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Hydraulic System Problems

TMC 188/40 Motion Control Module

Delta Computer Systems, Inc. 360/254-8688

58

If the speeds show:

Your valve may have slow response. Add feed forward advance equal to the time between the two
speed lines.

With normal gain values, if the graph shows:

Your pump and/or accumulator may be inadequate (you are running out of oil). Reduce speed,
increase pump pressure, add accumulator volume, or get a bigger pump.

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Summary of Contents for TMC 188/40 Series

Page 1: ...TMC 188 40 Rev 4 1 Motion Control Module 960912 Delta Computer Systems Inc 1818 SE 17th Street Battle Ground WA 98604 Tel 360 254 8688 Fax 360 254 5435 http www deltamotion com sales deltamotion com...

Page 2: ...ulting from omissions in this document The information in this document is subject to change without notice Neither Delta Computer Systems Inc nor anyone else involved in the creation production or de...

Page 3: ...TION AND STATUS PARAMETERS 19 VWRITE AXIS DYNAMIC CONTROL PARAMETERS 20 V MEMORY EXAMPLE 21 MOTION CONTROL PARAMETERS 23 READ ONLY PARAMETERS VREAD 23 INITIALIZATION PARAMETERS VINIT 27 DYNAMIC CONTRO...

Page 4: ...E CHART 74 APPENDIX B ASBX 40 ANALOG MODULE 75 DESCRIPTION 75 INSTALLATION 75 SPECIFICATIONS 75 VREAD V MEMORY 75 NEW VREAD PARAMETER DEFINITIONS 77 VINIT V MEMORY 77 NEW VINIT PARAMETER DEFINITIONS 7...

Page 5: ...97 SAMPLE LIMIT AND HOME CONFIGURATION 98 APPENDIX D APPLICATION NOTES 99 USING THE OFFSET AND DIRECTION FIELDS 99 ACCELERATION AND DECELERATION MODES 101 EVEN ENDING 102 EXAMPLE USING 20MA SERVO VAL...

Page 6: ...Delta Computer Systems Inc 360 254 8688 6...

Page 7: ...analog slide potentiometers or pressure The TMC 188 40 Motion Control Module MCM occupies one slot of the SIMATIC TI505 rack two slots if the Analog or Quadrature options are installed A Special Funct...

Page 8: ...rs 1 5V return pulse sensitivity 27 75MHz counters 1 2 or 4 recirculations Positive or negative interrogation pulse Maximum update rate 2 milliseconds Drive Four optically isolated individually config...

Page 9: ...sed on each axis Default 4 Range 1 2 4 5 Wire the transducer and drive cables to your system Step 2 Configuring the P C Base To configure the P C so it will communicate with the TMC 188 40 the appropr...

Page 10: ...r the power is cycled Step 4 Selecting the Approach Once the WY registers are initialized there are two methodss to get the TMC 188 40 running The first is to use DELTA s PC based program called DCSMO...

Page 11: ...H in the VWRITE COMMAND field SCALE Parameter The SCALE parameter is used to convert the transducer or encoder counts to position units For magnetostrictive transducers MDT compute the SCALE as follow...

Page 12: ...hift O and verify that DRIVE 2048 C Turn on the hydraulics the axis will drift due to valve null errors D Put 100 in the REQUESTED POSITION field and enter Alt Shift O then put 0 zero in the REQUESTED...

Page 13: ...the screen and axis halted there is not enough drive capacity to drive the axis at the requested speed If this occurs reduce the SPEED If a LAG error occurs press Ctrl B to display the status bits th...

Page 14: ...scillations occur reduce the HYSTERESIS 12 The NULL UPDATE should not be used until the HYSTERESIS is adjusted Try to keep the NULL UPDATE interval value higher than 1000 Systems with fast response ti...

Page 15: ...on page 23 The system must be able to shut down the axes drive power by deenergizing a normally open held closed contact This contact should be in series with an operator emergency off button If powe...

Page 16: ...ion of a continuous list of parameters After the WY registers are set up all communication between the P C and the TMC 188 40 passes through V Memory The following pages list the VINIT VREAD and VWRIT...

Page 17: ...the VWRITE location see COMMAND parameters on pages 38 42 Once issued it takes two P C scan cycles to complete the TMC 188 40 axis initialization process Do not issue a new command until the P ASCII...

Page 18: ...ion 10 STATIC GAIN 50 Proportional gain at rest 11 EXTEND GAIN 50 Proportional gain when extending 12 RETRACT GAIN 50 Proportional gain when retracting 13 INTEGRAL GAIN 50 Integral gain when in motion...

Page 19: ...Position Measured axis position scaled 11 Axis 2 Transducer Counts Transducer location in raw counts 12 Axis 2 Status Error and status bits 13 Axis 2 Drive Drive output in raw D A counts 14 Axis 2 Tar...

Page 20: ...Acceleration Axis 2 rate or distance 9 Deceleration Axis 2 rate or distance 10 Speed Axis 2 requested speed during motion profile 11 Requested Position Axis 2 destination position in position units 12...

Page 21: ...y the P C One exception to these conventions is the COMMAND parameter in VWRITE This location is bidirectional between the TMC 188 40 and P C It is written to and monitored by both the P C and TMC 188...

Page 22: ...V Memory TMC 188 40 Motion Control Module Delta Computer Systems Inc 360 254 8688 22...

Page 23: ...h no scaling ACTUAL POSITION The ACTUAL POSITION is the measured position of the axis updated every two milliseconds The ACTUAL POSITION is calculated from the TRANSDUCER COUNTS with the following for...

Page 24: ...s accelerating Bit 12 AT REQUESTED SPEED This bit is set while the axis is moving at the speed specified by the SPEED parameter Bit 11 DECELERATING This bit is set while the axis is decelerating Bit 1...

Page 25: ...hen the calculated drive output exceeds the output range Usually this error means the system does not have enough power to drive the axis at the requested speed During the error the TMC 188 40 sets th...

Page 26: ...0 1 4 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 3 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 2 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 _______ _______ _______ __...

Page 27: ...t 2 3 4 7 8 or 10 are set in the STATUS word To enable an emergency stop on an error condition the appropriate bit must be cleared in both the HALT MASK and the ESTOP MASK During an emergency stop the...

Page 28: ...a larger value in the range of 500 1000 NOTE The system will oscillate if the NULL UPDATE time is too short so decrease this number with caution This value is only meant to correct for the imperfecti...

Page 29: ...d forwards have been set to optimal values Using the integrator before the feed forwards have been set properly will cause the system to overshoot the command position When a G command is issued the i...

Page 30: ...ptions are installed see Appendix B or C for more information In linear position applications SCALE can be used for two purposes transducer compensation or distance translation Differences in magnetos...

Page 31: ...use the absolute value and change the DIRECTION parameter from 0 to 1 or vice versa SCALE Calculation Examples Example 1 For a system using a magnetostrictive transducer with a calibration number of...

Page 32: ...d as follows TRANSDUCER COUNTS x SCALE ACTUAL POSITION XOR DIRECTION OFFSET 32768 XOR has the effect of multiplying by 1 when DIRECTION 1 and multiplying by 1 when DIRECTION 0 NOTE When the DIRECTION...

Page 33: ...s value will be restricted to it The RETRACT LIMIT is given in position units The RETRACT LIMIT must be changed when the SCALE OFFSET or DIRECTION parameters are changed Dynamic Control Commands VWRIT...

Page 34: ...rom 0 speed Mode 2 is equivalent to Mode 0 In Mode 3 the parameters define the time to the specified speed BIT 14 RESERVED This bit must be set to 0 for compatibility with previous versions of firmwar...

Page 35: ...the axis by putting a 0 zero in the SPEED field NOTE When in Speed Control mode the axis does not maintain position information To return to Position mode you must first enter a Z command then clear b...

Page 36: ...0 0 1 1 0 0 1 1 0 0 1 8 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 7 0 1 1 1 0 1 1 1 0 1 1 1 0 1 1 1 6 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 5 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 4 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 3 0 0 1...

Page 37: ...d speed is Speed 2 Ramp Distance Acceleration Rate x 2000 Speed 2 Acceleration Rate Ramp Distance x 2000 See pages 33 to 36 for more information about the MODE word DECELERATION Default 1000 This fiel...

Page 38: ...the feed forward values After a move is made where the axis reaches constant speed and the overdrive bit is not set an F command will set the feed forward for the direction of the last move This comm...

Page 39: ...in Open Loop mode until a G or P command is issued M Mask Events 4DH 77D Event Control Firmware Only This command is used to mask or unmask events The parameter field contains a pattern of bits desig...

Page 40: ...command restores the last SAVED value of null This value will be 2048 if no previous SAVE or NEW NULL see page 27 was done S Save Null 53H 83D The SAVE command saves the current value of the null so i...

Page 41: ...s in 1 second _ Set Pressure Low 5FH 95D Analog option only In Event Step Table This command sets the pressure below which the Motion Control Module changes from Pressure Control to Position Control I...

Page 42: ...ssued only the hardware counters are changed they are loaded with the preset value defined by Preset Value REQUESTED POSITION OFFSET x SCALE 1000 rather than the default value of 100 The routine can b...

Page 43: ...cleared by sending a new COMMAND Since the last command is stored in the command register the new command must be different for the MCM to detect the change For example if a move is started with a G...

Page 44: ...ading the computer will reduce the drive output to slow the axis down The amount of drive change for a given position error is determined by three different error gains PROPORTIONAL STATIC GAIN PROPOR...

Page 45: ...mall while the axis is moving If the feed forward is too low the ACTUAL POSITION will LAG the TARGET POSITION If it is too high the ACTUAL POSITION will LEAD the TARGET POSITION and the axis will over...

Page 46: ...o respond the output of the corresponding axis will be set to the current drive null value and its LED will turn red If the axis transducer then comes on line it will respond to commands and its LED w...

Page 47: ...ictive transducer is away from the transmitting end The wiring information later in this manual has wire color code data for the Temposonics brand of magnetostrictive transducers and cables supplied b...

Page 48: ...e TMC 188 40 will burn out These current limiting resistors protect the transducer rod they are field replaceable Jumpers P4 P7 P4 1 2 axis 1 positive pulse P6 1 2 axis 3 positive pulse P4 2 3 axis 1...

Page 49: ...ength See the tables below Transducer Cal Number 9 1us inch typical Counts Per Inch x Recirculations 36ns per clock 27 75MHz clock 65535 Maximum Linear Transducer Length Counts per Inch Longest Measur...

Page 50: ...set for 15 microseconds and is retriggered every time there is activity on the module s internal bus If the timer fails to be retriggered within 15 microseconds the drive outputs are disabled When int...

Page 51: ...1 BROWN 8 15v axis 1 PINK 9 Return pulse 1 YELLOW 10 15v axis 1 VIOLET 11 Common TAN 12 Interrogation pulse 2 BLUE 13 15v axis 2 RED BLACK 14 Return pulse 2 RED YELLOW 15 15v axis 2 RED GREEN 16 Comm...

Page 52: ...input RED 2 Power Supply Common BLACK 3 15 input WHITE 4 Common GREEN 5 Drive Out 1 ORANGE 6 Common BLUE 7 Common BROWN 8 Drive Out 2 YELLOW 9 Common RED BLACK 10 Drive Out 4 RED YELLOW 11 Common RED...

Page 53: ...the TMC 188 40 panel is green More information about the WY registers starts on page 9 NOTE Once the TMC 188 40 finds a correct set of WY registers including a valid checksum it will not read them ag...

Page 54: ...problem with the 15 volt supply Change the 15 ohm 5 resistors if there is problem with the 15 volt supply P5 P7 DB 25S P4 P6 R41 R53 R44 R50 R41 R44 15 ohm 15 volt protection resistors R41 Axis 1 R42...

Page 55: ...uivalent to having two different gains for different signal levels The low gain at low flow causes poor response at slow speeds and the high gain at high speed can cause instability These problems are...

Page 56: ...ar the cylinder to get smooth motion Insufficient pump capacity can result in inadequate control when moving many axes simultaneously or when making long moves In these cases pressure can drop so much...

Page 57: ...s probably curvilinear Replace the valve with a linear one or increase the static gain and tune the system for high speed stability expect poor control at low speed and when stopped If the speeds show...

Page 58: ...eeds show Your valve may have slow response Add feed forward advance equal to the time between the two speed lines With normal gain values if the graph shows Your pump and or accumulator may be inadeq...

Page 59: ...questions and report problems Our BBS telephone number is 503 283 5646 300 to 14 400 bps 8 bits no parity 1 stop bit and our Internet address is Web http www deltacompsys com Email email deltacompsys...

Page 60: ...nt for a specific application i e thousandths of an inch tenths of millimeters thousandths of revolutions etc Position units are calculated by using SCALE and COUNTS Recirculation The number of times...

Page 61: ...0 1 0 1 0 1 0 1 0 1 0 1 0 1 4 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 3 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 2 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 _...

Page 62: ...0 1 1 0 0 1 1 0 0 1 1 0 0 1 8 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 7 0 1 1 1 0 1 1 1 0 1 1 1 0 1 1 1 6 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 5 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 4 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 3...

Page 63: ...TMC 188 40 Motion Control Module Appendix A Maps Tips and Commands Delta Computer Systems Inc 360 254 8688 63 Example V Memory Map...

Page 64: ...0 volts 3 Individually select each transducer interrogation pulse polarity Default Positive Negative is for short Temposonics I rods only 4 Individually select the number of recirculations used on eac...

Page 65: ...ters will not take effect until the TMC is reset or the power is cycled D Start DCSMON See Getting Started Step 3 on page 9 Exit TISOFT and run INSTALL on the DCSMON disk to install DCSMON then run DC...

Page 66: ...ue null Correct any problems before continuing E When the axis gets to the extend limit enter Alt Shift O then Alt P to stop the axis Enter the ACTUAL POS value in the EXTEND LIMIT parameter F Put 100...

Page 67: ...8 Repeat Steps 5 7 for the opposite direction 9 Double the PRO EXT GAIN PRO RET GAIN and PRO STAT GAIN values then enter Alt P Make moves in both directions and look at the plots If there are signs of...

Page 68: ...aving a watchdog timer that shuts off drive power if a time out occurs Transducer Notes Retracting is always toward the transmitter end of the transducer COUNTS decrease while retracting The last 6 in...

Page 69: ...oscillate If oscillations occur reduce the HYSTERESIS 12 The NULL UPDATE should not be used until the HYSTERESIS is adjusted Try to keep the NULL UPDATE interval value higher than 1000 Systems with fa...

Page 70: ...Appendix A Maps Tips and Commands TMC 188 40 Motion Control Module Delta Computer Systems Inc 360 254 8688 70...

Page 71: ...Ctrl H Context sensitive help Shift General help file Using the Datalog Insert Retrieve and display axis datalog in graph form Home Cursor full left End Cursor full right Page Up Coarse cursor left Pa...

Page 72: ...S SBS and ZYCOM only Alt A Toggle Auto move when on DCSMON cycles through Automove file Ctrl A Edit Automove file using Table Editor Ctrl F Edit F1 F10 keys using Table Editor Ctrl F1 F10 Move using p...

Page 73: ...deceleration distance in thousandths of inches A is acceleration or deceleration rate in inches per second per second ACTUAL POSITION COUNTS X SCALE 32768 XOR DIRECTION OFFSET RAMP DIST SPEED x SPEED...

Page 74: ...K 0B 11 6 36 54 a 62 97 L 0C 12 7 37 55 b 62 98 M 0D 13 8 38 56 c 63 99 N 0E 14 9 39 57 d 64 100 O 0F 15 3A 58 e 65 101 P 10 16 3B 59 f 66 102 Q 11 17 3C 60 g 67 103 R 12 18 3D 61 h 68 104 S 13 19 3E...

Page 75: ...xes are independently configurable for two modes of operation Pressure mode In this mode the standard magnetostrictive transducer feedback is used to control the axis position with the analog feedback...

Page 76: ...10 Axis 2 COMMAND POSITION 11 Axis 2 TARGET POSITION 12 Axis 2 ACTUAL POSITION 13 Axis 2 TRANSDUCER COUNTS 14 Axis 2 STATUS 15 Axis 2 DRIVE 16 Axis 2 TARGET SPEED 17 Axis 2 NULL DRIVE 18 Axis 2 PRESSU...

Page 77: ...V Memory pointed to by WY1 through WY4 have been expanded from 24 to 34 words Here is the new parameter list WORD PARAMETER DEFAULT VALUE 0 PRESSURE DIFFERENTIATOR 0 1 PRESSURE INTEGRATOR 0 2 PRESSURE...

Page 78: ...e number of drive counts per 1000 counts of error Negative gain values are used to increase preessure while retracting PRESSURE SCALE Range 5000 to 5000 Default 1000 PRESSURE SCALE is used to convert...

Page 79: ...mode When bit 10 is true the pressure mode is turned on When bit 10 is false the TMC 188 40 TA is in magnetostrictive transducer mode A new command must be issued to the TMC 188 40 TA for a change in...

Page 80: ...uts on the ASBX 40 are configured by the factory to the user s specifications prior to shipment The only user setup required is the installation of the mode selection jumpers Each axis has a pair of p...

Page 81: ...t 10 of the MODE Word or an axis can control position and pressure by setting bit 10 to 1 With bit 10 set the module will control position using a magnetostrictive transducer until the pressure reache...

Page 82: ...le and 37 pin D sub connector The wiring is as follows PIN Function Wire Color 1 Axis 1 input BLACK pair 1 20 Axis 1 input RED pair 1 Shell Shield 2 Axis 2 input BLACK pair 2 21 Axis 2 input WHITE pai...

Page 83: ...or Home and Limit functions All inputs and outputs on the TMC 188 40 T Q are optically isolated The TMC 188 40 T Q is designed primarily for use as a position controller although it can be used for so...

Page 84: ...rease when the axis is extending To reverse the direction reverse the A and B signals from the quadrature encoder and reverse the drive output leads from the TMC 188 40 T Q SCALE Parameter The way the...

Page 85: ...ounts per revolution For example 200 kHz 800 000 quadrature encoder counts per second MAX RPM 800 000 counts per second 4 counts per encoder pulse PPR x 60 seconds MAX RPM 12 000 000 PPR A system with...

Page 86: ...4 times the resolution of the incoming pulse trains The counts are recorded on 24 bit hardware counters which are read by the TMC 188 40 T Q The 24 bit hardware counts are moved to 32 bit software cou...

Page 87: ...exactly on the Home position 4 When the Home is located the axis extends 100 quadrature encoder counts from the Home position the AT COMMAND POSITION bit is set and the ACTUAL POSITION is set to the v...

Page 88: ...er Value REQUESTED POSITION OFFSET x SCALE 1000 When the axis is moving the Z command sets the ACTUAL POSITION to the REQUESTED POSITION does not change the COMMAND POSITION and updates the TARGET POS...

Page 89: ...ed The following examples illustrate how the SCALE parameter is used Terms PPR Pulses Per Revolution is the number of lines on the quadrature encoder disk Mechanical Resolution Number of quadrature en...

Page 90: ...of measurement 0 0001 inch SCALE 1000 mechanical resolution Usable resolution 10 000 parts per inch Note A SCALE of 1 000 cannot be used because it would mean using a unit of measurement of 1 20 000 0...

Page 91: ...r of times the counts pass 65 535 and rolls over to 0 STATUS Word STATUS Word Bit 6 Transducer Not Responding When using an quadrature encoder Status Word bit 6 is set when the count rate exceeds 800...

Page 92: ...set to 1 State of Limit Input HALT Mask Bit 7 ESTOP Mask Bit 7 Result Inactive No current Zero Enabled Zero Enabled The TMC 188 40 T Q sets the drive to null emergency stop Once stopped the axis can b...

Page 93: ...5 VDC Inactive Input 1 5VDC Active Input 3 25 VDC Inactive Input 1 5VDC Qualified Home Active Input 3 25 VDC Inactive Input 1 5VDC Home Position Preset Notice in the figure above with jumper installed...

Page 94: ...ted by installing jumpers on the stake pins labeled P4 For example if jumpers are installed in P4 2 and P4 4 then Axis 1 Magnetostrictive Axis 2 Quadrature Axis 3 Magnetostrictive Axis 4 Quadrature Ho...

Page 95: ...5 Recommended Improves noise immunity PS Voltage Resistance 5V 12V 15V 24V P S Differential Line Driver ENCODER 5V QSBX 40 1N4935 1N6402 Use diodes if voltage may exceed 40 5 88C30 or equiv Resistors...

Page 96: ...drature encoders on the TMC 188 40 TQ work as follows Red Jumper P4 not installed on QSBX 40 Flashing Red Control error detected or no Limit input Green Quadrature OFF MDT green when transducer OK The...

Page 97: ...xis 3 Phase B input BROWN pair 6 7 Axis 4 Phase A input BLACK pair 7 26 Axis 4 Phase A input ORANGE pair 7 8 Axis 4 Phase B input RED pair 8 27 Axis 4 Phase B input WHITE pair 8 9 Axis 1 HOME input RE...

Page 98: ...d Home and Limit inputs one each per axis can be configured as shown above This configuration uses a combination Home Limit detector at one end of the travel and a Limit detector at the other end The...

Page 99: ...NSMITTER DIRECTION 0 Increasing Actual Position NOTE In this example positions between the transmitter at 8 inches 57535 in 16 bit math and the RETRACT LIMIT at 0 inches will cause the axis to move to...

Page 100: ...36 30536 or 35000 65536 30536 35000 OFFSET 0 30536 30536 or 35000 65536 30536 35000 DIRECTION 1 or 65535 Here is how these parameters look 7000 or 58536 END OF ROD 0 or 65536 EXTEND LIMIT 27000 RETRAC...

Page 101: ...hanges if the rate is to be constant The relationship between the rate and the distance is Rate Speed x Speed 2000 x Distance or Distance Speed x Speed 2000 x Rate These calculations are not difficult...

Page 102: ...he two positions can then be read and a left or right shift can be done by extending one axis and retracting the other By moving the extending axis a little faster than the retracting axis you can avo...

Page 103: ...ils R 3 2 volts 5 mA 640 Ohms You can use a this technique to scale the output current 100 mA 50 mA or 25 mA to a lower full scale current This lets you use the maximum output resolution of the TMC 18...

Page 104: ...mory addresses of the TMC188 40 data tables The table addresses below are for this demo only your application can use different addresses but you must load the WY registers with the addresses you are...

Page 105: ...e less efficient bit picks The At Command Position bit Status Bit 16 is written to C65 the first coil For Model 545 and 555 controllers A bit pick routine will work as well Always On MWIR Don t Care C...

Page 106: ...EL DECEL SPEED POSITION and COMMAND words from V119 through V124 to the V Memory command registers of Axis 1 V451 through V456 The source of the parameters is a table starting at V101 Using a table ra...

Page 107: ...d registers of Axis 1 For example if the following values are in the table the axis will move to 20000 with a Speed of 15000 and Accel and Decel terms of 200 Term Table Value Command Reg Mode V125 1 V...

Page 108: ...r Logic TMC 188 40 Motion Control Module Delta Computer Systems Inc 360 254 8688 108 TMC 188 40 Wiring Diagrams 1 Motion Control Module Wiring Diagram 2 Magnetostrictive Transducer Wiring Diagram 3 TM...

Page 109: ...RIVE 27 72 Drive Output 35 43 72 Drive Output Shutoff 50 Drive Selection 47 E Encoder 42 ESTOP MASK 15 27 Even Ending 101 EXTEND FEED FORWARD 14 29 45 69 EXTEND GAIN 14 29 69 EXTEND LIMIT 11 13 33 43...

Page 110: ...D FORWARD 14 30 45 69 RETRACT GAIN 14 29 32 44 69 RETRACT LIMIT 11 13 33 43 98 99 S Save Null 40 SBX 60 SCALE 11 30 32 35 37 40 43 60 77 80 83 88 Scan time 7 Set 9 17 38 40 41 60 70 71 78 79 Set Feed...

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