Page 56
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 used encoder). This issue is discussed in detail in
chapter 5.3
5.2.10 Synchronisation, electronic gearing
The ARS 2100 SE series servo drives allow master-slave operation, which in the following will be
called synchronisation. 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 the
slave via an external encoder [X2B].
The synchronisation can be activated or deactivated via communication interfaces or via digital inputs.
For further information, please refer to the Software Manual “Servo drives ARS 2000”.
5.2.11 Brake management
The ARS 2100 SE series servo drives 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 the ARS 2100 SE servo drives after a
parameterisable idle time and which lets the brake fall in. This mode of operation is compatible with
the functions of the previous ARS and ARS 2000 series of devices.
Product Manual „Servo drives ARS 2100 SE“
Version 5.0
