Festo EXCM-40 -PF Series User manual

EXCM-40
Planar surface gantry
Operating instruc-
tions
8170167
2022-03b
[8170169]

Translation of the original instructions
LOCTITE 243® is a registered trademark of its respective trademark holder in certain countries.

Festo — EXCM-40 — 2022-03b
3
Table of contents
1 Applicable documents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Foreseeable misuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4 Training of qualified personnel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Additional information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.1 Design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.2 Functional principle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5 Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5.1 Unpacking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5.2 Locks in the packaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6 Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.1 Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.1.1 Installation space. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.1.2 Mounting surface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.1.3 Mounting points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.1.4 Mounting attachments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6.1.5 Transportation locks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6.2 Types of mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6.2.1 Mounting kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6.2.2 Adjusting kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6.3 Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
6.4 Aligning and adjusting the product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6.4.1 Mounting profile covers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6.4.2 Aligning and adjusting X-axis 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.4.3 Aligning and adjusting X-axis 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.4.4 Aligning X-axes parallel with each other. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6.4.5 Checking the toothed belt pretensioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.4.6 Setting the toothed belt pretensioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.5 Optional work. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.5.1 Positioning mounting components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.5.2 Manually moving the Y-axis (cross-brace). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.5.3 Mounting energy chain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.6 Energy supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.7 Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.7.1 X-axis proximity sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.7.2 Y-axis (cross-brace) proximity switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7 Pneumatic installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8 Electrical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.1 Multi-pin plug distributor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.2 Earthing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

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9 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10 Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.1 Cleaning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.2 Lubrication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
11 Repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
12 Demounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
13 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
13.1 General features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
13.2 Operating and storage conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
13.3 Flatness. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
13.4 Feed constant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
13.5 Dynamic data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
13.6 Materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Festo — EXCM-40 — 2022-03b
Additional information
5
1 Applicable documents
All available documents for the product è www.festo.com/sp.
2Safety
2.1 Safety instructions
–Observe the identifications on the product.
–Wear required personal protective equipment during transport and during assembly and disas-
sembly of very heavy product versions.
–Before working on the product, switch off the power supply and secure it against being switched on
again.
–Observe the tightening torques. Unless otherwise specified, the tolerance is ± 20%.
–Comply with specified critical limits.
–Only use the product if it is in perfect technical condition.
–Only use the product in its original condition without unauthorised modifications.
2.2 Intended use
The intended use of the product is to execute positioning tasks within machines or automation
systems with a higher-order controller in an industrial environment.
2.3 Foreseeable misuse
Never use the product as follows:
–With unauthorised modifications or alterations to the product
–in an invalid mounting position
–with load limits exceeded
–without a risk assessment of the complete system
–without a safety concept for the complete system
2.4 Training of qualified personnel
Work on the product may only be carried out by qualified personnel who can evaluate the work and
detect dangers. The qualified personnel have skills and experience in dealing with electropneumatic
(open-loop) control technology.
3 Additional information
–Contact the regional Festo contact if you have technical problems è www.festo.com.
–Accessories and spare parts è www.festo.com/catalogue.

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Festo — EXCM-40 — 2022-03b
Product overview
4 Product overview
4.1 Design
1
2
3
4
5
6
7
89101112
13
14
6
7
Fig. 1: EXCM-40-...-B example shown
1
End cap
2
X-axis 1 with energy chain
3
End cap with toothed belt tensioning
device
4
X-axis 2
5
Mounting component – adjusting kit or
mounting kit
6
Drive cover with covering (covering only
with variant EXCM-...-B-... mounting posi-
tion motors bottom)
7
Coupling housing and motor flange,
optional
8
Motor 2, optional
9
Energy chain of the Y-axis
10
Y-axis
11
Y-axis slide
12
Motor 1, optional
13
Multi-pin plug distributor
14
Energy chain of the X-axis

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Product overview
7
4.2 Functional principle
Two fixed servo motors drive a toothed belt arrayed in an H-shape. The circulating toothed belt moves
the Y-axis and the slide on the Y-axis in a 2-dimensional space. The position of the slide is calculated
by a controller. The slide is moved in the direction of an axis by the controlled interplay of the two
motors. Additional tasks can be implemented by attachment components (Z-axes).
Motor 1
É l Ê
Motor 2
É è î ê
l ì l í
Ê é ë ç
Tab. 1: Directions of movement of the Y-axis slide
Motor 1
Motor 2
1
2
3
1
4
Fig. 2: Functional principle
1
Guide pulley for toothed belt
2
Toothed belt
3
Y-axis
4
Y-axis slide
The depicted directions of movement of the Y-axis slide refer to the directions of rotation of the motor
of the functional principle.

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Transport
5 Transport
CAUTION
Risk of injury from falling parts.
Parts of the product or the transportation protection may fall during transport or unpacking.
• Observe the identification on the transportation protection.
• Unpack the product with at least 2 persons.
NOTICE
Damage to the product due to incorrect transport.
• Observe the transport labelling and information on the packaging.
•Transport the product to the mounting location or the storage location in its packaging and place
on an flat, solid surface.
5.1 Unpacking
NOTICE
Damage to the product due to incorrect unpacking.
• Note the identifications and information for unpacking on the transportation protection.
• Unpack the product with at least 2 persons.
• Use appropriate tools.
•Parts of the transportation protection are large and heavy:
•Do not drop parts on the product.
• Use suitable equipment for lifting and lowering (e.g. crane).
1. Remove the packaging in the sequence as shown by the printed instructions.
2. Remove the foil and the drying agent.
5.2 Locks in the packaging
Transportation locks prevent uncontrolled movement of the product in the packaging during transport
and installation.
The product comes with the following labelled transportation locks:
Transportation screws Cable binders
Tab. 2: Identification of transportation locks

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Assembly
9
6 Assembly
6.1 Preparation
6.1.1 Installation space
The installation space required for the product depends on the following factors:
–Stroke of the X-axes and Y-axes è www.festo.com/catalogue
–Attachment position and type of motor
–sufficient space for the movement of the axes and an attachment component (Z-axis)
–Access to the toothed belt tensioning device
6.1.2 Mounting surface
The mounting surface must have the following characteristics:
–torsion-resistant and tension-free
–sufficient strength for absorbing the maximum forces, sufficient flatness
6.1.3 Mounting points
1
1
23 4
Fig. 3: Mounting holes, EXCM-40-... with 6 mounting components as example
1
Mounting component
2
End cap
3
Drive cover
4
Belt tensioning device
Dimensions [mm]
Thread L1)2) L6 L7 B6 B7 B8
Size Depth
M8 ³ 14 37.5 +2 30.5 +2 Y-axis stroke
+ 385.8 +0.5
78 ±0.2 13
1) Space the mounting kits equidistant to one another if the X axis stroke is ³ 900 mm.
2) n = number of mounting kits per X-axis
Tab. 3: Mounting holes: distance dimensions and formulas for calculation

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Festo — EXCM-40 — 2022-03b
Assembly
6.1.4 Mounting attachments
The term mounting component is subsequently used to refer to the mounting kit and adjusting kit.
The number of mounting components pre-assembled on the product depends on the X‑axis stroke.
Stroke of the X‑axis [mm] Total number of mounting com-
ponents
Number of mounting compo-
nents per X‑axis (number n)
< 900 4 2
900 … 1799 6 3
³ 1800 8 4
Tab. 4
6.1.5 Transportation locks
•Remove the transportation screws and retain for future use.
6.2 Types of mounting
6.2.1 Mounting kit
Mounting kits are only intended for mounting the product.
NOTICE
Damage or loss of function due to warping of the product.
• Adhere to the specified limit values for flatness by taking appropriate measures.
• Use adjustment kits.
1
2
3
4
5
Fig. 4: Mounting kit
1
Slot nut
2
Adjusting plate
3
Hexagon head screw M6x30 (2x)
4
Washer (2x)
5
Socket head screw M8x40 (2x)

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Assembly
11
6.2.2 Adjusting kit
Adjusting kits are used for mounting and adjusting the product.
The adjusting kits compensate for differences in height of the mounting surface of up to 5 mm.
1
2
3
4
5
6
7
Fig. 5: Adjusting kit
1
Slot nut
2
Adjusting plate
3
Hexagon head screw M6x30 (2x)
4
Square nut (2x)
5
Adjusting bolt
6
Washer (2x)
7
Socket head screw M8x40 (2x)

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Festo — EXCM-40 — 2022-03b
Assembly
6.3 Mounting
Attach hoist
1
2
3
2
44
1
5
5
6
6
Fig. 6: Attach hoist
1
End cap
2
Transport lug with support plate (2x)
3
Hoist with mounting points
4
Transportation lock (2x)
5
Drive cover (motor side)
6
Transport lug (on transportation lock) (2x)
NOTICE
If there are temperature differences between the planar surface gantry and the mounting surface:
• Equalise the temperature of the planar surface gantry and the mounting surface.
• Observe the permissible ambient temperature è 13.2 Operating and storage conditions.
1. Make sure that all of the transport screws have been removed.
2. Attach a suitable hoist to the 4 transport lugs.
Adjusting transport lugs to the direction of force of the hoist
Fig. 7: Directions of lifting eye bolts

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Assembly
13
DANGER
If the transport lugs are incorrectly loaded, the lifting eye bolts will break.
Danger of death and property damage due to falling planar surface gantry!
• Load the 4 transport lugs evenly and at an angle of £ 45°.
•Do not apply tension from the side to the lifting eye bolts of the transport lugs.
1. Loosen the 4 nuts of the lifting eye bolts.
2. Rotate the 4 lifting eye bolts to the direction of the load.
3. Tighten the 4 nuts of the lifting eye bolts. Tightening torque 24 Nm
Placing product on mounting surface
If mounting kits are covered by the Y-axis (cross-brace), it can be moved manually. To do this, demount
the motors or release the holding brakes.
If mounting points are covered by the energy chain, it can be disconnected.
1. Position the product on the mounting points of the mounting surface with the lifting equipment.
2. Position the product so the slotted holes of the mounting kits are centrally above the prepared
mounting points.
Change the position of the mounting components if necessary.
3. Fix the X-axes with screws and washers. The X-axes must be able to be moved.
Final work
1. If present: remove the transportation locks (cable binders) marked with a sticker from the moving
parts.
Keep reusable transportation locks and the corresponding screws for future use (maintenance,
dismantling).
2. Remove the transportation locks and transport lugs with support plates.
3. With bottom motor attachment position:mount loose coverings with the included shorter M5x40
screws. Tightening torque 8.3 Nm
4. Slide the Y-axis (cross-brace) back and forth over the entire stroke of the X-axes.
5. Temporarily tighten the screws of all mounting kits with reduced tightening torque of 10 … 20 Nm.
6. Check the position of the motor cable outlets and adjust if necessary.

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Festo — EXCM-40 — 2022-03b
Assembly
6.4 Aligning and adjusting the product
NOTICE
Product not aligned and adjusted
Malfunctions and increased wear of the product.
• Always align and adjust the product before commissioning.
The subsequent steps are based on the use of adjusting kits. When using mounting kits, other
measures are required to align the product and o maintain the specific limit values.
Required equipment
–Precision spirit level (minimum accuracy 0.05 mm/m)
–Steel straightedge (minimum straightness 0.05 mm/m)
–Test supports (2 pieces)
–Adjusting tool è www.festo.com/catalogue
or
–Gauge blocks (minimum height 10 mm, maximum width 40 mm, accuracy 0.05 mm/m)
6.4.1 Mounting profile covers
1
2 3
Fig. 8: Mounting profile cover
1
Screw of the profile cover,
tightening torque 1 Nm
2
Profile cover of the X-axis
3
Energy chain of the X-axis
1. Unscrew the screws of the profile covers.
If required, move the already loosened energy chain.
2. Remove the profile covers.

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Assembly
15
6.4.2 Aligning and adjusting X-axis 1
1. Place a test support on the guide rail in the area of an adjusting kit of X-axis 1 (with energy chain).
Checking flatness
2. Make sure that the test support 3 is correctly positioned on the guide rail 1.
1
2
3
4
3. Check that the guide rail 1 is flat in the area of the adjusting kit 2 with a precision spirit level 4.
Setpoint value: £ 0.1 mm/m.
Checking sideways tilt
4. Make sure that the test support 3 is correctly positioned on the guide rail 1.
1
2
3
4
5. Check the sideways tilt of the guide rail 1 in the area of the adjusting kit 2 with a precision spirit
level 4. Setpoint value: £ 0.1 mm/m.
Adjusting
6. Loosen one of the screws 7 on the adjusting kit.

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Assembly
7. Screw the associated adjusting bolt 5 in or out (h = 6 … 11 mm). Use an open-ended spanner
with a thickness of < 5 mm. Ensure that the screw-in depth of the screw is sufficient (with steel
³ 8 mm).
7
5
8. Counterhold the adjusting bolt 5 to maintain the alignment.
5
7
9. Tighten the screw 7. Tightening torque 24 Nm
10. Repeat the previous steps for all adjusting kits.
11. Check the guide rail of X-axis 1 again for compliance with the limit values for flatness and tilt.
ÄX-axis 1 is aligned and now forms the basis for the continuing alignment of the product.

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Assembly
17
6.4.3 Aligning and adjusting X-axis 2
Checking height offset
1. Place test supports 3 on the two guide rails 1 and 6 in the area of opposite adjusting kits 2.
1 3 4 5
2
3
6
2. Make sure the test supports lie correctly on the guide rails.
3. Place a steel straightedge 5 on both test supports.
4. Check the guide rail of X-axis 2 6 in the area of the adjusting kit with a precision spirit level 4 for
height offset to the previously aligned guide rail of X-axis 1 1. Setpoint value: £ 0.1 mm/m.
Checking flatness
5. Make sure that the inspection base 3 lies correctly on the guide rail 1 of X-axis 2.
1
2
3
4

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Festo — EXCM-40 — 2022-03b
Assembly
6. Check that the guide rail 1 is flat in the area of the adjusting kit 2 with a precision spirit level 4.
Setpoint value: £ 0.1 mm/m.
Checking sideways tilt
7. Make sure that the inspection base 3 lies correctly on the guide rail 1 of X-axis 2.
1
2
3
4
8. Check the sideways tilt of the guide rail 1 in the area of the adjusting kit 2 with a precision spirit
level 4. Setpoint value: £ 0.1 mm/m.
Adjusting
9. Loosen one of the screws 7 on the adjusting kit.
7
5
10. Screw the associated adjusting bolt 5 in or out (h = 6 … 11 mm). Use an open-ended spanner
with a thickness of < 5 mm. Ensure that the screw-in depth of the screw is sufficient (with steel
³ 8 mm).

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Assembly
19
11. Counterhold the adjusting bolt 5 to maintain the alignment.
5
7
12. Tighten the screw 7. Tightening torque 24 Nm
13. Repeat the previous steps for all adjusting kits.
14. Check the guide rail of X-axis 2 again for compliance with the limit values for height offset to
X-axis 1, flatness and tilt.
ÄX-axis 2 is aligned.
6.4.4 Aligning X-axes parallel with each other
1. Unscrew all screws of the adjusting kits on X-axis 2 in succession one ¼ revolution. Counter hold
the adjusting bolt to prevent it from turning.
2. Slide the Y-axis (cross-brace) back and forth manually over the entire stroke to make the X-axes
parallel.
3. Move the Y-axis (cross-brace) to the motor side. Tighten the screws of the adjusting kit at this
position of X-axis 2. Tightening torque 24 Nm
4. Move the Y-axis (cross-brace) to the next adjusting kit. Tighten the screws of the adjusting kit at
this position of X-axis 2. Tightening torque 24 Nm
5. Repeat the process at all other adjusting kits of X-axis 2.
6. Check both guide rails again for compliance with the limit values for the height offset, flatness and
tilt.
Eliminating warping in the product
NOTICE
Warping in the product
Malfunctions due to increased wear and reduced service life.
• Relieve warping.

20
Festo — EXCM-40 — 2022-03b
Assembly
1.
1. Loosen the 8 screws 4 on the side of X-axis 2 1 1 revolution each.
12 3 44
2. Slide the Y-axis (cross-brace) 2 back and forth over the entire stroke of the X-axis to relieve the
warping è 6.5.2 Manually moving the Y-axis (cross-brace).
3. Unscrew one screw 4, apply LOCTITE 243 screw locking compound and tighten it again immedi-
ately. Tightening torque 5.9 Nm
4. Repeat this process for all screws 4.
6.4.5 Checking the toothed belt pretensioning
NOTICE
Incorrect toothed belt pretensioning
Reduced service life of toothed belt, guides and ball bearings.
Changed operating characteristics of the product.
Deterioration in positioning accuracy.
Positioning errors and danger of collision due to skipping of the toothed belt.
Checking and adjusting the toothed belt pretensioning
• after initial installation of the product.
• after initial commissioning (after approx. 30 strokes at operating temperature).
• after removing/installing or replacing the toothed belt.
The toothed belt pretensioning can be checked with the profile cover of the X‑axis in place or removed.
–At initial commissioning: demount the motors with holding brake.
–After commissioning: release the holding brake.