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Page 59

5.2.14 Electronic cam disk

The term “(electronic) cam disk” describes applications in which an input angle or an input position is
reproduced as an angle set point or as a position set point through a function. Typically, these
applications are master-slave-applications.

Via the parameterisation program Metronix ServoCommander

the servo drive ARS 2100 SE can

provide the following functionalities:



Cam disks with cam switches and axis error compensations can be loaded from an Excel table



Display, activation and online manipulation of cam disks



Mapping of the trip cams on digital outputs



Display and activation of the axis error compensation



Cam disks with cam switches and axis error compensations can be loaded and saved using DCO
files.



Displaying an active CAM or axis error compensation in the commands window

For further information, please refer to the Software Manual “Servo drives ARS 2000”.

Product Manual „Servo drives ARS 2100 SE“

Version 5.0

Summary of Contents for ARS 2100 SE

Page 1: ... ARS 2100 SE Standard Edition Manual Metronix Meßgeräte und Elektronik GmbH Phone 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 38120 Braunschweig E Mail vertrieb metronix de Germany http www metronix de ...

Page 2: ...arantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer Metronix does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Metronix Meßgeräte und Elektronik GmbH reserves the right to modify amend or improve the ...

Page 3: ...or Metronix Meßgeräte und Elektronik GmbH Manual title Product Manual Servo drives ARS 2100 SE File name P HB_ARS2100_SE_5p0_EN_mBre docx Version 5 0 December 2015 TABLE OF CONTENTS Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 4: ...Protection against contact with hot parts 26 2 4 7 Protection during handling and assembly 27 3 PRODUCT DESCRIPTION 28 3 1 General 28 3 2 Power supply 31 3 2 1 Single phase AC supply 31 3 2 2 DC bus coupling DC supply 32 3 2 3 Mains fuse 32 3 3 Brake chopper 32 3 4 Communication interfaces 33 3 4 1 USB interface X19 33 3 4 2 UDP interface X18 34 3 4 3 CAN interface X4 34 3 4 4 I O functions and de...

Page 5: ...d mode 52 5 2 6 Torque limited speed control 53 5 2 7 Synchronization to the external clock signal 53 5 2 8 Load torque compensation for vertical axes 53 5 2 9 Positioning and position control 54 5 2 10 Synchronisation electronic gearing 54 5 2 11 Brake management 54 5 2 12 Contouring control with linear interpolation 55 5 2 13 Time synchronized multi axis positioning 55 5 2 14 Electronic cam disk...

Page 6: ... X9 73 8 3 5 Connection notes X9 74 8 4 Connection Motor X6 75 8 4 1 Device side X6 75 8 4 2 Counterplug X6 75 8 4 3 Pin assignment X6 76 8 4 4 Cable type and design X6 77 8 4 5 Connection notes X6 78 8 5 Connection I O communication X1 80 8 5 1 Device side X1 82 8 5 2 Counterplug X1 82 8 5 3 Pin assignment X1 83 8 5 4 Cable type and design X1 84 8 5 5 Connection notes X1 84 8 6 Connection Resolve...

Page 7: ...nd design X11 97 8 9 5 Connection notes X11 97 8 10 Connection CAN Bus X4 98 8 10 1 Device side X4 98 8 10 2 Counterplug X4 98 8 10 3 Pin assignment X4 98 8 10 4 Cable type and design X4 99 8 10 5 Connection notes X4 99 8 11 Connection USB X19 101 8 11 1 Device side X19 101 8 11 2 Counterplug X19 101 8 11 3 Pin assignment USB X19 101 8 11 4 Cable type and design X19 101 8 12 Connection X40 102 8 1...

Page 8: ...4 Connecting the servo drive ARS 2100 SE to the power supply 111 10 5 Connecting the PC USB interface 111 10 6 Checking operability 111 11 SERVICE FUNCTIONS AND ERROR MESSAGES 112 11 1 Protection and service functions 112 11 1 1 Overview 112 11 1 2 Overcurrent and short circuit monitoring 112 11 1 3 Overvoltage monitoring for the DC bus 112 11 1 4 Temperature monitoring of the heat sink 113 11 1 5...

Page 9: ...STO with motor and PC 71 Figure 14 Supply X9 74 Figure 15 Motor connection X6 78 Figure 16 Connecting a holding brake with high current draw 1A to the device 79 Figure 17 Basic circuit diagram connector X1 81 Figure 18 Pin assignment Resolver connection X2A 86 Figure 19 Pin assignment Analogue incremental encoder X2B 91 Figure 20 Metronix ServoCommander Angle encoder settings X2B 91 Figure 21 Pin ...

Page 10: ... Table 16 ARS 2105 SE Rated current for an ambient temperature of 40 C 39 Table 17 ARS 2108 SE Rated current for blocked or slowly rotated motor fel 2 Hz and for an ambient temperature of 40 C 40 Table 18 ARS 2108 SE Rated current for rotated motor fel 3 Hz and for an ambient temperature of 40 C 41 Table 19 Technical data Resolver X2A 42 Table 20 Technical data Resolver interface X2A 43 Table 21 T...

Page 11: ...X2B 89 Table 37 Pin assignment Digital incremental encoder X2B 90 Table 38 Pin assignment Incremental encoder input X10 94 Table 39 Pin assignment Incremental encoder output X11 96 Table 40 Pin assignment CAN Bus X4 98 Table 41 Pin assignment USB interface X19 101 Table 42 Pin assignment SD and SDHC Card 103 Table 43 Pin assignment MMC Card 103 Table 44 EMC requirements First and second environmen...

Page 12: ...vice functionality and the software functions of the firmware Description of the Metronix ServoCommander parameterisation program with instructions concerning the start up of the ARS 2000 servo drives CANopen Manual Servo drives ARS 2000 Description of the implemented CANopen protocol as per DSP402 You can find all these documents on our homepage at the download area http www metronix de Certifica...

Page 13: ...O Type ARS 2102 SE ARS 2105 SE ARS 2108 SE Metronix part number 9200 2102 31 9200 2105 31 9200 2108 31 Counterplugs for power controller or shaft encoder connections as well as for shield connection are not included in the standard scope of supply They can however be ordered as accessories Table 3 Connector set POWER connector 1x Connector set POWER connector This connector set contains the counte...

Page 14: ...on X2B CAN fieldbus interface X4 Incremental encoder input X10 Incremental encoder output X11 Type ARS 2102 SE ARS 2105 SE ARS 2108 SE Metronix part number 9200 0200 00 Table 5 Connector set Shield connector 1x Connector set Shield connector This connector set includes two shield terminals SK14 Type ARS 2102 SE ARS 2105 SE ARS 2108 SE Metronix part number 9200 0202 00 Product Manual Servo drives A...

Page 15: ...tant information and notes Caution Nonobservance may result in severe property damages DANGER Nonobservance may result in property damages and in personal injuries Caution Dangerous voltages The safety note indicates a possible perilous voltage Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 16: ... product itself are persons who are sufficiently familiar with the project the setup assembly commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction concerning the standards and accident prevention regulations for the application or authorisati...

Page 17: ...ese safety notes must also be included The user must not open the servo drive for safety and warranty reasons Professional control process design is a prerequisite for sound functioning of the servo drive DANGER Inappropriate handling of the servo drive and non compliance with the warnings as well as inappropriate intervention in the safety features may result in property damage personal injuries ...

Page 18: ...gh electrical voltage caused by wrong connections Danger to life or serious personal injury from electrical shock DANGER Surfaces of device housing may be hot Risk of injury Risk of burning DANGER Dangerous movements Danger to life serious personal injury or property damage due to unintentional movements of the motors Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 19: ...nnecting 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 The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically approved by the manufacturer For notes on installation corresponding to EMC please refer to ...

Page 20: ...ments Electrical thermal and energy EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional EN ISO 12100 Safety of machinery General principles for design Risk assessment and risk reduction EN ISO 13849 1 Safety of machinery Safety related parts of control systems Part 1 General principles for design EN ISO 13849 2 Safety of machinery Safety related par...

Page 21: ...on Keep the electrical equipment voltage free using the main switch and protect it from being switched on again until the DC bus circuit is discharged in the case of Maintenance and repair work Cleaning long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turned off locked and the DC bus circuit is discharged The external or internal brake resistor...

Page 22: ...e special Safe Stop feature in accordance with EN 954 1 CAT 3 or with the Safe Torque Off feature in accordance with EN 61800 5 2 Initial operation must be carried out with idle motors to prevent mechanical damages for example due to the wrong direction of rotation Electronic devices are never fail safe It is the user s responsibility in the case an electrical device fails to make sure the system ...

Page 23: ...ntegrated line filter the leakage current exceeds 3 5 mA Comply with the minimum copper cross section for the ground conductor over its entire length see for example EN 60800 5 1 Prior to the initial operation even for short measuring or testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the the earthing system on site Otherw...

Page 24: ...within the EU EN 61800 5 1 DANGER High electrical voltages due to wrong connections Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltages between 0 to 50 Volts Only connect voltages and circuits with protection against dangerous voltages Such protecti...

Page 25: ...age this may not be relied on exclusively Until the built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For the reasons mentioned above personal protection must be ensured by means of monitor...

Page 26: ...o not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switching them off Touching hot parts of the equipment such as the housing which contain heat sinks and resistors may cause burns Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 27: ...l setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment for example goggles protective footwear protective gloves Do not stand...

Page 28: ...is servo drive Standard Edition is an alternative to the ARS 2000 FS devices if there is no need for technology modules for example The parameter sets of both device families are compatible This means that parameter sets that have been created for the ARS 2000 FS series are applicable for the ARS 2000 SE devices and vice versa Adjustments for components that are missing for the ARS 2000 SE as for ...

Page 29: ...metal housing for mounting to conventional control cabinet plates All devices comply with the IP20 degree of protection Integration of all filters to fulfil the EMC regulations industrial inside the device for example line filter motor output filter filter for 24 V supply as well as inputs and outputs Integrated brake resistor External resistors can be connected for higher braking energies Automat...

Page 30: ...r software Menu driven first set up Automatic motor identification Easy coupling to host controller for example to a PLC via I O level or fieldbus High resolution 16 bit analogue input For the ARS 2000 SE series servo drives with the integrated safety function STO STO Safe Torque Off corresponds to EN 60204 Stop 0 SIL 3 in accordance with ISO EN 61800 5 2 PL e in accordance with ISO EN 13849 1 Pro...

Page 31: ...th directions between motor and generator operation without dead times No parameterisation by the user required 1 1 1 1 Behaviour during switch on As soon as the servo drive ARS 2100 SE is supplied with the input voltage the DC bus is charged 1 s using the brake resistor as a precharging resistor the DC link relay deactivated After precharging of the DC bus the relay is energized and the DC bus is...

Page 32: ...2300 FS SE series is not allowed 1 1 1 3 DC supply The direct DC supply is supported for a supply with voltages 60 VDC by the DC bus connection instead of the connection to the mains see Table 11 The digital motor temperature measurement system requires a DC link voltage of 120 VDC minimum Below this voltage the system will always identify the digital motor temperature sensor as open 3 2 3 Mains f...

Page 33: ...f the internal and external brake resistors is not possible The external resistors are not automatically overload protected by the device 3 4 Communication interfaces The ARS 2000 SE series servo drives have several communication interfaces USB interface X19 USB UDP interface X18 Ethernet Fieldbus system X4 CANopen I O interface X1 Digital and analogue In and outputs The Ethernet and the USB inter...

Page 34: ...otion space During a homing one of the two limit switches may serve as a reference point for the positioning control Two inputs are used for the power stage enabling on the hardware side as well as for the servo drive enabling on the software side High speed sample inputs are available for different time critical applications for example homing special applications The ARS 2000 SE series servo dri...

Page 35: ...Protection class I Pollution degree 2 CE conformity Low voltage directive EMC directive 2006 95 EC verified by application of the harmonised standard EN 61800 5 1 2004 108 EC verified by application of the harmonised standard EN 61800 3 EC product type test certificate for the devices with STO TÜV 01 205 5245 01 14 cULus certification Listed according to UL 508C C22 2 No 274 13 Table 7 Technical d...

Page 36: ...r temperature monitoring Motor temperature monitoring Values Digital sensor Normally closed contact Rcold 500 Rhot 100 k Analogue sensor Silicon temperature sensor for example KTY81 82 or similar R25 2000 R100 3400 4 2 Operating and display elements On the front the ARS 2100 SE series servo drives have two LEDs and one seven segment display to indicate the operating status Table 10 Display element...

Page 37: ...0 0 55 A 24 VDC 20 0 65 A plus current consumption of a possibly connected holding brake and I Os Table 12 Technical data Internal brake resistor X9 Type ARS 2102 SE ARS 2105 SE ARS 2108 SE Brake resistance 60 37 Pulse power 2 4 kW 3 9 kW Continuous power 10 W 20 W 25 W Threshold limit 389 V Over voltage detection 400 V Table 13 Technical data External brake resistor X9 Type ARS 2102 SE ARS 2105 S...

Page 38: ...cies fel shorter permissible times are valid for ARS 2108 SE As a guideline 4 4 1 Current derating The ARS 2100 SE series servo drives have a current derating during nominal operation The rated current and the time of the maximum allowed peak current of the servo drive depend on different factors These factors are Output current level the higher the output current the shorter the allowed time Powe...

Page 39: ...bles for the ARS 2108 SE the first one applies to blocked or slowly rotated motors electrical rotational frequency 2 Hz the second one applies to faster rotated motors electrical rotational frequency 3 Hz Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 40: ...ent ARMS 1 9 Max output current ARMS 3 8 5 7 7 6 Max allowed time s 5 1 3 0 5 Table 16 ARS 2105 SE Rated current for an ambient temperature of 40 C Parameter Values Power stage clock frequency kHz 12 Output current ARMS 5 Max output current ARMS 10 15 20 Max allowed time s 5 1 3 0 5 Power stage clock frequency kHz 16 Output current ARMS 4 4 Max output current ARMS 8 8 13 2 17 6 Max allowed time s ...

Page 41: ...ime s 5 0 7 0 2 Power stage clock frequency kHz 12 Output current ARMS 7 4 Max output current ARMS 14 8 22 2 29 6 Max allowed time s 5 0 7 0 2 Power stage clock frequency kHz 16 Output current ARMS 6 3 Max output current ARMS 12 6 18 9 25 2 Max allowed time s 5 0 7 0 2 Power stage clock frequency kHz 19 Output current ARMS 5 2 Max output current ARMS 10 4 15 6 20 8 Max allowed time s 5 0 7 0 2 Pro...

Page 42: ... 3 0 5 Power stage clock frequency kHz 12 Output current ARMS 7 4 Max output current ARMS 14 8 22 2 29 6 Max allowed time s 5 1 3 0 5 Power stage clock frequency kHz 16 Output current ARMS 6 3 Max output current ARMS 12 6 18 9 25 2 Max allowed time s 5 1 3 0 5 Power stage clock frequency kHz 19 Output current ARMS 5 2 Max output current ARMS 10 4 15 6 20 8 Max allowed time s 5 1 3 0 5 Product Manu...

Page 43: ...ontrol 4 5 1 Resolver connection X2A The 9 pin D SUB connection X2A is used to evaluate standard resolvers Single and multi pole resolvers are supported The user can state the number of pairs of poles of the servo motor in the Motor Data menu of the Metronix ServoCommander parameterisation program so that the ARS 2100 SE determines the speed correctly The number of pairs of poles of the motor P0Mo...

Page 44: ...a Encoder evaluation X2B Parameter Values Parameterisable number of encoder lines 1 218 lines revolution Angular resolution Interpolation 10 Bit period Encoder signals A B 1 VPP differential 2 5 V offset Encoder signal N 0 2 to 1 VPP differential 2 5 V offset Commutation track A1 B1 optional 1 VPP differential 2 5 V offset Input impedance encoder signals Differential input 120 Limit frequency fLim...

Page 45: ...pplications to save the costs for the provision of the commutation signals hall sensor With this type of encoder the ARS 2100 SE series servo drives carry out an automatic pole position determination after power on Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 46: ...encoders SCS Kit 101 SHS 170 SCK 25 35 40 45 50 53 Multiturn SinCos Hollow shaft encoders SCM Kit 101 SCL 25 35 40 45 50 53 In addition the following Sick Stegmann encoder systems can be connected and evaluated Absolute non contact length measuring system L230 and TTK70 HIPERFACE Digital incremental encoder CDD 50 SinCoder encoders like SNS 50 or SNS 60 are no longer supported Heidenhain encoders ...

Page 47: ...ble 23 Technical data Ethernet X18 Communication interface Values Function Ethernet 10 100 MBaud auto select Connector type RJ45 4 6 3 CAN Bus X4 Table 24 Technical data CAN Bus X4 Communication interface Values CANopen controller ISO DIS 11898 full CAN controller max 1 MBaud CANopen protokoll as per DS301 and DSP402 4 6 4 SD SDHC MMC Card Table 25 Technical data SD SDHC MMC Card Communication int...

Page 48: ...gnal acknowledge error with falling edge DIN 6 Limit switch input 0 DIN 7 Limit switch input 1 DIN 8 Control signal Start positioning or Homing switch for homing or saving of positions DIN 9 Control signal Start positioning or Homing switch for homing or saving of positions Logic outputs general Galvanically separated 24 V 8 V 30 V active high DOUT 0 Operational state 24 V max 100 mA DOUT 1 Freely...

Page 49: ...t 1 kHz 4 6 6 Incremental encoder input X10 The input supports all common incremental encoders For example encoders corresponding to the industry standard ROD426 by Heidenhain or encoders with single ended TTL outputs as well as open collector outputs Alternatively the A and B encoder signals are interpreted by the device as pulse direction signals so that the servo drive can also be driven by ste...

Page 50: ...rogrammed number of lines for the duration of a signal period as long as the encoder signals A and B are high Table 29 Technical data Incremental encoder output X11 Parameter Values Number of lines Programmable 1 213 and 214 lines revolution Connection level Differential RS422 specification Encoder signals A B N As per RS422 specification speciality N Trace disconnectable Output impedance Ra diff ...

Page 51: ...and parameterised by means of an automatic motor identification 5 1 2 Linear motors Besides rotary applications the ARS 2100 SE series servo drives are also suitable for linear drives Here also permanently excited synchronous linear motors are supported Due to the high signal processing quality the ARS 2100 SE series servo drives are particularly suitable for driving air core and iron core synchro...

Page 52: ... rotor oriented control principle the current can be set separated in active current iq and reactive current id Therefore there are two current controllers both of them PI controllers To provide a better overview however the id controller does not appear in Figure 2 The planned basic modes of operation are torque control speed control and positioning Functions such as synchronisation flying saw an...

Page 53: ...sine modulation If the sine modulation with third harmonic is used the controllable upper motor speed limit increases due to the higher control reserve of the PWM output stage Table 30 Output voltage at the motor terminals in the case of a DC bus circuit voltage UZK of 360 V Output voltage converter Output voltage at the motor terminals Uout sin ULL motor approximately 210 Veff Uout sin sin3x ULL ...

Page 54: ...s using two more selectors These however cannot be run through the ramp generator The total set point is then a summation of all values The acceleration and deceleration times of the ramp are directionally parameterisable 5 2 4 Torque controlled mode In torque controlled mode a certain set point torque is set which the servo drive generates in the motor In this case only the current controller is ...

Page 55: ...ut The set point for the speed can also be set internally or can be derived from the data of an external encoder system speed synchronisation via X10 for speed controller 5 2 6 Torque limited speed control The ARS 2100 SE series servo drives support torque limited speed controlled operation with the following features Fast updating of the limit value for example in 200 µs cycle Addition of two sou...

Page 56: ...hronisation The servo drives can serve as master or slave If the servo drive ARS 2100 SE is the master it can provide the slave with its current rotor position at the incremental encoder output X11 With this information the slave can determine the current position and or speed of the master via the incremental encoder input X10 Of course it is also possible to derive this information needed for th...

Page 57: ...sitioning Interpolated reference value characteristic of the position Driven characteristic of the position actual value tp Figure 3 Linear interpolation between two data values 5 2 13 Time synchronized multi axis positioning The implementation of the clock synchronisation allows simultaneous movements for multi axis applications in conjunction with interpolated positioning mode All ARS 2100 SE se...

Page 58: ...Page 58 Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 59: ...following functionalities Cam disks with cam switches and axis error compensations can be loaded from an Excel table Display activation and online manipulation of cam disks Mapping of the trip cams on digital outputs Display and activation of the axis error compensation Cam disks with cam switches and axis error compensations can be loaded and saved using DCO files Displaying an active CAM or axis...

Page 60: ...nterfaces fieldbuses The setting options for each positioning set see below are freely parameterisable The only thing to do for positioning is then to select an entry and start the action Optionally it is possible to adjust the number of the required positioning set via the digital inputs For coding the positioning set number up to 8 digital inputs can be used 28 possibilities 256 positioning sets...

Page 61: ...order to execute an absolute positioning we recommend prior referencing of the drive 5 3 4 Driving profile generator Driving profiles are categorized in time optimal and jerk limited positioning In the case of time optimal positioning the maximum set acceleration is used for starting and braking The drive approaches the target in the shortest time possible the velocity profile is trapezoidal and t...

Page 62: ...inputs DIN AIN 1 and DIN AIN 2 as well as the digital outputs DOUT 2 and DOUT 3 as digital inputs DIN 10 and DIN 11 are optionally available Several methods as per the CANopen manual and following DSP 402 are implemented for the homing Most methods first search for a switch at search velocity The further movement depends on the method of communication If a homing is activated via the fieldbus ther...

Page 63: ... target position 5 3 8 Jogging mode and Teach in mode Jogging is the controlled driving of a drive to a specific position The drive continues to move as long as a certain input signal is active The ARS 2100 SE servo drive supports jogging in a positive and negative direction You can define a separate running speed and separate accelerations for every direction In addition you can assign one input ...

Page 64: ...e control and drive specific conditions for the optimal realisation of protective functions Planning and installation become less labour intensive Compared to conventional safety technology the machine functionality and availability can be increased by the use of integrated safety technology The servo drive ARS 2000 SE series devices with STO are delivered with integrated functions for safety rela...

Page 65: ...Page 65 Figure 6 Schematic representation of the integrated safety function STO Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 66: ...he bottom of the device an installation free space of 150mm is recommended Mounting distance The servo drive ARS 2100 SE may be installed adjacently in one switch cabinet without a gap proper usage and installation on a heat dissipating rear panel provided Please note that excessive heat may cause premature aging and or damaging of the device In case the servo drives ARS 2100 SE are subject to hig...

Page 67: ... 67 7 2 Installation free space and mounting distance Figure 7 Servo drives ARS 2100 SE with and without STO Installation free space and mounting distance Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 68: ...Page 68 7 3 View of the device Figure 8 Servo drive ARS 2102 SE Front view Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 69: ...Page 69 Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 70: ... voltage BR INT intern brake chopper BR CH brake chopper PE ground conductor from mains 24V 24VDC GND24V GND 24VDC X11 Incremental encoder output X10 Incremental encoder input X1 I O interface Figure 9 Servo drive ARS 2102 SE Top view Figure 10 Servo drive ARS 2102 SE Bottom view Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 71: ... why the best possible heat transfer to the control cabinet plate has to be ensured Recommended tightening torque for an M5 screw of property class 5 6 2 8 Nm Please use M5 screws for the mounting of the servo drives ARS 2102 SE ARS 2105 SE and ARS 2108 SE R2 5 R5 261 mm 21 mm 255 5 mm 28 8 mm 54 6 mm 4 5 mm 31 5 mm 247 3 mm 251 mm R2 5 M4flush headstud Figure 11 Servo drive ARS 2100 SE Mounting p...

Page 72: ...ive L Mains neutral conductor ZK Pos DC bus voltage ZK Neg DC bus voltage BR INT Connection of internal brake resistor BR CH Brake chopper connection for internal external brake resistor PE Connection ground conductor from mains 24V 24 V supply GND24V Reference ground for 24 V supply Mains phase N Motor X6 U Motor phase 2 W Motor phase 3 PE Ground connection from motor MT Motor temperature sensor ...

Page 73: ... D Sub connector to X2A X2B is roughly shown in Figure 12 The servo drive must be connected to ground with its PE connection The servo drive must be completely wired first Only then the operating voltages for the DC bus and the electronics may be switched on Caution In the following cases the servo drive will be damaged in the case of inversed wiring of the operating voltage connections excessive ...

Page 74: ...lt current protection switch type B RCD AC DC sensitive 300mA if this is required by an application Automatic circuit breaker Servo drive ARS 2100 SE Motor with motor cable Mains cable The parameterisation requires a PC with USB connection A slow blow B16 single phase automatic circuit breaker of 16 A has to be installed in the mains supply line Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 75: ...Page 75 Figure 13 Complete setup of the ARS 2100 SE example with STO with motor and PC Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 76: ...ce side X9 ARS 2102 SE and ARS 2105 SE PHOENIX MINI COMBICON MC1 5 9 G 5 08 BK ARS 2108 SE PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK 8 3 2 Counterplug X9 ARS 2102 SE and ARS 2105 SE PHOENIX MINI COMBICON MC1 5 9 ST 5 08 BK ARS 2108 SE PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK ARS 2102 SE and ARS 2105 SE PHOENIX MINI COMBICON connector housing 12 pole KGG MC1 5 12 BK ARS 2108 SE PHOENIX COMBICON connecto...

Page 77: ...against ZK 7 PE PE Connection ground conductor from mains 8 24V 24 VDC 20 0 55 A 0 65 A ARS 2102 SE ARS 2105 SE and ARS 2108 SE Supply for control module 9 GND24V GND 0 VDC Reference potential supply Plus current consumption of a possibly connected holding brake and I Os 8 3 4 Cable type and design X9 The mentioned cable denominations refer to cables by Lapp They have proven effective and are succ...

Page 78: ... 9 ST 5 08 BK PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK The servo drive ARS 2100 SE has an internal brake chopper with brake resistor For more brake power it is possible to connect an external brake resistor to the connector X9 If no external brake resistor is used a bridge must be connected between PIN 5 and PIN 6 so that the DC bus precharge when the mains power supply is ON and the DC bus rapid di...

Page 79: ... 4 2 Counterplug X6 ARS 2102 SE and ARS 2105 SE PHOENIX MINI COMBICON MC1 5 9 ST 5 08 BK ARS 2108 SE PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK ARS 2102 SE and ARS 2105 SE PHOENIX MINI COMBICON connector housing 12 pole KGG MC1 5 12 BK ARS 2108 SE PHOENIX COMBICON connector housing 12 pole KGS MSTB 2 5 9 BK Coding to PIN 1 BR Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 80: ...emperature sensor1 N C and N O contact PTC NTC KTY 5 MT 3 3 V 5 mA 6 PE PE Motor ground conductor 7 W 0 230 VRMS 0 2 5 ARMS 0 5 ARMS 0 8 ARMS 0 1000 Hz ARS 2102 SE ARS 2105 SE ARS 2108 SE Connection of the three motor phases 8 V 9 U 1 Please comply with Chapter 9 Additional requirements for the servo drives concerning the UL approval on page 113 The cable shield of the motor cable must also be con...

Page 81: ...ABEL ÖLFLEX SERVO 700 CY 4 G 1 5 2 x 2 x 0 75 12 7 mm with tinned total Cu shield ARS 2105 SE and ARS 2108 SE LAPP KABEL ÖLFLEX SERVO 700 CY 4 G 2 5 2 x 2 x 0 75 14 9 mm with tinned total Cu shield For highly flexible applications ARS 2102 SE LAPP KABEL ÖLFLEX SERVO FD 755 P 4 G 1 5 2 x 2 x 0 75 CP 14 1 mm with tinned total Cu shield for highly flexible use in drag chains ARS 2105 SE and ARS 2108 ...

Page 82: ...the servo drive flat to PE terminal maximum length 40 mm Connect total shield on motor side flat to connector or motor housing maximum length 40 mm Via terminals ZK and ZK the DC buses of several ARS 2100 SE series servo drives can be interconnected The coupling of the DC bus is interesting for applications with high brake energies or if movements have to be carried out even in the case of power f...

Page 83: ...of inductive direct current via relay produces strong currents and sparking For interference suppression we recommend integrated RC suppressor elements for example by Evox RIFA denomination PMR205AC6470M022 RC element with 22 in series with 0 47 µF Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 84: ...ogue inputs and outputs All analogue inputs and outputs refer to AGND AGND is internally connected with GND the reference potential for the control module with C and AD converters in the servo drive This potential range is galvanically separated from the 24 V range and from the DC bus 24 V inputs and outputs These signals refer to the 24 V supply voltage of the servo drive ARS 2100 SE which is fed...

Page 85: ...RS 2100 SE comprises one differential AIN 0 and two single ended analogue inputs designed for input voltages within a range of 10V The inputs AIN 0 and AIN 0 are lead to the control via twisted cables twisted pair design Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 86: ...being overridden by high common mode interference There are two analogue monitor outputs with output voltages in the range of 10 V and an output for a reference voltage of 10 V These outputs can be led to the superimposed control the reference potential AGND must be carried along If the control has differential inputs the input of the control is connected to the output of the servo drive ARS 2100 ...

Page 87: ...ltage for IOs at X1 6 GND24 Reference GND Reference potential for digital I Os 19 DIN 0 POS Bit 0 Target selection positioning Bit 0 7 DIN 1 POS Bit 1 Target selection positioning Bit 1 20 DIN 2 POS Bit 2 Target selection positioning Bit 2 8 DIN 3 POS Bit 3 Target selection positioning Bit 3 21 DIN 4 FG_E Power stage enable 9 DIN 5 FG_R Input servo drive enable 22 DIN 6 END 0 Input end switch 0 lo...

Page 88: ...e measured values In the case of limited cable lengths l 2 m wiring inside control cabinet the outer dual sided PE shield is enough to guarantee undisturbed operation For optimal interference suppression on the analogue signals the cores for the analogue signals are to be shielded together and separate from others This internal cable shield is connected to AGND Pin 1 or 14 on one side of the ARS 2...

Page 89: ... 5 k COSINE trace signal differential 7 S3 3 AGND 0 V Shield for signal pairs inner shield 8 MT GND 0 V Reference potential temperature sensor 4 R1 7 Veff 5 10 kHz IA 150 mAeff Carrier signal for resolver 9 R2 GND 0 V 5 MT 3 3 V Ri 2 k Motor temperature sensor normally closed contact PTC KTY In addition a low impedance connection of the outer cable shield to the housing of the servo drive has to b...

Page 90: ...ÖLFLEX SERVO FD 770 CP 3 x 2 x 0 14 D12Y 2 x 0 5 D12Y CP 8 3 mm with tinned total Cu shielding Error during angle detection up to approximately 1 5 at 50 m cable length 2 x 0 5 D12Y use carriers for the resolver 8 6 5 Connection notes X2A 2 3 4 5 6 7 8 1 9 Shield connector SK 14 1 5 9 6 Cable shield optional S3 COS S1 COS S2 SIN AGND TEMP R1 Carrier R2 Carrier TEMP S4 SIN Resolver output at the mo...

Page 91: ... input X2B can be used for one of the described encoder types Analogue incremental encoder Incremental encoder with serial communication interface for example EnDat HIPERFACE Digital incremental encoder 8 7 1 Device side X2B D SUB connector 15 pole female 8 7 2 Counterplug X2B D SUB connector 15 pole male Housing for 15 pole D SUB connector with bolting screws 4 40 UNC Product Manual Servo drives ...

Page 92: ...incremental encoder 5 COS_Z12 13 SIN_Z12 1 VSS 10 RI 120 SINE commutation signal differential from high resolution incremental encoder 6 SIN_Z12 14 COS_Z02 1 VSS 10 RI 120 COSINE trace signal differential from high resolution incremental encoder 7 COS_Z02 15 SIN_Z02 1 VSS 10 RI 120 SINE trace signal differential from high resolution incremental encoder 8 SIN_Z02 1 Please comply with Chapter 9 Addi...

Page 93: ...TA 13 SCLK 5 VSS RI 120 Clock output RS485 differential EnDat 6 SCLK 14 COS_Z02 1 VSS 10 RI 120 COSINE trace signal differential from high resolution incremental encoder 7 COS_Z02 15 SIN_Z02 1 VSS 10 RI 120 SINE trace signal differential from high resolution incremental encoder 8 SIN_Z02 1 Please comply with Chapter 9 Additional requirements for the servo drives concerning the UL approval on page ...

Page 94: ...l RS422 differential from digital incremental encoder 8 B 1 Please comply with Chapter 9 Additional requirements for the servo drives concerning the UL approval on page 113 In addition a low impedance connection of the outer cable shield to the housing of the servo drive has to be established Therefore the outer cable shield of the angle encoder cable must be connected to the housing of the angle ...

Page 95: ...0 R GND US U_SENS U_SENS TEMP TEMP Male Figure 19 Pin assignment Analogue incremental encoder X2B In case of wrong activated voltage supply the encoder can be destroyed Make sure the correct supply voltage is activated before connected to X2B Therefore start the parameterisation software Metronix ServoCommander and select Parameters Device parameters Angle encoder settings Figure 20 Metronix Servo...

Page 96: ...tional Connector housing Shield connector SK 14 2 3 4 5 9 10 11 1 12 6 7 8 13 14 15 1 9 8 15 COS_Z0 COS_Z0 SCLK SIN_Z0 SCLK DATA DATA SIN_Z0 GND US U_SENS U_SENS TEMP TEMP Figure 21 Pin assignment Incremental encoder with serial communication interface for example EnDat HIPERFACE X2B Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 97: ...Page 97 Figure 22 Pin assignment Digital incremental encoder X2B Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 98: ...LK 5 V RI 120 Incremental encoder signal A Stepper motor signal CLK neg polarity as per RS422 2 B DIR 5 V RI 120 Incremental encoder signal B Stepper motor signal DIR pos polarity as per RS422 7 B DIR 5 V RI 120 Incremental encoder signal B Stepper motor signal DIR neg polarity as per RS422 3 N 5 V RI 120 Incremental encoder index pulse N pos polarity as per RS422 8 N 5 V RI 120 Incremental encode...

Page 99: ...n signals as generated by control boards for stepper motors The input amplifier at the signal input is designed for the processing of differential signals as per interface standard RS422 Processing of other signals and levels for example 5V single ended or 24VHTL from a PLC may be possible Please contact your sales representative Figure 23 Pin assignment Incremental Encoder Input X10 Product Manua...

Page 100: ...ecification 1 A 5 V RA 66 Incremental encoder signal A 6 A 5 V RA 66 Incremental encoder signal A 2 B 5 V RA 66 Incremental encoder signal B 7 B 5 V RA 66 Incremental encoder signal B 3 N 5 V RA 66 Incremental encoder index pulse N 8 N 5 V RA 66 Incremental encoder index pulse N 4 GND Reference GND for encoder 9 GND Shield for connection cable 5 VCC 5 V 5 100 mA Auxiliary supply short circuit proo...

Page 101: ...ally protected 8 9 5 Connection notes X11 Figure 24 Pin assignment Incremental Encoder Output X11 The output driver at the signal output provides differential signals 5 V as per interface standard RS422 Up to 32 other servo drives may be driven by one device Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 102: ...nation Values Specification 1 Not occupied 6 GND 0 V CAN GND galvanically connected to GND in servo drive 2 CANL CAN Low signal line 7 CANH CAN High signal line 3 GND 0 V See Pin no 6 8 Not occupied 4 Not occupied 9 Not occupied 5 Shield PE Connection for cable shield For terminating the CAN bus on both ends an integrated 120 Ohm resistor is provided and can be switched on with the CAN Term switch...

Page 103: ... and interference free system Improper cabling may cause the CAN bus to malfunction which in turn can cause the servo drive to shut down with an error for safety reasons The CAN bus provides a simple and fail safe way of connecting all components of a system assuming however compliance with the following notes on cabling Figure 25 Cabling example for CAN Bus The individual nodes of a network are a...

Page 104: ...etal connector housings to connect the cable shield In order to keep interferences as low as possible make sure that Motor cables are not installed parallel to signal lines Motor cables comply with Metronix specifications Motor cables are properly shielded and grounded For further information on interference free CAN bus cabling please refer to the Controller Area Network protocol specification Ve...

Page 105: ...ata 4 GND GND Figure 27 Pin assignment USB interface X19 front view 8 11 4 Cable type and design X19 Interface cable for the USB interface 4 cores shielded and twisted In order to set up a USB connection it is mandatory to use a twisted and shielded 4 core cable since otherwise the transmission may be subject to interferences In addition it must be ensured that the cable has a wave impedance of 90...

Page 106: ...upported functions Load a parameter set DCO file Save the current parameter set DCO file Load a firmware file For more information on this subject please contact the Technical Support 8 13 3 Supported file systems FAT12 FAT16 FAT32 8 13 4 File names Only file and directory names according to the 8 3 standard are supported 8 3 file and directory names have at most eight characters letters or number...

Page 107: ...Voltage Ground 7 DAT0 DO Data Line 0 Bit 0 Card to Host Data and Status 8 DAT1 Data Line 1 Bit 1 reserved 9 DAT2 Data Line 2 Bit 2 reserved Table 43 Pin assignment MMC Card Pin No Denomination SD Mode SPI Mode 1 RES CS Not connected or Always 1 Chip Select 2 CMD DI Command Response Host to Card Commands and Data 3 Vss1 Supply Voltage Ground Supply Voltage Ground 4 Vcc Supply Voltage Supply Voltage...

Page 108: ...DIP Switch in position ON firmware download requested BOOT DIP Switch in position OFF firmware download not requested When there is no SD MMC Card in the card slot of the servo drive and the BOOT DIP Switch is in the position ON firmware download requested the error 29 0 is triggered after a restart reset This error stops all further performances This means that there is no communication possible ...

Page 109: ...the entire drive concept consisting of the following components Voltage supply Servo drive Motor Electro mechanics Execution and type of wiring Superimposed control In order to increase interference immunity and to decrease interference emissions the servo drive ARS 2100 SE already comprises output chokes and mains filters so that it can be operated without additional shielding and filtering devic...

Page 110: ...supply networks exclusively supplying industrial buildings The following applies to ARS 2100 SE servo drives without external filter measures Table 44 EMC requirements First and second environment EMC type Environment Compliance with EMC requirements Interference emission First environment domestic environment C2 Motor cable length up to 25 m Second environment industrial environment C3 Motor cabl...

Page 111: ...ected to the PE connection point of the motor connection X6 The signal lines must be as far away from the power cables as possible They should not be placed parallel If intersections cannot be avoided they should be perpendicular that is at a 90 angle if possible Unshielded signal and control lines should not be used If their use is inevitable they should at least be twisted Even shielded cables w...

Page 112: ...of more than 25 m and up to 50 m the following derating applies regardless of the EMC qualification see also Table 8 Technical data Cable specifications 8 14 6 ESD protection Caution Unassigned D Sub connectors may cause damage to the device or other parts of the system due to ESD electrostatic discharge To prevent such discharge protective caps are available for example Spoerle The ARS 2100 SE se...

Page 113: ... 75 or 75 C copper CU wire only The terminal tightening torque is 0 22 0 25 Nm To be used in a Pollution Degree 2 environment only 9 3 Motor temperature sensor Motor overtemperature sensing is not provided by the drive according to UL When a UL certification is required then in order to prevent motor overtemperatures the servo drives may only be operated in connection with motors that are provided...

Page 114: ... ARS 2000 or control Possibly also Connector set Power and DSUB connector 10 3 Connecting the motor Plug the connector of the motor cable into the corresponding socket of the motor and screw tight Plug PHOENIX connector into socket X6 of the servo drive Connect the PE line of the motor to the PE socket Plug the connector of the encoder cable into the encoder output socket of the motor and screw ti...

Page 115: ...sation program Metronix ServoCommander For further information please refer to the Software Manual Servo drives ARS 2000 10 6 Checking operability 1 Make sure the controller enabling switch is turned off 2 Switch on the power supply of all devices The READY ERROR LED on the front of the servo drive should now be active green If the READY LED does not light green but red there is a malfunction If t...

Page 116: ... of ground faults PE Detection of connections between two motor phases Detection of overvoltage in the DC bus Detection of errors with the internal voltage supply Failure of the supply voltage If the 24 V DC supply voltage fails approximately 20 ms remain to save parameters and shut down the control properly for example 11 1 2 Overcurrent and short circuit monitoring The overcurrent and short circ...

Page 117: ...igital and analogue input for measuring and monitoring the motor temperature The analogue signal detection also supports non linear sensors The following temperature sensors can be selected At X2A X2B and X6 Input for PTCs NTCs normally closed contacts normally open contacts and analog sensors type KTY 11 1 6 I t monitoring The ARS 2100 SE servo drives comprise an I t monitoring to limit the avera...

Page 118: ...rameterised 11 1 9 Rapid discharge of the DC bus If the system detects a failure of the mains supply the DC bus is rapidly discharged within the safety period in accordance with EN 60204 1 Delayed activation of the brake chopper according to power classes in the case of parallel operation and mains supply failure ensures that the main energy during rapid discharge of the DC bus is taken over throu...

Page 119: ...e control the two bars on the left hand of the display are on seven segment display I P xxx Positioning xxx stands for the position number The numbers are successively indicated PH x Homing x stands for the currently active phase of the homing run 0 Search phase 1 Crawling phase 2 Positioning to zero position The numbers are successively indicated E xxy Error message with index xx and subindex y T...

Page 120: ...0 devices Depending on the type not every error applies to every device Table 46 Error messages Error message Meaning of the error message Measures Main index Sub index 00 0 Invalid error Information Only for connected service module An invalid corrupted entry in the error buffer has been marked by this error number The system time entry is set to 0 No measures required 1 Invalid error detected an...

Page 121: ...Stack overflow Incorrect firmware If necessary reload the standard firmware Contact the Technical Support 02 0 Undervoltage of the DC bus circuit Error priority set too high Check the power supply Check measure the DC bus circuit voltage Check the response threshold of the DC bus circuit monitoring system 03 0 Motor overtemperature analogue Motor too hot Check the parameterization current controll...

Page 122: ...ailure 3 Undervoltage of the digital I Os Check the outputs for short circuits or specific load If necessary contact the Technical Support 4 Overcurrent of the digital I Os 5 Technology module supply voltage failure Technology module defective Replace the technology module If necessary contact the Technical Support 6 X10 X11 and RS232 supply voltage failure Check the pin assignment of the connecte...

Page 123: ...the tracks 2 Incremental encoder Z0 track signals error Angle encoder connected Angle encoder cable defective Angle encoder defective Check the configuration of the angle encoder interface The encoder signals are disturbed Check the installation for compliance with EMC recommendations 3 Incremental encoder Z1 track signals error 4 Digital incremental encoder track signals error 5 Incremental encod...

Page 124: ...device Motor replaced Parameterise the basic device perform a homing run save the data in the angle encoder and then save to the basic device 5 Read Write Error EEPROM parameter set Please contact the Technical Support 7 Write protected EEPROM of the angle encoder Please contact the Technical Support 9 Insufficient capacity of the angle encoder EEPROM 10 0 Overspeed motor overspeed protection Chec...

Page 125: ...reshold Check actual value encoder connection 12 0 CAN two nodes with the same ID Check the configuration of the devices that are connected to the CAN bus 1 CAN communication error bus OFF Check the cabling compliance with the cable specification cable break maximum cable length exceeded correct terminating resistors cable shield earthed grounded all signals connected Replace the device If the err...

Page 126: ... be optimised manually 2 Power output stage could not be enabled The power output stage has not been enabled Check the connection of DIN 4 3 Power output stage prematurely disabled The power output stage has been disabled during a running identification process e g via DIN 4 4 Selected resolver type not supported by the identification system The identification cannot be performed with the present ...

Page 127: ...gal interrupt 2 Initialization error 3 Unexpected state 17 0 Max following error exceeded Increase the error window The parameterisation of the acceleration is too high 1 Encoder difference monitoring External angle encoder not connected or defective The deviation fluctuates e g due to gear slackness If necessary increase the shut down threshold 2 Current jerk control Please contact the Technical ...

Page 128: ...lave address 4 PROFIBUS error in value range Mathematical error during the conversion of physical units The value range of the data and of the physical units do not match fieldbus display units If necessary contact the Technical Support 23 0 No consumable record Position save and restore failed homing required 1 Record with invalid checksum 2 Flash content inconsistent 25 0 Invalid device type Ple...

Page 129: ... data set Save and reset Load the default parameter set If the error occurs again contact the Technical Support 7 Error in data tables CAM Load the default parameter set and perform a start up procedure If necessary reload the parameter set If necessary contact the Technical Support 27 0 Following error warning threshold Check the parameterisation of the following error Motor blocked 28 0 No opera...

Page 130: ...ary contact the Technical Support 1 Undervoltage for active PFC Check whether the power supply complies with the nominal data 5 Brake chopper overload The DC bus circuit could not be discharged Check the ON OFF cycles 6 DC bus circuit discharge time exceeded Bridge for the internal brake resistor installed Check the connection of the external braking resistor If necessary contact the Technical Sup...

Page 131: ...cos received data disturbed Check the sercos wiring clean the optical waveguide for example Check the luminous power settings Check the baud rate 1 Sercos optical waveguide loop interrupted Check the sercos wiring optical waveguide for breaks Check the connections 2 Sercos double MST failure Check the sercos wiring optical waveguide Check the control system are all of the MSTs being transmitted 3 ...

Page 132: ...iguration cyclic data for MDT and AT Time slot calculation by the master 4 Sercos S 0 0127 illegal IDNs in AT or MDT Check the configuration cyclic data transfer 5 Sercos S 0 0128 invalid data in S 0 0022 Check the weighting settings Check the operating mode settings Check the internal external angle encoder settings 6 Sercos S 0 0128 faulty weighting parameters Check the weighting settings 7 Serc...

Page 133: ...itive range limit 2 Target position beyond the negative SW limit switch The start of a positioning run has been suppressed since the target is located beyond the respective software limit switch Check the target data Check the positioning range 3 Target position beyond the positive SW limit switch 41 0 Path program synchronisation error Check the parameterization If necessary contact the Technical...

Page 134: ...Limit switches positive setpoint blocked 2 Limit switches positioning suppressed 44 0 Error in the cam disc tables Check whether the index has been assigned correctly Check whether there are cam discs present in the device 1 Cam disc general homing error Ensure that the drive has been homed prior to the activation of the cam disc Delete the homing required option Ensure that a cam disc cannot be s...

Page 135: ...on are being used With module replacement Module type not yet configured Accept currently integrated safety or fieldbus activation module 3 FSM different module version Cause Type or revision of the module is not supported Action Install safety or fieldbus activation module appropriate for the firmware and hardware If only a module with a more recent version is available Load firmware that is appr...

Page 136: ...cuit section in the basic device Action Basic device presumably defective If possible replace with another basic device 6 FSM Non identical module serial number Cause Serial number of currently connected safety module is different from the stored serial number Action Error only occurs after replacement of the FSM 2 0 MOV With module replacement Module not yet configured Accept currently integrated...

Page 137: ...supply voltage with active PWM Action The safe status was requested with power output stage enabled Check integration into the safety orientated interface 3 FSM Rotational speed limits in basic device overlap Cause Basic device reports error if the currently requested direction of movement is not possible because the safety module has blocked the setpoint value in this direction Error may occur in...

Page 138: ...elay times for monitoring With b Check how far the current speed is from the monitored limit speed increase distance if necessary parameter in safety module or correct speed specified by controller 1 USF1 Safety condition violated Cause Violation of monitored speed limits of the SSF1 in operation when USF1 SSF1 requested Action See USF0 error 53 0 2 USF2 Safety condition violated Cause Violation o...

Page 139: ... permitted limits for too long Action Check when the violation of the safety condition occurs a During dynamic braking to zero b After the drive has reached zero speed With a Check of braking ramp record measuring data can the drive follow the ramp Change parameters for the slowdown ramp or start time delay times for monitoring With a If the option Trigger basic device quick stop is activated Chec...

Page 140: ...ts for too long Action Check when the violation of the safety condition occurs a During dynamic braking to zero c After the drive has reached zero speed With a Check of braking ramp record measuring data can the drive follow the ramp Change parameters for the slowdown ramp or start time delay times for monitoring With a If the option Trigger basic device quick stop is activated Check of the basic ...

Page 141: ... it occurs again upon a new STO request if yes Basic device is presumably faulty If possible replace with another basic device 6 SBC Brake not vented for 24 hrs Cause Error occurs when SBC is requested and the brake has not been opened by the basic device in the last 24 hours Action If the brake is actuated via the brake driver in the basic device X6 The brake must be energised at least once withi...

Page 142: ...ngth sin cos is outside the permissible range The amplitude of one of the two signals is outside the permissible range Offset between analogue and digital signal is greater than 1 quadrant Action Error may occur with SIN COS and Hiperface encoders Check the position encoder Check the connection wiring broken wire short between two signals or signal screening Check the supply voltage for the positi...

Page 143: ...radiator signal Check the motor and encoder cable screening on motor and drive side EMC malfunctions can trigger the error 7 Other encoder X2B Faulty angle information Cause Angle faulty message is sent from basic device when status lasts for longer than the allowed time Encoder at X2B is analysed by the basic device Encoder is faulty Action Check the position encoder at X2B Check the connection w...

Page 144: ...es occur in conjunction with the encoders then eliminate their cause first Check the motor and encoder cable screening on motor and drive side EMC malfunctions can trigger the error Check the setpoint specifications Movement profiles of the controller Do they contain impermissibly high temperatures above the limit value for acceleration monitoring P06 07 Check whether the limit value for accelerat...

Page 145: ... position encoders are used in the system and they are not rigidly coupled Check for elasticity or looseness improve mechanical system Adjust the expert parameters for the position comparison if this is acceptable from an application point of view 9 Error cross comparison of encoder analysis Cause Cross comparison between µC1 and µC2 has detected an angle difference or rotational speed difference ...

Page 146: ...n wiring for the digital outputs DOUT40 DOUT42 short circuit cross circuit etc Check the connection wiring for the brake short circuit cross circuit etc Brake connection The error may occur with long motor cables if 1 The brake output X6 was configured for the brake this is the case with factory settings and 2 A motor without a holding brake is used and the brake connection lines in the motor cabl...

Page 147: ...or more inputs DIN40 DIN49 were configured for the analysis of the test pulses of the outputs DOUT40 DOUT42 The test pulses from DOUTx do not arrive at DIN4x Action Check the wiring shorts after 0 V 24 V cross circuits Check the assignment correct output selected configured for test pulse 6 Electronics temperature too high Cause The safety module s temperature monitor has been triggered the temper...

Page 148: ... memory Action Terminate parameterisation session within 8 hrs If necessary start a new parameterisation session and continue 4 Buffer internal communication Cause Communication connection faulty Timeout data error incorrect sequence packet counter in data transmission between the basic device and safety module Too much data traffic new requests are being sent to safety module before old ones have...

Page 149: ...ounter error during transmission µC1 µC2 Checksum error during transmission µC1 µC2 Action Internal malfunction in the servo drive Check whether the firmware versions of the safety module and basic device and the versions of the Metronix ServoCommander and SafetyTool are compatible Product Manual Servo drives ARS 2100 SE Version 5 0 ...

Page 150: ... programme sequence monitoring Error in cross comparison for interrupt counter Error in cross comparison for input map Error in cross comparison for violation of safety conditions Error in cross comparison for temperature measurement Action This is an internal error in the module that should not occur during operation Check the operating conditions temperature air humidity condensation Check the E...

Page 151: ... replace 4 FSM Error management too many errors Cause Too many errors have occurred simultaneously Action Clarify What is the status of the installed safety module does it contain a valid parameter set Read out and analyse the permanent event memory of the basic device via Metronix ServoCommander Eliminate error causes step by step Install safety module with delivery status and perform commissioni...

Page 152: ...er a reset If it does Module faulty replace 9 FSM Structure error invalid software state Cause Triggering of internal programme sequence monitoring Action Check the firmware version of the basic device and the version of the safety module update available Safety module faulty replace 60 0 Ethernet user specific 1 Please contact the Technical Support 61 0 Ethernet user specific 2 Please contact the...

Page 153: ...n IPO cycle Check the cycle times of the servo drive and of the control system 64 0 DeviceNet duplicated MAC ID Change the MAC ID 1 DeviceNet bus power lost Check the DeviceNet wiring 2 DeviceNet overflow of receive buffer Reduce the number of messages per time unit during the transmission 3 DeviceNet overflow of transmit buffer Reduce the number of message per time unit that are to be transmitted...

Page 154: ...rofinet Technology module defect Replace the Profinet module 6 Profinet Invalid not supported indication A Profinet feature has been used that is not supported by the module If necessary contact the Technical Support 78 0 NRT frame send error Reduce bus traffic for example by using less devices in a line 80 0 IRQ current controller overflow Please contact the Technical Support 1 IRQ speed controll...

Page 155: ...upport 4 Technology module MC2000 watchdog 84 0 State change of the sequence control Detailed information concerning internal processes No measures required If necessary select the option Entry into buffer in the error management 90 0 Missing hardware component SRAM Please contact the Technical Support 1 Missing hardware component FLASH 2 Error during booting of FPGA 3 Error during start of SD ADU...

Page 156: ...upport 1 Memory error 2 Controller power stage code read error 3 Internal software initialization error 92 0 Error during firmware download Incorrect firmware Load the correct firmware If necessary contact the Technical Support 1 Error during Bootloader Update Please contact the Technical Support Product Manual Servo drives ARS 2100 SE Version 5 0 ...

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