Metronix ARS 2302 User manual

RGB ELEKTRONIKA AGACIAK CIACIEK
SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street
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Poland
[e-mail]
[phone]
www.rgbautomatyka.pl
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www.rgbelektronika.pl
OTHER SYMBOLS:
ARS2310
METRONIX

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Servo Positioning Controller ARS 2302
ARS 2305
ARS 2310
Product Manual
Metronix Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

Page 2 Technologiemodule
Copyrights
 2011 Metronix Meßgeräte und Elektronik GmbH. All rights reserved.
The information and data in this document have been composed to the best of our knowledge.
However, deviations between the document and the product cannot be excluded entirely. For the
devices and the corresponding software in the version handed out to the customer, Metronix
guarantees the contractual use in accordance with the user documentation. In the case of serious
deviations from the user documentation, Metronix has the right and the obligation to repair, unless it
would involve an unreasonable effort. A possible liability does not include deficiencies caused by
deviations from the operating conditions intended for the device 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 Elektronik GmbH reserves the right to modify, amend, or improve the
document or the product without prior notification.
This document may, neither entirely nor in part, be reproduced, translated into any other natural or
machine-readable language nor transferred to electronic, mechanical, optical or any other kind of data
media, without expressive authorisation by the author.
Trademarks
Any product names in this document may be registered trademarks. The sole purpose of any
trademarks in this document is the identification of the corresponding products.
ServoCommander™ is a registered trademark of Metronix Meßgeräte und Elektronik GmbH.
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

Technologiemodule Seite 3
Revision Log
Author: Metronix Meßgeräte und Elektronik GmbH
Manual name: Product Manual
"Servo Positioning Controller ARS 2302 ARS 230 ARS 2310"
File name: P-HB_ARS2302-2310_4p0_EN_mBre.odt
Storage location of the file:
No. Description Revision index Date of change
001 Creation 1.0 11.06.200
002 Translation 1.1 21.10.200
003 Release for distribution 2.0 09.03.2006
004 Release 2.1 1 .01.2007
00 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 ARS 230 ARS 2310“ Version 4.0

Page 4 Technologiemodule
TABLE OF CONTENTS:
1 GENERAL................................................................................................................12
2 SAFET NOTES FOR ELECTRICAL DRIVES AND CONTROLS.........................14
3 PRODUCT DESCRIPTION......................................................................................23
4 TECHNICAL DATA..................................................................................................29
5 FUNCTION OVERVIEW..........................................................................................39
6 FUNCTIONAL SAFET TECHNOLOG ................................................................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 230 ARS 2310“ Version 4.0

Technologiemodule Seite
List of Figures:
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

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FIGURE 1: T PE KE ................................................................................................23
FIGURE 2: ARS 2310 CURRENT DERATING GRAPH............................................32
FIGURE 3: ARS 2300 CONTROL STRUCTURE.......................................................40
FIGURE 4: ARS 2300 SERVO POSITIONING CONTROLLER DRIVING PROFILES
45
FIGURE 5: PATH PROGRAM....................................................................................46
FIGURE 6: LINEAR INTERPOLATION BETWEEN TWO DATA VALUES..............48
FIGURE 7: BLOCK DIAGRAM “SAFE TORQUE-OFF” AS PER EN ISO 13849-1,
PERFORMANCE LEVEL D................................................................................51
FIGURE 8: TIMING OF “SAFE TORQUE-OFF” AS PER EN ISO 13849-1,
PERFORMANCE LEVEL D................................................................................53
FIGURE 9: EMERGENC -OFF CIRCUIT IN ACCORDANCE WITH EN ISO 13849-
1, PERFORMANCE LEVEL D, AND STOP CATEGOR 0 IN ACCORDANCE
WITH 60204-1.....................................................................................................56
FIGURE 10: SAFET DOOR MONITORING IN ACCORDANCE WITH EN ISO
13849-1, PERFORMANCE LEVEL D, AND STOP CATEGOR 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: MOUNTING
PLATE................................................................................................................65
FIGURE 16: CONNECTION TO THE SUPPL VOLTAGE AND TO THE MOTOR. 66
FIGURE 17: COMPLETE SET-UP OF ARS 2300 WITH MOTOR AND PC..............68
FIGURE 18: POWER SUPPL [X9]...........................................................................70
FIGURE 19: MOTOR CONNECTION [X6].................................................................73
FIGURE 20: CONNECTING A LOCKING BRAKE WITH HIGH CURRENT DEMAND
(> 2A) TO THE DEVICE.....................................................................................74
FIGURE 21: BASIC CIRCUIT DIAGRAM OF CONNECTION [X1]...........................75
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Technologiemodule Seite 7
FIGURE 22: CONNECTION NOTES [X3]: WITHOUT SAFET FUNCTION .........80
FIGURE 23: PIN ASSIGNMENT: RESOLVER CONNECTION [X2A]......................82
FIGURE 24: PIN ASSIGNMENT: ANALOG INCREMENTAL ENCODER - OPTION
[X2B]...................................................................................................................86
FIGURE 25: PIN ASSIGNMENT: INCREMENTAL ENCODER WITH SERIAL
INTERFACE (E.G. ENDAT, HIPERFACE) - OPTION [X2B].............................86
FIGURE 26: PIN ASSIGNMENT: DIGITAL INCREMENTAL ENCODER - OPTION
[X2B]...................................................................................................................87
FIGURE 27: PIN ASSIGNMENT [X10]: INCREMENTAL ENCODER 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 THE FRONT PLATE.........................................................................125
FIGURE 35: MC 2000 4-AXIS MOTION COORDINATOR......................................126
FIGURE 36: MC 2000 4-AXIS MOTION COORDINATOR MAXIMUM CAPACIT 127
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

Page 8 Technologiemodule
List of Tables:
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

Technologiemodule Seite 9
TABLE 1: SCOPE OF SUPPL ................................................................................13
TABLE 2: CONNECTOR SET: DSUB AND POWER CONNECTOR ......................13
TABLE 3: TECHNICAL DATA: AMBIENT CONDITIONS AND QUALIFICATION...29
TABLE 4: TECHNICAL DATA: DIMENSIONS AND WEIGHT..................................29
TABLE 5: TECHNICAL DATA: CABLE DATA..........................................................29
TABLE 6: TECHNICAL DATA: MOTOR TEMPERATURE MONITORING..............30
TABLE 7: DISPLA ELEMENTS AND RESET BUTTON.........................................30
TABLE 8: TECHNICAL DATA: POWER DATA [X9].................................................31
TABLE 9: TECHNICAL DATA: INTERNAL BRAKING RESISTOR [X9]..................31
TABLE 10: TECHNICAL DATA: EXTERNAL BRAKING RESISTOR [X9]...............31
TABLE 11: TECHNICAL DATA: MOTOR CONNECTION DATA [X6]......................32
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: TECHNICAL DATA: INCREMENTAL ENCODER OUTPUT [X11]........38
TABLE 21: OUTPUT VOLTAGE AT THE MOTOR TERMINALS IN THE CASE OF
UZK = 560V........................................................................................................40
TABLE 22: STOP CATEGORIES...............................................................................50
TABLE 23: PIN ASSIGNMENT [X9]..........................................................................69
TABLE 24: PIN-AND-SOCKET CONNECTOR [X9]: EXTERNAL BRAKING
RESISTOR..........................................................................................................70
TABLE 25: PIN ASSIGNMENT [X6]..........................................................................71
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

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TABLE 26: PIN ASSIGNMENT: I/O COMMUNICATION [X1]..................................77
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

Technologiemodule Seite 11
TABLE 27: PIN ASSIGNMENT [X3]..........................................................................79
TABLE 28: PIN ASSIGNMENT [X2A]........................................................................81
TABLE 29: PIN ASSIGNMENT: ANALOG INCREMENTAL ENCODER - OPTION
[X2B]...................................................................................................................83
TABLE 30: PIN ASSIGNMENT: INCREMENTAL ENCODER WITH SERIAL
INTERFACE (E.G. ENDAT, HIPERFACE) - OPTION [X2B].............................83
TABLE 31: PIN ASSIGNMENT: DIGITAL INCREMENTAL ENCODER - OPTION
[X2B]...................................................................................................................84
TABLE 32: PIN ASSIGNMENT [X10]: INCREMENTAL ENCODER INPUT.............88
TABLE 33: PIN ASSIGNMENT [X11]: INCREMENTAL ENCODER OUTPUT.........90
TABLE 34: PIN ASSIGNMENT CAN BUS [X4].........................................................91
TABLE 35: PIN ASSIGNMENT RS232 INTERFACE [X5]........................................94
TABLE 36: EMC REQUIREMENTS: FIRST AND SECOND ENVIRONMENT.........96
TABLE 37: OPERATING MODE AND ERROR DISPLA ......................................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: TECHNICAL DATA: EA88 INTERFACE...............................................122
TABLE 44: DIGITAL INPUTS [X21]: EA88 INTERFACE........................................123
TABLE 45: DIGITAL OUTPUTS [X22]: EA88 INTERFACE....................................123
TABLE 46: EA88: CONNECTOR [X21] FOR 8 DIGITAL INPUTS.........................124
TABLE 47: EA88: CONNECTOR [X22] FOR 8 DIGITAL OUTPUTS.....................124
TABLE 48: TECHNICAL DATA: MC 2000 4-AXIS MOTION COORDINATOR......128
Product Manual “Servo Positioning Controller ARS 2302 ARS 230 ARS 2310“ Version 4.0

1 General
1.1 Documentation
This product manual is intended to ensure safe use of servo positioning controllers of the ARS 2300
range of products. It contains safety notes that have to be complied with.
Further information can be found in the following manuals of the ARS 2000 product range:
Product Manual “Servo Positioning Controller ARS 2100”: Description of the technical
specifications and the device functionality as well as notes on the installation and the operation of
the servo positioning controller ARS 2100.
Product manual "Servo Positioning Controller ARS 2302 - 2310": Description of the technical
data and the device functionality plus notes concerning the installation and operation of ARS 2302,
230 and 2310 servo positioning controllers.
Product manual "Servo Positioning Controller ARS 2320 and 2340": Description of the
technical 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
concerning the start-up of ARS 2000 servo positioning controllers.
PROFIBUS Manual “Servo Positioning Controller ARS 2000”: Description of the implemented
PROFIBUS-DP protocol.
CANopen Manual “Servo Positioning Controller ARS 2000“: Description of the implemented
CANopen protocol as per DSP402.
ETHERNET Manual “Servo Positioning Controller ARS 2000”: Description of the implemented
field bus connection of ARS 2000 servo positioning controllers using Ethernet.
Metronix Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

SERCOS Manual “Servo Positioning Controller ARS 2000”: Description of the implemented
SERCOS functionality.
You can find all these documents on our homepage at the download area (http://www.metronix.de/).
The entire software functionality of the new ARS 2000 product range will be implemented in the course
of a step-by-step development process.
This version of the hardware manual contains functions of firmware version 3.2 and of firmware
version 3.x, which is currently being prepared.
Whenever relevant, special notes like <FW3.x> are included in chapter headings and in the text block,
indicating that the functions of firmware 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. /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 accessories:
Table 2: Connector set: DSUB and POWER connector
1x Connector set: DSUB connector Metronix part number: 9200-0200-00
Content: 3x 9-pin DSUB connector, male
1x 9-pin DSUB connector, female
4x DSUB housing for 9-pin DSUB
connector
Metronix Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

1x 1 -pin DSUB connector, male
1x DSUB housing for 1 -pin DSUB
connector
1x 2 -pin DSUB connector, male
1x DSUB housing for 2 -pin DSUB
connector
1x Connector set:
POWER connector for ARS 2302, 230 + 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: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

2 Safety Notes for electrical drives and
controls
2.1 Symbols and signs
Information
Important informations and notes.
Caution!
The nonobservance can result in high property damage.
DANGER!
The nonobservance can result in property damages and in injuries to persons.
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: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

Prior to the initial use you must read the chapters Safety Notes for electrical drives and
controls on page 1 and Notes concerning safe and EMC-compliant installationon page
132.
If the documentation in the language at hand is not understood accurately, please contact and inform
your supplier.
Sound and safe operation of the servo drive controller requires proper and professional transportation,
storage, assembly and installation as well as proper operation and maintenance. Only trained and
qualified personnel may handle electrical devices:
TRAINED AND QUALIFIED PERSONNEL
in the sense of this product manual or the safety notes on the product itself are persons who are
sufficiently familiar with the project, the setup, assembly, commissioning and operation of the product
as well as all warnings and precautions as per the instructions in this manual and who are sufficiently
qualified in their field of expertise:
Education and instruction concerning the standards and accident prevention regulations for the
application, or authorisation to switch devices/systems on and off 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:
These safety notes must be complied with at all times.
Do not try to install or commission the servo drive controller before carefully reading all
safety notes for electrical drives and controllers contained in this document. These safety
instructions and all other user notes must be read prior to any work with the servo drive
controller.
In case you do not have any user notes for the servo positioning controller, please
contact your sales representative. Immediately demand these documents to be sent to
the person responsible for the safe operation of the servo drive controller.
If you sell, rent and/or otherwise make this device available to others, these safety notes
must also be included.
Metronix Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

The user must not open the servo drive controller for safety and warranty reasons.
Professional control process design is a prerequisite for sound functioning of the servo
drive controller!
DANGER!
Inappropriate handling of the servo drive controller and non-compliance of the
warnings as well as inappropriate intervention in the safety features may result in
property damage, 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 Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de

Risk of injury! Risk of burning!
DANGER!
Dangerous movements!
Danger to life, serious personal injury or property damage due to unintentional
movements of the motors!
2.4 Safety notes
2.4.1 General safety notes
The servo drive controller corresponds to IP20 class of protection as well as pollution
level 1. Make sure that the environment corresponds to this class of protection and
pollution level.
Only use replacements parts and accessories approved by the manufacturer.
The devices must be connected to the mains supply as per EN regulations, so that they
can be cut off the mains 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 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.
Metronix Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]-
D-38120 Braunschweig E-mail: [e-mail]
Germany http://www.metronix.de