Cooper Power Tools ARS-310/5 User manual

Metronix Meßgeräte und Elektronik GmbH Telefon: [phone]
Kocherstraße 3 Telefax: [phone]
D-38120 Braunschweig E-mail: [email protected]
Germany http://www.metronix.de
Product Manual
Servo Positioning Controller
ARS-310/5(UL)
ARS-310/10

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Copyrights
©2003 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.
Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the
United States and/or other countries.

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Revision log
Author: Metronix Meßgeräte und Elektronik GmbH
Manual name: Product Manual „Servo Positioning Controller ARS-310/5(UL)
ARS-310/10“
File name: ProductManual_ARS_310_5_10_V2p3.doc
File location:
Series
no. Description Revision index Date of change
001 Release for distribution 2.0 09.12.2003
002 Numbers of AWG and
marks about the (European standard) 2.1 15.01.2004
003 final corrections 2.2 03.02.2004
004 Correction of Windows®Trademark and CPT 2.3 10.01.2005

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Table of Contents:
1 GENERAL.........................................................................................................12
1.1 Documentation .......................................................................................12
1.2 Scope of supply......................................................................................13
2 SAFETY NOTES FOR ELECTRICAL DRIVES AND CONTROLLERS ...........14
2.1 Used symbols.........................................................................................14
2.2 General notes.........................................................................................14
2.3 Danger resulting from misuse.................................................................16
2.4 Safety notes............................................................................................16
2.4.1 General safety notes..................................................................16
2.4.2 Safety notes for assembly and maintenance.............................18
2.4.3 Protection against contact with electrical parts ..........................19
2.4.4 Protection against electrical shock by means of protective extra-
low voltage (PELV) ....................................................................20
2.4.5 Protection against dangerous movements.................................21
2.4.6 Protection against contact with hot parts ...................................21
2.4.7 Protection during handling and assembly ..................................22
2.5 Overload behaviour ................................................................................22
3 PRODUCT DESCRIPTION...............................................................................23
3.1 General...................................................................................................23
3.2 Power supply..........................................................................................25
3.2.1 AC supply ..................................................................................25
3.2.2 Power supply .............................................................................25
3.2.3 Mains fuse .................................................................................25
3.3 Brake chopper........................................................................................25
3.4 Communication interfaces......................................................................26
3.4.1 RS232 interface.........................................................................26
3.4.2 CAN-Bus....................................................................................26
3.4.3 Profibus......................................................................................26
3.4.4 I/O functions and device controller.............................................27
4 TECHNICAL DATA ..........................................................................................28
4.1 Operating and display elements.............................................................29
4.2 Supply [X9].............................................................................................30
4.3 Motor connection [X6].............................................................................31
4.4 Motor feedback connection [X2].............................................................31

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
4.4.1 Resolver connection [X2]...........................................................32
4.4.2 Encoder connection [X2], [X10], additional 15-pole connector
[X21] ..........................................................................................32
4.5 Communication interfaces......................................................................36
4.5.1 RS232 [X5] ................................................................................36
4.5.2 CAN bus technology plug-in module..........................................36
4.5.3 Profibus technology plug-in module...........................................37
4.5.4 I/O interface [X1]........................................................................38
4.5.5 Incremental encoder input [X10]................................................39
4.5.6 Incremental encoder output [X11]..............................................39
5 FUNCTION OVERVIEW ...................................................................................40
5.1 Motors ....................................................................................................40
5.1.1 Synchronous servo motors........................................................40
5.2 Functions of the servo positioning controller ARS-310/xx.......................40
5.2.1 Pulse width modulation (PWM)..................................................41
5.2.2 Setpoint management................................................................41
5.2.3 Torque-controlled mode.............................................................41
5.2.4 Speed-controlled mode..............................................................42
5.2.5 Torque-limited speed control......................................................42
5.2.6 Positioning and position control .................................................42
5.2.7 Synchronization, electrical transmissions ..................................43
5.2.8 Brake management....................................................................43
5.3 Positioning control ..................................................................................43
5.3.1 Overview....................................................................................43
5.3.2 Relative positioning....................................................................44
5.3.3 Absolute positioning...................................................................44
5.3.4 Driving profile generator.............................................................44
5.3.5 Homing ......................................................................................45
6 MECHANICAL INSTALLATION.......................................................................46
6.1 Important notes.......................................................................................46
6.2 View of the device ..................................................................................48
6.3 Mounting.................................................................................................51
7 ELECTRICAL INSTALLATION........................................................................53
7.1 Connector configuration..........................................................................53
7.2 ARS-310/xx complete system.................................................................54
7.3 Connection: Power supply [X9]...............................................................56

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
7.3.1 Device side [X9].........................................................................56
7.3.2 Counterplug [X9]........................................................................56
7.3.3 Pin configuration [X9].................................................................56
7.3.4 Cable type and design [X9]........................................................57
7.3.5 Connection notes [X9]................................................................57
7.4 Connection: external break resistor [X12]...............................................58
7.5 Connection: Motor [X6]...........................................................................58
7.5.1 Device side [X6].........................................................................58
7.5.2 Counterplug [X6]........................................................................58
7.5.3 Pin configuration [X6].................................................................59
7.5.4 Cable type and design [X6]........................................................59
7.5.5 Connection notes [X6]................................................................60
7.6 Connection: I/O communication [X1]......................................................61
7.6.1 Device side [X1].........................................................................63
7.6.2 Counterplug [X1]........................................................................63
7.6.3 Pin configuration [X1].................................................................64
7.6.4 Cable type and design [X1]........................................................65
7.6.5 Connection notes [X1]................................................................65
7.7 Connection: Resolver [X2]......................................................................66
7.7.1 Device side [X2].........................................................................66
7.7.2 Counterplug [X2]........................................................................66
7.7.3 Pin configuration [X2].................................................................66
7.7.4 Cable type and design [X2]........................................................67
7.7.5 Connection notes [X2]................................................................67
7.8 Connection: Encoder [X2].......................................................................68
7.8.1 Device side [X2].........................................................................68
7.8.2 Counterplug [X2]........................................................................68
7.8.3 Pin configuration [X2].................................................................68
7.8.4 Cable type and design [X2]........................................................69
7.8.5 Connection notes [X2]................................................................70
7.9 Connection: Encoder [X21] (additional 15-pole connector).....................71
7.9.1 Device side [X21] (additional 15-pole connector).......................71
7.9.2 Counterplug [X21] (additioanl 15-pole connector)......................71
7.9.3 Pin configuration [X21] (additional 15-pole connector)...............71
7.9.4 Cable type and design [X21] additional 15-pole connector........73
7.10 Connection: Incremental encoder input [X10].........................................75
7.10.1 Device side [X10].......................................................................75
7.10.2 Counterplug [X10]......................................................................75

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
7.10.3 Pin configuration [X10]...............................................................76
7.10.4 Cable type and design [X10]......................................................76
7.10.5 Connection notes [X10]..............................................................76
7.11 Connection: Incremental encoder output [X11].......................................77
7.11.1 Device side [X11].......................................................................77
7.11.2 Counterplug [X11]......................................................................77
7.11.3 Pin configuration [X11]...............................................................78
7.11.4 Cable type and design [X11]......................................................78
7.11.5 Connection notes [X11]..............................................................78
7.12 Connection: CAN-Bus Technology Modul ..............................................79
7.12.1 Device side as presented by the CAN-Bus Module ...................79
7.12.2 Counterplug ...............................................................................79
7.12.3 Cable type and design...............................................................80
7.12.4 Connection notes.......................................................................80
7.13 Connection: RS232/COM [X5]................................................................81
7.13.1 Device side [X5].........................................................................81
7.13.2 Counterplug [X5]........................................................................81
7.13.3 Pin configuration [X5].................................................................82
7.13.4 Cable type and design [X5]........................................................82
7.13.5 Connection notes [X5]................................................................82
8 NOTES ON SAFE AND EMC-COMPLIANT INSTALLATION..........................83
8.1 Definition and terms................................................................................83
8.2 General information on EMC..................................................................83
8.3 EMC areas: first and second environment..............................................84
8.4 EMC-compliant cabling...........................................................................84
8.5 Additional EMC equipment for operation with long motor cable .............85
8.5.1 Content of the EMC kit...............................................................86
8.5.2 External Cabling and Assembly.................................................87
8.5.3 Assembly Instructions for the EMC Kit:......................................88
8.5.3.1 Alternative in case of restricted room....................................................89
8.5.4 EMC Kit applications..................................................................89
8.6 ESD protection .......................................................................................90
9 INITIAL OPERATION .......................................................................................91
9.1 General notes on connection..................................................................91
9.2 Tools / material.......................................................................................91
9.3 Connecting the motor .............................................................................91

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
9.4 Connecting the servo positioning controller ARS-310/xx to the power
supply.....................................................................................................92
9.5 Connecting the PC .................................................................................92
9.6 Checking operability ...............................................................................92
10 SERVICE FUNCTIONS AND ERROR MESSAGES.........................................93
10.1 Protection and service functions.............................................................93
10.1.1 Overview....................................................................................93
10.1.2 Overcurrent and short-circuit monitoring....................................93
10.1.3 Overvoltage monitoring for the DC bus......................................93
10.1.4 Temperature monitoring of the heat sink ...................................94
10.1.5 Monitoring of the motor..............................................................94
10.1.6 I²t monitoring..............................................................................94
10.1.7 Power monitoring for the brake chopper....................................94
10.1.8 Initial operation status................................................................94
10.2 Display of operating mode and error messages.....................................95
10.2.1 Display of operating mode and errors........................................95
10.2.2 Error messages..........................................................................95
11 INFORMATION CONCERNING UL..................................................................99
11.1 Circuit protection.....................................................................................99
11.2 Wiring and environment regards.............................................................99
11.2.1 Motor and mains supply and sensor wiring according to AWG..99
11.3 Overload behaviour ................................................................................99

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Table of Figures:
Figure 1: Type key .......................................................................................................................23
Figure 2: Control scheme of the ARS-310/xx..............................................................................40
Figure 3: Driving profiles of servo positioning controller ARS-310/xx..........................................45
Figure 4: Servo positioning controller ARS-310/xx: Installation space........................................47
Figure 5: Servo positioning controller ARS-310/5 (UL): Front view.............................................48
Figure 6: Servo positioning controller ARS-310/5 (UL): Top view...............................................49
Figure 7: Servo positioning controller ARS-310/5 (UL): Bottom view..........................................50
Figure 8: Servo positioning controller ARS-310/10: Bottom view................................................51
Figure 9: Servo positioning controller ARS-310/xx: Mounting plate...........................................52
Figure 10: Connection to power supply and motor........................................................................53
Figure 11: Complete setup of the ARS-310/xx with motor and PC ...............................................55
Figure 12: Supply [X9] for the servo positioning controller ARS-310/5 (UL).................................57
Figure 13: Supply [X9] for the servo positioning controller ARS-310/10 .......................................57
Figure 14: Motor connection [X6]...................................................................................................60
Figure 15: Connecting a holding brake with high current draw (> 0.5A) to the device..................61
Figure 16: Basic circuit diagram connector [X1]............................................................................62
Figure 17: Pin configuration: Resolver connection [X2].................................................................67
Figure 18: Pin configuration [X2]: In case of the Stegmann (HIPERFACE) encoder evaluation
module..........................................................................................................................70
Figure 19: Pin configuration [X2]: In case of the Yaskawa (SGM, Sigma 1) Incremental encoder
evaluation module.........................................................................................................70
Figure 20: Pin configuration X21: Analog incremental encoder –additional 15-pole connector....74
Figure 21: Pin configuration X21: Incremental encoder with serial data port (EnDat) –additional
15-pole connector.........................................................................................................74
Figure 22: Pin configuration [X21]: Digital incremental encoder –additional 15-pole connector...75
Figure 23: Pin configuration: Input of the incremental encoder [X10]............................................77
Figure 24: Pin configuration: Incremental encoder output [X11] ...................................................78
Figure 25: Pin configuration: CAN-Bus module.............................................................................79
Figure 26: Cabling example for CAN-Bus......................................................................................80
Figure 27: Pin configuration [X5]: RS232 null modem cable.........................................................82
Figure 28: Mechanical installation: EMC kit with three toroidal cores ...........................................87
Figure 29: EMC kit: wiring length of the motor cable.....................................................................87
Figure 30: Mechanical dimension of the EMC holding plate .........................................................88

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Table of Tables:
Table 1: Scope of supply ............................................................................................................13
Table 2: Connector set: Connector Set 1 and 2.........................................................................13
Table 3: Technical data: Ambient conditions and qualification...................................................28
Table 4: Technical specifications: Dimensions and weight........................................................28
Table 5: Technical specifications: Motor temperature monitoring..............................................28
Table 6: Technical specifications: Cable specifications .............................................................29
Table 7: Display elements and RESET button...........................................................................29
Table 8: Technical specifications: Performance data [X9] .........................................................30
Table 9: Technical specifications: Internal brake resistor [X12].................................................30
Table 10: Technical specifications: External brake resistor [X12]................................................30
Table 11: Technical specifications: Motor connection specifications [X6]....................................31
Table 12: Technical specifications: Resolverinterface RDC16N [X2] ..........................................32
Table 13: Technical specifications: Standard incremental encoder with commutation signals
([x2], additional 15-pole connector [X21]).....................................................................33
Table 14: Technical specifications: high resolution encoder evaluation [X2], additional 15-pole
connector [X21].............................................................................................................35
Table 15: Technical specifications: RS232 [X5]...........................................................................36
Table 16: Technical specifications: CAN bus...............................................................................36
Table 17: Technical specifications: Profibus ................................................................................37
Table 18: Technical specifications: Digital inputs and outputs [X1]..............................................38
Table 19: Technical specifications: analog inputs and outputs [X1].............................................38
Table 20: Technical specifications: Incremental encoder input [X10]..........................................39
Table 21: Technical specifications: Incremental encoder output [X11]........................................39
Table 22: Pin configuration [X9]....................................................................................................56
Table 23: ARS-310/5 (UL) Connector [X12]: External brake resistor...........................................58
Table 24: Pin configuration [X6]....................................................................................................59
Table 25: Connector configuration: I/O communication [X1].......................................................64
Table 26: Pin configuration [X2]....................................................................................................66
Table 27: Pin configuration: Stegmann “HIPERFACE” Encoder evaluation................................68
Table 28: Pin configuration: YASKAWA Incremental encoder [X2]..............................................69
Table 29: Pin configuration [X21]: analog incremental encoder – additional 15-pole connector.71
Table 30: Pin configuration [X21]: Incremental encoder with serial data port (EnDat) – additional
15-pole connector.........................................................................................................72

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Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Table 31: Pin configuration [X21]: Digital incremental encoder – additional 15-pole connector..73
Table 32: Pin configuration [X10]: Incremental encoder input......................................................76
Table 33: Pin configuration [X11]: Incremental encoder output ...................................................78
Table 34: Pin configuration RS232 interface [X5].........................................................................82
Table 35: EMC requirements: First and second environment......................................................84
Table 36: content of the EMC kit ..................................................................................................86
Tabelle 37: EMC-Components........................................................................................................89
Table 38: Display of operating mode and errors ..........................................................................95
Table 39: Error messages ............................................................................................................96

Page 12 General
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
1 General
1.1 Documentation
This product manual serves the purpose of a safe use of the ARS-310/xx series servo positioning
controller. It contains safety notes, which must be complied with.
Further information can be found in the following manuals of the ARS-310/xx product range:
 Software Manual WMEMOC 3.5
”Servo Positioning Controller ARS-310, ARS-560, IMD-310/5F”: Description of the device
functionality and the software functions of the firmware including RS232 communication.
Description of the parameterisation program WMEMOC 3.5 GAMMA with instructions on the
commissioning of an ARS-310/xx series servo positioning controller.
 CANopen User Manual: Description of the implemented CANopen protocol as per DSP402.
 PROFIBUS-DP Product manual: Description of the implemented PROFIBUS-DP protocol.
 Metronix Drive Control (MDC) Programming manual: This manual contains instructions for all
steps necessary to design, produce and test applications based on MDC for the Servo Positioning
Controller ARS-310/xx and IMD-F .

General Page 13
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
1.2 Scope of supply
The scope of supply includes:
Table 1: Scope of supply
1x Servo positioning controller ARS-310/xx
Counterplugs for power, controller and shaft encoder connections are not included in the standard
scope of supply. They can, however, be ordered as accessories.
Table 2: Connector set: Connector Set 1 and 2
Connector Set 1
2x 7-pole PHOENIX connector
PC4/7-ST-7,62
1x
Content:
3x Coding profile
Metronix order no.: 9003-0252
Connector Set 2
2x 7-pole PHOENIX connector
PC4/7-ST-7,62
3x Coding profile
3x 9-pole DSUB connector, male
1x 9-pole DSUB connector, female
4x DSUB housing for 9-pole DSUB
connector
1x 25-pole DSUB connector, male
1x
Content:
1x DSUB housing for 25-pole DSUB
connector
Metronix order no.: 9003-0256

Page 14 Safety notes for electrical drives and controllers
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
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.
2.2 General notes
In the case of damage resulting from non-compliance of the safety notes in this manual Metronix
Meßgeräte und Elektronik GmbH will assume any liability.
Prior to the initial use you must read the chapters Safety notes for electrical drives and
controllers starting on page 14 and 8 Notes on safe and EMC-compliant installation
page 83.
If the documentation in the language at hand is not understood accurately, please contact and inform
your supplier.
Sound and safe operation of the servo drive controller requires proper and professional transportation,
storage, assembly and installation as well as proper operation and maintenance. Only trained and
qualified personnel may handle electrical devices:

Safety notes for electrical drives and controllers Page 15
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
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 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 or authorisation to switch devices/systems on and off and to ground
them as per the standards of safety engineering and to efficiently label them as per the job
demands.
 Education and instruction as per the standards of safety engineering regarding the maintenance
and use of adequate safety equipment.
 First aid training.
The following notes must be read prior to the initial operation of the system to prevent personal
injuries and/or property damages:
These safety notes must be complied with at all times.
Do not try to install or commission the servo drive controller before carefully reading all
safety notes for electrical drives and controllers contained in this document. These
safety instructions and all other user notes must be read prior to any work with the servo
drive controller.
In case you do not have any user notes for the servo drive controller, please contact
your sales representative. Immediately demand these documents to be sent to the
person responsible for the safe operation of the servo drive controller.
If you sell, rent and/or otherwise make this device available to others, these safety notes
must also be included.
The user must not open the servo drive controller for safety and warranty reasons.
Professional control process design is a prerequisite for sound functioning of the servo
drive controller!
DANGER!
Inappropriate handling of the servo drive controller and non-compliance of the
warnings as well as inappropriate intervention in the safety features may result in
property damage, personal injuries, electric shock or in extreme cases even death.

Page 16 Safety notes for electrical drives and controllers
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
2.3 Danger resulting from misuse
DANGER!
High electrical voltages and high load currents!
Danger to life or serious personal injury from electrical shock!
DANGER!
High electrical voltage caused by wrong connections!
Danger to life or serious personal injury from electrical shock!
DANGER!
Surfaces of device housing may be hot!
Risk of injury! Risk of burning!
DANGER!
Dangerous movements!
Danger to life, serious personal injury or property damage due to unintentional
movements of the motors!
2.4 Safety notes
2.4.1 General safety notes
The servo drive controller corresponds to IP20 class of protection as well as pollution
level 1. Make sure that the environment corresponds to this class of protection and
pollution level.
Only use replacements parts and accessories approved by the manufacturer.
The devices must be connected to the mains supply as per EN regulations, so that they
can be cut off the mains supply by means of corresponding separation devices (e.g.
main switch, contactor, power switch).
The servo drive controller may be protected using an AC/DC sensitive 300mA fault
current protection switch (RCD = Residual Current protective Device).
Gold contacts or contacts with a high contact pressure should be used to switch the
control contacts.

Safety notes for electrical drives and controllers Page 17
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
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.
For notes on installation corresponding to EMC, please refer to chapter 8 Notes on safe
and EMC-compliant installation (page 83). 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
controller are to be found in this product manual and must be met.
DANGER!
The general setup and safety regulations for work on power installations (e.g. 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:
(European standard)
VDE 0100 Regulations for the installation of high voltage (up to 1000 V) devices
EN 60204 Electrical equipment of machines
EN 50178 Electronic equipment for use in power installations

Page 18 Safety notes for electrical drives and controllers
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
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 controller 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, e.g. 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 drive controller alone is not suitable for personal protection!
Render the electrical equipment voltage-free using the main switch and protect it from
being switched on again until the DC bus circuit is discharged, in the case of:
 Maintenance and repair work
 Cleaning
 long 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 controller and up to 5 minutes thereafter. Contact 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 device.
Also make sure that the external power supply of the controller (24V) is switched off.
The DC bus circuit or the mains supply must always be switched off prior to switching off
the 24V controller supply.
Carry out work in the machine area only, if AC and/or DC supplies are switched off.
Switched off output stages or controller enablings are no suitable means of locking. In
the case of a malfunction the drive may accidentally be put into action.

Safety notes for electrical drives and controllers Page 19
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Initial operation must be carried out with idle motors, to prevent mechanical damages
e.g. due to the wrong direction of rotation.
Electronic devices are never fail-safe. It is the user’s responsibility, in the case an
electrical device fails, to make sure the system is transferred into a secure state.
The servo drive controller and in particular the brake resistor, externally or internally, can
assume high temperatures, which may cause serious burns.
2.4.3 Protection against contact with electrical parts
This section only concerns devices and drive components carrying voltages exceeding 50 V. Contact
with parts carrying voltages of more than 50 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.
DANGER!
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, e.g. a switch cabinet. The regulations VGB4 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 3.5 mA!
Comply with the minimum copper cross-section for the ground conductor over its entire
length as per EN60617!
(European standard)
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.

Page 20 Safety notes for electrical drives and controllers
Product Manual “Servo Positioning Controller ARS-310/5(UL) ARS-310/10“ Version 2.3
Do not touch electrical connections of the components when switched on.
Prior to accessing electrical parts carrying voltages exceeding 50 Volts, disconnect the
device from the mains or power supply. Protect it from being switched on again.
For the installation the amount of DC bus voltage must be considered, particularly
regarding insulation and protective measures. Ensure proper grounding, wire
dimensioning and corresponding short-circuit protection.
The servo drive controllers can carry voltage until up to 5 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 between 5 and 50 Volts at the servo drive controller 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 50178/1998, section 5.2.8.1.
DANGER!
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 50 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.