Bosch Rexroth IndraControl VEH 30.1 Technical manual

Rexroth IndraControl VEH 30.1
R911318643
Edition 02
Project Planning Manual
Electric Drives
and Controls Pneumatics Service
Linear Motion and
Assembly Technologies
Hydraulics

About this Documentation IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
Rexroth IndraControl VEH 30.1
Project Planning Manual
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
Document Number, 120-2100-B389-02/EN
This documentation describes the embedded terminals
IndraControl VEH 30.1.
Description Release
Date
Notes
120-2100-B389-02/EN 04/07 First English Edition
 2007 Bosch Rexroth AG
Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).
The specified data is for product description purposes only and may not
be deemed to be guaranteed unless expressly confirmed in the contract.
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 •D-97816 Lohr a. Main
Telephone [phone] •Tx 68 94 21 •Fax [phone]
http://www.boschrexroth.com/
Dept. BRC/EPY (NH)
This document has been printed on chlorine-free bleached paper.
Title
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Internal File Reference
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Note

IndraControl VEH 30.1 Contents I
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Contents
1 System Presentation 1-1
1.1 Brief Description ........................................................................................................................... 1-1
Keypad..................................................................................................................................... 1-1
Touch Screen .......................................................................................................................... 1-1
Front View of the IndraControl VEH 30.1 ................................................................................ 1-2
Front View of the IndraControl VAC 30.1 ................................................................................ 1-3
1.2 Operating System ......................................................................................................................... 1-3
1.3 Commissioning ............................................................................................................................. 1-4
2 Important Directions for Use 2-1
2.1 Appropriate Use............................................................................................................................ 2-1
Introduction .............................................................................................................................. 2-1
Areas of Use and Application .................................................................................................. 2-2
2.2 Inappropriate Use ......................................................................................................................... 2-2
3 Safety Instructions for Electric Drives and Controls 3-1
3.1 Introduction ................................................................................................................................... 3-1
3.2 Explanations ................................................................................................................................. 3-1
3.3 Hazards by Improper Use............................................................................................................. 3-2
3.4 General Information ...................................................................................................................... 3-3
3.5 Protection Against Contact with Electrical Parts........................................................................... 3-4
3.6 Protection Against Electric Shock by Protective Low Voltage (PELV) ......................................... 3-5
3.7 Protection Against Dangerous Movements .................................................................................. 3-6
3.8 Protection Against Magnetic and Electromagnetic Fields During Operation and
Mounting ....................................................................................................................................... 3-7
3.9 Protection Against Contact with Hot Parts....................................................................................3-8
3.10 Protection During Handling and Mounting.................................................................................... 3-8
3.11 Battery Safety ............................................................................................................................... 3-9
3.12 Protection Against Pressurized Systems......................................................................................3-9
4 Technical Data 4-1
4.1 IndraControl VEH 30.1.................................................................................................................. 4-1
4.2 Operating Surface......................................................................................................................... 4-1
4.3 STOP Pushbutton......................................................................................................................... 4-1
4.4 Enabling Device............................................................................................................................ 4-2
4.5 Connection Module IndraControl VAC 30.1 ................................................................................. 4-2
4.6 Ambient Conditions....................................................................................................................... 4-3
4.7 Identification.................................................................................................................................. 4-4
4.8 Weight........................................................................................................................................... 4-4

II Contents IndraControl VEH 30.1
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4.9 Used Standards ............................................................................................................................ 4-5
4.10 Wear Parts.................................................................................................................................... 4-6
4.11 Compatibility Test ......................................................................................................................... 4-6
5 Dimensions 5-1
5.1 Housing Dimensions of the IndraControl VEH 30.1 ..................................................................... 5-1
5.2 Housing and Mounting Dimensions of the IndraControl VAC 30.1 .............................................. 5-2
5.3 Dimensions of the Wall Holder for the IndraControl VEH 30.1..................................................... 5-3
6 Display and Operating Components 6-1
6.1 Operating Elements ...................................................................................................................... 6-1
Housing of the IndraControl VEH 30.1 .................................................................................... 6-1
Keypad..................................................................................................................................... 6-4
Touch Screen .......................................................................................................................... 6-4
Safety Operating Components ................................................................................................ 6-5
Optional Operating Elements .................................................................................................. 6-8
6.2 Backlight Dimming........................................................................................................................ 6-8
7 Interfaces of the IndraControl VEH 30.1 7-1
7.1 Connection of the IndraControl VEH 30.1 via the IndraControl VAC 30.1 ................................... 7-1
Pin Assignment of the IndraControl VAC 30.1 ........................................................................ 7-1
X1: 24 VDC Voltage Supply .................................................................................................... 7-2
X2.1: STOP Pushbutton .......................................................................................................... 7-4
X2.2: Enabling Device ............................................................................................................. 7-5
X3: Ethernet Interface............................................................................................................ 7-10
7.2 Personality Function ................................................................................................................... 7-11
8 Maintenance and Installation 8-1
8.1 General Information ...................................................................................................................... 8-1
8.2 LCD Display.................................................................................................................................. 8-1
8.3 Maintenance of the IndraControl VEH 30.1.................................................................................. 8-1
8.4 Measures in Case of Malfunctions at the IndraControl VEH 30.1................................................ 8-2
9Software 9-1
9.1 General Information ...................................................................................................................... 9-1
9.2 First Commissioning ..................................................................................................................... 9-1
9.3 Touch Screen Calibration ............................................................................................................. 9-2
9.4 Rexroth CE Settings ..................................................................................................................... 9-2
Ethernet Adapter...................................................................................................................... 9-3
Application Settings ................................................................................................................. 9-4
Data Server.............................................................................................................................. 9-5
System Info.............................................................................................................................. 9-6
9.5 Windows CE 4.2 .NET.................................................................................................................. 9-7
Operation ................................................................................................................................. 9-7
Microsoft Programs ................................................................................................................. 9-9
FTP Server ............................................................................................................................ 9-10

IndraControl VEH 30.1 Contents III
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Web Server............................................................................................................................ 9-10
Telnet Server ......................................................................................................................... 9-10
CE User Configuration...........................................................................................................9-10
9.6 WinStudio.................................................................................................................................... 9-11
9.7 Evaluation of the Operating Element Commands ...................................................................... 9-12
Evaluation of the Operating Status in the Control ................................................................. 9-13
Evaluation of the Keys in the Operating System ................................................................... 9-14
9.8 System Update ........................................................................................................................... 9-15
Preparation ............................................................................................................................ 9-15
Upload via FTP Server .......................................................................................................... 9-16
10 Ordering Information 10-1
10.1 Type Code .................................................................................................................................. 10-1
IndraControl VEH 30.1 .......................................................................................................... 10-1
IndraControl VAC 30.1 .......................................................................................................... 10-2
10.2 Accessories ................................................................................................................................ 10-2
Extension Cable..................................................................................................................... 10-2
Wall Holder ............................................................................................................................ 10-2
10.3 Spare Parts................................................................................................................................. 10-2
Touch Pen ............................................................................................................................. 10-2
11 List of Figures 11-1
12 Index 12-1
13 Service & Support 13-1
13.1 Helpdesk..................................................................................................................................... 13-1
13.2 Service-Hotline ........................................................................................................................... 13-1
13.3 Internet........................................................................................................................................ 13-1
13.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 13-1
13.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 13-2

IV Contents IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P

IndraControl VEH 30.1 System Presentation 1-1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
1 System Presentation
1.1 Brief Description
The embedded terminal IndraControl VEH 30.1 is a portable, powerful,
PC-based operator and visualization terminal. The 2-circuit, 3-stage
enabling device as well as the 2-circuit STOP pushbutton ensure a safe
operation of the controls IndraLogic and IndraMotion. It permits the
comfortable configuration of machines and installations located at widely
distributed connection points.
VEH 30.1
Display 8.4" TFT
Keys Yes
Touch screen Yes
Enabling switch 2-circuit, 3-stage
STOP pushbutton 2-circuit
Interface Ethernet
Connection IndraControl VAC 30.1 with
emergency stop jumpering
Fig. 1-1: IndraControl VEH 30.1
Note: The specifications about the IndraControl VEH 30 devices
made in the documentation "Rexroth IndraControl VEP/VEH",
"DOK-SUPPL*-VEP/VEH*****-PR01-EN-P" are obsolete.
Keypad
The keypad consists of a chemical resistant polyester foil with embossed
keys.
Touch Screen
The front panel with touch screen allows to operate the application
software via the touch-sensitive surface of the display without keyboard
and mouse.

1-2 System Presentation IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
Front View of the IndraControl VEH 30.1
IndraControl VEH 30.1 with Touch Screen and Keypad
Fig. 1-2: Front view of the IndraControl VEH 30.1

IndraControl VEH 30.1 System Presentation 1-3
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Front View of the IndraControl VAC 30.1
The hand-held terminal IndraControl VEH 30.1 is connected with the
control via the connection module IndraControl VAC 30.1. At the rear side
you will find all interfaces to wire the connection module firmly with the
control. At the front side a 17-pin female connector with screwed plug
enables the comfortable connection of an IndraControl VEH 30.1.
Fig. 1-3: Front view of the IndraControl VAC 30.1
1.2 Operating System
For license reasons IndraControl VEH 30.1-type devices are only
delivered with already installed operating system. For further information
about the operating system please refer to chapter "Software".

1-4 System Presentation IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
1.3 Commissioning
Please mount the IndraControl VAC 30.1 connection module according to
the specifications in chapter "Dimensions". Then, connect the connection
module to the voltage supply, the STOP circuit, the enabling circuit and
the network.
Before commissioning the IndraControl VEH 30.1 the operator has to
assure that the installation, especially the safety devices, are in a proper
status.
Note: Before commissioning the IndraControl VEH 30.1 observe that
the STOP pushbutton is NOT pressed. The connection of an
IndraControl VEH 30.1 with pressed STOP pushbutton would
shut down the installation.
To connect the IndraControl VEH 30.1 put – as shown in Fig. 1-4 – the
angled connector without effort with an angle of 45° to the horizontal on
the flange of the IndraControl VAC 30.1 connection module. Only if the
connector snaps in properly, the correct position is reached. Now turn the
knurled nut with slight pressure on the flange.
45 Grad
Fig. 1-4: Plug orientation at the IndraControl VAC 30.1

IndraControl VEH 30.1 System Presentation 1-5
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
Note: While the connector is screwed on, a relay activates the STOP
pushbutton. Thus, the IndraControl VEH 30.1 is supplied with
voltage. Screw the knurled nut as far as the rubber seal is
completely covered and the end position is reached to ensure
the optimal connection of the contacts and to achieve the
specified degree of protection.
During commissioning the IndraControl VEH 30.1 and regularly during the
routine operation verify all three positions of the enabling device from both
sides for correct function.
The device might only be commissioned and connected by qualified staff.
The device or installation manufacturer defines further details about
commissioning in his documentation.

1-6 System Presentation IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P

IndraControl VEH 30.1 Important Directions for Use 2-1
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2 Important Directions for Use
2.1 Appropriate Use
Introduction
Rexroth products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.
The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.
Note: Bosch Rexroth, as manufacturer, is not liable for any damages
resulting from inappropriate use. In such cases, the guarantee
and the right to payment of damages resulting from
inappropriate use are forfeited. The user alone carries all
responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for
appropriate use of the products are satisfied:
•Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar
with appropriate use.
•If the product takes the form of hardware, then they must remain in
their original state, in other words, no structural changes are
permitted. It is not permitted to decompile software products or alter
source codes.
•Do not mount damaged or faulty products or use them in operation.
•Make sure that the products have been installed in the manner
described in the relevant documentation.

2-2 Important Directions for Use IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
Areas of Use and Application
The embedded terminal IndraControl VEH 30.1 is a PC-based operator
and visualization terminal, that can –depending on the application or
configuration –also perform control functions
.
Note: The embedded terminal IndraControl VEH 30.1 may only be
used with the accessories and parts specified in this
document. If a component has not been specifically named,
then it may not be either mounted or connected. The same
applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware
as specified in the relevant function descriptions.
The embedded terminal IndraControl VEH 30.1 has been developed for
use in control tasks.
Typical areas of application of the IndraControl VEH 30.1 are:
•Handling and assembly systems
•Packaging and foodstuff machine
•Printing and paper processing machines
•Machine tools.
IndraControl VEH 30.1-type devices may only be operated under the
assembly, installation and ambient conditions as described here
(temperature, system of protection, humidity, EMC requirements, etc.)
and in the position specified.
2.2 Inappropriate Use
Using the embedded terminals IndraControl VEH 30.1 outside of the
above-referenced areas of application or under operating conditions other
than described in the document and the technical data specified is
defined as “inappropriate use".
The embedded terminal IndraControl VEH 30.1 may not be used, if
•it is subject to operating conditions that do not meet the above
specified ambient conditions. This includes, for example, operation
under water, in the case of extreme temperature fluctuations or
extremely high maximum temperatures, or if
•Bosch Rexroth has not specifically released them for that intended
purpose. Please note the specifications outlined in the general Safety
Guidelines!

IndraControl VEH 30.1 Safety Instructions for Electric Drives and Controls 3-1
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3 Safety Instructions for Electric Drives and Controls
3.1 Introduction
Read these instructions before the initial startup of the equipment in order
to eliminate the risk of bodily harm or material damage. Follow these
safety instructions at all times.
Do not attempt to install or start up this equipment without first reading all
documentation provided with the product. Read and understand these
safety instructions and all user documentation of the equipment prior to
working with the equipment at any time. If you do not have the user
documentation for your equipment, contact your local Bosch Rexroth
representative to send this documentation immediately to the person or
persons responsible for the safe operation of this equipment.
If the equipment is resold, rented or transferred or passed on to others,
then these safety instructions must be delivered with the equipment.
WARNING
Improper use of this equipment, failure to follow
the safety instructions in this document or
tampering with the product, including disabling
of safety devices, may result in material
damage, bodily harm, electric shock or even
death!
3.2 Explanations
The safety instructions describe the following degrees of hazard
seriousness in compliance with ANSI Z535. The degree of hazard
seriousness informs about the consequences resulting from non-
compliance with the safety instructions.
Warning symbol with signal
word
Degree of hazard seriousness according
to ANSI
DANGER
Death or severe bodily harm will occur.
WARNING
Death or severe bodily harm may occur.
CAUTION
Bodily harm or material damage may occur.
Fig. 3-1: Hazard classification (according to ANSI Z535)

3-2 Safety Instructions for Electric Drives and Controls IndraControl VEH 30.1
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3.3 Hazards by Improper Use
DANGER
High voltage and high discharge current!
Danger to life or severe bodily harm by electric
shock!
DANGER
Dangerous movements! Danger to life, severe
bodily harm or material damage by
unintentional motor movements!
WARNING
High electrical voltage due to wrong
connections! Danger to life or bodily harm by
electric shock!
WARNING
Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
CAUTION
Surface of machine housing could be extremely
hot! Danger of injury! Danger of burns!
CAUTION
Risk of injury due to improper handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock or incorrect handling of
pressurized systems!
CAUTION
Risk of injury due to incorrect handling of
batteries!

IndraControl VEH 30.1 Safety Instructions for Electric Drives and Controls 3-3
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
3.4 General Information
•Bosch Rexroth AG is not liable for damages resulting from failure to
observe the warnings provided in this documentation.
•Read the operating, maintenance and safety instructions in your
language before starting up the machine. If you find that you cannot
completely understand the documentation for your product, please ask
your supplier to clarify.
•Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
•Only persons who are trained and qualified for the use and operation
of the equipment may work on this equipment or within its proximity.
•The persons are qualified if they have sufficient knowledge of the
assembly, installation and operation of the equipment as well as an
understanding of all warnings and precautionary measures noted in
these instructions.
•Furthermore, they must be trained, instructed and qualified to
switch electrical circuits and equipment on and off in accordance
with technical safety regulations, to ground them and to mark them
according to the requirements of safe work practices. They must
have adequate safety equipment and be trained in first aid.
•Only use spare parts and accessories approved by the manufacturer.
•Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
•The equipment is designed for installation in industrial machinery.
•The ambient conditions given in the product documentation must be
observed.
•Use only safety features and applications that are clearly and explicitly
approved in the Project Planning Manual.
For example, the following areas of use are not permitted: construction
cranes, elevators used for people or freight, devices and vehicles to
transport people, medical applications, refinery plants, transport of
hazardous goods, nuclear applications, applications sensitive to high
frequency, mining, food processing, control of protection equipment
(also in a machine).
•The information given in the documentation of the product with regard
to the use of the delivered components contains only examples of
applications and suggestions.
The machine and installation manufacturer must
•make sure that the delivered components are suited for his
individual application and check the information given in this
documentation with regard to the use of the components,
•make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.
•Startup of the delivered components is only permitted once it is sure
that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.
•Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.

3-4 Safety Instructions for Electric Drives and Controls IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
•Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the documentation "EMC in Drive and Control
Systems".
The machine or installation manufacturer is responsible for
compliance with the limiting values as prescribed in the national
regulations.
3.5 Protection Against Contact with Electrical Parts
Note: This section refers to equipment and drive components with
voltages above 50 Volts.
Touching live parts with voltages of 50 Volts and more with bare hands or
conductive tools or touching ungrounded housings can be dangerous and
cause electric shock. In order to operate electrical equipment, certain
parts must unavoidably have dangerous voltages applied to them.
DANGER
High electrical voltage! Danger to life, severe
bodily harm by electric shock!
⇒ Only those trained and qualified to work with or on
electrical equipment are permitted to operate, maintain
or repair this equipment.
⇒ Follow general construction and safety regulations when
working on high voltage installations.
⇒ Before switching on power the ground wire must be
permanently connected to all electrical units according
to the connection diagram.
⇒ Do not operate electrical equipment at any time, even
for brief measurements or tests, if the ground wire is not
permanently connected to the points of the components
provided for this purpose.
⇒ Before working with electrical parts with voltage higher
than 50 V, the equipment must be disconnected from
the mains voltage or power supply. Make sure the
equipment cannot be switched on again unintended.
⇒ The following should be observed with electrical drive
and filter components:
⇒ Wait five (5) minutes after switching off power to allow
capacitors to discharge before beginning to work.
Measure the voltage on the capacitors before beginning
to work to make sure that the equipment is safe to
touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.
⇒ Install the covers and guards provided with the
equipment properly before switching the equipment on.
Prevent contact with live parts at any time.
⇒ A residual-current-operated protective device (RCD)
must not be used on electric drives! Indirect contact
must be prevented by other means, for example, by an
overcurrent protective device.
⇒ Electrical components with exposed live parts and
uncovered high voltage terminals must be installed in a
protective housing, for example, in a control cabinet.

IndraControl VEH 30.1 Safety Instructions for Electric Drives and Controls 3-5
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
To be observed with electrical drive and filter components:
DANGER
High electrical voltage on the housing!
High leakage current! Danger to life, danger of
injury by electric shock!
⇒ Connect the electrical equipment, the housings of all
electrical units and motors permanently with the safety
conductor at the ground points before power is
switched on. Look at the connection diagram. This is
even necessary for brief tests.
⇒ Connect the safety conductor of the electrical
equipment always permanently and firmly to the
supply mains. Leakage current exceeds 3.5 mA in
normal operation.
⇒ Use a copper conductor with at least 10 mm²cross
section over its entire course for this safety conductor
connection!
⇒ Prior to startups, even for brief tests, always connect
the protective conductor or connect with ground wire.
Otherwise, high voltages can occur on the housing
that lead to electric shock.
3.6 Protection Against Electric Shock by Protective Low
Voltage (PELV)
All connections and terminals with voltages between 0 and 50 Volts on
Rexroth products are protective low voltages designed in accordance with
international standards on electrical safety.
WARNING
High electrical voltage due to wrong
connections! Danger to life, bodily harm by
electric shock!
⇒ Only connect equipment, electrical components and
cables of the protective low voltage type (PELV =
Protective Extra Low Voltage) to all terminals and
clamps with voltages of 0 to 50 Volts.
⇒ Only electrical circuits may be connected which are
safely isolated against high voltage circuits. Safe
isolation is achieved, for example, with an isolating
transformer, an opto-electronic coupler or when
battery-operated.

3-6 Safety Instructions for Electric Drives and Controls IndraControl VEH 30.1
DOK-SUPPL*-VEH*30.1***-PR02-EN-P
3.7 Protection Against Dangerous Movements
Dangerous movements can be caused by faulty control of the connected
motors. Some common examples are:
•improper or wrong wiring of cable connections
•incorrect operation of the equipment components
•wrong input of parameters before operation
•malfunction of sensors, encoders and monitoring devices
•defective components
•software or firmware errors
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.
The monitoring in the drive components will normally be sufficient to avoid
faulty operation in the connected drives. Regarding personal safety,
especially the danger of bodily injury and material damage, this alone
cannot be relied upon to ensure complete safety. Until the integrated
monitoring functions become effective, it must be assumed in any case
that faulty drive movements will occur. The extent of faulty drive
movements depends upon the type of control and the state of operation.
DANGER
Dangerous movements! Danger to life, risk of
injury, severe bodily harm or material damage!
⇒ Ensure personal safety by means of qualified and
tested higher-level monitoring devices or measures
integrated in the installation. Unintended machine
motion is possible if monitoring devices are disabled,
bypassed or not activated.
⇒ Pay attention to unintended machine motion or other
malfunction in any mode of operation.
⇒ Keep free and clear of the machine’s range of motion
and moving parts. Possible measures to prevent
people from accidentally entering the machine’s range
of motion:
- use safety fences
- use safety guards
- use protective coverings
- install light curtains or light barriers
⇒ Fences and coverings must be strong enough to
resist maximum possible momentum, especially if
there is a possibility of loose parts flying off.
⇒ Mount the emergency stop switch in the immediate
reach of the operator. Verify that the emergency stop
works before startup. Don’t operate the machine if the
emergency stop is not working.
⇒ Isolate the drive power connection by means of an
emergency stop circuit or use a starting lockout to
prevent unintentional start.
⇒ Make sure that the drives are brought to a safe
standstill before accessing or entering the danger
zone. Safe standstill can be achieved by switching off
the power supply contactor or by safe mechanical
locking of moving parts.