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

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3 Specifications and Dimensional Drawings3.15.1 SGMGH Servomotors (1000 min -1 ) Without Gears and Brakes3.15 Dimensional Drawings of SGMGH Servomotors (1000 min -1 )3.15.1 SGMGH Servomotors (1000 min -1 ) Without Gears and BrakesModels with oil seals are of the same configuration.LT100(3.94)KL188(3.46)LLLLMLGKB1KB2LRLEAφSφLB(0.0016)0.04Aφ0.04 A(0.0016)(0.0008)0.020.04(0.0016)For 40AB(For 55AB only)LCφLAφLHIE4-φLZ Mounting holesLF1φS1SGMGH-03AB to 09ABLELR1QφSφLJ1Shaft EndLF2φS1SGMGH-12AB to 55ABLELF1Note: For the specifications of the other shaft ends, refer to3.19 Shaft End Specifications for SGMGH, SGMSHand SGMDH Servomotors.1LRQφSφLJ2φLJ1ModelSGMGH-03AB2106AB2109AB2112AB2120AB2130AB21L LL LM LR LT KB1 KB2 IE KL1196(7.72)219(8.62)243(9.57)245(9.65)271(10.7)305(12.0)138(5.43)161(6.34)185(7.28)166(6.54)192(7.56)226(8.90)92(3.62)115(4.53)139(5.47)119(4.69)145(5.71)179(7.05)58(2.28)58(2.28)58(2.28)79(3.11)79(3.11)79(3.11)46(1.81)46(1.81)46(1.81)47(1.85)47(1.85)47(1.85)65(2.56)88(3.46)112(4.41)89(3.50)115(4.53)149(5.87)117(4.61)140(5.51)164(6.46)145(5.71)170(6.69)204(8.03)−−−−−−109(4.29)109(4.29)109(4.29)140(5.51)140(5.51)140(5.51)Shaft-end DimensionsS S1 Q019–0.013⎛ 00.75 ⎞⎝ –0.0005⎠019–0.013⎛ 00.75 ⎞⎝ –0.0005⎠022–0.013⎛ 0⎝0.87 ⎞–0.0005⎠+35 – 0.010⎛ +1.38 – 0.0004 ⎞⎝ 0 ⎠+35 – 0.010⎛ +1.38 – 0.0004 ⎞⎝ 0 ⎠+35 – 0.010⎛ +1.38 – 0.0004 ⎞⎝ 0 ⎠30(1.18)30(1.18)30(1.18)45(1.77)45(1.77)45(1.77)40(1.57)40(1.57)40(1.57)76(2.99)76(2.99)76(2.99)Units: mm (in)Approx.Masskg (lb)5.5(12.1)7.6(16.8)9.6(21.2)14(30.9)18(39.7)23(50.7)40AB21373(14.7)260(10.2)213(8.39)113(4.45)47(1.85)174(6.85)238(9.37)123(4.84)150(5.91)042–0.016⎛ 01.65 ⎞⎝ –0.0006⎠45(1.77)110(4.33)30(66.1)55AB21447(17.6)334(13.1)287(11.3)113(4.45)47(1.85)248(9.76)312(12.3)123(4.84)150(5.91)042–0.016⎛ 01.65 ⎞⎝ –0.0006⎠45(1.77)110(4.33)40(88.2)3-120
3.15 Dimensional Drawings of SGMGH Servomotors (1000 min -1 )ModelSGMGH-Flange Face Dimensionsmm (in)LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZAllowableRadial LoadN (lbf)AllowableThrust LoadN (lbf)03AB2106AB2109AB2112AB2120AB2130AB2140AB2155AB21145(5.71)145(5.71)145(5.71)200(7.87)200(7.87)200(7.87)200(7.87)200(7.87)0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠0110–0.035⎛ 0⎝4.33 ⎞–0.0014⎠0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010⎠0114.3–0.025⎛ 0⎝4.50 ⎞–0.0010⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010 ⎠130(5.12)130(5.12)130(5.12)180(7.09)180(7.09)180(7.09)180(7.09)180(7.09)6(0.24)6(0.24)6(0.24)3.2(0.13)3.2(0.13)3.2(0.13)3.2(0.13)3.2(0.13)6(0.24)6(0.24)6(0.24)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)−−−0.5(0.02)0.5(0.02)0.5(0.02)0.5(0.02)0.5(0.02)12(0.47)12(0.47)12(0.47)18(0.71)18(0.71)18(0.71)18(0.71)18(0.71)165(6.50)165(6.50)165(6.50)230(9.06)230(9.06)230(9.06)230(9.06)230(9.06)45(1.77)45(1.77)45(1.77)76(2.99)76(2.99)76(2.99)76(2.99)76(2.99)−−−62(2.44)62(2.44)62(2.44)62(2.44)62(2.44)9(0.35)9(0.35)9(0.35)13.5(0.53)13.5(0.53)13.5(0.53)13.5(0.53)13.5(0.53)490(110)490(110)686(154)1176(265)1470(331)1470(331)1764(397)1764(397)98(22)98(22)343(77)490(110)490(110)490(110)588(132)588(132)3• Cable Specifications for Detector Connectors(17-bit Encoder)M ABLCTN PKDSJRH G F EReceptacle: MS3102A20-29PApplicable plug (Purchased by the customer)Plug: MS3108B20-29SCable clamp: MS3057-12A• Cable Specifications for ServomotorConnectorsD AA Phase UB Phase VC BC Phase WDFG(Frame ground)With an Absolute EncoderWith an Incremental EncoderABCDEFGHJKLMNPRST−ABCDEFGHJ−−DATA+DATA-−−0V+5VDCFG (Frame ground)−−−−−−BATT-BATT+−−−DATA+DATA-−−0V+5VDCFG (Frame ground)KLMNPRST−−−−−−−−−−3-121
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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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