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Summary of Contents for Metronix ARS 2000
- Page 1 Product Manual STO (Safe Torque Off) for the servo drives ARS 2000 SE 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 Page 2 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1...
- Page 3 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 4 Metronix Meßgeräte und Elektronik GmbH Product Manual „STO (Safe Torque Off) for the servo drives Manual title: ARS 2000 SE“ File name: P-HB_STO_ARS2000SE_EN.docx Version 3.1 December 2024 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1...
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Page 5: Other Symbols
Text designations: Activities that may be carried out in any order. 1. Activities that may be carried out in the order stated. General lists − Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 6: Table Of Contents
................. 27 2.4.3 Time behaviour for activating SS1 during operation with restart ................. 29 ASSEMBLY AND INSTALLATION ..............31 Mounting / Dismounting ................31 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... - Page 7 5.4.2 Error messages ................44 CONVERSION ....................46 Repair and replacement of the integrated STO circuit ......46 Replacing the previous series ARS 2000 with the ARS 2000 SE ... 46 6.2.1 ARS 2000................... 46 6.2.2 ARS 2000 SE ................46 6.2.3...
- Page 8 Page 8 7.1.2 General ..................49 7.1.3 Operating and environmental conditions ........50 7.1.4 Electrical data ................51 GLOSSARY ...................... 54 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1...
- Page 9 Connections of the ARS 2000 SE for the STO function ..........18 Figure 2: “Safe Torque Off” – Operating principle for the ARS 2000 SE ........19 Figure 3: Basic time behaviour when activating and deactivating the safety function STO ..26 Figure 4: Time behaviour when activating the safety function STO with restart ......
- Page 10 TABLE OF TABLES Table 1: Documentation on the servo drives ARS 2000 SE ............12 Table 2: Overview ARS 2000 SE series of devices with integrated STO function ....17 Table 3: Function of the servo drive connections ..............21 Table 4: Detection and response times of the driver supply voltage .........
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Page 11: Product Identification
This product manual is to ensure work with the safety function STO - “Safe Torque Off” in accordance with EN 61800-5-2 is performed safely by using an ARS 2000 SE (Standard Edition) series servo drive, hereinafter referred to as "ARS 2000 SE”. -
Page 12: Table 1: Documentation On The Servo Drives Ars 2000 Se
ARS 2305 SE and ARS 2310 SE servo drives. Table 1: Documentation on the servo drives ARS 2000 SE You can find all these documents on our homepage at the download area http://www.metronix.de. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 13: Safety And Requirements For Product Use
Before mounting and installation work, switch off the supply voltage. Switch on the supply voltage only when the mounting and installation work is complete. Observe the handling specifications for electrostatically-sensitive devices. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 14: Intended Use
EN 62061 / IEC 61508 or category 4 / PL e according to EN ISO 13849-1. The servo drive ARS 2000 SE with integrated STO function is a product with safety-relevant functions and is intended for installation in machines or automation systems and for use as follows: −... -
Page 15: Iso 13849-1 / En 61800-5-2
1.1.4 Achievable safety level, Safety function according to EN ISO 13849-1 / EN 61800-5-2 The servo drive ARS 2000 SE with integrated STO function fulfils the basic test requirements Category 4 / PL e according to EN ISO 13849-1, −... -
Page 16: Diagnostic Coverage (Dc)
“Technical appendix” ( Appendix 7.1).The product-relevant EU directives can be found in the declaration of conformity. Certificates and the declarations of conformity for this product can be found at http://www.metronix.de. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 17: Product Description Ars 2000 Se With Integrated Sto Function
Servo drive three-phase, 5 A output current ARS 2310 SE Servo drive three-phase, 10 A output current Table 2: Overview ARS 2000 SE series of devices with integrated STO function Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 18: Connections
Page 18 2.1.3 Connections The servo drive ARS 2000 SE has a digital I/O-interface for control of the STO function. Servo drives ARS 2105 SE and ARS 2310 SE Digital I/O-interface [X40] for control of the STO function Pin 1 of the interface [X40]... -
Page 19: Description Of The Safety Function Sto
Power end stage in the ARS 2000 SE (only one phase illustrated) Driver supply Motor connection Feedback contact Figure 2: “Safe Torque Off” – Operating principle for the ARS 2000 SE Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 20: Overview Of Interface [X40]
Note There is a risk that the drive will advance in case of multiple errors in the ARS 2000 SE. If the output stage of the servo drive fails while in the STO status (simultaneous short circuit of 2 power semiconductors in different phases), a limited dwell movement of the rotor may result. -
Page 21: Connections Description
Table 18 in Section 7.1.4 describes the technical data for the control ports within the specified operating range of the logic voltages. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 22: 2.2.3.1 Discrepancy Time
The transition between the safe and the unsafe state is initiated via level changes at the control ports STO-A and STO-B of the servo drive ARS 2000 SE. According to the safety function specification, the two levels must be identical otherwise an error message will be generated. The finite state machine in the servo drive internally monitors the driver supply voltage after the control ports have been activated. -
Page 23: Auxiliary Supply 24V, 0V [X40]
2.2.5 Auxiliary supply 24V, 0V [X40] The servo drive ARS 2000 SE with integrated STO function provides a 24 V auxiliary supply to [X40]. This can be employed when using the feedback contact C1/C2 or to supply external, active sensors. - Page 24 “discrepancy time” Section 2.2.3. The finite state machine in the servo drive ARS 2000 SE has its own status in parallel to the integrated STO circuit. Due to the discrepancy time analysis, this finite state machine may reach the “Safe status”...
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Page 25: Table 4: Detection And Response Times Of The Driver Supply Voltage
Table 4: Detection and response times of the driver supply voltage Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 26: Time Behaviour
C1/2 – Switching time opening Section 7.1.4, Table 20 T_DRIVE_V Delay of the ARS 2000 SE 0 … 10 ms Table 5: Time data concerning Figure 3 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 27: Time Behaviour For Activating Sto During Operation With Restart
− Servo drive enable DIN5 Speed Holding brake (optional) “Output stage enable” (internal) Figure 4: Time behaviour when activating the safety function STO with restart Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 28: Table 6: Time Data Concerning Figure 4
2) Minimum time: Physical delay until the brake opens. This time can be parameterised in the servo drive via a large value. Table 6: Time data concerning Figure 4 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 29: Time Behaviour For Activating Ss1 During Operation With Restart
24 V Holding brake (optional) T_DRIVE_V „Output stage enable (internal) T_BRAKE_V_ON T_BRAKE_V_OFF Figure 5: Time behaviour when activating the safety function SS1 (external switching) with restart Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 30: Table 7: Time Data Concerning Figure 5
2) Minimum time: Physical delay until the brake opens. This time can be parameterised in the servo drive via a large value. Table 7: Time data concerning Figure 5 Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 31: Assembly And Installation
Assembly and Installation Mounting / Dismounting The STO circuit integrated in the ARS 2000 SE servo drive is not intended to be mounted/dismounted by the customer. For general information on mounting the ARS 2000 SE please refer to the product manual “Servo drives ARS 2000 SE“. -
Page 32: Connection [X40]
Minimum wiring for commissioning [X40] For the initial start-up of the servo drive without safety equipment, the servo drive ARS 2000 SE can be equipped with an emergency stop switch ( 2 ) with minimum wiring as per Figure 6. -
Page 33: Typical Circuits
The servo drive with integrated STO function does not have integrated cross-circuit detection. With direct light barrier wiring, the light barrier detects cross-circuits if designed to do so. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 34: Delays And Safe Torque Switch Off (Ss1, "Safe Stop 1")
Protective door Emergency stop switch Figure 7: Typical circuit “Decelerate and safe torque off” (SS1, “Safe Stop 1”), example single-phase servo drive ARS 2000 SE Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... - Page 35 The delay must be designed so that the drive is decelerated to zero, even at maximum speed, via the quick stop ramp in the ARS 2000 SE, before STO-A/B are switched off. The electrical installation is executed in accordance with the requirements of EN 60204-1.
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Page 36: Commissioning
1. Ensure that the servo drive is correctly mounted (see Section 3.1). 2. Check the electrical installation (connecting cable, pin allocation see Section 3.2). Are all protective earth conductors connected? Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 37: Parameterisation With Metronix Servocommander
Parameterisation with Metronix ServoCommander™ The Metronix ServoCommander™ (MSC) parameterisation software has been expanded for the use of the ARS 2000 SE series of servo drives with integrated safety function STO. The main additions are: Indication of the presence of the integrated safety function STO ... -
Page 38: Type Indication Servo Drive And Safety Function
At the lower edge of the MSC main screen, there is a status bar. It shows the type of the servo drive and the type of the integrated safety function (for the ARS 2000 SE always “STO integrated”), see Figure 8. -
Page 39: 4.2.3.1 Info
The serial number is unique for a product of the applicable type. Revision: Revision number of the hardware of the firmly integrated safety function STO. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 40: 4.2.3.2 Status-Leds Of The State Machine
The lower two LEDs display the status of the driver supply voltage. The upper three LEDs show the state of the state machine within the servo drive ARS 2000 SE, see Figure 9. The state is read out from the ARS 2000 SE via communication objects and then displayed. -
Page 41: Function Test, Validation
Can it be guaranteed that the implemented measures will not severely impair the machine’s ability to perform its function? Table 10: Questions for validation in accordance with EN ISO 12100-1:2010 (example) Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 42: Table 11: Questions For Validation In Accordance With En Iso 13849-1 And -2 (Example)
Table 11: Questions for validation in accordance with EN ISO 13849-1 and -2 (example) Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 43: Operation
The check must be made in a way that proves proper functioning of the safety equipment in interaction with all components. Maintenance and care The servo drive ARS 2000 SE with integrated STO function does not require any maintenance. Protective functions 5.3.1 Voltage monitoring The input voltages at STO-A and STO-B are monitored. -
Page 44: Diagnostics And Troubleshooting
Where an error message cannot be acknowledged, the cause must first be remedied in accordance with the recommended measures. Then reset the servo drive, and check whether the cause of the error, and the error message, have been eliminated. Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 45: Table 13: Error Messages Relating To The Integrated Sto Circuit
Check link to the safety- active PWM oriented interface. 1) The messages of error group 51 cannot be acknowledged. Table 13: Error messages relating to the integrated STO circuit Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 46: Conversion
This prevents the pulse pattern (PWM signals) reaching the power semiconductors. The ARS 2000 also has a floating feedback contact ( [X3] Pins 5 and 6) which, as a diagnostics output, indicates the presence of the driver supply. -
Page 47: Information For Configuration
ARS 2000 SE: Contact open. 6.2.4 Information for configuration The ARS 2000 SE exhibits a higher performance than the ARS 2000. Use of this feature represents an essential modification to the machine. Note The parameter set of the ARS 2000 must be transferred with the same values to the parameter block of the ARS 2000 SE. -
Page 48: Technical Appendix
Duration of use in accordance with EN ISO 13849-1 MTTFd [Years] 100 Mean time to dangerous failure Calculated at 1443 years, limited to 100 years Table 14: Technical data: Safety indicators Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 49: General
The device is intended for industrial use. Measures for interference suppression may need to be implemented in residential areas. Table 16: Technical data: Certification Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 50: Operating And Environmental Conditions
See in the Product Manuals “Servo drives ARS 2100 SE” and “Servo drives ARS 2300 SE” Table 17: Technical data: Ambient conditions and qualification Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 51: Electrical Data
Maximum tolerance time for [ms] <2,0 <2,0 2,0 test pulse at 24 V signal Table 19: Typical switch-off time and minimum tolerance time for test pulse (OSSD signals) Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 52: Table 20: Technical Data: Electrical Data Of The Feedback Contact C1/C2
STO-A / 0V-A STO-B / 0V-B C1 / C2 24V / 0V (Logic supply to the servo drive) Table 22: Technical data: Electrical isolation [X40] Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 53: Table 23: Technical Data: Cabling To [X40]
Two conductors mm² 2 x 0,25 (with twin wire end sleeves) Tightening torque M2 [Nm] 0,22 … 0,25 Table 23: Technical data: Cabling to [X40] Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1... -
Page 54: Glossary
Safe Stop 1, according to EN 61800-5-2. Safe Torque Off in accordance with EN 61800-5-2. Duration of use in accordance with EN ISO 13849-1. Table 24: Terms and abbreviations Product Manual „STO (Safe Torque Off) for the servo drives ARS 2000 SE“ Version 3.1...
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