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User interface setting page:

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Manufacturer setting page:

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to select options.

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Robot parameters:

Rotate at home position: Set main arm rotates vertical or horizontal when it is at

home position.

Open safe door pause running: Setup system whether pause auto running while

the safe door is opened.

Alarm times: Set the alarm buzz times. The minimum is 0, means no alarm buzz.

The maximum is 99.

Alarm interval: The time between 2 alarm buzz. The minimum is 0s and the

maximum is 9.9s.

Содержание ST2

Страница 1: ...ST2 Two Axes Servo Driven Robot Keypad Hand Controller User Manual Date September 2015 Version V1 1 English ...

Страница 2: ......

Страница 3: ...g Preparation 14 2 1 6 Mounting Instruction 14 2 2 Equipment Specification 15 2 2 1 Dimensions Telescopic Arm 15 2 2 2 Model Specification 16 2 2 3 Pneumatic Source Requirement 19 2 3 Electrical Connection 19 2 3 1 Main Power Supply 19 2 4 Adjusting the Axis Positions 20 2 4 1 Adjusting the X position 20 2 4 2 Adjusting the Y position 21 2 4 3 Adjusting the Z position 21 2 5 Gripper and Suction Mo...

Страница 4: ...on Panel of Hand Controller 31 4 1 2 Hand Controller Keys 32 4 2 Servo Axes Setting and I O Extend 33 4 2 1 Servo Axes Setting 33 4 2 2 I O Extend 33 4 3 Loop 34 4 4 System Startup 36 4 5 Manual Mode 37 4 6 Auto Mode 38 4 6 1 Select Current Program 38 4 6 2 Auto Running 38 4 7 Program Parameter 39 4 7 1 Main Menu 39 4 8 Program File Management 40 4 8 1 Program File Explorer 40 4 8 2 Program Rename...

Страница 5: ...7 3 Main Arm Unit 65 7 4 Parts List 66 7 5 Crosswise Unit 67 7 6 Parts List 68 8 Electric Control Chart 69 8 1 The Power Input Wiring Diagram 69 8 2 The Panasonic Servo Motor Wiring Diagram 70 8 3 The Panasonic Servo Motor and I O Board Wiring Diagram 71 8 4 The Delta Servo Motor and Servo Driver Wiring Diagram 72 8 5 The Delta Servo Motor and I O Board Wiring Diagram 73 8 6 The Cuinsico Servo Mot...

Страница 6: ...fter modified 29 Picture 3 7 before modified 29 Picture 3 8 after modified 29 Picture 7 1 Traverse Unit 63 Picture 7 2 Main Arm Unit 65 Picture 7 3 Crosswise Unit 67 Picture 8 1 The Power Input Wiring Diagram 69 Picture 8 2 The Panasonic Servo Motor Wiring Diagram 70 Picture 8 3 The Panasonic Servo Motor and I O Board Wiring Diagram 71 Picture 8 4 The Delta Servo Motor and Servo Driver Wiring Diag...

Страница 7: ...Diagram 79 Picture 8 12 IMM injection molding machine Wiring Diagram 1 80 Picture 8 13 IMM injection molding machine Wiring Diagram 2 81 Picture 8 14 Main Control Board Component Layout U1 82 Picture 8 15 Pneumatic Schematic Diagram 83 ...

Страница 8: ...8 83 ...

Страница 9: ...void damages 5 Should increase plastic bag out of the robot and if necessary pumping vacuum and put desiccant in the packing during the long distance transporting 6 The temperature between 25 to 55 during the transportation for short transportation inner 24 hours the temperature can not higher than 70 The robot you order before sending out the factory it is confirmed in good working condition plea...

Страница 10: ...6 screws on the supporting plate Note 1 Remove the packing support plate should be careful to prevent the arm wrist and the machine damage or personal injury 2 Lock the arm connecting plate and the sliding seat ensure that the arm in vertical state 2 There is a ring in the parts box when the robot sent after taking apart the package the ring is installed on the T block of the vertical beam using w...

Страница 11: ...rosion 1 2 2 Operation Environment 1 Temperature between 5 to 40 2 Humidity temperature 40 relative humidity 50 3 Elevation under 1000 meters above sea level 4 Stop using the product immediately when the following occurs Ⅰ Power cable is damaged Ⅱ Air tube is damaged Ⅲ Air pressure is not enough or too high Ⅳ Machine breaks down or dissembled by unauthorized personal Ⅴ There are organic solvent ac...

Страница 12: ...y careless or man made installations operation and maintenances upon machines without referring to the Manual prior to machine using 2 Any incidents beyond human reasonable controls which include man made vicious or deliberate damages or abnormal power and machine faults caused by irresistible natural disasters including fire flood storm and earthquake 3 Any operational actions that are not author...

Страница 13: ... the power wire must be safety and immobility 2 1 2 Compressed Air Connection 1 According to the filter specifications to choose a suitable hose connected between the air source and filter Note before connecting hoses clean the hoses by compressed air To ensure that there is no cuttings sealing tapes in it 2 Check the air connection of control box in good conditions without bending conditions 2 1 ...

Страница 14: ...warning signals on outstanding place of the fence 2 1 5 Mounting Preparation 1 Before drilling switch off the injection molding machine and then turn off the power avoid the scrap iron into the mold 2 Stock the drilling picture on the installing surface of IMM 3 Use the center punch to assist drilling 4 Place the magnetic drill on the fixing plate use drill bits Ф14 to drill holes about 30mm depth...

Страница 15: ...ition plate fix it on the injection molding machine then fix robot on transition plate 2 2 Equipment Specification 2 2 1 Dimensions Telescopic Arm Picture 2 1 X and Z Axes Servo Telescopic Picture 2 2 Y and Z Axes Servo Telescopic ...

Страница 16: ...wise stroke mm Sub arm Main arm 700 900 1100 700 Vertical stroke mm Sub arm Max Load with tool kg 3 3 3 3 Min Pick out Time sec 2 0 2 2 2 5 2 0 Min Cycle Time sec 6 3 6 5 7 6 3 Air pressure range bar 4 6 4 6 4 6 4 6 Max Air Consumption NL cycle 7 5 9 5 11 5 9 Net Weight kg 260 280 300 240 A 2300 2500 2700 2300 B 1430 1550 1670 1430 C 1250 1350 1450 1600 D max 700 820 940 690 E max 700 900 1100 700...

Страница 17: ...ax 900 1100 750 F max 1600 1800 1400 1400 G max 110 H max 180 Dimensions mm I max 680 1200 Model ST2 Y900 1600T ST2 Y900 1600DT ST2 Y1100 1800T ST2 Y1100 1800DT IMM ton 200 300 200 300 300 450 300 450 Traverse mm 1600 1600 1480 1480 Main arm 250 250 300 300 Crosswise stroke mm Sub arm 150 150 Main arm 900 900 1100 1100 Vertical stroke mm Sub arm 950 1150 Max Load with tool kg 3 3 3 3 Min Pick out ...

Страница 18: ...000 2200 2200 G max 120 120 H max 170 170 Dimensions mm I max 1100 1100 1150 1150 Model ST2 Y1800 2400T ST2 Y1800 2400DT IMM ton 850 1600 850 1600 Traverse mm 2400 2400 Main arm 400 400 Crosswise stroke mm Sub arm 200 Main arm 1800 1800 Vertical stroke mm Sub arm 1850 Max Load with tool kg 14 14 Min Pick out Time sec 3 8 3 8 Min Cycle Time sec 9 5 9 5 Air pressure range bar 4 6 4 6 Max Air Consump...

Страница 19: ...rovided through cable conductor and CEE plug The power connection should be performed only by an authorized electrician and according to applicable electric utility regulations Connection of the interface plug to the machine and testing of all signals must be done by a specialist in injection molding machines and robots Preferably this should be done by one of our service engineers together with a...

Страница 20: ...djusting the stroke length and the end position Before running in to the mold range with the Y axis for the frist time you must check whether the X positions can be reached without damaging the mold and the Y axis the end position of the X axis must be adjusted Adjusting the end position of X1 axis 1 Run the X1 axis to its end position 2 Release bracket A 3 Push bracket A to shock absorber in the ...

Страница 21: ...ition 2 Push the cylinder on Y axis to its end position 3 Rotate the up going shock absorber to the in fully compression state 4 Fix the shock absorber The pick up position can be set using the stop package Adjusting the Pick up Position 1 Run the Y axis to its end position 2 Seal off the compressed air 3 Loosen the Y axis stop package 4 Manually push Y axis to the desired position 5 Push stop pac...

Страница 22: ... connected with the adjustment screw when the rotation adjustments screw the red ruler will move too 3 Need to adjust the pressure the user can rotate red ruler to set the valve by the hex key clockwise rotation the value increased counter clockwise rotation the value decrease 2 5 3 Digital Pressure Switch Setting For CKD pressure switch Ø Hysteresis mode a Press Mode 2 seconds in measurement mode...

Страница 23: ...or SMC pressure switch 1 Press S for 2 seconds till screen displays F use up down keys to select F0 press S into unit selection mode use up down keys to select PA press S complete setting and back to function selection mode screen displays F0 2 Press up down till screen displays F1 press S into OUT1 specification setting and use up down keys to select HYS press S into out mode setting 3 Use up dow...

Страница 24: ...s 1 Appearance compact and attractive appearance 2 Conveniences I O circuit connection using convenience plug in design easy to installation and maintain 3 Safety with safety switches on each limit positions 4 Function with stack function 5 Withdrawal pick out part quickly and accurately place part precision ensure not to collision parts 6 Humanization use the humanization control system easy to o...

Страница 25: ...ts are with limited sensor switch The devices of the limited position are on the two ends of the stroke axis Z axis and vertical axis X axis prevent robot anti falling 3 3 3 Shock Absorber There are shock absorbers on the main arm up down position sub arm up down position and the position of main arm forward and forward and sub arm backward The main arm backward position and the forward position o...

Страница 26: ...addition the controllers will remain under power to allow indication of error messages If robot goes out of order or need emergency stop for examinations press the emergency stop button to ensure safety operation 3 4 Default Setting 1 Traverse speed the initial setting is 85 2 Pressure sensor the initial setting is 4bar if air pressure is less than 4bar the robot will stop working and alarm 3 Filt...

Страница 27: ...27 83 Picture 3 1 before modified Picture 3 2 after modified 2 Move all outside IMM safety zone blocks to the other end of the beam See picture 3 3 picture 3 4 Picture 3 3 before modified ...

Страница 28: ...xis belt fixed block keep the distance about to 180mm 4 Open the sliding seat on the Z axis and then exchange the socket position of X101 and X104 also exchange the socket position of X102 and X103 on the circuit board U2 See picture 3 5 3 6 Picture 3 5 before modified ...

Страница 29: ...29 83 Picture 3 6 after modified 5 Change robot direction to reverse in hand controller See picture 3 7 3 8 Picture 3 7 before modified Picture 3 8 after modified ...

Страница 30: ...ee and move to the other end of beam then tighten it 7 Robot reversing result checking Press home position robot will move reverse After robot back to home position Z axis home position sensor X103 light up When robot running limit sensor light up ...

Страница 31: ...31 83 4 Operating Instruction 4 1 Hand Controller 4 1 1 Operation Panel of Hand Controller ...

Страница 32: ...in arm forward backward up down or number 2 home position main arm vacuum or number 3 return main arm grip or number 4 enter exit extend port or number 5 program branch sub arm up down or number 6 IMM Euromap 12 or Euromap 67 signal sub arm forward backward or NO 7 program loop sub arm grip or number 8 servo axis up backward servo down forward or number 9 servo axis traverse out servo axis travers...

Страница 33: ...averse axis origin position at outside mold position Only robot in mold safety zone and outside mold safety zone servo axes can move Only servo Y on origin position servo Z can move in mold safety zone outside mold safety zone begin end begin end Y axis Y origin position Y software max traverse Y origin position Y software max traverse X axis X origin position X software max traverse X origin posi...

Страница 34: ...tem needs to choose input output port Press to choose port position Press to choose port No Press to choose option port and return to last page Press to give up option port and back to last page 4 3 Loop System with 10 loop areas each cycle loop has different area according to different cycle time Each cycle loop has two place modes any 10 positions and matrix Any 10 positions mode Min 1 position ...

Страница 35: ...x mode Z axis and Y axis servo firstly locate Z then Y The value and distance of Z axis makes up one matrix of first layer The value and distance of Y axis makes up one matrix of products layers and storey Z axis and X axis servo firstly locate Z then X The value and distance of Z axis makes up one matrix of first layer The value and distance of X axis makes up one matrix of products layers and st...

Страница 36: ... 4 System Startup After power on please return to home position firstly the steps see as following picture Pow Start return to Servo Y X Sub arm Up Servo Z returns Sub arm Main arm The others I O End return to ...

Страница 37: ...rvo Y move up servo X move backward Press to select servo axis move mode press servo Z traverse in Press to select servo axis move mode press servo Z traverse out Extension Input and Output Press into page control page Use to select output port Press to open output signal Press to off output signal Press back to main screen manual Other actions main arm rotate horizontal vertical Z and Y servo mai...

Страница 38: ...n arm grip on off sub arm up down sub arm forward backward sub arm grip on off 4 6 Auto Mode 4 6 1 Select Current Program Select one program before operating auto running Select one program steps 4 6 2 Auto Running Completed ...

Страница 39: ...e Teach Mode page Press into Servo Setup page Press into Port Monitor page Press into System Setup page Press into Alarm Resume page Press into Adjust Motor page Press into System Inf information page Press into Main Menu page Menu Introduce Ø Edit Program modify position speed and delay time of current program Ø Count Setup system parameter modify parameters of current program Ø Loop Areas modify...

Страница 40: ...r Program is stored and managed as a file Each file has a unique ID for example P01 The files also have name the length of one name string is 9 characters at most If the program has no file name means it is a null program When select current program or select program in teach mode the program explorer will be open automatically Select current program in manual mode or select program in teach mode ...

Страница 41: ...ete word input selected word move word and cursor confirm input word give up rename file and back to last page 4 8 3 Copy Program 4 8 4 Delete Program Note the current program and blank program cannot be deleted ...

Страница 42: ...ify delay time Press decrease servo speed when modify position parameter reduce value when modify delay time used as number when modify delay time parameter Press to move cursor when modify delay time parameter Press to save parameter and screen back to last page Press to give up modified parameter and screen back to last page Note in auto running mode servo position just can be adjusted 0 1mm or ...

Страница 43: ...at the production schedule has finished The minimum is 0 means no production schedule The maximum of production schedule is 9999999 Reject sum for alarm Set the reject sum for alarm When the reject number reaches this count system will suspend and inform that the reject is out of standard The minimum is 0 means no reject alarm The maximum is 9999 P Arm main arm Vacuum Check setup main arm vacuum c...

Страница 44: ...44 83 4 11 I O Port Monitor Press into port monitor page Press exit to port monitor page 4 12 System Setup Parameters ...

Страница 45: ... servo mode when changing placement position vertical servo axis move down vertical servo axis move up servo Z axis traverse in servo Z axis traverse out Press Increase servo speed when editing position parameter Increase digit at cursor when editing delay parameter Press Decrease servo speed when editing position parameter Decrease digit when editing delay parameter Press to move cursor when edit...

Страница 46: ... area the end of servo Z outside mold Inner mold safety area the begins of servo Z inner mold Max servo travel the max traverse stroke of servo Z this parameter must equal or lesser than max mechanical travel Max mechanical travel the max mechanical traverse limit of servo Z 3 Speed Parameter Y max speed Y servo max speed Y servo acceleration the faster acceleration speed the shorter acceleration ...

Страница 47: ...ack to last page Robot setup page Press to select options Press to page down Press Increase value when modifying parameter value Change settings when modifying parameter Press Decrease value when modifying parameter value Change settings when selecting options Press to save and back to last page ...

Страница 48: ...ge up save and return to last page give up modifying and return to last page Robot parameters Rotate at home position Set main arm rotates vertical or horizontal when it is at home position Open safe door pause running Setup system whether pause auto running while the safe door is opened Alarm times Set the alarm buzz times The minimum is 0 means no alarm buzz The maximum is 99 Alarm interval The ...

Страница 49: ...etup Sub arm Forward Sensor to use or not use R Arm sub arm Return Sensor setup Sub arm Backward Sensor to use or not use IMM Mold Close Signal setup IMM Mold Close Signal to use or not use Manufacturer options Clear mold sum Clear mold sum produced in auto running mode Clear alarms resume Clear system alarm history Reset IMM interface setup Restore IMM interface parameter to default settings Rese...

Страница 50: ...Alarm Resume Current alarms Press to select alarm type Press into alarms resume page Press into IO port monitor page Press return to last page Alarms resume Press into current alarms page page up page down Press return to last page ...

Страница 51: ...51 83 4 15 System Information Press return to last page 4 16 Teach Mode 4 16 1 Enter Teach Mode select program rename teach program enter teach program page give up teach program and return to last page ...

Страница 52: ... servo actions record cursor will move to next record Arm actions If main arm in horizontal state press this key will rotate vertical If main arm in vertical state press this key will rotate horizontal If main arm in forward state press this key will move backward Servo X If main arm in backward state press this key will move forward Servo X If main arm in up state press this key will move down Se...

Страница 53: ...his key will move forward If sub arm in grip on state press this key will grip off If sub arm in grip off state press this key will grip on Press to confirm arm actions and edit delay time Press to confirm arm actions record cursor moves to next record Loop actions Press into Select Loop Area page Insert loop area page Press to select sub programs Press to insert selected loop Insert extend IO In ...

Страница 54: ...value editor page In user value editor page press to select options confirm selection insert value action confirm value action and return to teach program Cancel the user value edit and return to teach program page The system can define 32 user variables The names of the variables are from U000 to U032 Each variable has a minimum value 0 and a maximum value 65535 User variables are designed for co...

Страница 55: ...or the variable This is binary operation variables can be initialed as a user variable program variable system variable or a constant ASSIGN User variable will be assigned a certain value after execute one ASSIGN This is binary operation variables can be assigned as a user variable program variable system variable or a constant Insert branch In teach program page press into Branch Instruction Edit...

Страница 56: ... action page press to select other actions Press to confirm selection and back to teach program page insert combine action branch checking combine end Press to give up selection and back to teach program page 4 16 3 Program Branch Control Conditional control Format of conditional control is as below IF condition serial action A ELSE serial action B ENDIF Program will judge the condition firstly if...

Страница 57: ... can be an input port directly When the input port has signal then satisfy the condition Otherwise no input signal means not satisfy the condition Output Port Expression Condition can be an output port directly When the output port has signal then satisfy the condition Otherwise no output signal means not satisfy the condition Note The Condition cannot be a constant Recycle Control The format of r...

Страница 58: ... in robot auto running mode S001 Servo Y max mechanical stroke S002 Servo Z max mechanical stroke S003 Servo Y max software stroke S004 Servo Z max software stroke S005 Servo Y current position S006 Servo Z current position S007 Servo Y standby in mold S008 Servo Z standby outside mold S009 Servo Z standby in mold S010 Tick value system from start to current unit 0 1 second ...

Страница 59: ... value cannot be written 024 The out port value cannot be written 025 The user value beyond range 026 Loop position invalid 031 No IMM auto running signal 032 No IMM safety door signal 033 Production schedule has completed 034 Reject exceed standard 035 Can not change current program while system in auto status 036 Can not change running status while system in manual or error status 037 Can not ch...

Страница 60: ...o safety signal 075 Main arm in above safe area but no safety signal 076 Y08 overload power short circuit or over temperature 077 Y09 overload power short circuit or over temperature 078 Y10 overload power short circuit or over temperature 079 Y11 overload power short circuit or over temperature 080 Y12 overload power short circuit or over temperature 081 Y13 overload power short circuit or over t...

Страница 61: ...isappeared while main arm in mold 155 Middle mold signal disappeared while main arm in mold 158 Servo Y up to limited 159 Servo Y down to limited 160 Servo Z traverse in limited 161 Servo Z traverse out limited 162 Y on 0 posiiton but no home position signal 163 Servo axis location overtime 164 Main arm forward but no signal 165 Main arm backward but with forward signal 166 No main arm backward si...

Страница 62: ...e robot the main switch and compressed air must be disconnected and the compressed air system must be evacuated 6 2 Lubrication Requirements Remove the old grease from the guide shafts and scraper rings of the bearing using a cloth Then apply the new grease to the guide shafts using a brush As well as all roller bearing greases according to DIN 51825 6 3 Maintenance Cycle In accordance with the ma...

Страница 63: ...63 83 7 Assembly Diagram 7 1 Traverse Unit Picture 7 1 Traverse Unit ...

Страница 64: ...raverse belt YR00082500100 14 Crosswise fixing aluminium 15 Motor supporting frame BH10155000010 16 Slider YW31250000000 17 Limit sensor panel BL69335000020 18 Origin sensor panel BL69363000020 19 Safety sensor panel in mold BL69002200020 20 Cover of traverse cable BL73714001320 21 Traverse drag chain YE68225000900 22 Filter regulator YE30301000000 23 Synchronous wheel YW08550200200 24 Speed reduc...

Страница 65: ...65 83 7 3 Main Arm Unit Picture 7 2 Main Arm Unit ...

Страница 66: ...plate 2 BL81021300220 19 Belt pressure plate 2 BH81021600010 20 Slider limit block BL70300000020 21 Linear guiderail 15 YW31008200000 22 Slider 15 YW31151100000 23 Synchronous belt pressure plate down BH81022300010 24 Main arm profile 2 25 Belt pressure plate down BH81021500010 26 Cover of main arm BL81000200020 27 Main arm aluminium cover BH81290000610 28 Belt fixing plate up BL81022100220 29 Bel...

Страница 67: ...67 83 7 5 Crosswise Unit Picture 7 3 Crosswise Unit ...

Страница 68: ...base BL81020300020 8 Semi finished main arm 9 Linear guiderail 10 Slider YW31204000000 11 Crosswise fixing base YW32200800000 12 Cylinder connecting plate BH81020200110 13 Shock absorber YW10203020000 14 Crosswise cylinder YE30321500000 15 Shock absorber fixing block BH72012200510 16 Crosswise arm limit stopper BH72011800510 means possible broken parts means easy broken part and spare backup is su...

Страница 69: ...69 83 8 Electric Control Chart 8 1 The Power Input Wiring Diagram Picture 8 1 The Power Input Wiring Diagram ...

Страница 70: ...70 83 8 2 The Panasonic Servo Motor Wiring Diagram Picture 8 2 The Panasonic Servo Motor Wiring Diagram ...

Страница 71: ...71 83 8 3 The Panasonic Servo Motor and I O Board Wiring Diagram Picture 8 3 The Panasonic Servo Motor and I O Board Wiring Diagram ...

Страница 72: ...72 83 8 4 The Delta Servo Motor and Servo Driver Wiring Diagram Picture 8 4 The Delta Servo Motor and Servo Driver Wiring Diagram ...

Страница 73: ...73 83 8 5 The Delta Servo Motor and I O Board Wiring Diagram Picture 8 5 The Delta Servo Motor and I O Board Wiring Diagram ...

Страница 74: ...74 83 8 6 The Cuinsico Servo Motor and Servo Driver Wiring Diagram Picture 8 6 The Cuinsico Servo Motor and Servo Driver Wiring Diagram ...

Страница 75: ...75 83 8 7 The Cuinsico Servo Motor and I O Board Wiring Diagram Picture 8 7 The Cuinsico Servo Motor and I O Board Wiring Diagram ...

Страница 76: ...76 83 8 8 Z axis I O Board Wiring Diagram Picture 8 8 Z axis I O Board Wiring Diagram ...

Страница 77: ...77 83 8 9 Main Arm Wiring Diagram 1 Picture 8 9 Main Arm Wiring Diagram 1 ...

Страница 78: ...78 83 8 10 Main Arm Wiring Diagram 2 Picture 8 10 Main Arm Wiring Diagram 2 ...

Страница 79: ...79 83 8 11 Sub arm Wiring Diagram Picture 8 11 Sub arm Wiring Diagram ...

Страница 80: ...80 83 8 12 IMM injection molding machine Wiring Diagram 1 Picture 8 12 IMM injection molding machine Wiring Diagram 1 ...

Страница 81: ...81 83 8 13 IMM injection molding machine Wiring Diagram 2 Picture 8 13 IMM injection molding machine Wiring Diagram 2 ...

Страница 82: ...82 83 8 14 Main Control Board Component Layout U1 Picture 8 14 Main Control Board Component Layout U1 ...

Страница 83: ...83 83 8 15 Pneumatic Schematic Diagram Picture 8 15 Pneumatic Schematic Diagram ...

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