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Manuals and User Guides for Metronix ARS 2340. We have
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Metronix ARS 2340 manual available for free PDF download: Product Manual
Metronix ARS 2340 Product Manual (171 pages)
Brand:
Metronix
| Category:
Servo Drives
| Size: 4 MB
Table of Contents
Table of Contents
4
General
16
Documentation
16
Scope of Supply
17
Table 1: Scope of Supply
17
Table 2: Connector Set: POWER Connector
17
Table 3: Connector Set: DSUB Connector
17
Table 4: Connector Set: Shield Connector
17
Safety Notes for Electrical Drives and Controllers
18
Used Symbols
18
General Notes
19
Danger Resulting from Misuse
21
Safety Notes
22
General Safety Notes
22
Safety Notes for Assembly and Maintenance
24
Protection against Contact with Electrical Parts
26
Protection against Electrical Shock by Means of Protective Extra-Low Voltage (PELV)
27
Protection against Dangerous Movements
28
Protection against Contact with Hot Parts
29
Protection During Handling and Assembly
30
Product Description
31
General
31
Figure 1: Type Key
31
Power Supply
34
Three-Phase AC Power Supply
34
Behaviour During Switch-On, Behaviour During Normal Operation and Control Characteristics
34
DC Bus Coupling, DC Supply
34
3.2.2.1 DC Bus Coupling
34
3.2.2.2 DC-Supply
34
Mains Fuse
34
Brake Chopper
35
Communication Interfaces
36
Serial Interface [X5]
36
CAN Interface [X4]
36
Technology Module: PROFIBUS
37
Technology Module: Sercos II
37
Technology Module: Ethercat
37
I/O Functions and Device Control
37
Technical Data
39
General Technical Data
39
Table 5: Technical Data: Ambient Conditions and Qualification
39
Table 6: Technical Data: Dimensions and Weight
39
Operating and Display Elements
40
Table 7: Technical Data: Cable Specifications
40
Table 8: Technical Data: Motor Temperature Monitoring
40
Table 9: Display Elements and RESET Button
40
Supply [X9]
41
Table 10: Technical Data: Performance Data [X9]
41
Table 11: Technical Data: Internal Braking Resistor [X9] or [X9A]
41
Table 12: Technical Data: External Braking Resistor [X9] or [X9A]
41
Motor Connection [X6]
42
Table 13: Technical Data: Motor Connection [X6]
42
Current Derating
43
Figure 2: ARS 2320: Current Derating Diagram
43
Figure 3: ARS 2340: Current Derating Diagram
44
Figure 4: ARS 2320W: no Current Derating as a Function of the Pulse Frequency
44
Figure 5: ARS 2360W: Current Derating Diagram
45
I 2 Xt Derating for ARS 2320W and ARS 2360W
46
Figure 6: ARS 23Xxw: I 2 Xt Derating Diagram
46
Table 14: I 2 Xt - Times (Set Points 1 to 4)
46
Water Cooling System
47
Safe Torque off (STO) and 24V Supply [X3]
47
Table 15: Requirements for the Water Cooling System
47
Table 16: Technical Data: 24VDC Supply [X3]
47
Motor Feedback Connection [X2A] and [X2B]
48
Resolver Connection [X2A]
49
Table 17: Technical Data: Resolver [X2A]
49
Table 18: Technical Data: Resolver Interface [X2A]
49
Encoder Connection [X2B]
50
Communication Interfaces
51
Rs232 [X5]
51
CAN-Bus [X4]
51
Table 19: Technical Data: Encoder Evaluation [X2B]
51
Table 20: Technical Data: RS232 [X5]
51
Table 21: Technical Data: CAN Bus [X4]
51
I/O Interface [X1]
52
Table 22: Technical Data: Digital Inputs and Outputs [X1]
52
Incremental Encoder Input [X10]
53
Table 23: Technical Data: Analogue Inputs and Outputs [X1]
53
Table 24: Technical Data: Incremental Encoder Input [X10]
53
Incremental Encoder Output [X11]
54
Table 25: Technical Data: Incremental Encoder Output [X11]
54
Function Overview
55
Motors
55
Synchronous Servo Motors
55
Linear Motors
55
Functions of the Servo Drive ARS 2300
56
Compatibility
56
Figure 7: Control Scheme of the ARS 2300
56
Pulse Width Modulation (PWM)
57
Table 26: Output Voltage at the Motor Terminals at UZK = 560V
57
Set Point Management
58
Torque-Controlled Mode
58
Speed-Controlled Mode
59
Torque-Limited Speed Control
59
Synchronization with External Clock Sources
59
Load Torque Compensation for Vertical Axes
60
Positioning and Position Control
60
Synchronisation, Electronic Gearing
60
Brake Management
60
Positioning Control
61
Overview
61
Relative Positioning
62
Absolute Positioning
62
Driving Profile Generator
62
Figure 8: ARS 2300 Servo Drive Driving Profiles
62
Homing
63
Positioning Sequences
63
Figure 9: Path Program
63
Optional Stop Input
64
Contouring Control with Linear Interpolation
64
Time-Synchronized Multi-Axis Positioning
65
Figure 10: Linear Interpolation between Two Data Values
65
Functional Safety Technology
66
General, Intended Use
66
Table 27: Stop Categories
67
Integrated "Safe Torque-Off (STO)" Function
68
General / Description of "Safe Torque-Off" Function
68
Figure 11: Block Diagram "STO" as Per en ISO 13849-1, Category 3 Performance Level D
69
Holding Brake Activation
70
Mode of Operation / Timing
71
Figure 12: Timing of "Safe Torque-Off" (STO) as Per en ISO 13849-1, Category 3 Performance Level D
71
Application Examples
74
6.2.4.1 Emergency Stop Circuit
74
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
74
6.2.4.2 Safety Door Monitoring
76
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
76
Mechanical Installation
78
Important Notes
78
Installation Space
79
Figure 15: Servo Drive ARS 2320: Installation Space
79
Figure 16: Servo Drive ARS 2340: Installation Space
80
Device Views
81
Figure 17: Servo Drives ARS 2320 and ARS 2320W: Front View
81
Figure 18: Servo Drives ARS 2340 and ARS 2360W: Front View
82
Figure 19: Servo Drives ARS 2320 and ARS 2320W: Bottom View
83
Installation
84
Figure 20: Servo Drives ARS 2340 and ARS 2360W: Bottom View
84
Figure 21: Servo Drives ARS 2320 and ARS 2340: Drilling Pattern on the Mounting Plate
85
Figure 22: Servo Drives ARS 2320W and ARS 2360W: Drilling Pattern on the Water
86
Water Cooling System
87
Figure 23: Water Cooling System - Example by the Manufacturer Dau
87
Figure 24: Water Cooling System - Example by the Manufacturer Cooltec
88
Electrical Installation
89
Connector Configuration
89
Figure 25: Servo Drives ARS 2320 and ARS 2320W: Connection to the Supply Voltage and to the Motor
89
Figure 26: Servo Drives ARS 2340 and ARS 2360W: Connection to the Supply Voltage and to the Motor
90
ARS 2300 Complete System
91
Figure 27: Complete Set-Up of the ARS 2300 with Motor and PC
92
Connection at the ARS 2320 and ARS 2320W Servo Drives: Power Supply and Braking Resistor [X9]
93
Configuration at the ARS 2320 and ARS 2320W Servo Drives [X9]
93
Counter Plug [X9] at the ARS 2320 and ARS 2320W
93
Pin Assignment [X9] at the ARS 2320 and 2320W
93
Table 28: Pin Assignment at the ARS 2320 and ARS 2320W: Supply[X9]
93
Connection: External Braking Resistor [X9] at the ARS 2320 and ARS 2320W
94
Type and Configuration of Cable [X9] at the ARS 2320 and ARS 2320W
94
Table 29: Pin Assignment at the ARS 2320 and ARS 2320W: External Braking Resistor [X9]
94
Connection Notes Concerning [X9] at the ARS 2320 and ARS 2320W
95
Figure 28: Pin Assignment at the ARS 2320 and ARS 2320W: Supply and Braking Resistor [X9]
95
Connection at the ARS 2340 and ARS 2360W Servo Drives: Power Supply [X9] and Braking Resistor [X9A]
96
Configuration at the ARS 2340 and ARS 2360W Servo Drives [X9]
96
Counter Plug [X9] at the ARS 2340 and ARS 2360W
96
Pin Assignment [X9] at the ARS 2340 and ARS 2360W
96
Table 30: Pin Assignment at the ARS 2340 and ARS 2360W: Supply [X9]
96
Type and Configuration of Cable [X9] at the ARS 2340 and ARS 2360W
97
Connection Notes Concerning [X9] at the ARS 2340 and ARS 2360W
97
Connection: External Braking Resistor [X9A] at the ARS 2340 and ARS 2360W
97
Configuration [X9A] at the ARS 2340 and ARS 2360W
97
Figure 29: Pin Assignment at the ARS 2340 and ARS 2360W: Supply [X9]
97
Counter Plug [X9A] at the ARS 2340 and ARS 2360W
98
Pin Assignment [X9A] at the ARS 2340 and ARS 2360W
98
Connection Notes Concerning [X9A] at the ARS 2340 and ARS 2360W
98
Figure 30: Pin Assignment at the ARS 2340 and ARS 2360W: Braking Resistor [X9A]
98
Table 31: Pin Assignment at the ARS 2340 and ARS 2360W: Braking Resistor [X9A]
98
Connection: Safe Torque off (STO) and 24V Supply [X3]
99
Configuration on the Device [X3]
99
Counter Plug [X3]
99
Pin Assignment [X3]
99
Table 32: Pin Assignment: [X3]
99
Cable Type and Configuration: 24VDC Power Supply [X3]
100
Connection Notes [X3]
100
Figure 31: Pin Assignment: 24VDC Power Supply [X3]
100
Connection: Motor [X6] and [X6A]
101
Configuration [X6] at the ARS 2320 and ARS 2320W
101
Counter Plug [X6] at the ARS 2320 and ARS 2320W
101
Configuration [X6] at the ARS 2340 and ARS 2360W
101
Counter Plug [X6] at the ARS 2340 and ARS 2360W
101
Configuration Device Side [X6A]
101
Counter Plug [X6A]
101
Pin Assignment [X6]
101
Table 33: Pin Assignment: Motor [X6]
101
Type and Configuration of Cable [X6] and [X6A] at the ARS 2320 and ARS 2320W
102
Type and Configuration of Cable [X6] and [X6A] at the ARS 2340
102
Table 34: Motor Temperature Monitoring System and Holding Brake [X6A]
102
Type and Configuration of Cable [X6] and [X6A] at the ARS 2360W
103
Connection Notes Concerning [X6] and [X6A]
104
Figure 32: Pin Assignment: Motor [X6] and [X6A]
104
Connection: I/O Communication [X1]
105
Figure 33: Connecting a Holding Brake with High Current Demand (> 2A) to the Device
105
Figure 34: Basic Circuit Diagram of Connection [X1]
106
Configuration on the Device [X1]
107
Counter Plug [X1]
107
Pin Assignment [X1]
108
Table 35: Pin Assignment: I/O Communication [X1]
108
Cable Type and Configuration [X1]
109
Connection Notes [X1]
109
Connection: Safe Torque off (STO) [X3]
110
Configuration on the Device [X3]
110
Counter Plug [X3]
110
Pin Assignment [X3]
110
Table 36: Pin Assignment: [X3]
110
Connection Notes [X3]
111
Connection: Resolver [X2A]
111
Configuration on the Device [X2A]
111
Counter Plug [X2A]
111
Figure 35: Connection Notes [X3]: Without Safety Function
111
Pin Assignment [X2A]
112
Cable Type and Configuration [X2A]
112
Table 37: Pin Assignment: [X2A]
112
Connection Notes [X2A]
113
Connection: Encoder [X2B]
113
Configuration on the Device [X2B]
113
Counter Plug [X2B]
113
Figure 36: Pin Assignment: Resolver Connection [X2A]
113
Pin Assignment [X2B]
114
Table 38: Pin Assignment: Analogue Incremental Encoder - Optional [X2B]
114
Table 39: Pin Assignment: Incremental Encoder with Serial Interface
115
Cable Type and Configuration [X2B]
116
Table 40: Pin Assignment: Digital Incremental Encoder - Optional [X2B]
116
Connection Notes [X2B]
117
Figure 37: Pin Assignment: Analogue Incremental Encoder - Optional [X2B]
117
Figure 38: Pin Assignment: Incremental Encoder with Serial Interface (for Example Endat, HIPERFACE ) - Optional [X2B]
117
Figure 39: Pin Assignment: Digital Incremental Encoder - Optional [X2B]
118
Connection: Incremental Encoder Input [X10]
119
Configuration on the Device [X10]
119
Counter Plug [X10]
119
Pin Assignment [X10]
119
Table 41: Pin Assignment: Incremental Encoder Input [X10]
119
Cable Type and Configuration [X10]
120
Connection Notes [X10]
120
Figure 40: Pin Assignment: Input of the Incremental Encoder [X10]
120
Connection: Incremental Encoder Output [X11]
121
Configuration on the Device [X11]
121
Counter Plug [X11]
121
Pin Assignment [X11]
121
Cable Type and Configuration [X11]
121
Table 42: Pin Assignment: Incremental Encoder Output [X11]
121
Connection Notes [X11]
122
Connection: CAN Bus [X4]
122
Configuration on the Device [X4]
122
Counter Plug [X4]
122
Figure 41: Pin Assignment: Incremental Encoder Output [X11]
122
Pin Assignment [X4]
123
Cable Type and Configuration [X4]
123
Table 43: Pin Assignment: CAN Bus [X4]
123
Connection Notes [X4]
124
Figure 42: CAN Bus Cabling Example
124
Connection: RS232/COM [X5]
125
Configuration on the Device [X5]
125
Counter Plug [X5]
125
Pin Assignment [X5]
125
Table 44: Pin Assignment: RS232 Interface [X5]
125
Cable Type and Configuration [X5]
126
Connection Notes [X5]
126
Figure 43: Pin Assignment: RS232 Null Modem Cable [X5]
126
Notes Concerning Safe and EMC-Compliant Installation
127
Definitions and Terminology
127
General Information Concerning EMC
127
EMC Areas: First and Second Environment
128
EMC-Compliant Cabling
128
Table 45: EMC Requirements: First and Second Environment
128
Figure 44: Motor Cable: Lengths of Shields and Cables
129
Operation with Long Motor Cables
130
ESD Protection
130
Initial Operation
131
General Notes on Connection
131
Tools / Material
131
Connecting the Motor
131
Connecting the ARS 2300 Servo Drive to the Power Supply
132
Connecting the PC (Serial Interface)
132
Checking Operability
132
Service Functions and Error Messages
133
Protection and Service Functions
133
Overview
133
Phase and Mains Failure Detection
133
Overcurrent and Short-Circuit Monitoring
134
Overvoltage Monitoring of the DC Bus
134
Temperature Monitoring of the Heat Sink
134
Motor Monitoring
134
I²T Monitoring
134
Power Monitoring of the Internal Brake Chopper
135
Start-Up Status
135
Operating Hours Meter
135
Rapid Discharge of the DC Bus
135
Operating Mode and Error Messages
136
Operating Mode and Error Display
136
Table 46: Operating Mode and Error Display
136
Error Messages
137
Table 47: Error Messages
137
Technology Modules
153
EA88 Interface (Terminal Extension)
153
Product Description
153
Technical Data
153
General Data
153
Table 48: Technical Data: EA88 Interface
153
Digital Inputs
154
Digital Outputs
154
Table 49: Digital Inputs: EA88 Interface [X21]
154
Table 50: Digital Outputs: EA88 Interface [X22]
154
Pin Assignment and Cable Specifications
155
Power Supply
155
Pin Assignments
155
Table 51: EA88: Connector [X21] for 8 Digital Inputs
155
Table 52: EA88: Connector [X22] for 8 Digital Outputs
155
Counter Plug
156
Connection Notes
156
Figure 45: E88: Position of the Pin-And-Socket Connectors [X21] and [X22] at the Front Plate
156
PROFIBUS-DP Interface
157
Product Description
157
Technical Data
157
Table 53: Technical Data: PROFIBUS-DP Interface: Ambient Conditions, Dimensions
157
Figure 46: PROFIBUS-DP Interface: Front View
158
Table 54: Technical Data: PROFIBUS-DP Interface: Interfaces and Communication
158
Pin Assignments and Cable Specifications
159
Pin Assignment
159
Counter Plug
159
Cable Type and Configuration
159
Table 55: Pin Assignment: PROFIBUS-DP Interface
159
Termination and Bus Terminating Resistors
160
Figure 47: PROFIBUS-DP Interface: Connection with External Terminating Resistors
160
Sercos II Module
161
Product Description
161
Technical Data
162
Figure 48: Sercos II Module: Front View
162
Table 56: Technical Data: Sercos II Module: Ambient Conditions, Dimensions and Weight
162
Optical Waveguide Specification
163
Ethercat
164
Product Description
164
Characteristics of the Ethercat Technology Module
164
Technical Data
165
Figure 49: Ethercat Module: Front View
165
Table 57: Technical Data: Ethercat Module: Ambient Conditions, Dimensions and Weight
165
Display Elements
166
Ethercat Interface
166
Table 58: Display Elements Ethercat Module
166
Table 59: Signal Level and Differential Voltage Ethercat Module
166
MC 2000 "Drive-In" 4-Axis Motion Coordinator
167
Product Description
167
Features
168
Compact
168
Figure 50: MC 2000 4-Axis Motion Coordinator
168
Figure 51: MC 2000 4-Axis Motion Coordinator Maximum Capacity
168
Fast
169
Easy
169
Technical Data
170
Table 60: Technical Data: MC 2000 4-Axis Motion Coordinator
170
General Installation Notes for Technology Modules
171
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