Metronix ARS 2320 Product Manual Download Page 16

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General

Page 16

Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“

Version 8.0

General

1.1

Documentation

This product manual serves the purpose of a safe use of the ARS 2300 series servo drives. It contains
safety notes, which must be complied with.

Further information can be found in the following manuals of the ARS 2000 product range:



Software Manual “Servo drive ARS 2000”:

Description of the device functionality and the

software functions of the firmware including the RS232 communication. Description of the
Metronix ServoCommander™ parameterisation program with instructions concerning the start-up
of ARS 2000 servo drives.



Product Manual “Servo drive ARS 2100”:

Description of the technical specifications and the

device functionality as well as notes on the installation and the operation of the servo drive
ARS 2100.



Product Manual “Servo drives ARS 2302, ARS 2305 and ARS 2310”:

Description of the

technical data and the device functionality as well as notes concerning the installation and
operation of ARS 2302, 2305 and 2310 servo drives.



Product Manual “Motion Coordinator MC 2000”:

Description of the technical data and the

device functionality as well as notes on the installation and the operation of the Motion Coordinator
MC 2000 (German version).



CANopen Manual “Servo drive ARS 2000”:

Description of the implemented CANopen

protocol

as per DSP402.



ETHERNET Manual “Servo drive ARS 2000”:

Description of the implemented Ethernet

protocol

(UDP).



PROFIBUS Manual “Servo drive ARS 2000”:

Description of the implemented PROFIBUS-DP

protocol



sercos Manual “Servo drive ARS 2000”:

Description of the implemented sercos

functionality



EtherCAT Manual “Servo drive ARS 2000”

: Description of the implemented EtherCAT

protocol

(CoE) (German version).

You can find all these documents on our homepage at the download area (

http://www.metronix.de

Certificates and declarations of conformity for the products described in this manual can be found at

http://www.metronix.de

Summary of Contents for ARS 2320

Page 1: ......

Page 2: ...vice and described in the user documentation Metronix does not guarantee 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 E...

Page 3: ... 2340 ARS 2320W ARS 2360W Version 8 0 Revision Information Author Metronix Meßgeräte und Elektronik GmbH Manual title Product Manual Servo drives ARS 2320 ARS 2340 ARS 2320W ARS 2360W File name P HB_ARS2320 2360W_8p0_EN docx Version 8 0 August 2015 ...

Page 4: ...ow voltage PELV 27 2 4 5 Protection against dangerous movements 28 2 4 6 Protection against contact with hot parts 29 2 4 7 Protection during handling and assembly 30 3 PRODUCT DESCRIPTION 31 3 1 General 31 3 2 Power supply 34 3 2 1 Three phase AC power supply 34 3 2 1 1 Behaviour during switch on behaviour during normal operation and control characteristics 34 3 2 2 DC bus coupling DC supply 34 3...

Page 5: ... Bus X4 51 4 8 3 I O interface X1 52 4 8 4 Incremental encoder input X10 53 4 8 5 Incremental encoder output X11 54 5 FUNCTION OVERVIEW 55 5 1 Motors 55 5 1 1 Synchronous servo motors 55 5 1 2 Linear motors 55 5 2 Functions of the servo drive ARS 2300 56 5 2 1 Compatibility 56 5 2 2 Pulse width modulation PWM 57 5 2 3 Set point management 58 5 2 4 Torque controlled mode 58 5 2 5 Speed controlled m...

Page 6: ...4 1 Emergency stop circuit 74 6 2 4 2 Safety door monitoring 76 7 MECHANICAL INSTALLATION 78 7 1 Important notes 78 7 2 Installation space 79 7 3 Device views 81 7 4 Installation 84 7 5 Water cooling system 87 8 ELECTRICAL INSTALLATION 89 8 1 Connector configuration 89 8 2 ARS 2300 complete system 91 8 3 Connection at the ARS 2320 and ARS 2320W servo drives Power supply and braking resistor X9 93 ...

Page 7: ...RS 2360W 98 8 4 10 Connection notes concerning X9A at the ARS 2340 and ARS 2360W 98 8 5 Connection Safe Torque Off STO and 24V supply X3 99 8 5 1 Configuration on the device X3 99 8 5 2 Counter plug X3 99 8 5 3 Pin assignment X3 99 8 5 4 Cable type and configuration 24VDC power supply X3 100 8 5 5 Connection notes X3 100 8 6 Connection Motor X6 and X6A 101 8 6 1 Configuration X6 at the ARS 2320 an...

Page 8: ...nfiguration X2A 112 8 9 5 Connection notes X2A 113 8 10 Connection Encoder X2B 113 8 10 1 Configuration on the device X2B 113 8 10 2 Counter plug X2B 113 8 10 3 Pin assignment X2B 114 8 10 4 Cable type and configuration X2B 116 8 10 5 Connection notes X2B 117 8 11 Connection Incremental encoder input X10 119 8 11 1 Configuration on the device X10 119 8 11 2 Counter plug X10 119 8 11 3 Pin assignme...

Page 9: ...5 Operation with long motor cables 130 8 15 6 ESD protection 130 9 INITIAL OPERATION 131 9 1 General notes on connection 131 9 2 Tools material 131 9 3 Connecting the motor 131 9 4 Connecting the ARS 2300 servo drive to the power supply 132 9 5 Connecting the PC serial interface 132 9 6 Checking operability 132 10 SERVICE FUNCTIONS AND ERROR MESSAGES 133 10 1 Protection and service functions 133 1...

Page 10: ...onnection notes 156 11 2 PROFIBUS DP interface 157 11 2 1 Product description 157 11 2 2 Technical data 157 11 2 3 Pin assignments and cable specifications 159 11 2 3 1 Pin assignment 159 11 2 3 2 Counter plug 159 11 2 3 3 Cable type and configuration 159 11 2 4 Termination and bus terminating resistors 160 11 3 sercos II module 161 11 3 1 Product description 161 11 3 2 Technical data 162 11 3 3 O...

Page 11: ...ge 11 Product Manual Servo drives ARS 2320 ARS 2340 ARS 2320W ARS 2360W Version 8 0 11 5 2 2 Fast 169 11 5 2 3 Easy 169 11 5 3 Technical data 170 11 6 General installation notes for technology modules 171 ...

Page 12: ... 60204 1 74 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 Figure 15 Servo drive ARS 2320 Installation space 79 Figure 16 Servo drive ARS 2340 Installation space 80 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 Serv...

Page 13: ...emental 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 Figure 40 Pin assignment Input of the incremental encoder X10 120 Figure 41 Pin assignment Incremental encoder output X11 122 Figure 42 CAN bus cabling example 124 Figure 43 Pin assignm...

Page 14: ...to 4 46 Table 15 Requirements for the water cooling system 47 Table 16 Technical data 24VDC supply X3 47 Table 17 Technical data Resolver X2A 49 Table 18 Technical data Resolver interface X2A 49 Table 19 Technical data Encoder evaluation X2B 51 Table 20 Technical data RS232 X5 51 Table 21 Technical data CAN bus X4 51 Table 22 Technical data Digital inputs and outputs X1 52 Table 23 Technical data ...

Page 15: ...e X5 125 Table 45 EMC requirements First and second environment 128 Table 46 Operating mode and error display 136 Table 47 Error messages 137 Table 48 Technical data EA88 interface 153 Table 49 Digital inputs EA88 interface X21 154 Table 50 Digital outputs EA88 interface X22 154 Table 51 EA88 Connector X21 for 8 digital inputs 155 Table 52 EA88 Connector X22 for 8 digital outputs 155 Table 53 Tech...

Page 16: ...RS 2305 and ARS 2310 Description of the technical data and the device functionality as well as notes concerning the installation and operation of ARS 2302 2305 and 2310 servo drives Product Manual Motion Coordinator MC 2000 Description of the technical data and the device functionality as well as notes on the installation and the operation of the Motion Coordinator MC 2000 German version CANopen M...

Page 17: ...er plugs for the following connections Supply X9 Motor connection X6 motor temperature sensor and holding brake X6A Type ARS 2320 ARS 2320 W ARS 2340 ARS 2360 W Metronix order number 9003 0280 01 9003 0280 02 Table 3 Connector set DSUB connector 1x Connector set DSUB connector This connector set includes the counter plugs for the following connections I O interface X1 Angle encoder connection X2A ...

Page 18: ...8 0 2 Safety notes for electrical drives and controllers 2 1 Used symbols Information Important 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 ...

Page 19: ...elf 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 authorisation to switch...

Page 20: ...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 electric shock or...

Page 21: ...gh load currents Danger to life or serious personal injury from electrical shock DANGER High electrical voltage caused by wrong connections Danger to life or serious personal injury from electrical shock DANGER Surfaces of device housing may be hot Risk of injury Risk of burning DANGER Dangerous movements Danger to life serious personal injury or property damage due to unintentional movements of t...

Page 22: ...reventive interference rejection measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically appro...

Page 23: ...ethods EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements 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...

Page 24: ...not suitable for personal protection 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 e...

Page 25: ...to action This does not apply to drives with the special Safe Torque Off STO features see chapter 6 Functional safety technology 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 i...

Page 26: ... ground conductor of the electrical equipment and devices securely to the mains supply Due to the integrated 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 ele...

Page 27: ...ctions 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 protection may be achieved by means of isolation transformers safe optocouplers or ba...

Page 28: ...view of personal protection particularly the danger of personal injury and or property damage 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 dama...

Page 29: ...contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning Do 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 ...

Page 30: ...g shearing cutting crushing The following general safety notes apply Comply with the general 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 ...

Page 31: ...ion possibilities and extension options They are flexible and can be easily adapted to a number of different applications ARS 2300 servo drives include types with three phase power supply Type key Example using the ARS 2320 Figure 1 Type key For the water cooled power stages a W is added to the type key W water cooling Types available ARS 2320W und ARS 2360W ARS 2 3 20 Mains connection 1 single ph...

Page 32: ... 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 Complete galvanic separation of controller unit and power output stage as per EN 61800 5 1 Galva...

Page 33: ... Easy coupling to host controller for example to a PLC via I O level or fieldbus High resolution 16 bit analogue input Technology slots for extensions such as I O extension module or PROFIBUS interface Note Depending on the current consumption only one technology module with an additional fieldbus interface may be used Integrated safety function Safe Torque Off STO in accordance with DIN EN ISO 13...

Page 34: ...e DC bus the relay is energized and the DC bus is coupled hard to the mains power without the precharging resistor 3 2 2 DC bus coupling DC supply 3 2 2 1 DC bus coupling It is possible to couple multiple ARS 2300 servo drives when they have the same DC bus voltage 3 2 2 2 DC supply The direct DC supply is supported for a supply with voltages 60 VDC by the DC bus connection instead of the connecti...

Page 35: ... internal braking resistor is not sufficient the resistor can be switched off by removing the jumper between pins BR CH and BR INT of connector X9 Instead an external braking resistor has to be connected between pins BR CH and BR EXT The values of this braking resistor must not be below certain predefined minimum values see Table 12 page 41 The output is protected against a short circuit in the br...

Page 36: ...n of a PC and for the use of the Metronix ServoCommander parameterisation tool The fieldbus systems PROFIBUS DP sercos and EtherCAT are extension options that can be implemented in the form of plug in modules If required customer specific fieldbus protocols can also be realised In any case the servo drive of this design always works as a slave to the fieldbus 3 4 1 Serial interface X5 The RS232 pr...

Page 37: ... torque control in accordance with the functionality of the compliance classes A and B The connected module is automatically identified Since the data exchange between the CNC system and the servo drive is realised via optical fibre cables mutual interference can be avoided The drive address is set and the bus is activated via the Metronix ServoCommander parameterisation tool The transmission rate...

Page 38: ...rential input 16 bit to guarantee high interference immunity Two inputs 10 bit are single ended The analogue signals are quantized and digitalized by an analogue digital converter at a resolution of 16 bit or 10 bit The analogue signals provide the set points speed or torque for the control In common applications the existing digital inputs are already used for basic functions For the use of furth...

Page 39: ...ss 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 Table 6 Technical data Dimensions and weight Type ARS 2320 ARS 2320W ARS 2340 ARS 2360W Dimensions of the servo drive height width depth without counter plug shield screw and sc...

Page 40: ...200 pF m Table 8 Technical data Motor temperature monitoring Motor temperature monitoring Values Digital Sensor at X6A Normally closed contact Rcold 500 Ω Rhot 100 kΩ Analogue Sensor at X2A or X2B Silicon temperature sensor for example KTY81 82 or similar R25 R100 2000 Ω 3400 Ω 4 2 Operating and display elements On the front the servo drive ARS 2300 has two LEDs and one seven segment display to in...

Page 41: ...chnical data Internal braking resistor X9 or X9A Type ARS 2320 and ARS 2320W Connector X9 ARS 2340 and ARS 2360W Connector X9A Internal braking resistor 47 Ω 23 5 Ω Pulse power 12 kW 23 kW Continuous power 110 W 220 W Response threshold 760 V Table 12 Technical data External braking resistor X9 or X9A Type ARS 2320 and ARS 2320W Connector X9 ARS 2340 and ARS 2360W Connector X9A External braking re...

Page 42: ...S 2360W Output power 12 kVA 12 kVA 20 kVA 25 kVA Max output power for 3 s 25 kVA 25 kVA 50 kVA 60 kVA Output current 20 Aeff 20 Aeff 40 Aeff 60 Aeff Max output current for 3 s 41 Aeff 50 Aeff 70 Aeff 120 Aeff Clock frequency max 12 5 kHz Power loss nominal operating conditions and fPWM 5kHz or 7 5 kHz for the devices ARS 2320W or ARS 2360W approximately 220 W approximately 250 W approximately 550 ...

Page 43: ...requency fPWM for values 5 kHz or 7 5 kHz I fPWM 6 10 A kHZ fPWM 23 00 A ARS 2320 current derating in nominal operation of 5 kHz and above ARS 2340 I fPWM 13 10 A kHZ fPWM 46 50 A current derating in nominal operation as of 5 kHz ARS 2320W I fPWM 20 A no current derating in nominal operation ARS 2360W I fPWM 2 A kHZ fPWM 75 A current derating in nominal operation as of 7 5 kHz The following derati...

Page 44: ...Version 8 0 I fPWM A 5 6 7 8 9 10 11 12 13 fPWM kHZ 1 2 3 4 24 28 32 36 40 20 16 12 8 4 Figure 3 ARS 2340 Current derating diagram 12 14 16 18 20 I fPWM A 5 6 7 8 9 10 11 12 13 fPWM kHZ 1 2 3 4 10 8 6 4 2 14 15 Figure 4 ARS 2320W no current derating as a function of the pulse frequency fPWM ...

Page 45: ...ge 45 Product Manual Servo drives ARS 2320 ARS 2340 ARS 2320W ARS 2360W Version 8 0 I fPWM A 5 6 7 8 9 10 11 12 13 fPWM kHZ 1 2 3 4 24 28 32 36 40 20 16 12 8 4 44 48 52 56 60 Figure 5 ARS 2360W Current derating diagram ...

Page 46: ...requency fPWM and the electrical rotational frequency in the firmware The following figure shows the 4 essential set points IIT fel fpwm s fel Hz 1 2 3 4 fpwm kHz 0 2 1 2 3 1 2 3 4 5 6 5 15 Figure 6 ARS 23xxW I 2 xt derating diagram Table 14 I 2 xt times set points 1 to 4 Set points 1 2 3 4 fel Hz up to 1 Hz as of 3 Hz up to 2 Hz as of 6 Hz FPWM kHz 5 5 15 15 Imax A ARS 2320W 50 50 45 45 Imax A AR...

Page 47: ... Mounting side roughness of the water cooling system 10 µm For more information concerning the water cooling system please refer to chapter 7 5 4 6 Safe Torque Off STO and 24V supply X3 The servo drives ARS 2320 ARS 2320W ARS 2340 and ARS 2360W receive their 24VDC power supply for the electronic control system through connector X3 For the safety function Safe Torque Off STO please refer to chapter...

Page 48: ...igital track signals SinCos encoder single turn multi turn with HIPERFACE Multiturn absolute encoder with EnDat The encoder type is determined in the Metronix ServoCommander parameterisation software The feedback signal is available via the incremental encoder output X11 for master slave applications It is possible to evaluate two shaft encoder systems in parallel Typically the resolver for the cu...

Page 49: ...motor P0Motor is always an integer multiple of the number of pairs of poles of the resolver P0Resolver Wrong combinations lead to an error message during motor identification The resolver offset angle which is determined automatically during the identification is readable and writeable for service purposes Table 17 Technical data Resolver X2A Parameter Values Transformation ratio 0 5 Carrier frequ...

Page 50: ...ders with three binary hall sensor signals The number of lines of the encoder can be freely parameterized 1 16384 lines rotation There is an additional offset angle for the hall sensor signals It is determined during motor identification or can be set via the parameterisation software Metronix ServoCommander In general the hall sensor offset angle is zero Stegmann encoders Single turn and multi tu...

Page 51: ...put 120 Ω Limit frequency flimit 300 kHz high resolution track flimit approximately 10 kHz commutation track Additional communication interface EnDat Heidenhain and HIPERFACE Stegmann Supply output 5 V or 12 V 300 mA max current limited Control through sensor lines Set point can be changed through SW 4 8 Communication interfaces 4 8 1 RS232 X5 Table 20 Technical data RS232 X5 Communication interfa...

Page 52: ...nable at High DIN5 Servo drive enable at high signal acknowledge error with falling edge DIN6 Limit switch input 0 DIN7 Limit switch input 1 DIN8 Control signal Start positioning or Homing switch for homing or saving of positions DIN9 Control signal Start positioning or Homing switch for homing or saving of positions Logic outputs general Galvanically separated 24V 8V 30V active high DOUT0 Operati...

Page 53: ... outputs AOUT 0 and AOUT 1 10 V output range 10 mA 9 bit resolution fLimit 1 kHz 4 8 4 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 ...

Page 54: ... also provides a reset pulse which goes to high once per rotation for the programmed number of lines for the duration of a signal period as long as the encoder signals A and B are high Table 25 Technical data Incremental encoder output X11 Parameter Values Number of lines Programmable 1 2 14 lines revolution Connection level Differential RS422 specification Encoder signals A B N As per RS422 speci...

Page 55: ... can be operated with standard servo motors The motor specifications are determined and parameterized by means of an automatic motor identification 5 1 2 Linear motors Besides rotary applications the servo drives ARS 2300 are also suitable for linear drives Here also permanently excited synchronous linear motors are supported Due to the high signal processing quality the ARS 2000 series is particu...

Page 56: ...point Speed feedforward Current feedforward Figure 7 Control scheme of the ARS 2300 Figure 7 shows the basic control structure of the ARS 2300 Current controller speed controller and positioning controller are arranged in a cascade Due to the rotor oriented control principle the current can be set separated in active current iq and reactive current id Therefore there are two current controllers bo...

Page 57: ... the current controller circuit The servo drive ARS 2300 also features a sine modulation or alternatively a sine modulation with third harmonic This increases the effective converter output voltage The type of modulation can be selected via the Metronix ServoCommander The default setting is sine modulation If the sine modulation with third harmonic is used the controllable upper motor speed limit ...

Page 58: ...ional incremental encoder input X10 If no set point source is activated the set point is zero The set point management has a ramp generator with a preceding adder Any of the above mentioned set point sources can be selected via the corresponding selectors and run through the ramp generator Additional sources can be selected as set points using two more selectors These however cannot be run through...

Page 59: ... generally determined from the encoder system inside the motor which is also used for commutation For the actual value feedback to the speed control any encoder interface may be selected for example reference encoder or corresponding system at external incremental encoder input The actual speed value for the speed controller is then fed back for example via the external incremental encoder input T...

Page 60: ...r slave operation which in the following will be called synchronisation The servo drive can serve as master or slave If the servo drive ARS 2300 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 i...

Page 61: ...e includes entries for the parameterisation of a target via a communication interface and also target positions which can be retrieved via the digital inputs For each entry it is possible to set the positioning method the driving profile the acceleration and the deceleration times as well as the maximum speed All targets can be pre parameterized The only thing to do for positioning is then to sele...

Page 62: ...recommend prior referencing of the drive In the case of absolute positioning the target position is a fixed absolute position referred to the zero or reference point 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 t...

Page 63: ...d applications the use of the analogue inputs AIN 1 AIN 2 as digital 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 m...

Page 64: ...anual Servo drive ARS 2000 5 3 7 Optional stop input The optional stop input can interrupt the ongoing positioning by setting the selected digital input Resetting the digital input will resume positioning to the original target position 5 3 8 Contouring control with linear interpolation The implementation of the Interpolated Position Mode allows setting position values in a multi axis application ...

Page 65: ...g The implementation of the clock synchronisation allows simultaneous movements for multi axis applications in conjunction with interpolated positioning mode All servo drives of the ARS 2300 family that is the entire controller cascade will be synchronized to the external clock signal Pending positioning values in the case of multiple axes are then taken over and executed simultaneously without ji...

Page 66: ...50 of the failures lead to dangerous failures The standstill of the machine has to be initiated and ensured by the control system of the machine This applies particularly to vertical axes without self locking mechanism or weight compensation Generally for vertical axes further safety precautions have to be taken In accordance with a danger analysis risk assessment following the machinery directive...

Page 67: ... risk analysis see Table 27 Table 27 Stop categories Stop category 0 Uncontrolled stop Standstill by immediate disconnection from power EMERGENCY OFF or EMERGENCY STOP Stop category 1 Controlled stop Power is disconnected when the machine has come to a standstill EMERGENCY STOP Stop category 2 Controlled stop Power is not disconnected when the machine is at a standstill not suitable for EMERGENCY ...

Page 68: ...g for example a mechanical holding brake In Safe Torque Off STO mode the standstill position does not have to be monitored There are basically three suitable measures to bring about a Safe Torque Off STO contactor between mains and drive system power contactor contactor between power module and drive motor motor contactor safe pulse inhibitor inhibiting of pulses from power semiconductor integrate...

Page 69: ...GER If the STO function is not needed pins 1 and 2 at X3 must be bridged A Safe Torque Off STO as per EN ISO 13849 1 Category 3 Performance Level d requires two channels that is a restart must be safely prevented via two ways completely independent of each other These two ways of interruption the power supply to the drive and the safe pulse inhibitor are called shut down paths 1 st Shut down path ...

Page 70: ...ted for example by eliminating the controller enabling servo drive enabling or by shutting down the power contactor 6 2 2 Holding brake activation In the case of activation of the Safe Torque Off function the holding brake is switched currentless brake applied see Figure 11 Block diagram STO as per EN ISO 13849 1 Category 3 Performance Level d 1st Channel During operation the holding brake is cont...

Page 71: ...Timing ofoutput stage enabling variable Controller enabling X1 DIN5 Activation holding break X6A 5 6 opened 24 V closed 0 V Internal output stage enabling controlled by µP Set speed n n 0 n H H H Seven segment display Delay until brake is released Delay until brake is applied Timing of Safe Torque Off STO activation variable To be determined by user e g by means of safety switching devices dependi...

Page 72: ...driver supply relay and the availability of the driver supply is opened no later than 20ms after t1 t2 t1 4 Approx 10ms after the opening of the feedback contact the H will disappear from the display at the time t3 5 The time for the output stage enabling X1 DIN4 can for the most part be freely selected t4 t1 The enabling may be at the same time as the triggering of the driver relay but must happe...

Page 73: ...ke of the motor is applied This time depends on the holding brake and must be set by the user For applications without holding brake this time can be set to 0 3 After this time has run out the internal output stage enabling will be switched off by the µP t10 The holding brake will definitely be activated as soon as the brake ramp time set drop out delay time has run out even if it the drive has no...

Page 74: ... NC1 NC2 Controller enabling Output stage driver supply Power contactor L1 L2 L3 DIN5 Controller enabling DIN4 Output stage enabling ARS 2320 ARS 2360W K1 EMERGENCY STOP request EMERGENCY STOP requested 21 9 1 2 3 Feedback driver supply Output stage enabling X9 Power supply safety switching device EN ISO 13849 1 Category 3 Performance Level d Drawn contact position EMERGENCY STOP requested or supp...

Page 75: ...P contactor has been approved as per EN ISO 13849 1 Category 3 Performance Level d A superordinate control monitors the EMERGENCY STOP request and driver supply feedback signals and checks them for plausibility In the case of an error the power contactor will be shut down The DC bus voltage remains present and can be used by the drive immediately after deactivation of the EMERGENCY STOP switching ...

Page 76: ...ply Output stage enabling Driver supply of output stage 0 V X3 SAFE STANDSTILL X1 I O communication Mains input 24 V Input µP 1 2 3 4 5 6 Triggering of relay ERR not used NC1 NC2 DIN5 Controller enabling DIN4 Output stage enabling ARS 2320 ARS 2360W 21 9 1 2 3 X9 Power supply open closed Drawn contact position Safety door open or supply voltage switched off safety switching device EN ISO 13849 1 C...

Page 77: ...can be used by the drive immediately after the safety door has been closed If the safety door is opened without a request for a standstill the motor coasts down as per EN 60204 1 stop category 0 and at the same time the holding brake of the motor will be applied if available The drive is in Safe Torque Off STO mode and protected against restart It is also possible to use a door position switch whi...

Page 78: ...servo drive to other components to ensure sufficient ventilation The ARS 2320 and ARS 2340 servo drives 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 heating may cause premature aging and or damaging of the servo drive The case of high thermal stress of the servo drives the followin...

Page 79: ... of Electric Shock Do not Touch Electrical Connectors for 5 Minutes after Switching Power off Read Manual before Installing High Leakage Current First connect to Earth X5 RS232 COM STATE X1 I O X10 IN X11 OUT X4 CAN READY CAN ON RESET ARS 2320 X9 L1 L2 L3 PE ZK ZK ZK ZK ext Br R int Br R X6 U V W PE X6A MT MT PE PE BR BR CAUTION Risk of Electric Shock Do not Touch Electrical Connectors for 5 Minut...

Page 80: ... Shock Do not Touch Electrical Connectors for 5 Minutes after Switching Power off Read Manual before Installing High Leakage Current First connect to Earth X5 RS232 COM STATE X1 I O X10 IN X11 OUT X4 CAN READY CAN ON RESET X9 L1 L2 L3 PE ZK ZK ZK ZK X6 U V W PE X6A MT MT PE PE BR BR ARS 2340 X5 RS232 COM STATE ext Br R int Br R X9A CAUTION Risk of Electric Shock Do not Touch Electrical Connectors ...

Page 81: ... Mains ground conductor connection int Br R Connection of the internal braking resistor ext Br R Connection of the external braking resistor ARS 2320 STATE X9 L1 L2 L3 PE ZK ZK ZK ZK X6 U V W PE X6A MT MT PE PE BR BR CAUTION Risk of Electric Shock Do not Touch Electrical Connectors for 5 Minutes after Switching Power off Read Manual before Installing High Leakage Current First connect to Earth REA...

Page 82: ...X4 CAN Bus int Br R Connection of the internal braking resistor ext Br R Connection of the external braking resistor Mounting plate X9 L1 L2 L3 PE ZK ZK ZK ZK X6 U V W PE X6A MT MT PE PE BR BR ARS 2340 X9A CAUTION Risk of Electric Shock Do not Touch Electrical Connectors for 5 Minutes after Switching Power off Read Manual before Installing High Leakage Current First connect to Earth X5 RS232 COM S...

Page 83: ...y 0V GND 24VDC supply ERR Signaling contact Error on safety module NC1 and NC2 Response contact for driver supply X2A RESOLVER X3 SAFE STAND SUPLLY 24V X2B ENCODER 24V REL 0V ERR NC1 NC2 X2B Encoder connection X2A Resolver connection Figure 19 Servo drives ARS 2320 and ARS 2320W Bottom view Note The depth gauge of the water cooled devices is approximately 70 mm shorter ...

Page 84: ... connection Figure 20 Servo drives ARS 2340 and ARS 2360W Bottom view Note The depth gauge of the water cooled devices is approximately 70 mm shorter 7 4 Installation The ARS 2300 servo drive has fastening straps at the top and at the bottom Using these straps the servo drive has to be installed perpendicularly on a control cabinet mounting plate The fastening straps are part of the heat sink prof...

Page 85: ...0 ARS 2340 ARS 2320W ARS 2360W Version 8 0 369 mm 350 mm 362 5 mm 12 5 mm ca 3 mm 41 5 mm 81 mm ARS 2320 90 mm 121 5 mm 161 mm ARS 2340 170 mm R3 5 R3 5 R3 5 R3 5 R5 5 R5 5 20 mm 350 mm Figure 21 Servo drives ARS 2320 and ARS 2340 Drilling pattern on the mounting plate ...

Page 86: ...Mechanical Installation Page 86 Product Manual Servo drives ARS 2320 ARS 2340 ARS 2320W ARS 2360W Version 8 0 Figure 22 Servo drives ARS 2320W and ARS 2360W Drilling pattern on the water cooling system ...

Page 87: ...following examples for water cooling systems can be obtained from the manufacturers specified below The water cooling systems have been specifically designed for the ARS 2360W For the ARS 2320W a customer specific solution is available too Figure 23 Water cooling system example by the manufacturer Dau Address DAU Ges m b H Co KG Dietenberg 38 A 8563 Ligist Austria Tel 43 0 31 43 23 51 0 Fax 43 0 3...

Page 88: ...2340 ARS 2320W ARS 2360W Version 8 0 Figure 24 Water cooling system example by the manufacturer Cooltec Address cool tec Electronic GmbH Ilmenauer Straße 4 D 98701 Großbreitenbach international freecall 00800 02 66 58 32 international freefax 00800 02 66 53 29 www cooltec de ...

Page 89: ... V W MT MT BR BR SM 24 V 2 A max for the holding brake X9 X6 ARS 2320 and ARS 2320W T Permanently excited synchronous machine Connection of the outer shield of the motor cable 24V 0V 24 VDC 0 V F1 L1 L2 230 VAC 10 480 VAC 10 L1 L2 PE L3 L3 PE ZK ZK ZK ZK X3 PE Resolver Encoder E X2A X2B Angle encoder PE PE X6A 24 V supply BR CH BR INT External braking resistor Bridge for internal braking resistor ...

Page 90: ...al braking resistor Alternative BR EXT X9A L1 L2 230 VAC 10 480 VAC 10 L1 L2 PE L3 L3 PE ZK ZK ZK ZK X3 PE Resolver Encoder E X2A X2B Angle encoder PE PE X6A 24 V supply main fuse Figure 26 Servo drives ARS 2340 and ARS 2360W Connection to the supply voltage and to the motor Operation of the ARS 2300 servo drive requires a 24V voltage source for supplying the electronic system This voltage source ...

Page 91: ...g voltages for the DC bus and the electronic system can be switched on In the case of inverted wiring of the operating voltage connections an excessive operating voltage or a mix up of operating voltage and motor connections the ARS 2300 servo drive will be damaged 8 2 ARS 2300 complete system The complete ARS 2300 servo drive system is shown in Figure 27 The following components are required for ...

Page 92: ... ARS 2360W Version 8 0 External braking resistor if required ARS 2340 PC with ServoCommander parameterization program Motor with angle encoder 24V DC voltage supply Automatic circuit breaker Main switch 400 V AC mains connection Figure 27 Complete set up of the ARS 2300 with motor and PC ...

Page 93: ... through connector X3 See chapter 8 5 Connection Safe Torque Off STO and 24V supply X3 page 99 8 3 1 Configuration at the ARS 2320 and ARS 2320W servo drives X9 PHOENIX Power Combicon 11 pin type PC 4 11 G 7 62 8 3 2 Counter plug X9 at the ARS 2320 and ARS 2320W PHOENIX Power Combicon 11 pin type PC 5 11 STF1 7 62 8 3 3 Pin assignment X9 at the ARS 2320 and 2320W Table 28 Pin assignment at the ARS...

Page 94: ...ake chopper connection for external braking resistor against BR EXT Brake chopper connection for internal braking resistor against BR INT 11 BR INT 800 VDC Internal braking resistor If no external braking resistor is used a bridge has to be installed between PIN10 and PIN11 so that the DC bus precharge when the mains power supply is ON and the DC bus rapid discharge can function properly 8 3 5 Typ...

Page 95: ... 8 3 6 Connection notes concerning X9 at the ARS 2320 and ARS 2320W PHOENIX Power Combicon at X9 1 PE L1 3 7 9 2 4 8 L2 L3 ZK ZK BR EXT BR CH Power supply connector 5 ZK 6 ZK 10 BR INT 11 External braking resistor Alternative Figure 28 Pin assignment at the ARS 2320 and ARS 2320W Supply and braking resistor X9 ...

Page 96: ...through connector X3 See chapter 8 5 Connection Safe Torque Off STO and 24V supply X3 page 99 8 4 1 Configuration at the ARS 2340 and ARS 2360W servo drives X9 PHOENIX Power Combicon 8 pin type PC 6 16 8 GF 10 16 8 4 2 Counter plug X9 at the ARS 2340 and ARS 2360W PHOENIX Power Combicon 8 pin type PC 16 8 STF 10 16 8 4 3 Pin assignment X9 at the ARS 2340 and ARS 2360W Table 30 Pin assignment at th...

Page 97: ...CLASSIC 110 4 x 6 mm ARS 2360W LAPP KABEL ÖLFLEX CLASSIC 110 4 x 10 mm 8 4 5 Connection notes concerning X9 at the ARS 2340 and ARS 2360W PHOENIX Power Combicon at X9 1 PE L1 3 7 2 4 8 L2 L3 ZK ZK Power supply connector 5 ZK 6 ZK Figure 29 Pin assignment at the ARS 2340 and ARS 2360W Supply X9 8 4 6 Connection External braking resistor X9A at the ARS 2340 and ARS 2360W The ARS 2340 and ARS 2360W s...

Page 98: ...er connection for external braking resistor against ext Br R Brake chopper connection for internal braking resistor against int Br R 3 BR INT 800 VDC Internal braking resistor If no external braking resistor is used a bridge has to be installed between PIN2 and PIN3 so that the DC bus precharge when the mains power supply is ON and the DC bus rapid discharge can function properly 8 4 10 Connection...

Page 99: ...NIX Mini Combicon MC 1 5 6 STF 3 81 8 5 2 Counter plug X3 PHOENIX Mini Combicon MC 1 5 6 GF 3 81 8 5 3 Pin assignment X3 Table 32 Pin assignment X3 Pin no Name Values Specification 1 24V 24VDC 2 8 A 24VDC supply for control section 0 8A and holding brake 2A Without safety measures in accordance with Category 3 Performance Level d Bridge pin 1 and 2 2 REL 0VDC 24VDC Setting and resetting of the rel...

Page 100: ...e proven to be reliable and are successfully used in many applications However it is also possible to use comparable cables from other manufacturers for example Lütze or Helukabel For 24 VAC power supply LAPP KABEL ÖLFLEX CLASSIC 110 2 x 1 mm 8 5 5 Connection notes X3 24 VDC supply 1 4 2 5 3 6 PHOENIX MINI COMBICON at X3 GND 24 VDC Without the safety function Bridge pins 1 and 2 Figure 31 Pin assi...

Page 101: ...t the ARS 2340 and ARS 2360W PHOENIX Power Combicon 4 pin type PC 16 4 STF 10 16 8 6 5 Configuration device side X6A PHOENIX Mini Combicon 6 pin type MC 1 5 6 GF 3 81 8 6 6 Counter plug X6A PHOENIX Mini Combicon 6 pin type MC 1 5 6 STF 3 81 8 6 7 Pin assignment X6 Table 33 Pin assignment Motor X6 Pin no Name Values Specification 1 U 0 360 Veff 0 20 Aeff ARS 2320 and ARS 2320W 0 40 Aeff ARS 2340 0 ...

Page 102: ... However it is also possible to use comparable cables from other manufacturers for example Lütze or Helukabel LAPP KABEL ÖLFLEX SERVO 700 CY 4 G 4 2 x 0 75 2 x 1 0 16 6 mm with tinned CU shielding For highly flexible applications LAPP KABEL ÖLFLEX SERVO FD 750 P 4 G 4 2 x 0 75 StD 2 x 1 0 StD CP 16 9 mm with tinned CU shielding for highly flexible use in drag chains 8 6 9 Type and configuration of...

Page 103: ...VO 700 CY 4 G 10 2 x 0 75 2 x 1 0 21 6 mm with tinned CU shielding For highly flexible applications LAPP KABEL ÖLFLEX SERVO FD 750 P 4 G 10 2 x 0 75 Std 2 x 1 0 Std CP 18 9 mm with tinned CU shielding for highly flexible use in drag chains Recommendation For motor output currents of 55 Aeff a 16 mm 2 cable has to be used For example LAPP KABEL ÖLFLEX SERVO 700 CY 4 G 16 2 x 2 x 1 24 5 mm with tinn...

Page 104: ...n the motor side flat to the connector or motor housing Maximum length 40 mm The signals for the digital temperature sensor MTdig PIN 2 and MTdig PIN 1 at the motor connector X6A are not connected to Protective Extra Low Voltage PELV These connections are designed for temperature sensors that are not safely separated The safe separation from Protective Extra Low Voltage PELV is performed within th...

Page 105: ...ssion we recommend integrated RC suppressor elements for example made by Evox RIFA type PMR205AC6470M022 RC element with 22Ω in series with 0 47uF 8 7 Connection I O communication X1 The following Figure 34 shows the basic function of the digital and analogue inputs and outputs The ARS 2300 servo drive is shown on the right hand side the control connection on the left hand side The cable configura...

Page 106: ...ted from the reference potential of the control section by means of optocouplers 24 11 19 6 18 14 1 5 14 17 4 16 3 15 2 13 DOUT3 DIN9 DOUT0 DIN0 GND24 24VDC VREF AMON0 AIN1 AIN0 Pin no X1 AMON1 AIN2 AIN0 AGND AGND DOUTx GND24 24VDC 24VDC GND GND24 PE PE 100 mA max 100 mA max Connector housing VREF AIN0 AIN0 AGND AIN1 AIN2 AGND 15V AGND AGND AMONx AGND GND AGND DINx GND24 GND Control System ARS 230...

Page 107: ...e reference potential AGND is connected to the reference potential of the control system This is necessary in order to prevent the differential input of the ARS 2300 servo drive from being overridden by high common mode interferences There are two analogue monitor outputs with output voltages in the range of 10V and one output for a reference voltage of 10V These outputs can be led to the superimp...

Page 108: ...logue monitor output 1 18 24V 24VDC 100mA 24VDC supply led out 6 GND24 Reference potential for digital inputs outputs 19 DIN0 POS Bit0 Positioning target selection bit0 7 DIN1 POS Bit1 Positioning target selection bit1 20 DIN2 POS Bit2 Positioning target selection bit2 8 DIN3 POS Bit3 Positioning target selection bit3 21 DIN4 FG_E Output stage enabling 9 DIN5 FG_R Input for servo drive enabling 22...

Page 109: ...themselves into the analogue signals and cause common mode interferences which may lead to deviations of the analogue measured values In the case of limited cable lengths l 2m wiring inside the control cabinet the outer dual sided PE shield is enough to guarantee trouble free operation For optimal interference suppression of the analogue signals the cores for the analogue signals have to be shield...

Page 110: ...con MC 1 5 6 STF 3 81 8 8 2 Counter plug X3 PHOENIX Mini Combicon MC 1 5 6 GF 3 81 8 8 3 Pin assignment X3 Table 36 Pin assignment X3 Pin No Name Values Specification 1 24V 24VDC 24VDC supply led out Without the safety function Bridge pin 1 and 2 2 REL 0V 24VDC Setting and resetting of the relay for interrupting the driver supply 3 0V 0V Reference potential for the PLC 4 ERR 0V 24VDC Signalling co...

Page 111: ...ENIX MINI COMBICON at X3 Without the safety function Bridge pins 1 and 2 Figure 35 Connection notes X3 Without safety function 8 9 Connection Resolver X2A 8 9 1 Configuration on the device X2A 1 D SUB connector 9 pin type female 8 9 2 Counter plug X2A D SUB connector 9 pin type male Housing for 9 pin D SUB connector with bolting screws of type 4 40 UNC ...

Page 112: ...to be established Therefore the outer cable shield of the angle encoder cable must be connected to the housing of the angle encoder connector 8 9 4 Cable type and configuration X2A The cable names given refer to cables made by Lapp They have proven to be reliable and are successfully used in many applications However it is also possible to use comparable cables from other manufacturers for example...

Page 113: ...le connector Connector housing 2 3 4 5 6 7 8 1 9 Figure 36 Pin assignment Resolver connection X2A The outer shield is always connected to PE connector housing on the servo drive The three inner shields are connected on one side to PIN3 of X2A of the ARS 2300 servo drive 8 10 Connection Encoder X2B 8 10 1 Configuration on the device X2B D SUB connector 15 pin type female 8 10 2 Counter plug X2B D S...

Page 114: ...V Reference potential for encoder supply and motor temperature sensor 11 R 0 2VSS 0 8VSS RI 120Ω Reset pulse trace signal differential of high resolution incremental encoder 4 R 12 COS_Z1 1VSS 10 RI 120Ω COSINE commutation signal differential of high resolution incremental encoder 5 COS_Z1 13 SIN_Z1 1VSS 10 RI 120Ω SINE commutation signal differential of high resolution incremental encoder 6 SIN_Z...

Page 115: ... 2 U_SENS 10 US 5V 12V 10 Imax 300mA Operating voltage for high resolution incremental encoders 3 GND 0V Reference potential for encoder supply and motor temperature sensor 11 4 12 DATA 5VSS RI 120Ω Bi directional RS485 data line differential EnDat HIPERFACE 5 DATA 13 SCLK 5VSS RI 120Ω Clock output RS485 differential EnDat 6 SCLK 14 COS_Z0 1VSS 10 RI 120Ω COSINE trace signal differential of high r...

Page 116: ... 14 A 2VSS 5VSS RI 120Ω A trace signal RS422 differential from digital incremental encoder 7 A 15 B 2VSS 5VSS RI 120Ω B trace signal RS422 differential from digital incremental encoder 8 B 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 housi...

Page 117: ...cremental encoder at the motor D SUB connector at X2B U_SENS U_SENS TEMP TEMP Figure 37 Pin assignment Analogue incremental encoder optional X2B 2 3 4 5 9 10 11 1 12 Shield optional Output of the analog incremental encoder with serial Interface at the motor D SUB connector at X2B Connector housing 6 7 8 13 14 15 Connector housing 1 9 8 15 Male connector COS_Z0 COS_Z0 SCLK SIN_Z0 SCLK DATA DATA SIN...

Page 118: ...utput of the digital incremental encoder at the motor D SUB connector at X2B Cable shield optional Connector housing Connector housing 2 3 4 5 9 10 11 1 12 6 7 8 13 14 15 1 9 8 15 B B GND A VCC N N SENSE A SENSE HALL_U HALL_V HALL_W TEMP TEMP Male Figure 39 Pin assignment Digital incremental encoder optional X2B ...

Page 119: ... CLK Positive polarity in accordance with RS422 6 A CLK 5V RI 120Ω Incremental encoder signal A Stepper motor signal CLK Negative polarity in accordance with RS422 2 B DIR 5V RI 120Ω Incremental encoder signal B Stepper motor signal DIR Positive polarity in accordance with RS422 7 B DIR 5V RI 120Ω Incremental encoder signal B Stepper motor signal DIR Negative polarity in accordance with RS422 3 N ...

Page 120: ...ignals like the ones generated by control cards for stepper motors The input amplifier at the signal input is designed to process differential signals in accordance with the RS422 interface standard It may also be possible to process other signals and levels for example 5V single ended or 24VHTL from a PLC Please contact your distributor D SUB connector at X10 Incremental encoder input 2 3 4 5 6 7...

Page 121: ... 5V RA 66Ω Incremental encoder signal A 6 A 5V RA 66Ω Incremental encoder signal A 2 B 5V RA 66Ω Incremental encoder signal B 7 B 5V RA 66Ω Incremental encoder signal B 3 N 5V RA 66Ω Incremental encoder reset pulse N 8 N 5V RA 66Ω Incremental encoder reset pulse N 4 GND Reference GND for the encoder 9 GND Shield for the connecting cable 5 VCC 5V 5 100mA Auxiliary supply can be loaded with 100mA ma...

Page 122: ...encoder input e g servo drive ARS 2000 X10 Figure 41 Pin assignment Incremental encoder output X11 The output driver at the signal output supplies differential signals 5V in accordance with the RS422 interface standard Up to 32 additional servo drives can be controlled by one device 8 13 Connection CAN bus X4 8 13 1 Configuration on the device X4 D SUB connector 9 pin type male 8 13 2 Counter plug...

Page 123: ...d using metal film resistors with a 5 tolerance of type 0207 for example made by BCC part no 232215621201 8 13 4 Cable type and configuration X4 The cable names given refer to cables made by Lapp They have proven to be reliable and are successfully used in many applications However it is also possible to use comparable cables from other manufacturers for example Lütze or Helukabel Technical specif...

Page 124: ...the CAN bus cable CAN boards or PLCs often come supplied with such a terminating resistor which has to be taken into consideration accordingly Shielded cables with exactly two twisted pairs must be used for cabling Use a twisted pair to connect CAN H and CAN L The cores of the other pair are used jointly for CAN GND The shield of the cable is led to the CAN shield connections for all nodes For sui...

Page 125: ... for 9 pin D SUB connector with bolting screws of type 4 40 UNC 8 14 3 Pin assignment X5 Table 44 Pin assignment RS232 interface X5 Pin no Name Values Specification 1 Not used 6 Not used 2 RxD 10 V RI 2kΩ Reception line RS232 specification 7 Not used 3 TxD 10 V RA 2kΩ Transmission line RS232 specification 8 Not used 4 RS485 reserved for optional RS485 use 9 RS485 reserved for optional RS485 use t ...

Page 126: ...on 8 0 8 14 4 Cable type and configuration X5 Interface cable for serial interface null modem 3 cores 8 14 5 Connection notes X5 D SUB connector at X5 PC 2 3 4 5 6 7 8 1 9 Connector housing 1 5 9 6 Connector housing 2 3 4 5 6 7 8 1 9 1 5 9 6 Female Female Figure 43 Pin assignment RS232 null modem cable X5 ...

Page 127: ...cerning EMC The interference emission and interference immunity of a device always depend on the overall drive concept consisting of the following components Power supply Servo drive Motor Electromechanical system Configuration and type of wiring Superimposed control system In order to increase interference immunity and to decrease interference emissions the servo drive ARS 2300 already comprises ...

Page 128: ...5 4 EMC compliant cabling The following information has to be complied with for an EMC compliant set up of the drive system see also chapter 8 Electrical installation page 89 In order to keep leakage currents and losses in the motor connecting cable as small as possible the ARS 2300 servo drive should be located as close to the motor as possible see also chapter 8 15 5 Operation with long motor ca...

Page 129: ...lated cable 4 Shorten the cables for the motor phases and the protective ground conductor of the motor to 90 mm Connect the outer stripped motor cable shield 30 mm long on the servo drive flat to the motor shield terminal Connect the motor temperature sensor the holding brake and the inner shields to connector X6A Connect the motor phase and the protective ground conductor of the motor to connecto...

Page 130: ... phase and the shield Please contact your motor cable supplier if necessary 8 15 6 ESD protection Caution Unused D Sub connectors may cause damage to the device or other components of the system due to ESD electrostatic discharge To prevent such discharge protective caps are available from specialized suppliers for example Spoerle The ARS 2300 servo drive has been designed to provide high interfer...

Page 131: ...aterial Screwdriver for slotted head screws size 1 Serial interface cable Rotary angle encoder cable Motor cable Power supply cable Operator panel ARS 2000 or control 9 3 Connecting the motor Plug the connector of the motor cable into the matching socket of the motor and tighten it Plug the PHOENIX connector into socket X6 of the servo drive and make sure that the PE line of the motor is connected...

Page 132: ...ting screws Plug the D Sub connector of the serial interface cable into the socket X5 RS232 COM of the servo drive ARS 2300 and fasten the bolting screws Check all connections again 9 6 Checking operability 1 Make sure that the controller enabling switch is turned off 2 Switch on the power supply of all devices The READY LED on the front panel of the servo drive should light up If the READY LED do...

Page 133: ...and after the error has been eliminated or ceased to exist An extensive sensor system and numerous monitoring functions ensure operational safety Motor temperature measurement and monitoring Power module temperature measurement Detection of ground faults PE Detection of connections between two motor phases Detection of supply phase failure Detection of supply mains failure Detection of overvoltage...

Page 134: ...ing is issued 10 1 6 Motor monitoring The ARS 2300 servo drive has the following protective functions to monitor the motor and the connected rotary encoder Monitoring of the rotary encoder An error in the rotary encoder shuts down the power output stage In the case of resolvers the trace signal is measured for example In the case of incremental encoders the commutation signals are checked Other in...

Page 135: ...mander parameterization software inquires the start up status and asks the user to parameterize the servo drive At the same time the device displays an A on the seven segment display to indicate that it is ready for operation but not parameterized 10 1 10 Operating hours meter An operating hours meter is implemented which has been designed for at least 200 000 operating hours The operating hours m...

Page 136: ... drive ARS 2000 still has to be parameterised seven segment display A Operating mode torque 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...

Page 137: ...nly but will not be shown on the 7 segment display Table 47 Error messages Error message Meaning of the error message Measures Main index Sub index 00 0 Invalid error Information An invalid corrupted entry in the error buffer is marked by this error number No measures required 1 Invalid error detected and corrected Information An invalid corrupted error entry was detected and corrected The Debug i...

Page 138: ...ircuit Check cables of temperature sensor short circuit Check the parameterization of short circuit monitoring threshold value 04 0 Overtemperature of the power stage Plausible temperature display Check the installation conditions filter mats of fan dirty Device fan defective 1 Overtemperature in the DC bus 05 0 Internal undervoltage supply 1 Disconnect the device from the entire periphery and che...

Page 139: ...e The encoder signals are disturbed check the installation for compliance with EMC recommendations 3 Error of track signals Z1 Incremental encoder 4 Error of track signals of digital incremental encoder 5 Error of Hall signals incremental encoder 6 Communication error encoder 7 Signal amplitude incremental track erroneous 8 Internal encoder error Internal monitoring of the angle encoder at X2B has...

Page 140: ...small 10 0 Overspeed motor overspeed protection Encoder offset angle correct Overspeed protection limit too small 11 0 Error at start of homing run No servo drive enabling 1 Error during homing run Homing has been interrupted for example by disabling the servo drive 2 Homing run No valid index pulse The required index pulse is missing 3 Homing run timeout The maximum time parameterized for homing ...

Page 141: ... by replacing the device please send the replaced device to our sales partner 2 CAN Communication error on send Check the cabling compliance with the cable specification cable break maximum cable length exceeded correct terminating resistors cable shield grounded all signals applied Check the start sequence of the application Replace the device If the error could be eliminated by replacing the dev...

Page 142: ...settings Check the configuration of the angle encoder If necessary contact the Technical Support 5 No index pulse detected The index pulse could not be found after the maximum number of electrical rotations Check the index pulse signal Check the angle encoder settings 6 Invalid hall signals Check the connection Check the data sheet as to whether the encoder provides 3 Hall signals with 120 or 60 s...

Page 143: ...ation Suitable sensor Sensor defective Check the parameterisation of the sensor and sensor characteristic Error also occurs if sensor is bypassed device defective Please send the servo drive to our sales partner 21 0 Error 1 current measurement V Please contact the Technical Support 1 Error 2 current measurement U 2 Error 2 current measurement V 3 Error 1 current measurement V 22 0 PROFIBUS Wrong ...

Page 144: ... Support 3 Device function restricted Please send the servo drive to our sales partner 26 0 No user parameter set Load the default parameter set If the error continues to occur contact the Technical Support 1 Checksum error 2 Flash Error during write operation Please send the servo drive to our sales partner 3 Flash Error during erase operation 4 Flash Error in internal flash Re load the firmware ...

Page 145: ...k the power rating of the drive package Select operation without PFC 3 I t Break resistor Braking resistor overloaded Use external braking resistor 4 I t real power overload Reduce the real power of the drive 32 0 Loading period DC bus exceeded Bridge for the internal brake resistor installed Check the connection of the external brake resistor If necessary contact the Technical Support 1 Undervolt...

Page 146: ...ation interval too small 35 0 Speed protection of Linear motor The encoder signals are disturbed Check the installation for compliance with EMC recommendations 5 Error during the determination of the commutation position For this motor an improper method has been chosen Please contact the Technical Support 36 0 Parameter limited Check user parameter set 1 Parameter not accepted 37 0 sercos Excessi...

Page 147: ...lugged in correctly Technology module defective Replace the technology module If necessary contact the Technical Support 2 sercos Defective module Replace the technology module If necessary contact the Technical Support 3 sercos S 0 0127 Invalid data in S 0 0021 Check the configuration cyclic data for MDT and AT Time slot calculation by the master 4 sercos S 0 0127 Illegal IDNs in AT or MDT Check ...

Page 148: ...ative SW limit switch reached Check the negative range limit 1 Positive SW limit switch reached Check the positive range limit 2 Target position behind the negative SW limit switch The start of a positioning run was suppressed as the target lies beyond the respective software limit switch Check the target data Check the positioning range 3 Target position behind the positive SW limit switch 41 0 C...

Page 149: ...rameters and acceleration 43 0 Limit switch Negative set point inhibited The drive has left the intended motion range Technical defect in the system Check the limit switches 1 Limit switch Positive set point inhibited 2 Limit switch Positioning suppressed 44 0 CAM table error Check whether the index has been assigned correctly Check whether there are cam plates present in the device 1 CAM drive no...

Page 150: ...sary contact the Technical Support 2 EtherCAT Protocol error Wrong protocol no CAN over EtherCAT Check the EtherCAT wiring 3 EtherCAT Invalid RPDO length Check the protocol Check the RPDO configuration of the servo drive and of the control system 4 EtherCAT Invalid TPDO length 5 EtherCAT Erroneous cyclic communication Check the EtherCAT wiring Check the configuration of the master system 63 0 Ethe...

Page 151: ...eplace the technology module 1 Timeout I O connection Please contact the Technical Support 80 0 IRQ Time overflow current control Please contact the Technical Support 1 IRQ Time overflow speed control 2 IRQ Time overflow position control 3 IRQ Time overflow interpolator 81 4 IRQ Time overflow low level Please contact the Technical Support 5 IRQ Time overflow MDC 82 0 Sequence control General Norma...

Page 152: ...ssing 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 ADUs 4 Synchronisation error SD ADU after start 5 SD ADU not in synchronism 6 IRQ 0 current controller Trigger error 7 CAN controller not available 8 Checksum Error in Device Parameters 9 DEBUG Firmware loaded 91 0 Internal initialisation e...

Page 153: ... characteristics Digital 24V inputs Digital 24V outputs which can be activated separately and loaded with 100 mA each MicroCombicon pin and socket connectors made by PHOENIX Pin and socket connectors via male multipoint connector in accordance with EN 60603 2 The inputs and outputs are floating due to the optocouplers The inputs and outputs are protected against short circuits and overload 11 1 2 ...

Page 154: ...100 µs 11 1 2 3 Digital outputs 8 digital outputs 24V protected against inverse polarity and short circuit proof protection against thermal overload Table 50 Digital outputs EA88 interface X22 Parameter Values Switch type High side switch Nominal voltage 24 VDC Voltage range 18 V 30 V Output current nominal IL nominal 100 mA Voltage loss at IL nominal 1 V Residual current with switch in OFF positi...

Page 155: ...s to be connected to the EA88 interface technology module 11 1 3 2 Pin assignments The following elements can be found on the front plate of the EA88 interface Connector X21 for 8 digital inputs PHOENIX Contact MicroCombicon MC 0 5 9 G 2 5 9 pin type Table 51 EA88 Connector X21 for 8 digital inputs Pin 1 2 3 4 5 6 7 8 9 Signal GND 24V In 1 In 2 In 3 In 4 In 5 In 6 In 7 In 8 Connector X22 for 8 dig...

Page 156: ...plied together with the EA88 interface technology module The cables are connected in the form of crimp connections To do so first strip the cable at a length of about 8 mm Then insert it into the desired opening by pressing down the orange crimp lock using a suitable screwdriver the tip of a ball pen or something similar Release the lock to fix the cable in place The maximum admissible wire cross ...

Page 157: ...ot be supported if the PROFIBUS DP interface is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application As a special feature S7 function blocks have been developed for the servo drives Using these function blocks the servo drives can be controlled directly by the PLC program and the users can integrate their ...

Page 158: ...with operating mode depending configuration Interface Floating D SUB 9 pin integrated bus terminating resistors can be activated by DIP switches Special functions Support of diagnosis data RTS signal led out fail safe mode sync freeze The following elements can be found on the front plate of the PROFIBUS DP interface see Figure 46 a green LED to indicate readiness for operation a 9 pin female DSUB...

Page 159: ... of an external optical waveguide transmission 2 The signal is optional It is used to identify the direction of an external optical waveguide connection 11 2 3 2 Counter plug 9 pin DSUB connector for example Erbic MAX PROFIBUS IDC Switch made by ERNI 11 2 3 3 Cable type and configuration The cable names given refer to cables made by Lapp They have proven to be reliable and are successfully used in...

Page 160: ... For bus connections with connectors without integrated terminating resistors the PROFIBUS DP interface has its own terminating resistors They can be activated with the help of the two DIP switches on the module switch set to ON To ensure safe operation of the network only one bus termination may be used at a time The external connection can also be set up discretely see Figure 47 The power supply...

Page 161: ...used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application A special feature of the sercos II bus is the synchronisation of all the devices connected to the bus If several ARS 2300 servo drives are connected the internal controller and output stages of the servo drives operate in a phase locked manner Via the 8 ...

Page 162: ...nal dimensions LxWxH approx 92 x 65 x 19mm suitable for technology slot TECH 2 Weight approx 50g The following elements can be found on the front plate of the sercos II module see Figure 48 a green LED to indicate that the bus is ready for operation a connection for the optical waveguide receiver type HFD 7000 402 metal connection Connection directly underneath the 8 pole DIP switch a connection f...

Page 163: ...60W Version 8 0 11 3 3 Optical waveguide specification More information concerning the type and setup of suitable optical waveguides can be found in the standard sercos literature for example http www sercos org Interests Group sercos interface e V Landhausstrasse 20 70190 Stuttgart Germany ...

Page 164: ...or the I O extension module EA88 Additional technology modules will not be supported if the EtherCAT technology module is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application 11 4 2 Characteristics of the EtherCAT technology module The EtherCAT technology module has the following characteristics It can be ...

Page 165: ...chnical data Table 57 Technical data EtherCAT module Ambient conditions dimensions and weight Range Values Storage temperature range 25 C to 75 C Operating temperature range 0 C to 50 C Atmospheric humidity 0 90 non condensing Altitude up to 2000 m above msl External dimensions LxWxH approx 92 x 65 x 19 mm Weight approx 55 g Slot Technology slot TECH 2 ...

Page 166: ... with two LEDs for indicating the operating states Table 58 Display elements EtherCAT module Element Function LED 1 Two colour LED green red Run green link activity EtherCAT port 1 red EtherCAT active yellow LED 2 red Link activity EtherCAT port 2 11 4 5 EtherCAT interface Table 59 Signal level and differential voltage EtherCAT module Signal level 0 2 5 VDC Differential voltage 1 9 2 1 VDC ...

Page 167: ...x please contact your sales partner in order to find a solution for your particular application With the MC 2000 complex motion control can be realised fast and easy for example Electronic cam drives and gears Joint axes Point to point positioning Several types of interpolation Interpolation Circular Interpolation Helical Interpolation Simply insert the MC 2000 module into the servo drive As the M...

Page 168: ...20W ARS 2360W Version 8 0 Figure 50 MC 2000 4 Axis Motion Coordinator 11 5 2 Features 11 5 2 1 Compact Plug in module that is directly integrated in the servo drive Controls up to 4 real servo axes Easy wiring via CAN bus Figure 51 MC 2000 4 Axis Motion Coordinator maximum capacity ...

Page 169: ... with numerous predefined commands High speed sample input for fast measuring and interpretation of actual values 11 5 2 3 Easy Application programming with the proven Trio Motion software Motion Perfect Program generation of complex motion sequences like camming gearing and interpolated multi axis movements Minimal external wiring thanks to the integration of the MC 2000 into a servo drive techno...

Page 170: ...ive Built in digital outputs 3x 24 VDC via servo drive Built in analogue inputs 3x 10 VDC via servo drive 1x 16 Bit differential and 2x 10 Bit single ended Built in analogue outputs 2 x 10 VDC 9 bit via servo drive Input function Forward limit reverse limit datum F hold Serial ports 1x RS232 programming 1x RS485 for example HMI CAN ports 2x CAN interfaces 1x remote drive max 1 Mbaud and 1x remote ...

Page 171: ... for 5 minutes so that the capacities in the servo drive can be completely discharged Caution Make sure that ESD protection measures are taken when handling technology modules To insert a technology module into the ARS 2300 servo drive please proceed as follows 1 Remove the cover of the technology slot TECH 1 or TECH 2 of the servo drive with a suitable Phillips screwdriver 2 Push the technology m...

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Metronix ARS 2320, Product Manual

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