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ION/CME N-Series Digital Drive Developer Kit User Manual

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Содержание CME N Series

Страница 1: ...Revision 0 7 March 2021 Performance Motion Devices Inc 1 Technology Park Drive Westford MA 01886 www pmdcorp com ION CME N Series Digital Drive Developer Kit User Manual ...

Страница 2: ...icated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2021 by Performance Motion Devices Inc Juno Atlas M...

Страница 3: ...ces Inc By using any Performance Motion Devices Inc product in connection with an Unauthorized Application the customer agrees to defend indemnify and hold harmless Performance Motion Devices Inc its officers directors employees and agents from and against any and all claims losses liabilities damages costs and expenses including without limitation reasonable attorneys fees collectively Damages ar...

Страница 4: ...operation Magellan Motion Control IC Programming Reference Descriptions of all Magellan Motion Control IC commands with coding syntax and examples listed alphabetically for quick reference C Motion Engine Development Tools Manual Describes the C Motion Engine Development Tools that allow user application code to be created and compiled on a host PC then downloaded executed and monitored on a C Mot...

Страница 5: ...tem Verification 24 1 13 Saving Your Settings 29 1 14 Exploring Further 29 2 Connecting via Host Interfaces 31 2 1 Activating CAN Communications 31 2 2 Activating Serial Communications 33 2 3 Activating Ethernet Communications 38 2 4 Activating SPI Communications 39 2 5 C Motion Engine User Code Development 41 3 Reference 45 3 1 N Series ION Unit Part Numbers and Configurations 45 3 2 Developer Ki...

Страница 6: ...vi ION CME N Series Digital Drive Developer Kit User Manual ...

Страница 7: ...Communications via RS232 33 2 3 Hardware Setup for Communications via RS485 35 2 4 RS485 Signal Connection Diagram 36 2 5 PC to N Series ION DK SPI Connection Diagram 40 2 6 Typical Connection Links During C Motion Engine Code Development 41 3 1 N Series ION DK Showing Component Stack 54 3 2 Mounting Thermal Pad to N Series ION 55 3 3 ION CME N Series Digital Drive Physical Dimensions 57 3 4 DK Ba...

Страница 8: ...viii ION CME N Series Digital Drive Developer Kit User Manual ...

Страница 9: ... Drives are based on PMD s Magellan Motion Control IC and perform profile generation encoder position feedback position servo compensation step motor stall detection brushless DC motor commutation microstep generation digital current torque control and more All members of the ION family have integrated high power drive stages which protect from overcurrent undervoltage overvoltage overtemperature ...

Страница 10: ...connect board that provides convenient connections to your PC the motor hardware and other peripherals that will be used in your application As shown in Figure 1 2 the N Series ION is mounted in between a metallic heat sink base which also serves the purpose of providing a footing for bench top use and the DK interconnect board which provides the connectors Alternatively you can remove the metalli...

Страница 11: ... N Series ION unit itself The N Series ION must be ordered separately For instructions on how to assemble a developer kit setup from a component only DK refer to Section 3 5 Component Developer Kit Assembly 1 4 Developer Kit Components List The ION CME N Series Digital Drive Developer Kits contain the following components Developer Kit interconnect board with N Series Drive soldered in place DK481...

Страница 12: ...n Summary for a description of the available connections and options for the N Series ION DK interconnect boards 3 Connect the N Series Drive to the host PC via the 3 pin programming cable See Section 1 9 5 Programming Connector J9 for a description of this procedure 4 Once this hardware configuration is complete the final step to finish the installation is to perform a functional test of the fini...

Страница 13: ...ns For N Series ION users this will normally be the C Motion PRP II SDK option However you may install two or more SDKs if desired Pro Motion an application for communicating to and exercising PMD ICs modules or boards C Motion SDK an SDK Software Developer s Kit for creating motion applications using the C C programming language for all PMD products that utilize a direct Magellan or Juno formatte...

Страница 14: ...vironments including a PC microprocessor embedded card or C Motion Engine Can be easily linked to any C C application Three different version of C Motion SDKs are available the regular C Motion SDK is used with PMD products such as Juno ICs Magellan ICs and non CME version ION 500 3000 Digital Drives and non CME version Prodigy Motion Boards The C Motion PRP SDK is used with CME version products s...

Страница 15: ... 8 DK Interconnect Board Overview Figure 1 4 shows the location of various components for the three different DK interconnect boards which differ in the host interface type serial CAN SPI or Ethernet Figure 1 4 Serial Host Interface DK Interconnect Board Figure 1 5 CAN SPI Host Interface DK Interconnect Board J9 J11 1 J11 2 J1 J2 J7 J6 J5 J4 J3 C1 C2 U1B U1A J12 J15 J9 J11 1 J11 2 J10 1 J10 2 J1 J...

Страница 16: ... general connection overviews for Brushless DC DC Brush and step motors These diagrams do not show all possible connections or operational modes but show a typical minimal set of connections that may be used with this first time installation of the N Series ION Label Description J1 HV Power Connector J2 Motor Drive Connector J3 Feedback Connector J4 Hall Signals Connector J5 Auxiliary Connector J6...

Страница 17: ...nnector J4 Hall Sensors Connector Limits Brake J6 Motion Signals Connector Home Motor A Motor B HV Enable QuadA B Index N Series ION DK Interconnect Board J6 Motion Signals Connector J1 HV Power Connector GND J2 Motor Drive Connector J9 Programming Connector J3 Feedback Connector Limits Brake J6 Motion Signals Connector Home DC Brush Motor Motor A Motor B Motor C Motor D HV Enable optional QuadA B...

Страница 18: ... Hall Signals Connector J4 HallA HallB HallC 1 2 3 Used with Brushless DC motors only GND 4 Ground return for Hall sensors Programming Connector J9 Srl3Xmt Srl3Rcv 1 2 These pins provide a serial connection that will be used for first time opera tion of the DK board The USB to 3 pin programming cable included with the developer kit connects to this port GND 3 HV Power Connector J1 HV Aux HV 1 2 HV...

Страница 19: ...ed on the board as GND using a short wire 1 9 4 Hall Signals Connector J4 The following table details the Hall Signals Connector J4 Hall signals are used with Brushless DC motors This connector is a 6 pin jackscrew style connector 7 Index Differential Index input optional for step motor 8 Index Differential Index input optional for step motor Pin Signal Name Description 1 PosLim Positive position ...

Страница 20: ... 3 pin 2 mm header 1 9 6 Power Connector J1 The following table details the Power Connector J1 The Power Connector is a Würth Elektronik 3 Position Terminal Block Header P N 691313710003 The HV Aux and HV pins are normally tied together but may be kept separate Pin Signal Name Description 1 Srl3Xmt Serial programming port transmit signal 2 Srl3Rcv Serial programming port receive signal 3 GND Groun...

Страница 21: ...t used with DC Brush or Brushless DC motors 5 Case shield Connection to motor case shield A shield connection is strongly recommended for most motor setups This pin is connected to the N Series ION s Power Connector GND signal Motor Type DK Board Pin and Name Motor Coil Connections Brushless DC 1 Motor A 2 Motor B 3 Motor C 5 Case shield A winding connection B winding connection C winding connecti...

Страница 22: ...der differential Index input 8 Index2 Auxiliary encoder differential Index input Pin Signal Name Description 1 GND Ground 2 DigitalIO1 Bidirectional general purpose digital I O bit 1 3 DigitalIO2 Bidirectional general purpose digital I O bit 2 4 DigitalIO3 Bidirectional general purpose digital I O bit 3 5 DigitalIO4 Bidirectional general purpose digital I O bit 4 6 DigitalIO5 Bidirectional general...

Страница 23: ...J12 This connector is an 8 pin 100 mil header 8 8 N C J11 1 Pin J11 2 Pin Signal Name Description 1 1 ExpCAN Expansion CAN transmit 2 2 ExpCAN Expansion CAN receive 3 3 GND Ground 4 4 N C 5 5 N C 6 6 N C 7 7 GND Ground 8 8 N C Pin Signal Name RS232 RS485 Full Duplex RS485 Half Duplex J12 1 No connect no connect no connect no connect 2 Srl1Xmt Serial 1 transmit output no connect no connect 3 Srl1Rc...

Страница 24: ...PMD representative for assistance 1 12 First Time System Verification The first time system verification procedure summarized below has two overall goals The first is to connect the N Series ION with your PC so that they are communicating properly and the second is to initialize the axis and bring it under stable control capable of making controlled moves While there are many additional capabiliti...

Страница 25: ...n programming cable as shown in Figure 1 10 2 Launch the Pro Motion application When Pro Motion is launched you will be prompted with an Interface selection window A typical screen view when first launching Pro Motion appears below The purpose of the Interface dialog box is to indicate to Pro Motion how your N Series ION is connected to the PC It provides various selectable communication options s...

Страница 26: ...tablished a message appears indicating that an error has occurred If this is the case recheck your connections and repeat from step 1 1 12 2 Running the Axis Wizard The next step to verify the correct operation of the system is to initialize the axis thereby verifying correct amplifier operation encoder feedback connections if an encoder is used and other motion functions All of this can be con ve...

Страница 27: ...on sequence for brushless DC motors Should this happen it is possible to perform a manual tuning or commutation setup if desired 1 12 3 Performing a Simple Trajectory Move The last step in first time system verification is to perform a simple move for each axis To perform a simple move 1 In the Project Window select the motion axis that you would like to move by clicking the corresponding icon 2 C...

Страница 28: ... is now complete Pro Motion provides various selectable units for distance and time but defaults to units of encoder counts or pulses for step motors for distance and seconds for time This means the default units for velocity are counts sec and the default units for acceleration and deceleration are counts sec2 So for a motor that has 2 000 counts per rotation to perform a symmetric trapezoidal mo...

Страница 29: ... set up with the Axis Wizard or set while using the main parameter setting windows provided by Pro Motion The list of parameters that are saved and recalled with the project mechanism can be set by the user if desired To store parameters to a project select File New Project from the main menu at the top of the screen 1 14 Exploring Further Once you are finished setting up the motor using the Axis ...

Страница 30: ...30 ION CME N Series Digital Drive Developer Kit User Manual 1 ...

Страница 31: ...Series Digital Drive User Manual 2 1 1 CAN Hardware Setup Figure 2 1 Hardware Setup for Communicat ing via CAN For your PC to communicate via CAN you will typically use a USB to CAN converter which provides an RJ45 interface The N Series ION DK interconnect board directly accepts this cable at either J10 1 or J10 2 Either socket can be used because each signal is daisy chained from one connector t...

Страница 32: ...ith data entry fields for the bit rate and the node ID This is shown below with default values visible 4 Enter the desired bit rate and node ID in the corresponding data fields 5 Click OK to store as the power on default 6 Click the Reset toolbar button After the ION is reset it uses the default parameters that you specified The N Series ION has now been programmed to be ready for CAN communicatio...

Страница 33: ...n the following sections we will detail how to connect from a PC to the N Series ION s serial connections using two different connection schemes RS232 and RS485 2 2 1 RS232 Hardware Setup Figure 2 2 Hardware Setup for Communica tions via RS232 For your PC to communicate via RS232 you will use the USB to DB9 serial converter cable PMD P N Cable USB DB9 which is included with serial host N Series IO...

Страница 34: ...ppears 2 Click Network I O The Network I O Defaults dialog box appears 3 Click the Serial tab This window appears with data entry fields for the default serial port setting such as the baud rate This is shown below with default values visible 4 Enter the desired baud in the corresponding data fields 5 Click OK to store as the power on default 6 Click the Reset toolbar button After the ION is reset...

Страница 35: ...indow 2 Click the Disconnect toolbar button A dialog box appears asking if you are sure you want to disconnect 3 Click OK You will notice that the serial ION icon and axes graphical icons in the Project box disappear leaving only the Serial1 RS232 link icons for the ION and axis RS232 communication setup is now complete You are ready to execute all Pro Motion functions via RS232 2 2 5 RS485 Hardwa...

Страница 36: ...nction as the RS485 master an RS422 485 USB adapter or RS485 card should be purchased and installed Follow the product directions to install the software drivers If properly installed and visible to Windows Pro Motion should recognize the RS485 port and be able to communicate with it automatically For convenience the following table lists a vendor and P N for such an adaptor product 2 2 6 Setting ...

Страница 37: ...s Comment Override RS485Sel pin no no yes If this field is set to no the value of pin 9 of the serial N Series ION s Signal Connector which can be accessed on the DK board via Pin 9 of J7 the Indexer Connector will be read to select RS232 or RS485 high RS232 low RS485 If this field is set to yes the pin value will be ignored and the RS232 RS485 setting will be read from the setting of the next fie...

Страница 38: ...functions via RS485 network 2 3 Activating Ethernet Communications N Series IONs of Ethernet host interface type support 100 Base T Ethernet Communications For detailed information on N Series ION s Ethernet interface refer to ION CME N Series Digital Drive User Manual 2 3 1 Setting Up the ION For Ethernet Communications Here is the Pro Motion sequence used to set up the N Series ION to connect vi...

Страница 39: ... the programming port serial connection To accomplish this 1 Select the serial link version of the ION in the Project window 2 Click the Disconnect toolbar button A dialog box appears asking if you are sure you want to disconnect 3 Click OK You will notice that the serial ION icon and axes graphical icons in the Project box disappear leaving only the Ethernet link icons for the ION and axis SPI co...

Страница 40: ...t it should communicate by SPI Item Part number Manufacturer Description J8 to SPI interface module cable Cable 6001 01 PMD This cable interconnects the National Instruments USB 8452 module to the DK s J8 connector SPI interface module NI USB 8452 National Instruments This module generates SPI signals compatible with the N Series IONs s host SPI interface SPI interface module USB cable NI USB 8452...

Страница 41: ...tion code and that can be executed by the C Motion Engine 2 5 1 Connections Overview Figure 2 6 Typical Connection Links During C Motion Engine Code Development Figure 2 6 shows a typical connection architecture for C Motion Engine user code development with a N Series ION There are three separate communication links Pro Motion Link The Pro Motion link connects the PC that holds Pro Motion the use...

Страница 42: ...s discussed in more detail in the ION CME N Series Digital Drive User Manual but provides a convenient pathway for sending printf type statements from the user code running on the N Series ION to a separate monitor or to the Pro Motion debug console window The console link does not have a protocol as such and transmits in ASCII whatever messages are sent using printf commands executed in the CME u...

Страница 43: ...onsole Output Button located in the Device Control window 2 5 4 Typical Code Development Session With the CME code development connections in place you are ready to start building your application using the tools provided in the C Motion engine development system These C Motion engine development tools are used to create edit compile and download user application code into the N Series ION s CME C...

Страница 44: ...isplayed in the console channel During initial code development this is a convenient method to confirm that the code loaded correctly and is executing 2 5 4 2 Sample Hello World Code Development Sequence To exercise and become familiar with the C Motion Development tools you may find it helpful to compile link and download a sample hello world application included in the SDK using the steps detail...

Страница 45: ...0056 18 Serial High 1 000W 12 56V Step Motor DD441C0056 02 CAN SPI Low 75W 12 56V Step Motor DD441C0056 06 CAN SPI Medium 350W 12 56V Step Motor DD441C0056 18 CAN SPI High 1 000W 12 56V Step Motor DD441D0056 02 Ethernet Low 75W 12 56V Step Motor DD441D0056 06 Ethernet Medium 350W 12 56V Step Motor DD441D0056 18 Ethernet High 1 000W 12 56V Step Motor Brushless DC DD431S0056 02 Serial Low 75W 12 56V...

Страница 46: ...sh Multi Motor DD481S0056 02 Serial Low 75W 12 56V Multi Motor DD481S0056 06 Serial Medium 350W 12 56V Multi Motor DD481S0056 18 Serial High 1 000W 12 56V Multi Motor DD481C0056 02 CAN SPI Low 75W 12 56V Multi Motor DD481C0056 06 CAN SPI Medium 350W 12 56V Multi Motor DD481C0056 18 CAN SPI High 1 000W 12 56V Multi Motor DD481D0056 02 Ethernet Low 75W 12 56V Multi Motor DD481D0056 06 Ethernet Mediu...

Страница 47: ...Either low medium or high power multi motor CAN SPI interface N Series ION unit CAN SPI DK PCB PCB 1047 21 Populated four layer interconnect PCB for CAN SPI host interface N Series ION DKs Base plate NION DKH 01 Black anodized aluminum N Series ION DK base plate Mounting screws N A Four M2 5 x 0 45 mm thread 8 mm long button head screws Thermal pad NION DKH 02 10 mil 25 mm thick thermal pad cut to...

Страница 48: ...ard 6 Cat 6 Ethernet connector cable Allen key N A 1 5 mm Allen key Name Vendor P N Description USB to CAN FD connector Ixxat P N 1 01 0353 22012 USB to CAN FD connector RJ45 interface See Section 2 1 Activating CAN Communi cations for more information on the use of this cable Dual serial channel cable PMD P N Cable 4355 01 R Male DB9 dual serial to two single channel female DB9 cable See Section ...

Страница 49: ...ection PMD Part Cable 6001 01 Description Female 40 pin dual 100 mil header to female 8 pin dual 100 mil header cable Length 10 ft 3 0 m Cable UL 1569 22 AWG Notes Connects National Instruments NI 8452 converter module to PMD 8 pin SPI connector interface 40 Pin Header Pin 40 Pin Header Signal Name 8 pin SPI Header Pin Cable Color 2 GND 7 Blue 4 SPI_SCLK 3 Red 8 SPI_MISO 1 Black 12 SPI_MOSI 2 Brow...

Страница 50: ...rive related parameters for low power level N Series ION units P Ns DD4X1X0056 02 Unit Example C Motion Commands Scaling Example usage Amps GetCurrentLoopValue 231 mA count A command request to read the ActualCurrent parameter returns a value 12 345 This corresponds to a current of 12 345 counts 0 231 mA count 2 851A Volts SetDriveFaultParameter GetBusVoltage 10 0 mV count To set an overvoltage th...

Страница 51: ...c 2 95 A2 sec Unit Example C Motion Commands Scaling Example usage Amps GetCurrentLoopValue 733 mA count A command request to read the ActualCurrent parameter returns a value 12 345 This corresponds to a current of of 12 345 counts 0 733 mA count 9 049 Volts SetDriveFaultParameter GetBusVoltage 10 0 mV count To set an overvoltage threshold of 50V the command value should be 50 V 1 000 mV V 10 0 mV...

Страница 52: ...2 A2 sec Unit Example C Motion Commands Scaling Example usage Amps GetCurrentLoopValue 2 198 mA count A command request to read the ActualCurrent parameter returns a value 12 345 This corresponds to a current of of 12 345 counts 2 198 mA count 27 13A Volts SetDriveFaultParameter GetBusVoltage 10 0 mV count To set an overvoltage threshold of 50V the command value should be 50 V 1 000 mV V 10 0 mV c...

Страница 53: ...ting of the N Series ION drive is higher for lower input voltages See ION CME N Series Digital Drive User Manual for drive output specifications For other mounting configurations or for use with motors that have lower current and energy limits it may be useful to set these parameters to values lower than the default values I2 t continuous current limit step motor 13 4 A 0 0 A 13 4 A I2t energy lim...

Страница 54: ...N functions The ION unit interface type serial CAN SPI or Ethernet must be matched with the associated DK interconnect PCB type For more information on this and exact P Ns refer to Section 3 2 Developer Kit Hardware Contents N Series ION unit One of 36 different N Series ION units As noted above the ION unit type must match the PCB interconnect PCB unit type Thermal pad 33 5 mm x 33 5 mm x 25 mm t...

Страница 55: ... flat and without bubbles or bulges Once pressed in place the pad should stay in place but if required the pad can be removed and remounted Mounting the N Series ION to the base plate The next step of the assembly process is to mount the N Series ION with thermal pad attached to the rectangular base plate Four M2 5 screws and the Allen key are used for this purpose as shown in Figure 3 1 Make sure...

Страница 56: ... N Series ION When ready gently push the PCB down onto the ION unit until the bottom of the PCB sits flush with the ION unit s PCB interface surface Altogether you will solder three different groups of pins the four alignment posts located at the corners of the ION unit the 44 signal connector pins and the 7 power connector pins Carefully solder each of these pins into the PCB taking care to insur...

Страница 57: ... N Series Digital Drive Developer Kit User Manual 57 3 3 6 Physical Dimensions 3 6 1 N Series ION Unit Figure 3 3 ION CME N Series Digital Drive Physical Dimensions 648 5 7 6 1 211 725 6 7 7 6 1 17 5 6 PP LQFK ...

Страница 58: ...58 ION CME N Series Digital Drive Developer Kit User Manual 3 7 6 7 6 PP LQFK ...

Страница 59: ...ION CME N Series Digital Drive Developer Kit User Manual 59 3 3 6 2 Developer Kit Figure 3 4 DK Base Plate Dimensions Figure 3 5 DK Interconnect Board Dimensions 6 7 21 7 6 ...

Страница 60: ...late also called a supporting plate The following sections describe how mechanical attachment at both these interfaces occurs 3 7 1 Attachment to the User PCB Attachment at the PCB is accomplished by soldering the PCB to the N Series Drive s four mechanical alignment posts While these posts do not serve an electrical function they provide a rigid attachment of the PCB to the N Series ION and there...

Страница 61: ...rom the heat sink side In this approach M2 5 screws are installed directly into the ION s tab which is threaded for a M2 5 screw A variation of this option may be used when greater mounting rigidity is desired typically because the application environment has higher g forces This mounting method locates shim washers under the tabs to limit tab deflection and to increase the amount of torque that c...

Страница 62: ... then soldered onto the user PCB these access holes may not be necessary 3 7 2 2 Installation Torque Limits Before mating the N Series Drive to the heat sink in a typical installation a thermal transfer material will first be installed to enhance thermal contact Refer to Section 3 7 2 4 Thermal Transfer Materials for more information on selection of these materials Once this material is in place t...

Страница 63: ...ve unit and a heat removing metal surface The following guidelines may be helpful in selecting and sizing the thermal transfer material best suited to your application The capacity of thermal transfer materials to transfer heat known as the bulk conductivity is much lower than that of metals such as aluminum or copper Therefore in general the thinner the transfer material the better Thickness of t...

Страница 64: ... to mechanically mate the unit to the supporting plate before soldering into the PCB If for whatever reason this is not possible then special care should be taken to insure that the N Series ION is aligned with the supporting plate after soldering and before mechanical attachment so that upon mechanical attachment no stress is placed on the ION unit the solder contacts or the PCB Mounting surface ...

Страница 65: ...esigns for the ION CME N Series Digital Drive Developer Kit s printed circuit board differing by the host communication variant As the N series ION is designed to limit the requirement for external components the interconnect boards simply provide connectors to all pins on the N series ION similar to a breakout board Aside from host communication pins which use common connectors all signals are ac...

Страница 66: ...italIO2 DigitalIO3 DigitalIO4 DigitalIO5 DigitalIO6 DigitalIO7 DigitalIO8 Title Size Document Number Rev Date Sheet of PCB 1047 41 B N series ION DK Serial A3 1 1 Sunday March 14 2021 Title Size Document Number Rev Date Sheet of PCB 1047 41 B N series ION DK Serial A3 1 1 Sunday March 14 2021 Title Size Document Number Rev Date Sheet of PCB 1047 41 B N series ION DK Serial A3 1 1 Sunday March 14 2...

Страница 67: ... DigitalIO2 DigitalIO3 DigitalIO4 DigitalIO5 DigitalIO6 DigitalIO7 DigitalIO8 MotorA MotorB MotorC MotorD HV_Aux HV PWR_GND Title Size Document Number Rev PCB 1047 01 B N series ION DK CAN SPI A3 Title Size Document Number Rev PCB 1047 01 B N series ION DK CAN SPI A3 Title Size Document Number Rev PCB 1047 01 B N series ION DK CAN SPI A3 J1 3x1_381 1 1 2 2 3 3 J4 6x1_254 1 1 2 2 3 3 4 4 5 5 6 6 C1...

Страница 68: ...etRx TAP_RX EthernetRx DIO7 DIO6 5V 5V Title Size Document Number Rev Date Sheet of PCB 1047 01 B N series ION DK Ethernet A3 1 1 Sunday March 14 2021 Title Size Document Number Rev Date Sheet of PCB 1047 01 B N series ION DK Ethernet A3 1 1 Sunday March 14 2021 Title Size Document Number Rev Date Sheet of PCB 1047 01 B N series ION DK Ethernet A3 1 1 Sunday March 14 2021 J1 3x1_381 1 1 2 2 3 3 J4...

Страница 69: ...ION CME N Series Digital Drive Developer Kit User Manual 69 4 ...

Страница 70: ...70 ION CME N Series Digital Drive Developer Kit User Manual 4 ...

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