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)ModelSGMGH-13AATC613DATC620AATA620DATA620AATB620DATB630AATA630DATA630AATB630DATB6GearRatio1/211/61/111/61/11180(7.09)180(7.09)180(7.09)180(7.09)180(7.09)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)210(8.27)210(8.27)210(8.27)210(8.27)210(8.27)Flange Face Dimensionsmm (in)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)13(0.51)13(0.51)13(0.51)13(0.51)13(0.51)69(2.72)69(2.72)69(2.72)69(2.72)69(2.72)6(0.24)6(0.24)6(0.24)6(0.24)6(0.24)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)50(1.97)50(1.97)50(1.97)50(1.97)50(1.97)38(1.50)38(1.50)38(1.50)38(1.50)38(1.50)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)Shaft-end Dimensionsmm (in)LA LB LC LE LG LR N Q QK S T U W5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)Tap ×Depth10(0.39)M10 × 2210(0.39)M10 × 2210(0.39)M10 × 2210(0.39)M10 × 2210(0.39)M10 × 22Approx.Masskg (lb)35.6(78.5)42(92.6)42(92.6)46(101)46(101)• Dimensional TolerancesModelSGMGH-05AATA605DATA605AATB605DATB605AATC605DATC605AAT7605DAT7609AATA609DATA609AATB609DATB609AATC609DATC609AAT7609DAT7613AATA613DATA613AATB613DATB613AATC613DATC620AATA620DATA620AATB620DATB630AATA630DATA6Units: mm (in)Flange Face DimensionsShaft-end DimensionsLBS110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝110 – 0.036 ⎛4.33 – 0.0014 ⎞ 28 0 ⎛– 0.090⎝– 0.0035⎠–0.013⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝1.101.101.101.101.101.101.501.501.101.501.501.501.501.500 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0005⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠3-110
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )ModelSGMGH-30AATB630DATB6Units: mm (in)Flange Face DimensionsShaft-end DimensionsLBS140 – 0.043 ⎛5.51 – 0.0017 ⎞ 38 0 ⎛– 0.106⎝– 0.0042⎠–0.016⎝1.500 ⎞–0.0006⎠INFO• Lubrication• Grease lubricating type (frame numbers: 4095 to 4115)Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.(2) Small Oil Lubricating TypeKL188(3.46)LTLLLMKB1KB2LRLR15 4QQKS (φ50h6)φLB (φ200f8)Hydrant209 (8.23)6-φ11 Mountingholes(φ10.24)φ260Oil scavengingplugφ230(φ9.06)Oil scavenging plugShaft End9(0.35)Tap × Depth14(0.55)5.5(0.22)3ModelSGMGH-13AAT7613DAT7620AATC620DATC620AAT7620DAT7630AATC630DATC6Gear ModelGearRatioCHVX-4135 1/29CHVX-4130 1/21CHVX-4135 1/29CHVX-4145 1/2144AATA6 CHVX-4130 1/644AATB6 CHVX-4135 1/1155AATA6 CHVX-4135 1/655AATB6 CHVX-4145 1/11L LL LM LT KB1 KB2 KL1 R532(20.9)536(21.1)536(21.1)582(22.9)596(23.5)596(23.5)664(26.1)684(26.9)185(7.28)166(6.54)166(6.54)192(7.56)226(8.90)226(8.90)260(10.2)260(10.2)139(5.47)119(4.69)119(4.69)145(5.71)179(7.05)179(7.05)213(8.39)213(8.39)46(1.81)47(1.85)47(1.85)47(1.85)47(1.85)47(1.85)47(1.85)47(1.85)73(2.87)77(3.03)77(3.03)77(3.03)77(3.03)77(3.03)86(3.39)86(3.39)21(0.83)22(0.87)22(0.87)22(0.87)22(0.87)22(0.87)22(0.87)22(0.87)109(4.29)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)150(5.91)150(5.91)347(13.7)370(14.6)370(14.6)390(15.4)370(14.6)370(14.6)404(15.9)424(16.7)Units: mm (in)Shaft CenterAllowableRadial LoadN (lbf)9900(2228)8940(2012)9900(2228)11590(2608)5870(1321)7190(1618)5870(1321)9500(2138)3-111
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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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