Delta Electronics DVP15MC11T Operating instructions

www.deltaww.com

DVP15MC

Operation Manual

DVP15MC

Operation Manual

2016-06-30

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan City,

Taoyuan County 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3

1688 Jiangxing East Road,

Wujiang Economic Development Zone

Wujiang City, Jiang Su Province, P.R.C. 215200

TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,

ShangHai, P.R.C. 201209

TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,

Tokyo 105-0012, Japan

TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,

Geumcheon-gu, Seoul, Korea, 153-704

TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939

TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC

Gurgaon, PIN 122001, Haryana, India

TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,

Research Triangle Park, NC 27709, U.S.A.

TEL: 1-919-767-3800 / FAX: 1-919-767-8080

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce

Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil

TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

Europe

Delta Electronics (Netherlands) B.V.

Eindhoven Ofce

De Witbogt 20, 5652 AG Eindhoven, The Netherlands

TEL : +31 (0)40-8003800 / FAX : +31 (0)40-8003898

DVP-0191920-00

*We reserve the right to change the information in this manual without prior notice.

DVP15MC11T Operation Manual

Table of Contents

Chapter 1 Preface ................................................................................................ 1-1

1.1 Explanation of Symbols in This Manual ...................................................... 1-2

1.2 Revision History ......................................................................................... 1-2

Chapter 2 Overview of DVP15MC11T ................................................................... 2-1

2.1 Product Description .................................................................................... 2-2

2.2 Functions ................................................................................................... 2-2

2.3 Profile and Components ............................................................................. 2-3

Chapter 3 Specifications ...................................................................................... 3-1

3.1 Function Specifications .............................................................................. 3-2

3.1.1 Specifications ........................................................................................ 3-2

3.1.2 Devices and Data Types ......................................................................... 3-3

3.1.2.1 Devices ............................................................................................. 3-3

3.1.2.2 Valid Ranges of Devices ...................................................................... 3-4

3.1.2.3 Latched Devices ................................................................................. 3-5

3.1.2.4 Data Types and Valid Ranges Supported ................................................ 3-6

3.2 Electrical Specifications ............................................................................. 3-7

Chapter 4 System Architecture ............................................................................ 4-1

4.1 System Constitution ................................................................................... 4-2

4.2 Power Supply ............................................................................................. 4-2

4.3 Left-side Extension .................................................................................... 4-2

4.3.1 Connectable Left-side Extension Module .................................................... 4-2

4.3.2 Allocation of Left-side Network Module Addresses ....................................... 4-3

4.3.3 Method of Reading/Writing of Left-side Modules ......................................... 4-3

4.4 Right-side Extension .................................................................................. 4-3

4.4.1 Connectable Right-side Extension Modules ................................................ 4-3

4.4.2 Allocation of Right-side Extension Module Addresses ................................... 4-4

4.5 Connectable Servo Drives........................................................................... 4-4

4.6 SD Memory Card ......................................................................................... 4-6

4.6.1 Model and Specification .......................................................................... 4-6

4.6.2 Function ............................................................................................... 4-8

Chapter 5 Installation .......................................................................................... 5-1

i

5.1 Dimensions ................................................................................................ 5-2

5.1.1 Profile and Dimensions of DVP15MC11T .................................................... 5-2

5.1.2 Dimensions of Left-side and Right-side Extension Modules ........................... 5-2

5.1.3 Connecting to the Left-side Extension Module ............................................ 5-3

5.1.4 Connecting to the Right-side Extension Module .......................................... 5-4

5.1.5 SD Card Installing and Removing ............................................................. 5-5

5.2 Installing the Module in the Control Cabinet .............................................. 5-7

5.2.1 Installing the Module to DIN rail .............................................................. 5-7

5.2.2 Illustration of Installation Inside the Control Cabinet .................................. 5-7

5.2.3 Environmental Temperature in the Control Cabinet ..................................... 5-7

5.2.4 Actions for Anti-interference ................................................................... 5-8

5.2.5 Dimension Requirement in the Control Cabinet .......................................... 5-8

Chapter 6 Wiring, Communication Setting and Network Construction ................. 6-1

6.1 Wiring ........................................................................................................ 6-3

6.1.1 Power Supply ........................................................................................ 6-3

6.1.2 Safety Circuit Wiring .............................................................................. 6-3

6.2 Input Point and Output Point Wiring .......................................................... 6-4

6.2.1 Function that Input Points Support ........................................................... 6-4

6.2.2 Input Point Wiring ................................................................................. 6-5

6.2.3 Output Point Wiring ............................................................................... 6-6

6.3 RS-485 Communication Port ...................................................................... 6-8

6.3.1 Function that RS-485 Port Supports ......................................................... 6-8

6.3.2 Definitions of RS-485 Port Pins ................................................................ 6-8

6.3.3 RS-485 Hardware Connection .................................................................. 6-8

6.3.4 Supported Function Codes and Exception Codes ...................................... 6-10

6.4 RS-232 Communication Port .................................................................... 6-11

6.4.1 Function that RS-232 Port Supports ....................................................... 6-11

6.4.2 Definitions of RS-232 Port Pins .............................................................. 6-11

6.4.3 RS-232 Hardware Connection ................................................................ 6-11

6.4.4 Supported Function Codes and Exception Codes ...................................... 6-12

6.5 SSI Absolute Encoder Port ....................................................................... 6-13

6.5.1 Function of SSI Absolute Encoder .......................................................... 6-13

6.5.2 Definitions of SSI Port Pins ................................................................... 6-13

6.5.3 SSI Absolute Encoder Hardware Connection ............................................ 6-13

6.6 Incremental Encoders .............................................................................. 6-15

6.6.1 Function of Incremental Encoder ........................................................... 6-15

6.6.2 Definition of Incremental Encoder Port Pins ............................................. 6-15

6.6.3 Incremental Encoder Hardware Connection ............................................. 6-16

6.7 Ethernet Communication Port .................................................................. 6-17

6.7.1 Function that Ethernet Communication Port Supports ............................... 6-17

6.7.2 Pins of Ethernet Communication Port ...................................................... 6-17

6.7.3 Network Connection of Ethernet Communication Port ............................... 6-17

6.7.4 Function Codes that Ethernet Communication Port Supports ...................... 6-18

6.8 Motion Communication Port ..................................................................... 6-18

6.8.1 Function that Motion Communication Port Supports .................................. 6-18

ii

6.8.2 Pins of Motion Communication Port ........................................................ 6-18

6.8.3 Motion Network Connection ................................................................... 6-19

6.8.4 Communication Speed and Communication Distance ................................. 6-19

6.9 CANopen Communication Port.................................................................. 6-20

6.9.1 Functions that CANopen Communication Port Supports ............................. 6-20

6.9.2 Pins of CANopen Communication Port ..................................................... 6-21

6.9.3 PDO Mapping at CANopen Communication Port ........................................ 6-21

6.9.4 Network Connection at CANopen Communication Port ............................... 6-21

6.9.5 CANopen Communication Rate and Communication Distance ..................... 6-22

Chapter 7 Execution Principle of DVP15MC11T Controller ................................... 7-1

7.1 Tasks .......................................................................................................... 7-2

7.1.1 Task Types ........................................................................................... 7-2

7.1.2 Priority levels of Tasks ............................................................................ 7-4

7.1.3 Watchdog for a Task .............................................................................. 7-6

7.1.4 Motion Instructions for Each Task Type ..................................................... 7-7

7.2 The Impact of PLC RUN or STOP on Variables and Devices ......................... 7-8

7.3 Relationship between Motion Program and Motion Bus .............................. 7-8

7.4 Synchronization Cycle Period Setting ......................................................... 7-9

Chapter 8 Logic Instructions ............................................................................... 8-1

8.1 Table of Logic Instructions ......................................................................... 8-4

8.2 Explanation of Logic Instructions ............................................................... 8-7

8.2.1 EN and ENO .......................................................................................... 8-7

8.3 Sequence Input /Output Instructions ........................................................ 8-7

8.3.1 R_TRIG ................................................................................................ 8-7

8.3.2 F_TRIG ................................................................................................ 8-9

8.3.3 RS ..................................................................................................... 8-11

8.3.4 SR ..................................................................................................... 8-13

8.3.5 SEMA ................................................................................................. 8-15

8.4 Data Movement Instructions .................................................................... 8-17

8.4.1 MOVE ................................................................................................ 8-17

8.4.2 MoveBit .............................................................................................. 8-18

8.4.3 TransBit ............................................................................................. 8-20

8.4.4 MoveDigit ........................................................................................... 8-22

8.4.5 Exchange ........................................................................................... 8-24

8.4.6 Swap ................................................................................................. 8-26

8.5 Comparison Instructions .......................................................................... 8-28

8.5.1 LT ..................................................................................................... 8-28

8.5.2 LE ..................................................................................................... 8-30

8.5.3 GT ..................................................................................................... 8-32

8.5.4 GE ..................................................................................................... 8-34

8.5.5 EQ ..................................................................................................... 8-36

8.5.6 NE ..................................................................................................... 8-38

8.6 Timer Instructions ................................................................................... 8-40

iii

8.6.1 TON .................................................................................................. 8-40

8.6.2 TOF ................................................................................................... 8-42

8.6.3 TP ..................................................................................................... 8-44

8.7 Counter Instructions ................................................................................ 8-46

8.7.1 CTU ................................................................................................... 8-46

8.7.2 CTD ................................................................................................... 8-48

8.7.3 CTUD ................................................................................................. 8-50

8.8 Math Instructions ..................................................................................... 8-53

8.8.1 ADD .................................................................................................. 8-53

8.8.2 SUB .................................................................................................. 8-56

8.8.3 MUL .................................................................................................. 8-59

8.8.4 DIV ................................................................................................... 8-62

8.8.5 MOD .................................................................................................. 8-65

8.8.6 MODREAL ........................................................................................... 8-67

8.8.7 MODTURNS ........................................................................................ 8-69

8.8.8 MODABS ............................................................................................ 8-71

8.8.9 ABS ................................................................................................... 8-73

8.8.10 DegToRad .......................................................................................... 8-75

8.8.11 RadToDeg .......................................................................................... 8-77

8.8.12 SIN ................................................................................................... 8-79

8.8.13 COS .................................................................................................. 8-81

8.8.14 TAN ................................................................................................... 8-83

8.8.15 ASIN ................................................................................................. 8-85

8.8.16 ACOS ................................................................................................ 8-88

8.8.17 ATAN ................................................................................................. 8-90

8.8.18 LN ..................................................................................................... 8-92

8.8.19 LOG .................................................................................................. 8-94

8.8.20 SQRT ................................................................................................. 8-96

8.8.21 EXP ................................................................................................... 8-98

8.8.22 EXPT ................................................................................................ 8-100

8.8.23 RAND ............................................................................................... 8-102

8.8.24 TRUNC .............................................................................................. 8-104

8.8.25 FLOOR .............................................................................................. 8-106

8.8.26 FRACTION ......................................................................................... 8-108

8.9 Bit String Instructions ........................................................................... 8-110

8.9.1 AND ................................................................................................. 8-110

8.9.2 OR ................................................................................................... 8-113

8.9.3 NOT ................................................................................................. 8-116

8.9.4 XOR ................................................................................................. 8-118

8.9.5 XORN ............................................................................................... 8-121

8.10 Shift Instructions ................................................................................... 8-124

8.10.1 SHL .................................................................................................. 8-124

8.10.2 SHR ................................................................................................. 8-126

8.10.3 ROL .................................................................................................. 8-128

8.10.4 ROR ................................................................................................. 8-130

8.11 Selection Instructions ............................................................................ 8-132

8.11.1 MAX ................................................................................................. 8-132

8.11.2 MIN .................................................................................................. 8-134

iv

8.11.3 SEL ................................................................................................. 8-136

8.11.4 MUX ................................................................................................ 8-138

8.11.5 LIMIT ............................................................................................... 8-140

8.11.6 BAND ............................................................................................... 8-143

8.11.7 ZONE ............................................................................................... 8-146

8.12 Data Type Conversion Instructions ........................................................ 8-149

8.12.1 BOOL_TO_*** .................................................................................. 8-149

8.12.2 Bit strings_TO_*** ............................................................................ 8-152

8.12.3 Integers_TO_*** .............................................................................. 8-159

8.12.4 Real numbers_TO_*** ....................................................................... 8-168

8.12.5 Times,dates_TO_*** ......................................................................... 8-171

8.12.6 Strings_TO_*** ................................................................................ 8-173

8.13 CANopen Communication Instructions ................................................... 8-176

8.13.1 DMC_ReadParameter_CANopen ........................................................... 8-176

8.13.2 DMC_WriteParameter_CANopen ........................................................... 8-182

8.14 String Processing Instructions ............................................................... 8-187

8.14.1 CONCAT ........................................................................................... 8-187

8.14.2 DELETE ............................................................................................ 8-189

8.14.3 INSERT ............................................................................................ 8-191

8.14.4 LEFT / RIGHT .................................................................................... 8-193

8.14.5 MID ................................................................................................. 8-195

8.14.6 REPLACE .......................................................................................... 8-197

8.14.7 LEN ................................................................................................. 8-199

8.14.8 FIND ................................................................................................ 8-200

8.15 Immediate Refresh Instructions ............................................................ 8-202

8.15.1 FROM ............................................................................................... 8-202

8.15.2 TO ................................................................................................... 8-206

8.15.3 ImmediateInput ................................................................................ 8-210

8.15.4 ImmediateOutput .............................................................................. 8-212

Chapter 9 Introductions of Axis Parameters ........................................................ 9-1

9.1 Description of Axis Parameters .................................................................. 9-2

Chapter 10 Motion Control Function .................................................................... 10-1

10.1 EN and ENO .............................................................................................. 10-2

10.2 Relation among Velocity, Acceleration and Jerk ....................................... 10-3

10.3 Introduction of BufferMode ...................................................................... 10-6

10.4 The State Machine .................................................................................. 10-32

Chapter 11 Motion Control Instructions ............................................................... 11-1

11.1 Table of Motion Control Instructions ........................................................ 11-3

11.2 About Motion Control Instructions ........................................................... 11-4

11.2.1 Composition of A Motion Control Instruction ............................................ 11-4

11.2.2 Program Languages that Motion Control Instructions Support .................... 11-4

11.2.3 Configuration of Motion Control Instructions ............................................ 11-4

v

11.3 Single-axis Instructions ........................................................................... 11-5

11.3.1 MC_Power .......................................................................................... 11-5

11.3.2 MC_Home ......................................................................................... 11-14

11.3.3 MC_MoveVelocity ............................................................................... 11-19

11.3.4 MC_Halt ............................................................................................ 11-26

11.3.5 MC_Stop ........................................................................................... 11-31

11.3.6 MC_MoveRelative ............................................................................... 11-36

11.3.7 MC_MoveAdditive ............................................................................... 11-44

11.3.8 MC_MoveAbsolute .............................................................................. 11-52

11.3.9 MC_MoveSuperimposed ...................................................................... 11-61

11.3.10 MC_HaltSuperimposed ........................................................................ 11-68

11.3.11 MC_SetPosition .................................................................................. 11-73

11.3.12 MC_SetOverride ................................................................................. 11-83

11.3.13 MC_Reset .......................................................................................... 11-87

11.3.14 DMC_SetTorque ................................................................................. 11-90

11.3.15 MC_ReadAxisError .............................................................................. 11-94

11.3.16 MC_ReadActualPosition ....................................................................... 11-96

11.3.17 MC_ReadStatus ................................................................................ 11-101

11.3.18 MC_ReadMotionState ........................................................................ 11-106

11.3.19 DMC_ReadParameter_Motion ............................................................. 11-111

11.3.20 DMC_WriteParameter_Motion ............................................................. 11-115

11.3.21 DMC_TouchProbe ............................................................................. 11-119

11.4 Multi-axis Instructions ......................................................................... 11-128

11.4.1 MC_GearIn ...................................................................................... 11-128

11.4.2 MC_GearOut .................................................................................... 11-134

11.4.3 MC_CombineAxes ............................................................................. 11-139

11.4.4 Introduction of Electronic Cam ........................................................... 11-147

11.4.5 MC_CamIn ...................................................................................... 11-148

11.4.6 MC_CamOut .................................................................................... 11-169

11.5 Application Instructions ....................................................................... 11-175

11.5.1 Rotary Cut Technology ...................................................................... 11-175

11.5.2 Rotary Cut Parameters ...................................................................... 11-176

11.5.3 Control Feature of Rotary Cut Function ................................................ 11-177

11.5.4 Introduction to Cam Curve with Rotary Cut Function ............................. 11-178

11.5.5 Rotary-cut Instructions ..................................................................... 11-182

11.5.5.1 APF_RotaryCut_Init ....................................................................... 11-182

11.5.5.2 APF_RotaryCut_In ......................................................................... 11-185

11.5.5.3 APF_RotaryCut_Out ....................................................................... 11-187

11.5.6 Application Example of Rotary Cut Instructions ..................................... 11-189

Chapter 12 Troubleshooting ................................................................................ 12-1

12.1 Explanation of LED Indicators .................................................................. 12-2

12.2 Table of Error IDs in Motion Instructions ................................................. 12-8

12.3 System Trouble Diagnosis through System Error Codes ......................... 12-12

Appendix A Modbus Communication ...................................................................... A-1

A.1 Message Format in ASCII Mode .................................................................. A-2

vi

A.2 Message Format in RTU Mode ..................................................................... A-5

A.3 Modbus Function Codes Supported ............................................................. A-7

A.4 Modbus Exception Response Code Supported ............................................ A-7

A.5 Introduction to Modbus Function Codes ..................................................... A-8

A.6 Table of Registers and Corresponding Modbus addresses ........................ A-15

Appendix B Modbus TCP Communication ................................................................ B-1

B.1 Modbus TCP Message Structure .................................................................. B-2

B.2 Modbus Function Codes Supported in Modbus TCP ..................................... B-2

B.3 Exception Response Code in Modbus TCP ................................................... B-3

B.4 Modbus Function Codes in Modbus TCP ...................................................... B-3

B.5 Registers in DVP15MC11T and Corresponding Modbus Addresses ............ B-12

Appendix C CANopen Protocol ................................................................................ C-1

C.1 Node States ................................................................................................ C-4

C.2 Network Management (NMT) ..................................................................... C-7

C.3 PDO (Process Data Object) ........................................................................ C-7

C.4 SDO (Service Data Object) ......................................................................... C-9

Appendix D Explanation of Homing Modes ............................................................ D-1

D.1 Explanation of Homing Modes ................................................................... D-2

Appendix E List of Accessories ............................................................................... E-1

E.1 Accessories for CANopen Communication .................................................. E-2

E.2 Accessories for PROFIBUS DP Communication ........................................... E-4

E.3 Accessories for DeviceNet Communication ................................................. E-4

vii

Memo

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1

Chapter 1 Preface

Table of Contents

1.1 Explanation of Symbols in This Manual ...................................................... 1-2

1.2 Revision History ......................................................................................... 1-2

1-1

DVP15MC11T Operation Manual

_1

Thank you for purchasing DVP15MC11T motion controller which is created on the basis of motion control and

we are providing you with a high-end motion control system.

This manual describes the product specifications, functions, system architecture, installation, wiring,

execution principle, logic instructions and motion control instructions, trouble-shooting, communication

protocols, homing modes and other relevant information.

Make sure that you have well known about the motion control system configuration and product operation

before using DVP15MC11T.

1.1 Explanation of Symbols in This Manual

 Precautions before operation

Before operation, please read relevant safety instructions carefully so as to prevent an injury to personnel and

damage to products.

! Danger

It indicates the highly potential hazards. It is possible to cause a severe injury or even

fatal harm to personnel if you do not follow the instructions.

!

Warning

It indicates the potential hazards. It is possible to cause a minor injury or even fatal

harm to personnel if you do not follow the instructions.

!

Caution

It indicates much attention should be paid. An unexpected result may occur if you do

not follow the instructions.

1.2 Revision History

Version Revision Release Date

1

st

The first version was published. May 30, 2018

1-2

2

Chapter 2 Overview of DVP15MC11T

Table of Contents

2.1 Product Description .................................................................................... 2-2

2.2 Functions ................................................................................................... 2-2

2.3 Profile and Components ............................................................................. 2-3

2-1

DVP15MC11T Operation Manual

_2

2.1 Product Description

DVP15MC11T is a type of multi-axis motion controller researched and produced by Delta autonomously on

the basis of CANopen field bus. It complies with CANopen DS301 basic communication protocol and

DSP402 motion control protocol. In addition, it also supports standard instruction libraries defined by

international organizations for motion control. It brings great convenience to user to learn and develop

projects quickly. Maximum 24 axes can be controlled by means of Motion port. The single-axis motion

instructions including velocity, position, torque and homing instructions as well as multi-axis instructions such

as electronic gear, electronic cam, rotary cut and G code are supported.

Multiple communication ports are built in DVP15MC11T. And thus various communication functions can be

realized without adding modules. DVP15MC11T has left-side and right-side extension ports for adding

DVP-S series modules to its left and right sides. (The left-side port is a high-speed parallel extension port.)

The communication system adopts highly reliable CAN bus as the main line and hence users just need

simple cables for wiring.

Thanks to the high-speed reliable motion control system, DVP15MC11T can be widely applied to a variety of

automation control industries such as packaging, printing, encapsulating, wire cutting, drug manufacturing

and so on.

2.2 Functions

 Able to control up to 24 real axes (with axis No. ranging from 1 to 32).

 The virtual axis and encoder axis can be built inside DVP15MC11T (with the axis No. ranging from 1

to 32, which can not be the same as that of real axes).

 Equipped with 1GHz high-speed floating-point operation processor; supporting 64-bit floating point

(Lreal) and capable to meet various complicated motion control.

 With two built-in incremental encoder ports and one SSI absolute encoder port.

 With one RS232 port, one RS485 port and two Ethernet ports.

 With one built-in CAN port serving as CANopen master or slave.

 Supports powerful field network (as Ethernet master or slave, CANopen master or slave and

Profibus-DP slave) for construction of a function-complicated control system.

 With a variety of I/O extensions (Left-side high-speed AIAO; right-side low-speed AIAO and DIDO

and temperature modules).

 Using the easy-to-use software interface with the features of complete function and convenient

application.

 Providing standard bus cables, terminal resistors, distributor boxes and other accessories as well as

easy and convenient plug-and-play wiring.

2-2

Chapter 2 Specifications

2

_

2.3 Profile and Components

CAN

ERR

1

RUN

ERR

2

RUN

00

10

00

01

11

01

02

12

02

03

13

03

04

14

04

05

15

05

06

16

06

07

17

07

EXTENSION

PORT

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

○

1E

Model name

A

○

10E

SD card slot

A

○

2E

State indicators

A

○

11E

Right-side extension module port

A

○

3E

IO indicators

A

○

12E

24V power port

A

○

4E

COM/SSI communication port

A

○

13E

Screw fixing clip

A

○

5E

Incremental encoder port

A

○

14E

Extension module fixing clip

A

○

6E

Ethernet communication port

A

○

15E

Left-side extension module port

A

○

7E

CANopen communication port

A

○

16E

Nameplate

A

○

8E

CANmotion communication port

A

○

17E

DIN rail fixing clip

A

○

9E

Input and output pins and symbols

2-3

DVP15MC11T Operation Manual

_2

MEMO

2-4

3

Chapter 3 Specifications