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8. PWM Output Function ............................................. 67

PWM Output Function ................................................................................ 67

Use PWM Output Function ........................................................................ 71

9. Application Examples .............................................. 73

Speed Measuring........................................................................................ 73

Fixed Length Processing ............................................................................ 75

Position Control by Absolute Value .......................................................... 79

Position Control by Data Table .................................................................. 83

Appendix A. Specifications ........................................... 89

Performance Specifications List ................................................................ 89

Appendix B. I/O Contact Points and Memory Map ........ 93

I/O Contact Points ....................................................................................... 93

Shared Memory Areas ............................................................................... 95

Содержание NX70-PULSE4

Страница 1: ...Maximum Value for OEMs SM NX70 Pulse I O Unit 4CH NX70 PULSE4 User Manual...

Страница 2: ...liability for actual use based on the examples and diagrams No patent liability is assumed by OE MAX Controls with respect to use of information circuits equipment or software described in this manual...

Страница 3: ...Input Time Constant Function 31 Use Input Time Constant Function 33 5 High Speed Counter Function 35 High Speed Counter Function 35 Count Function Available as Direction Control Mode 39 Count Function...

Страница 4: ...n Examples 73 Speed Measuring 73 Fixed Length Processing 75 Position Control by Absolute Value 79 Position Control by Data Table 83 Appendix A Specifications 89 Performance Specifications List 89 Appe...

Страница 5: ...e product and your safety If this product is used in a situation that may cause personal injury and or significant product damage implement safety measures such as use of fault safe equipment Do not u...

Страница 6: ...ronic parts Excessive or conductive dust or salinity High voltage strong magnetic fields or strong electromagnetic influences Direct impact and excessive vibration Precautions for Electrostatic Excess...

Страница 7: ...ocal distributor Comparison item High speed counter unit Pulse I O unit NX70 NX70 HSC1 NX70 NX70 HSC2 NX70 NX70 PULSE4 High speed counter Number of channels 1CH 2CH 4CH Highest counting speed Max 100...

Страница 8: ...8...

Страница 9: ...n control with a single pulse I O unit Pulse I O unit provides pulse output function Output pulses are always known to the Pulse I O unit which feature allows you to implement a position control with...

Страница 10: ...s considered noise Effective pulse width can be set by four constants in two point units for I O connector as described below Input time constant function prevents input errors caused by noise by sett...

Страница 11: ...put Count value changes with each input signal at CW and CCW Phase differential Count value changes with the phase differential input on encoder and others 1 Value for when input time constant filter...

Страница 12: ...s following IMPORTANT IN A IN B Count number IN A IN B Count number IN A IN B Count number 1 multiplication 2 multiplication 4 multiplication n n 1 n 2 n 3 n 4 n 5 n 6 n 7 n 8 n 9 n n 1 n 2 n 3 n n 1...

Страница 13: ...4CH for PWM output Max 30 kHz is available for PWM output and Duty can be set by 1 unit PLSx A OFF ON PLSx B OFF ON PLSx A PLSx B OFF ON OFF ON Forward direction Negative direction PLS0 A PLS0 B PLS1...

Страница 14: ...unit or CPU unit slots There is no limit to the number of Pulse I O mounting for NX70 PLC Restrictions Due to Combination of Pulse Output Function Pulse I O unit sends out pulse and PWM outputs from...

Страница 15: ...tor NX70 PLC I Relays input signals from an external device to the Pulse I O unit 3 Output Connector NX70 PLC II Relays output signals from the Pulse I O unit to an external device 4 Mode Setting Swit...

Страница 16: ...n Pulse PWM I A1 R0 0 CH0 IN A II A1 R2 0 CMP0 PLS0 direction A2 R0 1 CH0 IN B A2 R2 1 CMP1 PLS1 direction A3 R0 2 CH0 Clear A3 R2 2 CMP2 PLS2 direction A4 R0 3 CH0 Mask A4 R2 3 CMP3 PLS3 direction A5...

Страница 17: ...arrangement is common to Pulse I O unit 4CH and High performance High speed counter unit 4CH I Input part II Output part NX70 Pulse I O unit NX70 PULSE4 4 COM points 2 points and 2 0V points are inte...

Страница 18: ...18 Wiring Diagrams Input Part Output Part Input terminal COM terminal Input indicator LED Internal Circuit 24V DC Internal Circuit Output terminal Terminal Terminal Output indicator LED...

Страница 19: ...70 Pulse I O units occupy 32 input R0 0 to R1 15 and 32 output R2 0 to R3 15 points Occupied I O area configuration is as follows Ex When Pulse I O unit is installed in slot 0 64 occupied points 32 po...

Страница 20: ...2 Clear B4 R0 11 CH2 Mask B5 R0 12 CH3 IN A B6 R0 13 CH3 IN B B7 R0 14 CH3 Clear B8 R0 15 CH3 Mask Unit Internal I O R1 0 Comparison CMP0 R1 1 Comparison CMP1 R1 2 Comparison CMP2 R1 3 Comparison CMP3...

Страница 21: ...Input This monitors signals from each function such as comparison output CMP0 to CMP7 Comparison Output Function The comparison result of comparison output set value in shared memory and counter curre...

Страница 22: ...Comparison CMP5 A7 R2 6 Comparison CMP6 A8 R2 7 Comparison CMP7 B1 R2 8 PLS0 A B2 R2 9 PLS0 B B3 R2 10 PLS1 A B4 R2 11 PLS1 B B5 R2 12 PLS2 A PWM0 B6 R2 13 PLS2 B PWM1 B7 R2 14 PLS3 A PWM2 B8 R2 15 P...

Страница 23: ...This output is directly allocated to external output terminal II A1 to A8 and its output R R2 0 to R2 7 can be used for PLS direction or internal relay Comparison output can be monitored by internal i...

Страница 24: ...Function Output for counter pause When this output R3 1 R3 3 R3 5 R3 7 turns on counter is paused PLSx Enable Pulse Output Function This signal enables pulse output Pulse output is available while thi...

Страница 25: ...ion Verification Check the occupied I O areas of the entire unit where Pulse I O units are installed Ex When a Pulse I O unit is installed next to two I O units on a CPU backplane Ex When a Pulse I O...

Страница 26: ...26 Verification of Slot No When mounted on CPU backplane The first slot on the right of CPU is 0 and the others are numbered as their location order Pulse I O unit CPU backplane SlotNo 0 1 2 3 4...

Страница 27: ...m so current value can be checked With comparison functions external output can be set according to count value Embedded Counter Operation Count value is set to zero 0 on power off Count value current...

Страница 28: ...the WRITE instruction to enter the count value current value into the shared memory of Pulse I O unit Share Memory Address heximal Event CH0 108h 109h Current value count Signed 32 bit 2 147 483 648...

Страница 29: ...ction but I O without allocations for high performance functions is used for general I O functions When used along with input time constant functions it can be used as I O with input time constant fun...

Страница 30: ...ngs such as mode setting switch or shared memory settings are not needed for general I O unit usage Use with initial setting When Pulse I O unit is installed in slot 0 input R0 0 to R 15 and output R2...

Страница 31: ...ognized as signals 1 4 s 2 8 s 3 16 s 4 32 s Time constant can be set individually for each of 8 external input terminal groups NX70 Pulse I O unit NX70 PULSE4 External input terminal I Input allocati...

Страница 32: ...s can be used along with counter function IMPORTANT b31 b28 b27 b24 b23 b20 b19 b16 b15 b12 b11 b8 b7 b4 b3 b0 Input time constant settings for R0 0 and R0 1 Input time constant settings for R0 2 and...

Страница 33: ...d memory 13Ch 13Dh settings Make sure to access shared memory by 2 word units ATTENTION Ignored as noise Install Pulse unit in slot No 0 Ignored as noise Terminal input signal After time constant proc...

Страница 34: ...34...

Страница 35: ...se input mode as follows 1 Direction Control Mode 2 Individual Input Mode 3 Phase Input Mode Particular to Pulse I O unit the connection point condition of pulse signals to be counted can be selected...

Страница 36: ...etting b31 b28 b27 b24 b23 b20 b19 b16 b15 b12 b11 b8 b7 b4 b3 b0 Counter CH0 setting used unused Counter CH0 setting input mode Counter CH1 setting used unused Counter CH1 setting input mode Counter...

Страница 37: ...Count current value is cleared to 0 with input ON A4 R0 3 Mask Count is paused with input ON A7 R0 6 CH1 Clear Count current value is cleared to 0 with input ON A8 R0 7 Mask Count is paused with input...

Страница 38: ...648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 Address 108h 109h Address 10Ah 10Bh Address 10Ch 10Dh Address 10Eh 10Fh Counter CH0 Current value Counter...

Страница 39: ...ow Count value changes at the pulse input edge rise time R0 0 R0 1 R0 2 R0 3 Pulse train input Direction control signal input CH0 IN A CH0 IN B CH0 clear CH0 Mask 0V 24V DC Install Pulse unit in slot...

Страница 40: ...er FFFFFF00 to shared memory addresses 100h and 101h Shared memory 100h 101h settings R0 13 R0 12 R0 9 R0 8 R0 5 R0 4 R0 1 R0 0 CH3 CH2 CH1 CH0 Input mode Functions setting Input mode Functions settin...

Страница 41: ...nal as illustrated below Count value changes at the pulse input edge rise time Increase pulse input Decrease pulse input CH0 IN A CH0 IN B CH0 clear CH0 Mask 0V 24V DC Install Pulse I O unit in slot N...

Страница 42: ...Enter FFFFFF10 to shared memory addresses 100h and 101h Shared memory 100h 101h settings R0 13 R0 12 R0 9 R0 8 R0 5 R0 4 R0 1 R0 0 CH3 CH2 CH1 CH0 Input mode Functions setting Input mode Functions set...

Страница 43: ...ge falling with 1 multiplication and decreases with IN A OFF and IN B edge rising Phase signal pulse input on A Phase signal pulse input on B CH0 IN A CH0 IN B CH0 clear CH0 Mask 0V 24V DC Install Pul...

Страница 44: ...ttings R0 13 R0 12 R0 9 R0 8 R0 5 R0 4 R0 1 R0 0 CH3 CH2 CH1 CH0 Input mode Functions setting Input mode Functions setting Input mode Functions setting Input mode Functions setting F F F F F F 2 0 Unu...

Страница 45: ...r Pulse I O unit 8 types of comparison output set values can be set and the comparison counter channels can also be freely selected Therefore if all comparison output set values are set to a single co...

Страница 46: ...3 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to...

Страница 47: ...mparison output function Output logic Counter CH to be compared 0 Used ON when current value set value CH0 1 CH1 2 CH2 3 CH3 4 ON when current value set value CH0 5 CH1 6 CH2 7 CH3 8 Invalid 1 Invalid...

Страница 48: ...o 0 R0 R1 R2 R3 Occupied I O areas Clear instruction Mask instruction Current value Set value Comparison coincidence signal Comparison coincidence output CMP0 CMP0 When counter current value coincides...

Страница 49: ...urrent value In the example the comparison result is output on CMP0 when counter current value is 6 Enter K6 H6 in shared memory addresses 120h 121h Shared Memory 120h 121h Settings R0 13 R0 12 R0 9 R...

Страница 50: ...Settings CMP7 CMP6 CMP5 CMP4 CMP3 CMP2 CMP1 CMP0 F F F F F F F 4 Unused Unused Unused Unused Unused Unused Unused CH0 Comparison 1 Comparison input Set value Settings bit 32 16 15 0 1 CMP0 is ON when...

Страница 51: ...utput so if PWM is selected the number of channels for pulse output is decreased Shared memory Enter PLS control signal Output pulse setting Current value Settings for pulse output such as output freq...

Страница 52: ...b28 b27 b24 b23 b20 b19 b16 b15 b12 b11 b8 b7 b4 b3 b0 PLS 0 PWM 0 setting PLS 1 PWM 1 setting PLS 2 PWM 2 setting PLS 3 PWM 3 setting Unused Unused Unused Unused PLS PWM Setting Address 140h 141h Se...

Страница 53: ...Ch 14Dh Address 14Eh 14Fh PLS 0 PWM 0 frequency setting PLS 1 PWM 1 frequency setting PLS 2 PWM 2 frequency setting PLS 3 PWM 3 frequency setting Make sure to access shared memory by 2 word unit On sh...

Страница 54: ...below Control signal allocation table Direction signal Direction control output Individual output OFF Forward Pulse output from PLSx A PLSx B OFF Pulse output from PLSx A PLSx B OFF ON Reverse Pulse...

Страница 55: ...4V DC Install Pulse I O unit in slot No 0 R0 R1 R2 R3 Occupied I O areas Direction input PLS0 Direction signal PLS0 direction 32 points input unit R4 R5 Enable signal PLS0 Enable Start signal PLS0 sta...

Страница 56: ...frequency of PLS PWM pulses In this example enter K10000 H2710 into shared memory addresses 148h and 149h because pulse is sent out from R2 8 and R2 9 PLS0 at 10 kHz Shared memory 148h 149h settings...

Страница 57: ...24V DC Install Pulse I O unit in slot No 0 R0 R1 R2 R3 Occupied I O areas Direction input PLS0 Direction signal PLS0 direction 32 points input unit R4 R5 Enable signal PLS0 Enable Start signal PLS0 st...

Страница 58: ...se pulse output starts at R2 8 and R2 9 PLS0 at 10 kHz At the moment when speed change input turns ON at R0 3 re enter K20000 H4E20 Shared memory 148h 149h settings Shared memory 148h 149h settings R0...

Страница 59: ...ol signal output Pulse output PLS0 B Counting output pulse trains with internal connection Comparison coincidence signal CMP0 current value set value Frequency speed setting changes to 0 when counter...

Страница 60: ...signal R4 0 R3 8 Output of forward pulse PLS0 Start signal R4 1 R3 12 PLS0 Direction signal R4 2 R2 0 PLS0 A Pulse output R2 8 PLS0 B Direction control signal R2 9 Output of reverse pulse Pulse output...

Страница 61: ...m is determined by PLS PWM setting In this example enter FFFFFFF6 into shared memory addresses 140h and 141h Pulse output starts at R2 8 and R2 9 PLS0 in direction control mode when PLSx Start signal...

Страница 62: ...e Shared memory 148h 149h settings before pulse starts Shared memory 148h 149h settings after pulse starts PLS0 PWM0 frequency setting 0 0 0 0 0 3 E 8 K 10000 Setting item bit 32 Set value 16 15 0 Set...

Страница 63: ...t PLS0 Start input PLS0 Pulse train output 0V 24V DC Install Pulse I O unit in slot No 0 R0 R1 R2 R3 Occupied I O areas Direction signal PLS0 direction 32 points input unit R4 R5 Enable signal PLS0 En...

Страница 64: ...S0 Start signal R4 1 R3 12 PLS0 Direction signal R4 2 R2 0 PLS0 A Pulse output R2 8 PLS0 B Direction control signal R2 9 High speed pulse output Pulse output starts when edge rise of Start signal is O...

Страница 65: ...Enter K500 H1F4 into shared memory addresses 120h and 121h Two values K9500 H251C and K10000 H2710 are entered in turn every time comparison coincidence CMP0 is ON Shared memory 120h 121h settings In...

Страница 66: ...comparison output mode It changes again to K300 H12C before deceleration and K0 H0 before stop Shared memory 148h 149h settings Acceleration deceleration Shared memory 148h 149h settings At Max speed...

Страница 67: ...utput is selected the number of CH for PWM output is decreased Shared memory Enter PLS control signal Output pulse setting Current value Settings for PWM output such as output frequency are configured...

Страница 68: ...b20 b19 b16 b15 b12 b11 b8 b7 b4 b3 b0 PLS 0 PWM 1 setting PLS 1 PWM 1 setting PLS 2 PWM 2 setting PLS 3 PWM 3 setting Unused Unused Unused Unused PLS PWM Setting Address 140h 141h Set value HEX Func...

Страница 69: ...hared memory by 2 word unit ATTENTION See Shared Memory Areas in Appendix A for shared memory addresses NOTE PLS K1 to K30000 PLS K1 to K30000 PLS K1 to K30000 PLS K1 to K30000 Address 148h 149h Addre...

Страница 70: ...ation for each control signal is shown in the table below Control signal allocation table Output Functions Allocation Pulse output CH Control events Remarks R3 8 PWM0 Enable control OFF PWM output sto...

Страница 71: ...lustrated below Enable input PLS0 Start input PLS0 PWM Pulse train output 0V 24V DC Install Pulse I O unit in slot No 0 R0 R1 R2 R3 Occupied I O areas 32 points input unit R4 R5 Enable signal PWM0 Ena...

Страница 72: ...ed memory 148h 149h settings PWM Duty Setting This setting determines Duty of PWM output In this example enter K50 H32 into shared memory addresses 158h and 159h PWM output starts from R2 12 PWM0 at 5...

Страница 73: ...programming tools such as WinGPC S W Enter phase signal in R0 0 and R0 1 and measure every second In this example the resolution of encoder is 1000 pulses rotation Rotation per minute is stored in DT...

Страница 74: ...er ON Set values that are not likely to coincide K 16777216 as the target value DT0 DT1 1 second standby Read current value DT2 DT3 Set initial value to 0 DT4 DT5 Convert to rotation RPM DT6 DT7 In ph...

Страница 75: ...is not used and inverter start stop is controlled by CMP0 signal and high low speed is controlled by CMP1 signal Install Pulse I O unit in slot No 0 Start input CH0 IN A Count phase signals from encod...

Страница 76: ...CMP0 High low Speed R2 1 CMP1 Cutter operation R5 1 0 5s 0 2s Power ON Target value setting K250 DT0 DT1 Record initial value K5000 DT2 DT3 Output prevention No output at current value 0 Cutter start...

Страница 77: ...le enter K0 H0 in shared memory addresses 120h 121h and K250 H FA in 122h 123h to output CMP0 when counter current value is 0 and CMP1 when 250 Shared memory 120h 121h settings Shared Memory 122h 123h...

Страница 78: ...n output set value and the result is output as CMP0 and CMP1 Therefore enter FFFFFF44 or FFFFFF00 in shared memory addresses 104h and 105h Shared memory 104h 105h settings 1 CMPO is ON when current va...

Страница 79: ...P0 signal and high low speed is controlled by CMP1 signal Install Pulse I O unit in slot No 0 Start input Move to 1000 CH0 IN A Count phase signals from encoder CH0 IN B 16 points output unit 0 V 24V...

Страница 80: ...0 Direction R5 0 CMP1 High speed R2 1 1300 1000 R4 0 ON Target value K1000 Current value Target value R4 0 ON Target value K1000 Current value Target value Start R4 0 CMP0 operation R2 0 Direction R5...

Страница 81: ...K1000 DT2 DT3 Record deceleration point K 300 DT2 DT3 Operation signal R2 0 ON High speed signal R2 1 OFF Operation signal R2 0 OFF Reverse signal R5 0 OFF R4 0 ON Current value Target value Current...

Страница 82: ...ample counter current value at CH0 is compared with comparison output set value and the result is output at CMP0 and CMP1 Therefore enter FFFFFF44 or FFFFFF00 in shared memory addresses 104h and 105h...

Страница 83: ...al Install Pulse I O unit in slot No 0 Start input CH0 IN A Count phase signals from encoder CH0 IN B 16 points output unit 0 V 24V DC CMP1 Occupied I O area R0 R1 R2 R3 R4 R5 Start Stop CMP0 Emergenc...

Страница 84: ...put change according to the input status of each signal as illustrated below Deceleration starts K300 pulses prior to each target value 3000 2000 0 1500 2000 Start R4 0 CMP0 operation R2 0 Direction R...

Страница 85: ...as target value Enter deceleration point K 300 DT4 DT5 Operation signal R2 0 ON High speed signal R2 1 OFF Operation signal R2 0 OFF Reverse signal R5 0 OFF 2 seconds standby IX 2 IX Start R4 0 ON Cu...

Страница 86: ...shared memory addresses 120h and 121h in sequential order Shared Memory 120h 121h Settings Target Value 1 Shared Memory 120h 121h Settings Target Value 2 R0 13 R0 12 R0 9 R0 8 R0 5 R0 4 R0 1 R0 0 CH3...

Страница 87: ...FFFFFF00 in shared memory addresses 104h and 105h Shared Memory 104h 105h Settings 1 CMPO is ON when current value set value Comparison output set value for CMP0 F F F F F 8 3 0 K 2000 Setting item bi...

Страница 88: ...88...

Страница 89: ...Except F and E terminals F and E terminals connector shield cables Insulation resistance 100 M or more at 500V DC between each pin groundings of external connectors But except F and E terminals F and...

Страница 90: ...age 24V DC Rated input current Approx 7 5 mA at 24V DC Input impedance Approx 3 2 K Use voltage range 20 4V DC to 26 4V DC Min ON voltage current 19 2V DC 6 mA Max OFF voltage current 5 0V DC 1 5 mA R...

Страница 91: ...age current 1 A or less Max ON state voltage drop 0 5V or less Response time 1 OFF ON 1 s or less ON OFF 1 s or less Surge absorber Zener diode Common method 16 points COMMON External power supply Vol...

Страница 92: ...7 483 647 Counting speed 200 kHz 1 Input mode Direction control individual input phase input Special functions Multiplication 1 2 4 Comparison output Point Max 8 points Input time constant Point 16 po...

Страница 93: ...B3 R0 10 CH2 Clear B4 R0 11 CH2 Mask B5 R0 12 CH3 IN A B6 R0 13 CH3 IN B B7 R0 14 CH3 Clear B8 R0 15 CH3 Mask Unit Internal I O R1 0 Comparison CMP0 R1 1 Comparison CMP1 R1 2 Comparison CMP2 R1 3 Comp...

Страница 94: ...R2 5 Comparison CMP5 A7 R2 6 Comparison CMP6 A8 R2 7 Comparison CMP7 B1 R2 8 PLS0 A B2 R2 9 PLS0 B B3 R2 10 PLS1 A B4 R2 11 PLS1 B B5 R2 12 PLS2 A PWM0 B6 R213 PLS2 B PWM1 B7 R2 14 PLS3 A PWM2 B8 R2...

Страница 95: ...2W Comparison output Set value MEM4 R W Comparison with counter current value signed 32 bit 12Ah 12Bh 2W Comparison output Set value MEM5 R W Comparison with counter current value signed 32 bit 12Ch 1...

Страница 96: ...d memory settings Set the counter functions mode as shown in the table below Address 100h 101h Counter setting Setting Input Mode Effective only for terminal input Set value HEX Functions Terminal inp...

Страница 97: ...ison output functions Functions Output logic Counter CH to be compared 0 Used ON when current value set value CH0 1 CH1 2 CH2 3 CH3 4 ON when current value set value CH0 5 CH1 6 CH2 7 CH3 8 Invalid 1...

Страница 98: ...ess 10Eh 10Fh Counter CH1 Current value Counter CH2 Current value Counter CH3 Current value K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2 147 483 648 to K 2 147 483 647 K 2...

Страница 99: ...0 9 Input time constant settings for R0 10 and R0 11 Input time constant settings for R0 12 and R0 13 Input time constant settings for R0 14 and R0 15 Address 13Ch 13Dh Input time constant setting Set...

Страница 100: ...PWM Setting Address 138h 139h Set value HEX Functions Pulse function Data change timing Output mode 0 PWM Refresh on edge rise of PLSx start signal 1 Edge rise of PLSx start signal or comparison outpu...

Страница 101: ...ge on rising edge of start or data refresh Pulse output direction control mode H4 Data change on rising edge of start H6 Data change on rising edge of start or comparison output H8 Data change on risi...

Страница 102: ...d range PLS output 1 Setting 131 072 kHz 1 0 Setting less than 131 072kHz PWM output 1 Setting more than 32 768 kHz 1 0 Setting less than 32 768 kHz 1 Upper limit for error detection is 1048 575 kHz 1...

Страница 103: ...etting 1 0 1 0 0 0 1 0 A2 144h to 147h Reserved 148h to 14Fh PLSx PWMx frequency setting 150h to 157h Reserved 158h to 15Fh PWMx Duty setting For PWM K1 to K30000 For PM K1 to K30000 For PWM K1 to K30...

Страница 104: ...104...

Страница 105: ......

Страница 106: ...lse I O Unit 4CH OE MAX Controls www oemax com Trademarks not belonging to OE MAX Controls are property of their respective companies Copyright 2004 OE MAX Controls Publication NX70 UM007A EN P Januar...

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