Metronix ARS 2320, Product Manual

Page: 60 / 171

Function overview Page 60
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
5.2.8 Load torque compensation for vertical axes
For vertical axes applications it is possible to detect and store the holding torque during standstill. It is
then added to the torque control loop and improves the start-up behaviour of the axes after releasing
the holding brake.
5.2.9 Positioning and position control
In positioning mode a superordinated positioning controller is active in addition to the speed control,
which processes deviation of the actual position from the set position and converts it into the
corresponding set points for the speed controller.
The position controller is a P-controller. By default, the cycle time of the position control circuit is twice
the speed controller cycle time. However, it can also be set as an integer multiple of the speed
controller cycle time.
When the positioning controller is activated, it receives its set points from the positioning or from the
synchronisation controller. The internal resolution is up to 32 bits per motor revolution (depending on
the encoder used).
5.2.10 Synchronisation, electronic gearing
The servo drive ARS 2300 allows master-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 is also possible to derive this information needed for the
slave via an external encoder [X2B].
The synchronisation can be activated or deactivated via communication interfaces or via digital inputs.
The speed feed forward can be calculated by the servo drive ARS 2300 itself. All inputs can be
activated/deactivated. The internal encoder can optionally be shut off, if another input is selected as
actual-value encoder. This also applies to speed control mode. The external inputs can be weighed
with transmission factors. The different inputs can be used individually or simultaneously.
5.2.11 Brake management
The servo drive ARS 2300 can directly actuate a holding brake. The holding brake is operated with
programmable delay times. In positioning mode an additional automatic braking function can be
activated, which shuts down the power stage of ARS 2300 after a parameterized idle time and which
lets the brake fall in. This mode of operation is compatible with the functions of the previous ARS
product range.