Metronix ARS 2320 User manual

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
Translation of the original instructions
Copyrights
© 2015 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.

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
Revision Information
Author: Metronix Meßgeräte und Elektronik GmbH
Manual title: Product Manual “Servo drives ARS 2320, ARS 2340,
ARS 2320W, ARS 2360W”
File name: P-HB_ARS2320-2360W_8p0_EN.docx
Version 8.0 August 2015

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
TABLE OF CONTENTS:
1GENERAL.........................................................................................................16
1.1 Documentation..........................................................................................16
1.2 Scope of supply ........................................................................................17
2SAFETY NOTES FOR ELECTRICAL DRIVES AND CONTROLLERS ...........18
2.1 Used symbols ...........................................................................................18
2.2 General notes ...........................................................................................19
2.3 Danger resulting from misuse...................................................................21
2.4 Safety notes..............................................................................................22
2.4.1 General safety notes..................................................................22
2.4.2 Safety notes for assembly and maintenance .............................24
2.4.3 Protection against contact with electrical parts ..........................26
2.4.4 Protection against electrical shock by means of
protective extra-low voltage (PELV)...........................................27
2.4.5 Protection against dangerous movements.................................28
2.4.6 Protection against contact with hot parts ...................................29
2.4.7 Protection during handling and assembly ..................................30
3PRODUCT DESCRIPTION...............................................................................31
3.1 General.....................................................................................................31
3.2 Power supply ............................................................................................34
3.2.1 Three-phase AC power supply...................................................34
3.2.1.1 Behaviour during switch-on, behaviour during normal operation
and control characteristics .....................................................................34
3.2.2 DC bus coupling, DC supply ......................................................34
3.2.2.1 DC bus coupling ....................................................................................34
3.2.2.2 DC-supply: .............................................................................................34
3.2.3 Mains fuse .................................................................................34
3.3 Brake chopper ..........................................................................................35
3.4 Communication interfaces ........................................................................36
3.4.1 Serial interface [X5]....................................................................36
3.4.2 CAN interface [X4] .....................................................................36
3.4.3 Technology module: PROFIBUS ...............................................37
3.4.4 Technology module: sercos II ....................................................37
3.4.5 Technology module: EtherCAT..................................................37
3.4.6 I/O functions and device control.................................................37

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
4TECHNICAL DATA ..........................................................................................39
4.1 General Technical data.............................................................................39
4.2Operating and display elements ...............................................................40
4.3 Supply [X9] ...............................................................................................41
4.4 Motor connection [X6]...............................................................................42
4.4.1 Current derating.........................................................................43
4.4.2 I2xt derating for ARS 2320W and ARS 2360W ..........................46
4.5 Water cooling system ...............................................................................47
4.6 Safe Torque Off (STO) and 24V supply [X3] ............................................47
4.7 Motor feedback connection [X2A] and [X2B] ............................................48
4.7.1 Resolver connection [X2A].........................................................49
4.7.2 Encoder connection [X2B] .........................................................50
4.8 Communication interfaces ........................................................................51
4.8.1 RS232 [X5].................................................................................51
4.8.2 CAN-Bus [X4].............................................................................51
4.8.3 I/O interface [X1]........................................................................52
4.8.4 Incremental encoder input [X10] ................................................53
4.8.5 Incremental encoder output [X11]..............................................54
5FUNCTION OVERVIEW ...................................................................................55
5.1 Motors.......................................................................................................55
5.1.1 Synchronous servo motors ........................................................55
5.1.2 Linear motors.............................................................................55
5.2 Functions of the servo drive ARS 2300 ....................................................56
5.2.1 Compatibility ..............................................................................56
5.2.2 Pulse width modulation (PWM)..................................................57
5.2.3 Set point management...............................................................58
5.2.4 Torque-controlled mode.............................................................58
5.2.5 Speed-controlled mode..............................................................59
5.2.6 Torque-limited speed control......................................................59
5.2.7 Synchronization with external clock sources..............................59
5.2.8 Load torque compensation for vertical axes ..............................60
5.2.9 Positioning and position control .................................................60
5.2.10 Synchronisation, electronic gearing ...........................................60
5.2.11 Brake management....................................................................60
5.3 Positioning control ....................................................................................61
5.3.1 Overview....................................................................................61
5.3.2 Relative positioning....................................................................62

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
5.3.3 Absolute positioning...................................................................62
5.3.4 Driving profile generator.............................................................62
5.3.5 Homing ......................................................................................63
5.3.6 Positioning sequences...............................................................63
5.3.7 Optional stop input.....................................................................64
5.3.8 Contouring control with linear interpolation................................64
5.3.9 Time-synchronized multi-axis positioning ..................................65
6FUNCTIONAL SAFETY TECHNOLOGY .........................................................66
6.1 General, intended use ..............................................................................66
6.2 Integrated “Safe torque-Off (STO)” function .............................................68
6.2.1 General / description of “Safe Torque-Off” function ...................68
6.2.2 Holding brake activation.............................................................70
6.2.3 Mode of operation / timing: ........................................................71
6.2.4 Application examples.................................................................74
6.2.4.1 Emergency stop circuit: .........................................................................74
6.2.4.2 Safety door monitoring...........................................................................76
7MECHANICAL INSTALLATION.......................................................................78
7.1 Important notes.........................................................................................78
7.2 Installation space......................................................................................79
7.3 Device views.............................................................................................81
7.4 Installation ................................................................................................84
7.5 Water cooling system ...............................................................................87
8ELECTRICAL INSTALLATION ........................................................................89
8.1Connector configuration............................................................................89
8.2 ARS 2300 complete system .....................................................................91
8.3 Connection at the ARS 2320 and ARS 2320W servo drives:
Power supply and braking resistor [X9] ....................................................93
8.3.1 Configuration at the ARS 2320 and ARS 2320W servo
drives [X9]..................................................................................93
8.3.2 Counter plug [X9] at the ARS 2320 and ARS 2320W ................93
8.3.3 Pin assignment [X9] at the ARS 2320 and 2320W.....................93
8.3.4 Connection: External braking resistor [X9] at the ARS 2320
and ARS 2320W ........................................................................94
8.3.5 Type and configuration of cable [X9] at the ARS 2320 and
ARS 2320W ...............................................................................94
8.3.6 Connection notes concerning [X9] at the ARS 2320 and
ARS 2320W ...............................................................................95

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
8.4 Connection at the ARS 2340 and ARS 2360W servo drives:
Power supply [X9] and braking resistor [X9A]...........................................96
8.4.1 Configuration at the ARS 2340 and ARS 2360W servo
drives [X9]..................................................................................96
8.4.2 Counter plug [X9] at the ARS 2340 and ARS 2360W ................96
8.4.3 Pin assignment [X9] at the ARS 2340 and ARS 2360W ............96
8.4.4 Type and configuration of cable [X9] at the ARS 2340 and
ARS 2360W ...............................................................................97
8.4.5 Connection notes concerning [X9] at the ARS 2340 and
ARS 2360W ...............................................................................97
8.4.6 Connection: External braking resistor [X9A] at the
ARS 2340 and ARS 2360W.......................................................97
8.4.7 Configuration [X9A] at the ARS 2340 and ARS 2360W .............97
8.4.8 Counter plug [X9A] at the ARS 2340 and ARS 2360W..............98
8.4.9 Pin assignment [X9A] at the ARS 2340 and ARS 2360W..........98
8.4.10 Connection notes concerning [X9A] at the ARS 2340 and
ARS 2360W ...............................................................................98
8.5 Connection: Safe Torque Off (STO) and 24V supply [X3] ........................99
8.5.1 Configuration on the device [X3]................................................99
8.5.2 Counter plug [X3].......................................................................99
8.5.3 Pin assignment [X3]...................................................................99
8.5.4 Cable type and configuration: 24VDC power supply [X3] ........100
8.5.5 Connection notes [X3]..............................................................100
8.6 Connection: Motor [X6] and [X6A] ..........................................................101
8.6.1 Configuration [X6] at the ARS 2320 and ARS 2320W .............101
8.6.2 Counter plug [X6] at the ARS 2320 and ARS 2320W ..............101
8.6.3 Configuration [X6] at the ARS 2340 and ARS 2360W .............101
8.6.4 Counter plug [X6] at the ARS 2340 and ARS 2360W ..............101
8.6.5 Configuration device side [X6A]...............................................101
8.6.6 Counter plug [X6A]...................................................................101
8.6.7 Pin assignment [X6].................................................................101
8.6.8 Type and configuration of cable [X6] and [X6A] at the
ARS 2320 and ARS 2320W.....................................................102
8.6.9 Type and configuration of cable [X6] and [X6A] at the
ARS 2340 ................................................................................102
8.6.10 Type and configuration of cable [X6] and [X6A] at the
ARS 2360W .............................................................................103
8.6.11 Connection notes concerning [X6] and [X6A] ..........................104

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
8.7 Connection: I/O communication [X1] ......................................................105
8.7.1 Configuration on the device [X1]..............................................107
8.7.2 Counter plug [X1].....................................................................107
8.7.3 Pin assignment [X1].................................................................108
8.7.4 Cable type and configuration [X1]............................................109
8.7.5 Connection notes [X1]..............................................................109
8.8 Connection: Safe Torque Off (STO) [X3]................................................110
8.8.1 Configuration on the device [X3]..............................................110
8.8.2 Counter plug [X3].....................................................................110
8.8.3 Pin assignment [X3].................................................................110
8.8.4 Connection notes [X3]..............................................................111
8.9 Connection: Resolver [X2A]....................................................................111
8.9.1 Configuration on the device [X2A]............................................111
8.9.2 Counter plug [X2A]...................................................................111
8.9.3 Pin assignment [X2A]...............................................................112
8.9.4 Cable type and configuration [X2A]..........................................112
8.9.5 Connection notes [X2A] ...........................................................113
8.10 Connection: Encoder [X2B] ....................................................................113
8.10.1 Configuration on the device [X2B]............................................113
8.10.2 Counter plug [X2B]...................................................................113
8.10.3 Pin assignment [X2B]...............................................................114
8.10.4 Cable type and configuration [X2B]..........................................116
8.10.5 Connection notes [X2B] ...........................................................117
8.11 Connection: Incremental encoder input [X10].........................................119
8.11.1 Configuration on the device [X10]............................................119
8.11.2 Counter plug [X10]...................................................................119
8.11.3 Pin assignment [X10]...............................................................119
8.11.4 Cable type and configuration [X10]..........................................120
8.11.5 Connection notes [X10]............................................................120
8.12 Connection: Incremental encoder output [X11].......................................121
8.12.1 Configuration on the device [X11]............................................121
8.12.2 Counter plug [X11]...................................................................121
8.12.3 Pin assignment [X11]...............................................................121
8.12.4 Cable type and configuration [X11]..........................................121
8.12.5 Connection notes [X11]............................................................122
8.13 Connection: CAN bus [X4]......................................................................122
8.13.1 Configuration on the device [X4]..............................................122
8.13.2 Counter plug [X4].....................................................................122

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
8.13.3 Pin assignment [X4].................................................................123
8.13.4 Cable type and configuration [X4]............................................123
8.13.5 Connection notes [X4]..............................................................124
8.14 Connection: RS232/COM [X5]................................................................125
8.14.1 Configuration on the device [X5]..............................................125
8.14.2 Counter plug [X5].....................................................................125
8.14.3 Pin assignment [X5].................................................................125
8.14.4 Cable type and configuration [X5]............................................126
8.14.5 Connection notes [X5]..............................................................126
8.15 Notes concerning safe and EMC-compliant installation..........................127
8.15.1 Definitions and terminology......................................................127
8.15.2 General information concerning EMC......................................127
8.15.3 EMC areas: first and second environment...............................128
8.15.4 EMC-compliant cabling............................................................128
8.15.5 Operation with long motor cables.............................................130
8.15.6 ESD protection.........................................................................130
9INITIAL OPERATION .....................................................................................131
9.1 General notes on connection..................................................................131
9.2 Tools / material .......................................................................................131
9.3 Connecting the motor .............................................................................131
9.4 Connecting the ARS 2300 servo drive to the power supply....................132
9.5 Connecting the PC (serial interface).......................................................132
9.6 Checking operability ...............................................................................132
10 SERVICE FUNCTIONS AND ERROR MESSAGES.......................................133
10.1 Protection and service functions.............................................................133
10.1.1 Overview..................................................................................133
10.1.2 Phase and mains failure detection...........................................133
10.1.3 Overcurrent and short-circuit monitoring..................................134
10.1.4 Overvoltage monitoring of the DC bus.....................................134
10.1.5 Temperature monitoring of the heat sink .................................134
10.1.6 Motor monitoring......................................................................134
10.1.7 I²t monitoring............................................................................134
10.1.8 Power monitoring of the internal brake chopper ......................135
10.1.9 Start-up status..........................................................................135
10.1.10 Operating hours meter.............................................................135
10.1.11 Rapid discharge of the DC bus................................................135

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
10.2 Operating mode and error messages .....................................................136
10.2.1 Operating mode and error display............................................136
10.2.2 Error messages........................................................................137
11 TECHNOLOGY MODULES............................................................................153
11.1 EA88 interface (terminal extension)........................................................153
11.1.1 Product description ..................................................................153
11.1.2 Technical data..........................................................................153
11.1.2.1 General data ........................................................................................153
11.1.2.2 Digital inputs ........................................................................................154
11.1.2.3 Digital outputs ......................................................................................154
11.1.3 Pin assignment and cable specifications .................................155
11.1.3.1 Power supply .......................................................................................155
11.1.3.2 Pin assignments ..................................................................................155
11.1.3.3 Counter plug ........................................................................................156
11.1.3.4 Connection notes.................................................................................156
11.2 PROFIBUS-DP interface ........................................................................157
11.2.1 Product description ..................................................................157
11.2.2 Technical data..........................................................................157
11.2.3 Pin assignments and cable specifications................................159
11.2.3.1 Pin assignment ....................................................................................159
11.2.3.2 Counter plug ........................................................................................159
11.2.3.3 Cable type and configuration...............................................................159
11.2.4 Termination and bus terminating resistors...............................160
11.3 sercos II module .....................................................................................161
11.3.1 Product description ..................................................................161
11.3.2 Technical data..........................................................................162
11.3.3 Optical waveguide specification...............................................163
11.4 EtherCAT................................................................................................164
11.4.1 Product description ..................................................................164
11.4.2 Characteristics of the EtherCAT technology module................164
11.4.3 Technical data..........................................................................165
11.4.4 Display elements......................................................................166
11.4.5 EtherCAT interface ..................................................................166
11.5 MC 2000 “Drive-In” 4-Axis Motion Coordinator.......................................167
11.5.1 Product description ..................................................................167
11.5.2 Features...................................................................................168
11.5.2.1 Compact...............................................................................................168

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
11.5.2.2 Fast......................................................................................................169
11.5.2.3 Easy.....................................................................................................169
11.5.3 Technical data..........................................................................170
11.6 General installation notes for technology modules .................................171

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
Table of Figures:
Figure 1: Type key .......................................................................................................................31
Figure 2: ARS 2320: Current derating diagram ...........................................................................43
Figure 3: ARS 2340: Current derating diagram ...........................................................................44
Figure 4: ARS 2320W: no current derating as a function of the pulse frequency (fPWM) .............44
Figure 5: ARS 2360W: Current derating diagram........................................................................45
Figure 6: ARS 23xxW: I2xt derating diagram ...............................................................................46
Figure 7: Control scheme of the ARS 2300 .................................................................................56
Figure 8: ARS 2300 servo drive driving profiles ..........................................................................62
Figure 9: Path program ................................................................................................................63
Figure 10: Linear interpolation between two data values ..............................................................65
Figure 11: Block diagram “STO” as per EN ISO 13849-1, Category 3 Performance Level d .......69
Figure 12: Timing of “Safe Torque-Off” (STO) as per EN ISO 13849-1, Category 3
Performance Level d.....................................................................................................71
Figure 13: Emergency-off circuit in accordance with EN ISO 13849-1, Category 3
Performance Level d, and stop category 0 in accordance with 60204-1......................74
Figure 14: Safety door monitoring in accordance with EN ISO 13849-1, Category 3
Performance Level d, and stop category 1 in accordance with 60204-1......................76
Figure 15: Servo drive ARS 2320: Installation space ....................................................................79
Figure 16: Servo drive ARS 2340: Installation space ....................................................................80
Figure 17: Servo drives ARS 2320 and ARS 2320W: Front view..................................................81
Figure 18: Servo drives ARS 2340 and ARS 2360W: Front view..................................................82
Figure 19: Servo drives ARS 2320 and ARS 2320W: Bottom view...............................................83
Figure 20: Servo drives ARS 2340 and ARS 2360W: Bottom view...............................................84
Figure 21: Servo drives ARS 2320 and ARS 2340: Drilling pattern on the mounting plate...........85
Figure 22: Servo drives ARS 2320W and ARS 2360W: Drilling pattern on the water
cooling system ..............................................................................................................86
Figure 23: Water cooling system – example by the manufacturer Dau.........................................87
Figure 24: Water cooling system – example by the manufacturer Cooltec ...................................88
Figure 25: Servo drives ARS 2320 and ARS 2320W: Connection to the supply voltage
and to the motor............................................................................................................89
Figure 26: Servo drives ARS 2340 and ARS 2360W: Connection to the supply voltage
and to the motor............................................................................................................90
Figure 27: Complete set-up of the ARS 2300 with motor and PC .................................................92

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
Figure 28: Pin assignment at the ARS 2320 and ARS 2320W:
Supply and braking resistor [X9]...................................................................................95
Figure 29: Pin assignment at the ARS 2340 and ARS 2360W: Supply [X9] .................................97
Figure 30: Pin assignment at the ARS 2340 and ARS 2360W: Braking resistor [X9A].................98
Figure 31: Pin assignment: 24VDC power supply [X3]................................................................100
Figure 32: Pin assignment: Motor [X6] and [X6A]........................................................................104
Figure 33: Connecting a holding brake with high current demand (> 2A) to the device..............105
Figure 34: Basic circuit diagram of connection [X1].....................................................................106
Figure 35: Connection notes [X3]: Without safety function..........................................................111
Figure 36: Pin assignment: Resolver connection [X2A]...............................................................113
Figure 37: Pin assignment: Analogue incremental encoder - optional [X2B] ..............................117
Figure 38: Pin assignment: Incremental encoder with serial interface
(for example EnDat, HIPERFACE®) - optional [X2B] .................................................117
Figure 39: Pin assignment: Digital incremental encoder - optional [X2B]....................................118
Figure 40: Pin assignment: Input of the incremental encoder [X10]............................................120
Figure 41: Pin assignment: Incremental encoder output [X11]....................................................122
Figure 42: CAN bus cabling example ..........................................................................................124
Figure 43: Pin assignment: RS232 null modem cable [X5] .........................................................126
Figure 44: Motor cable: Lengths of shields and cables ...............................................................129
Figure 45: E88: Position of the pin-and-socket connectors [X21] and [X22] at the front plate ....156
Figure 46: PROFIBUS-DP interface: Front view..........................................................................158
Figure 47: PROFIBUS-DP interface: Connection with external terminating resistors .................160
Figure 48: sercos II module: Front view.......................................................................................162
Figure 49: EtherCAT module: Front view.....................................................................................165
Figure 50: MC 2000 4-Axis Motion Coordinator...........................................................................168
Figure 51: MC 2000 4-Axis Motion Coordinator maximum capacity............................................168

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
Table of Tables:
Table 1: Scope of supply ............................................................................................................17
Table 2: Connector set: POWER connector ...............................................................................17
Table 3: Connector set: DSUB connector...................................................................................17
Table 4: Connector set: Shield connector...................................................................................17
Table 5: Technical data: Ambient conditions and qualification...................................................39
Table 6: Technical data: Dimensions and weight .......................................................................39
Table 7: Technical data: Cable specifications ............................................................................40
Table 8: Technical data: Motor temperature monitoring.............................................................40
Table 9: Display elements and RESET button ...........................................................................40
Table 10: Technical data: Performance data [X9] ........................................................................41
Table 11: Technical data: Internal braking resistor [X9] or [X9A] .................................................41
Table 12: Technical data: External braking resistor [X9] or [X9A] ................................................41
Table 13: Technical data: Motor connection [X6] .........................................................................42
Table 14: I2xt – times (set points 1 to 4) .......................................................................................46
Table 15: Requirements for the water cooling system .................................................................47
Table 16: Technical data: 24VDC supply [X3]..............................................................................47
Table 17: Technical data: Resolver [X2A] ....................................................................................49
Table 18: Technical data: Resolver interface [X2A] .....................................................................49
Table 19: Technical data: Encoder evaluation [X2B]....................................................................51
Table 20: Technical data: RS232 [X5] ..........................................................................................51
Table 21: Technical data: CAN bus [X4].......................................................................................51
Table 22: Technical data: Digital inputs and outputs [X1] ............................................................52
Table 23: Technical data: Analogue inputs and outputs [X1] .......................................................53
Table 24: Technical data: Incremental encoder input [X10] .........................................................53
Table 25: Technical data: Incremental encoder output [X11] .......................................................54
Table 26: Output voltage at the motor terminals at UZK = 560V....................................................57
Table 27: Stop categories .............................................................................................................67
Table 28: Pin assignment at the ARS 2320 and ARS 2320W: Supply[X9] ..................................93
Table 29: Pin assignment at the ARS 2320 and ARS 2320W: External braking resistor [X9] .....94
Table 30: Pin assignment at the ARS 2340 and ARS 2360W: Supply [X9] .................................96
Table 31: Pin assignment at the ARS 2340 and ARS 2360W: Braking resistor [X9A].................98
Table 32: Pin assignment: [X3].....................................................................................................99

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Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
Table 33: Pin assignment: Motor [X6].........................................................................................101
Table 34: Motor temperature monitoring system and holding brake [X6A] ................................102
Table 35: Pin assignment: I/O communication [X1]....................................................................108
Table 36: Pin assignment: [X3]...................................................................................................110
Table 37: Pin assignment: [X2A] ................................................................................................112
Table 38: Pin assignment: Analogue incremental encoder - optional [X2B] ..............................114
Table 39: Pin assignment: Incremental encoder with serial interface
(for example EnDat, HIPERFACE®) - optional [X2B] .................................................115
Table 40: Pin assignment: Digital incremental encoder - optional [X2B]....................................116
Table 41: Pin assignment: Incremental encoder input [X10] ......................................................119
Table 42: Pin assignment: Incremental encoder output [X11]....................................................121
Table 43: Pin assignment: CAN bus [X4] ...................................................................................123
Table 44: Pin assignment: RS232 interface [X5]........................................................................125
Table 45: EMC requirements: First and second environment ....................................................128
Table 46:Operating mode and error display ..............................................................................136
Table 47: Error messages...........................................................................................................137
Table 48: Technical data: EA88 interface...................................................................................153
Table 49: Digital inputs: EA88 interface [X21] ............................................................................154
Table 50: Digital outputs: EA88 interface [X22]..........................................................................154
Table 51: EA88: Connector [X21] for 8 digital inputs..................................................................155
Table 52: EA88: Connector [X22] for 8 digital outputs ...............................................................155
Table 53: Technical data: PROFIBUS-DP interface: Ambient conditions, dimensions
and weight...................................................................................................................157
Table 54: Technical data: PROFIBUS-DP interface: Interfaces and communication.................158
Table 55: Pin assignment: PROFIBUS-DP interface..................................................................159
Table 56: Technical data: sercos II module: Ambient conditions, dimensions and weight ........162
Table 57:Technical data: EtherCAT module: Ambient conditions, dimensions and weight ......165
Table 58: Display elements EtherCAT module...........................................................................166
Table 59: Signal level and differential voltage EtherCAT module ..............................................166
Table 60: Technical data: MC 2000 4-Axis Motion Coordinator.................................................170

General Page 16
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
1 General
1.1 Documentation
This product manual serves the purpose of a safe use of the ARS 2300 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:
Software Manual “Servo drive 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 drives.
Product Manual “Servo drive ARS 2100”: Description of the technical specifications and the
device functionality as well as notes on the installation and the operation of the servo drive
ARS 2100.
Product Manual “Servo drives ARS 2302, ARS 2305 and ARS 2310”:Description of the
technical data and the device functionality as well as notes concerning the installation and
operation of ARS 2302, 2305 and 2310 servo drives.
Product Manual “Motion Coordinator MC 2000”: Description of the technical data and the
device functionality as well as notes on the installation and the operation of the Motion Coordinator
MC 2000 (German version).
CANopen Manual “Servo drive ARS 2000”: Description of the implemented CANopen protocol
as per DSP402.
ETHERNET Manual “Servo drive ARS 2000”: Description of the implemented Ethernet protocol
(UDP).
PROFIBUS Manual “Servo drive ARS 2000”: Description of the implemented PROFIBUS-DP
protocol.
sercos Manual “Servo drive ARS 2000”: Description of the implemented sercos functionality.
EtherCAT Manual “Servo drive ARS 2000”: Description of the implemented EtherCAT protocol
(CoE) (German version).
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.

General Page 17
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
1.2 Scope of supply
The scope of supply includes:
Table 1: Scope of supply
1x Servo drive ARS 2300
Type ARS 2320 ARS 2320 W ARS 2340 ARS 2360 W
Metronix order number 9200-2320-00 9200-2320-10 9200-2340-00 9200-2360-10
Counter plugs for power, controller or shaft encoder connections, as well as for shield connection are
not included in the standard scope of supply. They can, however, be ordered as accessories.
Table 2: Connector set: POWER connector
1x Connector set: POWER-Connector
This plug set contains the counter plugs for the following connections:
- Supply [X9]
- Motor connection [X6]
- motor temperature sensor and holding brake [X6A]
Type ARS 2320 ARS 2320 W ARS 2340 ARS 2360 W
Metronix order number 9003-0280-01 9003-0280-02
Table 3: Connector set: DSUB connector
1x Connector set: DSUB connector
This connector set includes the counter plugs for the following connections:
- I/O interface [X1]
- Angle encoder connection [X2A]
- Angle encoder connection [X2B]
- CAN fieldbus interface [X4]
- Incremental encoder input [X10]
- Incremental encoder output [X11]
Type ARS 2320 ARS 2320 W ARS 2340 ARS 2360 W
Metronix order number 9200-0200-00
Table 4: Connector set: Shield connector
1x Connector set: Shield connector
This connector set includes one shield terminal (SK-20D)
Type ARS 2320 ARS 2320 W ARS 2340 ARS 2360 W
Metronix order number 9200-0203-00

Safety notes for electrical drives and controllers Page 18
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
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.
DANGER!
Nonobservance may result in property damages and in personal injuries.
Caution! Dangerous voltages.
The safety note indicates a possible perilous voltage.

Safety notes for electrical drives and controllers Page 19
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
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 the Safety notes for electrical drives and controllers
starting on page 18 and chapter 8.15 Notes concerning safe and EMC-compliant
installation starting on page 127.
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:
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.

Safety notes for electrical drives and controllers Page 20
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
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!
DANGER!
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.