Metronix ARS 2100 SE User guide

Servo drives ARS 2100 SE
Standard Edition
Mounting Instruction
Metronix Meßgeräte und Elektronik GmbH Phone: [phone]
Kocherstraße 3 Telefax: [phone]-
38120 Braunschweig E-Mail: [email protected]
Germany http://www.metronix.de

Original instructions
Copyrights
© 201 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.
Revision Information
Author: Metronix Meßgeräte und Elektronik GmbH
Manual title: Mounting Instructions “Servo drives ARS 2100 SE”
File name: MI_ARS2100_SE_ p0_EN_mBre.docx
Version .0 December 201

Page 3
CONTENTS
1 GENER L.............................................................................................................5
1.1 Documentation.............................................................................................
2 S FETY NOTES FOR ELECTRIC L DRIVES ND CONTROLLERS..............6
2.1 Used symbols...............................................................................................6
2.2 General notes...............................................................................................6
2.3 Danger resulting from misuse......................................................................8
2.4 Safety notes..................................................................................................8
2.4.1 General safety notes.....................................................................8
2.4.2 Safety notes for assembly and maintenance..............................10
2.4.3 Protection against contact with electrical parts...........................11
2.4.4 Protection against electrical shock by means of protective
extra-low voltage (PELV).............................................................12
2.4. Protection against dangerous movements..................................12
2.4.6 Protection against contact with hot parts....................................13
2.4.7 Protection during handling and assembly...................................14
3 TECHNIC L D T .............................................................................................15
4 MECH NIC L INST LL TION.........................................................................19
4.1 Important notes..........................................................................................19
4.2 Mounting.....................................................................................................22
5 ELECTRIC L INST LL TION..........................................................................23
.1 Pin assignment I/O communication [X1]....................................................24
.2 Pin assignment Resolver [X2A]..................................................................2
.3 Pin assignment Encoder [X2B]..................................................................26
.4 Pin assignment CAN [X4]...........................................................................29
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Page 4
. Wiring diagram Motor [X6] and Power Supply [X9]...................................30
.6 Pin assignment Incremental Encoder Input [X10]......................................33
.7 Pin assignment Incremental Encoder Output [X11]...................................34
.8 Ethernet communication [X18]...................................................................3
.9 USB communication [X19].........................................................................36
.10 Pin assignment SAFE TORQUE OFF [X40]..............................................36
.11 SD-/SDHC-/MMC-Card slot.......................................................................37
.11.1 BOOT-DIP-Switch.......................................................................37
6 FUNCTION L S FETY TECHNOLOGY...........................................................38
6.1 General.......................................................................................................38
6.2 Achievable safety level, Safety function according to
EN ISO 13849-1 / EN 61800- -2...............................................................38
7 EMC-COMPLI NT C BLING............................................................................39
7.1 Operation with long motor cables...............................................................40
8 DDITION L REQUIREMENTS FOR THE SERVO DRIVES CONCERNING
THE UL PPROV L..........................................................................................41
8.1 Circuit protection........................................................................................41
8.2 Wiring and environment regards................................................................41
8.3 Motor temperature sensor..........................................................................41
Mounting Instructions „Servo drives ARS 2100 SE“ Version .0

General Page
1 General
1.1 Documentation
This installation information serves the purpose of a safe use of the ARS 2100 SE series servo drives. It
contains safety notes, which must be complied with.
Further information can be found in the following manuals of the ARS 2000 product range:
Product Manual "Servo drives RS 2100 SE”: Description of the technical data and the device
functionality plus notes concerning the installation and operation of the ARS 2102 SE, ARS 210 SE
and ARS 2308 SE servo drives (German version).
Product Manual “STO (Safe Torque Off) for the Servo drives RS 2000 SE”: Description of
the functional safety technology for the ARS 2000 SE servo drives with the safety function STO
(German version).
Product Manual “Ethernet Technology Module”: Description of the implemented Ethernet
protocol (UDP).
Software Manual “Servo drives RS 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 the
ARS 2000 servo drives.
C Nopen Manual “Servo drives RS 2000”: Description of the implemented CANopen protocol as
per DSP402.
You can find all these documents on our homepage at the download area (http://www.metronix.de).
Certificates and declarations of conformity for the products described in this manual can be found at
http://www.metronix.de.
Mounting Instructions „Servo drives ARS 2100 SE“ Version .0

Page 6 Safety notes for electrical drives and controllers
2 Safety notes for electrical drives and
controllers
2.1 Used symbols
Information
Important information and notes.
Caution!
Nonobservance may result in severe property damages.
D NGER!
Nonobservance may result in property damages and in personal injuries.
Caution! Dangerous voltages.
The safety note indicates a possible perilous 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.
Prior to the initial use you must read chapter 2 Safety notes for electrical drives and
controllers, starting on page 6 and chapter 7 EMC-compliant cabling, starting on
page 41.
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 requires proper and professional transportation, storage,
mechanical installation, and project planning – with a consideration of the risks as well as the protective
and emergency measures – plus the proper and professional electrical installation, operation, and
maintenance of the devices.
Only trained and qualified personnel is authorised to handle electrical devices and systems:
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Additional requirements for the servo drives concerning the UL approval Page 7
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 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.
In case you do not have any user notes for the servo drive, please contact your sales
representative. Immediately demand these documents to be sent to the person
responsible for the safe operation of the servo drive.
If you sell, rent and/or otherwise make this device available to others, these safety notes
must also be included.
The user must not open the servo drive for safety and warranty reasons.
Professional control process design is a prerequisite for sound functioning of the servo
drive!
D NGER!
Inappropriate handling of the servo drive and non-compliance with the warnings
as well as inappropriate intervention in the safety features may result in property
damage, personal injuries, electric shock or in extreme cases even death.
Mounting Instructions „Servo drives ARS 2100 SE“ Version .0

Page 8 Safety notes for electrical drives and controllers
2.3 Danger resulting from misuse
D NGER!
High electrical voltages and high load currents!
Danger to life or serious personal injury from electrical shock!
D NGER!
High electrical voltage caused by wrong connections!
Danger to life or serious personal injury from electrical shock!
D NGER!
Surfaces of device housing may be hot!
Risk of injury! Risk of burning!
D NGER!
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 corresponds to IP20 degree of protection as well as pollution degree 2.
Make sure that the environment corresponds to this degree of protection and pollution
degree.
Only use replacement 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 (for
example main switch, contactor, power switch).
The servo drive may be protected using an AC/DC sensitive 300 mA fault current
protection switch, type B (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.
The environment conditions defined in the product documentation must be kept. Safety-
critical applications are not allowed, unless specifically approved by the manufacturer.
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Additional requirements for the servo drives concerning the UL approval Page 9
For notes on installation corresponding to EMC, please refer to chapter 7 EMC-compliant
cabling, starting on page 41. The compliance with the limits required by national
regulations is the responsibility of the manufacturer of the machine or system.
The technical data and the connection and installation conditions for the servo drive are
to be found in this product manual and must be met.
D NGER!
The general setup and safety regulations for work on power installations (for example
DIN, VDE, EN, IEC or other national and international regulations) must be complied
with.
Non-compliance may result in death, personal injury or serious property damages.
Without claiming completeness, the following regulations and others apply:
VDE 0100 Erection of power installations with nominal voltages up to 1000 V
EN 1037 Safety of machinery - Prevention of unexpected start-up
EN 60204-1 Safety of machinery - Electrical equipment of machines
Part 1: General requirements
EN 61800-3 Adjustable speed electrical power drive systems
Part 3: EMC requirements and specific test methods
EN 61800- -1 Adjustable speed electrical power drive systems
Part -1: Safety requirements - Electrical, thermal and energy
EN 61800- -2 Adjustable speed electrical power drive systems
Part -2: Safety requirements - Functional
EN ISO 12100 Safety of machinery - General principles for design - Risk assessment and
risk reduction
EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems
Part 1: General principles for design
EN ISO 13849-2 Safety of machinery - Safety-related parts of control systems
Part 2: Validation
More standards to be respected by the user:
EN 74 Safety of machinery - Two-hand control devices
EN 1088 Safety of machinery - Interlocking devices associated with guards
EN ISO 138 0 Safety of machinery - Emergency stop
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Page 10 Safety notes for electrical drives and controllers
2.4.2 Safety notes for assembly and maintenance
The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and
rules for the prevention of accidents apply for the assembly and maintenance of the system. The plant
engineer or the operator is responsible for compliance with these regulations:
The servo drive must only be operated, maintained and/or repaired by personnel trained
and qualified for working on or with electrical devices.
Prevention of accidents, injuries and/or damages:
Additionally secure vertical axes against falling down or lowering after the motor has
been switched off, for example by means of:
Mechanical locking of the vertical axle,
External braking, catching or clamping devices or
Sufficient balancing of the axle
The motor holding brake supplied by default or an external motor holding brake driven by
the servo drive alone is not suitable for personal protection!
Keep the electrical equipment voltage-free using the main switch and protect it from
being switched on again until the DC bus circuit is discharged, in the case of:
Maintenance and repair work
Cleaning
long machine shutdowns
Prior to carrying out maintenance work make sure that the power supply has been turned
off, locked and the DC bus circuit is discharged.
The external or internal brake resistor carries dangerous DC bus voltages during
operation of the servo drive and up to minutes thereafter. Contact may result in death
or serious personal injury. Wait for this time prior to performing any work on the affected
connections. Measure the voltages for your own protection. Contact with these high DC
bus circuit voltages may result in death or serious personal injury.
Be careful during the assembly. During the assembly and also later during operation of
the drive, make sure to prevent drill chips, metal dust or assembly parts (screws, nuts,
cable sections) from falling into the servo drive.
Also make sure that the external power supply of the servo drive (24 V) is switched off.
The DC bus circuit or the mains supply must always be switched off prior to switching off
the 24 V servo drive supply.
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Additional requirements for the servo drives concerning the UL approval Page 11
Carry out work in the machine area only, if AC and/or DC supplies are switched off.
Switched off output stages or servo drive enablings are no suitable means of locking. In
the case of a malfunction the drive may accidentally be put into action.
This does not apply to drives with the special “Safe Stop” feature in accordance with EN
9 4-1 CAT 3 or with the “Safe Torque Off” feature in accordance with EN 61800- -2.
Initial operation must be carried out with idle motors, to prevent mechanical damages for
example due to the wrong direction of rotation.
Electronic devices are never fail-safe. It is the user’s responsibility, in the case an
electrical device fails, to make sure the system is transferred into a secure state.
The servo drive and in particular the brake resistor, externally or internally, can assume
high temperatures, which may cause serious burns.
2.4.3 Protection against contact with electrical parts
This section only concerns devices and drive components carrying voltages exceeding 0 V. Contact with
parts carrying voltages of more than 0 V can be dangerous for people and may cause electrical shock.
During operation of electrical devices some parts of these devices will inevitably carry dangerous
voltages.
D NGER!
High electrical voltage!
Danger to life, danger due to electrical shock or serious personal injury!
The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and
rules for the prevention of accidents apply for the assembly and maintenance of the system. The plant
engineer or the operator is responsible for compliance with these regulations:
Before switching on the device, install the appropriate covers and protections against
accidental contact. Rack-mounted devices must be protected against accidental contact
by means of a housing, for example a switch cabinet. The national regulations for
safety/accident prevention must be complied with!
Always connect the ground conductor of the electrical equipment and devices securely to
the mains supply. Due to the integrated line filter the leakage current exceeds 3. mA!
Comply with the minimum copper cross-section for the ground conductor over its entire
length (see for example EN 60800- -1).
Prior to the initial operation, even for short measuring or testing purposes, always
connect the ground conductor of all electrical devices as per the terminal diagram 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 0 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 voltage must be considered, particularly
regarding insulation and protective measures. Ensure proper grounding, wire
Mounting Instructions „Servo drives ARS 2100 SE“ Version .0

Page 12 Safety notes for electrical drives and controllers
dimensioning and corresponding short-circuit protection.
The device comprises a rapid discharge circuit for the DC bus as per EN 60204-1. In
certain device constellations, however, mostly in the case of parallel connection of
several servo drives in the DC bus or in the case of an unconnected brake resistor, this
rapid discharge may be rendered ineffective. The servo drives can carry voltage until up
to minutes after being switched off (residual capacitor charge).
2.4.4 Protection against electrical shock by means of protective extra-low
voltage (PELV)
All connections and terminals with voltages of up to 0 Volts at the servo drive are protective extra-low
voltage, which are designed safe from contact in correspondence with the following standards:
International: IEC 60364-4-41
European countries within the EU: EN 61800- -1
D NGER!
High electrical voltages due to wrong connections!
Danger to life, risk of injury due to electrical shock!
Only devices and electrical components and wires with a protective extra low voltage (PELV) may be
connected to connectors and terminals with voltages between 0 to 0 Volts.
Only connect voltages 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
Defective or non-EMC-compliant components
Software error in superordinated control system
These errors can occur directly after switching on the device or after an indeterminate time of operation.
The monitors in the drive components for the most part rule out malfunctions in the connected drives. In
view of personal protection, particularly the danger of personal injury and/or property damage, this may
not be relied on exclusively.
Until the built-in monitors come into effect, faulty drive movements must be taken into account; their
magnitude depends on the type of control and on the operating state.
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Additional requirements for the servo drives concerning the UL approval Page 13
D NGER!
Dangerous movements!
Danger to life, risk of injury, serious personal injuries or property damage!
For the reasons mentioned above, personal protection must be ensured by means of monitoring or
superordinated measures on the device. These are installed in accordance with the specific data of the
system and a danger and 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
D NGER!
Housing surfaces may be hot!
Risk of injury! Risk of burning!
Do not touch housing surfaces in the vicinity of heat sources! Danger of burning!
Before accessing devices let them cool down for 10 minutes after switching them off.
Touching hot parts of the equipment such as the housing, which contain heat sinks and
resistors, may cause burns!
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Page 14 Safety notes for electrical drives and controllers
2.4.7 Protection during handling and assembly
Handling and assembly of certain parts and components in an unsuitable manner may under adverse
conditions cause injuries.
D NGER!
Risk of injury due to improper handling!
Personal injury due to pinching, shearing, cutting, crushing!
The following general safety notes apply:
Comply with the general setup and safety regulations on handling and assembly.
Use suitable assembly and transportation devices.
Prevent incarcerations and contusions by means of suitable protective measures.
Use suitable tools only. If specified, use special tools.
Use lifting devices and tools appropriately.
If necessary, use suitable protective equipment (for example goggles, protective
footwear, protective gloves).
Do not stand underneath hanging loads.
Remove leaking liquids on the floor immediately to prevent slipping.
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Additional requirements for the servo drives concerning the UL approval Page 1
3 Technical data
Range ARS 2102 SE ARS 2105 SE ARS 2108 SE
Metronix part number – with STO 9200-2102-30 9200-2105-30 9200-2108-30
Metronix part number – without STO 9200-2102-31 9200-2105-31 9200-2108-31
Auxiliary equipment Counterplu PHOENIX Mini-Combicon MC1.5/8-STF-3.81 BK
(only for devices with STO)
Power connector set 9200-0210-20 9200-0218-20
Si nal connector set 9200-0200-00
Shield connector set 9200-0202-00
Ambient conditions and qualification:
Admissible temperature ran es Stora e temperature: -25°C to +70°C
Operatin
temperature:
0°C to +40°C
+40°C to +50°C at reduced power 2,5%/K
Admissible installation hei ht Mountin hei ht maximum 2000 m above msl, above 1000 m above
msl with power reduction 1% per 100 m
Humidity Relative humidity up to 90%, no bedewin
Protection de ree IP20
Protection class I
Pollution de ree 2
CE conformity
Low-volta e directive:
EMC directive:
2006/95/EC
verified by application of the harmonised standard EN 61800-5-1
2004/108/EC
verified by application of the harmonised standard EN 61800–3
EC product type test certificate
for the devices with STO TÜV 01/205/5245.01/14
cULus certification Listed accordin to UL 508C, C22.2 No. 274-13
Dimensions and weight:
Dimensions includin the mountin
plate (H*W*D)
261 mm*54,6 mm*205 mm
Housin dimensions (H*W*D) 200 mm*54 mm*200 mm
Wei ht approx. 1,8 k
Pe fo mance data [X9]:
Supply volta e 1 x 100 .. 230 VAC [± 10%], 50…60 Hz
Alternative DC supply 60 .. 320 VDC
24V supply
*) plus current consumption of a
possibly connected holdin brake and
I/Os
24 VDC [± 20%]
(0,55 A) *)
24 VDC [± 20%]
(0,65 A) *)
Intermediate circuit volta e
for a supply volta e of 230 VAC
310 ... 320 VDC
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Additional requirements for the servo drives concerning the UL approval Page 16
Range ARS 2102 SE ARS 2105 SE ARS 2108 SE
Metronix part number – with STO 9200-2102-30 9200-2105-30 9200-2108-30
Metronix part number – without STO 9200-2102-31 9200-2105-31 9200-2108-31
Auxiliary equipment Counterplu PHOENIX Mini-Combicon MC1.5/8-STF-3.81 BK
(only for devices with STO)
Power connector set 9200-0210-20 9200-0218-20
Si nal connector set 9200-0200-00
Shield connector set 9200-0202-00
Inte nal b ake esisto [X9]:
Brake resistance 60 37 
Pulse power 2,4 kW 3,9 kW
Continuous power 10 W 20 W 25 W
Threshold
limit 389 V
Max. volta e 400 V
Exte nal b ake esisto [X9]:
Brake resistance external  50   25 
Continuous power  2500 W
Max. operatin volta e (at output) 460 V 400 V
Moto connection specifications [X6]:
Specifications for operation with 1x 230 VAC [± 10%], 50 Hz
Output power 0,5 kVA 1,0 kVA 1,5 kVA
Max. output power for 5 s 1,0 kVA 2,0 kVA 3,0 kVA
Output current 2,5 ARMS 5 ARMS 8 ARMS
Max. output current for 5 s 5 ARMS 10 ARMS 16 ARMS
Max. output current for 0,5 s 10 ARMS 20 ARMS 32 ARMS
(fel ≥ 3 Hz) *)
*) with smaller electrical
rotational frequencies (fel)
shorter permissible times are
valid for ARS 2108 SE
Max. mains current for continuous
operation
2,4 ARMS 4,7 ARMS 10 ARMS
Max. PWM frequency 20 kHz (software pro rammable)
As a uideline: Power
loss/efficiency (with re ard to the
rated output power)
typical 8% / 92%
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Additional requirements for the servo drives concerning the UL approval Page 17
Range ARS 2102 SE ARS 2105 SE ARS 2108 SE
Metronix part number – with STO 9200-2102-30 9200-2105-30 9200-2108-30
Metronix part number – without STO 9200-2102-31 9200-2105-31 9200-2108-31
Auxiliary equipment Counterplu PHOENIX Mini-Combicon MC1.5/8-STF-3.81 BK
(only for devices with STO)
Power connector set 9200-0210-20 9200-0218-20
Si nal connector set 9200-0200-00
Shield connector set 9200-0202-00
Maximum moto cable length fo inte fe ence emission acco ding to EN 61800-3 fo PWM  10 kHz
Cate ory C2 l  25 m
Cate ory C3 l  25 m
Cable capacity of a phase a ainst
shield or between two lines
C‘  200 pF/m
De ating of the cable length (see also chapter 7.1 Operation with long motor cables on pa e 42)
fPWM = 12 kHz l  21 m
fPWM = 16 kHz l  15 m
fPWM = 20 kHz l  12 m
Moto tempe atu e monito ing:
Di ital sensor Normally closed contact: Rcold < 500 Rhot > 100 k
Analo ue sensor Silicon temperature sensor, for example KTY81, 82 or similar
R25  2000 R100  3400 
Resolve [X2A]:
Resolution 16 Bit
Delay time si nal detection < 200 µs
Speed resolution approx. 4 min-1
Absolute accuracy of an le
detection < 5´
Max. rotational speed 16.000 min-1
Encode evaluation [X2B]:
Parameterisable number of encoder
lines
1 – 218 lines/rev
An ular resolution / Interpolation 10 Bit / period
Encoder si nals A, B 1 VPP differential; 2.5 V offset
Encoder si nal N 0.2 to 1 VPP differential; 2.5 V offset
Commutation track A1, B1
(optional)
1 VPP differential; 2.5 V offset
Input impedance encoder si nals Differential input 120 
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Additional requirements for the servo drives concerning the UL approval Page 18
Limit frequency fLimit > 300 kHz (hi h-resolution si nal)
fLimit ca. 10 kHz (commutation track)
Additional communication interface EnDat (Heidenhain) and HIPERFACE® (Sick-Ste mann)
Output supply 5 V or 12 V; max. 300 mA; current limited,
control via sensor lines
set point pro rammable via software
Digital inputs and outputs [X1]:
Si nal level 24V (8V...30V) active hi h, conformin with EN 61131-2
Lo ic inputs eneral
DIN0
DIN1
DIN2
DIN3
Bit 0 \ (Least si nificant Bit)
Bit 1 \ Tar et selection for positionin
Bit 2 / 16 tar ets selectable from tar et table
Bit 3 / (Most si nificant Bit)
DIN4 Control input power sta e (enable at Hi h)
DIN5 Servo drive enable at Hi h, acknowled e error with fallin ed e
DIN6 Limit switch input 0
DIN7 Limit switch input 1
DIN8 Control si nal Start positionin or
Homin switch for homin or savin of positions
DIN9 Control si nal Start positionin or
Homin switch for homin or savin of positions
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Additional requirements for the servo drives concerning the UL approval Page 19
Lo ic outputs eneral Galvanically separated, 24 V (8 ...30 V) active hi h
DOUT0 Operational state 24 V, max. 100 mA
DOUT1 Freely confi urable 24 V, max. 100 mA
DOUT2 Freely confi urable, optional use
as input DIN10
24 V, max. 100 mA
DOUT3 Freely confi urable, optional use
as input DIN11
24 V, max. 100 mA
DOUT4 [X6] Holdin brake 24 V, max. 1 A
Analogue inputs and outputs [X1]:
Hi h-resolution analo ue input:
AIN0
10 V input ran e, 16 Bit, differentially,
< 250 µs delay time
Analo ue input:
AIN1
Optionally, this input can also be
parameterised as di ital input DIN
AIN1 with a switchin threshold at
8 V.
10 V, 10 Bit, sin le ended,
< 250 µs delay time
Analo ue input:
AIN2
Optionally, this input can also be
parameterised as di ital input DIN
AIN2 with a switchin threshold at
8 V.
10 V, 10 Bit, sin le ended,
< 250 µs delay time
Analo ue outputs:
AOUT0 and AOUT1
 10 V output ran e, 10 mA,
9 bit resolution, fLimit > 1 kHz
Inc emental encode input [X10]:
Parameterisable number of encoder
lines
1 – 228 lines/rev
Trace si nals: A, #A, B, #B, N, #N As per RS422 specification
Max. input frequency 1000 kHz
Pulse direction interface: CLK,
#CLK, DIR, #DIR, RESET, #RESET
As per RS422 specification
Output supply 5 V, max. 100 mA
Inc emental encode output [X11]:
Number of lines Pro rammable 1 – 213 and 214 lines/revolution
Connection level Differential / RS422 specification
Encoder si nals A, B, N As per RS422 specification
speciality N-Trace disconnectible
Output impedance Ra,diff = 66 
Limit frequency fLimit > 1,8 MHz (lines/s)
Ed e tri erin (min. pulse width) Can be limited by parameters
Output supply 5 V, max. 100 mA
Ethe net [X18] RJ 45, 10/100 MBaud, UDP communication
USB [X19]: Accordin to USB 2.0, USB-B, slave-client
SD-/SDHC-/MMC-Ca d File systems FAT12, FAT16, FAT32
Mounting Instructions „Servo drives ARS 2100 SE“ Version .0

Additional requirements for the servo drives concerning the UL approval Page 20
4 Mechanical installation
4.1 Important notes
Only use the servo drive ARS 2100 SE as a built-in device for switch cabinets
Mounting position vertical with supply lines [X9] on top
Mount to control cabinet plate using a fastening strap
Installation free spaces:
Keep a minimum distance of 100 mm to other components each above and underneath the device to
ensure sufficient venting.
For optimal wiring of the motor cable and angle encoder cable on the bottom of the device an
installation free space of 1 0mm is recommended!
Mounting distance:
The servo drive ARS 2100 SE may be installed adjacently in one switch cabinet without a gap, proper
usage and installation on a heat-dissipating rear panel provided. Please note that excessive heat may
cause premature aging and/or damaging of the device. In case the servo drives ARS 2100 SE are
subject to high thermal stress, a mounting distance of 9 mm is recommended!
The device views and connections of the following illustrations for the servo drive
ARS 2102 SE also apply to the servo drives ARS 210 SE and ARS 2108 SE!
Mounting Instructions „Servo drives ARS 2100 SE“ Version .0