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Set value:

Value

Meaning

Version number

Program check sum

Response version number:

Byte

Name

Meaning

Build number

Number of the test version
Incremented within test phase

Patch level

Revision number
Incremented with bug-fix

Minor release

Secondary version number
Incremented with functional extension

Major release

Main version number
Incremented with complete review

Response check sum:

Byte

Name

Meaning

0 … 1

Check sum

16-bit check sum of the program

1 … 3

Reserve

Not used = 0

6.2.3.6

Subindex 5: COB-ID

Write:

Set value for COB-ID

Read:

Return value for COB-ID

The address is made up of the COB-ID, the drive number and the controller number.

Module

COB-ID

Drive

Controller

Address

SC0

0x00

SC1

0x80

SC0

0x01

SC1

0x81

SC0

0x02

SC1

0x82

SC0

0x03

SC1

0x83

SC0

0x04

SC1

0x84

SC0

0x05

SC1

0x85

⋮

126

SC0

0x7E

SC1

0xFE

Fieldbus Communication

Drive System SD2 - Safety Functions SFM / SLOF

Содержание SD2

Страница 1: ...Drive System SD2 Safety Functions SFM SLOF P TD 0000426 12 2019 08 28 SIEB MEYER W ...

Страница 2: ...G Auf dem Schmaarkamp 21 21339 Lueneburg Germany Phone 49 4131 203 0 Fax 49 4131 203 2000 support sieb meyer de http www sieb meyer com SIEB MEYER Shenzhen Trading Co Ltd Room A208 2 F Internet Innovation and Creation services base Building 2 No 126 Wanxia road Shekou Nanshan district Shenzhen City 518067 China Phone 86 755 2681 1417 86 755 2681 2487 Fax 86 755 2681 2967 sm china support gmail com...

Страница 3: ...tor SFM 3 Safe Limited Output Frequency SLOF 4 Parameterization of the Limit Frequency 5 Fieldbus Communication 6 safety object converter 7 OSSD Signals 8 Connector Pin Assignment 9 Error Messages 10 W Chapter Overview Drive System SD2 Safety Functions SFM SLOF 3 ...

Страница 4: ...Chapter Overview W 4 Drive System SD2 Safety Functions SFM SLOF ...

Страница 5: ...he converter 23 6 Fieldbus Communication 25 6 1 Data Transmission 25 6 2 Data Structure 26 6 2 1 Data Array 27 6 2 2 Address 27 6 2 3 Index 27 6 2 3 1 Subindex 0 Repeat Telegram 27 6 2 3 2 Subindex 1 Limit Value for Speed Zero 28 6 2 3 3 Subindex 2 Limit Value for Safe Limited Output Frequency 28 6 2 3 4 Subindex 3 Status 28 6 2 3 5 Subindex 4 Software Version 29 6 2 3 6 Subindex 5 COB ID 30 6 2 3...

Страница 6: ...Without Frequency Limitation 50 8 3 Conducted Measurements 51 8 3 1 Measurements at SFM SLOF Connectors 51 8 3 1 1 Measurement at the Output without Load 51 8 3 1 2 Measurement at the Output with a Load of 300 Ω 51 8 3 1 3 Measurement at the input with 18 V power supply 51 8 3 2 Chain of OSSD Channels 52 8 3 2 1 Test Setup 52 8 3 2 2 Oscilloscope Plots 52 8 3 2 3 Summary 55 9 Connector Pin Assignm...

Страница 7: ... symbol Graphic representation of the source of risk Risk levels Risk Level Description Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury...

Страница 8: ...y due to flying objects Destruction risk of electrostatically sensitive components Risk of property damage 1 2 Illustration of General Notices Symbol Description Hint with additional further information Tip with suggestions and useful information About this Manual W 8 Drive System SD2 Safety Functions SFM SLOF 1 ...

Страница 9: ...s of the series SD2x Both safety functions comply with the requirements of SIL 3 according to EN 61508 1 2010 to EN 61508 7 2010 German versions Read the hardware documentation of your drive and pay attention to the safety instructions This manual is available in German and English on request W General Information Drive System SD2 Safety Functions SFM SLOF 9 2 ...

Страница 10: ...General Information W 10 Drive System SD2 Safety Functions SFM SLOF 2 ...

Страница 11: ...M function is based on a frequency dependent voltage that is induced by the motor or the remanence This voltage can be measured at the motor terminals regard less whether a synchronous motor or an asynchronous motor is used From that voltage the drive determines the actual rotating field frequency and compares it with the parameterized limit value see chapter 5 Parameterization of the Limit Freque...

Страница 12: ...The following diagram shows the timing of the SFM function Fig 1 Timing diagram of the SFM function Safe Frequency Monitor SFM W 12 Drive System SD2 Safety Functions SFM SLOF 3 ...

Страница 13: ...r zone is unlocked While the machine operator works in the danger zone the function STO prevents a restart of the spindles After leaving the danger zone normal operation can restart Control locks the protective door Control deactivates the function STO to enable restart Control initiates Switch on sequence of drive Control and drive operate in normal mode again Notes Consider the following for the...

Страница 14: ... a 2 channel OSSD signal to the drive This signal passes through the signal chain of the safety function in the drive Then the signal is read back by the PLC and checked for integrity The drive closes the signal circuit as soon as the status STANDSTILL is reached Thereby the drive adds monitoring pulses to the OSSD signal which must be filtered by the PLC These monitoring pulses are used to check ...

Страница 15: ...software modules of the safety PLC and the safety modules of the frequency monitor in the drive must be established The communication between safety PLC and drive takes place on the layers 7 and 8 of the ISO communication model An example program is available for programming For a brief description of the communication refer to chapter 6 Fieldbus Communica tion page 25 W Safe Frequency Monitor SFM...

Страница 16: ...Safe Frequency Monitor SFM W 16 Drive System SD2 Safety Functions SFM SLOF 3 ...

Страница 17: ... PLC can activate the frequency limitation with an OSSD signal via the connector X67 of the drive amplifier SD2 see chapter 9 Connector Pin Assignment page 57 For this purpose the PLC sends a 2 channel active HIGH OSSD signal to the inputs of the drive The signals must be pulsed OSSD signals Static signals are not safe If the signal is active HIGH the frequency limitation is activated If the signa...

Страница 18: ...ue Therefore the spindle is not accelerated anymore In this case the function status is FREQUENCY_OUT_OF_LIMITS The drive generates the according error message E46 8 Frequency exceeded The following diagram shows the timing of the SLOF function Fig 5 Timing diagram of the SLOF function 4 1 1 Time Point of Function Activation SLOF The following diagram shows the timing of the SLOF function when the...

Страница 19: ...eady generated the status signal FREQUENCY_IN_LIMITS To prevent material damage and personal injury the SLOF function must only be activated during the following states Reference and actual frequency are both below the parameterized limit frequency Reference and actual frequency are both above the parametrized limit frequency 4 2 Application The limitation of the rotating field frequency can be us...

Страница 20: ...ive signals the status Switched on Drive determines the actual speed of the spindle and reaches the target speed from that point Control and drive operate in normal mode again 4 3 Parameters of the Safety Function SLOF The following parameters are achieved within the scope of the SLOF function according to EN 61508 1 2010 to EN 61508 7 2010 German versions system 1oo2 SFF 90 PFH 2 83 10 8 1 h PFD ...

Страница 21: ...ive adds monitoring pulses to the OSSD signal which must be filtered by the PLC These monitoring pulses are used to check the hardware components If any faulty behavior occurs the signal circuit is immediately opened The signals must be pulsed OSSD signals Static signals are not safe Fig 7 Status Transmission via OSSD Signal If several drives should be evaluated a signal chain can be created see F...

Страница 22: ...are modules of the safety PLC and the safety modules of the frequency limitation in the drive must be established The communication between safety PLC and drive takes place on the layers 7 and 8 of the ISO communication model An example program is available for programming For a brief description of the communication refer to chapter 6 Fieldbus Communica tion page 25 Safe Limited Output Frequency ...

Страница 23: ...em tool access control In this case the user must protect the program of the safety PLC against unauthorized access The limit frequency is set via fieldbus by a higher ranking PLC The PLC can read the parameter back at any time In order to ensure the correct parameterization we recom mend reading the parameter cyclically back 5 1 System inherent deviation of the measurable output frequency of the ...

Страница 24: ...asurable output frequency of the converter Example for a system inherent deviation The clock frequency of 16 kHz is the base frequency At a rotary frequency of 2000 Hz thera are 8 measuring pulses per revolution 16000 Hz 2000 Hz 8 If you set the rotary frequency to 1778 Hz there would be exactly 8 99 measuring pulses per revolution according to the set clock frequency of 16 kHz 16000 1778 8 9989 S...

Страница 25: ...ath To prevent configuration errors of the bus system the data to be transmitted contain the COB ID communication object identifier Thus the software can check the COB ID and detect any configuration errors immediately For detailed information on fieldbus communication contact SIEB MEYER The safety functions SFM and SLOF are monitored in the SD2 module by two safety controllers SC0 and SC1 Togethe...

Страница 26: ...Write reference value limit speed zero SC1 3 Write reference value safe limited output frequency SC0 4 Write reference value safe limited output frequency SC1 5 Read actual value limit speed zero SC0 6 Read actual value limit speed zero SC1 7 Read actual value safe limited output frequency SC0 8 Read actual value safe limited output frequency SC1 9 Read status SC0 10 Read status SC1 11 Customized ...

Страница 27: ...rn Pattern 7 0 7 Check Check sum 6 2 1 Data Array The data array is used to transmit different parameters The type of the parameter is defined by the subindex 6 2 2 Address The address is made up of the module ID of the drive and the controller address Hereby the lowest bit defines the drive A 0 or B 1 The highest bit defines the controller SC0 or SC1 6 2 3 Index The index is made up of the subind...

Страница 28: ... Read Current limit for speed zero 6 2 3 3 Subindex 2 Limit Value for Safe Limited Output Frequency Write Reference value for Safe Limited Output Frequency The next response telegram will transmit the value that is entered in the drive data Read Current limit value for Safe Limited Output Frequency 6 2 3 4 Subindex 3 Status Write Delete error Byte Bit Meaning 0 0 Delete error 1 4 Reserved 5 7 Not ...

Страница 29: ...ts Bit Meaning 0 Watchdog monitoring activated 1 Debug output activated 2 OSSD self test activated 3 Flash check activated 4 Motor phases test activated 5 Muxer test activated 6 Not used 7 Not used Hint The bytes in the object 475 Safe_Speed_Status are displayed in the following order Byte Explanation Byte 3 2 Processor 0 Configbits LevelFlags Byte 1 0 Processor 0 error code StatusFlags Byte 3 2 P...

Страница 30: ...with complete review Response check sum Byte Name Meaning 0 1 Check sum 16 bit check sum of the program 1 3 Reserve Not used 0 6 2 3 6 Subindex 5 COB ID Write Set value for COB ID Read Return value for COB ID The address is made up of the COB ID the drive number and the controller number Module COB ID Drive Controller Address 0 0 A SC0 0x00 SC1 0x80 B SC0 0x01 SC1 0x81 1 2 A SC0 0x02 SC1 0x82 B SC...

Страница 31: ... activation Byte Bit Meaning 0 0 0 activation via OSSD hardware 1 activation via the bus system 1 0 monitoring of the rotating field deactivated 1 monitoring of the rotating field activated 2 7 Not used 1 3 0 23 Reserved 6 2 3 8 Subindex 7 Version Information This subindex is available for software version s01001v09004 and higher Write No function The error code ERR_SPI_SUBINDEX is returned Read D...

Страница 32: ...Check Check contains the check sum that is calculated from the bytes 0 to 6 To calculate the check sum the bytes 0 to 6 must be added byte by byte and subtracted from the value 0xFF å 6 0 0 i i Byte xFF Check Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Sum Check 0xFF Sum 0x81 0x03 0x01 0x02 0x03 0x04 0xAA 0x38 0xFF 0x38 0xC7 6 3 Examples for Data Transmission For data transmission adhere to t...

Страница 33: ...10 468 0x73008101 1929412865 469 0x0000000A 10 470 0x72018101 1912701185 Set value for drive B in processor M1 Index Hexadecimal value Decimal value 467 0x0000000A 10 468 0xF3008181 4076896641 469 0x0000000A 10 470 0xF2018181 4060184961 6 3 2 Query Limit of Speed Zero Query to drive A in processor M0 Index Hexadecimal value Decimal value 467 0x00000000 0 468 0xFE000100 4261413120 469 0x0000000A 10...

Страница 34: ...67 0x000000C8 200 468 0xB5008200 306709376 469 0x000000C8 200 470 0xB4018200 3019997696 Set value for drive A in processor M1 Index Hexadecimal value Decimal value 467 0x000000C8 200 468 0x35008280 889225856 469 0x000000C8 200 470 0x34018280 872514176 Set value for drive B in processor M0 Index Hexadecimal value Decimal value 467 0x000000C8 200 468 0xB4008201 3019932161 469 0x000000C8 200 470 0xB3...

Страница 35: ...1 855704065 Query to drive B in processor M1 Index Hexadecimal value Decimal value 467 0x00000000 0 468 0x7C000281 2080375425 469 0x000000C8 200 470 0xB3010281 3003187841 6 3 5 Query Status Depending on the states of the drives and the processors the return value in object 469 and the corresponding status bytes in object 470 can differ from the values given below Query to drive A in processor M0 I...

Страница 36: ...cessors the return value in object 469 and the corresponding status bytes in object 470 can differ from the values given below Query to drive A in processor M0 Index Hexadecimal value Decimal value 467 0x00000001 1 468 0xFB000300 4211081984 469 0x200006F8 536872696 470 0xDD010300 3707831040 Query to drive A in processor M1 Index Hexadecimal value Decimal value 467 0x00000001 1 468 0x7B000380 20635...

Страница 37: ... A in processor M1 Index Hexadecimal value Decimal value 467 0x00000002 2 468 0x7A000380 2046821248 469 0x55555555 1431655765 470 0x27010380 654377856 Query to drive B in processor M0 Index Hexadecimal value Decimal value 467 0x00000002 2 468 0xF9000301 4177527553 469 0x55555555 1431655765 470 0xA6010301 2785084161 Query to drive B in processor M1 Index Hexadecimal value Decimal value 467 0x000000...

Страница 38: ...337 469 0x55555554 1431655764 470 0xA7010301 2801861377 Query to drive B in processor M1 Index Hexadecimal value Decimal value 467 0x00000003 3 468 0x78000381 2013266817 469 0x55555554 1431655764 470 0x27010381 654377857 6 3 9 Delete Error Delete error in drive A in processor M0 Index Hexadecimal value Decimal value 467 0x00000001 1 468 0x7B008300 2063631104 469 0x000000C7 199 470 0xB4018300 30199...

Страница 39: ...n below Query to drive A in processor M0 Index Hexadecimal value Decimal value 467 0x00000000 0 468 0xFB000400 4211082240 469 0x00000005 5 470 0xF5010400 4110484480 Query to drive A in processor M1 Index Hexadecimal value Decimal value 467 0x00000000 0 468 0x7B000480 2063598720 469 0x00000005 5 470 0x75010480 1963000960 Query to drive B in processor M0 Index Hexadecimal value Decimal value 467 0x0...

Страница 40: ...value Decimal value 467 0x00000001 1 468 0xF9000401 4177527809 469 0x0000129C 4764 470 0x4B010401 1258357761 Query to drive B in processor M1 Index Hexadecimal value Decimal value 467 0x00000001 1 468 0x79000481 2030044289 469 0x0000129C 4764 470 0xCB010481 3405841537 6 3 12 Query COB ID Depending on the COB ID the return value in object 469 and the corresponding status bytes in object 470 can dif...

Страница 41: ... Limited Rotating Field Presetting the activation is done via the bus system Monitoring shall be activated at the same time For axis A in the processor M0 Index Hexadecimal value Decimal value 467 0x00000003 3 468 0x76008600 1979745792 469 0x00000003 3 470 0x75018600 1963034112 For axis A in the processor M1 Index Hexadecimal value Decimal value 467 0x00000003 3 468 0xF6008680 4127229568 469 0x000...

Страница 42: ... For axis A in the processor M1 Index Hexadecimal value Decimal value 467 0x00000000 0 468 0x79000680 2030044800 469 0x00000002 2 470 0x76010680 1979778688 For axis B in the processor M0 Index Hexadecimal value Decimal value 467 0x00000000 0 468 0xF8000601 4160751105 469 0x00000002 2 470 0xF5010601 4110484993 For axis B in the processor M1 Index Hexadecimal value Decimal value 467 0x00000000 0 468...

Страница 43: ...00700 4127196928 469 0x07E00801 132122625 470 0x07010700 117507840 Query of the creation time 11 31 01 for the axis A in the processor M0 Index Hexadecimal value Decimal value 467 0x00000003 3 468 0xF5000700 4110419712 469 0x000B1E01 728577 470 0xCD010700 3439396608 W Fieldbus Communication Drive System SD2 Safety Functions SFM SLOF 43 6 ...

Страница 44: ...Fieldbus Communication W 44 Drive System SD2 Safety Functions SFM SLOF 6 ...

Страница 45: ...ment You must work with an online device that supports the functions SFM and SLOF The input in the following figures match the examples in the preceding chapters Fig 11 safety object converter settings The program expects the settings of the module address the drive and the controller Via subindex and read write option you can select the desired action In the field Data you can enter transfer para...

Страница 46: ...he selected controller Fig 12 safety object converter data were sent Sent data have a green background The answer of the controller is displayed in the objects 469 and 470 safety object converter W 46 Drive System SD2 Safety Functions SFM SLOF 7 ...

Страница 47: ...nt OSSD signals For a HIGH level the signal is pulsed to LOW and for a LOW level the signal is pulsed to HIGH Fig 13 Example for OSSD pulse OSSD test signals The OSSD test signals OSSD1 X66 pin 10 and OSSD2 X67 pin 10 supply pulsed signals that are shifted to each other by 2 ms Fig 14 OSSD test signals The test signals are sent every 200 ms They have a pulse width of 2 ms These signals are to be u...

Страница 48: ...e tap and at the output Fig 15 Circuit concept of an OSSD channel 8 1 1 OSSD Self Test Every 100 ms a self test of the OSSD relays is executed The relays are tested one after the other That means each relay is tested every 1600 ms Order of the relay tests Drive Function Channel Relay Connector Pin B SLOF 1 K3 1 X67 pin 1 2 K4 1 2 K7 1 X67 pin 5 6 K8 2 SFM 1 K1 1 X66 pin 1 2 K2 2 2 K5 1 X66 pin 5 6...

Страница 49: ...relay according to the data sheet ton 800 µs toff 100 µs If the self test coincides with the OSSD pulse of the PLC an accidental timeout is caused For this case the timeout counter is implemented Fig 16 Signal overlap OSSD pulse of PLC and self test 8 2 OSSD Monitoring by PLC The PLC sends a pulsed OSSD signal If the requirements for Safe Frequency Monitor SFM or Safe Limited Output Frequency SLOF...

Страница 50: ...have detected Speed zero The other safety controller must signal Speed zero for the respective drive 8 2 2 OSSD Monitoring Frequency Limitation The PLC sends OSSD signals to both drives A and B The OSSD signals are 2 channel signals Each signal for each drive is passed through 2 electronic relays before it is fed back to the PLC Each safety controller controls one of the two relays of each OSSD ch...

Страница 51: ...was measured using a digital volt meter Throughout the next 4 s closed G3VM relays the measured current was 6 59 mA A voltage drop could not be measured Then the measured current was permanently 4 39 mA open G3VM relays This current flows through the 3 fold RC combination 8 3 1 2 Measurement at the Output with a Load of 300 Ω A load of 300 Ω was connected to X66 pin 2 A voltage of 23 7 V was fed i...

Страница 52: ...r2 8 3 2 2 Oscilloscope Plots The test signals at the connector X66 pin 10 OSSD1 and the connector X67 pin 10 OSSD2 are used as OSSD signals Input signals at the oscilloscope input 1 yellow test signal OSSD1 at X66 pin 10 input 2 blue signal SFM_OUT_1 at the end of the signal chain input 3 pink test signal OSSD2 at X67 pin 10 input 4 green signal SFM_OUT_2 at the end of the signal chain OSSD Signa...

Страница 53: ...t shows the incoming OSSD signals that are passed to the end of the signal chain OSSD1 yellow blue and OSSD2 pink green The test pulses in between are generated asynchronously by the drives when they switch the relays blue and green Fig 19 Signal chain OSSD1 and OSSD2 W OSSD Signals Drive System SD2 Safety Functions SFM SLOF 53 8 ...

Страница 54: ...est pulse of the drive followed by an OSSD pulse Fig 20 Drive pulse and OSSD pulse The following plot shows 2 successive self test pulses of the drive Fig 21 2 drive pulse OSSD Signals W 54 Drive System SD2 Safety Functions SFM SLOF 8 ...

Страница 55: ...r drive in the chain This limits the maximum number of drives in the chain The user must ensure that the drives can execute their self tests The user must ensure that the PLC filters the self test pulses and evaluates only the safety related OSSD pulses You can connect up to 16 drives or 8 double axis drives in one chain to meet the requirements mentioned above W OSSD Signals Drive System SD2 Safe...

Страница 56: ...OSSD Signals W 56 Drive System SD2 Safety Functions SFM SLOF 8 ...

Страница 57: ...output signal 1st channel 2 O SFM_IN_2 OSSD input signal 2nd channel 5 coded I SFM_OUT_2 OSSD output signal 2nd channel 6 O Ground GND Reference ground 9 I O Source OSSD1 OSSD test signal 1 1 10 O 1 The OSSD test signal is used for test purposes This OSSD output is neither certified nor safety related Specification of terminal connections Conductor cross section solid stranded 0 2 to 1 5 mm Connec...

Страница 58: ...put is neither certified nor safety related Specification of terminal connections Conductor cross section solid stranded 0 2 to 1 5 mm Connection method spring cage connection handling see page 58 Related topics Connection example Transmission of the Status Message page 20 9 3 Spring cage Connection The individual conductors are fixed in the terminal by means of spring cage connection In order to ...

Страница 59: ...igher ranking control 1 Acceleration limit exceeded 2 Speed limit exceeded 3 Index error E05 0x105 Error caused by warning Motor is stopped by quick stop ramp and drive is disabled controlled standstill Parameter driven monitoring stopped the drive E06 0x106 Digital Input External Hardware Motor is stopped by parameter driven ramp and drive is disabled controlled standstill Monitoring of external ...

Страница 60: ...in EtherCAT EEPROM 10 Heartbeat Watchdog 2 3 4 10 Heartbeat monitoring monitoring time expired configurable E12 0x10C Mains Ready for operation is missing Motor is stopped by parameter driven ramp and drive is disabled controlled standstill Power output stage was switched on when mains supply was discon nected interrupted E15 0x10F Endat Hiperface communication faulty Motor is stopped by quick sto...

Страница 61: ...unit power supply is switched off E36 0x524 Encoder 0 monitoring Motor is stopped by current moni toring via short circuit of the motor phases Connection of encoder 0 is faulty Broken cable E37 0x525 Ballast circuit load I t ballast resistor Drive is immediately disabled motor coasts to standstill Ballast circuit load due to 1 I t 1 Wrong dimensioning too much energy supplied to RBallast broken ca...

Страница 62: ...mitation V f oscil lates5 E45 0x52D Short circuit in power output stage Drive is immediately disabled motor coasts to standstill Short circuit of the power output stage due to 1 Internal short circuit 1 Faulty drive control 2 VCE desaturation detection 2 Wrong parameters output stage defective broken cable short circuit etc 3 Short to ground 3 Short to ground of a motor phase 4 Current measuring r...

Страница 63: ... that hardware firmware parame ters and logic are not consistent a detailed error description is received by a parameter download E57 0x739 Faulty or no firmware Device stops in BIOS During boot up the device detected no firmware or a faulty firmware E58 0x73A FPGA watchdog triggered Device stops in BIOS FPGA process monitoring has been triggered please contact SIEB MEYER E59 0x73B No drive parame...

Страница 64: ...greater than parameterized warning threshold W15 ballast resistor I t W16 Safety circuit is active W17 Unknown commutation angle W18 Hiperface EnDat OEM data not valid W19 Dirt signal encoder input 0 W20 Dirt signal encoder input 1 W21 Dirt signal encoder input 2 W22 Power supply unit load greater than 90 of the rated power W23 Reserved W24 Current or current rise greater than warning threshold W2...

Страница 65: ...Code Description H13 Digital input Speed Enable W Error Messages Drive System SD2 Safety Functions SFM SLOF 65 10 ...

Страница 66: ...Error Messages W 66 Drive System SD2 Safety Functions SFM SLOF 10 ...

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