Mannesmann ecodrive03 User manual

ECODRIVE03
Drive for Machine Tool Applications
With SERCOS-, Analog- and Parallelinterface
Troubleshooting Guide: SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
mannesmann
Rexroth
engineering
Indramat
Rexroth
7=78)1

About this Documentation ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
ECODRIVE03 Drive for Machine Tool Applications With SERCOS-,
Analog- and Parallelinterface
Troubleshooting Guide: SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
•Box 71-02V-EN
•Based on: SMT-02VRS
•120-1000-B11-01/EN
The following documentation describes the functions of the firmware
FWA-ECODR3-SMT-02VRS.
This documentation serves:
•for error diagnosis and error removal
Description Release
Date Notes
DOK-ECODR3-SMT-02VRS**-WA01-DE-P 12.99 First edition
1999 Rexroth Indramat GmbH
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).
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Rexroth Indramat GmbH
Bgm.-Dr.-Nebel-Str. 2 •D-97816 Lohr a. Main
Telephone [phone] •Tx 689421 •Fax [phone]
http://www.rexroth.com/indramat
Dept. ECD (MK/JR)
This document has been printed on chlorine-free bleached paper..
Title
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Record of Revisions
Copyright
Validity
Published by
Note

ECODRIVE03 SMT-02VRS About this Documentation
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Summary of Documentation - Box
Order designation:
DOK-ECODR3-SMT-02VRS**-FK01-EN-P
Order designation:
DOK-ECODR3-SMT-02VRS**-PA01-EN-P
Order designation:
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Order designation:
DOK-ECODR3-SMT-02VRS**-FV01-EN-P
Order designation:
DOK-ECODR3-DKC**.3****-PR01-EN-P
282801
FK
282801
PA
282801
WA
282801
FV
282801
PR
Functional Description:
Description of all implemented Function
based on SERCOS Parameters
Parameter Description:
A description of all parameters
used in the firmware
Troubleshooting Guide:
-Explanation of the diagnostic states
-How to proceed when eliminating faults
Firmware Version Notes:
Description of new and changed functions
in terms of the derivatives:
-FWA-ECODR3-SMT01VRS-MS
Project Planning Manual:
-Planning control cabinet construction
-Planning the electric layout in the control cabinet
Order designation
DOK-ECODR3-SMT-02VRS**-7101-EN-P
partnumber:
282411
V
ersion:
01
Win3.1 and
Win95&NT
(6-:),)04
CD: DRIVEHELP
Collection of Windows help systems which
contain documents on firmware derivatives
Order designation:
DOK-GENERL-DRIVEHELP**-GExx-MS-D0600

About this Documentation ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Notes

ECODRIVE03 SMT-02VRS Contents I
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Contents
1 Diagnostic Message Descriptions 1-1
Overview of the diagnostic message descriptions..................................................................................1-1
Diagnostic Message Types......................................................................................................1-1
Construction of a diagnostic message.....................................................................................1-1
2 Safety Instructions for Electric Servo Drives and Controls 2-1
2.1 Introduction.....................................................................................................................................2-1
2.2 Explanations...................................................................................................................................2-1
2.3 Hazards by inappropriate use........................................................................................................2-2
2.4 General Information .......................................................................................................................2-3
2.5 Protection against contact with electrical parts..............................................................................2-4
2.6 Protection by protective low voltage (PELV) against electrical shock ...........................................2-5
2.7 Protection against dangerous movements.....................................................................................2-6
2.8 Protection against magnetic and electromagnetic fields during operations and mounting............2-8
2.9 Protection against contact with hot parts.......................................................................................2-8
2.10 Protection during handling and installation....................................................................................2-9
2.11 Battery safety.................................................................................................................................2-9
2.12 Protection against pressurized Systems......................................................................................2-10
3 Description of diagnostic letters F... and E... 3-1
3.1 Error diagnostic messages F... ......................................................................................................3-1
F207 Switching to uninitialized operation mode ......................................................................3-2
F208 UL The motor type has changed....................................................................................3-2
F209 PL Load parameter default values..................................................................................3-3
F218 Amplifier overtemp. shutdown ........................................................................................3-3
F219 Motor overtemp. shutdown.............................................................................................3-4
F220 Bleeder overload shutdown............................................................................................3-4
F221 Motor temp. surveillance defective.................................................................................3-5
F223 Error during initialisation of the parking axis...................................................................3-5
F224 Maximum braking time exceeded...................................................................................3-6
F226 Undervoltage in power section .......................................................................................3-6
F228 Excessive deviation........................................................................................................3-7
F229 Encoder 1 failure: quadrant error....................................................................................3-7
F230 Max. signal frequency of encoder 1 exceeded...............................................................3-7
F236 Excessive position feedback difference..........................................................................3-8
F237 Excessive position command difference ........................................................................3-9
F242 Encoder 2 failure: signal amplitude wrong......................................................................3-9
F245 Encoder 2 failure: quadrant error..................................................................................3-10

II Contents ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
F246 Max signal frequency of encoder 2 exceeded..............................................................3-11
F248 Low battery voltage.......................................................................................................3-11
F253 Incr. encoder emulator: pulse frequency too high........................................................3-12
F260 Command current limit shutoff......................................................................................3-12
F262 External short at status outputs....................................................................................3-12
F267 Erroneous internal hardware synchronization..............................................................3-13
F269 Error during release of the motor holding brake...........................................................3-13
F276 Absolute encoder out of allowed window .....................................................................3-14
F277 Current measurement trim wrong.................................................................................3-14
F281 Mains fault ....................................................................................................................3-15
F386 No ready signal from supply module............................................................................3-15
F401 Double MST failure shutdown ......................................................................................3-15
F402 Double MDT failure shutdown......................................................................................3-16
F403 Invalid communication phase shutdown.......................................................................3-16
F404 Error during phase progression....................................................................................3-16
F405 Error during phase regression......................................................................................3-17
F406 Phase switching without ready signal...........................................................................3-17
F434 Emergency-Stop...........................................................................................................3-17
F629 Positive travel limit exceeded.......................................................................................3-17
F630 Negative travel limit exceeded......................................................................................3-18
F634 Emergency-Stop...........................................................................................................3-19
F643 Positive travel limit switch detected..............................................................................3-19
F644 Negative travel limit switch detected ............................................................................3-19
F811 Commutation offset could not be determined...............................................................3-20
F812 Motion range exceeded during commutation ...............................................................3-20
F822 Encoder 1 failure: signal amplitude wrong....................................................................3-21
F860 Overcurrent: short in power stage................................................................................3-22
F870 +24Volt DC error...........................................................................................................3-22
F873 Power supply driver stages fault...................................................................................3-23
F878 Velocity loop error.........................................................................................................3-23
F879 Velocity limit S-0-0091 exceeded .................................................................................3-24
3.2 Warning diagnostic messages.....................................................................................................3-25
E221 Warning Motor temp. surveillance defective ................................................................3-25
E225 Motor overload..............................................................................................................3-26
E226 Undervoltage in power section.....................................................................................3-26
E247 Interpolation velocity = 0...............................................................................................3-26
E248 Interpolation acceleration = 0.......................................................................................3-27
E249 Positioning velocity >= S-0-0091..................................................................................3-27
E250 Drive overtemp. prewarning .........................................................................................3-28
E251 Motor overtemp. prewarning ........................................................................................3-28
E252 Bleeder overload prewarning .......................................................................................3-29
E253 Target position out of travel range................................................................................3-29
E254 Not homed....................................................................................................................3-30
E255 Feedrate-override S-0-0108 = 0...................................................................................3-30
E256 Torque limit = 0.............................................................................................................3-31
E257 Continuous current limit active .....................................................................................3-31

ECODRIVE03 SMT-02VRS Contents III
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
E258 Selected process block is not programmed. ................................................................3-31
E259 Command velocity limit active......................................................................................3-32
E260 Command Current limit active......................................................................................3-32
E261 Continuous current limit prewarning.............................................................................3-32
E263 Velocity command value > limit S-0-0091....................................................................3-33
E264 Target position out of num. range ................................................................................3-33
E269 Brake torque too low.....................................................................................................3-33
E281 Mains fault ....................................................................................................................3-34
E386 No ready signal from supply module............................................................................3-34
E408 Invalid addressing of MDT-data container A................................................................3-34
E409 Invalid addressing of AT-data container A ...................................................................3-34
E410 Slave not scanned or address 0...................................................................................3-35
E825 Overvoltage in power stage..........................................................................................3-35
E826 Undervoltage in power section.....................................................................................3-35
E829 Positive position limit exceeded ...................................................................................3-36
E830 Negative position limit exceeded..................................................................................3-36
E831 Position limit reached during jog ..................................................................................3-37
E834 Emergency-Stop...........................................................................................................3-37
E843 Positive limit switch activated.......................................................................................3-37
E844 Negative limit switch activated .....................................................................................3-38
E881 Mains fault ....................................................................................................................3-38
E886 No ready signal from supply module............................................................................3-38
4 Description of Diagnostic Letters B..., C..., D... and A... 4-1
4.1 Command Diagnostic Messages B..., C... and D...........................................................................4-1
B000 Pulse wire/Resolver offset detection..............................................................................4-2
B001 Motor does not have resolver feedback.........................................................................4-2
B002 Drive active at command start........................................................................................4-2
B003 Power supply is off .........................................................................................................4-2
B004 S pulse not found within travel range.............................................................................4-2
B005 Error writing to feedback EEPROM................................................................................4-2
B006 Error in feedback processor, SDAI does not show 1 .....................................................4-2
B008 Drive must be in operation mode (phase 4)...................................................................4-2
B009 Drive does not control in secondary operation mode 1..................................................4-2
B010 5 pulses found, but min. distance to move not reached.................................................4-3
B011 SDAI goes immeadiately back to 0, old PIC version......................................................4-3
B012 Master password required..............................................................................................4-3
B013 Shaft does not turn as expected.....................................................................................4-3
B100 Command Release motor holding brake........................................................................4-3
B101 Command not enabled...................................................................................................4-3
B200 Brake check command...................................................................................................4-3
B201 Brake check only with drive enable................................................................................4-3
B202 Error during bedding in the brake...................................................................................4-4
B203 Brake torque too low.......................................................................................................4-4
C100 Communication phase 3 transition check ......................................................................4-4
C101 Invalid communication parameter (S-0-0021)................................................................4-5

IV Contents ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
C102 Limit error communication parameter (S-0-0021)..........................................................4-5
C104 Config. IDN for MDT not configurable............................................................................4-5
C105 Configurated length > max. length for MDT...................................................................4-6
C106 Config. IDN for AT not configurable...............................................................................4-6
C107 Configurated length > max. length for AT ......................................................................4-6
C108 Time slot parameter > Sercos cycle time.......................................................................4-7
C109 Position of data record in MDT (S-0-0009) even ...........................................................4-7
C110 Length of MDT (S-0-0010) odd......................................................................................4-7
C111 ID9 + Record length - 1 > length MDT (S-0-0010).........................................................4-8
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error.................................................................4-8
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error...................................................4-8
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)...................................................................4-9
C115 T2 too small....................................................................................................................4-9
C118 Order of MDT configuration wrong.................................................................................4-9
C200 Communication phase 4 transition check ....................................................................4-10
C201 Invalid parameter(s) (->S-0-0022)................................................................................4-10
C202 Parameter limit error (->S-0-0022)...............................................................................4-10
C203 Parameter calculation error (->S-0-0022)....................................................................4-10
C204 Motor type P-0-4014 incorrect......................................................................................4-11
C210 Feedback 2 required (->S-0-0022)...............................................................................4-11
C211 Invalid feedback data (->S-0-0022)..............................................................................4-11
C212 Invalid amplifier data (->S-0-0022)...............................................................................4-12
C213 Position data scaling error............................................................................................4-12
C214 Velocity data scaling error............................................................................................4-13
C215 Acceleration data scaling error.....................................................................................4-13
C216 Torque/force data scaling error....................................................................................4-14
C217 Feedback1 data reading error......................................................................................4-14
C218 Feedback 2 data reading error.....................................................................................4-14
C220 Feedback 1 initializing error .........................................................................................4-15
C221 Feedback 2 initializing error .........................................................................................4-15
C223 Input value for max. range too high..............................................................................4-16
C227 Modulo range error.......................................................................................................4-16
C234 Encoder combination not possible...............................................................................4-16
C235 Load-side motor encoder with inductance motor only .................................................4-17
C236 Feedback 1 required (P-0-0074)..................................................................................4-17
C238 Wrong function of encoder 2........................................................................................4-17
C300 Command Set absolute measuring..............................................................................4-17
C302 Absolute measuring system not installed.....................................................................4-18
C400 Switching to parameter mode ......................................................................................4-18
C401 Drive active, switching not allowed ..............................................................................4-18
C402 Only allowed without master........................................................................................4-18
C500 Reset class 1 diagnostic, error reset............................................................................4-19
C600 Drive controlled homing procedure command .............................................................4-19
C601 Homing only possible with drive enable.......................................................................4-19
C602 Distance home switch - reference mark erroneous .....................................................4-19
C604 Homing of absolute encoder not possible....................................................................4-19

ECODRIVE03 SMT-02VRS Contents V
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
C606 Reference mark not detected.......................................................................................4-20
C700 Basic load.....................................................................................................................4-20
C702 Default parameters not available .................................................................................4-21
C703 Default parameters invalid ...........................................................................................4-21
C704 Parameters not copyable .............................................................................................4-21
C800 Default parameter load.................................................................................................4-21
C801 Parameter default value erroneous (-> S-0-0021).......................................................4-22
C802 Locked with password..................................................................................................4-22
C900 Position spindle command...........................................................................................4-22
C902 Spindle positioning requires drive enable ....................................................................4-22
C905 Positioning with non-init. absolute encoder impossible................................................4-22
C906 Error during search for zero pulse................................................................................4-23
D300 Command adjust commutation ....................................................................................4-23
D301 Drive not ready for commutation command.................................................................4-23
D302 Torque/Force too small to move ..................................................................................4-24
D303 Drive in control at start of command ............................................................................4-24
D306 Power is off...................................................................................................................4-24
D307 Drive does not move ....................................................................................................4-24
D308 No adjustment with asynchronous motor.....................................................................4-24
D309 Proceed to phase 4......................................................................................................4-25
D310 Input master password.................................................................................................4-25
D311 Commutation offset could not be determined..............................................................4-25
D312 Motion range exceeded during commutation...............................................................4-25
D400 Positive stop drive procedure command......................................................................4-26
D401 ZKL1-Error at command start.......................................................................................4-26
D500 Command Get mark position .......................................................................................4-26
D501 Incremental encoder required ......................................................................................4-26
D600 Cancel reference point procedure command...............................................................4-27
D700 Parking axis command.................................................................................................4-27
D701 Parking axis only while drive is disabled......................................................................4-27
D900 Command automatic loop tuning .................................................................................4-28
D901 Start requires drive enable...........................................................................................4-28
D902 Motor feedback data not valid......................................................................................4-28
D903 Inertia detection failed..................................................................................................4-29
D904 Gain adjustment failed..................................................................................................4-29
D905 Travel range invalid, P-0-0166 & P-0-0167..................................................................4-30
D906 Travel range exceeded.................................................................................................4-30
4.2 Status diagnostic messages ........................................................................................................4-31
A000 Communication phase 0...............................................................................................4-31
A001 Communication phase 1...............................................................................................4-31
A002 Communication phase 2...............................................................................................4-31
A003 Communication phase 3...............................................................................................4-32
A010 Drive HALT...................................................................................................................4-32
A012 Control and power sections ready for operation ..........................................................4-33
A013 Ready for power on......................................................................................................4-33
A100 Drive in TORQUE control.............................................................................................4-33

VI Contents ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
A101 Drive in VELOCITY control...........................................................................................4-33
A102 Position mode with encoder 1 ......................................................................................4-33
A103 Position mode with encoder 2 ......................................................................................4-33
A104 Position mode lagless, encoder 1 ................................................................................4-34
A105 Position control lagless, feedback 2.............................................................................4-34
A106 Drive controlled interpolation, encoder 1......................................................................4-34
A107 Drive controlled interpolation, encoder 2......................................................................4-34
A108 Drive controlled interpolation, lagless, encoder 1 ........................................................4-35
A109 Drive controlled interpolation, lagless, encoder 2 ........................................................4-35
A146 Relative drive controlled interpolation, encoder 1 ........................................................4-35
A147 Relative drive controlled interpolation, encoder 2 ........................................................4-36
A148 Relative drive contr. interpolation, enc. 1, lagless........................................................4-36
A149 Relative drive contr. interpolation, enc. 2, lagless........................................................4-37
A203 Stepper position mode..................................................................................................4-37
A204 Stepper position mode, lagless ....................................................................................4-37
A206 Process block mode, encoder 1...................................................................................4-37
A207 Process block mode lagless, encoder 1.......................................................................4-38
A208 JOG mode positive.......................................................................................................4-38
A210 Process block mode, encoder 2...................................................................................4-38
A211 Process block mode lagless, encoder 2.......................................................................4-38
A218 JOG mode negative......................................................................................................4-38
A400 Automatic drive check and adjustment.........................................................................4-39
A401 Drive deceleration to standstill .....................................................................................4-39
A800 Unknown operation mode ............................................................................................4-39
4.3 Diagnostic messages for basic initialization and after fatal System errors..................................4-40
Diagnostic Message Display: -0.............................................................................................4-40
Diagnostic Message Display: -1.............................................................................................4-40
Diagnostic Message Display: -2.............................................................................................4-40
Diagnostic Message Display: -3.............................................................................................4-40
Diagnostic Message Display: -4.............................................................................................4-40
Diagnostic Message Display: -5.............................................................................................4-40
Diagnostic Message Display: -6.............................................................................................4-40
Diagnostic Message Display: (2 dots) .............................................................................4-40
Diagnostic Message Display: E1 ...........................................................................................4-41
Diagnostic Message Display: E2 ...........................................................................................4-41
Diagnostic Message Display: E3 ...........................................................................................4-41
Diagnostic Message Display: E4 ...........................................................................................4-41
Diagnostic Message Display: E5 ...........................................................................................4-41
4.4 Operation Status..........................................................................................................................4-42
bb...........................................................................................................................................4-42
Ab...........................................................................................................................................4-42
AC..........................................................................................................................................4-42
AE ..........................................................................................................................................4-42
AF...........................................................................................................................................4-42
AH..........................................................................................................................................4-42
Jb ...........................................................................................................................................4-42

ECODRIVE03 SMT-02VRS Contents VII
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
JF...........................................................................................................................................4-42
P0...........................................................................................................................................4-43
P1...........................................................................................................................................4-43
P2...........................................................................................................................................4-43
P3...........................................................................................................................................4-43
PL...........................................................................................................................................4-43
UL...........................................................................................................................................4-43
5 Replacing or Exchanging Drive Components 5-1
5.1 Procedure on Replacing the Unit...................................................................................................5-3
Replacing the DKC: .................................................................................................................5-3
Replacing the Motor:................................................................................................................5-4
Replacing cables:.....................................................................................................................5-4
6 Replacing Firmware 6-7
6.1 Replacing the Parameter Module ..................................................................................................6-7
6.2 Replacing the Firmware Module ....................................................................................................6-8
6.3 Replacing the Programming Module (complete module)...............................................................6-8
7 Index 7-1
8 Kundenbetreuungsstellen - Sales & Service Facilities 8-1

VIII Contents ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Notes

ECODRIVE03 SMT-02VRS Diagnostic Message Descriptions 1-1
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
1 Diagnostic Message Descriptions
Overview of the diagnostic message descriptions
Diagnostic Message Types
Each operational state of the drive will be characterized with a diagnostic
message.
Differentiations will be made between:
•Error diagnostic messages
•Warning diagnostic messages
•Command diagnostic messages
•Drive Mode diagnostic messages
•Operation status
Construction of a diagnostic message
A diagnostic message consists of:
•A diagnostic number and a
•diagnostic text
F228 Excessive Control Deviation
Diagnostic message number
Diagnostic message
Fig. 1-1: Diagnostic message with a diagnostic number and text.
For the example in the graphic, "F2" and "28" are shown alternately on the
H1-Display.
The control system can read out the diagnostic number in hexadecimal
form with the S-0-0390, Diagnostic message number parameter.
In addition, the drive allocates to the control system the diagnostic
number and diagnostic text as a string F228 Excessive deviation with
the S-0-0095, Diagnostic message parameter.

1-2 Diagnostic Message Descriptions ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
H1-Display The H1-Display serves as an optical display of the diagnostic message on
the drive.
Barcode
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
H1
S1
S3 S2
Barcode Typenschild
123456789 123456789
1234 1234
11121314 15161718 5678
1234 1234 5678
DKC
H1-Display
FA5047f1.fh7
Fig. 1-2: H1-/Display
The diagnostic number appears on this two-positional seven-segment
display. The image can be seen on the "Diagnostic Message Priority
Display".
This display quickly shows the current operation status without the use of
a communications interface.
The operating mode cannot be seen from the H1-Display. If the drive
follows the operating mode and no command was activated, then the
symbol "AF" appears on the display.
If more than one diagnostic message is waiting, then the message with
the highest priority will be displayed.
The following graphic classifies operation status in order of importance.
Diagnostic Message Output
Priority

ECODRIVE03 SMT-02VRS Diagnostic Message Descriptions 1-3
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Da0001f1.fh7
Communicationphase
P
R
I
O
R
I
T
Y
Ready to operate ?
yes no
Error
Warning
Command error
Command active
Operation lock
active
Ready to
operate
Drive ready
Drive Halt
Drive is
following
operating mode
Drive automatic
check
Drive error
reaction
Fig. 1-3: Diagnostic message priority diagram
Clear Coded Diagnostic Message
The clear coded diagnostic message contains the diagnostic number
followed by the diagnostic text, as shown in the example, "Excessive
Output Error" (Fig. 1-1). It can be read out with the S-0-0095, Diagnostic
message parameter and directly displays the operation status on an
operator surface.
The clear coded diagnostic message will be switched to the current
language.

1-4 Diagnostic Message Descriptions ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
Notes

ECODRIVE03 SMT-02VRS Safety Instructions for Electric Servo Drives and Controls 2-1
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
2 Safety Instructions for Electric Servo Drives and
Controls
2.1 Introduction
Read these instructions before the equipment is used and eliminate the
risk of personal injury or property damage. Follow these safety
instructions at all times.
Do not attempt to install, use or service 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
Rexroth Indramat representative to send this documentation immediately
to the person or persons responsible for the safe operation of this
equipment.
If the product is resold, rented or transferred or passed on to others, then
these safety instructions must be delivered with the product.
WARNING
Inappropriate 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
product damage, personal injury, severe
electrical shock or death !
2.2 Explanations
The safety warnings in this documentation describe individual degrees of
hazard seriousness in compliance with ANSI:
Warning symbol with signal
word Degree of hazard seriousness
The degree of hazard seriousness
describes the consequences resulting from
non-compliance with the safety guidelines.
DANGER
Bodily harm or product damage will occur.
WARNING
Death or severe bodily harm may occur.
CAUTION
Death or severe bodily harm may occur.
Fig. 2-4: Classes of danger with ANSI

2-2 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
2.3 Hazards by inappropriate use
DANGER
High voltage and high discharge current !
Danger to life, risk of severe electrical shock
and risk of injury !
DANGER
Dangerous movements ! Danger to life and risk
of injury or equipment damage by unintentional
motor movements !
WARNING
High electrical voltage due to wrong
connections ! Danger to life, severe electrical
shock and severe bodily injury !
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 inappropriate handling !
Bodily injury caused by crushing, shearing,
cutting and mechanical shock !
CAUTION
Risk of injury due to inappropriate handling of
batteries !

ECODRIVE03 SMT-02VRS Safety Instructions for Electric Servo Drives and Controls 2-3
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
2.4 General Information
•Rexroth Indramat GmbH is not liable for damages resulting from
failure to observe the warnings given in these documentation.
•Order operating, maintenance and safety instructions in your language
before starting up the machine. If you find that due to a translation
error you can not 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.
•Trained and qualified personnel in electrical equipment :
Only trained and qualified personnel may work on this equipment or
within its proximity. Personnel are qualified if they have sufficient
knowledge of the assembly, installation and operation of the product
as well as an understanding of all warnings and precautionary
measures noted in these instructions.
Furthermore, they should be trained, instructed and qualified to switch
electrical circuits and equipment on and off, to ground them and to
mark them according to the requirements of safe work practices and
common sense. 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 on commercial machinery.
European countries: see directive 89/392/EEC (machine guideline).
•The ambient conditions given in the product documentation must be
observed.
•Use only safety features that are clearly and explicitly approved in the
Project Planning manual.
For example, the following areas of use are not allowed: Construction
cranes, Elevators used for people or freight, Devices and vehicles to
transport people, Medical applications, Refinery plants, the transport
of hazardous goods, Radioactive or nuclear applications, Applications
sensitive to high frequency, mining, food processing, Control of
protection equipment (also in a machine).
•Start-up is only permitted once it is sure that the machine, in which the
product is installed, complies with the requirements of national safety
regulations and safety specifications of the application.
•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 INDRAMAT document "EMC in Drive and Control
Systems”.
The machine builder is responsible for compliance with the limiting
values as prescribed in the national regulations and specific EMC
regulations for the application.
European countries: see Directive 89/336/EEC (EMC Guideline).
U.S.A.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The user of
this equipment must consult the above noted items at all times.
•Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.

2-4 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT-02VRS
DOK-ECODR3-SMT-02VRS**-WA01-EN-P
2.5 Protection against contact with electrical parts
Note : This section refers to equipment with voltages above 50 Volts.
Making contact with parts conducting voltages above 50 volts could be
dangerous to personnel and cause an electrical shock. When operating
electrical equipment, it is unavoidable that some parts of the unit conduct
dangerous voltages.
DANGER
High electrical voltage ! Danger to life, severe
electrical shock and severe bodily injury !
⇒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 electrical installations.
⇒Before switching on power the ground wire must be
permanently connected to all electrical units accor-
ding to the connection diagram.
⇒Do not operate electrical equipment at any time if the
ground wire is not permanently connected, even for
brief measurements or tests.
⇒Before working with electrical parts with voltage
potentials higher than 50 V, the equipment must be
disconnected from the mains voltage or power
supply.
⇒The following should be observed with electrical
drives, power supplies, and filter components:
Wait five (5) minutes after switching off power to
allow capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning 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 (r.c.d.)
must not be used on an electric drive ! Indirect
contact must be prevented by other means, for
example, by an overcurrent protective device.
⇒Equipment that is built into machines must be
secured against direct contact. Use appropriate
housings, for example a control cabinet.
European countries: according to EN 50178/1998,
section 5.3.2.3.
U.S.A: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA) and local
building codes. The user of this equipment must observe
the above noted instructions at all times.