Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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3 Specifications and Dimensional Drawings3.11.4 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gears and BrakesModelSGMAH-GearRatio07DAJ1 1/507DAJ3 3/3107DAJC 1/2107DAJ7 1/33LC LA LZ LH Tap×Depth ∗ U W T105(4.13)120(4.72)145(5.71)145(5.71)120(4.72)135(5.31)165(6.50)165(6.50)9(0.35)11(0.43)14(0.55)14(0.55)8(0.31)M6×12LM8×16LM10×20LM10×20L4(0.16)5(0.20)5(0.20)5(0.20)8(0.31)10(0.39)12(0.47)12(0.47)7(0.28)8(0.31)8(0.31)8(0.31)Approx.Masskg (lb)6.9 (15.2)8.4 (18.5)13.3(29.3)13.3(29.3)AllowableRadialLoadN (lbf)355(80)525(119)Units: mm (in)AllowableThrustLoadN (lbf)290(66)310(70)1070(243) 4901205 (111)(273)INFO1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH-4) are as shown below.SGMAH-03: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in)SGMAH-07: L-dimension + 0 mm, LL-dimension +0 mm2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.• Dimensional TolerancesModelSGMAH-03DAJ103DAJ303DAJC03DAJ707DAJ107DAJ307DAJC07DAJ7Units: mm (in)Flange Face Dimensions Shaft-end DimensionsLBS⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–0.021⎝85 0⎛ 03.94 ⎞–0.035⎝–0.0014⎠25 0 ⎛–0.021⎝100 0⎛ 04.53 ⎞ 32 0 ⎛–0.035⎝–0.0014⎠–0.025⎝115 0⎛ 04.53 ⎞ 32 0 ⎛–0.035⎝–0.0014⎠–0.025⎝115 0⎛ 03.94 ⎞ 25 0 ⎛–0.035⎝–0.0014⎠–0.021⎝100 0⎛ 04.53 ⎞ 32 0 ⎛–0.035⎝–0.0014⎠–0.025⎝115 0⎛ 05.51 ⎞ 40 0 ⎛–0.040⎝–0.0016⎠–0.025⎝140 0⎛ 05.51 ⎞ 40 0 ⎛–0.040⎝–0.0016⎠–0.025⎝140 00.790.981.261.260.981.261.571.570 ⎞–0.0008⎠0 ⎞–0.0008⎠0 ⎞–0.0010⎠0 ⎞–0.0010⎠0 ⎞–0.0008⎠0 ⎞–0.0010⎠0 ⎞–0.0010⎠0 ⎞–0.0010⎠3-70
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )3.11.5 SGMAH Servomotors (3000 min -1 ) With Low-backlash Gears(1) 30 W, 50 W, 100 WEncoder cable φ6 (φ0.24)UL20276300(11.81)±30(1.18)Encoder plugMotor cableφ7(φ0.28)(35) (1.38)Motor plugShaft EndW300(11.81)±30(1.18)UT22 (0.87)9.5(0.37)LLL LR20 (0.79)LMLGL1L3L2Q15.2 (0.60) LE QK11(0.43)Serial encoderφSh70.06(0.0024)0.04A (0.0016)φBφLDφLBh7Rotating section(Hatching section)Aφ0.05 A(φ0.0020)4-φLZLCφLATap × Depth∗(See the following table.)3ModelSGMAH-GearRatioA3AH11 1/5A3AH21 1/9A3AHC1 1/21A3AH71 1/33A5AH11 1/5A5AH21 1/9A5AHC1 1/21A5AH71 1/3301AH11 1/501AHB1 1/1101AHC1 1/2101AH71 1/33Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S152.5(6.00)152.5(6.00)167.5(6.59)167.5(6.59)160(6.30)166(6.54)183(7.20)183(7.20)183.5(7.22)200.5(7.89)223.5(8.80)223.5(8.80)97.5(3.84)97.5(3.84)112.5(4.43)112.5(4.43)105(4.13)106(4.17)123(4.84)123(4.84)123.5(4.86)140.5(5.53)149.5(5.89)149.5(5.89)64.5(2.54)64.5(2.54)79.5(3.13)79.5(3.13)72.0(2.83)73.0(2.87)90.0(3.54)90.0(3.54)90.5(3.56)107.5(4.23)116.5(4.59)116.5(4.59)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)60(2.36)60(2.36)60(2.36)60(2.36)60(2.36)74(2.91)74(2.91)6(0.24)6(0.24)6(0.24)6(0.24)6(0.24)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)7.5(0.30)7.5(0.30)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)10(0.39)10(0.39)40(1.57)40(1.57)40(1.57)40(1.57)40(1.57)50(1.97)40(1.57)40(1.57)40(1.57)40(1.57)59(2.32)59(2.32)55.5(2.19)55.5(2.19)55.5(2.19)55.5(2.19)55.5(2.19)64.5(2.54)64.5(2.54)64.5(2.54)64.5(2.54)64.5(2.54)84(3.31)84(3.31)56(2.20)56(2.20)56(2.20)56(2.20)56(2.20)65(2.56)65(2.56)65(2.56)65(2.56)65(2.56)85(3.35)85(3.35)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)30(1.18)30(1.18)30(1.18)30(1.18)30(1.18)36(1.42)36(1.42)27(1.06)27(1.06)27(1.06)27(1.06)27(1.06)30(1.18)30(1.18)30(1.18)30(1.18)30(1.18)38(1.50)38(1.50)20(0.79)20(0.79)20(0.79)20(0.79)20(0.79)22(0.87)21(0.83)21(0.83)21(0.83)21(0.83)26(1.02)26(1.02)25(0.98)25(0.98)25(0.98)25(0.98)25(0.98)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)36(1.42)36(1.42)20(0.79)20(0.79)20(0.79)20(0.79)20(0.79)25(0.98)25(0.98)25(0.98)25(0.98)25(0.98)32(1.26)32(1.26)14(0.55)14(0.55)14(0.55)14(0.55)14(0.55)16(0.63)16(0.63)16(0.63)16(0.63)16(0.63)20(0.79)20(0.79)3-71
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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2 Selections2.2.2 Servomotor Capaci
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.2 Cables for SGMGH/
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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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8 Operation8.4.4 Replacing Batterie
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.7 Multiturn Limit Se
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8 Operation8.5.1 Setting Parameters
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8 Operation8.5.3 Adjusting Offset8.
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8 Operation8.5.3 Adjusting Offset(2
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8 Operation8.5.6 Using the Zero Cla
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8 Operation8.5.7 Encoder Signal Out
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.3 Position Reference
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8 Operation8.6.3 Position Reference
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8 Operation8.6.5 Positioning Comple
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8 Operation8.6.7 Reference Pulse In
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8 Operation8.7.3 Adjusting the Refe
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8 Operation8.7.4 Limiting Servomoto
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8 Operation8.8.3 Operating Using an
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8 Operation8.9.2 External Torque Li
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8 Operation8.9.3 Torque Limiting Us
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8 Operation8.9.5 Checking Output To
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8 Operation8.10.2 Switching the Con
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8 Operation8.11.2 Warning Output (/
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9Adjustments9.1 Autotuning - - - -
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9.1 Autotuning9.1.2 List of Servo A
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9.2 Online Autotuning9.2 Online Aut
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9.2 Online Autotuning9.2.3 Selectin
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9.2 Online Autotuning9.2.5 Method f
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9.2 Online Autotuning9.2.7 Procedur
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9.3 Manual Tuning9.3.2 Servo Gain M
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9.4 Servo Gain Adjustment Functions
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9.5 Analog Monitor• Related Param
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10 Inspection, Maintenance, and Tro
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11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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