNet wiring. DeviceNet: Please contact the Technical Support. CAN controller overflow DeviceNet: no module Technology module defective? Replace the technology module. DeviceNet: I/O connection Please contact the Technical Support. timeout Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 154 IRQ: Please contact the Technical Support. low-level overflow IRQ: MDC overflow Sequence control: general For information only, no measures required. CO write access started Please contact the Technical Support. multiple times Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 155 Error during booting of FPGA Error during start of SD-ADUs SD-ADU synchronisation error after start SD-ADU not synchronous IRQ 0 (current controller): trigger error CAN controller not available Device parameters checksum error DEBUG-Firmware loaded Product Manual „Servo drives ARS 2100 SE“ Version 5.0...
  • Page 156 Internal software initialization error Error during firmware download Incorrect firmware? Load the correct firmware. If necessary, contact the Technical Support. Error during Bootloader Update Please contact the Technical Support. Product Manual „Servo drives ARS 2100 SE“ Version 5.0...

This manual is also suitable for:

Ars 2102 seArs 2105 seArs 2108 se

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