1746-6.18, Open-loop Velocity Control Module User Manual
Contents
1. 5 6 6 2 2 7 1 7 1 Segments Segments gt gt LDT Head Position LDT Head Position Each position setpoint triggers a corresponding voltage output in the range of 10V to 10V dc that translates into speed The LDT provides high speed position updates to the module for consistent and repeatable motion What Are Typical Use the 1746 QV module in an SLC based system for low cost Applications Publication 1746 6 18 April 1998 control of e hydraulic machinery e simple non CNC hydraulic presses e diecasting machinery e welder placement e pneumatic actuators for clamping or placement In addition the module is designed to support standard proportional amplifiers and retrofit into most existing hydraulic systems Chapter 2 Quick Start Use this chapter as an abbreviated procedure for getting the 1746 QV module into operation or as an overview if you need more information Procedure EB Load Ladder Logic into Your Computer Chapter 3 Obtain the ladder program appendix B from Rockwell Software Bulletin Board BBS or the Internet From BBS 216 646 ROCK 7625 If a new user follow prompts to register Log in Look for 1746QV in the Allen Bradley Products Library The manual is in Word format Download it into a hard drive sub directory and decompress it with PKUNZIP available on BBS The ladder program VELMOD is S2. e Q position increases while moving away from LDT head e position increases while moving toward LDT head Important You must reload profiles for either of these conditions e Changing a value in the G file This clears the profiles e When position data exceeds the position setpoint that is farthest from the LDT head the profile is disabled and you must modify position setpoints and reload the profiles Verify operation of the retract profile by changing the value in N7 50 to 2 Important Reset the value in N7 50 to 0 afterwards Jog the Ram to the Reference Position The reference position may require that you jog the ram beyond a position defined by the profile in the ladder program appendix B You may jog the ram as follows 1 2 6 Observe the current position data in I e 1 Modify profile position setpoint s to permit the ram to travel to the required reference position using the current position For example If position data reads 100 change P1 to 1300 length of the LDT Important Reset the value in N7 50 to 0 Load the profiles into the module Run the extend profile by changing the value in N7 50 to 1 and jog the ram to the reference position At the reference position the position data I e 1 N7 61 will be an arbitrary value Set the position data to the value of the preset reference by changing the value in N7 50 to 8 N7 40 must 0 Position data will change to pre
3. wy Allen Bradley Open loop Velocity Control Module Cat No 1746 QV User Manual Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or in part without written permission of Allen Bradley Company Inc is prohibited Throughout this manual
4. x x cece eee eee Chapter ODieCes x r A T R Aa R TEL RL Obtaining the Ladder Program Electronically from BBS Or the MEE as cated aa ie eee ba kodek w Configuring Your SLC Processor Off line 44444111 Modify N Files in Your SLC Processor Off line Output Image Table with Profile Data cece eee eee General Conventions for Profiles aaaa aaa aaa aa adi Profle OFEIGM W asa RGG RAF riser nurin PO L eens Setting Up the Hardware ccce cece eee eeee Chapter Objectives 0 cece eee eee ees Connect the LDT to Module Inputs 000 ee eee Connect Module Outputs to Output Devices Minimizing Interference from Radiated Electrical Noise Considerations for the 15V dc Supply 00004 Selection of the 15V dc Power Supply Application of the 15V dc Power Supply Other Design Considerations ccc cece eee ees Operating the Module for the First Time Chapter Objectives PowerUp the System 0 cece eee eee Check Wiring and Grounding cece cece e eee ees Get Ready to Move the Ram eee eee Move the Ram J og the Ram to the Reference Position cece vanes Test for Proper System Operation cece cece eee Troubleshoot Possible Problems 444444441111 Using Status Bits for Errors Detected by the Module Troubleshooting Table s
5. For example if P2 6 07 V2 1 500V P1 0 00 or a value less than P2 and V1 1 500V then the module will place the ram in the vicinity of P2 between 6 02 and 6 12 The negative voltage V1 causes motion to reverse or stop To see this enter the example values for P2 V2 PI and V1 in the previous diagram Position Data Increases from LDT Head Ge 0 15 0 Voltage VJ gt V6 gt V5 gt V4 gt V3 gt V2 gt Vi Output 0 Speed Speed Speed Speed Speed Speed past position 7 Segment 6 Segment 5 Segment 41 Segment 3 Segment 2 Segment 1 e Starting with the ram between P1 and the LDT head open position running the extend profile results in V1 applied to the output As the ram passes P1 towards P2 V2 is applied to the output etc TS head Position P7 P6 P5 P4 P3 P2 P1 e Ifthe ram passes P7 the output is forced to OV dc and the extend profile is disabled You must load new data to operate the profile Publication 1746 6 18 April 1998 Chapter Al Setting Up the Hardware Chapter Objectives This chapter helps you install the hardware with these tasks e connect the LDT to module input terminals e connect module output terminals to output devices e minimize interference from radiated electrical noise e considerations for the 15V dc power supply e other design considerations Connect the LDT to We assume that you will use one of the following types of L
6. by entering the value of 1 into N7 40 If profiles do not reload refer to Troubleshooting on page 5 4 With the output terminal block still disconnected run the extend profile by changing the value in N7 50 to 1 The RUN LED should change to ON If not refer to troubleshooting covered last Important Reset the value in N7 50 to 0 10 Connect the output terminal block Move the Ram Important When you set an output bit with your programming terminal the commanded action takes place immediately 1 Run the extend profile by momentarily changing the value in N7 50 to 1 and observe the direction of ram movement in N7 61 If the ram moves in the wrong direction If using this type of valve and signal Then reverse the proportional valve with 10V input sign of all voltage values and load them into the module hydraulic motor or ac drive with 0 10V input other solenoid on the directional valve with ladder logic Publication 1746 6 18 April 1998 Operating the Module 5 3 2 After reversing the sign of voltages if needed run the extend profile again by changing the value in N7 50 to 1 Observe that the direction of ram travel is correct Important Reset the value in N7 50 to 0 Check the position value reported in the status word N7 61 as you run the ram to the end of its travel If the position data is reversed you may need to change the data direction bit Ge 5 15 in the G file off line as follows
7. for extend 1 Setto define words 1 7 as programmed position setpoints for retract 8 Setto define words 1 7 as programmed voltage values for retract 9 15 Reserved Do NOT use Important Enter position setpoints in units of 0 01 200 2 00 within the range of 327 68 to 327 67 and voltage values in 5mV units 3005 3 005V within the range of 10 000mV Function of Output Image Word Command Bits Enable these bits with your ladder logic Position 1 7 Setpoint or Voltage i e word 2 position 2 etc Publication 1746 6 18 April 1998 A access to BBS or Internet 3 1 3 2 applications of module 1 2 B BBS Rockwell S oftware Bulletin Board 3 1 benefits of module 1 2 bits Sa EIC G file configuration 3 3 B 2 C 2 status 5 4 C 1 C cables 4 3 calibration value of LDT J3 3 B 2 C 2 configure G file 3 3 8 2 2 motion profiles 1 2 3 4 SLC processor 3 2 connections inputs to module 4 1 outputs from module 4 2 count full scale 3 3 D data direction bit 3 3 3 5 5 3 data profile 3 4 3 5 B 2 C 2 download from BBS 3 1 E error see fault extend profile 1 2 3 4 5 2 F fault module and LDT 5 2 5 44 C 1 GH G file grounding 4 2 4 4 5 1 Index I J K ID of module 3 2 A 1 input terminal block of module 4 1 5 1 input image table statu
8. 05 Drive or variable volume pump e 10 to 10V dc for the proportional amplifier and proportional valve Minimizing Interference Important Signals in this type of control system are very susceptible from Radiated Electrical to radiated electrical noise The module is designed to set the loss of Noise sensor bit I e 0 8 and the LDT error bit I e 0 0 when it detects position values that are lost or corrupted by electrical noise Connect module output terminals to output devices with correct bonding e connect power supply output commons together e electrically isolate power supply output commons from earth ground e use bond wires that are equal in size to signal wires Minimize interference from radiated electrical noise with correct shielding and grounding e connect all of the following to earth ground LDT flange frame and machine I O chassis protective ground AC ground cable shields at one end only preferably with 3 8 braid wire for analog output 15V dc PS 24V dc PS and LDT terminal 4 of the input terminal block Publication 1746 6 18 April 1998 Setting Up the Hardware 4 3 e run shielded cables only in low voltage conduit e place the SLC 500 processor power supply and I O chassis assembly in a suitable enclosure Typical grounding and shielding for this type of control system 24V Power Supply 1746 QV Module 15V Power Supply C LDT B
9. 15V Power Supply The module uses the 15V dc power supply to drive the 10V dc valve output and to power the LDT The module detects loss of 15V dc with its internal LDT diagnostic The diagnostic concludes loss of 15V when it detects loss of LDT magnet Partial failure of the 15V dc power supply may cause limited machine operation when the LDT continues to operate properly Some LDTs will operate with its supply voltage down to 12V If you monitor the 15V dc with SLC diagnostics you can enable a blocking valve to lock the actuator in its last position upon detection of e e stop e power loss e low voltage condition of the 15V dc supply ATTENTION If you provide a system e stop circuit and design the system to manage power to the SLC chassis and 15V dc supply in all cases DO NOT connect the e stop to ac power for power supplies ATTENTION We recommend using reasonable methods to assure that unintended motion does not cause machine damage or create a safety issue with personnel who will operate the machine Chapter 5 covers testing for proper system operation e Use a proportional valve that does not respond to voltage spikes created by power supply operation e Shut down the hydraulic system upon loss of ac power and automatically vent pressurized fluid back to the tank e Provide ladder programming that interlocks the operation of the power supply with permissives to run the hydraulic pump e Connect a high speed
10. DT Module Inputs e Temposonics II RPM TTSRxxxxxxR or DPM TTSRxxxxxxDExxx e Balluff BTL 2 L2 or BTL 2 M2 e Santest GYRP or GYRG e Gemco Quick Stick II 951VP or 951 RS We illustrate typical connections between the 1746 QV module and these types of LDTs There are other suppliers with compatible LDTs 1746 QV Module Temposonics II Balluff Santest Gemco Quick Stick II Input Terminal Block RPM or DPM BTL 2 L2 amp 2 M2 GYRP amp GYRG 951VP w PWM Output PS Interro Gate Out NC PS B BLK PS Common z Ba S Interro Common gate NE C RED 15V dc PS b bugle gate K GRY Interrogate 6 Interrogate E BRN Sq Wave Out 5 G Interrogate Frame F BLU Sq Wave Out 4 Shield Frame GND A WHT Interrogate 3 15V dc PS G D H RS232RXD 2 PS Common Ged Tatert J PUR 2nd PS COM 1 l5vdcPS ate Out 15V P5 gate Our OE 051RS has pulse trigger 15V dc PS d PS Common Interrogate The views are looking at the connector on the LDT head Connect each 1746 QV input pin to the corresponding LDT pin 1746 QV Input Pin Function Temposonics II Balluff Santest Gemco Quick RPM or DPM BTL 2 L2 amp M2 GYRP GYRG Stick 951VP RS Gate Out Pi 2 Gray note 1 F Blue note 1 8 7 Gate Out 3 Gray 5 Green note 1 aul E Brown note 1 6 Interrogate 10 Green A White 3 15V dc PS 6 Blue 8 White n a 2 PS Common 1 White 6 6 Bue B Black 15V dc PS 5
11. LC500 code 65 Kbyte Download it into a hard drive subdirectory where your programming software looks for files From Internet webpage http www ab com If a new user click Join Now and follow prompts to register Log in Search for QV on homepage click Search Our Site insert QV in window and click search button The manual is PDF format and requires Adobe Acrobat viewer The ladder program is PDF format and must be entered manually Pa Set Up Your Software Chapter 3 Configure the SLC Processor and I O with your programming software Enter the following a processor type b module I 0 chassis slot c module ID 13115 d G file size 7 words and e G file configuration values from the ladder program appendix B Modify N files for the profile found in the ladder program appendix B to suite your application EJ Connect the LDT to the Module s Input Terminal Block Chapter 4 The following are connections between the 1746 QV module and typical LDTs such as Temposonics Balluff Santest and Gemco 1746 QV Module Temposonics II Balluff Santest Gemco Quick Stick II Input Terminal Block RPM or DPM BTL 2 L2 amp 2 M2 GYRP amp GYRG _ 951VP w PWM Output Gate Out Interro B BLK PS Common 8 Gate Out PS Gate Out 7 Gate Out Inter Common Sate O gee a osa 6 Interrogate rogate E BRN Sq Wave Out 5 Interrogate F BLU Sq Wave Out 4 Shield Frame Frame A WHT Interrogate 3 15V de PS GND G D H RS232RXD 2 PS Co
12. Red Brown pin 1 C Red and wires of the same function should be a twisted pair within the cable o I S the table we use the term gate out for pulse trigger or square wave Gemco and start stop Balluff M2 LDT signals Publication 1746 6 18 April 1998 4 2 Setting Up the Hardware Connect Module Outputs Module outputs connect to a separate 2 conductor output terminal to Output Devices block located beneath the input terminal block 24V dc PS OJ Servo Amplifier Important Ground the shield of the amplifier OV dc PS O J Proportional output cable to a OV connection in the amplifier OV Do not connect the shield to earth ground Analog Output d 10v dc 1746 QV Output 2 N ng Outputs A LL X To solenoid A Terminal Block 1 Input to valves g RU XX To solenoid B Note Follow manufacturer recommendations for shielding the output cables of the proportional amplifier Typically pulse width modulated outputs radiate electrical noise originating from the 24V dc power supply so isolate the shields of the amplifier output cable to a OV dc connection inside the proportional amplifier You have a choice of three configurations to match your hydraulics e proportional amplifier with ramp and proportional valve e servo amplifier with ramp and variable volume pump e Allen Bradley 1305 Drive and hydraulic pump You may use either of the following output voltage ranges e 0 10V dc for the Allen Bradley 13
13. Specifications Physical Specifications Environmental Specifications Appendix A Module Specifications This appendix lists the specifications for the 1746 QV Open loop Velocity Control Module Power Requirements 215 mA at 5V dc from backplane 400 mA at 15V dc and 295 mA at 15V dc from independent PS typical but LDT dependent I O Chassis Location Any I 0 chassis slot except slot 0 Isolation LDT Inputs 1500V ac optical isolation between LDT input and backplane Interrogate Gate 15V dc PS PS Common Shield F rame Compatible LDT Input Devices Linear Displacement Transducer such as Balluff BTL 2 L2 or M2 Gemco Quick Stick II Santest GYRP or GYRG Temposonics II with DPM or RPM Module Range and Resolution 160 inches 0 01 inch Analog Output 0 10V dc 250 mA or 10 to 10V dc 250 mA Accuracy of Voltage Output Within 1 of its programmed value Module Update Time 2ms Run ON Profile running Output active green Flashing Output at OV dc LED Indicators Fault OFF Module OK red Flashing LDT fault ON Module fault Module ID Code 13115 Maximum Wire Size Two 18 AWG wires per terminal on terminal block Operating Temperature 0 C to 60 C 32 F to 140 F Storage Temperature 40 C to 85 C 40 F to 185 F Relative Humidity 5 to 95 without condensation Agency Certification when marked on CE marked for all app
14. a changes direction depending on how you set configuration bit Ge 0 15 for LDT motion 0 position data increases when moving away from LDT head 1 position data increases when moving towards LDT head e Each position setpoint triggers from the absolute position data I e 1 as modified by the preset reference e Position setpoints are in units of 0 01 For example enter 2 as 200 e If you enter position setpoints in random order the module places them in ascending order P1 lowest and P7 highest with their associated voltage value e Speed segments are defined increasing from the LDT head regardless of position data direction e Speeds are reported in the input image table words 2 7 I e 2 I e 7 for the previous profile extend speeds reported during the next retract profile and vice versa e Voltage values for speed are in the range of 10 000mV in multiples of 5mV For example enter 5 005V as 5005 Important Enter voltage values in multiples of 5mV or the module will fault causing you to correct and re download the profile e Voltage values are cleared when you re program position setpoints The profile is cleared when the module loses power or when you change the value of any G file configuration word Important Your application may require different position setpoints and voltage values Your profiles must be consistent with the physical parameters of the LDT and G file to guard against damaging hard
15. al 4 c case grounds of PS and amplifier e LDT flange Important For correct bonding connectPS output commons together meld and isolate from earth ground Power LDT Signals Proportional Amplifier 10 Valves LL cL TT P y qi earth ground Piston type Hydraulic Cylinder and Linear Displacement Transducer LDT Cable Note Use cable recommended by the LDT and amplifier manufacturer ed Operate the Module for the First time Chapter 5 After loading profiles with the ladder program step 1 alternately run the extend profile 0 e 0 0 0 to 1 then the retract profile 0 e 0 1 0 to 1 Modify the profile to reach the preset reference and set it Important If motion is reversed fora 10V dc output change the sign of all extend retract voltage values or for a 10V output energize the other solenoid on the directional valve with ladder logic To do this Enter decimal at address load all profiles 1 N7 40 set preset reference to zero 8 N7 50 clear errors 16 N7 50 read current position read only N7 61 run an extend profile 1 N7 50 run a retract profile 2 N7 50 Publication 1746 6 18 April 1998 Chapter Objectives Obtaining the Ladder Program Electronically from BBS or the Internet Chapter 3 Setting Up the Software This chapter helps you do the following e Obtain the ladder program electronically Configure your SLC processor off lin
16. asoa siew i EAP AK EAP EA Conditions That Control Module Outputs Module Specifications cccceeseeeaueaeaueaues Electrical Specifications aaa aaa aaa aaa aaa aaa aaa nai Physical SpecificatonS u osy said siada dCi TGA Environmental Specifications aaa inadcavees ace wean ane Ladder Program SLC Processor Files ccccuuuuuauuuuauneaaneaa Input Image Table GPG a dat aiia Output Image Table Table of Contents s E Chapter Objectives What Is the 1746 QV Module What Is an SLC 500 System O z KoA Power Supply Chapter 1 System Overview This chapter presents a conceptual overview of how you use the 1746 QV module in an application The 1746 QV module is part of an SLC based open loop control system for controlling the speed and placement of an hydraulic ram The module accepts an input from a linear displacement transducer LDT and motion profiles that you program into the SLC processor and varies its output in the range of 10V dc The SLC processor sends to the module a pair of extend and retract profiles that define when to accelerate or decelerate hydraulic motion The Allen Bradley Small Logic Controller SLC system is a programmable control system with an SLC processor I O chassis containing analog digital and or special purpose modules and a power supply The 1746 QV module interfaces your hydraulic ram and position monitoring device LDT to the ladder seq
17. by re entering a corrected value 6 Save when done Click OK Click OK Close window Publication 1746 6 18 April 1998 3 4 Setting Up the Software Modify N Files in Your One N file may contain the initial commands setpoints and values SLC Processor Off line for a A set of profile data for initial configuration Retract Voltages Retract Positions configuring the extend and retract profiles Extend Voltages Output Image Table 1746 QV Module Extend Positions gt gt gt gt gt gt S gt gt gt GU gt gt gt Extend an an and Retract Setpoints 222 Setpoints P gt Profiles gt gt gt gt gt gt The file contains commands and data starting at the these addresses command and position setpoints for extend N7 0 command and voltage velocity values for extend N7 10 command and position setpoints for retract N7 20 command and voltage velocity values for retract N7 30 The sample ladder program appendix B copies profile data into the output image table from the above locations Output Image Table with Profile Data Word Function of Output Image Word Description For command bits a 0 to 1 transition enables the command 0 Command Bits Set to run an extend profile l Setto run a retract profile Enable these bits 0 e 0 bit Set to disable the profile This bit over rides bit 0 or 1 with your ladder logic where e ra represents the 1 0 slot number 3 Setto cha
18. e 0 0 t 0 Extend Profile Complete N7 8 t gt U 0 Retract Profile Complete N7 8 gt U Rung 2 8 i Set to program profile N7 40 COP COPY FILE 0 Source I 1 0 Dest N7 60 Length 8 MOV MOVE FILE Source N7450 0 Dest O21 0 0 Rung 2 9 END Address Data radix DECIMAL N7 0 32 45 50 200 300 400 425 500 0 0 N7 10 64 3000 3750 4000 4000 4000 4000 4000 0 0 N7 20 128 45 50 200 300 400 425 500 0 0 N7 30 256 5000 6000 6000 3000 1000 50 25 0 0 G1 0 2056 890 640 12 1200 32 768 0 SLC Code for LDT Calibration Length Counts Config Word 5 Preset QV Module bit 15 1 Reference Publication 1746 6 18 April 1998 position increases toward LDT head Appendix C SLC Processor Files You use the following files when programming the SLC processor for an application with the 1746 QV module e input image table to indicate status e G file to configure the module for its LDT e output image table for commands and loading profiles Input Image Table Word O I e 0 or N7 60 in the ladder program reports status such as hardware faults your data entry errors and acknowledgement of profile data stored in the
19. e Modify N files in your SLC processor off line General conventions for profiles Profile operation You can obtain ladder logic electronically and download it to your SLC processor conveniently without the worry of data entry errors About the Rockwell Bulletin Board System BBS You can access the Rockwell Software Bulletin Board System BBS by modem Anyone is welcome The BBS provides utilities examples and technical information on Rockwell Software products and on selected Allen Bradley products e new users may send and receive messages download General Access files upload files for review by technical support specialists e verified customers may search for new and existing files download files such as utilities example programs tech info access software bulletins e subscribers to tech bulletins DataDisc CD ROM may download tech bulletins of the Tech Bulletin Subscription series User accounts are automatically generated online We use our product data base to verify BBS accounts at your initial log in and we adjust your security level according to your support status Should your registration information change you can update your account from the Configure System Defaults menu To Access BBS 1 Set your modem to no parity 8 data bits and 1 stop bit 2 Dial 216 646 ROCK 7625 3 Follow prompts to log in New users must create a new account 4 Look for 1746QV in t
20. ed stored profile complete N7 40 N7 8 I 1 0 1 0 TeL z OE TE 0 Viss Ii 1 ZERO T 0 0 12 13 14 Rung 2 4 Set to Extend Positions Voltages program profile stored stored profile complete N7 40 N7 8 T 1 0 1 0 a ipa znac SSS ie EA Z R 0 0 13 14 C0P COPY FILE Source N7 20 Dest 0 1 0 Length 8 4 Publication 1746 6 18 April 1998 Extend Positions Extend Voltages Retract Positions Retract Voltages G file for Module Configuration Ladder Program Rung 2 5 Set to Extend Run store Positions Voltages program profile retract stored stored profile complete Retract Velocity Setpts N7 40 N7 8 I 1 0 Tl 0 I 1 0 COP n Lease I COPY FILE 0 0 12 13 14 Source N7 30 Dest H0 1 0 Length 8 4 Rung 2 6 Set to Extend Run store Positions Voltages Retract program profile retract stored stored profile profile complete complete N7 40 N7 8 134 0 ELO I 1 0 N7 8 aa ISS P gt Te J alaa ale T LLL 0 0 12 13 14 1 Program retract voltages 0 10 U 8 Rung 2 7 Set to Extend Retract Loading program profile profile profiles profile complete complete complete N7 40 N7 8 N7 8 N7 40 Seo 5F7 z 5gS n ro nonomonanonenewewe Poses UO se
21. elden 8770 Belden Power 8761 LDT Signals Proportional m W Amplifier Piston type Hydraulic Cylinder and Linear Displacement Transducer LDT mI Cable Note Use cable recommended by the LDT and amplifier manufacturer Considerations for the Selection of the 15V Power Supply 15V dc Supply The positive and negative supply of some 15V dc power supplies decay at different rates when ac power is removed The module s output will be biased based upon the difference in voltage level between the positive and negative supply The duration is dependent upon the magnitude of the difference and the decay rate For these reasons the 15V dc power supply should have or be equipped with e proper interlocks with machine operation and e stop circuits e an internal voltage sense relay that drops the 15V without variation in decay rates upon loss of ac power e auxiliary relay to indicate proper operation and voltage such as loss of 15V but not 15 V dc Power Supply Loading The module and LDT load the power supply typically as follows Supply No Transducer Transducer LDT Module LDT Module No Load Only 10V dc 10mA 10V dc 10mA 15V de 128mA 141mA 128mA BV de EI MTS Temposonics Il model T1SROU0120R Other LDTs will have different loading Publication 1746 6 18 April 1998 4 4 Setting Up the Hardware Other Design Considerations Publication 1746 6 18 April 1998 Application of the
22. ength L of LDT 2 lt L lt 160 inch Enter the length of the LDT 160 inches max Full Scale count C 2 lt C lt Lx100 Typically C L x 100 1200 Position Data l e 1 C L x 100 LDT Calibration Configuration Bits bits 0 12 Set to zero 32 768 EE SE bit 13 0 output maintained during LDT fault or SLC mode change Ka 32 768 1 output resets for LDT fault or SLC mode change gt RYC bit 14 Type of LDT 0 forRPM 1 for DPM LDT head bit 15 0 position data increases when moving away from LDT head 1 position increases when moving toward LDT head Preset Reference 32 768 to 32 767 Typically zero or home reference value 32 767 327 67 inches 0 Examples of Full scale Count Values LDT Physical a eee Full scale Length Recirculations Resolution Length L Counts C from 160 to 2 L 160 to 2 Lx 100 Y wo fw I for o fo 16 16000 Output Image Table The ladder program loads commands and profile data into the module through the output image table 0 e 0 O e 7 Description For command bits a 0 to 1 transition enables the command 0 Setto run an extend profile Set to run a retract profile Set to disable the profile This bit over rides bit 0 or 1 3 Setto change current position data to the value of preset reference in Ge 6 4 Setto clear any data entry errors Set to define words 1 7 as programmed position setpoints for extend 6 Set to define words 1 7 as programmed voltage values
23. h plus the preset reference Clear this bit by running a profile 9 11 Reserved Do NOT use Operating the Module 5 5 Bit Description for error amp fault bits 0 8 status of 0 OK status of 1 fault 12 The module sets this bit after it stores retract position setpoints or voltage values or when retract profile is active It remains set until another operation is performed 13 The module sets this bit after it stores your position setpoints It resets it after you reset the program position bit 0 e 0 5 or 0 e 0 7 14 The module sets this bit after it stores your voltage values It resets it after you reset the program voltage bit 0 e 0 6 or 0 e 0 8 15 The module sets this bit when it detects the profile is active output is applied Troubleshooting Table If you observe this condition Try this solution Refer to this part of the manual Sensor signal N7 61 1 Change direction bit Ge 5 15 and re download a Enter values in G file page 3 3 has wrong sign b Move the Ram step 3 page 5 3 2 Calibrate the sensor at opposite end of cylinder Re do J og Ram to Reference pg 5 3 After download sensor values do not After axis calibration preset ref set and N7 50 8 none match values in N7 61 before download you must upload and save SLC data files in the PC Module rejects pre set reference when Enter values in G file page 3 3 N7 50 is toggled fro
24. he Allen Bradley Products Library The manual is formatted in Microsoft Word and compressed with PKZIP The ladder program VELMOD is SLC code Publication 1746 6 18 April 1998 3 2 Setting Up the Software Configuring Your SLC Processor Off line Publication 1746 6 18 April 1998 Download ladder program VELMOD 65 Kbyte SLC code into the subdirectory on your hard drive where your programming software looks for files With RSLogix CN RSLogix 500 English Project Download the ladder program to your SLC processor Download the manual into a hard drive subdirectory You must decompress the Word version with PKUNZIP available on BBS To Access the Internet 1 2 Access the Allen Bradley webpage at http www ab com To access the member area you must log in If you do NOT have an account click Join Now and follow the prompts to register Search for QV on homepage click Search Our Site insert QV into the window and click Search button The manual is PDF format and requires Adobe Acrobat viewer The ladder program is PDF format and must be entered manually This procedure assumes you are using RSLogix500 Programming Soft ware version 2 10 or later For other software the procedure may vary 1 2 3 Open your 1746 QV project VELMOD Configure the type of SLC processor To do this A Open the file Controller Properties B Select the SLC processor type and click OK Configu
25. licable directives product or package Publication 1746 6 18 April 1998 A 2 Module Specifications Notes Publication 1746 6 18 April 1998 Ladder Program Appendix B The following data define extend and retract profiles for the sample program Extend position setpoints N7 0 Extend voltage values N7 10 Retract position setpoints N7 20 Retract voltage values N7 30 This ladder program loads profiles into the module through the output image table The 1746 QV module is in slot I for this example Program Profile N7 40 Extend Position Setpts KCORST G R COPY FILE Source N7 0 Dest 0 1 0 Length 8 4 CQP COPY FILE Source N7 10 Dest 0 1 0 Length 8 4 Extend profile complete N7 8 7 L 0 Program extend voltages 1 0 jo U lt 6 Retract Position Setpts Rung 2 0 S 1 lt w R RO age ecg ger dak g ROG W erate ogee 0 RW ogee cree OG gene og WER a Ch Sasa 15 Rung 2 1 Set to Extend Positions Voltages program profile stored stored profile complete N7 40 N7 8 T10 21 20 SS DER OE EOS 0 0 13 14 Rung 2 2 Set to Extend Positions Voltages program profile stored stored profile complete N7 40 N7 8 I 1 0 ENI A WAE b SS ISA 0 0 13 14 Rung 2 3 Set to Extend Run store Positions Voltages program profile retract stor
26. m 0 to 8 to 0 Re do Jog Ram to Reference pg 5 3 Profiles will not load into the module Verify full scale count in Ge 4 page 3 3 Prior to step 8 in Get Ready to Move Ram 3 N7 40 must 0 when setting pre set reference Jog Ram to Reference step 5 pg 5 3 with N7 50 8 Unable to initiate extend retract profiles Write ladder rung for extend profile another for retract none Each must include appropriate permissives to enable a MOV instruction with Source 1 extend 2 retract and Destination N7 50 Conditions That Control Module Outputs The module is designed to control its outputs as follows The module is designed to When these conditions are satisfied all of the following valid extend and retract profiles are stored in the module the stop profile bit 0 e 0 2 is reset a run profile bit 0 e 0 0 or O e 0 1 is set any of the following loss of backplane power 15V dc PS remains applied loss of sensor LDT SLC mode change or LDT fault G e 0 13 0 any of the following LDT position exceeded the setpoint farthest from LDT head loss of 15V dc PS the disable output bit 0 e 0 2 is set SLC mode change or LDT fault G e 0 13 1 apply profile voltages to the output retain its outputs in last state turn OFF its outputs Publication 1746 6 18 April 1998 5 6 Operating the Module Notes Publication 1746 6 18 April 1998 Electrical
27. mmon J PUR 2nd PS COM 1 15v dc PS OL RA Gate Out 15V P5 gate Uur 951RS has pulse trigger 15V de PS de PS Common Interrogate The views are looking at the connector on the LDT head 1746 QV Function Temposonics Il Balluff Santest Gemco Quick Input Pin RPM or DPM a 2 L2 6 M2 aos Stick 951VP RS 8 Gate Out Gray note 1 pn OF Blue note 1 p rca on Ga pnt tar Tess pm e UU Lp LS 1 Sename i ae POR 8 White nia Z PS conn c Bhe Fe 1 15V dc PS 5 Red 7 Brown pin 1 C Red and wires of same function should be a twisted pair within the cable Note 1 In the table we use the term gate out for pulse trigger or square wave Gemco and start stop Balluff M2 LDT signals Publication 1746 6 18 April 1998 2 2 Quick Start Pa Connect Module Output Terminals to Output Devices With Correct Bonding Chapter 4 Important Connect the shield ofthe amplifier p 24V dc PS output cable to a OV connection in the amplifier Servo Amplifier OV dc PS Proportional Do NOT connect output shields to earth ground XX To solenoid A Input x XX To solenoid B EB Minimize Interference from Electrical Noise with Correct Shielding and Grounding Chapter 4 Analog Output 10v dc 1746 QV Output Terminal Block Important Connect PS output commons togerther Connect the following to earth ground a cable shields except for amplifier outputs at one end only b input termin
28. module Word 1 reports position data Words 2 7 report speeds of the previous profile Word Bit Description for error amp fault bits 0 8 status of 0 OK status of 1 fault The module sets this LDT error bit when it detects a broken or mis wired LDT cable faulty LDT incompatible LDT type DPM or RPM missing LDT magnet loss of 15V dc PS Module fault such as EEPROM error May turn outputs OFF fault dependent The module sets this bit when it detects any of the following invalid command bits or bit combinations in output image table word 0 0 e 0 one or more of the reserved bits 9 15 were set bit5 or 7 position was set concurrently with bit 6 or 8 voltage output enable bit 0 extend or 1 retract was set before loading valid profiles both output enable bits 0 extend and 1 retract were set concurrently Started to run a profile after the module had flagged an LDT error I e 0 0 You set one or more of the reserved bits 0 13 in G file word 5 Ge 5 You entered an invalid length word 3 or count word 4 in the G file You entered an invalid LDT calibration words 1 and or 2 in the G file You entered a position setpoint outside the range of 32 768 to 32 767 in O e 1 0 e 7 Loss of sensor The module detected position data in I e 1 greater than the LDT length plus the preset reference Clear this bit by running a profile The module sets this bit after it stores the re
29. nge the current position data to the value of the preset reference stored in Ge 6 Set to clear any data entry errors Setto define words 1 7 as programmed position setpoints for extend Set to define words 1 7 as programmed voltage values for extend Set to define words 1 7 as programmed position setpoints for retract Set to define words 1 7 as programmed voltage values for retract Reserved Do NOT use 1 1 Position Setpoint or Voltage Value n a Important Position setpoints are in units of 0 01 200 2 00 within the range of 327 68 to 327 67 and voltage values in 5mV units 3005 3 005V within the range of 10 000mV The data monitor mode of your programming software displays the data files shown below with values from the ladder program Important Modify these values to suit the preset reference chosen for the G file and or to match the LDT length Extend Positions N7 0 32 45 50 200 300 400 425 500 0 0 Extend Velocities N7 10 64 3000 3750 4000 4000 4000 4000 4000 0 0 Retract Positions N7 20 128 45 50 200 300 400 425 500 0 0 Retract Velocities N7 30 256 5000 6000 6000 3000 1000 50 25 0 0 Publication 1746 6 18 April 1998 General Conventions for Profiles Profile Operation Setting Up the Software 3 5 Consider the following when you set up your profiles e Extend and retract define the profile with respect to the LDT head extend is always away from the head retract is always towards it e Position dat
30. ompany Inc Printed in USA
31. on Business has been helping its customers improve productivity and quality for more than 90 years We design manufacture and support a broad Allen Bradley range of automation products worldwide They include logic processors power and motion control devices operator interfaces sensors and a variety of software Rockwell is one of the world s leading technology companies Worldwide representation i m ZE Argentina e Australia e Austria e Bahrain e Belgium e Brazil e Bulgaria e Canada e Chile e China PRC e Colombia e Costa Rica e Croatia e Cyprus e Czech Republic e Denmark e Ecuador e Egypt e El Salvador e Finland e France e Germany e Greece e Guatemala e Honduras e Hong Kong e Hungary e Iceland e India e Indonesia e Ireland e Israel e Italy e amaica e apan e ordan e Korea e Kuwait e Lebanon e Malaysia e Mexico e Netherlands e New Zealand e Norway e Pakistan e Peru e Philippines e Poland e Portugal e Puerto Rico e Qatar e Romania e Russia CIS e Saudi Arabia e Singapore e Slovakia e Slovenia e South Africa Republic e Spain e Sweden e Switzerland e Taiwan e Thailand e Turkey e United Arab Emirates e United Kingdom e United States e Uruguay e Venezuela e Yugoslavia Allen Bradley Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1746 6 18 April 1998 PN955132 83 Supercedes Publication 1746 6 18 February 1998 Copyright 1998 Allen Bradley C
32. ped on the name plate on the transducer housing LDT calibration upper 3 digits 800 999 us inch For example To enter an LDT calibration of 8 9373 LDT calibration lower 3 digits 000 999 us inch use decimal radix and enter 893 in word 1 and 730 in word 2 Full scale length L of LDT 2 lt L lt 160 inch Enter the length of the LDT 160inchesmax Enter the length of the LDT 160inchesmax of the LDT 160 inches max Full scale count C 2 lt C lt Lx100 Typically C L x 100 Position Data I e 1 CAL x 100 LDT Calibration Configuration Bis piso sabee SCS 15 14 13 12 0 Equivalent Value pit 13 0 output maintained during LDT fault while running profiles and for post 16 384 1 output resets for LDT fault and SLC mode change towards 24 576 bit 14 Type of LDT O for RPM 1for DPM EPL ead bit 15 0 position data increases when moving away from LDT head 1 position increases when moving toward LDT head 32 768 to 32 767 Typically zero or home reference value 32 767 327 67 inches Examples of Full scale Count Values LDT Physical No of Full scale Full scale Length Recirculations Resolution Length L Counts C from 160 to 2 1 0 01 L 160 to 2 L x 100 16 2 0 01 160 8000 16 4 0 01 160 4000 ie 16000 Important The module checks for invalid data such as out of range values or the setting of reserved bits 0 12 You can clear a data entry configuration error only
33. re the rack size module slot and module ID A Open the file I O Configuration B Select the rack size C Highlight the slot number for the module D From the list of modules scroll to 1746 QV and double click If the module is not listed Scroll to Other and double click Enter the module s ID 13115 and double click Size the G file A Highlight 1746 QV or 13115 if module was not listed B Click Adv Config C In the dialog box enter a G file length of 7 D Press Edit G Data Setting Up the Software 3 3 5 Enter values in the G file If the module was listed You get the G file Setup screen Enter data from the table below If the module was not listed you entered the ID You get the following display shown in decimal radix Enter a value in each word as shown next G file display for unlisted module shown in decimal radix Ge 0 2056 0 0 0 0 0 0 Enter a value at each G file word address and press ENTER Then cursor to the next word address and repeat For example Ge 0 2056 893 730 12 1200 32768 0 We used values from the ladder logic example appendix B You will want to use G file values that suit your application Function of G file Word Description of G file Word or Bit Example Word 0 Reserved Do NOT use The processor stores a code for the 1746 QV module 2056 words 1 amp 2 refer to the gradient or transducer calibration value stam
34. relay between the module and the valve amplifier to drop out the valve signal upon loss of ac power Chapter 5 Operating the Module for the First Time Chapter Objectives This chapter outlines the steps for operating the module for the first time with an operating hydraulic ram We cover these steps e power up the system e test for proper system operation e troubleshoot possible problems Power Up the System Starting with module and LDT power turned off bring the system on line for the first time as follows refer to I O wiring in chapter 4 Check Wiring and Grounding 1 Disconnect the LDT connector at the head end 2 Disconnect both of the module s input and output terminal blocks 3 Turn ON the power supplies for the LDT and SLC processor and check the LDT connector and module input terminal block for e pinl 15Vdc e pin2 PS common e pin3 15Vdc 4 Observe that the module s fault LED red is ON 5 Verify NO continuity between pin 2 PS commons and pin 4 shield frame on the module s input terminal block 6 Verify NO continuity between the LDT cable shield and pin 2 PS commons on the module s input terminal block 7 Verify continuity between pin 2 PS commons on the module s input terminal block and the output common on the 15V dc PS that powers the LDT and module 8 Verify continuity between pin 2 PS commons on the module s input terminal block and the terminal on the 24V dc PS that powers the p
35. ring setpoints or setting control bits e acknowledgement of stored setpoints Important To clear error bits toggle N7 50 from 0 to 16 to 0 Bit Description for error amp fault bits 0 8 status of 0 OK status of 1 fault The module sets this LDT error bit when it detects a broken or mis wired LDT cable faulty LDT incompatible LDT type DPM or RPM missing LDT magnet loss of 15V dc PS Module fault such as EEPROM error May turn outputs OFF fault dependent The module sets this bit when it detects any of the following invalid command bits or bit combinations in output image table word 0 0 e 0 one or more of the reserved bits 9 15 were set bit5 or 7 position was set concurrently with bit 6 or 8 voltage output enable bit 0 extend or 1 retract was set before loading valid profiles both output enable bits 0 extend and 1 retract were set concurrently Started to run a profile after the module had flagged an LDT error I e 0 0 You set one or more of the reserved bits 0 13 in G file word 5 Ge 5 You entered an invalid length word 3 or count word 4 in the G file 5 You entered an invalid LDT calibration words 1 and or 2 in the G file You entered position setpoint outside the range 32 768 to 32 767 in O e 1 0 e 7 You entered a voltage value outside the range of 10 000mV in O e 1 0 e 7 Loss of sensor The module detected position data in l e 1 greater than the LDT lengt
36. roportional amplifier 9 Verify NO continuity between the 24V dc PS connection and earth ground 10 Verify continuity between the shield of the amplifier output cable and pin 2 PS commons on the module s input terminal block 11 Verify continuity between the cable shield Belden 8761 or equivalent on the 24V dc PS and earth ground Publication 1746 6 18 April 1998 5 2 Operating the Module Get Ready to Move the Ram nA ua b amp b w N m Turn on the 24V dc PS that powers the amplifier Turn on the hydraulic pump and null the ram for no movement Turn off all power supplies Connect the LDT cable and input terminal block Turn on all power supplies Be sure that you have loaded the extend and retract profiles into the module Observe module LEDs The RUN LED green should be blinking If not blinking refer to troubleshooting covered last in this chapter Module LEDs indicate the following to assist you with the procedures This LED When the Module detects RUN output is at OV dc green profiles are loaded and output is active FAULT no internal faults red an LDT fault an internal fault For Series A Revision A During startup Run LED ON and Fault LED flashing indicate outputs are at OV dc During profiles Fault LED is OFF Observe that the output image table word 0 O e 0 is zero If not zero toggle the value of N7 50 from 0 to 16 to 0 Reload the profiles
37. s 5 4 C 1 Internet access to L M ladder program B 1 LDT calibration value 3 3 configuration in G file 3 3 connections tof 4 1 fault 5 2 5 4 length of 3 3 movement 0 13 5 types of 4 1 LEDs 521 N N fle BASABE noise electrical 4 2 0 output conditions 5 5 connections of module 4 2 5 1 image table 3 4 C 2 terminal block 4 2 status 5 4 overview of module and system 1 1 P position data 3 4 3 5 5 3 position setpoints 3 4 3 5 5 2 5 3 C 2 power supply considerations 4 3 preset reference 3 3 5 3 profile 1 2 3 3 B 1L C 2 5 conventions 3 5 operation of 3 5 Q quick stanf 2 1 R ram hydraulid 1 1 1 2 procedure to move 5 2 5 3 set reference position of 5 3 reference preset retract profile 1 2 3 4 reverse motion 5 2 S segments speed 1 2 3 4 3 5 also see voltage values shielding of cables 4 2 4 3 1 specifications of module A 1 status input image table 5 4 C 1 of outputs 5 4 system power up 5 1 T U V testing for proper system operation 5 4 travel length of LDT 1 2 3 3 troubleshooting with LEDs 5 2 module status bits 5 4 output conditions 5 5 troubleshooting table 5 5 voltage values 3 4 3 5 5 2 W X Y Z wiring system 4 1 4 2 5 1 Publication 1746 6 18 April 1998 ZR Rockwell Automation Allen Bradley a Rockwell Automati
38. set reference 0 in this example Verify that N7 61 now reads zero at the reference position Important Once you establish the reference position the module will maintain the preset reference s position data in I e 1 all profile position setpoints will be referenced to it until you clear Ge 6 by changing any G file value or set another reference position The preset reference is retained during power up Publication 1746 6 18 April 1998 5 4 Operating the Module Test for Proper System Operation Troubleshoot Possible Problems Publication 1746 6 18 April 1998 ATTENTION Test for proper system operation to verify that precautions to guard against unexpected motion perform as intended See Power Supply and Design Considerations in chapter 4 Because of the wide variety of applications for this module we leave the procedural details to you Look for proper system operation as you test for these conditions e controlled system startup shutdown when turning hydraulics on off e startup shutdown of ac to power supplies 15V dc SLC chassis and 24V dc e loss of LDT input e effect of the last state of output bit G file word 5 bit 13 regarding one or more of the above Using Status Bits for Errors Detected by the Module The module is designed to detect and indicate status as follows in the input image table word I e 0 or N7 60 in the ladder program e hardware operational faults e data entry errors when ente
39. tract position setpoints or voltage values or when the retract profile is active It remains set until another operation is performed 13 The module sets this bit after it stores your position setpoints It resets it after you reset the program position bit 0 e 0 5 or O e 0 7 14 The module sets this bit after it stores your voltage values It resets it after you reset the program voltage bit 0 e 0 6 or 0 e 0 8 15 The module sets this bit when it detects the profile is active output is applied Speed segments 1 6 respectively The module computes the speed of each segment and reports them in the subsequent profile reports extend speeds during the next retract profile etc Publication 1746 6 18 April 1998 C 2 SLC Processor Files G File Use this file Ge 0 to configure the module for use with the LDT Example values are those from the sample ladder logic appendix B Word Function of G file Word Range Description of G file Word or Bit Example 0 Reserved Do NOT use n a The processor stores a code for the 1746 QV module 2056 words 1 6 2 refer to the gradient or transducer calibration value stamped on the name plate on the transducer housing LDT calibration upper 3 digits 800 999 us inch For example To enter an LDT calibration of 8 9373 893 LDT calibration lower 3 digits 000 999 us inch use decimal radix and enter 893 in word 1 and 730 in word 2 730 12 Full scale l
40. uence in your SLC processor The system can be illustrated as follows HYDRAULIC RUN oo FAULT oo LDT 10V DC l v dc Proportional Position Sa Valve Proportional Amplifier Input from LDT Piston type Hydraulic Cylinder and Linear Displacement Transducer LDT Publication 1746 6 18 April 1998 1 2 System Overview Why Use This System How Does It Work Voltage Because you can change the speed of the hydraulic ram with extend and retract profiles and store additional profiles recipes in data table iNteger N files this control system has these benefits reduced cycle time you can increase ram speed for faster operation e reduced or eliminated pressure spikes and water hammering for smoother operation and less wear and tear on the machine you can profile accelerations and decelerations of the hydraulic ram e energy savings you can match the speed of the hydraulic pump to the force that you need e faster new part change over you can store your setups and minimize mechanical re adjustments between parts The 1746 QV module executes the extend and retract profiles that you load to control the motion of the hydraulic ram You can program up to seven different voltages over the length of travel in both the extend and retract directions to control how the ram accelerates or decelerates m Eran Direction gt Retract Direction 4 4 3 5 Voltage
41. ware In general e Forrelatively faster and smoother motion use two speed segments for acceleration and five speed segments for deceleration e Adjust the ramp rate on the proportional amplifier for the smoothest operation Initially start with the ramp disabled fastest ramp rate e You may compensate for deadband or valve overlap by specifying a voltage value greater than or equal to the valve s bias current Profile operation depends on how the module reports position data With the data direction bit Ge 0 15 you select whether position data increasing towards the LDT head Ge 0 15 1 position data increasing away from the LDT head Ge 0 15 0 Publication 1746 6 18 April 1998 3 6 Setting Up the Software For Position Data Increasing Towards LDT Head Ge 0 15 1 Voltage v1 gt V2 gt V3 gt V4 gt V5 gt V6 gt V Output 0 Speed Speed Speed Speed Speed Speed past position 1 Segment 6 Segment 5 Segment 41 Segment 3 Segment 2 Segment 1 FI head Position p P2 P3 P4 P5 P6 P7 e Starting with the ram between P7 and the LDT head open position running the extend profile results in V7 applied to the output As the ram passes below P7 V6 is applied to the output etc e Ifthe ram passes below PI the output is forced to OV dc and the profile is disabled You must load new data to operate the profile e Placement operations require two segments
42. we use notes to make you aware of safety considerations ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to e identify a hazard e avoid the hazard e recognize the consequences Important Identifies information that is critical for successful application and understanding of the product SLC is a trademark of Allen Bradley Company Inc PKZIP and PKUNZIP are registered trademarks of PKWARE Inc Manual Changes Series A D Summary of Changes Changes to this revision of the manual include these additions Considerations for Selecting the 15V dc Power Supply chapter 4 Other Design Considerations chapter 4 Testing for Proper System Operation chapter 5 Power Supply Loading Specifications appendix A Publication 1746 6 18 April 1998 toc ii Summary of Changes Notes Publication 1746 6 18 April 1998 Table of Contents System Overview aaaaaa aaa aaa aa eee h i Chapter Objectives n os Whats the 1746 QV Module Whatls an SLC 500 System cscccceueeenueneues Why Use This System cowe csaenes awataomre odr sd 1 2 HOW DOES It WOrk achiesewadurcineddeaceeneseer es dbs 1 2 What Are Typical Applications ccc cece eee eres 1 2 QUE E I ci eps SSG Zi eat dad RSSG TFN b 4 PIOCEdUIE arcs se tote ig a w Osada Pa eda WAG en need ta Setting Up the Software
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