Bosch Rexroth IndraDrive M Project Planning Manual

Industrial
Hydraulics

Electric Drives
and Controls

Linear Motion and
Assembly Technologies Pneumatics

Rexroth IndraDrive M
Drive Controllers
Power Sections

Project Planning Manual

Service
Automation

Mobile
Hydraulics

R911295014

Edition 01

About this Documentation IndraDrive M

Title

Type of Documentation

Document Typecode

Internal File Reference

Record of Revisions

Copyright

IndraDrive M
Drive Controllers
Power Sections
Project Planning Manual

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Document number 120-2400-B302-01/EN

Description Release

Notes

Date

DOK-INDRV*-HMS+HMD****-PR01-EN-P 11.2003 project planning manual;

first edition

 2003 Bosch Rexroth AG
Copying this document, giving it to others and the use or communication

of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).

Validity

Published by

Note

The specified data is for product description purposes only and may not
be deemed to be guaranteed unless expressly confirmed in the contract.
All rights are reserved with respect to the content of this documentation
and the availability of the product.

Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone [phone] • Tx 68 94 21 • Fax [phone]
http://www.boschrexroth.de/
Dept. EDY3/EDY1 (GB/US)

This document has been printed on chlorine-free bleached paper.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Contents I

Contents

1 Introduction 1-1

1.1 About this documentation ............................................................................................................. 1-1

Purpose of documentation....................................................................................................... 1-1

1.2 Introducing the Devices................................................................................................................. 1-2

Features and Fields of Appliction ............................................................................................ 1-2

Basic Structure......................................................................................................................... 1-3

Drive System............................................................................................................................ 1-4

Tests and Certifications ........................................................................................................... 1-5

2 Important Directions for Use 2-1

2.1 Appropriate Use ............................................................................................................................2-1

Introduction ..............................................................................................................................2-1

Areas of Use and Application................................................................................................... 2-2

2.2 Inappropriate Use.......................................................................................................................... 2-2

3 Safety Instructions for Electric Drives and Controls 3-1

3.1 Introduction ................................................................................................................................... 3-1

3.2 Explanations.................................................................................................................................. 3-1

3.3 Hazards by Improper Use .............................................................................................................3-2

3.4 General Information ...................................................................................................................... 3-3

3.5 Protection Against Contact with Electrical Parts........................................................................... 3-5

3.6 Protection Against Electric Shock by Protective Low Voltage (PELV) ......................................... 3-6

3.7 Protection Against Dangerous Movements .................................................................................. 3-7

3.8 Protection Against Magnetic and Electromagnetic Fields During Operation and

Mounting ....................................................................................................................................... 3-9

3.9 Protection Against Contact with Hot Parts .................................................................................. 3-10

3.10 Protection During Handling and Mounting ..................................................................................3-10

3.11 Battery Safety.............................................................................................................................. 3-11

3.12 Protection Against Pressurized Systems .................................................................................... 3-11

4 Identifying and Checking the Delivered Components 4-1

4.1 Delivery of Components................................................................................................................ 4-1

Packaging ................................................................................................................................ 4-1

Accompanying Documents ......................................................................................................4-1

4.2 Scope of Delivery..........................................................................................................................4-1

Overview .................................................................................................................................. 4-1

Checking the Delivered Components ......................................................................................4-1

4.3 Component Designation................................................................................................................ 4-2

4.4 Device Types ................................................................................................................................ 4-3

DOK-INDRV*-HMS+HMD****-PR01-EN-P

II Contents Rexroth IndraDrive M

Type Code................................................................................................................................ 4-3

5 Transport and Storage 5-1

5.1 Transporting the Devices ..............................................................................................................5-1

Conditions ................................................................................................................................ 5-1

5.2 Storing the Devices ....................................................................................................................... 5-1

Conditions ................................................................................................................................ 5-1

In Case of Long Storage Periods............................................................................................. 5-1

6 Mechanical Mounting 6-1

6.1 Mounting Conditions ..................................................................................................................... 6-1

Ambient and Operating Conditions ..........................................................................................6-1

Duty Capacity........................................................................................................................... 6-2

6.2 Mechanical Technical Data........................................................................................................... 6-4

Dimensions .............................................................................................................................. 6-4

Weight .................................................................................................................................... 6-11

Installation Orientation ........................................................................................................... 6-11

Arrangement of Components in the Control Cabinet............................................................. 6-12

6.3 Cooling and Cooling Units .......................................................................................................... 6-14

Power Dissipation ..................................................................................................................6-14

Power Dissipation of Power Section ...................................................................................... 6-14

Mounting Cooling Units ..........................................................................................................6-21

7 Electrical Installation 7-1

7.1 General Information ...................................................................................................................... 7-1

7.2 10 rules for EMC-correct installation of drives ..............................................................................7-2

7.3 Electrical Data ............................................................................................................................... 7-4

Power Section (HMS01.1N-W0020, HMD01.1N-W0012…W0020) ........................................ 7-4

Power Section (HMS01.1N-W0036…0070, HMD01.1N-W0036)............................................ 7-6

Power Section (HMS01.1N-W0150…0210) ............................................................................7-8

Control Voltage ...................................................................................................................... 7-10

7.4 Drive System - Overview............................................................................................................. 7-11

7.5 Connecting Cables and Rails...................................................................................................... 7-12

Complete Connection Diagram.............................................................................................. 7-12

Connections on power section............................................................................................... 7-13

Control Voltage (+24 V, 0 V).................................................................................................. 7-19

DC Bus (L+, L-) ...................................................................................................................... 7-20

X5, Motor Connection (1, 2, 3, Ground)................................................................................. 7-21

Ground Connection, Power Supply Unit and Neighboring Device ........................................7-25

X1, Bus Module...................................................................................................................... 7-26

X6, Motor Temperature Monitoring and Motor Holding Brake............................................... 7-27

7.6 XS1, Shield Connection ..............................................................................................................7-30

7.7 Touch Guard ...............................................................................................................................7-31

Cutouts................................................................................................................................... 7-31

Mounting ................................................................................................................................ 7-32

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Contents III

8 Replacing Devices 8-1

8.1 General Information ...................................................................................................................... 8-1

8.2 How to Proceed When Replacing Devices ...................................................................................8-1

Replacing the Drive Controller................................................................................................. 8-1

Replacing the Motor................................................................................................................. 8-2

Replacing Cables..................................................................................................................... 8-2

Fault Report .............................................................................................................................8-4

9 Disposal and Environmental Protection 9-1

9.1 Disposal ........................................................................................................................................ 9-1

Products................................................................................................................................... 9-1

Packaging Materials................................................................................................................. 9-1

9.2 Environmental Protection.............................................................................................................. 9-1

No Release of Hazardous Substances.................................................................................... 9-1

Materials Contained in the Products........................................................................................ 9-1

Recycling.................................................................................................................................. 9-2

10 Appendix 10-1

10.1 Accessories................................................................................................................................. 10-1

Shielding Plate for Shield Connection of the Motor Cable..................................................... 10-1

10.2 Connection of Supply Unit by Wires ......................................................................................... 10-11

Supply Unit to the Left of the Drive Controller ..................................................................... 10-11

Supply Unit to the Right of the Drive Controller................................................................... 10-12

10.3 Stacked Drive Controllers .........................................................................................................10-13

Anticlockwise Cable Routing................................................................................................ 10-13

Clockwise Cable Routing..................................................................................................... 10-14

11 Service & Support 11-1

11.1 Helpdesk .....................................................................................................................................11-1

11.2 Service-Hotline............................................................................................................................ 11-1

11.3 Internet ........................................................................................................................................ 11-1

11.4 Vor der Kontaktaufnahme... - Before contacting us.................................................................... 11-1

11.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 11-2

12 Index 12-1

DOK-INDRV*-HMS+HMD****-PR01-EN-P

IV Contents Rexroth IndraDrive M

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Introduction 1-1

1 Introduction

1.1 About this documentation

Purpose of documentation

This documentation describes

• planning the mechanical control cabinet construction

• planning the electrical control cabinet construction

• logistical handling of the equipment

Note: Only the power section is described in this manual

"Rexroth IndraDrive M, Drive Controllers: Power Sections,
Project Planning Manual" (DOK-INDRV*-HMS+HMD****-PR**­EN-P; Part no.: 295014).

Note: The control section is described in a separate document:

"Rexroth IndraDrive, Drive Controllers: Control Sections,
Project Planning Manual" (DOK-INDRV*-CSH********-PR**­EN-P; Part no.: 295012).

DOK-INDRV*-HMS+HMD****-PR01-EN-P

1-2 Introduction Rexroth IndraDrive M

1.2 Introducing the Devices

Features and Fields of Appliction

The intelligent digital drive controller is the high performance solution with
high functionality for single-axis and multiple-axis drive and control tasks.

The drive controller can be used for carrying out a large number of drive
tasks in the most varied applications. Various types of device are
available with graduated drive performance.

Typical applications are:

• Printing presses

• Machine tools

• Handling systems

• Packaging machines

• Assembly systems

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Introduction 1-3

Basic Structure

1

2

lt_rtf2.fh7

1: Power section
2: Control section

Fig. 1-1: Basic structure

The drive controller consists of two essential parts:

• Power section

• Control section

Power Section

The following are connected to the power section:

• Power supply unit (DC bus voltage)

• 24 V power supply

• Motor

• Bus module (for cross communication with other devices connected to

the DC bus)

Control Section

The control section is a separate section which is inserted into the power
section. The drive controller is supplied ex works complete with control
section.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

1-4 Introduction Rexroth IndraDrive M

Drive System

The following figure shows the components of the drive system.

firmware

24 V supply unit

battery

components shown in gray are absolutely necessary

drive controller

supply unit

mains supply

DC bus resistor unit

DC bus capacitor unit

RKS - ready-made encoder cable

RKG - ready-made power cable

3

Fig. 1-2: Drive system

motor

Fa5147f1.fh7

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Introduction 1-5

Tests and Certifications

CE Mark

C-UL-US Listing

Tests

CEf1.fh7

Fig. 1-3: CE mark

In accordance with UL508 C.
The devices are C-UL-US listed under the item "Rexroth".

Insulation-high-voltage test in
accordance with EN50178

Separation between control and
power voltage circuits

Air gaps and leakage distances In accordance with EN50178

Fig. 1-4: Tests

Routine testing with DC 2230 V, 1 min
resp.
Routine testing with AC 1575 V, 1 min;
Power supply with 0,1 A short-circuit
current

Safe separation in accordance with
EN50178

DOK-INDRV*-HMS+HMD****-PR01-EN-P

1-6 Introduction Rexroth IndraDrive M

Notes

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Important Directions for Use 2-1

2 Important Directions for Use

2.1 Appropriate Use

Introduction

Rexroth products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.

The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.

Note: Rexroth, as manufacturer, is not liable for any damages

resulting from inappropriate use. In such cases, the guarantee
and the right to payment of damages resulting from
inappropriate use are forfeited. The user alone carries all
responsibility of the risks.

Before using Rexroth products, make sure that all the pre-requisites for
an appropriate use of the products are satisfied:

• Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar
with appropriate use.

• If the product takes the form of hardware, then they must remain in
their original state, in other words, no structural changes are permitted.
It is not permitted to decompile software products or alter source
codes.

• Do not mount damaged or faulty products or use them in operation.

• Make sure that the products have been installed in the manner

described in the relevant documentation.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

2-2 Important Directions for Use Rexroth IndraDrive M

Areas of Use and Application

Drive controllers made by Rexroth are designed to control electrical
motors and monitor their operation.

Control and monitoring of the motors may require additional sensors and
actors.

Note: The drive controllers may only be used with the accessories

and parts specified in this document. If a component has not
been specifically named, then it may not be either mounted or
connected. The same applies to cables and lines.

Operation is only permitted in the specified configurations and
combinations of components using the software and firmware
as specified in the relevant function descriptions.

Every drive controller has to be programmed before starting it up, making
it possible for the motor to execute the specific functions of an application.

The drive controllers are designed for use in single or multiple-axis drive
and control applications.

To ensure an application-specific use, the drive controllers are available
with differing drive power and different interfaces.

Typical applications of drive controllers are:

• handling and mounting systems,

• packaging and foodstuff machines,

• printing and paper processing machines and

• machine tools.

The drive controllers may only be operated under the assembly,
installation and ambient conditions as described here (temperature,
system of protection, humidity, EMC requirements, etc.) and in the
position specified.

2.2 Inappropriate Use

Using the drive controllers outside of the above-referenced areas of
application or under operating conditions other than described in the
document and the technical data specified is defined as “inappropriate
use".

Drive controllers may not be used if

• they are subject to operating conditions that do not meet the above

• Rexroth has not specifically released them for that intended purpose.

specified ambient conditions. This includes, for example, operation
under water, in the case of extreme temperature fluctuations or
extremely high maximum temperatures or if

Please note the specifications outlined in the general safety
instructions!

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Safety Instructions for Electric Drives and Controls 3-1

3 Safety Instructions for Electric Drives and Controls

3.1 Introduction

Read these instructions before the initial startup of the equipment in order
to eliminate the risk of bodily harm or material damage. Follow these
safety instructions at all times.

Do not attempt to install or start up this equipment without first reading all
documentation provided with the product. Read and understand these
safety instructions and all user documentation of the equipment prior to
working with the equipment at any time. If you do not have the user
documentation for your equipment, contact your local Rexroth
representative to send this documentation immediately to the person or
persons responsible for the safe operation of this equipment.

If the equipment is resold, rented or transferred or passed on to others,
then these safety instructions must be delivered with the equipment.

Improper use of this equipment, failure to follow
the safety instructions in this document or
tampering with the product, including disabling

WARNING

of safety devices, may result in material
damage, bodily harm, electric shock or even
death!

3.2 Explanations

The safety instructions describe the following degrees of hazard
seriousness in compliance with ANSI Z535. The degree of hazard
seriousness informs about the consequences resulting from non­compliance with the safety instructions.

Warning symbol with signal

word

DANGER

WARNING

CAUTION

Degree of hazard seriousness according

to ANSI

Death or severe bodily harm will occur.

Death or severe bodily harm may occur.

Bodily harm or material damage may occur.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Fig. 3-1: Hazard classification (according to ANSI Z535)

3-2 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive M

3.3 Hazards by Improper Use

High voltage and high discharge current!
Danger to life or severe bodily harm by electric
shock!

DANGER

Dangerous movements! Danger to life, severe
bodily harm or material damage by
unintentional motor movements!

DANGER

High electrical voltage due to wrong
connections! Danger to life or bodily harm by
electric shock!

WARNING

WARNING

CAUTION

CAUTION

Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!

Surface of machine housing could be extremely
hot! Danger of injury! Danger of burns!

Risk of injury due to improper handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock or incorrect handling of
pressurized systems!

CAUTION

Risk of injury due to incorrect handling of
batteries!

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Safety Instructions for Electric Drives and Controls 3-3

3.4 General Information

• Bosch Rexroth AG is not liable for damages resulting from failure to
observe the warnings provided in this documentation.

• Read the operating, maintenance and safety instructions in your
language before starting up the machine. If you find that you cannot
completely understand the documentation for your product, please ask
your supplier to clarify.

• Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.

• Only persons who are trained and qualified for the use and operation
of the equipment may work on this equipment or within its proximity.

• The persons are qualified if they have sufficient knowledge of the

assembly, installation and operation of the equipment as well as an
understanding of all warnings and precautionary measures noted in
these instructions.

• Furthermore, they must be trained, instructed and qualified to

switch electrical circuits and equipment on and off in accordance
with technical safety regulations, to ground them and to mark them
according to the requirements of safe work practices. They must
have adequate safety equipment and be trained in first aid.

• Only use spare parts and accessories approved by the manufacturer.

• Follow all safety regulations and requirements for the specific

application as practiced in the country of use.

• The equipment is designed for installation in industrial machinery.

• The ambient conditions given in the product documentation must be

observed.

• Use only safety features and applications that are clearly and explicitly
approved in the Project Planning Manual.
For example, the following areas of use are not permitted: construction
cranes, elevators used for people or freight, devices and vehicles to
transport people, medical applications, refinery plants, transport of
hazardous goods, nuclear applications, applications sensitive to high
frequency, mining, food processing, control of protection equipment
(also in a machine).

• The information given in the documentation of the product with regard
to the use of the delivered components contains only examples of
applications and suggestions.
The machine and installation manufacturer must

• make sure that the delivered components are suited for his

individual application and check the information given in this
documentation with regard to the use of the components,

• make sure that his application complies with the applicable safety

regulations and standards and carry out the required measures,
modifications and complements.

• Startup of the delivered components is only permitted once it is sure
that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

3-4 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive M

• Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the documentation "EMC in Drive and Control
Systems".
The machine or installation manufacturer is responsible for
compliance with the limiting values as prescribed in the national
regulations.

• Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Safety Instructions for Electric Drives and Controls 3-5

3.5 Protection Against Contact with Electrical Parts

Note: This section refers to equipment and drive components with

voltages above 50 Volts.

Touching live parts with voltages of 50 Volts and more with bare hands or
conductive tools or touching ungrounded housings can be dangerous and
cause electric shock. In order to operate electrical equipment, certain
parts must unavoidably have dangerous voltages applied to them.

High electrical voltage! Danger to life, severe
bodily harm by electric shock!

DANGER

⇒ Only those trained and qualified to work with or on

electrical equipment are permitted to operate, maintain
or repair this equipment.

⇒ Follow general construction and safety regulations when

working on high voltage installations.

⇒ Before switching on power the ground wire must be

permanently connected to all electrical units according
to the connection diagram.

⇒ Do not operate electrical equipment at any time, even

for brief measurements or tests, if the ground wire is not
permanently connected to the points of the components
provided for this purpose.

⇒ Before working with electrical parts with voltage higher

than 50 V, the equipment must be disconnected from
the mains voltage or power supply. Make sure the
equipment cannot be switched on again unintended.

⇒ The following should be observed with electrical drive

and filter components:

⇒ Wait five (5) minutes after switching off power to allow

capacitors to discharge before beginning to work.
Measure the voltage on the capacitors before beginning
to work to make sure that the equipment is safe to
touch.

⇒ Never touch the electrical connection points of a

component while power is turned on.

⇒ Install the covers and guards provided with the

equipment properly before switching the equipment on.
Prevent contact with live parts at any time.

⇒ A residual-current-operated protective device (RCD)

must not be used on electric drives! Indirect contact
must be prevented by other means, for example, by an
overcurrent protective device.

⇒ Electrical components with exposed live parts and

uncovered high voltage terminals must be installed in a
protective housing, for example, in a control cabinet.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

3-6 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive M

To be observed with electrical drive and filter components:

High electrical voltage on the housing!
High leakage current! Danger to life, danger of
injury by electric shock!

DANGER

⇒ Connect the electrical equipment, the housings of all

electrical units and motors permanently with the safety
conductor at the ground points before power is
switched on. Look at the connection diagram. This is
even necessary for brief tests.

⇒ Connect the safety conductor of the electrical

equipment always permanently and firmly to the
supply mains. Leakage current exceeds 3.5 mA in
normal operation.

⇒ Use a copper conductor with at least 10 mm² cross

section over its entire course for this safety conductor
connection! The cross section must not be smaller
than the cross section of a phase of the mains supply
wire.

⇒ Prior to startups, even for brief tests, always connect

the protective conductor or connect with ground wire.
Otherwise, high voltages can occur on the housing
that lead to electric shock.

3.6 Protection Against Electric Shock by Protective Low Voltage (PELV)

All connections and terminals with voltages between 0 and 50 Volts on
Rexroth products are protective low voltages designed in accordance with
international standards on electrical safety.

High electrical voltage due to wrong
connections! Danger to life, bodily harm by
electric shock!

WARNING

⇒ Only connect equipment, electrical components and

cables of the protective low voltage type (PELV =
Protective Extra Low Voltage) to all terminals and
clamps with voltages of 0 to 50 Volts.

⇒ Only electrical circuits may be connected which are

safely isolated against high voltage circuits. Safe
isolation is achieved, for example, with an isolating
transformer, an opto-electronic coupler or when
battery-operated.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Safety Instructions for Electric Drives and Controls 3-7

3.7 Protection Against Dangerous Movements

Dangerous movements can be caused by faulty control of the connected
motors. Some common examples are:

• improper or wrong wiring of cable connections

• incorrect operation of the equipment components

• wrong input of parameters before operation

• malfunction of sensors, encoders and monitoring devices

• defective components

• software or firmware errors

Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.

The monitoring in the drive components will normally be sufficient to avoid
faulty operation in the connected drives. Regarding personal safety,
especially the danger of bodily injury and material damage, this alone
cannot be relied upon to ensure complete safety. Until the integrated
monitoring functions become effective, it must be assumed in any case
that faulty drive movements will occur. The extent of faulty drive
movements depends upon the type of control and the state of operation.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

3-8 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive M

Dangerous movements! Danger to life, risk of
injury, severe bodily harm or material damage!

DANGER

⇒ Ensure personal safety by means of qualified and

tested higher-level monitoring devices or measures
integrated in the installation. Unintended machine
motion is possible if monitoring devices are disabled,
bypassed or not activated.

⇒ Pay attention to unintended machine motion or other

malfunction in any mode of operation.

⇒ Keep free and clear of the machine’s range of motion

and moving parts. Possible measures to prevent
people from accidentally entering the machine’s range
of motion:

- use safety fences

- use safety guards

- use protective coverings

- install light curtains or light barriers

⇒ Fences and coverings must be strong enough to

resist maximum possible momentum, especially if
there is a possibility of loose parts flying off.

⇒ Mount the emergency stop switch in the immediate

reach of the operator. Verify that the emergency stop
works before startup. Don’t operate the machine if the
emergency stop is not working.

⇒ Isolate the drive power connection by means of an

emergency stop circuit or use a starting lockout to
prevent unintentional start.

⇒ Make sure that the drives are brought to a safe

standstill before accessing or entering the danger
zone. Safe standstill can be achieved by switching off
the power supply contactor or by safe mechanical
locking of moving parts.

⇒ Secure vertical axes against falling or dropping after

switching off the motor power by, for example:

- mechanically securing the vertical axes

- adding an external braking/ arrester/ clamping
mechanism

- ensuring sufficient equilibration of the vertical axes

The standard equipment motor brake or an external
brake controlled directly by the drive controller are
not sufficient to guarantee personal safety!

DOK-INDRV*-HMS+HMD****-PR01-EN-P

Rexroth IndraDrive M Safety Instructions for Electric Drives and Controls 3-9

⇒ Disconnect electrical power to the equipment using a

master switch and secure the switch against
reconnection for:

- maintenance and repair work

- cleaning of equipment

- long periods of discontinued equipment use

⇒ Prevent the operation of high-frequency, remote

control and radio equipment near electronics circuits
and supply leads. If the use of such equipment cannot
be avoided, verify the system and the installation for
possible malfunctions in all possible positions of
normal use before initial startup. If necessary, perform
a special electromagnetic compatibility (EMC) test on
the installation.

3.8 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting

Magnetic and electromagnetic fields generated near current-carrying
conductors and permanent magnets in motors represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.

WARNING

Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!

⇒ Persons with heart pacemakers, hearing aids and

metal implants are not permitted to enter the following
areas:

- Areas in which electrical equipment and parts are
mounted, being operated or started up.

- Areas in which parts of motors with permanent
magnets are being stored, operated, repaired or
mounted.

⇒ If it is necessary for a person with a heart pacemaker

to enter such an area, then a doctor must be
consulted prior to doing so. Heart pacemakers that
are already implanted or will be implanted in the
future, have a considerable variation in their electrical
noise immunity. Therefore there are no rules with
general validity.

⇒ Persons with hearing aids, metal implants or metal

pieces must consult a doctor before they enter the
areas described above. Otherwise, health hazards will
occur.

DOK-INDRV*-HMS+HMD****-PR01-EN-P

3-10 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive M

3.9 Protection Against Contact with Hot Parts

Housing surfaces could be extremely hot!
Danger of injury! Danger of burns!

⇒ Do not touch housing surfaces near sources of heat!

CAUTION

Danger of burns!

⇒ After switching the equipment off, wait at least ten (10)

minutes to allow it to cool down before touching it.

⇒ Do not touch hot parts of the equipment, such as

housings with integrated heat sinks and resistors.
Danger of burns!

3.10 Protection During Handling and Mounting

Under certain conditions, incorrect handling and mounting of parts and
components may cause injuries.

CAUTION

Risk of injury by incorrect handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock!

⇒ Observe general installation and safety instructions

with regard to handling and mounting.

⇒ Use appropriate mounting and transport equipment.
⇒ Take precautions to avoid pinching and crushing.
⇒ Use only appropriate tools. If specified by the product

documentation, special tools must be used.

⇒ Use lifting devices and tools correctly and safely.
⇒ For safe protection wear appropriate protective

clothing, e.g. safety glasses, safety shoes and safety
gloves.

⇒ Never stand under suspended loads.
⇒ Clean up liquids from the floor immediately to prevent

slipping.

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Rexroth IndraDrive M Safety Instructions for Electric Drives and Controls 3-11

3.11 Battery Safety

Batteries contain reactive chemicals in a solid housing. Inappropriate
handling may result in injuries or material damage.

Risk of injury by incorrect handling!

⇒ Do not attempt to reactivate discharged batteries by

heating or other methods (danger of explosion and

CAUTION

Note: Be aware of environmental protection and disposal! The

batteries contained in the product should be considered as
hazardous material for land, air and sea transport in the sense
of the legal requirements (danger of explosion). Dispose
batteries separately from other waste. Observe the legal
requirements in the country of installation.

cauterization).

⇒ Never charge non-chargeable batteries (danger of

leakage and explosion).

⇒ Never throw batteries into a fire.
⇒ Do not dismantle batteries.
⇒ Do not damage electrical components installed in the

equipment.

3.12 Protection Against Pressurized Systems

Certain motors and drive controllers, corresponding to the information in
the respective Project Planning Manual, must be provided with
pressurized media, such as compressed air, hydraulic oil, cooling fluid
and cooling lubricant supplied by external systems. Incorrect handling of
the supply and connections of pressurized systems can lead to injuries or
accidents. In these cases, improper handling of external supply systems,
supply lines or connections can cause injuries or material damage.

Danger of injury by incorrect handling of
pressurized systems!

⇒ Do not attempt to disassemble, to open or to cut a

CAUTION

pressurized system (danger of explosion).

⇒ Observe the operation instructions of the respective

manufacturer.

⇒ Before disassembling pressurized systems, release

pressure and drain off the fluid or gas.

⇒ Use suitable protective clothing (for example safety

glasses, safety shoes and safety gloves)

⇒ Remove any fluid that has leaked out onto the floor

immediately.

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Note: Environmental protection and disposal! The media used in the

operation of the pressurized system equipment may not be
environmentally compatible. Media that are damaging the
environment must be disposed separately from normal waste.
Observe the legal requirements in the country of installation.

3-12 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive M

Notes

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Rexroth IndraDrive M Identifying and Checking the Delivered Components 4-1

4 Identifying and Checking the Delivered

Components

4.1 Delivery of Components

Packaging

Packaging Units

Packaging Labels

Disposal of Packaging Material

The components are supplied in separate packaging units.

The content of the packed components and the order number may be
identified using the adhesive barcode label on the packaging.

See chapter 9

Accompanying Documents

A delivery note in duplicate can be found in an envelope on one of the
packages supplied. No other accompanying documents are provided.

The total number of containers supplied is recorded on the delivery note
or consignment note.

4.2 Scope of Delivery

Overview

as standard optional

Power section Control section

Touch guard Shielding plate for motor cable

Ground strap DC bus rails

Control voltage rails

MultiMediaCard (MMC)

Fig. 4-1: Scope of delivery

Checking the Delivered Components

Please immediately check whether the delivered components are:

• complete

• correct

• intact

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4-2 Identifying and Checking the Delivered Components Rexroth IndraDrive M

4.3 Component Designation

Each drive component is identified by a type designation.
A type plate is attached to all units, including the motor.
A label (cable marker) is wrapped round the ready-made cable. The type

designation and length are indicated on this label. (The designation for the
cable itself, without connector, is printed on the cable sheath.)

The identification of accessories packed in bags is either printed on the
bag or indicated in an accompanying note.

Type Plates on the Drive Controller

1

1: Power section type plate
2: Control section type plate
Fig. 4-2: Type plate arrangement

2

lt_rt_typenschilderf2.fh7

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Rexroth IndraDrive M Identifying and Checking the Delivered Components 4-3

4.4 Device Types

Type Code

Note: The following illustrates the basic structure of the type codes.

Your sales representative will help with the current status of
available versions.

Single-Axis Drive Controllers

Abbrev.
Column

Example:

1234 6789105 1234 6789205 1234 6789305 1234 6789405

HMS01 . 1N-W0020-A- 07-NNNN

1. Product

1.1 HMS . . . . . . . = HMS

2. Line

2.1 1. . . . . . . . . . . . . . . . . = 01

3. Design

3.1 1 . . . . . . . . . . . . . . . . . . . . . . = 1

4. Power suppyl

4.1 without . . . . . . . . . . . . . . . . . . = N

5. Cooling mode

5.1

Air, internal (through integrated blower)

6. Maximum current

6.1 20 A. . . . . . . . . . . . . . . . . . . . . . . . . = 0020

6.2 36 A . . . . . . . . . . . . . . . . . . . . . . . . . = 0036

6.3 54 A . . . . . . . . . . . . . . . . . . . . . . . . . = 0054

6.4 70 A . . . . . . . . . . . . . . . . . . . . . . . . . = 0070

6.5 150 A . . . . . . . . . . . . . . . . . . . . . . . . . = 0150

6.6 210 A . . . . . . . . . . . . . . . . . . . . . . . . . = 0210

7. Protection mode

7.1 IP 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = A

8. DC-bus nominal voltage

8.1 DC 700 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 07

= W

9. Other design

9.1 none . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNNN

10. Standard reference
Standard Title Edition

DIN EN 60529 Degrees of protection provided by enclosures (IP-Code) 2000-09

Fig. 4-3: Type code

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4-4 Identifying and Checking the Delivered Components Rexroth IndraDrive M

Double-Axis Drive Controllers

Abbrev.
Column

Example:

1. Product

1.1 HMD. . . . . . . . . = HMD

2. Line

2.1 1 . . . . . . . . . . . . . . . . . . . = 01

3. Design

3.1 1 . . . . . . . . . . . . . . . . . . . . . . . . . = 1

4. Power supply

4.1 without . . . . . . . . . . . . . . . . . . . . . = N

5. Cooling mode

5.1 Air, internal (through integrated blower) = W

6. eff. peak current

6.1 12 A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0012

6.2 20 A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0020

6.3 36 A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0036

1234 6789105 1234 6789205 1234 6789305 1234 6789405

HMD01 . 1N-W0020-A - 07 -NNNN

7. Protection mode

7.1 IP 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = A

8. DC-bus nominal voltage

8.1 DC 700 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 07

9. Other design

9.1 none . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNNN

10. Standard reference
Standard Titel Edition

DIN EN 60529 Degrees of protection provided by enclosures (IP-Code) 2000-09

Fig. 4-4: Type code

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