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Metronix ARS 2302 Product Manual

Servo positioning controller
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DATASHEET
METRONIX
ARS2310
OTHER SYMBOLS:
RGB ELEKTRONIKA AGACIAK CIACIEK
SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street
51-162 Wrocław
Poland
biuro@rgbelektronika.pl
+48 71 325 15 05
www.rgbautomatyka.pl
www.rgbelektronika.pl
www.rgbelektronika.pl
www.rgbautomatyka.pl

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  • Page 1 DATASHEET METRONIX ARS2310 OTHER SYMBOLS: RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl www.rgbautomatyka.pl www.rgbelektronika.pl...
  • Page 2 YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
  • Page 3 Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310 Product Manual Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 4 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 5 Translation 21.10.2005 Release for distribution 09.03.2006 15.01.2007 Release 23.02.2010 Release Updated Corporate Identity – No technical 18.04.2011 changes Changes in chapter 2.2, reworked “List of 28.06.2011 Figures” Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...

  • Page 6: Table Of Contents

    3 PRODUCT DESCRIPTION..................23 4 TECHNICAL DATA....................29 5 FUNCTION OVERVIEW..................39 6 FUNCTIONAL SAFETY TECHNOLOGY..............49 7 MECHANICAL INSTALLATION................60 8 ELECTRICAL INSTALLATION................66 9 START-UP........................99 10 SERVICE FUNCTIONS AND ERROR MESSAGES...........101 11 TECHNOLOGIEMODULE...................116 Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 7 Technologiemodule Seite 5 List of Figures: Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 8 FIGURE 19: MOTOR CONNECTION [X6]..............73 FIGURE 20: CONNECTING A LOCKING BRAKE WITH HIGH CURRENT DEMAND (> 2A) TO THE DEVICE..................74 FIGURE 21: BASIC CIRCUIT DIAGRAM OF CONNECTION [X1]......75 Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 9 FIGURE 34: POSITION OF THE PIN-AND-SOCKET CONNECTORS [X21] AND [X22] AT THE FRONT PLATE.................125 FIGURE 35: MC 2000 4-AXIS MOTION COORDINATOR........126 FIGURE 36: MC 2000 4-AXIS MOTION COORDINATOR MAXIMUM CAPACITY 127 Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 10 Page 8 Technologiemodule List of Tables: Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 11 TABLE 21: OUTPUT VOLTAGE AT THE MOTOR TERMINALS IN THE CASE OF UZK = 560V......................40 TABLE 22: STOP CATEGORIES................50 TABLE 23: PIN ASSIGNMENT [X9]................69 TABLE 24: PIN-AND-SOCKET CONNECTOR [X9]: EXTERNAL BRAKING RESISTOR......................70 TABLE 25: PIN ASSIGNMENT [X6]................71 Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 12 Page 10 Technologiemodule TABLE 26: PIN ASSIGNMENT: I/O COMMUNICATION [X1]........77 Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...
  • Page 13 TABLE 46: EA88: CONNECTOR [X21] FOR 8 DIGITAL INPUTS......124 TABLE 47: EA88: CONNECTOR [X22] FOR 8 DIGITAL OUTPUTS.....124 TABLE 48: TECHNICAL DATA: MC 2000 4-AXIS MOTION COORDINATOR..128 Product Manual “Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310“ Version 4.0...

  • Page 14: General

    ARS 2100.  Product manual "Servo Positioning Controller ARS 2302 - 2310": Description of the technical data and the device functionality plus notes concerning the installation and operation of ARS 2302, 2305 and 2310 servo positioning controllers.
  • Page 15  SERCOS Manual “Servo Positioning Controller ARS 2000”: Description of the implemented SERCOS functionality. You can find all these documents on our homepage at the download area (http://www.metronix.de/). The entire software functionality of the new ARS 2000 product range will be implemented in the course of a step-by-step development process.
  • Page 16 25-pin DSUB connector, male DSUB housing for 25-pin DSUB connector Connector set: Metronix part number: 9200-0230-00 POWER connector for ARS 2302, 2305 + 2310 Content: 11-pin PHOENIX Combicon connector PC 4 HV/11-ST-7.62 9-pin PHOENIX Combicon connector PC 4 HV/9-ST-7.62...

  • Page 17: Safety Notes For Electrical Drives And Controls

    The note on safety contains a reference to a possibly occurring life dangerous voltage. 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.
  • Page 18 If you sell, rent and/or otherwise make this device available to others, these safety notes must also be included. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 19 Danger to life or serious personal injury from electrical shock! DANGER! High electrical voltage caused by wrong connections! Danger to life or serious personal injury from electrical shock! DANGER! Surfaces of device housing may be hot! Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 20 Preventive interference rejection measures should be taken for control panels, such as connecting contactors and relays using RC elements or diodes. The safety rules and regulations of the country in which the device will be operated must be complied with. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 21 EN 1037 Safety of machinery – Prevention of unexpected start-up DIN EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems – Part 1: General principles for design Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 22 The external or internal brake resistor carries dangerous DC bus voltages during operation of the servo drive controller and up to 5 minutes thereafter. Contact may result in death or serious personal injury. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 23 During operation of electrical devices some parts of these devices will inevitably carry dangerous voltages. DANGER! High electrical voltage! Danger to life, danger due to electrical shock or serious personal injury! Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 24 DC bus or in the case of an unconnected brake resistor, this rapid discharge may be rendered ineffective. The servo drive controllers can carry voltage until up to 5 minutes after being switched off (residual capacitor charge). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 25 These errors can occur directly after switching on the device or after an indeterminate time of operation. The monitors in the drive components for the most part rule out malfunctions in the connected drives. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 26 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! Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 27 Use lifting devices and tools appropriately. If necessary, use suitable protective equipment (e.g. goggles, protective footwear, protective gloves). Do not stand underneath hanging loads. Remove leaking liquids on the floor immediately to prevent slipping. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 28 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...

  • Page 29: Product Description

    All ARS 2300 servo positioning controllers have the following features:  Space-saving, compact design, directly cascadable.  High-quality control system with high-end sensors and above-average computer resources, clearly outperforming the usual market standards. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 30  Point-to-point positioning with and without spot tracing.  Speed and angular synchronous operation with electronic transmission via incremental encoder input or field bus.  Extensive operating modes for synchronisation.  Numerous homing methods Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 31 500 Hz.  Changeable clock frequency for the output stage.  Freely programmable inputs/outputs  User-friendly parameterisation using the Metronix ServoCommander™ PC program.  Menu-guided start-up  Automatic motor identification  Easy connection to a superordinate control system, e.g. to a PLC on the I/O level or via a field bus.
  • Page 32 230 VDC minimum. Below this voltage, the system will always identify the digital motor temperature sensor as open. 3.2.3 Mains fuse A slow-blow (B16) three-phase automatic circuit breaker of 16 A has to be installed in the mains supply line. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 33 RS232 interface being of prime importance for the connection of a PC and use of the Metronix ServoCommander™ parameterisation tool. In addition, the basic unit of the ARS 2300 servo positioning controller is equipped with a CANopen interface.
  • Page 34 As far as the control is concerned, this option has the same functionalities as a standard PLC-coupling via parallel wiring with the digital I/Os of the device. A specific Metronix telegram can be used to go beyond the functionality defined by Profidrive and to access all device-specific functions.
  • Page 35 "start homing" or stop-input, the analog inputs AIN1 and AIN2 or the digital outputs DOUT2 and DOUT3, which can also be used as digital inputs, are available. Alternatively, the I/O extension module EA88 interface can be used. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...

  • Page 36: Technical Data

    250 x 69 x 240 mm controller (H*W*D) (without mating connector, shield screw and screw heads) Dimensions of the mounting plate 334.5 x 63.5 mm (H*W*D) Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 37 > 100 kΩ cold Analog sensor Silicon temperature sensor, e.g. KTY81, 82 or similar ≈ 2000 Ω ≈ 3400 Ω 4.1 Control and display elements Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 38 Used to display the operating mode and - in the event of an error - an error code number LED1 Readiness for operation LED2 CAN bus status indication RESET button Hardware reset for the processor Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 39 Type ARS 2302 ARS 2305 ARS 2310 ≥ 60 Ω External braking resistor ≤ 5000 W Continuous power ≥ 800 V Operating voltage Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 40 Other than stated in the technical motor data, the ARS 2310 servo positioning controller has current derating in nominal operating conditions. The following derating graph shows the admissible rated current as a function of the adjusted pulse frequency: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 41 4.4 Angle encoder connection [X2A] and [X2B] The universal rotary encoder interface allows several different feedback systems to be connected to the ARS 2300 servo positioning controller:  Resolvers (interface [X2A])  Encoders (interface [X2B]) Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 42  SinCos encoders (single-/multiturn) with HIPERFACE  Multiturn absolute value encoders with EnDat The encoder type can be defined using the Metronix ServoCommander™ parameterisation software. The feedback signal is made available to following drives via the incremental encoder output [X11].
  • Page 43 (Hall generator). If such an encoder is used, the ARS 2300 servo positioning controller determines the pole position automatically after power-on. Standard incremental encoders with commutation signals <FW3.x>: In this variant, standard incremental encoders with three additional binary Hall generator signals are Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 44 Trace signals A, B differential Trace signals N 0.2 to 1 V differential Commutation track A1, B1 (optional) differential Differential input 120 Ω Trace signal input impedance Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...
  • Page 45 Additional communication interface EnDat (Heidenhain) and HIPERFACE (Stegmann) Supply output 5 V or 12 V, 300 mA max., current-limited Control through sensor lines Setpoint can be changed through SW Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 46 Bit 0 \ DIN1 Bit 1, \ Target selection for positioning DIN2 Bit 2, / 16 targets can be selected from target table DIN3 Bit 3 / Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 47 DIN6 Limit switch input 0 DIN7 Limit switch input 1 DIN8 Control signal for positioning start DIN9 Home switch for homing or saving of positions Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 48 4.5.4 Incremental encoder input [X10] The input supports all commercially available incremental encoders. For example encoders complying with industrial standard ROD426 made by Heidenhain or encoders with "single-ended" TTL outputs or "open collector" outputs. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 49 In addition to trace signals A and B, the emulation also supplies a reset pulse. Once per revolution (for the programmed number of lines), this pulse assumes a high state for ¼ of a signal period (as long as trace signals A and B are high). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 50 Limit frequency > 1.8 MHz (lines/s) limit Edge triggering (minimum pulse width) Can be limited through parameters Supply output 5 V, 100 mA max. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...

  • Page 51: Function Overview

    5.2.1 Compatibility For reasons of compatibility, the control structure of the ARS 2300 servo positioning controller has to a large extent the same characteristics, interfaces and parameters as the previous ARS product range. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 52 In addition, the ARS 2300 servo positioning controller has 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 using the Metronix ServoCommander™ parameterisation software. The Metronix Meßgeräte und Elektronik GmbH...
  • Page 53 Setting of fixed values 2 and 3  Process controller <FW3.x>  SYNC input <FW3.x>  Additional incremental encoder input [X10] If no setpoint source is active, the setpoint is zero. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 54 The speed setpoint can be set internally or derived from the data of an external encoder system (speed synchronisation via [X10] for the speed controller). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 55 The position controller is a P-controller. By default, the cycle time of the position control circuit is twice Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 56 ARS 2300 servo positioning controller after a parameterised idle time and lets the brake fall in. This mode of operation is compatible with the functions of the previous ARS product range. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 57 The maximum number of storable position sets is 256 in the case of the ARS 2300 servo positioning controller. The following settings can be made for all position sets:  Target position  Driving speed  Final speed  Acceleration  Deceleration Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 58  Option: The driving speed can be changed continuously via an analog input in the course of the motion task <FW3.x>.  Several options for setting up path programs The positioning sets can be addressed through all bus systems or using the Metronix ServoCommander™ parameterisation software. The positioning process can be controlled via the digital inputs.
  • Page 59 Optionally, the start can also be configured via a digital input using the Metronix ServoCommander™ parameterisation software to be able to perform a home run in a targeted manner regardless of the controller enabling. The controller enabling acknowledges error messages, for example, and can be switched off depending on the application, without requiring another home run when the controller is enabled again.
  • Page 60 In principle, linear or cyclic sequences are possible. The end of a position sequence is indicated by setting the next sequential position to an "impossible" value (e.g. - 1). The start position of a path program can be determined:  via field bus Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 61 (synchronisation intervals). If the interval is greater than a position controller cycle, the controller automatically interpolates the data values between two specified position values as shown in the following graph. In addition, the servo positioning controller also calculates a corresponding speed feedforward. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 62 A clock signal can be, for example, the sync message of a CAN bus system. As a result, several axes can reach a target simultaneously although they had different path lengths Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 63 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...

  • Page 64: Functional Safety Technology

    Among these are also electric drives. The requirement at controls, i.e. the performance level which can be selected results from the risk height (see). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 65 The drive may not generate any torque and therefore no dangerous rotary motion. In the case of hanging loads additional measures must be taken to safely prevent sagging (e.g. mechanical holding brake). In “Safe Torque-Off” mode, the standstill position does not have to be monitored. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 66 Another advantage is the availability of the system. With the integrated solution the intermediate circuit of the servo controller can remain loaded. As a consequence, there are no significant waiting times for a system restart. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 67 These two ways of interruption, the power supply to the drive and the safe pulse inhibitor, are called shut-down paths. 1. Shut-down path: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 68 (brake applied). 2nd Channel: The second shut-down path “triggering of driver supply relay” directly acts on s MOSFET which deactivates the holding brake (brake applied). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 69 The user is responsible for the dimensioning and the safe functioning of the holding brake. The functioning of the brake must be checked and ensured by means of a suitable brake test. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 70 6.2.3 Mode of operation / timing: The following timing diagram shows how the "Safe Torque-Off" function works in connection with the controller enabling and the holding brake: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 71 M e tronix Ser voCom m ande r Se ven-s e gm e nt dis play “H” “H” “H” t2 t3 t5 t6 t12 t13 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 72 Figure 8: Timing of “Safe Torque-Off” as per EN ISO 13849-1, Performance Level d Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 73 (if available) will be initiated and the output stage will be internally enabled. Releasing the brake is only possible if the triggering of the relay that switches the driver supply Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 74 MOSFET, which is located in the circuit of the holding brake. The parameterization program Metronix ServoCommander™ can be used to set a delay (t6- t5). That way the drive will remain at “0” speed for the time set and only after this time has run out at t6, the drive will start approaching the set speed.
  • Page 75 6. At the time t13 the letter “H” will be shown on the 7-segment display of the servo controller for the visualization of the “Safe Torque-Off” function. This will happen no later than 30ms after the closing of the floating feedback contact (t13-12). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 76 6.2.4 Application examples 6.2.4.1 Emergency stop circuit: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 77 24V Input safety switching Drawn contact device position: EMERGENCY DIN EN ISO 13849-1, STOP requested or ARS 2302 - ARS 2310 supply voltage Performance Level d switched off [X1] I/O communication +24V DIN5: Controller enabling DIN4: Output stage enabling [X3] SAFE STANDSTILL...
  • Page 78 The connection of the motor and the optional holding brake are not shown here, please refer to chapter 8 Electrical installation. The brake of the motor has to be designed such that it can stop the movement of the drive. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 79 6.2.4.2 Safety door monitoring Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 80 Drawn contact safety switching position: device Safety door open or supply voltage DIN EN ISO 13849-1, ARS 2302 - ARS 2310 switched off Performance Level d [X1] I/O communication +24V DIN5: Controller enabling DIN4: Output stage enabling [X3] SAFE STANDSTILL...
  • Page 81 1 in accordance with 60204-1. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 82 Mode of operation: The request to stop the drive will set the controller enabling to low. The drive will approach 0 speed using the set deceleration ramp (parameterizable via Metronix ServoCommander™). After the ramp time (including drop-out delay time of holding brake, if available) has run out, the triggering of the driver supply relay and the controller enabling will be cancelled by the superordinate control.
  • Page 83 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...

  • Page 84: Mechanical Installation

    7 Mechanical installation 7.1 Important notes  Only use the servo positioning controller ARS 2302, ARS 2305 and ARS 2310 as a cabinet device for control cabinet installation.  Vertical mounting position with supply lines [X9] on top.  Mount to control cabinet plate using the fastening strap.
  • Page 85 100 mm of free installation space to ensure sufficient ventilation of servo positioning controller ARS 2302, 2305 and 2310 recommended: 75 mm. metronix metronix metronix metronix RESET RESET RESET RESET READY READY READY READY CAN ON CAN ON CAN ON...
  • Page 86 Figure 11: Servo positioning controller ARS 2310: Installation space 7.2 Device view Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 87 Plug-in ports TECH1 and TECH2 for technology modules EA88 and PROFIBUS- COOPER Tools Fastening strap of shield terminal SK14 for the outer shield of the motor and angle encoder cable Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 88 Figure 12: Servo positioning controller ARS 2310: Front view Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 89 PE: Connection for the shield +24V: 24VDC connection GND24V: GND 24VDC connection Shield connection [X11]: Incremental encoder output [X10]: Incremental encoder input [X1]: I/O communication Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 90 Figure 13: Servo positioning controller ARS 2310: Top view Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 91 W: Motor phase 3 connection V: Motor phase 2 connection U: Motor phase 1 connection Outer shield connection with shield terminal SK14 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 92 The fastening straps are part of the heat sink profile. This is why the best possible heat transfer to the control cabinet plate has to be ensured. Please use M5 screws for mounting servo positioning controllers of type ARS 2302, ARS 2305 and ARS 2310.
  • Page 93 R2,6 R5,0 R2,6 ca. 1 mm. 32,25 mm. 63,5 mm. 69 mm. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 94 Figure 15: Servo positioning controller ARS 2300: Mounting plate Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...

  • Page 95: Electrical Installation

    8 Electrical installation 8.1 Connector configuration The ARS 2300 servo positioning controller is connected to the supply voltage, the motor, the external braking resistor and the holding brake as shown in Figure 16. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 96 Resolver / Encoder Angle encoder Figure 16: Connection to the supply voltage and to the motor Operation of the ARS 2300 servo positioning controller requires a 24V voltage source for supplying the Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 97  Mains cable A PC with a serial connecting cable is required for parameterisation. A slow-blow (B16) three-phase automatic circuit breaker of 16 A has to be installed in the mains supply line. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 98 In the case of demanded UL-certifying the following data for the main fuse are to be considered: Listed Circuit Breaker according UL 489, rated 480Y/277 Vac, 16 A, SCR 10 kA Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 99 External braking COOPER Tools resistor (if required) Motor with angle encoder Figure 17: Complete set-up of ARS 2300 with motor and PC Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...
  • Page 100  PHOENIX Power-Combicon PC 4 HV/11-ST-7.62 8.3.3 Pin assignment [X9] Table 23: Pin assignment [X9] Name Value Specification 230...480VAC ±10% Mains phase 1 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 101 However, it is also possible to use comparable cables from other manufacturers, e.g. Lütze or Helukabel. For 400 VAC supply:  LAPP KABEL ÖLFLEX-CLASSIC 110; 4 x 1.5 mm² 8.3.5 Connection notes [X9] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 102 (bridge to BR-CH if the internal resistor is used) If no external braking resistor is used, a bridge must be connected between PIN7 and PIN8 in order to activate the DC-link precharge and the DC-link rapid discharge! Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 103 Protective ground conductor of the motor 0...360V Connection of the three motor phases 0...2.5 A (ARS 2302) 0...5 A (ARS 2305) 0...10 A (ARS 2310) 0...1000Hz Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 104 SK14. 8.4.4 Type and configuration of cable [X6] at the ARS 2302 and ARS 2305 The cable names given refer to cables made by Lapp. They have proven to be reliable and are successfully used in many applications.
  • Page 105 Motor housing Shield terminal SK14 Figure 19: Motor connection [X6] Connect the inner shields to PIN 3. Maximum length: 40 mm.  Maximum length of unshielded cores: 35 mm. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 106 +24 V brake GND brake Freewheeling diode Motor Figure 20: Connecting a locking brake with high current demand (> 2A) to the device Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 107 These signals refer to the 24V supply voltage of the ARS 2300 servo positioning controller which is supplied via [X9]. They are separated from the reference potential of the control section by means of optocouplers. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 108 +24VDC GND AGND max ! +24VDC DINx DIN0 DIN9 GND24 DOUT0 +24VDC 100 mA max ! DOUT3 DOUTx GND24 GND24 GND24 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Connector housing Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 109 8.5.1 Configuration on the device [X1]  D-SUB connector, 25-pin type, female 8.5.2 Mating connector [X1]  D-SUB connector, 25-pin type, male  Housing for 25-pin D-SUB connector with bolting screws of type 4/40 UNC Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 110 DIN7 END1 Input of limit switch 1 (blocks n > 0) DIN8 START Input for start of positioning process DIN9 SAMP High-speed input Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 111 Often an unshielded cable is sufficient for 24V signals. In environments with high interferences or in the case of long cables (l > 2m) between the control system and the ARS 2300 servo positioning controller, Metronix recommends using shielded control cables. Although the analog inputs of the ARS 2300 servo positioning controller are differential, using unshielded cables for the analog signals is not recommended as interferences, e.g.
  • Page 112 The description of the safety function "Safe Torque-Off" is in chapter 6 Functional safety technology. 8.6.1 Configuration on the device [X3]  PHOENIX Mini-Combicon MC 1.5/ 6-GF-3.81 8.6.2 Mating connector [X3]  PHOENIX Mini-Combicon MC 1.5/6-STF-3.81 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 113 0V / 24VDC Signalling contact "Error on safety module" 250VAC max. Floating response contact of driver supply; switching normally closed contact voltage 8.6.4 Connection notes [X3] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 114  1 D-SUB connector, 9-pin type, female 8.7.2 Mating connector [X2A]  D-SUB connector, 9-pin type, male  Housing for 9-pin D-SUB connector with bolting screws of type 4/40 UNC Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 115 The outer cable shield of the angle encoder cable has to be connected flat to the mounting plate of the controller housing using shield terminal SK14. 8.7.4 Cable type and configuration [X2A] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 116 AGND TEMP R1 / carrier+ male R1 / carrier- connector TEMP+ connector shield (optional) housing connector housing Figure 23: Pin assignment: Resolver connection [X2A] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 117 Pin no. Name Value Specification +3.3V / Ri=2kΩ Motor temperature sensor, normally closed contact, PTC, KTY… U_SENS+ 5V...12V Sensor lines for encoder supply Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 118 #COS_Z0 *) ±10% SIN_Z0 *) SINE trace signal (differential) of high-resolution R I ≈ 120Ω incremental encoder #SIN_Z0 *) Heidenhain encoder: A=SIN_Z0; B=COS_Z0; C=SIN_Z1; D=COS_Z1 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 119 #COS_Z0 *) ±10% SIN_Z0 *) SINE trace signal (differential) of high-resolution R I ≈ 120Ω incremental encoder #SIN_Z0 *) Heidenhain encoder: A=SIN_Z0; B=COS_Z0 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...
  • Page 120 0V / 5V Hall sensor phase U for commutation R I ≈ 2kΩ Hall sensor phase V for commutation an VCC Hall sensor phase W for commutation Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 121 0.25 mm² for an angle encoder cable length up to 25 m, and a minimum cross-section of 0.5 mm² for an angle encoder cable length up to 50 m. 8.8.5 Connection notes [X2B] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 122 #SIN_Z1 male COS_Z0 connector #COS_Z0 SIN_Z0 #SIN_Z0 connector shield (optional) housing connector housing Figure 24: Pin assignment: Analog incremental encoder - option [X2B] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 123 #COS_Z0 SIN_Z0 #SIN_Z0 Shield (optional) Connector housing Connector housing Figure 25: Pin assignment: Incremental encoder with serial interface (e.g. EnDat, HIPERFACE) - option [X2B] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...
  • Page 124 Pin assignment: Digital incremental encoder - option [X2B] 8.9 Connection: Incremental encoder input [X10] 8.9.1 Configuration on the device [X10]  D-SUB connector, 9-pin type, female 8.9.2 Mating connector [X10]  D-SUB connector, 9-pin type, male Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 125 Positive polarity in accordance with RS422 ≈ 120Ω 5V / R Incremental encoder reset pulse N Negative polarity in accordance with RS422 Reference GND for the encoder Shield for the connecting cable Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 126 A# / CLK# B / DIR B# / DIR# Stift connector shield (optional) housing connector housing Figure 27: Pin assignment [X10]: Incremental encoder input Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 127  Housing for 9-pin D-SUB connector with bolting screws of type 4/40 UNC 8.10.3 Pin assignment [X11] Table 33: Pin assignment [X11]: Incremental encoder output Pin no. Name Value Specification Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 128 8.10.4 Cable type and configuration [X11] We recommend using encoder connection cables in which the incremental encoder signals are twisted in pairs and the individual pairs are shielded. 8.10.5 Connection notes [X11] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 129 8.11.1 Configuration on the device [X4]  D-SUB connector, 9-pin type, male 8.11.2 Mating connector [X4]  D-SUB connector, 9-pin type, female  Housing for 9-pin D-SUB connector with bolting screws of type 4/40 UNC Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 130 Technical specification of the CAN bus cable: 2 pairs of 2 twisted cores, d ≥ 0.22 mm shielded, loop resistance < 0.2 Ω/m, characteristic impedance 100-120 Ω.  LAPP KABEL UNITRONIC BUS CAN; 2 x 2 x 0.22; ∅ 7.6 mm, Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 131 PLCs often come supplied with such a terminating resistor which has to be taken into consideration accordingly.  Shielded cables with exactly two twisted pairs must be used for cabling. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 132  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 cables and cables recommended by Metronix please refer to chapter 8.11.4 Cable type and configuration [X4].
  • Page 133 Interface GND, electrically connected to GND of the digital section 8.12.4 Cable type and configuration [X5] Interface cable for serial interface (null modem), 3 cores. 8.12.5 Connection notes [X5] Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 134 8.13.2 General information concerning EMC The interference emission and interference immunity of a servo drive controller always depend on the overall drive concept consisting of the following components: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 135 The second environment includes mains supply networks exclusively supplying industrial buildings. The following applies to ARS 2300 servo positioning controllers without external filter measures: Table 36: EMC requirements: First and second environment Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 136  The mains-end PE connection has to be connected to the PE connection point of supply connector Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 137  As of a cable length of more than 50 m, only use cable with less than 150 pF/m (capacitance per unit length) between the motor phase and the shield! Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 138 The following isolated areas can be distinguished:  Power stage with DC-link and mains input  Electronic control system with a system processing the analog signals  24VDC supply and digital inputs and outputs Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...

  • Page 139: Start-Up

     Rotary angle encoder cable  Motor cable  Power supply cable  Controller enabling cable  If necessary, connector set: Power and D-Sub connector 9.3 Connecting the motor Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 140  Plug the D-Sub connector of the serial interface cable into socket [X5] RS232/COM of the ARS 2300 servo positioning controller and tighten the bolting screws.  Check all connections. 9.6 Checking whether the system is ready for operation Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 141 Switch off the power supply. Wait for 5 minutes so that the DC-link can discharge. Check all connecting cables. Check whether the 24VDC power supply operates correctly. Switch on the power supply. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...

  • Page 142: Service Functions And Error Messages

     Breakdown of the supply voltage If the 24VDC supply voltage breaks down, there are about 20 ms left to save parameters and to shut down the control system in a defined manner. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 143 The temperature limit varies from device to device. About 5°C below the limit, a temperature warning is issued. 10.1.6 Motor monitoring The ARS 2300 servo positioning controller has the following protective functions to monitor the motor Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 144 The firmware includes an "I²t brake chopper" power monitoring system for the internal braking resistor. When the "I²t brake chopper" power monitoring system reaches a value of 100%, the power of the internal braking resistor is reset to nominal power. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 145 10.1.9 Start-up status Servo positioning controllers, which are sent to Metronix for service, will be equipped with a different firmware and different parameters for testing purposes. Before the ARS 2300 servo positioning controller is re-used for the first time at the end user, it has to be re-parameterised.
  • Page 146 Warning message / number with Index „xx“ and subindex „y“. A warning is displayed at least twice on the seven-segment-display. Option „Safe Torque-Off“ active for the ARS 2300 devices. (seven-segment display = H, blinking with a frequency of 2Hz) Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 147 The Debug information stores the initially found error number. No measures required. Error cleared Information: The active errors have been cleared No measures required. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 148 The error cannot be eliminated by the user. Contact the Technical Support and - if necessary - send the servo Internal undervoltage supply 2 positioning controller to the sales representative. Driver voltage fault Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 149 Error of track signals of digital The encoder signals are disturbed: check the installation for incremental encoder compliance with EMC recommendations. Error of Hall signals incremental encoder Communication error encoder Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 150 No controller enabling Error during homing run Homing has been interrupted e.g. by disabling the drive. Homing run: The required index pulse is missing No valid index pulse Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 151 Signals interfered? CAN: RPDO too short Check the configuration CAN: Protocol error Please contact the Technical Support. Timeout CAN-Bus Check the timeout parameter for CAN bus. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 152 Rotor blocked? Invalid number of poles pairs The number of pairs of poles calculated is beyond the parameterisation range. Check the motor data sheet. If necessary, contact the Technical Support. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 153 Error 1 current measurement U The error cannot be eliminated by the user. Contact the Technical Support and - if necessary - send the servo Error 1 current measurement V Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 154 No user parameter set Load the default parameter set. If the error continues, contact the Technical Support. Checksum error Please contact the Technical Support. Flash: Error during write-operation Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 155 Check the power rating of the drive package. Select operation without PFC? I²t-Break resistor Braking resistor overloaded. Use external braking resistor? I²t real power overload Reduce the real power of the drive Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 156 For this motor an improper method has been chosen. Please the commutation position contact the Technical Support. Parameter limited Check the value range of the parameter stated. Parameter not accepted Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 157 Missing following position: Stop positioning options or the current boundary conditions. Check the positioning parameters. Positioning: Reversing the direction not allowed: Stop Positioning: Reversing the direction not allowed after stop Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 158 Please contact the Technical Support. PDOs SDO error occured Ethernet user specific (1) Please contact the Technical Support. Ethernet user specific (2) Please contact the Technical Support. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 159 Please contact the Technical Support. 0 .. 2 FHPP fieldbus Please contact the Technical Support. Time overflow current controller Please contact the Technical Support. Time Overflow speed controller Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 160 (SRAM) Missing hardware component (FLASH) Error during booting of FPGA Error during starting of SD-ADUs Synchronization error SD-ADU after start SD-ADU not synchronous Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 161 Trigger error CAN controller not available Check sum error of device parameter DEBUG-Firmware loaded Internal initialisation error Please contact the Technical Support. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...

  • Page 162: Technologiemodule

    Altitude Up to 1000 m above msl External dimensions (LxWxH): approx. 92 x 65 x 19mm suitable for technology slot TECH1 or TECH2 Weight: approx. 50g Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 163 The following elements can be found on the front plate of the PROFIBUS-DP interface (see Figure 31):  a green LED to indicate readiness for operation  a 9-pin female DSUB connector  two DIP switches for activating the terminating resistors Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 164 11.1.3 Pin assignments and cable specifications 11.1.3.1 Pin assignments  9-pin DSUB connector, female Table 41: Pin assignment: PROFIBUS-DP interface Pin no. Name Value Specification Shield Cable shield Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 165 Lütze or Helukabel.  LAPP KABEL UNITRONIC BUS L2/FIP FC; 1 x 2 x 0.64; ∅ 7.8 mm, with tinned CU shielding for quick-connect applications with IDC connectors For highly flexible applications: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax:...
  • Page 166 PROFIBUS-DP interface (see pin assignment in Table 41). GND 5V B-Line A-Line 390 Ohm 220 Ohm 390 Ohm Figure 32: PROFIBUS-DP interface: Connection with external terminating resistors Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...
  • Page 167 50g The following elements can be found on the front plate of the SERCOS module (see Figure 33)  a green LED to indicate that the bus is ready for operation Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 168 More information concerning the type and setup of suitable optical waveguides can be found in the standard SERCOS literature, e.g.: http://www.sercos.org/ Interests Group SERCOS interface e.V. Landhausstrasse 20, 70190 Stuttgart Germany Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 169  The inputs and outputs are floating due to the optocouplers  The inputs and outputs are protected against short circuits and overload 11.3.2 Technical data 11.3.2.1 General data Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 170 High level switches the input Nominal voltage 24 VDC Voltage range -30 V...30 V "High" detection at > 8 V "Low" detection at < 2 V Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany...
  • Page 171 R > 220 Ω; L at random; C < 10nF Loads < 100 µs Switching delay as of port pin 11.3.3 Pin assignment and cable specifications Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 172 Out 4 Out 5 Out 6 Out 7 Out 8 +24VDC external The following Figure 34 shows the position of the connectors and their numbering: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 173 [X22] (FK-MC 0.5/10-ST-2.5) are supplied together with the EA88 interface technology module. The cables are connected in the form of crimp connections. To do so, strip the cable at a length of about 8 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 174 [X22], pin 10. As the lines GND24V and +24Vext. have to transfer the entire current of all outputs connected, their cross-section has to be sized accordingly (recommended: AWG 20). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 175 Therefore, all available I/Os in the ARS 2000 can be used. In addition, the ARS 2000 can be expanded by using the I/O module EA88. A second CAN-interface is available for external CAN I/O via the master. Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 176 11.4.2 Features 11.4.2.1 Compact  Plug-in MC 2000 module directly into ARS 2000 servo drive  Controls up to 4 servo axis  Easy wiring via CAN-bus Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de...
  • Page 177  User programming with the established Trio Motion “Motion Perfect” software  Program generation of complex motion sequences like camming, gearing and interpolated multi axis movements  Integrated module minimizes external wiring Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...
  • Page 178 ARS 2000) User memory 512 kBytes Table memory 32000 values Multi-tasking 2 Fast-Tasks + 5 Normal-Tasks EMC Compliance EN 61800-3 Order number 9200-0008-00 Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 179 Then screw technology module onto the housing of the servo positioning controller using the Phillips screw. Make sure that the front plate has conducting contact with the housing of the servo positioning controller (PE). Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3...

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