PI Pimag V-417.216211E1 User manual

V417M0003EN ‒ 11/19/2018
User Manual
V-417.216211E1 PIMAG® LINEAR STAGE
MOTION | POSITIONING

Contents
1 Legal Information.........................................................................................................4
2 About this Document..................................................................................................5
2.1 Objective and Target Group..............................................................................5
2.2 Explanation of Symbols....................................................................................5
2.2.1 Typographic Conventions................................................................. 5
2.2.2 Symbols Used.................................................................................... 5
2.3 Figures................................................................................................................6
2.4 Downloading Manuals...................................................................................... 6
3 Safety............................................................................................................................7
3.1 Intended Use......................................................................................................7
3.2 General Safety Instructions.............................................................................. 7
3.3 Organizational Measures.................................................................................. 7
3.3.1 User Manual....................................................................................... 7
3.3.2 General Personnel Qualification.......................................................7
4 Product Description..................................................................................................... 8
4.1 Product Labeling................................................................................................8
4.1.1 Type Plate........................................................................................... 8
4.2 Scope of Delivery...............................................................................................9
4.3 Overview............................................................................................................ 9
4.3.1 Base Body...........................................................................................9
4.4 Suitable Electronics......................................................................................... 10
4.5 Accessories.......................................................................................................10
5 Unpacking...................................................................................................................11
6 Installation................................................................................................................. 12
6.1 Mounting the V-417.216211E1......................................................................... 12
6.2 Connecting the V-417.216211E1 to the protective earth conductor..............13
6.3 Building a Multi-Axis System......................................................................... 15
6.4 Mounting the Load onto the V-417.216211E1.................................................18
6.5 Connecting the V-417.216211E1.......................................................................19
7 Startup / Operation................................................................................................... 20
7.1 Starting and Operating the V-417.216211E1................................................... 20
8 Maintenance...............................................................................................................22
8.1 Cleaning............................................................................................................22
9 Troubleshooting......................................................................................................... 23
10 Transportation............................................................................................................24
11 Customer Service Department.................................................................................25
CONTENTS V417M0003EN ‒ 11/19/2018
2MOTION | POSITIONING

12 Technical Data............................................................................................................ 26
12.1 Specifications...................................................................................................26
12.2 Maximum Ratings........................................................................................... 28
12.3 Ambient Conditions and Classifications........................................................28
12.4 Dimensions...................................................................................................... 30
13 Old Equipment Disposal........................................................................................... 32
14 Appendix.................................................................................................................... 34
14.1 Pin Assignment................................................................................................34
14.1.1 Drive connector................................................................................34
14.1.2 Encoder connector...........................................................................34
14.2 Drive properties............................................................................................... 35
14.3 Reference point switch specifications............................................................35
14.4 Limit Switch Specifications.............................................................................35
14.5 NTC temperature sensor.................................................................................36
14.6 PTC temperature sensor................................................................................. 37
15 EU Declaration of Conformity...................................................................................38
CONTENTS V417M0003EN ‒ 11/19/2018
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1 Legal Information
The following company names and brands are registered trademarks of Physik Instrumente
(PI) GmbH & Co. KG:
PI®, PIC®, NanoCube®, PICMA®, PIFOC, PILine®, NEXLINE®, PiezoWalk®, PicoCube®,
PiezoMove®, PIMikroMove, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®,
PIMag®, PIHera, Q-Motion®
The patents held by PI can be found in our list at http://www.physikinstrumente.com/en/
about-pi/patents.
© 2018 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs,
and drawings in this manual are protected by copyright. With regard thereto, Physik
Instrumente (PI) GmbH & Co. KG reserves all rights. The use of any text, images and
drawings is permitted only in part and only when indicating the source.
Original instructions
First print: 11/19/2018
Document number: V417M0003en, LTr
Subject to change. This manual is superseded by any new release. The latest versions of the
user manuals are available for download (p. 6) at www.pi.ws.
Publisher:
PI miCos GmbH
Freiburger Strasse 30
79427 Eschbach
Germany
[email protected]
www.pi.de
Customer service department:
Physik Instrumente (PI) GmbH & Co. KG
Auf der Roemerstrasse 1
76228 Karlsruhe
Germany
[email protected]
www.pi.de
1 LEGAL INFORMATION V417M0003EN ‒ 11/19/2018
4MOTION | POSITIONING

2 About this Document
2.1 Objective and Target Group
This user manual contains the information needed for the intended use of the
V-417.216211E1.
Basic knowledge of closed-loop systems, motion control concepts, and applicable safety
measures is assumed.
2.2 Explanation of Symbols
This chapter explains the symbols and markings used by PI in their user manuals.
2.2.1 Typographic Conventions
Symbol / Label Meaning
1.
2.
Action consisting of several steps whose sequential order must be ob-
served
■ List items
p. 5 Cross-reference to page 5
RS-232 Labeling of an operating element on the product (example: socket of
the RS-232 interface)
Start > Settings Menu path in the PC software (example: to open the menu, the Start
and Settings menus must be clicked successively)
POS? Command line or a command from PI's General Command Set (GCS)
(example: command to get the axis position)
Device S/N Parameter name (example: parameter where the serial number is stor-
ed)
5Value that must be entered or selected via the PC software
2.2.2 Symbols Used
Symbol / Label Meaning
General hazard symbol
DANGER
Dangerous situation
Failure to observe can lead to death or serious injury.
►Measures for avoiding the risk.
WARNING
Dangerous situation
Failure to observe can lead to serious injury.
►Action to take to avoid the risk.
2 ABOUT THIS DOCUMENT V417M0003EN ‒ 11/19/2018
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CAUTION
Dangerous situation
Failure to observe can lead to minor injury.
►Actions to take to avoid the risk.
NOTICE
Dangerous situation
Failure to observe can lead to material damage.
►Action to take to avoid the risk.
Information
Additional information on the V-417.216211E1 that can affect your application.
2.3 Figures
For better understandability, the colors, proportions and degree of detail in illustrations can
deviate from the actual circumstances. Photographic illustrations may also differ and must
not be seen as guaranteed properties.
2.4 Downloading Manuals
The latest versions of the user manuals can be downloaded (p. 6) at www.pi.ws.
For products that are supplied with software (data storage device in the scope of delivery),
access to the manuals is protected by a password. Protected content is only displayed on the
website after entering the access data. You need the data storage device for the product to
get the access data.
If a manual is missing or problems occur with downloading, contact our customer service
department (p. 25).
Downloading Manuals
1. Open the website www.pi.ws.
2. If the product was shipped with a data storage device: Log into the website:
a) Click Login.
b) Enter the login data.
The login data is in the [...]_Releasenews_[...].pdf in the Manuals directory on the
data storage device.
If necessary: Follow the link and register yourself to get the login data.
c) Click Login or press the Enter key.
3. Search for the product:
a) Click Search.
b) Enter the product number up to the period (e.g., V-417) into the search field.
c) Click Start search or press the Enter key.
d) If necessary: Click Load more results at the bottom of the list.
4. Click on the corresponding product in the list of search results.
5. Click the Downloads tab.
➔The manuals are shown under
Documentation .
6. Click on the desired manual and save it.
2 ABOUT THIS DOCUMENT V417M0003EN ‒ 11/19/2018
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3 Safety
3.1 Intended Use
The V-417.216211E1 is a laboratory device as defined by DIN EN 61010-1. It is intended for
indoor use and use in an environment that is free of dirt, oil, and lubricants.
In accordance with its design, the V-417.216211E1 is intended for positioning, adjusting and
shifting loads in one axis at various velocities. The V-417.216211E1 is not intended for
applications in areas, in which a failure would present severe risks to human beings or the
environment.
The positioner is intended for operation with a horizontally aligned motion axis. A vertically
aligned motion axis may only be operated with suitable gravity compensation (not in the
scope of delivery).
The intended use of the V-417.216211E1 is only possible when completely mounted and
connected. The V-417.216211E1 must be operated with suitable electronics (p. 10). The
electronics are not in the scope of delivery of the V-417.216211E1.
The V-417.216211E1 may not be used for purposes other than those stated in this user
manual. The V-417.216211E1 may only be used in compliance with the technical
specifications and instructions in this user manual.
3.2 General Safety Instructions
The V-417.216211E1 is built according to state-of-the-art technology and recognized safety
standards. Improper use of the V-417.216211E1 may result in personal injury and/or damage
to the V-417.216211E1.
►Use the V-417.216211E1 only for its intended purpose and if it is in perfect condition.
►Read the user manual.
►Eliminate any faults and malfunctions that are likely to affect safety immediately.
The operator is responsible for correct installation and operation of the V-417.216211E1.
3.3 Organizational Measures
3.3.1 User Manual
►Always keep this user manual available with the V-417.216211E1. The latest versions of the
user manuals can be downloaded (p. 6) at www.pi.ws.
►Add all information from the manufacturer such as supplements or technical notes to the
user manual.
►If you give the V-417.216211E1 to a third party, also include this user manual as well as
other relevant information provided by the manufacturer.
►Only use the device on the basis of the complete user manual. Missing information due to
an incomplete user manual can result in minor injury and damage to equipment.
►Only install and operate the V-417.216211E1 after you have read and understood this user
manual.
3.3.2 General Personnel Qualification
The V-417.216211E1 may only be installed, started up, operated, maintained, and cleaned by
authorized and appropriately qualified personnel.
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4 Product Description
4.1 Product Labeling
1
1
2
1
3
3
4
5
6
Figure 1: Product label on the V-417.216211E1
1. Warning symbol: Risk of crushing
2. Type plate
3. Connector labels
4. Warning symbol: Electrostatic-sensitive device
5. Optional protective earth connector
6. Functional earth
4.1.1 Type Plate
Figure 2: Type plate of the V-417.216211E1
1. Data matrix code (example; contains the serial number)
2. Product number (example)
3. Serial number (example), individual for each V-417.216211E1
Meaning of the position (counting from the left):
1 = internal information,
2 and 3 = year of manufacture,
4 to 9 = consecutive numbers
4. Warning and conformity symbols (old equipment disposal (p. 32), CE mark (p. 38))
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4.2 Scope of Delivery
Product number Description
V-417.216211E1 Linear stage according to order
V417B0016 Montagesatz zur Befestigung des
V-417.216211E1, bestehend aus
■20 Zylinderschrauben ISO 4762 M6×30
■2 Zylinderstifte ISO 8734 4m6 × 12
000036450 M4 screw set for protective earth, consisting
of:
■1 flat-head screw with cross recess,
ISO 7045 M4×8
■2 safety washers
■2 flat washers
V417M0003 User manual for the V-417.216211E1 (this
document)
4.3 Overview
1
2
3
1. Base body
2. Motion platform
3. Drag chain with connector box
4.3.1 Base Body
The base body is the basis of the positioner. The V-417.216211E1 is mounted onto a surface
via the base body (p. 12).
The base body comprises the following subassembly or subassemblies:
Drive
The drive of the positioner is a 3-phase magnetic linear motor. The linear motor transfers the
drive force to the motion platform directly and free of friction.
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Reference Point Switch
The reference point switch is a sensor whose fixed position serves as the reference point for
incremental sensor signals.
Position sensor
The sensor measures the position of the motion platform incremental to a known reference
point. Optical linear encoders measure the actual position directly (direct position
measuring). Therefore, errors in the drive, such as nonlinearity, backlash or elastic
deformations cannot influence the measurement of the position.
4.4 Suitable Electronics
The V-417.216211E1 must be connected to suitable electronics that supply the necessary
voltage for operating and if required, to evaluate the sensor and limit switch signals. The
following electronics are suitable:
Product number Description
C-891.120200 PIMag® motion controller for magnetic direct drives
ACS modular controller
To order, contact our customer service department (p. 25).
4.5 Accessories
Drag chains for XY mounting
Lower linear stage Travel range of the lower lin-
ear stage / mm
Suitable drag chain
V-417.05xxxxxxE1 102 V-417.E1XYH05
V-417.09xxxxxxE1 204 V-417.E1XYH09
V-417.13xxxxxxE1 305 V-417.E1XYH13
V-417.17xxxxxxE1 407 V-417.E1XYH17
V-417.21xxxxxxE1 508 V-417.E1XYH21
V-417.25xxxxxxE1 610 V-417.E1XYH25
V-417.33xxxxxxE1 813 V-417.E1XYH33
To order, contact our customer service department (p. 25).
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5 Unpacking
12
Figure 3: V-417.216211E1 with transport safeguard
1. Transport safeguard
2. Wing screw
CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the V-417.216211E1 or the
load and a fixed part or obstacle.
►Transport the V-417.216211E1 only when the transport safeguard is attached.
►Bring the V-417.216211E1 to the intended place of use. Remove the transport safeguard
afterwards.
NOTICE
Mechanical overload due to transportation without safeguard
An impermissible mechanical load on the V-417.216211E1 due to transportation without a
safeguard can damage the V-417.216211E1 and lead to loss of accuracy.
►Ship the V-417.216211E1 in the original packaging only and with the transport safeguard
installed.
Unpacking the V-417.216211E1
1. Unpack the V-417.216211E1 with care.
2. When the V-417.216211E1 was delivered with ESD protective caps on the connections: Do
not remove the ESD protective caps.
3. Compare the contents with the scope of delivery according to the contract and the
delivery note.
4. Inspect the contents for signs of damage. If any parts are damaged or missing, contact
our customer service department (p. 25) immediately.
5. Keep all packaging materials in case the product needs to be returned.
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6 Installation
6.1 Mounting the V-417.216211E1
Overview
Tools and Accessories
■Screw set for mounting the V-417.216211E1 (p. 9)
■Suitable screwdriver
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓You have provided a suitable surface with the holes necessary for the screws and if
required, locating pins (p. 30).
■The flatness of the surface is ≤ 10 μm.
■For applications with large temperature changes: The surface should have the same or
similar thermal expansion properties as the V-417.216211E1.
✓You have accounted for the space required to route cables without bending and
according to regulations.
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous
touch voltages on the V-417.216211E1 in the event of malfunction or failure of the system. If
there are touch voltages, touching the V-417.216211E1 leads to serious injuries or death by
electric shock.
►Connect the V-417.216211E1 to a protective earth conductor before startup.
►Do not remove the protective earth conductor during operation.
►If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the V-417.216211E1 to the protective earth conductor before restarting.
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CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the V-417.216211E1 or the
load and a fixed part or obstacle.
►Use safeguards to protect limbs areas where they could be caught by moving parts.
►Observe the safety distances in accordance with DIN EN ISO 13857 when installing
protective structures.
NOTICE
Damage due to collisions!
Collisions can damage the V-417.216211E1, the load to be moved, and the surroundings.
►Make sure that collisions are not possible between the V-417.216211E1, the load to be
moved, and the surroundings in the motion range of the V-417.216211E1.
►Do not place any cables or other objects in areas where they could be caught by moving
parts.
NOTICE
Excessively long screws and locating pins
Screws and locating pins that are inserted too deeply can damage the V-417.216211E1.
►Pay attention to the depth of the mounting and locating holes (p. 31) in the
V-417.216211E1.
►Only use screws and locating pins of the correct length for the respective mounting holes.
Mounting the V-417.216211E1 on a Surface
1. If necessary: Allow access to the mounting holes in the base body of the V-417.216211E1.
Possible measures:
■Temporary startup of the positioner (p. 20) and command the platform to a suitable
position
■Move the motion platform by hand
2. Align the V-417.216211E1 on the surface so that the corresponding mounting holes in the
V-417.216211E1 and the surface overlap.
3. Insert the screws into all accessible mounting holes and tighten.
4. If necessary: Repeat steps 1 to 3 for all concealed mounting holes.
5. Check that the V-417.216211E1 is affixed firmly to the surface.
6.2 Connecting the V-417.216211E1 to the protective earth conductor
The V-417.216211E1 must be connected to the protective earth conductor via the drive
connector.
It is only necessary to connect the V-417.216211E1's base body to the protective earth
conductor when the following conditions are met:
■The electronics do not guarantee safe connection of the drive connector to the ground
potential.
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Overview
1. Connector for the protective earth conductor on the V-417.216211E1, indicated by the
protective earth symbol
2. Safety washer
3. Flat washer
4. Protective earth conductor lug
5. Screw, ISO 7045 M4×8
Tools and Accessories
■Suitable protective earth conductor:
■Cable cross section ≥ 0.75 mm2
■Contact resistance <0.1 Ω at 25 A at all connection points relevant for attaching the
protective earth conductor
■M4 screw set for protective earth, in the scope of delivery of the V-417.216211E1 (p. 9)
■Suitable screwdriver
Requirements
✓You have read and understood the general safety instructions (p. 7).
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous
touch voltages on the V-417.216211E1 in the event of malfunction or failure of the system. If
there are touch voltages, touching the V-417.216211E1 leads to serious injuries or death by
electric shock.
►Connect the V-417.216211E1 to a protective earth conductor before startup.
►Do not remove the protective earth conductor during operation.
►If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the V-417.216211E1 to the protective earth conductor before restarting.
Information
►Observe the applicable standards for connecting the protective earth conductor.
Connecting the V-417.216211E1 to the Protective Earth Conductor
1. If necessary, attach a suitable cable lug to the protective earth conductor.
2. Attach the cable lug of the protective earth conductor to the protective earth connection
as shown in the illustration of the V-417.216211E1.
3. Tighten the screw with a torque of 1.2 Nm to 1.5 Nm.
6 INSTALLATION V417M0003EN ‒ 11/19/2018
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4. Make sure that the contact resistance is <0.1 Ω at 25 A at all connection points relevant for
attaching the protective earth conductor.
6.3 Building a Multi-Axis System
The V-417.216211E1 can be used in XY systems.
Designations in these instructions:
■Lower positioner: Forms the basis of the multi-axis system, is attached to an underlying
surface
■Upper positioner: Forms the upper axis of the multi-axis system, is attached to the lower
positioner rotated by 90°
Tools and Accessories
■Hex key AF3
■Hex key AF4
■Hex key AF6
■PH2 screwdriver
■Suitable drag chain (p. 10), depends on the travel range of the lower positioner.
NOTICE
Excessively long screws and locating pins
Screws and locating pins that are inserted too deeply can damage the V-417.216211E1.
►Pay attention to the depth of the mounting and locating holes (p. 31) in the
V-417.216211E1.
►Only use screws and locating pins of the correct length for the respective mounting holes.
Building a Multi-Axis System
1. Attach the connector box for the additional drag chain to the connector box for the lower
V-417. The screws are integrated in the connector box of the additional drag chain and can
be reached through the openings on the outside.
2. Fix the holder for the additional drag chain to the drag chain holder of the lower V-417
with two M4×40 screws.
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3. Mount the upper V-417 onto the lower V-417.
a) Insert two 4 mm h7 × 12 mm locating pins into the motion platform of the lower V-417.
b) Align the upper V-417 to the lower V-417.
c) If necessary: Push the motion platform of the upper V-417 to access the mounting
holes in the base body.
d) Insert two M6×30 screws into the mounting holes in the upper V-417 and tighten them.
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e) Push the motion platform of the upper V-417 to the negative end of the travel range.
f) Push the retaining plate under the drag chain. Align the retaining plate to the mounting
hole of the upper V-417.
g) Insert two M6×30 screws into the mounting holes in the upper V-417 and tighten them.
12
3
3
4. Fix the short retaining plate to the base body of the upper V-417 with an M6×30 screw and
a cap nut.
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6.4 Mounting the Load onto the V-417.216211E1
Overview
1
1
1
1
2
3
Figure 4: Mount the load on the V-417.216211E1
1. Screws
2. Load
3. Motion platform of the V-417.216211E1
Tools and Accessories
■At least 3 screws with suitable dimensions (p. 31)
■Suitable tool for tightening the screws
■Optional: 2 suitably dimensioned dowel pins as locating pins for aligning the load on the
V-417.216211E1
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓You have mounted the V-417.216211E1 on the surface (p. 12) properly.
✓The V-417.216211E1 is not connected to the electronics.
✓You have prepared the load so that it can be affixed to the mounting holes on the motion
platform:
■The distance between the center of gravity of the load and the center of the motion
platform is as small as possible in all directions.
■At least three points are provided for affixing the load on the motion platform.
NOTICE
Impermissibly high load on the V-417.216211E1
An impermissible high load impairs the motion of the platform and can damage the
V-417.216211E1.
►Pay attention to the maximum permissible forces (p. 26) that may act on the motion
platform.
►In the case of multi-axis systems, include the masses of the positioners to be moved
when calculating the load.
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NOTICE
Excessively long screws and locating pins
Screws and locating pins that are inserted too deeply can damage the V-417.216211E1.
►Pay attention to the depth of the mounting and locating holes (p. 31).
►Only use screws and locating pins of the correct length for the respective mounting holes.
Affixing the Load
1. If necessary: Insert the locating pins into the corresponding holes in the motion platform.
2. Align the load on the motion platform so that the mounting holes selected in the motion
platform can be used for mounting the load.
3. Place the load onto the motion platform so that the locating pins are inserted into the
corresponding locating holes in the load.
4. Tighten the screws in all mounting holes.
5. Check that the load is affixed firmly to the motion platform.
6.5 Connecting the V-417.216211E1
Tools and Accessories
■Suitable cable set
■If necessary: Suitable screwdriver for the locking screws of the connectors.
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓You have read and understood the user manual for the electronics used.
✓You have installed the electronics properly.
✓The electronics are switched off.
NOTICE
Damage due to incorrect connection of the V-417.216211E1!
Connecting unsuitable electronics or a wrong cable can damage the V-417.216211E1 or the
electronics.
►Connect the V-417.216211E1 to suitable electronics (p. 10) from PI miCos only.
►Use cables from PI miCos only to connect the V-417.216211E1 to the electronics.
Connecting the V-417.216211E1
1. If necessary: Remove the ESD protective caps from the connectors of the V-417.216211E1.
2. All of the V-417.216211E1's connections must be made in the following order:
a) Purge air connector
b) Drive connector
c) Linear encoder connector
3. Secure the connectors against unintentional removal.
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7 Startup / Operation
7.1 Starting and Operating the V-417.216211E1
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓For startup with a load or in a multi-axis system: You have installed the V-417.216211E1
properly (p. 12).
✓You have read and understood the user manual for the electronics used.
✓If a digital controller is used: You have read and understood the manual for the PC
software used.
✓The electronics and if required, the PC software, have been installed (see the user manual
for the electronics).
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous
touch voltages on the V-417.216211E1 in the event of malfunction or failure of the system. If
there are touch voltages, touching the V-417.216211E1 leads to serious injuries or death by
electric shock.
►Connect the V-417.216211E1 to a protective earth conductor before startup.
►Do not remove the protective earth conductor during operation.
►If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the V-417.216211E1 to the protective earth conductor before restarting.
CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the V-417.216211E1 or the
load and a fixed part or obstacle.
►Use safeguards to protect limbs areas where they could be caught by moving parts.
►Observe the safety distances in accordance with DIN EN ISO 13857 when installing
protective structures.
NOTICE
Operating voltage excessively high or incorrectly connected!
Operating voltages that are too high or incorrectly connected can cause damage to the
V-417.216211E1.
►Pay attention to the operating voltage range (p. 28), which is specified for the
V-417.216211E1.
►Pay attention to correct pin assignment (p. 34).
NOTICE
Damage due to the high acceleration!
High acceleration can cause considerable wear and damage the V-417.216211E1.
►Stop motion immediately if a malfunction occurs.
►Avoid collisions with objects in the workspace or the end of the travel range.
►Approach the end of the travel range always at a low velocity.
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