4.5 Cable glands................................................................................................ 36
4.6 Power supply connection............................................................................ 37
4.7 Grounding (earthing) .................................................................................. 39
4.8 Communication connection interfaces...................................................... 39
4.8.1 Connection procedure ------------------------------------------------------------ 39
4.8.2 CANopen interface connection ----------------------------------------------- 39
4.8.3 Digital interface connection --------------------------------------------------- 41
4.8.4 Analog interface connections ------------------------------------------------- 42
Chapter 5 Operation..................................................................................................................................................................43
5.1 Manual operation ........................................................................................ 43
5.2 Error alarms and error handling ................................................................ 44
5.2.1 GENERAL alarm ---------------------------------------------------------------------- 44
5.2.2 POSITION UNDEFINED alarm --------------------------------------------------- 44
5.2.3 TEMPERATURE alarm -------------------------------------------------------------- 45
5.2.4 TORQUE alarm------------------------------------------------------------------------ 45
5.3 Troubleshooting.......................................................................................... 46
Chapter 6 Maintenance............................................................................................................................................................49
6.1 Maintenance overview ................................................................................ 49
6.2 Inspection .................................................................................................... 49
6.3 Tightening of bolts ..................................................................................... 49
6.4 Lubrication................................................................................................... 49
6.5 Care and cleaning of anodizing ................................................................. 49
Chapter 7 Technical Details..................................................................................................................................................51
7.1 Surface treatment ....................................................................................... 51
7.2 Communication interface ........................................................................... 51
7.2.1 CANopen interface ----------------------------------------------------------------- 51
7.2.2 Digital interface---------------------------------------------------------------------- 51
7.2.3 Analog interface --------------------------------------------------------------------- 53
Chapter 8 Ordering Information and Recommended Spare Parts ................................................................55
Dual CAN Option..................................................................................................................................................59
A.1Terms and abbreviations............................................................................ 59
A.2 Product description..................................................................................... 59
A.2.i. Differences from standard to Dual CAN actuator-------------------- 60
A.3 Actuator control system examples ............................................................ 60
A.4 Engineering information............................................................................. 61
A.4.i. Cabling considerations----------------------------------------------------------- 61
A.5 Mounting and installation .......................................................................... 61
A.6 Operation..................................................................................................... 62
A.7 Ordering information.................................................................................. 62
A.8 Technical details ......................................................................................... 63
A.8.i. Dual CAN ------------------------------------------------------------------------------- 63
Failsafe Option......................................................................................................................................................65
B.1Terms and abbreviations............................................................................ 66
B.2 Disposal and waste handling ..................................................................... 66
B.3 Product Description .................................................................................... 66
B.3.i. Differences from standard to failsafe actuator ----------------------- 67
B.3.ii. Failsafe actuator components------------------------------------------------- 67
B.4 Planning ....................................................................................................... 68
B.4.i. Installation plan --------------------------------------------------------------------- 68
