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Metronix Manuals
Servo Drives
ARS 2320
Product manual
Metronix ARS 2320 Product Manual
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Contents
Table of Contents
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Table of Contents
Table of Contents
General
Documentation
Scope of Supply
Table 1: Scope of Supply
Table 2: Connector Set: POWER Connector
Table 3: Connector Set: DSUB Connector
Table 4: Connector Set: Shield Connector
Safety Notes for Electrical Drives and Controllers
Used Symbols
General Notes
Danger Resulting from Misuse
Safety Notes
General Safety Notes
Safety Notes for Assembly and Maintenance
Protection against Contact with Electrical Parts
Protection against Electrical Shock by Means of Protective Extra-Low Voltage (PELV)
Protection against Dangerous Movements
Protection against Contact with Hot Parts
Protection During Handling and Assembly
Product Description
General
Figure 1: Type Key
Power Supply
Three-Phase AC Power Supply
Behaviour During Switch-On, Behaviour During Normal Operation and Control Characteristics
DC Bus Coupling, DC Supply
3.2.2.1 DC Bus Coupling
3.2.2.2 DC-Supply
Mains Fuse
Brake Chopper
Communication Interfaces
Serial Interface [X5]
CAN Interface [X4]
Technology Module: PROFIBUS
Technology Module: Sercos II
Technology Module: Ethercat
I/O Functions and Device Control
Technical Data
General Technical Data
Table 5: Technical Data: Ambient Conditions and Qualification
Table 6: Technical Data: Dimensions and Weight
Operating and Display Elements
Table 7: Technical Data: Cable Specifications
Table 8: Technical Data: Motor Temperature Monitoring
Table 9: Display Elements and RESET Button
Supply [X9]
Table 10: Technical Data: Performance Data [X9]
Table 11: Technical Data: Internal Braking Resistor [X9] or [X9A]
Table 12: Technical Data: External Braking Resistor [X9] or [X9A]
Motor Connection [X6]
Table 13: Technical Data: Motor Connection [X6]
Current Derating
Figure 2: ARS 2320: Current Derating Diagram
Figure 3: ARS 2340: Current Derating Diagram
Figure 4: ARS 2320W: no Current Derating as a Function of the Pulse Frequency
Figure 5: ARS 2360W: Current Derating Diagram
I 2 Xt Derating for ARS 2320W and ARS 2360W
Figure 6: ARS 23Xxw: I 2 Xt Derating Diagram
Table 14: I 2 Xt - Times (Set Points 1 to 4)
Water Cooling System
Safe Torque off (STO) and 24V Supply [X3]
Table 15: Requirements for the Water Cooling System
Table 16: Technical Data: 24VDC Supply [X3]
Motor Feedback Connection [X2A] and [X2B]
Resolver Connection [X2A]
Table 17: Technical Data: Resolver [X2A]
Table 18: Technical Data: Resolver Interface [X2A]
Encoder Connection [X2B]
Communication Interfaces
Rs232 [X5]
CAN-Bus [X4]
Table 19: Technical Data: Encoder Evaluation [X2B]
Table 20: Technical Data: RS232 [X5]
Table 21: Technical Data: CAN Bus [X4]
I/O Interface [X1]
Table 22: Technical Data: Digital Inputs and Outputs [X1]
Incremental Encoder Input [X10]
Table 23: Technical Data: Analogue Inputs and Outputs [X1]
Table 24: Technical Data: Incremental Encoder Input [X10]
Incremental Encoder Output [X11]
Table 25: Technical Data: Incremental Encoder Output [X11]
Function Overview
Motors
Synchronous Servo Motors
Linear Motors
Functions of the Servo Drive ARS 2300
Compatibility
Figure 7: Control Scheme of the ARS 2300
Pulse Width Modulation (PWM)
Table 26: Output Voltage at the Motor Terminals at UZK = 560V
Set Point Management
Torque-Controlled Mode
Speed-Controlled Mode
Torque-Limited Speed Control
Synchronization with External Clock Sources
Load Torque Compensation for Vertical Axes
Positioning and Position Control
Synchronisation, Electronic Gearing
Brake Management
Positioning Control
Overview
Relative Positioning
Absolute Positioning
Driving Profile Generator
Figure 8: ARS 2300 Servo Drive Driving Profiles
Homing
Positioning Sequences
Figure 9: Path Program
Optional Stop Input
Contouring Control with Linear Interpolation
Time-Synchronized Multi-Axis Positioning
Figure 10: Linear Interpolation between Two Data Values
Functional Safety Technology
General, Intended Use
Table 27: Stop Categories
Integrated "Safe Torque-Off (STO)" Function
General / Description of "Safe Torque-Off" Function
Figure 11: Block Diagram "STO" as Per en ISO 13849-1, Category 3 Performance Level D
Holding Brake Activation
Mode of Operation / Timing
Figure 12: Timing of "Safe Torque-Off" (STO) as Per en ISO 13849-1, Category 3 Performance Level D
Application Examples
6.2.4.1 Emergency Stop Circuit
Figure 13: Emergency-Off Circuit in Accordance with en ISO 13849-1, Category 3 Performance Level D, and Stop Category 0 in Accordance with 60204-1
6.2.4.2 Safety Door Monitoring
Figure 14: Safety Door Monitoring in Accordance with en ISO 13849-1, Category 3 Performance Level D, and Stop Category 1 in Accordance with 60204-1
Mechanical Installation
Important Notes
Installation Space
Figure 15: Servo Drive ARS 2320: Installation Space
Figure 16: Servo Drive ARS 2340: Installation Space
Device Views
Figure 17: Servo Drives ARS 2320 and ARS 2320W: Front View
Figure 18: Servo Drives ARS 2340 and ARS 2360W: Front View
Figure 19: Servo Drives ARS 2320 and ARS 2320W: Bottom View
Installation
Figure 20: Servo Drives ARS 2340 and ARS 2360W: Bottom View
Figure 21: Servo Drives ARS 2320 and ARS 2340: Drilling Pattern on the Mounting Plate
Figure 22: Servo Drives ARS 2320W and ARS 2360W: Drilling Pattern on the Water
Water Cooling System
Figure 23: Water Cooling System - Example by the Manufacturer Dau
Figure 24: Water Cooling System - Example by the Manufacturer Cooltec
Electrical Installation
Connector Configuration
Figure 25: Servo Drives ARS 2320 and ARS 2320W: Connection to the Supply Voltage and to the Motor
Figure 26: Servo Drives ARS 2340 and ARS 2360W: Connection to the Supply Voltage and to the Motor
ARS 2300 Complete System
Figure 27: Complete Set-Up of the ARS 2300 with Motor and PC
Connection at the ARS 2320 and ARS 2320W Servo Drives: Power Supply and Braking Resistor [X9]
Configuration at the ARS 2320 and ARS 2320W Servo Drives [X9]
Counter Plug [X9] at the ARS 2320 and ARS 2320W
Pin Assignment [X9] at the ARS 2320 and 2320W
Table 28: Pin Assignment at the ARS 2320 and ARS 2320W: Supply[X9]
Connection: External Braking Resistor [X9] at the ARS 2320 and ARS 2320W
Type and Configuration of Cable [X9] at the ARS 2320 and ARS 2320W
Table 29: Pin Assignment at the ARS 2320 and ARS 2320W: External Braking Resistor [X9]
Connection Notes Concerning [X9] at the ARS 2320 and ARS 2320W
Figure 28: Pin Assignment at the ARS 2320 and ARS 2320W: Supply and Braking Resistor [X9]
Connection at the ARS 2340 and ARS 2360W Servo Drives: Power Supply [X9] and Braking Resistor [X9A]
Configuration at the ARS 2340 and ARS 2360W Servo Drives [X9]
Counter Plug [X9] at the ARS 2340 and ARS 2360W
Pin Assignment [X9] at the ARS 2340 and ARS 2360W
Table 30: Pin Assignment at the ARS 2340 and ARS 2360W: Supply [X9]
Type and Configuration of Cable [X9] at the ARS 2340 and ARS 2360W
Connection Notes Concerning [X9] at the ARS 2340 and ARS 2360W
Connection: External Braking Resistor [X9A] at the ARS 2340 and ARS 2360W
Configuration [X9A] at the ARS 2340 and ARS 2360W
Figure 29: Pin Assignment at the ARS 2340 and ARS 2360W: Supply [X9]
Counter Plug [X9A] at the ARS 2340 and ARS 2360W
Pin Assignment [X9A] at the ARS 2340 and ARS 2360W
Connection Notes Concerning [X9A] at the ARS 2340 and ARS 2360W
Figure 30: Pin Assignment at the ARS 2340 and ARS 2360W: Braking Resistor [X9A]
Table 31: Pin Assignment at the ARS 2340 and ARS 2360W: Braking Resistor [X9A]
Connection: Safe Torque off (STO) and 24V Supply [X3]
Configuration on the Device [X3]
Counter Plug [X3]
Pin Assignment [X3]
Table 32: Pin Assignment: [X3]
Cable Type and Configuration: 24VDC Power Supply [X3]
Connection Notes [X3]
Figure 31: Pin Assignment: 24VDC Power Supply [X3]
Connection: Motor [X6] and [X6A]
Configuration [X6] at the ARS 2320 and ARS 2320W
Counter Plug [X6] at the ARS 2320 and ARS 2320W
Configuration [X6] at the ARS 2340 and ARS 2360W
Counter Plug [X6] at the ARS 2340 and ARS 2360W
Configuration Device Side [X6A]
Counter Plug [X6A]
Pin Assignment [X6]
Table 33: Pin Assignment: Motor [X6]
Type and Configuration of Cable [X6] and [X6A] at the ARS 2320 and ARS 2320W
Type and Configuration of Cable [X6] and [X6A] at the ARS 2340
Table 34: Motor Temperature Monitoring System and Holding Brake [X6A]
Type and Configuration of Cable [X6] and [X6A] at the ARS 2360W
Connection Notes Concerning [X6] and [X6A]
Figure 32: Pin Assignment: Motor [X6] and [X6A]
Connection: I/O Communication [X1]
Figure 33: Connecting a Holding Brake with High Current Demand (> 2A) to the Device
Figure 34: Basic Circuit Diagram of Connection [X1]
Configuration on the Device [X1]
Counter Plug [X1]
Pin Assignment [X1]
Table 35: Pin Assignment: I/O Communication [X1]
Cable Type and Configuration [X1]
Connection Notes [X1]
Connection: Safe Torque off (STO) [X3]
Configuration on the Device [X3]
Counter Plug [X3]
Pin Assignment [X3]
Table 36: Pin Assignment: [X3]
Connection Notes [X3]
Connection: Resolver [X2A]
Configuration on the Device [X2A]
Counter Plug [X2A]
Figure 35: Connection Notes [X3]: Without Safety Function
Pin Assignment [X2A]
Cable Type and Configuration [X2A]
Table 37: Pin Assignment: [X2A]
Connection Notes [X2A]
Connection: Encoder [X2B]
Configuration on the Device [X2B]
Counter Plug [X2B]
Figure 36: Pin Assignment: Resolver Connection [X2A]
Pin Assignment [X2B]
Table 38: Pin Assignment: Analogue Incremental Encoder - Optional [X2B]
Table 39: Pin Assignment: Incremental Encoder with Serial Interface
Cable Type and Configuration [X2B]
Table 40: Pin Assignment: Digital Incremental Encoder - Optional [X2B]
Connection Notes [X2B]
Figure 37: Pin Assignment: Analogue Incremental Encoder - Optional [X2B]
Figure 38: Pin Assignment: Incremental Encoder with Serial Interface (for Example Endat, HIPERFACE ) - Optional [X2B]
Figure 39: Pin Assignment: Digital Incremental Encoder - Optional [X2B]
Connection: Incremental Encoder Input [X10]
Configuration on the Device [X10]
Counter Plug [X10]
Pin Assignment [X10]
Table 41: Pin Assignment: Incremental Encoder Input [X10]
Cable Type and Configuration [X10]
Connection Notes [X10]
Figure 40: Pin Assignment: Input of the Incremental Encoder [X10]
Connection: Incremental Encoder Output [X11]
Configuration on the Device [X11]
Counter Plug [X11]
Pin Assignment [X11]
Cable Type and Configuration [X11]
Table 42: Pin Assignment: Incremental Encoder Output [X11]
Connection Notes [X11]
Connection: CAN Bus [X4]
Configuration on the Device [X4]
Counter Plug [X4]
Figure 41: Pin Assignment: Incremental Encoder Output [X11]
Pin Assignment [X4]
Cable Type and Configuration [X4]
Table 43: Pin Assignment: CAN Bus [X4]
Connection Notes [X4]
Figure 42: CAN Bus Cabling Example
Connection: RS232/COM [X5]
Configuration on the Device [X5]
Counter Plug [X5]
Pin Assignment [X5]
Table 44: Pin Assignment: RS232 Interface [X5]
Cable Type and Configuration [X5]
Connection Notes [X5]
Figure 43: Pin Assignment: RS232 Null Modem Cable [X5]
Notes Concerning Safe and EMC-Compliant Installation
Definitions and Terminology
General Information Concerning EMC
EMC Areas: First and Second Environment
EMC-Compliant Cabling
Table 45: EMC Requirements: First and Second Environment
Figure 44: Motor Cable: Lengths of Shields and Cables
Operation with Long Motor Cables
ESD Protection
Initial Operation
General Notes on Connection
Tools / Material
Connecting the Motor
Connecting the ARS 2300 Servo Drive to the Power Supply
Connecting the PC (Serial Interface)
Checking Operability
Service Functions and Error Messages
Protection and Service Functions
Overview
Phase and Mains Failure Detection
Overcurrent and Short-Circuit Monitoring
Overvoltage Monitoring of the DC Bus
Temperature Monitoring of the Heat Sink
Motor Monitoring
I²T Monitoring
Power Monitoring of the Internal Brake Chopper
Start-Up Status
Operating Hours Meter
Rapid Discharge of the DC Bus
Operating Mode and Error Messages
Operating Mode and Error Display
Table 46: Operating Mode and Error Display
Error Messages
Table 47: Error Messages
Technology Modules
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This manual is also suitable for:
Ars 2340
Ars 2320w
Ars 2360w
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