MOOG ANIMATICS Combitronic DS2020 Installation and operation manual

THISDOCUMENTDESCRIBESTHE
INSTALLATIONANDSTARTUP FOR THE DS2020
COMBITRONIC™ SYSTEM
Rev. A, January 2021
INSTALLATIONANDSTARTUP
SINGLE AXIS DIGITAL
SERVO SYSTEM
DS2020 TECHNOLOGY
WITHCOMBITRONIC™
www.animatics.com

Copyright Notice
©2021, Moog Inc., Animatics.
Moog Animatics DS2020 Combitronic™ Installation and Startup Guide, PN: SC80100020-001, Rev. A.
This manual, as well as the software described in it, is furnished under license and may be used or
copied only in accordance with the terms of such license. The content of this manual is furnished for
informational use only, is subject to change without notice and should not be construed as a
commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no responsibility or liability for
any errors or inaccuracies that may appear herein.
Except as permitted by such license, no part of this publication may be reproduced, stored in a
retrieval system or transmitted, in any form or by any means, electronic, mechanical, recording, or
otherwise, without the prior written permission of Moog Inc., Animatics.
The programs and code samples in this manual are provided for example purposes only. It is the
user's responsibility to decide if a particular code sample or program applies to the application being
developed and to adjust the values to fit that application.
Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Combitronic and
the Combitronic logo are Combitronic logo all trademarks of Moog Inc., Animatics. Other trademarks
are the property of their respective owners.
Please let us know if you find any errors or omissions in this manual so that we can improve it for
future readers. Such notifications should contain the words "DS2020 Combitronic Installation and
Startup Guide" in the subject line and be sent by e-mail to: [e-mail]. Thank you
in advance for your contribution.
Contact Us:
Americas - West
Moog Animatics
2581 Leghorn Street
Mountain View, CA 94043
USA
Americas - East
Moog Animatics
1995 NC Hwy 141
Murphy, NC 28906
USA
Tel: [phone] Tel: [phone]
Fax: [phone]
Support: 1 [phone]
Website: www.animatics.com
Email: [e-mail]
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Copyright Notice

Table Of Contents
Copyright Notice 2
Table Of Contents 3
List of Figures 9
Foreword 11
About Moog 11
Document Version 11
Revision Record 11
Reader Instructions 12
1 Introduction 14
1.1 Purpose 15
1.2 Related Documents 15
1.3 Package Contents 15
1.4 Required Qualifications of Personnel 16
1.5 Applicable Laws 16
1.6 Getting Started 17
2 Safety Information 18
2.1 Safety and Usage Guidelines 19
2.2 Qualified Personnel 19
2.3 Electrical Hazards 20
2.3.1 Voltage Arcs and High Voltage 20
2.3.2 General Hazards and Safeguards 21
2.4 Thermal Hazards 21
2.5 Mechanical Hazards 21
2.6 STO Safety Feature 22
2.6.1 Description 22
2.6.2 Directives on Safety 22
2.7 Safe Use of the DS2020 Combitronic System 23
2.7.1 Risk Assessment 23
2.7.2 Electrical Connections 23
2.7.3 Motor Selection 23
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents

2.7.4 Power Supply 23
2.7.5 Prohibited Use 24
2.8 Risk Assessment 25
2.8.1 Installation Risk Assessment 25
2.8.2 General Machine/System Safeguards Information 26
2.8.3 Safeguards Related to SCRF 26
3 System Overview 28
3.1 Product Structure 29
3.1.1 Product Description 29
3.1.2 Storage and Working Conditions 31
3.1.3 DS2020 Combitronic Standard Models 31
3.1.4 Model Codes 32
3.1.5 Connector Kits 33
3.2 Features and Component Details 34
3.2.1 Electrical Data 34
3.2.2 Mechanical Data 34
3.2.3 Transducers 36
3.2.4 Connectors 37
3.2.4.1 Connector Layout 38
3.2.5 Power Line Filters 46
3.2.6 Braking Resistor 46
3.2.7 Line Inductors 47
3.3 Motors 47
3.3.1 Selecting a Moog Motor 47
3.3.2 Selecting a Non-Moog Motor 47
3.4 Cables 48
4 Certifications 50
4.1 CE Certificate 51
4.2 Safe Torque Off (STO) 53
4.3 Certification Compliant System Installation Requirements 56
4.3.1 Environmental Ratings 56
4.3.2 Short Circuit Protection 57
4.3.3 Primary Circuit Overvoltage Protection 58
4.3.4 Dynamic Brake Unit Ratings 59
5 Electrical and Mechanical Installation 60
5.1 Tools and Equipment 62
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents

5.1.1 Tools 62
5.1.2 Electronic Equipment 62
5.2 Mechanical Installation 62
5.2.1 Assembly of System Components 62
5.2.1.1 Drive Installation 62
5.2.1.2 Power Line Filter Installation 62
5.2.1.3 Braking Resistor Positioning 63
5.3 Electrical Installation and Thermal Rating 64
5.3.1 Safety and General Instructions 64
5.3.2 Electrical Installation 65
5.3.3 Thermal Rating of the Electrical Panel 67
5.3.3.1 Drive Axis Power Dissipation 67
5.3.3.2 Thermal Dissipation of Accessories 68
5.3.4 Control Power Requirements 68
5.3.5 ACMains Power/Ground Connection 69
5.3.5.1 Types of Earthing (Grounding) Systems 69
5.3.5.2 Protection Components 70
5.3.5.3 Ground Connection 71
5.3.5.4 Ground Stud 71
5.3.6 Drive Wiring 72
5.3.6.1 DS2020 Combitronic/Motor System Diagram 73
5.3.6.2 Front Panel Connectors and Pin Descriptions 74
5.3.6.3 Grounding 75
5.3.6.4 Power Cord Connection 75
5.3.6.5 Braking Resistor Connection 75
5.3.6.6 Control Power Connection 76
5.3.6.7 Motor Cable Connection Details 76
5.3.6.8 Brake Cable Connection 77
5.3.6.9 I/O Signal Connection 79
5.3.6.10 STO Signals Connection 79
5.3.6.11 Transducer Connection 81
5.3.6.12 Connecting the SmartMotor - X7, X8 Connectors 81
5.3.6.13 Connecting a PC to the System 82
6 Commissioning with SMI Software 83
6.1 Commissioning Overview 85
6.2 Safety 86
6.3 Activate Power 86
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents

6.4 Installing the SMI Software 87
6.4.1 Installation Procedure 87
6.4.2 Installation Verification 90
6.5 Accessing the SMI Software Interface 90
6.5.1 Chart View 92
6.6 Detecting and Addressing the DS2020 Combitronic System 93
6.6.1 Understanding the Detection and Addressing Options 93
6.6.2 Using the Find Motors Button 94
6.6.3 Using the Detect Motors Feature 97
6.6.4 Using the Address Motors Feature 99
6.7 Setting the DS2020 Combitronic Drive/Motor Parameters 101
6.7.1 Configuring the DS2020 Combitronic System 101
6.7.2 Save to EEPROM 103
6.7.3 Selecting Predefined Motor Parameters 103
6.7.4 Setting Manual Motor Parameters 104
6.7.5 Setting the Feedback Parameters 106
6.7.6 Setting the Control Loop Filters 107
6.7.7 Cable Compensation Procedure 111
6.7.8 Auto-Phasing Procedure 112
6.7.9 Factory Reset 113
6.7.10 Fault Configuration 114
6.7.10.1 Understanding Fault Reactions 115
6.7.10.2 Setting Fault Reactions 115
6.7.10.3 Faults List 116
6.7.11 DS2020 Combitronic State Machine 117
6.8 STOActivation 119
6.8.1 Viewing the STO Status in SMI 119
6.9 Drive (Axis) Enable and Limit Switch Enable/Disable 120
6.9.1 Drive (Axis)Enable 120
6.9.2 Limit Switch Enable/Disable 120
6.10 Checking and Clearing the Status Bits 120
6.10.1 Polling the DS2020 Combitronic system 121
6.10.2 Clearing the Overtravel Limits and Fault Bits 124
6.11 Motion Checklist 125
6.12 Moving the DS2020 Combitronic System's Motor 125
6.12.1 Making the DS2020 Combitronic System's Motor Move 126
6.13 Checking the DS2020 Combitronic System's Motor Position 127
6.13.1 Viewing the DS2020 Combitronic System's Motor Position with a Report Command 128
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents

6.13.2 Viewing the DS2020 Combitronic System's Motor Position with the Motor View Tool 128
6.14 Decommissioning Procedure 130
7 Shipment and Storage 131
7.1 Receiving and Checking the Shipment 131
7.2 Storage 131
7.2.1 Regenerating the Electrolytic Capacitors after Storage 131
8 Maintenance 132
8.1 Periodic Maintenance 132
8.2 What to Do If Repairs Are Required? 133
8.3 Firmware Updates 133
9 Troubleshooting 134
9.1 Power Section Anomalies 135
9.2 Drive Alarms (Faults) 135
9.2.1 Alarms on the Power Section 136
9.2.2 Alarm for VBUS Voltage Out of Tolerance 136
9.2.3 Drive or Motor Overtemperature 137
9.2.4 Removal of STO Signal 137
9.2.5 Errors on Memory Devices 137
9.2.6 Data Corrupted Fault 137
9.2.7 Brake Feedback Fault 138
9.2.8 Errors on Feedback Devices 138
9.2.9 Synchronization , Interrupt Time and Task Time Error 139
9.2.10 Alarms Related to the Control Loops 139
9.2.11 CAN Bus Alarms 139
9.3 Alarm Display 139
9.4 Faults During the GUI – Drive Connection 143
10 Safe Torque Off Safety Function 145
10.1 Application 146
10.2 Installation Risk Assessment 146
10.3 Safe Torque Off Function 146
10.3.1 Characteristic Values According to UNI EN ISO 13849-1 147
10.3.2 Characteristic Values According to CEI EN 62061 148
10.4 Safety Requirements 148
10.4.1 Full Stop 148
10.5 Safe Torque Off Circuit 150
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents

10.6 Safe Torque Off Connections 151
10.6.1 Connector X6 – JRC1 151
10.6.2 Electrical Input/Output Specifications 152
10.7 Example Application 153
10.7.1 Description 153
10.7.2 Example Requirements 154
10.8 Safe Torque Off Installation and Maintenance Procedure 155
10.9 Assembly and Serial Tests 156
10.10 Identification of the STO Function on the Drive Plate 156
11 System Disposition 157
11.1 What to Do If Repairs Are Required? 157
12 Ordering Code 157
12.1 DS2020 Combitronic Ordering Code 157
12.2 Moog Motor Ordering Code 157
12.3 SmartMotor Ordering Code 157
13 Appendix 158
13.1 Example I/OConnections on X5 159
13.2 Example RS-485 Driver on X4 160
13.1 Glossary 161
13.2 Metric/AWG Conversion Table 164
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents

List of Figures
Figure 1: DS2020 Combitronic Front View 29
Figure 2: DS2020 Combitronic System Theory of Operation Flow Chart 30
Figure 3: Example Drive Plate 32
Figure 4: Drive Model Codes 32
Figure 5: Drive Chassis Dimensions (L50 and L75) 35
Figure 6: Drive Chassis Dimensions (L85) 36
Figure 7: Drive Front Panel and Bottom Connectors 37
Figure 8: CE Declaration of Conformity 52
Figure 9: CE "Safe Torque Off" Certificate of Conformity 54
Figure 10: EC-Type Examination Certificate 55
Figure 11: External Braking Resistor (with brackets) 63
Figure 12: Structure of the Electrical Panel with the Components of a Servo System 65
Figure 13: Connection Cables EMC Bracket 67
Figure 14: Location of the Ground Stud (M5) 71
Figure 15: Motor to DS2020 Combitronic System Diagram 73
Figure 16: DS2020 Combitronic Pinouts for All Front Panel Connectors 74
Figure 17: Connector X11 – [W1-V1-U1] sizes L50 and L75 75
Figure 18: Connector X13 – [W1-V1-U1] size L85 75
Figure 19: Connector X11 – [RRe – RRi - RR] size L50 and L75 75
Figure 20: Connector X11 – [RRe-RRi-RR] size L85 76
Figure 21: Connector X11 – [W2-V2-U2- ] Sizes L50 and L75 76
Figure 22: Connector X12– [W2-V2-U2- ] Size L85 76
Figure 23: Brake Activation Timing Diagram 78
Figure 24: Detail of the Feedback Contact Circuit 80
Figure 25: SMIDownload Link 87
Figure 26: SmartMotor Interface Shortcut 91
Figure 27: SMISoftware Interface 91
Figure 28: Find Motors Detecting SmartMotors on the RS-232 Chain 95
Figure 29: Address the Motors Prompt 95
Figure 30: Motor View Information 96
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide List of Figures

Figure 31: Configuration Window Showing Found/Addressed DS2020 Combitronic System 96
Figure 32: Selecting the Detect Motors Feature 97
Figure 33: Address the Motors Prompt 97
Figure 34: Motor View Information 98
Figure 35: Configuration Window Showing Found/Addressed DS2020 Combitronic System 98
Figure 36: Selecting the Detect Motors Feature 99
Figure 37: Address the Motors Prompt 99
Figure 38: Motor View Information 100
Figure 39: Configuration Window Showing Found/Addressed DS2020 Combitronic System 100
Figure 40: Velocity Loop Filters Placement 108
Figure 41: Position Loop Filters Placement 108
Figure 42: DS2020 Combitronic System State Machine 117
Figure 43: Motor View 122
Figure 44: Tab Selected that Matches the Communications Channel 126
Figure 45: Opening the Motor View Tool 128
Figure 46: Motor View Tool Showing the DS2020 Combitronic System's Motor Position 129
Figure 47: Movable Connector Pinout: 6 Contacts, Model B2 3.50 / 06/180 SN BK BX Weidmuller 151
Figure 48: Example of Safe Torque Off After a Controlled Stop 153
Figure 49: STO Mandatory Sequence Circuit Test 156
Figure 50: Example I/OConnections on the X5 Connector 159
Figure 51: Example RS-485 Driver Using the SN75176 IC 160
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide List of Figures

Foreword
The DS2020 Combitronic drives meet the Low Voltage Directive (2014/35/EU) and EMC Directive
(2014/30/EU). The safety function "Safe Torque Off" (STO) integrated in the drive complies with the
Machinery Directive (2006/42 / EC).
To comply with the European Directives, the drive meets the requirements of the relevant harmonized
installation standards EN 50178 (LVD), EN61800-3 (EMC) and EN 61800-5-2 (Safety of machinery).
The DS2020 Combitronic drives are CE certified; certain models are also ULcertified. Contact Moog
for details.
The manual was written and checked by technical experts at Moog.
About Moog
The Moog Industrial Group designs and manufactures high performance motion control solutions
combining electric, hydraulic, and hybrid technologies with expert consultative support in a range of
applications including test, simulation, plastics, metal forming, and power generation.
Customers of Moog include leading automotive manufacturers, aerospace manufacturers, testing labs
and global automotive racing teams.
We help performance-driven companies design and develop their next-generation machines.
The Moog Industrial Group is part of Moog Inc.
Info Description
Moog Company Moog Inc., Animatics
Address 2581 Leghorn Street, Mountain View, CA 94043
Phone Tel: [phone]
Fax Fax: [phone]
E-Mail [e-mail]
Web Site www.animatics.com
Document Version
The following table shows the version of this document and all other possible versions:
ES DA DE EL EN FR IT NL PT FL SV CS ET LV HU MT PL SK SL BG RO GA
X
The language of documents and drawings are subject to contractual negotiations with the Customer.
In case of "Translation of the Original Instructions", the manufacturer of the machinery must also
supply the "Original Instructions".
Revision Record
The following table shows the revision record:
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Foreword

Revision Description Date
A First release January 2021
Reader Instructions
The following table shows the symbols adopted in Moog documents:
DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious
injury.
WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or serious
injury.
CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate
injury.
NOTICE
NOTE indicates possible property damage.
The following table shows the structure of a warning:
SIGNALWORD
Type and source of hazard
Possible consequences of not avoiding the potential hazard
ØHow to avoid the hazardous situation
The following table shows other typographic elements:
Symbol Explanation
Electrical hazard alert symbol.
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Reader Instructions

Symbol Explanation
Thermal hazard alert symbol.
Mechanical hazard alert symbol.
General hazard alert symbol.
i
Notes about important operations and other useful information.
ØThis is an action to be carried out.
●/ - This is a bullet list.
1., 2., ... These are steps in a procedure that must be performed in consecutive order.
The following table shows the abbreviations adopted in Moog documents:
Abbreviation Explanation
EMA Electro Mechanical Actuator
EH Electro Hydraulic Actuator
EHA Electro Hydrostatic Actuator
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Reader Instructions

1 Introduction
This chapter provides introductory information about this guide and the DS2020 Combitronic system.
1.1 Purpose 15
1.2 Related Documents 15
1.3 Package Contents 15
1.4 Required Qualifications of Personnel 16
1.5 Applicable Laws 16
1.6 Getting Started 17
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1 Introduction

1.1 Purpose
The DS2020 Combitronic Installation and Startup Guide , the document you are currently reading,
provides information to ensure proper installation and startup of the DS2020 Combitronic series
digital servo drive system with Combitronic technology. See the Table Of Contents on page 3 for a list
of all the topics covered in this guide.
i
The instructions in this guide and the Related Documents (refer to the next section)
require SmartMotor firmware: 5.0.4.55 (D-series), 5.98.4.55 (M-series) or later, and
DS2020 Combitronic firmware: ds2020_sa_1.0.0_combican or later.
1.2 Related Documents
The following related documents are also available:
lDS2020 Combitronic
Safety Guide (shipped in the box with the DS2020 Combitronic and also
available on the Moog Animatics website)
lMoog motor installation guides (available on the Moog Animatics website)
lMoog motor installation drawing - provides information on motor mounting and wiring
schematics for electrical installation (shipped in the box with the motor)
lSMI software online help (available within the SMI software)
l
SmartMotor™ Developer's Guide (available on the Moog Animatics website)
l
SmartMotor™ fieldbus guides (available on the Moog Animatics website)
l
DS2020 Drive With Combitronic Capability Systems Guide (available on the Moog Animatics
website)
1.3 Package Contents
The complete DS2020 Combitronic system includes:
lOne DS2020 Combitronic drive
lAnchoring support for the shields
lInterconnect cables
i
An optional connector kit must be ordered individually and is supplied separately.
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1.1 Purpose

1.4 Required Qualifications of Personnel
WARNING
WARNING:Personal injury and property damage risk.
Failure to follow all safety precautions when the drive is installed, operated or
maintained may pose a risk of death or serious injury to personnel, or serious
damage to property.
ØThe system builder and end-use company are required to ensure that the
safety instructions detailed in this manual and in the DS2020 Combitronic
Safety Guide are available to, read, understood and observed by all personnel
responsible for the installation, operation and maintenance of the DS2020
Combitronic system.
In addition to the following information, also follow the instructions in Safety and Usage Guidelines on
page 19.
This manual and the equipment described in it are intended only for qualified personnel who have
proper training and expertise in the following:
lTransport: All personnel must have knowledge and experience handling components that are
sensitive to mechanical shock and electrostatic discharge (ESD).
lUnpacking: All personnel must have knowledge and experience handling components that are
sensitive to mechanical shock and electrostatic discharge (ESD).
lInstallation and Maintenance: All personnel must have extensive technical knowledge and
experience with the installation and maintenance of AC- and DC-poweredelectrical and electro-
mechanical equipment.
lStartup: All personnel must have extensive technical knowledge and experience with electrical
drives, motors and their technology.
The qualified personnel must know and observe the following standards: IEC 60364, IEC 60664, and
all relevant national accident prevention regulations.
1.5 Applicable Laws
The DS2020 Combitronic drives meet the Low Voltage Directive (2014/35/EU) and EMC Directive
(2014/30/EU). The safety function "Safe Torque Off" (STO) integrated in the drive complies with the
Machinery Directive (2006/42 / EC).
To comply with the European Directives, the drive meets the requirements of the relevant harmonized
installation standards EN 50178 (LVD), EN61800-3 (EMC) and EN 61800-5-2 (Safety of machinery).
The DS2020 Combitronic drives are CE certified; certain models are also ULcertified. Contact Moog
for details.
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1.4 Required Qualifications of Personnel

1.6 Getting Started
The process for getting the DS2020 Combitronic system installed, configured and operational looks
like this:
1. Read this guide.
2. Read the related documents that are supplied with the DS2020 Combitronic system, see
Related Documents on page 15.
3. Install the DS2020 Combitronic drive, see Mechanical Installation on page 62.
4. Install the supplied Moog motor, see the motor installation guide for your motor.
5. Install the SmartMotor that will be used with the DS2020 Combitronic system, see the
SmartMotor installation guide for your SmartMotor.
6. Install the cables and connect power, see Electrical Installation and Thermal Rating on page 64.
7. Provide a PC in the work area for the SMI software.
8. Commission the system with the SMI software, see Commissioning with SMI Software on page
83.
9. Proceed to the Developer's Guide for SmartMotor programming and command information.
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1.6 Getting Started

2 Safety Information
This chapter provides safety information for the DS2020 Combitronic system.
2.1 Safety and Usage Guidelines 19
2.2 Qualified Personnel 19
2.3 Electrical Hazards 20
2.3.1 Voltage Arcs and High Voltage 20
2.3.2 General Hazards and Safeguards 21
2.4 Thermal Hazards 21
2.5 Mechanical Hazards 21
2.6 STO Safety Feature 22
2.6.1 Description 22
2.6.2 Directives on Safety 22
2.7 Safe Use of the DS2020 Combitronic System 23
2.7.1 Risk Assessment 23
2.7.2 Electrical Connections 23
2.7.3 Motor Selection 23
2.7.4 Power Supply 23
2.7.5 Prohibited Use 24
2.8 Risk Assessment 25
2.8.1 Installation Risk Assessment 25
2.8.2 General Machine/System Safeguards Information 26
2.8.3 Safeguards Related to SCRF 26
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2 Safety Information

2.1 Safety and Usage Guidelines
Do not attempt to install, operate, maintain or inspect the DS2020 Combitronic system until you have
carefully read this guide and the other supplied documents, and you are properly trained in the correct
use of the equipment. The DS2020 Combitronic system may only be set up and operated in
conjunction with this manual and the supplied documentation.
SAFETY
FIRST
Human safety and equipment safety must be the first considerations when per-
forming the installation, operation or maintenance procedures for the drive system.
When it comes to electronics in your factory or workplace, you want to make sure
both your facility and its employees are safe. The following gives safety instructions
that must be followed when you are working on the DS2020 Combitronic system.
WARNING
WARNING:Risk of death or serious injury to personnel or damage to equipment.
Failure to follow the safety and usage guidelines in this chapter can result in
death or serious injury to personnel, or damage to equipment.
ØIn addition to the DS2020 Combitronic Installation and Startup Guide (the
guide you are currently reading), you must read the guides listed in Related
Documents on page 15.
NOTICE
ØObserve and adhere to the technical data and, in particular, the information given on the
system component nameplates.
ØThe installation must comply with the local regulations and use of equipment and
installation practices that promote electromagnetic compatibility and safety.
ØSafety equipment - To protect yourself against personal injury, always wear suitable safety
equipment, such as safety glasses, work shoes, and other safety equipment required by the
operation.
2.2 Qualified Personnel
WARNING
WARNING:Risk of death or serious injury to personnel or damage to equipment.
Only qualified, properly trained and certified personnel are permitted to operate
and interact with the system.
This manual and the equipment described in it are intended only for qualified personnel who have
proper training and expertise.
Qualified personnel are those who are specialized with required knowledge and experience, who have
been trained to perform such work and are authorized to commission, systems and circuits in
accordance with established safety practices and standards. The qualified personnel must know and
observe the following standards and regulations:
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.1 Safety and Usage Guidelines

lIEC 60364
lIEC 60664
lAccident prevention national, regional and local regulations for the site where the system or
machine will be operated
2.3 Electrical Hazards
WARNING
WARNING:Electrical hazard.
High voltage may be present, which can result in death or serious injury to
personnel, or damage to equipment.
ØFollow these safety instructions.
Certain electrical systems have to be maintained and cleaned by staff. Before they can be accessed,
the systems have to be disconnected from the mains supply to eliminate electrical hazards to
operating staff. According to the state of technology, this is accomplished with the five safety rules of
DIN VDE 0105-100.
1. Disconnect the mains.
2. Secure against reconnection.
3. Verify that the system is dead.
4. Carry out earthing and short circuiting.
5. Provide protection from adjacent live parts.
2.3.1 Voltage Arcs and High Voltage
Voltage arcs may occur and/or high voltage may be present that can fatally or seriously harm
personnel or damage equipment. Additionally, the drive's capacitors can have dangerous voltages
present up to eight minutes after the removal of the mains voltage.
lNever attempt to remove safety covers, or loosen or disconnect the electrical connections when
the DS2020 Combitronic system is powered up,
lNever attempt to perform any cleaning or maintenance operations when the DS2020 Com-
bitronic system is powered up.
lAlways ensure that the mains power supply is disconnected and locked out before attempting
any work on the system.
lAlways wait at least eight minutes after disconnecting and locking out the AC mains power
before attempting to work on the DS2020 Combitronic system equipment. The DS2020
Combitronic capacitors can still have dangerous voltages present up to eight minutes after
power is switched off.
lAlways measure the voltage of the direct current circuit (BUS) and wait until the voltage drops
below 40V.
lAlways measure the voltage of any other contact point(s) to ensure the power is off and there is
no voltage present.
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Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.3 Electrical Hazards