INVT MH860 Series Operation Manual Download Page 41

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MH860 series hydraulic servo drive

Operating through the LED panel

5 Operating through the LED panel

5.1 LED panel description

MODE

key

Status

place

SET/SHIFT

key

UP key

DOWN key

Value

places

Key

Description

Key

Description

MODE

Used to switch over menu items or
cancel operations.

Upward key.

Used for setup when pressed and held
(about 0.6s).
Used to move leftward when pressed
short.

Downward key.

LED display description:

Display Means Display Means Display Means Display Means Display Means Display Means

Summary of Contents for MH860 Series

Page 1: ......

Page 2: ...ftware and product information will be updated accordingly Please download the latest software and electronic document versions from our website www invt tech com The target audiences of the manual include Control system designer Installation or wiring personnel User or maintenance personnel Please make sure to observe the following The installation environment must be free of water vapor corrosiv...

Page 3: ...drive 13 3 3 Disassembling assembling the junction box of drive 14 3 4 Installing the motor 15 4 Electrical connection 17 4 1 Wiring precautions 17 4 2 Switch contactor and cable selection 18 4 3 Terminal layout 19 4 4 Standard wiring 20 4 5 Jumper function 21 4 6 Wiring of main circuit 22 4 6 1 Main circuit terminals 22 4 6 2 Resolver signal connectors CN2A and CN2B 24 4 6 3 Motor power cable and...

Page 4: ...onitoring mode 45 5 2 5 Setup mode 47 5 2 6 Debug mode 66 5 2 7 Multi pump mode 68 6 Commissioning 71 6 1 Commissioning flowchart 71 6 2 Commissioning procedure 71 6 2 1 Preparing 71 6 2 2 Motor model selection 71 6 2 3 Pump model selection 71 6 2 4 Motor parameter autotuning and motor initial angle measuring 72 6 2 5 Low speed jogging 73 6 2 6 Pressure and flow calibration 75 6 2 7 Pressure retai...

Page 5: ...ns 111 9 2 Check item 111 9 3 Main circuit insulation test 111 9 4 Replacement of wearing parts 112 9 4 1 Service life 112 9 4 2 Replacement 112 10 Accessories 113 10 1 Accessory model list 113 10 2 Noise filter model selection 113 10 3 Braking resistor model selection and installation 115 10 4 Pressure sensor model selection 119 ...

Page 6: ...t perform wiring inspection or component replacement when the power is on Before wiring or inspection ensure all the input power supplies have been disconnected and wait for at least 10 minutes or until the DC bus voltage is lower than 36V 3 Please use insulated protective tools for inspection otherwise electric shock accident or personal injury may be caused 4 Connect the ground wires reliably an...

Page 7: ... of a scrap product as industrial waste otherwise personal injury or environmental pollution may be caused Note 1 Protect the drive against physical shock or vibration during the delivery and installation Do not carry the drive only by its front cover as the cover may fall off 2 Prevent the screws cables and other conductive parts from falling into the drive 3 R S and T are the power input termina...

Page 8: ...ck according to the packing list If any problems are found contact our local dealer or office 2 2 Drive nameplate 伺服驱动器 SERVO DRIVES 型号 MODEL 输入 INPUT 输出 OUTPUT 上海英威腾工业技术有限公司 INVT industrial technology Shanghai Co Ltd MH860 T025SF7 S N AC 3PH 380V 15 440V 10 47Hz 63Hz AC 3PH 0V Vin 0Hz 400Hz 25A 11kW 2 3 Drive model description MH860 T 025 S F 7 0000 Hydraulic product series Voltage class T 380V C...

Page 9: ...d regenerative braking resistor specifications 68Ω 500W 40Ω 500W 20Ω 500W Min braking resistance 47 Ω 31 Ω 23Ω 19 Ω 15Ω Drive model MH860 T 060SF7 070SF7 092SF7 115SF7 150SF7 Applicable motor capacity kW 30 37 45 55 75 Rated output current Arms 60 70 92 115 150 Overload Lasts 5min 85 91 129 162 201 Max output current Arms Lasts 30s 106 124 163 226 297 Rated input current Arms 70 76 94 128 160 Inpu...

Page 10: ... 2000W resistors connected in parallel requiring the braking unit DBU100H 060 4 Min braking resistance 4 4Ω Drive model MH860 T 060SY7 092SY7 115SY7 150SY7 170SY7 Applicable motor capacity kW 30 45 55 75 90 Rated output current Arms 60 92 115 150 170 Overload Lasts 5min 84 129 162 201 234 Max output current Arms Lasts 30s 106 163 226 297 332 Rated input current Arms 70 94 128 160 170 Input power A...

Page 11: ...tails see section 4 7 Analog signal Input Three inputs 12 bit A D 0 10V Output Two outputs 10 bit D A 0 10V internal parameter output can be set through the LED panel or external HMI Power supply Output Used to externally provide 15V reference power supply Max output current 50mA Communication Function Four types of filed bus available Standard Modbus Optional EtherCAT CANopen and PROFINET LED pan...

Page 12: ...sistor damage module overtemperature pressure sensor fault FWD REV overspeed and brake overload and so on Software Protection against software faults task re entry and so on Alarm record memory Able to store five alarm records When the actual ambient temperature of the drive exceeds 40 C derate the rated output current by 1 for every increase of 1 C Do not use the drive when the ambient temperatur...

Page 13: ...ions Hole diameter mm H1 mm W mm D mm A mm B mm MH860 T018SF7 332 170 208 151 303 5 M5 φ6 MH860 T025SF7 MH860 T032SF7 342 230 208 210 311 M5 φ6 MH860 T038SF7 MH860 T043SF7 MH860 T060SF7 407 255 245 237 384 M6 φ7 MH860 T070SF7 MH860 T092SF7 555 270 325 130 540 M6 φ7 MH860 T115SF7 MH860 T150SF7 554 338 329 200 535 M8 φ9 5 MH860 T180SF7 MH860 T215SF7 680 325 365 200 661 M8 φ9 5 ...

Page 14: ...d hole depth 20mm 30 16 55 180 155 18 2 12 0 100 12 0 12 0 100 304 280 320 43 0 76 41 4 39 4 5 265 29 5 Figure 2 3 MH860 T060SY7 16 31 80 353 22 225 545 310 116 420 116 116 100 100 100 100 380 116 116 G1 2 female thread hole depth 20mm 275 55 600 18 Φ7 Figure 2 4 MH860 T092SY7 MH860 T115SY7 MH860 T150SY7 MH860 T170SY7 ...

Page 15: ... purpose servo motor with medium inertia H General purpose servo motor with high inertia 4 Base model no 18 180mm 20 200mm 26 263mm Power range Load type rotation speed 5 Rated power 1 For the model 9 9kW 1R0 1 0kW 2 For the 10kW and higher 015 15kW 6 Rated rotation speed B 1500rpm C 1800rpm E 2000rpm Voltage class 7 Voltage class 4 380VAC Configuration information 8 Encoder type 7 12 bit retoary ...

Page 16: ...5 SV IH26 037C 4 7A0 1 1800 37 195 72 333 142 8 2500 164 5 2 18 370 SV IH26 041E 4 7A0 1 2000 41 195 84 8 313 163 2 2500 153 2 29 370 SV IH26 043C 4 7A0 1 1800 43 230 91 385 181 2500 152 2 12 426 SV IH26 048E 4 7A0 1 2000 48 230 104 349 192 4 2500 137 1 96 426 SV IH26 056E 4 7A0 1 2000 56 270 115 411 203 7 2500 158 2 27 523 SV IH26 064E 4 7A0 1 2000 64 306 127 508 248 9 2500 148 2 33 606 Pole pair...

Page 17: ... 110 90 4 L 250 0 016 0 013 14 0 0 043 9 42 8 M20 hole depth 35mm Remarks If you need a supporting foot for installation note the requirement in the ordering since no supporting foot is provided by default The data in the drawing is only for installation reference S 356 384 14 18 160 4 19 320 50 50 50 3 88 3 48 0 0 016 Model S L SV IH20 011C 4 7A0 190 376 SV IH20 013C 4 7A0 SV IH20 016E 4 7A0 SV I...

Page 18: ...he use of the product 11 Radioactive materials can affect the use 12 Keep away from flammable items diluent agents and solvents 3 2 Installing the drive 1 As shown in the figure it is recommended to install the drive vertically and leave sufficient ventilation space and plugging space more than 200mm above and below the drive for heat dissipation and operation 2 Use natural air convection or a fan...

Page 19: ... installation method In cabinet Cooling air Ventilation fan Ventilation fan Figure 3 2 Ventilation fan installation position 3 3 Disassembling assembling the junction box of drive To disassemble the junction box of drive for example MH860 T038SF7 do as follows 1 Loosen and remove the two fastening screws of the junction box 2 Pull the junction box outward and take it out ...

Page 20: ...o machinery it is recommended to use a coupling and keep the axis of motor in a straight line with the axis of machinery If the concentricity is insufficient vibration may occur which will cause damage to shaft bearing or encoder 3 The motor has positioning requirements for the installation of feedback elements such as optical encoder and resolver To be specific the feedback elements are required ...

Page 21: ...rect direction and tighten the bolts 5 Adjust the elastic coupling gap by 2 3mm and tighten the bolts at both ends and rotate freely by hand without any abnormal noise 6 Place the assembly of the motor motor bracket and pump to the installation place and make motor bracket fastening screw holes on site 7 Fasten the bolts No Item No Item No Item 1 O shaped rubber seal 2 Coupling assembly 3 Spring p...

Page 22: ...ost leakage protection switches on the market are electronic leakage circuit breakers of which internal leakage current detection and processing circuits vary greatly with manufacturers Therefore the breakers from different manufacturers are different in anti interference ability It is recommended to use a relatively strong anti interference leakage circuit breaker 4 Route the electrical cables su...

Page 23: ...60 115 25 16 25 50 16 25 1 5 MH860 T115SF7 200 150 35 16 35 50 16 25 1 5 MH860 T150SF7 250 185 35 16 35 50 16 25 1 5 MH860 T180SF7 315 225 50 25 35 90 25 50 1 5 MH860 T215SF7 315 260 70 35 50 90 35 50 1 5 MH860 T060SY7 125 80 16 16 16 25 16 25 1 5 MH860 T092SY7 160 115 25 16 25 50 16 25 1 5 MH860 T115SY7 200 150 35 16 35 50 16 25 1 5 MH860 T150SY7 250 185 35 16 35 50 16 25 1 5 MH860 T170SY7 315 22...

Page 24: ...N2A interface encoder CN5 interface I O control CN2B interface encoder J9 pressure sensor selection CN7 interface CAN communication CN6 interface Terminal Function CN1A I O output signal connector CN1B External HMI connector CN2A Encoder or resolver connector CN2B Encoder or resolver connector CN3 CAN RS485 connector CN5 I O control signal connector CN6 Main circuit terminal CN7 CAN communication ...

Page 25: ...er supply PE Signal ground Pressure sensor CAN2H CAN2L CAN2H CN5 8 4 2 1 7 3 5 6 10 9 11 12 19 13 O2 14 1 6 4 7 3 2 1 4 3 CN6 CN2 9 CN3 CAN2L 3 4 10 11 Note 1 System controller Note 2 Note 3 Note 3 Note 4 Note 4 Note 4 Note 1 Note 5 S RDY ALM ALM S RDY Servo readiness output Alarm output 15 18 17 16 T2 T1 CN1A CAN1H CAN1L CAN1H CAN1L 5 6 12 13 485B 485A 1 2 485B 485A 9 8 7 PE 485 5VA GND 485 7 5 4...

Page 26: ...Configure a terminal matching resistor at both the first and last ends of the communication cable The CAN communication signal connector of the drive has been configured with a built in 220Ω terminal resistor The RS485 communication signal connector of the drive has been configured with a built in 1kΩ terminal resistor Note 5 You can set motor temperature sensor parameters to determine whether to ...

Page 27: ...E Enables the AGND terminal to connect to PE directly C PE Enables the AGND terminal to connect to PE through the resistor and capacitor J9 ON 1 Enables the pressure sensor to accept the output voltage of 0 10V ON 1 Enables the pressure sensor to accept the output voltage of 1 5V SW7 A B When the switch is on end A the fault alarm output IO is normally opened by default A B When the switch is on e...

Page 28: ...ydraulic servo drive Electrical connection 23 Figure 4 3 Terminal diagram of the 45kW 55kW main circuit Figure 4 4 Terminal diagram of the 75kW 90kW main circuit Figure 4 5 Terminal diagram of the 110kW main circuit ...

Page 29: ...ween and PB DC reactor terminal P1 terminal available for the model with the rated current of 215A P1 P1 and connect to external DC reactor terminals 4 6 2 Resolver signal connectors CN2A and CN2B Figure 4 6 Resolver DB9 terminal Signal name Symbol Pin Function Resolver sine input Resolver sine input Sin Sin CN2A 3 CN2B 3 CN2A 7 CN2B 7 Resolver sine feedback signal Resolver cosine input Resolver c...

Page 30: ...ase inputs 2 V 3 W 4 TS Temperature measuring resistor 5 TS 6 N Fan power supply 220V AC 7 L 9 PE Grounding 4 6 4 Motor resolver connection cable and terminals B direction view B X2 14 12 11 8 1 4 6 7 3 15 5 13 9 2 10 A direction view A X1 9 6 1 5 Wiring mapping Signal X1 X2 Core wire structure R1 4 2 Twisted pair R2 9 3 Sin 3 4 Twisted pair Sin 7 5 Cos 1 6 Twisted pair Cos 6 7 PE Housing 1 Housin...

Page 31: ...one end connects to the drive ground wire and the other end connects to the motor connector ground wire 3 The screws need to be fastened properly to ensure a smooth connection M V W U T2 T1 Circuit breaker for wiring Electromagnetic contactor Input filter Input reactor R S T PB Braking resistor CN6 CN6 CN2B Servo drive Servo motor Resolver Temperature measuring resistor 3PH power AC380V 15 440V 10...

Page 32: ... smooth connection 2 Connect the motor three phase input terminals W V and U to the motor connection terminals W V and U respectively and fasten the screws properly to ensure a smooth connection Connect the motor ground terminal to any of the drive ground screws screen printed with PE Connect the motor temperature measuring resistor terminals to the drive terminals T1 and T2 Connect the motor reso...

Page 33: ...ON CN5 10 Unlocking the gate of drive to switch the motor to enter the energized state Note Active low is applied Digital input 1 Digital input 2 I1 I2 CN5 11 CN5 12 I1 Selection of splitting or combining flow used with the multi pump distribution work function Splitting flow for high level while combing flow for low level I2 Storage signal input used with the electronic back pressure function A h...

Page 34: ...ower supply see section 4 5 Motor temperature sensor 1 T1 CN5 21 The motor temperature sensor terminals T1 T2 do not distinguish the positive or negative pole The drive supports the motor temperature sensors or resistors of the KTY84 and PT1000 types You can change the motor temperature sensor type through the LED panel or HMI Then the hardware circuit automatically selects the corresponding tempe...

Page 35: ...ed with a built in 1kΩ terminal resistor CAN communication port 1 supports the CANopen communication protocol and internally connects to a 220Ω terminal resistor CAN communication port 2 is used to connect multiple drives in multi pump parallel connection system also used as the CAN communication interface for INVT PC debugging software SCM It internally connects to a 220Ω terminal resistor Signal...

Page 36: ...he HMI Signal name Symbol Pin Function RS485 communication interface RS485_A RS485_B CN1B 7 CN1B 2 Semi duplex Max communication rate 57600bits s default value 19200bits s Communication power supply 5VA CN1B 4 8 Max output current 200mA Accuracy 5 GND GND_5VA CN1B 5 9 Communication power ground 4 11 Interface circuit 4 11 1 Analog input circuit interface The analog input circuit is described as fo...

Page 37: ...high ALM_RST GND24V On the drive side Active low S_ON 24V On the drive side Active high I1 GND24V On the drive side Active high I3 GND24V On the drive side Active high I2 GND24V On the drive side Active high I4 GND24V 4 11 3 Digital output circuit interface 1 The optocoupler output circuit is described as follows For pins 15 to 18 of CN5 connector and pins 3 to 4 of CN1A connector Digital output s...

Page 38: ... signal O1 is output from the relay The following shows the interface circuit O O Contact capacity 3A 250VAC 1A 30VDC 3 The analog output circuit is described as follows For pins 5 to 6 of CN5 connector Analog output signals AOUT1 AOUT2 are output from the OPA with which the AGND makes up an output circuit You can select internal parameter output through the LED panel HMI or SCM By default AOUT1 i...

Page 39: ...ng hole Fixing hole Fixing hole 4 12 2 EtherCAT communication card The drive can implement EtherCAT communication by connecting the CN1 terminal on the EtherCAT communication card to the J6 terminal on the control board The drive uses the RJ45 terminal interfaces CN2 and CN3 to communicate external equipment The following shows the EtherCAT communication card Fixing hole Fixing hole Fixing hole RJ...

Page 40: ...d to the J6 terminal on the control board The drive uses the RJ45 terminal interfaces CN2 and CN4 to communicate external equipment The following shows the PROFINET communication card Fixing hole Fixing hole Fixing hole CN4 CN2 CN1 RJ45 pins are described as follows Pin Signal name Symbol Signal direction 1 Send data TD Output 2 Send data TD Output 3 Receive data RD Input 4 5 6 Receive data RD Inp...

Page 41: ... places Key Description Key Description MODE Used to switch over menu items or cancel operations Upward key Used for setup when pressed and held about 0 6s Used to move leftward when pressed short Downward key LED display description Display Means Display Means Display Means Display Means Display Means Display Means 0 1 2 3 4 5 6 7 8 9 A b C d E F G h I J K L M N O P q R S T U V W X Y Z ...

Page 42: ... If the drive does not have a fault at this time the drive keyboard enters the shortcut mode If the drive is faulty press MODE to enter the shortcut mode At any moment of performing keyboard operations you can press and hold together for 1 second and the LED value places display LOCK indicating that the system keyboard is locked and the LED value places return to the speed or fault display status ...

Page 43: ... LED panel functions 5 2 1 Keypad operation mode The drive provides six keypad operation modes which can be switched over through the MODE key after the keypad is unlocked Shortcut mode used to display key parameters Quick setup mode used to set key parameters and debug the motor Monitoring mode used to display status parameters Setup mode used to set basic parameters Debug mode used to debug the ...

Page 44: ...f you press and hold the key for 1s to enter the shortcut mode the LED displays the values of selected parameters If you press the key the LED displays the next parameter ID If you release the key the LED displays the parameter value Note In shortcut mode if no key acts within 1min the speed or fault display interface automatically appears Parameters displayed in shortcut mode ID DEFINITION RANGE ...

Page 45: ... run enabling Press and hold the SET key and then release it to switch the state OFF Disable ON Enable Related to IO level enabling of drive E01 Motor model selection After the access the LED displays Select the sequence number at the first two places and select the motor model code at the last three places Press the or key to select the required motor Press and hold the SET key and then release i...

Page 46: ... LED displayed the actual measured offset If the measuring failed the LED displays During measuring you can press the MODE key to exit E05 Full pressure scale range This value also determines the max pressure In addition it also adjusts the pressure reference gain so that when the pressure reference input is 9 99V the pressure reference corresponds to the recently set pressure full scale range val...

Page 47: ...log value After confirming the value press and hold the SET key and then release it for zero calibration Then the LED displays If the calibration succeeds the LED displays If the calibration failed the LED displays Analog voltage range 0 00 9 99 V E09 Flow zero calibration Press and hold the SET key and then release it for access Then the LED displays the flow reference analog value Press and hold...

Page 48: ...rompting you to jog Press the or key to run the motor forward or reversely Press the MODE key to exit the jogging mode and return to the Exx menu Jog forward Jog reversely E13 Enabling diagnosis Press and hold the SET key to enter the diagnosis enabling mode The LED displays or Press and hold the SET key and then release it to switch the state OFF Disable ON Enable OFF E14 Motor parameter autotuni...

Page 49: ...ess and hold the SET key and then release it for setup You can press the MODE key to exit and return to the Exx menu 0 32767 13000 E17 Pressure integral gain Press and hold the SET key and then release it for access Press the or key to set parameters Press and hold the SET key and then release it for setup You can press the MODE key to exit and return to the Exx menu 0 32767 100 E18 Speed proporti...

Page 50: ...press the MODE key to exit and return to the Exx menu 0 6000 300 Rpm E23 Reverse torque upper limit Press and hold the SET key and then release it for access Press the or key to set parameters Press and hold the SET key and then release it for setup You can press the MODE key to exit and return to the Exx menu 0 100 100 E24 Overpressure protection threshold Press and hold the SET key and then rele...

Page 51: ... System fault alarm s d03 Motor current 0 900 0 Valid value A d04 AC voltage 0 500 Vrms d05 DC voltage 0 800 V d06 Torque limit 0 1800 Nm d07 Speed feedback 6000 6000 Rpm d08 Resolver feedback 0 32767 d09 Pressure feedback 0 500 bar d10 Torque feedback 1800 1800 Nm d11 Run mode 3 Speed mode 4 Process mode d12 Motor temperature 52 244 C d13 Drive temperature 46 244 C d14 Ambient temperature 18 114 ...

Page 52: ...al the LED turns on when S_ON input port indicator is on it is high level When the output signal is invalid the LED turns on when the output signal is valid the LED turns off d28 Motor configuration table version d29 Motor power 327 67 327 67 kW d30 Energy consumption for this run 0 999 9 kW h d31 Five low bits of accumulative power consumption 0 999 9 kW h d32 Five high bits of accumulative power...

Page 53: ...ly saved and blinking stops If you press the or key again at this time you can modify the parameter again The places which can be modified blink Press the MODE key to exit Note The drive motor and oil pump selection is different from other parameter selection Parameter setting flowchart MODE SET MODE SET MODE Blinking Blinking For calibration commands such as pressure linear zero calibration after...

Page 54: ...Any key Oil pump displacement SET Select SN Scroll to display displacement Select SN sequence number for an oil pump model In setup mode if no key acts within 1min the speed or fault display interface automatically appears 1 Drive model table Drive selection SN LED display mode Drive model Drive model code 1 6 018 MH860 T018SF7 55 2 6 025 MH860 T025SF7 56 3 6 032 MH860 T032SF7 58 4 6 038 MH860 T03...

Page 55: ...000 3 K060F18C18P 66 INVT Pt1000 4 K072F18C18P 61 INVT Pt1000 5 K091F15C18P 34 INVT Pt1000 6 K111F15C18P 35 INVT Pt1000 7 K132F18C18P 62 INVT Pt1000 8 K187F18C25P 63 INVT Pt1000 9 K208F15C25P 98 INVT Pt1000 10 K072F20C18P 106 INVT Pt1000 11 K148F18C25P 105 INVT Pt1000 12 K210F20C25P 104 INVT Pt1000 13 IH20 011C 4 210 INVT Pt1000 14 IH20 013C 4 200 INVT Pt1000 15 IH20 016E 4 201 INVT Pt1000 16 IH20...

Page 56: ...F22C18P 103 INVT Pt1000 70 K235F20C25P 78 INVT Pt1000 72 K078F20C18P 79 INVT Pt1000 73 K239F18C25P 83 INVT Pt1000 3 Oil pump model table Oil pump selection SN Oil pump model Displacement mL r Default max flow 0 PUMP 018 mL r 18 40 L min 1 PUMP 025 mL r 25 55 L min 2 PUMP 028 mL r 28 62 L min 3 PUMP 031 mL r 31 68 L min 4 PUMP 032 mL r 32 70 L min 5 PUMP 036 mL r 36 79 L min 6 PUMP 037 mL r 37 81 L...

Page 57: ...ump model table 19 100 F003 Pressure feedback zero calibration 0 No calibration 1 Calibration 0 F004 Pressure calibration mode 0 Straight line 1 Fold line 0 F005 Flow calibration mode 0 Straight line 1 Fold line 0 F006 Pressure calibration 0 Disable 1 Straight line zero place 2 Straight line scale range 3 Fold line point 0 4 Fold line point 1 5 Fold line point 2 6 Fold line point 3 7 Fold line poi...

Page 58: ...ltering 1 32 6 Average sampling count of moving 1ms F010 Full pressure scale range 1 500 This value also determines the max pressure In addition it also adjusts the pressure reference gain so that when the pressure reference input is 9 99V the pressure reference corresponds to the recently set pressure full scale range value 175 bar F011 Full flow scale range 1 2400 This value also determines the ...

Page 59: ...sure integral gain 1 0 32767 100 F024 RS485 communication parity method 0 N 8 1 1 E 8 1 2 O 8 1 3 N 8 2 4 E 8 2 5 O 8 2 0 N No parity bit E Even parity O Odd parity 8 bit data 1 or 2 stop bits F025 Pressure proportional gain 2 0 32767 13000 F026 Pressure integral gain 2 0 32767 100 F027 RS485 communication address 1 127 10 F028 Pressure proportional gain 3 0 32767 13000 F029 Pressure integral gain...

Page 60: ...tomatic 0 F044 Pressure sensor model selection 5V 10V 400bar 10V F045 Plunger pump model selection 0 Single displacement 1 Dual displacement 0 F046 Pump displacement rate 0 100 0 20 F047 Wobble disk switchover pressure threshold 0 500 0 195 bar F048 Displacement pressure judging delay 0 32767 100 ms F049 DA1 0 Pressure reference 1 Pressure feedback 2 Flow reference 3 Flow feedback 4 Speed referenc...

Page 61: ...Speed switchover upper limit 0 6000 1200 rpm F059 Speed switchover lower limit 0 6000 200 rpm F060 Zero place dead zone of flow reference 0 00 100 00 0 5 F061 Zero place dead zone of pressure reference 0 00 100 00 0 5 F062 Zero place dead zone of pressure feedback 0 00 100 00 0 0 F063 OUT2 conduction pressure coefficient 0 00 100 00 90 0 F064 Negative torque suppression control 0 Disable 1 Enable ...

Page 62: ... following information at a fault DC voltage V speed feedback rpm torque feedback Nm fault time hour fault time minute phase A current Apk phase B current Apk motor current A drive temperature motor temperature speed reference rpm torque reference Nm output voltage V and fault type F068 Writing parameters Writing parameters Press and hold the SET key and then release it for SAVE ...

Page 63: ...otor rated frequency 0 600 97 8 Hz F074 Motor counter emf 0 0 800 0 199 9 V Krpm F075 Motor temperature sensor type 0 NTC 1 PTC 2 KTY84 3 PT1000 3 F076 Reserved F077 Reserved F078 Reserved F079 Pressure sensor scale range 0 500 0 250 0 bar F080 Pressure feedback adjustment coefficient 50 200 100 F081 Min value of flow reference 0 2400 0 0 0 L min F082 Enabling overmodulation 0 1 0 1 Enable F083 Ov...

Page 64: ...ms F095 AC overvoltage 0 1000 1500 V F096 AC undervoltage protection 0 1000 290 V F097 AC undervoltage protection time 0 30000 101 5ms F098 AC undervoltage 0 1000 0 V F099 Power on timeout time 0 30000 2000 5ms F100 Motor protection temperature 0 500 125 F101 Module protection temperature 0 500 86 F102 Air protection temperature 0 500 400 F103 Overcurrent protection value 0 900 018 50 025 70 032 9...

Page 65: ...10 Braking resistor cooling factor 0 500 1 F111 Braking resistor overload threshold 0 30000 018 374 025 374 032 374 038 374 043 374 060 374 070 374 092 292 115 292 150 292 170 292 180 292 215 374 F112 Motor short circuit protection value 0 900 10 0 A F113 Protection against phase loss 0 Disable 1 Enable 0 F114 Rectifier overload protection 0 Disable 1 Enable 0 F115 Speed feedback filtering method ...

Page 66: ...ce compensation gain 0 200 0 F128 Disturbance compensation filtering frequency 0 5000 500 Hz F129 Disturbance compensation lagging period 0 15 5 Cycle of speed loop F130 Overspeed protection time 0 5000 100 ms F131 Flow reference rise slope 0 32767 16000 0 07324 L mi n ms F132 Flow reference fall slope 0 32767 16000 0 07324 L mi n ms F133 Braking resistor fault detection 0 Disable 1 Enable 1 F134 ...

Page 67: ... 500 57 bar F150 Retaining pressure feedforward cut in speed 6000 6000 100 rpm F151 Retaining pressure feedforward cut in pressure 0 500 200 bar F152 Retaining pressure feedforward gain 0 32767 0 F153 Voltage in full pressure scale range 0 11 00 9 99 V F154 Voltage in full flow scale range 0 11 00 9 99 V F155 Resolver fault detection 0 Disable 1 Enable 1 F156 PID terminal use purpose 0 General 1 O...

Page 68: ...1 of splitting or combining flow 21 63 Reserved 7 F163 Reserved 0 F164 Reserved 0 F165 Reserved 0 F166 Reserved 0 F167 S_RDY output selection 0 No function 1 Servo readiness 2 Alarm output 3 I2 terminal status 4 Inclined disk control output 5 Output of oil pressure being reached 6 Self depressurization output 7 63 Reserved 1 F168 ALM output 2 F169 Reserved 0 F170 O1 output 4 F171 O2 output 5 F172 ...

Page 69: ...urization speed integral 1 0 32767 50 F184 High pressure difference 0 of gain switchover 0 500 0 bar F185 Low pressure difference 0 of gain switchover 0 500 0 bar F186 High pressure difference 1 of gain switchover 0 500 0 bar F187 Low pressure difference 1 of gain switchover 0 500 0 bar F188 Pressure proportion 0 with high pressure difference 0 32767 8000 F189 Pressure integral 0 with high pressur...

Page 70: ...ization method 0 One step 1 Two steps 2 Three steps 0 F200 Depressurization step 2 pressure threshold 0 500 45 bar F201 Depressurization step 3 pressure threshold 0 500 4 bar F202 Depressurization step 2 fall slope 0 32767 125 0 007629 bar ms F203 Depressurization step 3 fall slope 0 32767 10 F204 Multi step depressurization pressure proportion 0 32767 9000 F205 Multi step depressurization pressur...

Page 71: ...o move the blinking place and press the or key to change the value of the blinking place After the value is modified press and hold the SET key and release it Then the modification is automatically saved and blinking stops If you press the SET or key again at this time you can modify the parameter again The places which can be modified blink Press the MODE key to exit Note In debug mode if no key ...

Page 72: ...d mode is communication input 0 Max flow 0 0 L min h08 Pressure reference Process command mode is communication input 0 Max pressure 0 0 bar h09 Max jogging speed The motor runs at the max speed when you press or 0 100 15 rpm h10 Resolver offset 0 4095 0 h11 Motor parameter autotuning Valid only when diagnosis enabled 0 Disable 1 Dynamic 2 Static 0 h12 Enabling advanced parameter operation 11111 D...

Page 73: ...e LED displays P xx in which xx indicates a parameter ID You can press the or key to select a parameter ID When you press and hold the SET key and then release it the selection is completed Then the LED displays the parameter value If you want to modify a parameter you can press the key to move the blinking place and press the or key to change the value of the blinking place After the value is mod...

Page 74: ...l gain 0 0 32767 88 P11 Depressurization step 1 delay 0 32767 500 ms P12 Multi pump pressure proportional gain 1 0 32767 8000 P13 Multi pump pressure integral gain 1 0 32767 88 P14 Speed proportional torque boost 0 1000 0 P15 Multi pump pressure proportional gain 2 0 32767 8000 P16 Multi pump pressure integral gain 2 0 32767 88 P17 Quick depressurization coefficient 0 32767 A greater value indicat...

Page 75: ...9200bps 2 38400bps 3 57600bps 1 P26 CANOpen communication node No 1 127 1 P27 CANopen communication baud rate 0 1000kbps 1 500kbps 2 250kbps 3 125kbps 4 50kbps 5 20kbps 1 P28 Proportion 0 of depressurization pressure boost P 0 32767 8000 P29 Integral 0 of depressurization pressure boost P 0 32767 5 P30 Proportion 1 of depressurization pressure boost P 0 32767 8000 P31 Integral 1 of depressurizatio...

Page 76: ...Check the connection of each terminal and ensure that all screws for fixing are reliably locked and no slippage occurs 2 Switch off enabling To ensure system safety during commissioning disconnect the drive enabling terminal wires before turning on the three phase AC power for commissioning 6 2 2 Motor model selection Motor model selection method If you use a motor in the motor model table in sect...

Page 77: ...ng 0 Disable Motor parameter autotuning is disabled 1 Static If the motor back emf has been obtained but the motor does not rotate during measuring you can perform the autotuning without opening the relief valve 2 Dynamic It is used if the motor back emf is not obtained while the motor rotates at high speed during measuring It is recommended to open the relief valve With load measuring affects the...

Page 78: ...setting the overflow pressure of relief valve to the lowest 2 Run at low speed with light load When the LED displays the E12 status press and hold the SET key and then release it to enter the jogging mode Then the LED displays JOG You can press the or key to make the motor jog forward or reversely You can press and hold the or key to make the motor accelerate to the max forward or reverse jogging ...

Page 79: ... combining type 0 Single pump 1 Hybrid 2 Multiple pumps 3 Multiple modes 4 Communication with two models 5 Communication with four models 2 Set node No Set P03 Node No 3 Set P04 Slave count Set the number of slave nodes It is mandatory for node 0 skip the operation for other nodes 4 Set multi pump flow Set P06 Flow switch in threshold which is usually set to 25 Set P07 Flow switch in hysteresis up...

Page 80: ...rs Code Definition Range Default Unit F008 Pressure filtering 1 32 6 Average sampling count of moving 1ms F009 Flow filtering 1 32 6 Average sampling count of moving 1ms Increasing the pressure flow command rise speed will improve the oil pump output flow and oil pressure response have greater impact on the run and increase the overshoot decreasing the speed will slow down the speed and decrease t...

Page 81: ...ld the SET key and then release it to perform pressure zero place calibration Then the LED displays If the calibration succeeds the LED displays c Set the flow reference to 99 9 on the upper computer Access the setting of E10 The LED displays the pressure reference voltage Press and hold the SET key and then release it to perform full pressure scale range calibration Then the LED displays If the c...

Page 82: ...ning test set the pressure reference to 10bar 100bar and full scale pressure on the upper computer Check whether the read data in the pressure table matches the setting If not perform pressure calibration again Set the flow reference to 5 50 and 100 on the upper computer Check whether the motor rotation speed and given flow are in a proportion If not perform flow calibration again 6 2 9 Fully auto...

Page 83: ... flow splitting type E16 F019 Pressure proportional gain 0 Increasing the pressure proportional gain can improve the transient responsiveness and stability of pressure control suppress interference and reduce pressure overshoot but setting the gain too great will cause oscillation 0 32767 13000 F022 Pressure proportional gain 1 0 32767 13000 F025 Pressure proportional gain 2 0 32767 13000 F028 Pre...

Page 84: ...e control reduce the pressure speed deviation and increase pressure overshoot but setting the gain too great will cause oscillation 0 32767 170 P13 Multi pump pressure integral gain 1 0 32767 170 P16 Multi pump pressure integral gain 2 0 32767 170 P19 Multi pump pressure integral gain 3 0 32767 170 When the motor and pump model selection settings are completed the drive automatically selects the v...

Page 85: ...ter drive is responsible for pressure control and total system flow control while the other drives perform single loop flow control by converting the total system flow commands to respective loop flow commands The total system output flow is the sum of the flow output of each loop 7 1 Flow distribution method for multi pump flow combining You can add nodes for flow control to ensure that the outpu...

Page 86: ... the last slave pump is less than the remaining flow the system flow is equally or proportionally distributed to all pumps 7 2 Multiple pumps After the flow combining type of each node or single pump system is set to the multi pump mode each node can only work in flow combining control in which the master node is responsible for receiving pressure reference flow reference and run enabling signal f...

Page 87: ... 7 3 Hybrid The system has two control modes flow combining and splitting with digital input I1 C D signal to switch the control mode of each node At flow splitting each node is used as a single loop hydraulic system to complete the flow and pressure control At flowing combining similar to the multi pump method the master node is responsible for pressure and total system flow control while the sla...

Page 88: ...eference signals The two DA outputs of control unit connect to the analog inputs AIN1 and AIN2 of following unit to function as the motor speed reference signal and drive enabling signal The RDY outputs of following unit are in serial connection with the positive end connected to the 24V power supply while the negative end connected to digital input port I7 of control unit through which the contro...

Page 89: ... node Slave node PT PT PT CAN CAN CAN P2 Q2 C D S ON P1 Q1 C D S ON P3 Q3 C D S ON S ON S ON PT Pressure sensor Q1 3 Flow reference P1 3 Pressure reference C D Flow combining selection S ON Drive enabling I7 DI 7 AIN1 AIN2 Inputs of analog references 1 and 2 AOUT1 AOUT2 AO1 and AO2 S_RDY Servo ready 7 5 Communication with two models In this mode there is one master node single pump system and mult...

Page 90: ...ster node 0 Slave node 1 Slave node 3 PT PT CAN CAN CAN C D S ON P1 Q1 C D S ON P2 Q2 C D S ON S ON PT Pressure sensor Q1 Q2 Flow command P1 P2 Pressure command C D Flow combining selection S ON Drive enabling C D CAN Example The hydraulic system has four oil pumps with the addresses set to 0 1 2 and 3 There may be two types of action combination Combination 1 Nodes 0 1 and 2 combine the flow whil...

Page 91: ...hexadecimal format 0x0000 0xffff Range in decimal format 0 65535 16 bit integer with each bit corresponding to a node Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Slave node 15 Slave node 14 Slave node 13 Slave node 12 Slave node 11 Slave node 10 Slave node 9 Slave node 8 Slave node 7 Slave node 6 Slave node 5 Slave node 4 Slave node 3 Slave...

Page 92: ...ine the flow while node 3 splits the flow and serves as the master node Combination 4 Nodes 0 1 2 and 3 combine the flow The upper computer provides the flow splitting combining selection terminal and terminal of flow splitting combining selection 1 from the high level to all the master and slave nodes CAN slave node address selection P37 CAN slave node address 1 15 0x000F The four nodes combine t...

Page 93: ...hen the flow is at the threshold 5 P08 Flow switch in hysteresis lower limit Specifies the condition for a next pump to join the work used to prevent the pump from repeated startup and shutdown when the flow is at the threshold 2 5 P09 Multi pump pressure proportional gain 0 Step 0 of proportion parameter for multi pump pressure PID control 8000 P10 Multi pump pressure integral gain 0 Step 0 of in...

Page 94: ...ump combined flow control 89 Displayed code Name Description Initial value Unit P34 CAN slave node address 1 Four slave node addresses Range 0 65535 0 P35 CAN slave node address 2 0 P36 CAN slave node address 3 0 P37 CAN slave node address 4 0 ...

Page 95: ...urrent goes through the power module transiently Err02 Overcurrent The output current exceeds the allowed working current of drive Err03 DC overvoltage The DC voltage on the main circuit is abnormally high Err04 DC undervoltage When the motor is powered on to run the DC voltage on the main circuit decreases lower than the protection value Err05 FWD overspeed The motor rotation speed exceeds the fo...

Page 96: ...ng resistor overload rate exceeds the braking resistor overload threshold Err22 Node fault In multi pump parallel connection application if a slave node encounter a fault the master drive reports it Err23 Input phase loss Input phase loss occurs or three phases are unbalanced Err24 Reserved Err25 RS485 communication fault The drive encounters an RS485 communication exception when the process comma...

Page 97: ...tly Err40 Pressure feedback sampling zero drift fault When the drive is tested in diagnosis mode the pressure feedback sampling zero drift is too great Err41 Pressure reference sampling fluctuation fault When the drive is tested in diagnosis mode the pressure reference sampling value fluctuates greatly Err42 Flow reference sampling fluctuation fault When the drive is tested in diagnosis mode the f...

Page 98: ...ation is too great current does not follow the load is too great timeout occurs or the test value is invalid Err53 Motor parameter static test fault During motor parameter autotuning in diagnosis mode the motor parameter calculation result is invalid Err54 Diagnosis interrupted If a fault occurs during diagnosis the drive terminates the diagnosis and displays Err54 Err55 Reserved Err56 EtherCAT in...

Page 99: ... the drive model displayed on the HMI same as that on the nameplate No No Set the drive again Contact the local dealer or our technical support Yes Err02 Overcurrent ERR02 Is the motor rotation speed too low within 10 rotations according to fault records Does the motor vibrate greatly during running No Yes Yes No Is the drive output loop grounded or short circuited Yes No Remove the wiring fault R...

Page 100: ... recommended value when ERR03 is reported Replace the braking resistor Yes No No Contact the local dealer or our technical support Err04 DC undervoltage Err20 AC undervoltage ERR04 ERR20 Is the drive input voltage within the allowed range Is the AC input voltage or rectifier voltage different from that displayed on the HMI No Adjust the input voltage to an allowed value Yes Perform AC voltage or D...

Page 101: ...l support Enable the drive to enter debug mode through the debug menu and check whether the resolver value change exceeds 8 Remove the reSolver wiring fault and ground the motor side shield layer If the change number does not reduce replace the resolver board Yes Err06 Module overtemperature ERR06 Are the air ducts blocked No Clean the air ducts Yes No Increase the drive power class Does the fan r...

Page 102: ...e the motor fan or swap the motor fan wiring phase sequence Yes No Replace with a motor of a higher power class or reduce the system average output power Is the DIP switch jumper for drive temperature resistor selection incorrect Re select a DIP switch jumper Yes Check whether the motor temperature resistor wiring is abnormal Remove the wiring fault Yes No No Err08 Software fault ERR08 Does it run...

Page 103: ... the control system run properly when the drive and control system receive commands through CAN communication No Remove the wiring fault Contact the local dealer or our technical support CAN communication drive board fault Maintain the upper computer Correct parameter settings Correct parameter settings Err11 Self check fault ERR11 Contact the local dealer or our technical support Err12 Task re en...

Page 104: ...r or our technical support Err15 Pressure sensor fault ERR15 Is the pressure sensor or its wiring abnormal Is the pressure sensor model selected correctly No Yes Are the node numbers set correctly when the system is in multi pump mode No Yes Yes No Yes Remove the wiring fault or replace the pressure sensor Contact the local dealer or our technical support Set node numbers correctly Select a correc...

Page 105: ... the braking resistor Remove the wiring fault Err18 EEPROM error ERR18 Is the fault about restoring to default values cleared No Yes Set parameters again Contact the local dealer or our technical support Err21 Braking resistor overload ERR21 Is the braking resistor wiring correct No Yes Is the DC voltage detected relatively high Yes Calibrate the DC voltage again Remove the wiring fault Contact th...

Page 106: ...Remove the slave node fault Contact the local dealer or our technical support Err25 RS485 communication fault ERR25 Is the RS485 communication wiring incorrect No Yes Are process command mode parameter settings correct Alarm in continuous RS485 communication input No Yes No Yes Does the control system run properly when the drive and control system receive commands through RS485 commands Remove the...

Page 107: ... the control board Interference too great Remove the interference Y Y Contact the local dealer or our technical support N N N Err33 Resolver sampling fluctuation fault Err33 Intereference Remove the interference Y Resolver cable in poor contact Replace the resolver cable Resolver board fault Replace the resolver board Y Y Contact the local dealer or our technical support N N N ...

Page 108: ...36 Err37 Current sensor fault Replace the controller Y AD sampling channel fault Replace the control board Interference too great Remove the interference Y Y Contact the local dealer or our technical support N N N Err38 DC voltage sampling fluctuation fault Err38 AC voltage unstable Check the power line Y AD sampling channel fault Replace the control board Interference too great Remove the interfe...

Page 109: ...erence too great Remove the electromagnetic or system pressure interference Y Y Contact the local dealer or our technical support N N N Err41 Flow reference sampling fluctuation fault Err42 Pressure reference sampling fluctuation fault Err41 Err42 Upper computer analog signal reference fault Detect the upper computer Y AD sampling channel fault Replace the control board Interference too great Remo...

Page 110: ... board Interference too great Remove the interference Y Y Contact the local dealer or our technical support N N N Err49 Encoder initial angle measuring fault Err49 Motor wiring problem Detect the motor wiring AD sampling channel fault Replace the control board Y Y Contact the local dealer or our technical support N N N Current sensor fault N Replace the controller Interference too great N Remove t...

Page 111: ...sensor fault N Replace the controller Interference too great N Remove the interference Y Y Motor nameplate parameter input error N Re input motor nameplate parameters Y Err51 Motor resistance test fault Err51 Motor wiring problem Detect the motor wiring AD sampling channel fault Replace the control board Y Y Contact the local dealer or our technical support N N N Current sensor fault N Replace the...

Page 112: ... controller Y Y Contact the local dealer or our technical support N N N Current sensor fault N Replace the controller Interference too great N Remove the interference Y Y Load too great Empty or reduce the motor load Y N Err53 Motor parameter static test fault Err53 Contact the local dealer or our technical support N Motor nameplate parameter input error N Re input motor parameters Y ...

Page 113: ...rt N N Err56 EtherCAT initialization fault Err56 EtherCAT expansion board in poor contact Re plug the expansion board Y Contact the local dealer or our technical support N N Err57 EEPROM fault in EtherCAT communication Err57 EtherCAT EEPROM has no data or fails to read data Use a tool such as TwinCAT To download the xml File to EtherCAT EEPROM Y Contact the local dealer or our technical support N ...

Page 114: ... board 3 Internal drive component fault 1 Check the input power 2 Remove and insert the connection wires 3 Ask for manufacturer service 2 Drive DI terminal invalid 1 Loose DI terminal wires 2 Incorrect parameter settings 3 Loose short contact tag of J1 and J2 or incorrect internal or external power supply selected 4 Control board terminal fault 1 Remove and insert the connection wires 2 Check and ...

Page 115: ...tage drop too great 2 AC 3PH input voltage with phase loss 3 Soft startup relay not closed 4 Drive fault 1 Adjust the AC power voltage to a normal value 2 Check the power supply and run again 3 Ask for manufacturer service 4 Replace the faulty drive 7 Motor drive overtemperature fault 1 Rated load exceeded 2 Ambient temperature higher than 50 3 Incorrect motor temperature sensor wiring 4 Air duct ...

Page 116: ... and hygrometer Requirements in the manual are met Power supply voltage Whether the supply voltage is normal Voltmeter and multimeter Requirements in the manual are met Whether power on logic actions such as contactor and air switch are normal Drive exterior and internal components Whether there is abnormal vibration noise deformation or breakage Screw fastening Visual inspection Multimeter No exc...

Page 117: ...service life or has a damage needs to be replaced in time to avoid affecting the normal use of drive The following table lists the replacement criteria and method Part Symptom Criteria Replacement method Fan The shaft bearing is much worn out the blades are aging or the blades do not run The blades have cracks There are abnormal noises or vibrations Loosen the screws remove the fan cover and pull ...

Page 118: ... two in parallel connection 150 180 30Ω 2000W two in parallel connection 215 Braking unit DBU100H 060 4 215 Pressure sensor U5176 000005 250BG All series External HMI H038 HA All series 10 2 Noise filter model selection 1 Mapping between drive models and noise filter models Drive model Noise filter model Model Specifications MH860 T018SF7 MH860 T025SF7 DL 35EBK5 35A 200nF MH860 T032SF7 MH860 T038S...

Page 119: ...nput power ground A Output 3PH power B C G Output power ground 3 Filter dimensions mm Model A B C D E F G H I J K M N P L DL 35EBK5 243 224 265 58 70 102 25 92 M6 58 M4 74 49 M6 6 4 9 4 DL 50EBK5 DL 65EBK5 DL 100EBK5 354 323 388 66 155 188 30 92 M8 62 M4 86 56 M8 6 4 9 4 DL 130EBK5 DL 160EBK5 The noise filter is bolted to a well ventilated area and the input and output ground terminals must be rel...

Page 120: ... 15 4000 two of 30Ω 2000kW in parallel connection DBU100H 060 4 The 90kW and lower drive models have built in braking units while the 110kW and higher models need to use external braking units The drive does not have an internal braking resistor and it must connect to an external braking resistor assembly The braking resistor with higher power may be needed when the motor brakes frequently In this...

Page 121: ...0 510 50 107 530 30 5 5 5 1000 3 Braking resistor installation All resistors must be installed in places with good cooling conditions The materials near the braking resistor or braking unit must be flame resistant since the surface temperature of the resistor is high and air flowing from the resistor is of hundreds of degrees Celsius Prevent any materials from coming into contact with the resistor...

Page 122: ...are the terminals for connecting braking units The connection cable length between the and terminals of the VFD and those of a braking unit must be shorter than 5m and the connection cable length between the BR1 and BR2 terminals of a braking unit and the terminals of a braking resistor must be shorter than 10m Single connection External braking resistor DC DC BR1 BR2 PE MH860 DBU braking unit ...

Page 123: ... series hydraulic servo drive Accessories 118 Figure 10 1 MH860 018 025 032 038 043 060 070 092 115 drive and braking resistor layout mm Figure 10 2 MH860 150 170 180 215 drive and braking resistor layout mm ...

Page 124: ...w Red Black Blue Green Color Item Definition Red 15V 15V power supply Black Blue AGND Pressure analog signal output Green AIN3 Yellow PE Ground wire The raw tape is used to seal the connection between the pressure sensor and the oil path During installation the pressure sensor must be fastened securely to avoid leakage ...

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INVT MH860 Series, Operation Manual

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