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

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3 Specifications and Dimensional Drawings3.14.5 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)INFO• Lubrication• Oil lubricating type (frame numbers: 4130 to 4190)Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper sideof the oil guage.Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gearoil or equivalent. Refer to the following table.AmbientTemperature0 to 35 °C(32 to 95 °F)COSMO Oil Co., Ltd.COSMO GearSE100, 150ManufacturerNippon Oil Co., Ltd.BON-NOCKM100, 150Tonen GeneralSekiyu K. K.GENERAL SPGear Roll100, 150The following shows approximate oil amount to be supplied.Frame No.Horizontaltype413041354145 41554160416541704175Units: liter4180419041850.7 0.7 0.7 1.4 1.9 2.5 4.03.14.5 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gears and WithoutBrakes (Flange-mounted Type)(1) Grease Lubricating TypeKL188(3.46)LLLT LMKB1KB2LRLGLRLEQQKφSh6φLBf8N-φ11 MountingholesφLA4 Mounting holesφLCφLAφLC6 Mounting holesWTUShaft EndTap × Depth(See thefollowingtable.)ModelSGMGH-05AATA605DATA6Gear ModelGearRatioCNVX-4095 1/6L LL LM LT KB1 KB2 KL1 R380(15.0)05AATB6 380CNVX-4095 1/1105DATB6(15.0)05AATC6 394CNVX-4105 1/2105DATC6(15.5)05AAT7605DAT7609AATA609DATA6CNVX-4105 1/29CNVX-4105 1/6394(15.5)417(16.4)138(5.43)138(5.43)138(5.43)138(5.43)161(6.34)92(3.62)92(3.62)92(3.62)92(3.62)115(4.53)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)242(9.53)242(9.53)256(10.1)256(10.1)256(10.1)Units: mm (in)Shaft CenterAllowableRadial LoadN (lbf)2050(461)2520(567)4940(1112)5360(1206)3240(729)3-108
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )ModelSGMGH-Gear ModelGearRatio09AATB6 417CNVX-4105 1/1109DATB6(16.4)09AATC6 449CNVX-4115 1/2109DATC6(17.7)09AAT76449CNVX-4115 1/2909DAT76(17.7)13AATA6441CNVX-4105 1/613DATA6(17.4)13AATB6 473CNVX-4115 1/1113DATB6(18.6)13AATC6 473CNVX-4115 1/2113DATC6(18.6)20AATA6477CNVX-4115 1/620DATA6(18.8)20AATB6 477CNVX-4115 1/1120DATB6(18.8)30AATA6503CNVX-4115 1/630DATA6(19.8)30AATB6 503CNVX-4115 1/1130DATB6(19.8)L LL LM LT KB1 KB2 KL1 R161(6.34)161(6.34)161(6.34)185(7.28)185(7.28)185(7.28)166(6.54)166(6.54)192(7.56)192(7.56)115(4.53)115(4.53)115(4.53)139(5.47)139(5.47)139(5.47)119(4.69)119(4.69)145(5.71)145(5.71)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)47(1.85)47(1.85)47(1.85)47(1.85)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)77(3.03)77(3.03)77(3.03)77(3.03)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)22(0.87)22(0.87)22(0.87)22(0.87)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)140(5.51)140(5.51)140(5.51)140(5.51)256(10.1)288(11.3)288(11.3)256(10.1)288(11.3)288(11.3)311(12.2)311(12.2)311(12.2)311(12.2)Units: mm (in)Shaft CenterAllowableRadial LoadN (lbf)3840(864)6190(1393)6870(1546)3240(729)4970(1119)6190(1393)4050(911)4970(1119)4050(911)4970(1119)3ModelSGMGH-05AATA605DATA605AATB605DATB605AATC605DATC605AAT7605DAT7609AATA609DATA609AATB609DATB609AATC609DATC609AAT7609DAT7613AATA613DATA613AATB613DATB6GearRatio1/61/111/211/291/61/111/211/291/61/11Flange Face Dimensionsmm (in)Shaft-end Dimensionsmm (in)LA LB LC LE LG LR N Q QK S T U W134(5.28)134(5.28)134(5.28)134(5.28)134(5.28)134(5.28)180(7.09)180(7.09)134(5.28)180(7.09)110(4.33)110(4.33)110(4.33)110(4.33)110(4.33)110(4.33)140(5.51)140(5.51)110(4.33)140(5.51)160(6.30)160(6.30)160(6.30)160(6.30)160(6.30)160(6.30)210(8.27)210(8.27)160(6.30)210(8.27)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)4(0.16)4(0.16)3(0.12)4(0.16)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)13(0.51)13(0.51)9(0.35)13(0.51)48(1.89)48(1.89)48(1.89)48(1.89)48(1.89)48(1.89)69(2.72)69(2.72)48(1.89)69(2.72)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)6(0.24)6(0.24)4(0.16)6(0.24)35(1.38)35(1.38)35(1.38)35(1.38)35(1.38)35(1.38)55(2.17)55(2.17)35(1.38)55(2.17)32(1.26)32(1.26)32(1.26)32(1.26)32(1.26)32(1.26)50(1.97)50(1.97)32(1.26)50(1.97)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)38(1.50)38(1.50)28(1.10)38(1.50)7(0.28)7(0.28)7(0.28)7(0.28)7(0.28)7(0.28)8(0.31)8(0.31)7(0.28)8(0.31)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)5(0.20)5(0.20)4(0.16)5(0.20)Tap ×Depth8(0.31)M8 × 198(0.31)M8 × 198(0.31)M8 × 198(0.31)M8 × 198(0.31)M8 × 198(0.31)M8 × 1910(0.39)M10 × 2210(0.39)M10 × 228(0.31)M8 × 1910(0.39)M10 × 22Approx.Masskg (lb)18.5(40.8)18.5(40.8)20.5(45.2)20.5(45.2)22.6(49.8)22.6(49.8)33.6(74.1)33.6(74.1)24.6(54.2)35.6(78.5)3-109
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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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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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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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