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RGB ELEKTRONIKA AGACIAK CIACIEK

SPÓŁKA JAWNA

Jana Dlugosza 2-6 Street

51-162 Wrocław

Poland

[email protected]
+48 71 325 15 05

www.rgbautomatyka.pl

www.rgbelektronika.pl

DATASHEET

www.rgbautomatyka.pl
www.rgbelektronika.pl

OTHER SYMBOLS:

ARS2310

METRONIX

Содержание ARS 2302

Страница 1: ...IEK SPÓŁKA JAWNA Jana Dlugosza 2 6 Street 51 162 Wrocław Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS ARS2310 METRONIX ...

Страница 2: ...ed with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS CNC MACHINES MOTORS POWER SUPPLIERS OPERATOR PANELS CNC CONTROLS INDUSTRIAL COMPUTERS PLC SYSTEMS Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS Buy this product at RGB AUTOMATYKA BUY ...

Страница 3: ...ler ARS 2302 ARS 2305 ARS 2310 Product Manual Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 4: ...eet 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 document or the product wit...

Страница 5: ...of the file No Description Revision index Date of change 001 Creation 1 0 11 06 2005 002 Translation 1 1 21 10 2005 003 Release for distribution 2 0 09 03 2006 004 Release 2 1 15 01 2007 005 Release 2 2 23 02 2010 006 Updated Corporate Identity No technical changes 3 0 18 04 2011 007 Changes in chapter 2 2 reworked List of Figures 4 0 28 06 2011 Product Manual Servo Positioning Controller ARS 2302...

Страница 6: ...CT DESCRIPTION 23 4 TECHNICAL DATA 29 5 FUNCTION OVERVIEW 39 6 FUNCTIONAL SAFETY TECHNOLOGY 49 7 MECHANICAL INSTALLATION 60 8 ELECTRICAL INSTALLATION 66 9 START UP 99 10 SERVICE FUNCTIONS AND ERROR MESSAGES 101 11 TECHNOLOGIEMODULE 116 Product Manual Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310 Version 4 0 ...

Страница 7: ...Technologiemodule Seite 5 List of Figures Product Manual Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310 Version 4 0 ...

Страница 8: ...RDANCE WITH EN ISO 13849 1 PERFORMANCE LEVEL D AND STOP CATEGORY 1 IN ACCORDANCE WITH 60204 1 58 FIGURE 11 SERVO POSITIONING CONTROLLER ARS 2310 INSTALLATION SPACE 61 FIGURE 12 SERVO POSITIONING CONTROLLER ARS 2310 FRONT VIEW 62 FIGURE 13 SERVO POSITIONING CONTROLLER ARS 2310 TOP VIEW 63 FIGURE 14 SERVO POSITIONING CONTROLLER ARS 2310 BOTTOM VIEW 64 FIGURE 15 SERVO POSITIONING CONTROLLER ARS 2300 ...

Страница 9: ...ODER INPUT 89 FIGURE 28 PIN ASSIGNMENT X11 INCREMENTAL ENCODER OUTPUT 90 FIGURE 29 CAN BUS CABLING EXAMPLE 92 FIGURE 30 PIN ASSIGNMENT RS232 NULL MODEM CABLE X5 94 FIGURE 31 PROFIBUS DP INTERFACE FRONT VIEW 117 FIGURE 32 PROFIBUS DP INTERFACE CONNECTION WITH EXTERNAL TERMINATING RESISTORS 119 FIGURE 33 SERCOS MODULE FRONT VIEW 121 FIGURE 34 POSITION OF THE PIN AND SOCKET CONNECTORS X21 AND X22 AT ...

Страница 10: ...Page 8 Technologiemodule List of Tables Product Manual Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310 Version 4 0 ...

Страница 11: ...2 TABLE 12 TECHNICAL DATA RESOLVER X2A 34 TABLE 13 TECHNICAL DATA RESOLVER INTERFACE X2A 34 TABLE 14 TECHNICAL DATA ENCODER EVALUATION X2B 35 TABLE 15 TECHNICAL DATA RS232 X5 36 TABLE 16 TECHNICAL DATA CAN BUS X4 36 TABLE 17 TECHNICAL DATA DIGITAL INPUTS AND OUTPUTS X1 36 TABLE 18 TECHNICAL DATA ANALOG INPUTS AND OUTPUTS X1 37 TABLE 19 TECHNICAL DATA INCREMENTAL ENCODER INPUT X10 38 TABLE 20 TECHN...

Страница 12: ...Page 10 Technologiemodule TABLE 26 PIN ASSIGNMENT I O COMMUNICATION X1 77 Product Manual Servo Positioning Controller ARS 2302 ARS 2305 ARS 2310 Version 4 0 ...

Страница 13: ...NT 96 TABLE 37 OPERATING MODE AND ERROR DISPLAY 104 TABLE 38 ERROR MESSAGES 105 TABLE 39 TECHNICAL DATA PROFIBUS DP INTERFACE AMBIENT CONDITIONS DIMENSIONS AND WEIGHT 116 TABLE 40 TECHNICAL DATA PROFIBUS DP INTERFACE INTERFACES AND COMMUNICATION 117 TABLE 41 PIN ASSIGNMENT PROFIBUS DP INTERFACE 118 TABLE 42 TECHNICAL DATA SERCOS MODULE AMBIENT CONDITIONS DIMENSIONS AND WEIGHT 120 TABLE 43 TECHNICA...

Страница 14: ...nical data and the device functionality plus notes concerning the installation and operation of ARS 2320 and 2340 servo positioning controllers Software manual Servo Positioning Controller 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...

Страница 15: ...irmware version 3 x are available 1 2 Scope of supply The supply comprises Table 1 Scope of supply 1x Servo positioning controller ARS 2300 Scope 1x Counterplug PHOENIX Mini Combicon MC 1 5 6 STF 3 81with isolated cable bridge 2x PHOENIX shield clamp Type SK14 Mating connectors for power control or rotary encoder connections are not part of the standard scope of supply They can be ordered as acces...

Страница 16: ...S 2302 2305 2310 Metronix part number 9200 0230 00 Content 1x 11 pin PHOENIX Combicon connector PC 4 HV 11 ST 7 62 1x 9 pin PHOENIX Combicon connector PC 4 HV 9 ST 7 62 2x PHOENIXC shield clamp Type SK14 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 17: ... Caution High voltage The note on safety contains a reference to a possibly occurring life dangerous voltage 2 2 General notes In case of damage resulting from non compliance with the safety notes in this manual Metronix Meßgeräte und Elektronik GmbH will not assume any liability Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunsc...

Страница 18: ...ff and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment First aid training The following notes must be read prior to the initial operation of the system to prevent personal injuries and or property damages ...

Страница 19: ...mage personal injuries electric shock or in extreme cases even death 2 3 Danger resulting from misuse DANGER High electrical voltages and high 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 Metronix Me...

Страница 20: ...s supply by means of corresponding separation devices e g main switch contactor power switch The servo drive controller may be protected using an AC DC sensitive 300mA fault current protection switch RCD Residual Current protective Device Gold contacts or contacts with a high contact pressure should be used to switch the control contacts Preventive interference rejection measures should be taken f...

Страница 21: ...tions must be complied with Non compliance may result in death personal injury or serious property damages Without claiming completeness the following regulations and others or standards apply VDE 0100 Regulations for the installation of high voltage up to 1000 V devices EN 60204 1 Electrical equipment of machines EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety require...

Страница 22: ...or Sufficient balancing of the axle The motor holding brake supplied by default or an external motor holding brake driven by the drive controller alone is not suitable for personal protection Render 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 m...

Страница 23: ...s to prevent mechanical damages e g 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 is transferred into a secure state The servo drive controller and in particular the brake resistor externally or internally can assume high temperatures which may cause serious burns 2 4 3 Pr...

Страница 24: ...gram or connect it to the ground wire Otherwise the housing may carry high voltages which can cause electrical shock Do not touch electrical connections of the components when switched on Prior to accessing electrical parts carrying voltages exceeding 50 Volts disconnect the device from the mains or power supply Protect it from being switched on again For the installation the amount of DC bus volt...

Страница 25: ... and circuits with protection against dangerous voltages Such protection may be achieved by means of isolation transformers safe optocouplers or battery operation 2 4 5 Protection against dangerous movements Dangerous movements can be caused by faulty control of connected motors for different reasons Improper or faulty wiring or cabling Error in handling of components Error in sensor or transducer...

Страница 26: ...d error analysis by the manufacturer The safety regulations applying to the system are also taken into consideration Random movements or other malfunctions may be caused by switching the safety installations off by bypassing them or by not activating them 2 4 6 Protection against contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning Do not touch housing surfaces ...

Страница 27: ... 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 e g goggles protective footwear protective gloves Do not stand underneath hanging loads Remove leaking liquids on the floor immediately to...

Страница 28: ...Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 29: ...1 Type key All ARS 2300 servo positioning controllers have the following features Space saving compact design directly cascadable High quality control system with high end sensors and above average computer resources clearly outperforming the usual market standards Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail ve...

Страница 30: ...th EN 61800 3 e g line filters motor output filters filters for 24V supply and for inputs and outputs Integrated braking resistor External resistors can be connected for high braking powers Complete electrical isolation of the controller section and the power output stage in accordance with EN 61800 5 1 Electrical isolation of the 24V potential range with the digital inputs and outputs and the ele...

Страница 31: ...ion Safe Torque Off in accordance with DIN EN ISO 13849 1 Performance Level d 3 2 Power supply 3 2 1 Three phase AC power supply The ARS 2300 servo positioning controller fulfils the following requirements Nominal frequency range 50 60Hz 10 Electric impulse load capacity to allow combination with servo converters The ARS 2300 servo positioning controller allows dynamic change in both directions be...

Страница 32: ... DC supply without mains connection via the DC link terminals is possible with voltages 60 VDC The digital motor temperature measurement system requires a DC link voltage of 230 VDC minimum Below this voltage the system will always identify the digital motor temperature sensor as open 3 2 3 Mains fuse A slow blow B16 three phase automatic circuit breaker of 16 A has to be installed in the mains su...

Страница 33: ...or in its feed line Pin BR CH is connected to the positive DC link potential and therefore not protected against ground fault or shorts to mains power or negative DC link voltage Internal and external braking resistors cannot be used simultaneously External braking resistors are not automatically overload protected by the device 3 4 Communication interfaces The ARS 2300 servo positioning controlle...

Страница 34: ...ations The functionality includes functions in accordance with Application Class 1 speed and torque control and Application Class 3 point to point positioning Other Profidrive functionalities are under preparation In addition it is possible to integrate the device into control systems using an I O image via Profibus As far as the control is concerned this option has the same functionalities as a s...

Страница 35: ...ks The ARS 2300 servo positioning controller has three analog inputs for input levels in the range of 10V to 10V One input is a differential input 16 bits to guarantee higher interference immunity Two inputs 10 bits are single ended inputs The analog signals are quantised and digitalised by the analog digital converter with a resolution of 16 or 10 bits respectively The analog signals are used to ...

Страница 36: ...g Type of protection IP20 Pollution class 1 CE conformity Low voltage directive EMC directive EN 50 178 EN 61 800 3 Other certifications UL Table 4 Technical data Dimensions and weight Type ARS 2302 ARS 2305 ARS 2310 Dimensions of the servo positioning controller H W D without mating connector shield screw and screw heads 250 x 69 x 240 mm Dimensions of the mounting plate H W D 334 5 x 63 5 mm Met...

Страница 37: ...strial environment l 50 m Cable capacity of one phase to shield or between two cables C 200 pF m Table 6 Technical data Motor temperature monitoring Motor temperature monitoring Values Digital sensor Normally closed contact Rcold 500 Ω Rhot 100 kΩ Analog sensor Silicon temperature sensor e g KTY81 82 or similar R25 R100 2000 Ω 3400 Ω 4 1 Control and display elements Metronix Meßgeräte und Elektron...

Страница 38: ...nction Seven segment display Used to display the operating mode and in the event of an error an error code number LED1 Readiness for operation LED2 CAN bus status indication RESET button Hardware reset for the processor Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix d...

Страница 39: ... braking resistor X9 Type ARS 2302 ARS 2305 ARS 2310 Internal braking resistor 68 Ω Pulse power 8 5 KW Continuous power 110 W Response threshold 760 V Table 10 Technical data External braking resistor X9 Type ARS 2302 ARS 2305 ARS 2310 External braking resistor 60 Ω Continuous power 5000 W Operating voltage 800 V Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax...

Страница 40: ...z max Max mains current in continuous operation 1 2 5 Aeff 5 Aeff 9 Aeff 1 for a cos ϕ of 0 7 in the motor circuit 4 3 1 ARS 2310 current derating Other than stated in the technical motor data the ARS 2310 servo positioning controller has current derating in nominal operating conditions The following derating graph shows the admissible rated current as a function of the adjusted pulse frequency Me...

Страница 41: ...s 5 kHz I fPWM 5 8 A kHZ fPWM 13 125 A 4 4 Angle encoder connection X2A and X2B The universal rotary encoder interface allows several different feedback systems to be connected to the ARS 2300 servo positioning controller Resolvers interface X2A Encoders interface X2B Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail...

Страница 42: ...d multi pole resolvers are supported The user has to state the number of pairs of poles of the resolver in the Motor Data menu of the ServoCommander parameterisation program so that the ARS 2300 can determine the speed correctly The number of pairs of poles of the motor P0Motor is always an integer multiple of the number of pairs of poles of the resolver P0Resolver Wrong combinations such as for e...

Страница 43: ...e any queries concerning the use of other encoder types please contact your distributor Standard incremental encoders without commutation signals FW3 x This encoder type is used in conjunction with low cost linear motors to save the costs for provision of commutation signals Hall generator If such an encoder is used the ARS 2300 servo positioning controller determines the pole position automatical...

Страница 44: ... 101 SHS 170 SinCoder encoders like SNS50 or SNS60 are no longer supported Heidenhain encoders FW3 x The system can evaluate incremental and absolute encoders made by Heidenhain The following encoder models can be connected Heidenhain ERN1085 ERN 1387 ECN1313 RCN220 RCN 723 RON786 ERO1285 etc Rotary encoders with an EnDat interface Table 14 Technical data Encoder evaluation X2B Parameter Value Par...

Страница 45: ... Heidenhain and HIPERFACE Stegmann Supply output 5 V or 12 V 300 mA max current limited Control through sensor lines Setpoint can be changed through SW Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 46: ...otocol In accordance with DS301 and DSP402 4 5 3 I O interface X1 Table 17 Technical data Digital inputs and outputs X1 Digital inputs outputs Values Signal level 24V 8V 30V active high compliant with EN 1131 2 Logic inputs in general DIN0 DIN1 DIN2 DIN3 Bit 0 Bit 1 Target selection for positioning Bit 2 16 targets can be selected from target table Bit 3 Metronix Meßgeräte und Elektronik GmbH Tele...

Страница 47: ...nt at low DIN6 Limit switch input 0 DIN7 Limit switch input 1 DIN8 Control signal for positioning start DIN9 Home switch for homing or saving of positions Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 48: ...rameterised as digital input DIN AIN1 with a switching threshold of 8V 10V 10 bits single ended 250µs delay Analog input AIN2 Optionally this input can also be parameterised as digital input DIN AIN2 with a switching threshold of 8V 10V 10 bits single ended 250µs delay Analog outputs AOUT0 and AOUT1 10V output range 9 bit resolution flimit 1kHz 4 5 4 Incremental encoder input X10 The input support...

Страница 49: ... 5 V 100 mA max 4 5 5 Incremental encoder output X11 FW3 x The output supplies incremental encoder signals which can be processed in superimposed control systems The signals are generated on the basis of the angle of rotation of the encoder with a freely programmable number of lines In addition to trace signals A and B the emulation also supplies a reset pulse Once per revolution for the programme...

Страница 50: ...with RS422 specification Special feature N trace can be deactivated Output impedance Ra diff 66 Ω Limit frequency flimit 1 8 MHz lines s Edge triggering minimum pulse width Can be limited through parameters Supply output 5 V 100 mA max Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany htt...

Страница 51: ... linear motors Due to their high signal processing quality especially concerning encoder signals and their high clock frequency ARS 2000 servo positioning controllers are particularly suitable for controlling air core and iron core synchronous motors with a low motor inductance 2 4mH 5 2 ARS 2300 servo positioning controller functions 5 2 1 Compatibility For reasons of compatibility the control st...

Страница 52: ...ed limitation speed control with torque limitation and positioning Other functions such as synchronisation flying saw etc are variants of these basic operating modes 5 2 2 Pulse width modulation PWM With the ARS 2300 servo positioning controller the clock frequency can be adjusted variably in the current controller circuit To a large extent this clock frequency can be adjusted with the help of the...

Страница 53: ... be selected 3 analog inputs AIN 0 AIN 1 and AIN 2 3 fixed values 1st value Setting depending on controller enabling logic Fixed value 1 or RS232 interface or CANopen bus interface or PROFIBUS DP interface or SERCOS interface FW3 x 2nd and 3rd value Setting of fixed values 2 and 3 Process controller FW3 x SYNC input FW3 x Additional incremental encoder input X10 If no setpoint source is active the...

Страница 54: ...cle time The speed controller is a PI controller and has an internal resolution of 12 bits per rpm In order to eliminate wind up effects the integrator function is stopped when underlying limits are reached In speed control mode the current controllers and the speed controller are active If the setpoint is set via analog setpoint inputs a safe zero can be defined as an option If the analog setpoin...

Страница 55: ...k sources the user has to indicate the nominal synchronous cycle time 5 2 8 Load torque compensation in the case of vertical axes In the case of vertical axis applications the holding torque during standstill can be measured and saved It is then used in the torque control circuit and improves the start up behaviour of the axis after the holding brake has been released 5 2 9 Positioning and positio...

Страница 56: ...n An incremental encoder position synchronisation via X10 with speed feedforward for the speed controller or the communication interface can be used as inputs The ARS 2300 servo positioning controller can automatically calculate the speed feedforward All inputs can be activated deactivated The internal encoder can be deactivated if another input is selected as actual value encoder This also applie...

Страница 57: ...direction The positioning control system is parameterised using a target table This table 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 mode the driving profile the acceleration and deceleration times and the maximum speed All targets ca...

Страница 58: ...sitioning the target position is added to the current position As this does not require a fixed zero point referencing is not compulsory It does however make sense in many cases in order to bring the drive to a defined position When several relative positioning sequences are added e g for a trimming unit or a conveyor belt endless positioning in one direction is possible incremental dimension 5 3 ...

Страница 59: ...means of a home run The ARS 2300 servo positioning controller can perform this home run automatically It evaluates several inputs e g the limit switch inputs as reference signal Homing can be started following a command via the communication interface or automatically when the controller is enabled Optionally the start can also be configured via a digital input using the Metronix ServoCommander pa...

Страница 60: ...be performed in a time optimal or jerk free manner 5 3 6 Positioning sequences Positioning sequences consist of series of position sets These are performed one after the other Due to its path program options a position set can become part of a path program The result is an interlinked list of positions POS1 POS13 POS19 START END POS5 POS6 POS7 POS8 Figure 5 Path program Using the start position of...

Страница 61: ...ositioning process continues to approach to original target position Since the existing digital inputs are usually occupied by standard applications the analog inputs AIN1 and AIN2 as well as the digital outputs DOUT2 and DOUT3 which can also be used as digital inputs can be used as an option 5 3 8 Continuous path control with linear interpolation Due to the implementation of the interpolated posi...

Страница 62: ...tion allows simultaneous movements All controllers of the ARS 2300 servo positioning controller i e the entire controller cascade are synchronised with the external clock signal As a consequence position values applied to several axes are adopted and executed simultaneously and without jitter A clock signal can be for example the sync message of a CAN bus system As a result several axes can reach ...

Страница 63: ...nd traversing speeds Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 64: ...n C 5 MTTFd data of electrical components can be accepted that only 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 For vertical axes safety precautions are to be urgently needed This applies particularly to vertical axes without self locking mechanism or weight compensation In accordance with a danger...

Страница 65: ...RGENCY STOP Stop category 2 Controlled stop Power is not disconnected when the machine is at a standstill not suitable for EMERGENCY OFF or EMERGENCY STOP 6 2 Integrated Safe torque Off STO function The Safe Torque Off function does not protect against electrical shock It only offers protection against dangerous rotary motion 6 2 1 General description of Safe Torque Off function The Safe Torque Of...

Страница 66: ...nhibitor offers several advantages less external components e g contactors less wiring and space needed in switch cabinet lower cost Another advantage is the availability of the system With the integrated solution the intermediate circuit of the servo controller can remain loaded As a consequence there are no significant waiting times for a system restart Metronix Meßgeräte und Elektronik GmbH Tel...

Страница 67: ...hut downpath 2 shut downpath Floating feedback contact for driver supply X6 2 1 7 8 9 24V IO Figure 7 Block diagram Safe Torque Off as per EN ISO 13849 1 Performance Level d If the Safe Torque Off function is not needed bridge pins 1 and 2 to X3 A Safe Torque Off as per EN ISO 13849 1 Performance Level d requires two channels i e a restart must be safely prevented two ways completely independent o...

Страница 68: ...tervals e g PLC cycle or with each Safe Torque Off request the PLC has to perform a plausibility check between the triggering of the driver supply relay and the feedback contact contact open driver supply available In the case of an error during the plausibility check further operation must be prevented e g by eliminating the controller enabling or by shutting down the power contactor 6 2 2 Safe h...

Страница 69: ...ing brake The functioning of the brake must be checked and ensured by means of a suitable brake test Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 70: ...afe Torque Off function works in connection with the controller enabling and the holding brake Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 71: ... H H H Seven segm ent display Delay until brake is released Delay until brake is applied Tim ing of Safe Torque Off activation variable To be determ ined by user e g by m eans of safety sw itching devices depending on application 2 shut down path 1 shut down path Discharge curve of electrolytic capacitors for the supply of the pulse am plifiers Safe Torque Off Safe Torque Off OFF ON OFF Can be set...

Страница 72: ...ue Off as per EN ISO 13849 1 Performance Level d Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 73: ... with 24V between pins 2 and 3 2 The driver supply is charged 3 The floating feedback contact X3 pins 5 and 6 for the plausibility check between the triggering of the 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...

Страница 74: ... a holding brake it will be activated It is therefore very important to make sure that the motor brake can actually stop the motion of the drive 2 After 0 speed has been reached the drive will be controlled to this set value for a parameterizable drop out delay time t10 t9 This parameterizable time is the deceleration at which the holding brake of the motor is applied This time depends on the hold...

Страница 75: ...own on the 7 segment display of the servo controller for the visualization of the Safe Torque Off function This will happen no later than 30ms after the closing of the floating feedback contact t13 12 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 76: ...xamples 6 2 4 1 Emergency stop circuit Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 77: ...request EMERGENCYSTOP requested 21 9 1 2 3 10 11 Feedback driver supply Output stage enabling X9 Powersupply safetyswitching device DINENISO 13849 1 PerformanceLeveld Drawncontact position EMERGENCY STOPrequestedor supplyvoltage switchedoff Figure 9 Emergency off circuit in accordance with EN ISO 13849 1 Performance Level d and stop category 0 in accordance with 60204 1 Metronix Meßgeräte und Elek...

Страница 78: ...ver supply feedback signals and checks them for plausibility In the case of an error the power contactor will be shut down The DC link voltage remains present and can be used by the drive immediately after deactivation of the EMERGENCY STOP switching device and after the enabling of the controller The connection of the motor and the optional holding brake are not shown here please refer to chapter...

Страница 79: ... 2 Safety door monitoring Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 80: ...1 2 3 4 5 6 Triggeringofrelay ERR notused NC1 NC2 DIN5 Controllerenabling DIN4 Outputstageenabling ARS 2302 ARS 2310 21 9 1 2 3 10 11 X9 Powersupply open closed Drawncontact position Safetydooropen orsupplyvoltage switchedoff safetyswitching device DINENISO 13849 1 PerformanceLeveld Figure 10 Safety door monitoring in accordance with EN ISO 13849 1 Performance Level Metronix Meßgeräte und Elektron...

Страница 81: ...egory 1 in accordance with 60204 1 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 82: ...r 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 mode and protected against restart It is also possible to use a door position switch which keeps the safety door closed until the drive has come to a complete standstill or the feedback driver supply signal indicates the safe mode and the ...

Страница 83: ...Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 84: ...rvo positioning controllers ARS 2302 ARS 2305 and ARS 2310 may be installed directly next to one another on a heat dissipating back plate provided that they are installed properly and used as intended Please note that excessive heating may cause premature aging and or damaging of the device In case of high thermal stress a mounting distance of 75 mm between the servo positioning controllers of typ...

Страница 85: ...SET READY CAN ON STATE X5 RS232 COM X4 CAN ARS 2310 metronix COOPER Tools TECH 1 TECH 2 X3 SAFE STILLSTAND 24V REL 0V ERR NC1 NC2 RESET READY CAN ON STATE X5 RS232 COM X4 CAN ARS 2310 metronix COOPER Tools TECH 1 TECH 2 X3 SAFE STILLSTAND 24V REL 0V ERR NC1 NC2 RESET READY CAN ON STATE X5 RS232 COM X4 CAN ARS 2310 metronix COOPER Tools TECH 1 TECH 2 X3 SAFE STILLSTAND 24V REL 0V ERR NC1 NC2 recomm...

Страница 86: ...troller ARS 2310 Installation space 7 2 Device view Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 87: ...rminal SK14 for the outer shield of the motor and angle encoder cable Control connection for driver supply relay safe stop RESET READY CAN ON STATE X5 RS232 COM X4 CAN ARS 2310 metronix COOPER Tools TECH 1 TECH 2 X3 SAFE STILLSTAND 24V REL 0V ERR NC1 NC2 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metr...

Страница 88: ...itioning controller ARS 2310 Front view Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 89: ...age ZK Positive DC link voltage BR EXT Connection of external brake chopper BR CH Connection of brake chopper BR INT Connection of external brake chopper PE Connection for the shield 24V 24VDC connection GND24V GND 24VDC connection PE BR INT BR CH BR EXT ZK ZK L3 L2 L1 24V GND24V Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunsc...

Страница 90: ...sitioning controller ARS 2310 Top view Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 91: ...perature sensor connection MTdig Motor temperature sensor connection PE Motor ground conductor connection W Motor phase 3 connection V Motor phase 2 connection U Motor phase 1 connection Outer shield connection with shield terminal SK14 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany ht...

Страница 92: ... control cabinet mounting plate The fastening straps are part of the heat sink profile This is why the best possible heat transfer to the control cabinet plate has to be ensured Please use M5 screws for mounting servo positioning controllers of type ARS 2302 ARS 2305 and ARS 2310 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunsc...

Страница 93: ...29 mm 328 5 mm 32 25 mm 63 5 mm 69 mm ca 1 mm R2 6 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 94: ...ioning controller ARS 2300 Mounting plate Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 95: ...s connected to the supply voltage the motor the external braking resistor and the holding brake as shown in Figure 16 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 96: ...ke X6 T Permanentlyexcited synchronousmachine mainfuse Externalbraking resistor Bridgeforinternal brakingresistor alternative Figure 16 Connection to the supply voltage and to the motor Operation of the ARS 2300 servo positioning controller requires a 24V voltage source for supplying the Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120...

Страница 97: ...ltages for the DC link 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 positioning controller will be damaged 8 2 Complete ARS 2300 system The complete ARS 2300 servo positioning controller system is shown in Figure 17 The followi...

Страница 98: ...are to be considered Listed Circuit Breaker according UL 489 rated 480Y 277 Vac 16 A SCR 10 kA Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 99: ... 400 V AC mains connection ARS 2310 metronix COOPER Tools External braking resistor if required Figure 17 Complete set up of ARS 2300 with motor and PC Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 100: ...ly for the DC link is possible 8 3 1 Configuration on the device X9 PHOENIX Power Combicon PC 4 11 G 7 62 8 3 2 Mating connector X9 PHOENIX Power Combicon PC 4 HV 11 ST 7 62 8 3 3 Pin assignment X9 Table 23 Pin assignment X9 Pin no Name Value Specification 1 L1 230 480VAC 10 Mains phase 1 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 3812...

Страница 101: ...f mains ground conductor 10 24V 24VDC 3A Supply for control section 1A and holding brake 2A 11 GND24V GND24VDC Supply reference potential 8 3 4 Cable type and configuration X9 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 e g Lütze or Hel...

Страница 102: ...ecification 6 BR EXT 800VDC Connection of the external braking resistor 7 BR CH 800VDC Brake chopper connection for the internal braking resistor against BR INT and for the external braking resistor against BR EXT 8 BR INT 800VDC Connection of the internal braking resistor bridge to BR CH if the internal resistor is used If no external braking resistor is used a bridge must be connected between PI...

Страница 103: ...h 2 BR 24V brake 3 PE PE Cable shield for the holding brake and the temperature sensor 4 MTdig GND Motor temperature sensor normally closed contact normally open contact PTC KTY 5 Mtdig 3 3V 5mA 6 PE PE Protective ground conductor of the motor 7 W 0 360Veff 0 2 5 Aeff ARS 2302 0 5 Aeff ARS 2305 0 10 Aeff ARS 2310 0 1000Hz Connection of the three motor phases 8 V 9 U Metronix Meßgeräte und Elektron...

Страница 104: ...755 CP 4 G 1 5 2 x 2 x 0 75 StD CP 15 8 mm with tinned CU shielding for highly flexible use in drag chains 8 4 5 Type and configuration of cable X6 at the ARS 2310 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 e g Lütze or Helukabel LAPP ...

Страница 105: ...ctor PE motor Shield terminal SK14 1 4 7 9 2 5 8 3 6 Connector housing Motor housing Figure 19 Motor connection X6 Connect the inner shields to PIN 3 Maximum length 40 mm Maximum length of unshielded cores 35 mm Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 106: ...ng brake of the motor The locking brake is supplied with power through the power supply of the servo positioning controller Please note the maximum output current provided by the ARS 2300 servo positioning controller A relay may have to be installed between the device and the locking brake as shown in Figure 20 Br Br ARS 2300 Motor 24 V power supply unit GND power supply unit 24 V brake GND brake ...

Страница 107: ...ioning controller has two potential ranges Analog inputs and outputs All analog inputs and outputs refer to AGND AGND is internally connected to GND the reference potential for the control section with µC and AD converters in the servo positioning controller This potential range is electrically isolated from the 24V range and from the DC link 24V inputs and outputs These signals refer to the 24V s...

Страница 108: ... 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 2300 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 109: ...t the differential input of the ARS 2300 servo positioning controller from being overridden by high common mode interferences There are two analog 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 superimposed control system the reference AGND must be carried along If the control system has differential inputs the...

Страница 110: ... 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 controller enabling 22 DIN6 END0 Input of limit switch 0 blocks n 0 10...

Страница 111: ...ing of the D Sub connector is connected to PE If metal D Sub connector housings are used the cable shield is simply squeezed underneath the strain relief Often an unshielded cable is sufficient for 24V signals In environments with high interferences or in the case of long cables l 2m between the control system and the ARS 2300 servo positioning controller Metronix recommends using shielded control...

Страница 112: ...sitioning controller provides an auxiliary voltage of 24V which may be loaded with 100 mA maximum As a result the inputs can be activated directly via switches Activation via the 24V outputs of a PLC is of course also possible The digital outputs are so called high side switches This means that the 24V of the ARS 2300 servo positioning controller are actively switched through to the output Loads s...

Страница 113: ...errupting the driver supply of the output stage 3 0V 0V Reference potential for PLC 4 ERR 0V 24VDC Signalling contact Error on safety module 5 NC1 250VAC max switching voltage Floating response contact of driver supply normally closed contact 6 NC2 8 6 4 Connection notes X3 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig ...

Страница 114: ...7 1 Configuration on the device X2A 1 D SUB connector 9 pin type female 8 7 2 Mating connector X2A D SUB connector 9 pin type male Housing for 9 pin D SUB connector with bolting screws of type 4 40 UNC Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 115: ...4 R1 7Veff 5 10kHz IA 150mAeff Carrier signal for resolver 9 R2 GND 5 MT 3 3V Ri 2kΩ Motor temperature sensor normally closed contact PTC KTY The outer cable shield of the angle encoder cable has to be connected flat to the mounting plate of the controller housing using shield terminal SK14 8 7 4 Cable type and configuration X2A Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocher...

Страница 116: ...KABEL ÖLFLEX SERVO FD 770 CP 3 x 2 x 0 14 D12Y 2 x 0 5 D12Y CP 8 3 mm with tinned CU shielding Error during angle detection up to about 1 5 at a cable length of 50 m Use 2 x 0 5 D12Y for the resolver carrier 8 7 5 Connection notes X2A connector housing 1 5 9 6 shield optional S3 COS S1 COS S2 SIN AGND TEMP R1 carrier R1 carrier TEMP S4 SIN Resolver output of the motor D SUB connector at X2A male c...

Страница 117: ...SUB connector 15 pin type male Housing for 15 pin D SUB connector with bolting screws of type 4 40 UNC 8 8 3 Pin assignment X2B Table 29 Pin assignment Analog incremental encoder option X2B Pin no Name Value Specification 1 MT 3 3V Ri 2kΩ Motor temperature sensor normally closed contact PTC KTY 9 U_SENS 5V 12V Sensor lines for encoder supply Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 ...

Страница 118: ...olution incremental encoder 5 COS_Z1 13 SIN_Z1 1VSS 10 RI 120Ω SINE commutation signal differential of high resolution incremental encoder 6 SIN_Z1 14 COS_Z0 1VSS 10 RI 120Ω COSINE trace signal differential of high resolution incremental encoder 7 COS_Z0 15 SIN_Z0 1VSS 10 RI 120Ω SINE trace signal differential of high resolution incremental encoder 8 SIN_Z0 Heidenhain encoder A SIN_Z0 B COS_Z0 C S...

Страница 119: ...r 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 resolution incremental encoder 7 COS_Z0 15 SIN_Z0 1VSS 10 RI 120Ω SINE trace signal differential of high resolution incremental encoder 8 SIN_Z0 Heidenha...

Страница 120: ...l encoders 3 GND 0V Reference potential for encoder supply and motor temperature sensor 11 N 2VSS 5VSS RI 120Ω Reset pulse RS422 differential from digital incremental encoder 4 N 12 H_U 0V 5V RI 2kΩ an VCC Hall sensor phase U for commutation 5 H_V Hall sensor phase V for commutation 13 H_W Hall sensor phase W for commutation 6 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherst...

Страница 121: ...ion cables authorised by the manufacturers Heidenhain Stegmann etc for their various products If the manufacturer does not recommend a particular cable we recommend setting up the encoder connection cables as described below For the angle encoder supply US and GND we recommend a minimum cross section of 0 25 mm for an angle encoder cable length up to 25 m and a minimum cross section of 0 5 mm for ...

Страница 122: ...R SIN_Z0 R GND US Output of the analog incremental encoder at the motor D SUB connector at X2B U_SENS U_SENS TEMP TEMP Figure 24 Pin assignment Analog incremental encoder option X2B Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 123: ...1 9 8 15 Male connector COS_Z0 COS_Z0 SCLK SIN_Z0 SCLK DATA DATA SIN_Z0 GND US U_SENS U_SENS TEMP TEMP Figure 25 Pin assignment Incremental encoder with serial interface e g EnDat HIPERFACE option X2B Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 124: ...HALL_W TEMP TEMP Figure 26 Pin assignment Digital incremental encoder option X2B 8 9 Connection Incremental encoder input X10 8 9 1 Configuration on the device X10 D SUB connector 9 pin type female 8 9 2 Mating connector X10 D SUB connector 9 pin type male Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb me...

Страница 125: ...tal 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 5V RI 120Ω Incremental encoder reset pulse N Positive polarity in accordance with RS422 8 N 5V RI 120Ω Incremental encoder reset pulse N Negative polarity in accordance with RS422 4 GND Refer...

Страница 126: ... 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 e g 5V single ended or 24VHTL from a PLC Please contact your distributor 2 3 4 5 6 7 8 1 9 connector housing 1 5 9 6 shield optional B DIR B DIR N A CLK N GND VCC A CLK Incremental encoder input D SUB connector at X10...

Страница 127: ...pe male Housing for 9 pin D SUB connector with bolting screws of type 4 40 UNC 8 10 3 Pin assignment X11 Table 33 Pin assignment X11 Incremental encoder output Pin no Name Value Specification Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 128: ...VCC 5V 5 100mA Auxiliary supply can be loaded with 100mA maximum but short circuit proof The value for RA stands for the differential output resistance 8 10 4 Cable type and configuration X11 We recommend using encoder connection cables in which the incremental encoder signals are twisted in pairs and the individual pairs are shielded 8 10 5 Connection notes X11 Metronix Meßgeräte und Elektronik G...

Страница 129: ...ce with the RS422 interface standard Up to 32 additional controllers can be controlled by one device 8 11 Connection CAN Bus X4 8 11 1 Configuration on the device X4 D SUB connector 9 pin type male 8 11 2 Mating connector X4 D SUB connector 9 pin type female Housing for 9 pin D SUB connector with bolting screws of type 4 40 UNC Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kochers...

Страница 130: ...CC part no 232215621201 8 11 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 e g Lütze or Helukabel Technical specification of the CAN bus cable 2 pairs of 2 twisted cores d 0 22 mm2 shielded loop resistanc...

Страница 131: ...nents of a system This requires however compliance with the following notes on cabling Figure 29 CAN bus cabling example The individual nodes of the network are always connected in line so that the CAN cable is looped through from controller to controller see Figure 29 A terminating resistor of 120Ω 5 has to be present on both ends of the CAN bus cable CAN boards or PLCs often come supplied with s...

Страница 132: ... that motor cables are not laid 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 version 2 0 by Robert Bosch GmbH 1991 8 12 Connection RS232 COM X5 8 12 1 Configuration on the device X5 D SUB connect...

Страница 133: ...RS485 reserved for optional RS485 use 9 RS485 reserved for optional RS485 use 5 GND 0V Interface GND electrically connected to GND of the digital section 8 12 4 Cable type and configuration X5 Interface cable for serial interface null modem 3 cores 8 12 5 Connection notes X5 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig...

Страница 134: ...ical magnetic or electromagnetic interferences via cables or the environment Sufficiently small unwanted emission of electrical magnetic or electromagnetic interference of an electrical installation or an electrical device to other devices in the vicinity via cables or through the environment 8 13 2 General information concerning EMC The interference emission and interference immunity of a servo d...

Страница 135: ... frequency interference in residential areas which could require measures for radio interference suppression 8 13 3 EMC ranges First and second environment Proper installation and wiring of all connecting cables provided the ARS 2300 servo positioning controllers fulfils the requirements of product standard EN 61800 3 This standard no longer refers to classes but to so called environments The firs...

Страница 136: ...ver it has to be installed in a control cabinet box may be made of plastic in order to ensure that it is used as intended The control cabinet bed plate has to be conducting zinc coated The imperative central grounding point of the control cabinet should be located on the control cabinet bed plate In order to keep leakage currents and losses in the motor connecting cable as small as possible the AR...

Страница 137: ...inal Maximum length 40 mm Connect the shield on the motor side flat to the connector or motor housing Maximum length 40 mm DANGER For reasons of safety all PE ground connectors must be connected prior to start up The regulations of EN 61800 5 1 concerning protective grounding must be complied with during installation 8 13 5 Operation with long motor cables If certain applications require long moto...

Страница 138: ...gned to provide high interference immunity For this reason some function blocks are electrically isolated Inside the device signals are transmitted using optocouplers The following isolated areas can be distinguished Power stage with DC link and mains input Electronic control system with a system processing the analog signals 24VDC supply and digital inputs and outputs Metronix Meßgeräte und Elekt...

Страница 139: ...age 12 may result in property damage injury electric shock and in extreme cases in death 9 2 Tools material Screwdriver for slotted head screws size 1 Serial interface cable Rotary angle encoder cable Motor cable Power supply cable Controller enabling cable If necessary connector set Power and D Sub connector 9 3 Connecting the motor Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 K...

Страница 140: ...er supply has been switched off Plug the PHOENIX connector into socket X9 of the device Connect the PE line of the mains to PE of the supply connector X6 PIN9 Connect the 24VDC connectors to a suitable power supply unit Make the mains supply connections Check all connections 9 5 Connecting a PC Plug the D Sub connector of the serial interface cable into the socket for the serial interface of the P...

Страница 141: ...the cause of this error message In this case please continue with chapter 10 2 2 Error messages page 145 If no display lights up on the device proceed as follows 1 Switch off the power supply 2 Wait for 5 minutes so that the DC link can discharge 3 Check all connecting cables 4 Check whether the 24VDC power supply operates correctly 5 Switch on the power supply Metronix Meßgeräte und Elektronik Gm...

Страница 142: ...d or ceased to exist An extensive sensor system and numerous monitoring functions ensure operational safety Motor temperature measurement and monitoring Power section 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 in the DC link Detection of errors c...

Страница 143: ...the power output stage will be shut down immediately to guarantee resistance against short circuits 10 1 4 Overvoltage monitoring of the DC link The overvoltage monitoring system of the DC link responds as soon as the DC link voltage exceeds the operating voltage range As a result the power output stage will be shut down 10 1 5 Temperature monitoring of the heat sink The heat sink temperature of t...

Страница 144: ... contacts and analog sensors of the KTY range Other sensors NTC PTC require corresponding SW adaptations 10 1 7 I t monitoring The ARS 2300 servo positioning controller has an I t monitoring system to limit the average power loss in the power output stage and in the motor Since the power loss in the electronic power system and in the motor increases in a square manner with the current in the worst...

Страница 145: ... 1 10 Rapid discharge of the DC link If the system detects a failure of the mains supply the DC link is rapidly discharged within the safety period in accordance with EN 60204 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 link is taken over through the braki...

Страница 146: ...ition set number The numbers are successively indicated PH x Homing is active x stands for the active phase of the homing run 0 Search phase 1 Crawling phase 2 Positioning to zero position The figures are successively indicated E xxy Error message number with index xx and subindex y xxy Warning message number with Index xx and subindex y A warning is displayed at least twice on the seven segment d...

Страница 147: ...y contain information and in general there are no measures required by the user They occur in the error buffer only but will not be shown on the 7 segment display Table 38 Error messages Error messages Meaning of 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 err...

Страница 148: ...r 2 Overtemperature motor analog Wire break Check cables of temperature sensor broken wire Check the parameterization wire break monitoring 4 Overtemperature motor analog Short circuit Check cables of temperature sensor short circuit Check the parameterization short circuit monitoring 04 0 Overtemperature of the power stage Plausible temperature display Check the installation conditions filter mat...

Страница 149: ...error resolver See measures 1 Sense of rotation of the serial and incremental position evaluation is not identical A and B track are mixed up Correct check the connection of the tracks 2 Error of track signals Z0 Incremental encoder Angle encoder connected Angle encoder cable defective Angle encoder defective Check the configuration of the angle encoder interface The encoder signals are disturbed ...

Страница 150: ...wn encoder parameter set version 3 Corrupted encoder parameter set data 7 Encoder EEPROM has write protection 9 Too small memory size of encoder EEPROM 10 0 Overspeed motor overspeed protection Encoder offset angle correct Overspeed protection limit too small 11 0 Error at start of homing run No controller enabling 1 Error during homing run Homing has been interrupted e g by disabling the drive 2 ...

Страница 151: ...Check the configuration of the devices connected to the CAN bus 1 CAN Communication error bus OFF The CAN chip has switched off the communication due to communication errors BUS OFF 2 CAN Communication error on send The signals are disturbed during the transmission of messages 3 CAN Communication error on receive The signals are disturbed during the reception of messages 4 No Node Guarding telegra...

Страница 152: ...annot be performed with the present angle encoder 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 6 Invalid hall signals The pulse sequence or the segmentation of the Hall signals is unsuitable Check the connecti...

Страница 153: ...k the connection of the encoders Check the parameterized gear 18 0 Warning level analogue motor temperature Motor too hot Check the parameterization current controller current limitation Suitable sensor Sensor defective Error also occurs if sensor is bypassed device defective 1 Warning level temperature power stage Plausible temperature display Check the installation conditions filter mats of fan ...

Страница 154: ...nd of the physical units do not match Contact the Technical Support 25 0 Invalid device type Technical defect or unsuitable firmware Contact the Technical Support and if necessary send the servo positioning controller to the sales representative 1 Device type not supported 2 HW revision not supported 3 Device function restricted Contact the Technical Support and if necessary send the servo positio...

Страница 155: ...rror Motor blocked 28 0 Hours run meter missing Please contact the Technical Support 1 Hours run meter write error 2 Hours run meter correced Acknowledge the error If the error continues to occur contact the Technical Support 3 Hours run meter converted 30 0 Internal calculation error Please contact the Technical Support 31 0 I t motor Motor blocked 1 I t servo controller Check the power rating of...

Страница 156: ...ontact the Technical Support 34 0 No synchronisation via field bus Failure of synchronization messages from master 1 Field bus synchronisation error Failure of synchronization messages from master Parameterization of synchronization 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 durin...

Страница 157: ...s 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 Course program Synchronization error Please contact the Technical Support 1 Course program Unknown command 2 Course program Invalid branch destination 42 0 Positioning Missing following position Stop The positioning target cannot...

Страница 158: ...itive setpoint inhibited 2 Limit switch Positioning suppressed 45 0 Supply voltage cannot be switched off Technical defect Contact the Technical Support 1 Supply voltage cannot be switched on 2 Supply voltage was activated 47 0 Timeout thread mode Set up mode The speed has not been fallen below the required value for the thread mode set up mode in time Check the processing of the request by the PL...

Страница 159: ...ot been read Transmit buffer are full 3 EtherCAT No distributed clocks active Warning Firmware synchronize system on the telegram not on the Ditributed clocks sytem 4 Missing SYNC message in IPO cycle There are no sent telegrams into the IPO time slot 64 0 6 DeviceNet fieldbus 1 Please contact the Technical Support 65 0 1 DeviceNet fieldbus 2 Please contact the Technical Support 70 0 3 FHPP fieldb...

Страница 160: ...upported Incorrect firmware Load the correct firmware Contact the Technical Support 2 Technology module HW revision not supported 3 Technology module Write error Please contact the Technical Support 4 Technology module MC 2000 watchdog 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 starting ...

Страница 161: ...e 8 Check sum error of device parameter 9 DEBUG Firmware loaded 91 0 Internal initialisation error Please contact the Technical Support Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 162: ...olled directly by the PLC program and the users can integrate their systems easily and clearly into the Simatic S7 environment 11 1 2 Technical data Table 39 Technical data PROFIBUS DP interface Ambient conditions dimensions and weight Range Values Storage temperature range 25 C to 75 C Operating temperature range deratings 0 C to 50 C Atmospheric humidity 0 90 non condensing Altitude Up to 1000 m...

Страница 163: ...stors 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 31 a green LED to indicate readiness for operation a 9 pin female DSUB connector two DIP switches for activating the terminating resistors Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kochers...

Страница 164: ...nts 9 pin DSUB connector female Table 41 Pin assignment PROFIBUS DP interface Pin no Name Value Specification 1 Shield Cable shield Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 165: ...connector e g Erbic MAX Profibus IDC Switch made by ERNI 11 1 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 many applications However it is also possible to use comparable cables from other manufacturers e g Lütze or Helukabel LAPP KABEL UNITRONIC BUS L2 FIP FC 1 x 2 x 0 64 7 8 mm with tinned CU shie...

Страница 166: ...ROFIBUS 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 34 The power supply of 5 V required for the externally connected terminating resistors is supplied at ...

Страница 167: ...ut stages of the servo positioning controllers operate in a phase locked manner The SERCOS module can only be used in technlogy slot TECH2 11 2 2 Technical data Table 42 Technical data SERCOS module Ambient conditions dimensions and weight Range Values Storage temperature range 25 C to 75 C Operating temperature range deratings 0 C to 50 C Atmospheric humidity 0 90 non condensing Altitude up to 10...

Страница 168: ...uide specification More information concerning the type and setup of suitable optical waveguides can be found in the standard SERCOS literature e g http www sercos org Interests Group SERCOS interface e V Landhausstrasse 20 70190 Stuttgart Germany Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de...

Страница 169: ...as the following 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 DIN 41612 The inputs and outputs are floating due to the optocouplers The inputs and outputs are protected against short circuits and o...

Страница 170: ...t approx 50g 11 3 2 2 Digital inputs 8 digital inputs 24V protected against inverse polarity and short circuit proof Table 44 Digital inputs X21 EA88 interface Parameter Values Input High level switches the input Nominal voltage 24 VDC Voltage range 30 V 30 V High detection at UEin 8 V Low detection at UEin 2 V Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 4...

Страница 171: ... IL nominal 100 mA Voltage loss at IL nominal 1 V Residual current with switch in OFF position 100 µA Protection against short circuit overcurrent 500mA approx value Temperature protection Shut down if the temperature is too high TJ 150 Supply Protection in the case of inductive loads and voltage supply via the output also if the supply is turned off Loads R 220 Ω L at random C 10nF Switching dela...

Страница 172: ... Connector X21 for 8 digital inputs PHOENIX MicroCombicon MC 0 5 9 G 2 5 9 pin type Table 46 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 digital outputs PHOENIX MicroCombicon MC 0 5 10 G 2 5 10 pin type Table 47 EA88 Connector X22 for 8 digital outputs Pin 1 2 3 4 5 6 7 8 9 10 Signal GND 24V Out 1 Out 2 Ou...

Страница 173: ...tion notes The MicroCombicon mating connectors made by PHOENIX regarding X21 FK MC 0 5 9 ST 2 5 and X22 FK MC 0 5 10 ST 2 5 are supplied together with the EA88 interface technology module The cables are connected in the form of crimp connections To do so strip the cable at a length of about 8 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D ...

Страница 174: ...the EA88 interface is also used to control digital outputs an additional external 24V supply voltage has to be connected to X22 pin 10 As the lines GND24V and 24Vext have to transfer the entire current of all outputs connected their cross section has to be sized accordingly recommended AWG 20 Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D ...

Страница 175: ...sert the MC 2000 module into the ARS 2000 As the MC 2000 master it can control up to three additional ARS 2000 servo drive slaves via CANopen DSP402 An external encoder can be connected directly to ARS 2000 and be software configured as an additional axis for the MC 2000 Therefore all available I Os in the ARS 2000 can be used In addition the ARS 2000 can be expanded by using the I O module EA88 A...

Страница 176: ...n MC 2000 module directly into ARS 2000 servo drive Controls up to 4 servo axis Easy wiring via CAN bus Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de ...

Страница 177: ...fast measuring and interpretation of actual values 11 4 2 3 Easy User programming with the established Trio Motion Motion Perfect software Program generation of complex motion sequences like camming gearing and interpolated multi axis movements Integrated module minimizes external wiring Metronix Meßgeräte und Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120...

Страница 178: ...o positioning controller ARS 2000 1x 16 Bit differential and 2x 10 Bit single ended Built in analogue outputs 2 x 10 VDC 9 Bit via servo positioning controller ARS 2000 Serial ports 1x RS232 programming 1x RS485 e g HMI CAN Ports 2x CAN Interfaces 1x Remote Drives max 1 Mbaud and 1x Remote CAN max 500 kBaud Optional External I O module 8 digital IN 8 digtal OUT via servo positioning controller ARS...

Страница 179: ...echnology slot of the ARS 2300 servo positioning controller using a suitable screwdriver Then push the technology module into the open technology slot such that the circuit board is held by the lateral guides of the technology slot Push the technology module in until it reaches the stop Then screw technology module onto the housing of the servo positioning controller using the Phillips screw Make ...

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