Metronix ARS 2100 SE User manual

Servo drives ARS 2100 SE
Standard Edition
Manual
Metronix Meßgeräte und Elektronik GmbH Phone: [phone]
Kocherstraße 3 Telefax: [phone]-
38120 Braunschweig E-Mail: [email protected]
Germany http://www.metronix.de

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Translation of the original instructions
Copyrights
© 201 Metronix Meßgeräte und Elektronik GmbH. All rights reserved.
The information and data in this document have been composed to the best of our knowledge.
However, deviations between the document and the product cannot be excluded entirely. For the
devices and the corresponding software in the version handed out to the customer, Metronix
guarantees the contractual use in accordance with the user documentation. In the case of serious
deviations from the user documentation, Metronix has the right and the obligation to repair, unless it
would involve an unreasonable effort. A possible liability does not include deficiencies caused by
deviations from the operating conditions intended for the device and described in the user
documentation.
Metronix does not guarantee that the products meet the buyer’s demands and purposes or that they
work together with other products selected by the buyer. Metronix does not assume any liability for
damages resulting from the combined use of its products with other products or resulting from
improper handling of machines or systems.
Metronix Meßgeräte und Elektronik GmbH reserves the right to modify, amend, or improve the
document or the product without prior notification.
This document may, neither entirely nor in part, be reproduced, translated into any other natural or
machine-readable language nor transferred to electronic, mechanical, optical or any other kind of data
media, without expressive authorisation by the author.
Trademarks
Any product names in this document may be registered trademarks. The sole purpose of any
trademarks in this document is the identification of the corresponding products.
ServoCommander® is a registered trademark of Metronix Meßgeräte und Elektronik GmbH.
Product Manual „Servo drives ARS 2100 SE“ Version .0

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Revision Information
Author: Metronix Meßgeräte und Elektronik GmbH
Manual title: Product Manual „Servo drives ARS 2100 SE“
File name: P-HB_ARS2100_SE_ p0_EN_mBre.docx
Version .0 December 201
TABLE OF CO TE TS:
Product Manual „Servo drives ARS 2100 SE“ Version .0

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1 GE ERAL...........................................................................................................12
1.1 Documentation.........................................................................................12
1.2 Scope of supply........................................................................................13
2 SAFETY OTES FOR ELECTRICAL DRIVES A D CO TROLLERS............15
2.1 Used symbols...........................................................................................15
2.2 General notes...........................................................................................16
2.3 Danger resulting from misuse................................................................18
2.4 Safety notes..............................................................................................19
2.4.1 General safety notes...................................................................19
2.4.2 Safety notes for assembly and maintenance..............................21
2.4.3 Protection against contact with electrical parts...........................23
2.4.4 Protection against electrical shock by means of protective
extra-low voltage (PELV).............................................................24
2.4. Protection against dangerous movements..................................2
2.4.6 Protection against contact with hot parts....................................26
2.4.7 Protection during handling and assembly...................................27
3 PRODUCT DESCRIPTIO ................................................................................28
3.1 General......................................................................................................28
3.2 Power supply............................................................................................31
3.2.1 Single-phase AC supply..............................................................31
3.2.2 DC bus coupling, DC supply.......................................................32
3.2.3 Mains fuse...................................................................................32
3.3 Brake chopper..........................................................................................32
3.4 Communication interfaces......................................................................33
3.4.1 USB interface [X19].....................................................................33
3.4.2 UDP interface [X18].....................................................................34
3.4.3 CAN interface [X4].......................................................................34
3.4.4 I/O functions and device control..................................................34
4 TECH ICAL DATA.............................................................................................35
4.1 General Technical data............................................................................35
4.2 Operating and display elements.............................................................36
4.3 Supply [X9]................................................................................................37
4.4 Motor connection [X6].............................................................................38
4.4.1 Current derating..........................................................................38
4.5 Motor feedback connection [X2A] and [X2B]........................................42
4. .1 Resolver connection [X2A]..........................................................42
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4. .2 Encoder connection [X2B]...........................................................43
4.6 Communication interfaces......................................................................45
4.6.1 USB [X19]....................................................................................4
4.6.2 Ethernet [X18].............................................................................4
4.6.3 CAN-Bus [X4]..............................................................................4
4.6.4 SD-/SDHC-/MMC-Card...............................................................4
4.6. I/O interface [X1].........................................................................46
4.6.6 Incremental encoder input [X10].................................................47
4.6.7 Incremental encoder output [X11]...............................................48
5 FU CTIO OVERVIEW.....................................................................................49
5.1 Motors........................................................................................................49
.1.1 Synchronous servo motors.........................................................49
.1.2 Linear motors..............................................................................49
5.2 Functions of the ARS 2100 SE series servo drives..............................50
.2.1 Compatibility................................................................................ 0
.2.2 Pulse width modulation (PWM)................................................... 0
.2.3 Set point management................................................................ 2
.2.4 Torque-controlled mode.............................................................. 2
.2. Speed-controlled mode............................................................... 2
.2.6 Torque-limited speed control....................................................... 3
.2.7 Synchronization to the external clock signal............................... 3
.2.8 Load torque compensation for vertical axes............................... 3
.2.9 Positioning and position control.................................................. 4
.2.10 Synchronisation, electronic gearing............................................ 4
.2.11 Brake management..................................................................... 4
.2.12 Contouring control with linear interpolation.................................
.2.13 Time-synchronized multi-axis positioning...................................
.2.14 Electronic cam disk..................................................................... 6
5.3 Positioning mode.....................................................................................57
.3.1 Overview...................................................................................... 7
.3.2 Relative positioning..................................................................... 8
.3.3 Absolute positioning.................................................................... 8
.3.4 Driving profile generator.............................................................. 8
.3. Homing........................................................................................ 9
.3.6 Positioning sequences (path program)....................................... 9
.3.7 Optional stop input......................................................................60
.3.8 Jogging mode and Teach-in mode..............................................60
6 FU CTIO AL SAFETY TECH OLOGY...........................................................61
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6.1 General......................................................................................................61
6.2 Description of the integrated safety function STO...............................61
7 MECHA ICAL I STALLATIO .........................................................................63
7.1 Important notes........................................................................................63
7.2 Installation free space and mounting distance.....................................64
7.3 View of the device....................................................................................65
7.4 Mounting...................................................................................................67
8 ELECTRICAL I STALLATIO ..........................................................................68
8.1 Connector configuration.........................................................................68
8.2 ARS 2100 SE complete system...............................................................70
8.3 Connection: Power supply [X9]..............................................................72
8.3.1 Device side [X9]..........................................................................72
8.3.2 Counterplug [X9].........................................................................72
8.3.3 Pin assignment [X9]....................................................................73
8.3.4 Cable type and design [X9].........................................................73
8.3. Connection notes [X9].................................................................74
8.4 Connection: Motor [X6]............................................................................75
8.4.1 Device side [X6]..........................................................................7
8.4.2 Counterplug [X6].........................................................................7
8.4.3 Pin assignment [X6]....................................................................76
8.4.4 Cable type and design [X6].........................................................77
8.4. Connection notes [X6].................................................................78
8.5 Connection: I/O communication [X1].....................................................80
8. .1 Device side [X1]..........................................................................82
8. .2 Counterplug [X1].........................................................................82
8. .3 Pin assignment [X1]....................................................................83
8. .4 Cable type and design [X1].........................................................84
8. . Connection notes [X1].................................................................84
8.6 Connection: Resolver [X2A]....................................................................85
8.6.1 Device side [X2A]........................................................................8
8.6.2 Counterplug [X2A].......................................................................8
8.6.3 Pin assignment [X2A]..................................................................8
8.6.4 Cable type and design [X2A].......................................................86
8.6. Connection notes [X2A]..............................................................86
8.7 Connection: Encoder [X2B]....................................................................87
8.7.1 Device side [X2B]........................................................................87
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8.7.2 Counterplug [X2B].......................................................................87
8.7.3 Pin assignment [X2B]..................................................................88
8.7.4 Cable type and design [X2B].......................................................90
8.7. Connection notes [X2B]..............................................................91
8.8 Connection: Incremental encoder input [X10]......................................94
8.8.1 Device side [X10]........................................................................94
8.8.2 Counterplug [X10].......................................................................94
8.8.3 Pin assignment [X10]..................................................................94
8.8.4 Cable type and design [X10].......................................................9
8.8. Connection notes [X10]...............................................................9
8.9 Connection: Incremental encoder output [X11]....................................96
8.9.1 Device side [X11].........................................................................96
8.9.2 Counterplug [X11]........................................................................96
8.9.3 Pin assignment [X11]...................................................................96
8.9.4 Cable type and design [X11].......................................................97
8.9. Connection notes [X11]...............................................................97
8.10 Connection: CA -Bus [X4]......................................................................98
8.10.1 Device side [X4]..........................................................................98
8.10.2 Counterplug [X4].........................................................................98
8.10.3 Pin assignment [X4]....................................................................98
8.10.4 Cable type and design [X4].........................................................99
8.10. Connection notes [X4].................................................................99
8.11 Connection: USB [X19]..........................................................................101
8.11.1 Device side [X19]......................................................................101
8.11.2 Counterplug [X19].....................................................................101
8.11.3 Pin assignment USB [X19]........................................................101
8.11.4 Cable type and design [X19].....................................................101
8.12 Connection [X40]....................................................................................102
8.13 SD-/SDHC-/MMC-Card............................................................................102
8.13.1 Supported card types................................................................102
8.13.2 Supported functions..................................................................102
8.13.3 Supported file systems..............................................................102
8.13.4 File names.................................................................................102
8.13. Pin assignment SD-/SDHC-/MMC-Card...................................103
8.13.6 BOOT-DIP-Switch.....................................................................104
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8.14 otes on safe and EMC-compliant installation...................................105
8.14.1 Definitions and terms................................................................10
8.14.2 General information on EMC.....................................................10
8.14.3 EMC areas: first and second environment................................106
8.14.4 EMC compliant cabling.............................................................107
8.14. Operation with long motor cables.............................................108
8.14.6 ESD protection..........................................................................108
9 ADDITIO AL REQUIREME TS FOR THE SERVO DRIVES CO CER I G
THE UL APPROVAL........................................................................................109
9.1 Circuit protection...................................................................................109
9.2 Wiring and environment regards..........................................................109
9.3 Motor temperature sensor.....................................................................109
10 I ITIAL OPERATIO .......................................................................................110
10.1 General notes on connection................................................................110
10.2 Tools / material........................................................................................110
10.3 Connecting the motor............................................................................110
10.4 Connecting the servo drive ARS 2100 SE to the power supply........111
10.5 Connecting the PC (USB interface)......................................................111
10.6 Checking operability..............................................................................111
11 SERVICE FU CTIO S A D ERROR MESSAGES........................................112
11.1 Protection and service functions..........................................................112
11.1.1 Overview....................................................................................112
11.1.2 Overcurrent and short-circuit monitoring...................................112
11.1.3 Overvoltage monitoring for the DC bus.....................................112
11.1.4 Temperature monitoring of the heat sink...................................113
11.1. Monitoring of the motor..............................................................113
11.1.6 I²t monitoring..............................................................................113
11.1.7 Power monitoring for the brake chopper...................................113
11.1.8 Initial operation status................................................................114
11.1.9 Rapid discharge of the DC bus.................................................114
11.1.10 Operating hours counter............................................................114
11.2 Operating mode and error messages..................................................115
11.2.1 Operating mode and error display.............................................11
11.2.2 Error messages.........................................................................116
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Table of Figures:
Figure 1: Type key......................................................................................................................28
Figure 2: Control scheme of the ARS 2100 SE.......................................................................... 0
Figure 3: Linear interpolation between two data values..............................................................
Figure 4: Driving profiles of the servo drive ARS 2100 SE......................................................... 8
Figure : Path program............................................................................................................... 9
Figure 6: Schematic representation of the integrated safety function STO.................................62
Figure 7: Servo drives ARS 2100 SE with and without STO: Installation free space and
mounting distance.......................................................................................................64
Figure 8: Servo drive ARS 2102 SE: Front view.........................................................................6
Figure 9: Servo drive ARS 2102 SE: Top view............................................................................66
Figure 10: Servo drive ARS 2102 SE: Bottom view......................................................................66
Figure 11: Servo drive ARS 2100 SE: Mounting plate..................................................................67
Figure 12: Connection to power supply [X9] and motor [X6]........................................................68
Figure 13: Complete setup of the ARS 2100 SE (example with STO) with motor and PC............71
Figure 14: Supply [X9].................................................................................................................. 74
Figure 1 : Motor connection [X6].................................................................................................78
Figure 16: Connecting a holding brake with high current draw (> 1A) to the device.....................79
Figure 17: Basic circuit diagram connector [X1]...........................................................................81
Figure 18: Pin assignment: Resolver connection [X2A]................................................................86
Figure 19: Pin assignment: Analogue incremental encoder [X2B]................................................91
Figure 20: Metronix ServoCommander®: Angle encoder settings [X2B].......................................91
Figure 21: Pin assignment: Incremental encoder with serial communication interface
(for example EnDat, HIPERFACE®) [X2B]...................................................................92
Figure 22: Pin assignment: Digital incremental encoder [X2B].....................................................93
Figure 23: Pin assignment: Incremental Encoder Input [X10].......................................................9
Figure 24: Pin assignment: Incremental Encoder Output [X11]....................................................97
Figure 2 : Cabling example for CAN-Bus.....................................................................................99
Figure 26: Integrated CAN terminating resistor..........................................................................100
Figure 27: Pin assignment: USB interface [X19], front view.......................................................101
Figure 28: Pin assignment: SD-/MMC-Card...............................................................................103
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Table of Tables:
Table 1: Scope of supply ARS 2100 SE with STO....................................................................13
Table 2: Scope of supply ARS 2100 SE without STO...............................................................13
Table 3: Connector set: POWER connector..............................................................................13
Table 4: Connector set: DSUB connector.................................................................................14
Table : Connector set: Shield connector.................................................................................14
Table 6: Technical data: Ambient conditions and qualification...................................................3
Table 7: Technical data: Dimensions and weight......................................................................3
Table 8: Technical data: Cable specifications............................................................................36
Table 9: Technical data: Motor temperature monitoring............................................................36
Table 10: Display elements and RESET button..........................................................................36
Table 11: Technical Data: Performance data [X9].......................................................................37
Table 12: Technical data: Internal brake resistor [X9]..................................................................37
Table 13: Technical data: External brake resistor [X9]................................................................37
Table 14: Technical data: Motor connection [X6].........................................................................38
Table 1 : ARS 2102 SE: Rated current for an ambient temperature of 40 °C............................39
Table 16: ARS 210 SE: Rated current for an ambient temperature of  40 °C..........................39
Table 17: ARS 2108 SE: Rated current for blocked or slowly rotated motor (fel  2 Hz) and
for an ambient temperature of  40 °C........................................................................40
Table 18: ARS 2108 SE: Rated current for rotated motor (fel  3 Hz) and for an ambient
temperature of  40 °C................................................................................................41
Table 19: Technical data: Resolver [X2A]....................................................................................42
Table 20: Technical data: Resolver interface [X2A].....................................................................43
Table 21: Technical data: Encoder evaluation [X2B]...................................................................43
Table 22: Technical data: USB [X19]...........................................................................................4
Table 23: Technical data: Ethernet [X18].....................................................................................4
Table 24: Technical data: CAN-Bus [X4].....................................................................................4
Table 2 : Technical data: SD-/SDHC-/MMC-Card.......................................................................4
Table 26: Technical data: Digital inputs and outputs [X1]............................................................46
Table 27: Technical data: Analogue inputs and outputs [X1].......................................................47
Table 28: Technical data: Incremental encoder input [X10].........................................................47
Table 29: Technical data: Incremental encoder output [X11].......................................................48
Table 30: Output voltage at the motor terminals in the case of a DC bus circuit voltage
(UZK) of 360 V.............................................................................................................. 1
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Table 31: Pin assignment: [X9]...................................................................................................73
Table 32: Pin assignment: [X6]...................................................................................................76
Table 33: Pin assignment: I/O communication [X1].....................................................................83
Table 34: Pin assignment: [X2A].................................................................................................8
Table 3 : Pin assignment: Analogue incremental encoder [X2B]................................................88
Table 36: Pin assignment: Incremental encoder with serial interface
(for example EnDat, HIPERFACE®) [X2B]...................................................................89
Table 37: Pin assignment: Digital incremental encoder [X2B].....................................................90
Table 38: Pin assignment: Incremental encoder input [X10].......................................................94
Table 39: Pin assignment: Incremental encoder output [X11].....................................................96
Table 40: Pin assignment: CAN-Bus [X4]....................................................................................98
Table 41: Pin assignment: USB interface [X19]........................................................................101
Table 42: Pin assignment: SD- and SDHC-Card.......................................................................103
Table 43: Pin assignment: MMC-Card......................................................................................103
Table 44: EMC requirements: First and second environment...................................................106
Table 4 : Operating mode and error display.............................................................................11
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1 Table 46: Error messages
116General
1.1 Documentation
This product manual serves the purpose of a safe use of the ARS 2100 SE series servo drives.
It contains safety notes, which must be complied with.
Further information can be found in the following manuals:
Product Manual “STO (Safe Torque Off) for the Servo drives ARS 2000 SE”: Description of
the functional safety technology for the ARS 2000 SE servo drives with the safety function STO
Product Manual “Ethernet Technology Module”: Description of the implemented Ethernet
protocol (UDP).
Software Manual “Servo drives ARS 2000”: Description of the device functionality and the
software functions of the firmware. Description of the Metronix ServoCommander®
parameterisation program with instructions concerning the start-up of the ARS 2000 servo drives.
CA open Manual “Servo drives ARS 2000”: Description of the implemented CANopen protocol
as per DSP402.
You can find all these documents on our homepage at the download area (http://www.metronix.de).
Certificates and declarations of conformity for the products described in this manual can be found at
http://www.metronix.de.
The entire software functionality of the new ARS 2000 SE product range will be implemented in the
course of a step-by-step development process.
This version of the product manual contains the functions of the firmware version 4.0.0.1. .
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1.2 Scope of supply
The scope of supply includes:
Table 1: Scope of supply ARS 2100 SE with STO
1x Servo drive ARS 2100 SE with STO
Type ARS 2102 SE ARS 210 SE ARS 2108 SE
Metronix part number 9200-2102-30 9200-210 -30 9200-2108-30
1
x
Auxiliary equipment
Counterplug PHOENIX Mini-Combicon MC1. /8-STF-3,81 BK
OR:
Table 2: Scope of supply ARS 2100 SE without STO
1x Servo drive ARS 2100 SE without STO
Type ARS 2102 SE ARS 210 SE ARS 2108 SE
Metronix part number 9200-2102-31 9200-210 -31 9200-2108-31
Counterplugs for power, controller or shaft encoder connections, as well as for shield connection are
not included in the standard scope of supply. They can, however, be ordered as accessories.
Table 3: Connector set: POWER connector
1x Connector set: POWER connector
This connector set contains the counterplugs for the following connections:
- Supply [X9]
- Motor connection [X6]
Type ARS 2102 SE ARS 210 SE ARS 2108 SE
Metronix part number 9200-0210-20 9200-0218-20
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Table 4: Connector set: DSUB connector
1x Connector set: DSUB connector
This connector set includes the counterplugs for the following connections:
- I/O interface [X1]
- Angle encoder connection [X2A]
- Angle encoder connection [X2B]
- CAN fieldbus interface [X4]
- Incremental encoder input [X10]
- Incremental encoder output [X11]
Type ARS 2102 SE ARS 210 SE ARS 2108 SE
Metronix part number 9200-0200-00
Table 5: Connector set: Shield connector
1x Connector set: Shield connector
This connector set includes two shield terminals (SK14)
Type ARS 2102 SE ARS 210 SE ARS 2108 SE
Metronix part number 9200-0202-00
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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.
DA GER!
Nonobservance may result in property damages and in personal injuries.
Caution! Dangerous voltages.
The safety note indicates a possible perilous voltage.
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2.2 General notes
In case of damage resulting from non-compliance with the safety notes in this manual, Metronix
Meßgeräte und Elektronik GmbH will not assume any liability.
Prior to the initial use you must read the Safety notes for electrical drives and
controllers, starting on page 15 and chapter 8.14 Notes on safe and EMC-compliant
installation, starting on page 109.
If the documentation in the language at hand is not understood accurately, please contact and inform
your supplier.
Sound and safe operation of the servo drive requires proper and professional transportation, storage,
mechanical installation, and project planning – with a consideration of the risks as well as the
protective and emergency measures – plus the proper and professional electrical installation,
operation, and maintenance of the devices.
Only trained and qualified personnel is authorised to handle electrical devices and systems:
TRAINED AND QUALIFIED PERSONNEL
in the sense of this product manual or the safety notes on the product itself are persons who are
sufficiently familiar with the project, the setup, assembly, commissioning and operation of the product
as well as all warnings and precautions as per the instructions in this manual and who are sufficiently
qualified in their field of expertise:
Education and instruction concerning the standards and accident prevention regulations for the
application, or authorisation to switch devices/systems on and off and to ground them as per the
standards of safety engineering and to efficiently label them as per the job demands.
Education and instruction as per the standards of safety engineering regarding the maintenance
and use of adequate safety equipment.
First aid training.
The following notes must be read prior to the initial operation of the system to prevent personal injuries
and/or property damages:
These safety notes must be complied with at all times.
Do not try to install or commission the servo drive before carefully reading all safety
notes for electrical drives and controllers contained in this document. These safety
instructions and all other user notes must be read prior to any work with the servo drive.
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In case you do not have any user notes for the servo drive, please contact your sales
representative. Immediately demand these documents to be sent to the person
responsible for the safe operation of the servo drive.
If you sell, rent and/or otherwise make this device available to others, these safety notes
must also be included.
The user must not open the servo drive for safety and warranty reasons.
Professional control process design is a prerequisite for sound functioning of the servo
drive!
DA GER!
Inappropriate handling of the servo drive and non-compliance with the warnings as
well as inappropriate intervention in the safety features may result in property
damage, personal injuries, electric shock or in extreme cases even death.
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2.3 Danger resulting from misuse
DA GER!
High electrical voltages and high load currents!
Danger to life or serious personal injury from electrical shock!
DA GER!
High electrical voltage caused by wrong connections!
Danger to life or serious personal injury from electrical shock!
DA GER!
Surfaces of device housing may be hot!
Risk of injury! Risk of burning!
DA GER!
Dangerous movements!
Danger to life, serious personal injury or property damage due to unintentional
movements of the motors!
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2.4 Safety notes
2.4.1 General safety notes
The servo drive corresponds to IP20 degree of protection as well as pollution degree 2.
Make sure that the environment corresponds to this degree of protection and pollution
degree.
Only use replacement 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 (for
example main switch, contactor, power switch).
The servo drive may be protected using an AC/DC sensitive 300 mA fault current
protection switch, type B (RCD = Residual Current protective Device).
Gold contacts or contacts with a high contact pressure should be used to switch the
control contacts.
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 8.14 Notes on
safe and EMC-compliant installation (page 109). 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 are
to be found in this product manual and must be met.
DA GER!
The general setup and safety regulations for work on power installations (for example
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.
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Without claiming completeness, the following regulations and others apply:
VDE 0100 Erection of power installations with nominal voltages up to 1000 V
EN 1037 Safety of machinery - Prevention of unexpected start-up
EN 60204-1 Safety of machinery - Electrical equipment of machines
Part 1: General requirements
EN 61800-3 Adjustable speed electrical power drive systems
Part 3: EMC requirements and specific test methods
EN 61800- -1 Adjustable speed electrical power drive systems
Part -1: Safety requirements - Electrical, thermal and energy
EN 61800- -2 Adjustable speed electrical power drive systems
Part -2: Safety requirements - Functional
EN ISO 12100 Safety of machinery - General principles for design - Risk assessment and
risk reduction
EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems
Part 1: General principles for design
EN ISO 13849-2 Safety of machinery - Safety-related parts of control systems
Part 2: Validation
More standards to be respected by the user:
EN 74 Safety of machinery - Two-hand control devices
EN 1088 Safety of machinery - Interlocking devices associated with guards
EN ISO 138 0 Safety of machinery - Emergency stop
Product Manual „Servo drives ARS 2100 SE“ Version .0