AHDSP 2v1 / 2v2 Service Manual F – 2107 / F - 2207
Contents
1. Er 35 Too high Startup Ur 35 voltage on turned on Q4 In this stage the Q5 is turned on for 2ms charging C47 trough D12 then after lms Q4 is turn on Measure MOTA trough filter is done after 2ms from turn on Q4 time Voltage of leg MOTA should have almost PS 35V because driver is turned on and Q4 is on If MOTA is lower than PS35V 0 3V then displayed is warning lt Ur 35 gt and after 1 5s program continue work If MOTA is lower than PS35V 0 6V then displayed is error lt Er 35 gt 05 is turn off PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 Q7 driver U9 and D12 D13 C47 C48 R41 R42 R86 R87 R88 R89 C97 C98 U20 Printed 30 03 2009 for TechnoCrane Europe Limited Page 17 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 36 Incorrect Ur 36 motor leg MOTA voltage after turn off 04 Startup In this stage transistor 04 is turned off Voltage of leg MOTA should have approx PS 35V because driver is turned on all mosfets are off so divider R108 R109 make half PS 35V Leg MOTA voltage is measured after 2ms from turn off 04 time If MOTA is lower than PS35V 2V or higher than PS35V 2V then displayed is warning lt Ur 36 gt and after 1 5s program continue work If MOTA is lower than 5 PS35V 4V or higher than gt PS35V 4V then2. SENSOR PCB INCLINOMETER Em TOP LAYER 123 4 5 6 7 8 9 10 E LT LITT E E c N 3 pE E 2 o e si Nw i oO N 2 zs 5 4 a E Mt X 019 1 50 E ME lt u GREEN LED lt Ez 2 Jr gt L s 50 E 46 RED LED 2 a RED ol 211 u YELLOW 8 AMPHENOL 1 27m iS BLUE 7 i Ps TsvV E a jnclinometer 5V DE uh XLR 3m D14 is g FRONT VIEW T GREY 3 f AMPHENOL 1 27mm KK BLACK y 2l lt cable1 cable2 cable3 cable4 cable5 la cable4 Y P cable5 9 N Q m AMPHENOL 1 27mm s ASIA RED BROWN BLACK BLUE WHITE WHITE GREEN GREEN YELLOW YELLOW 15 15 WHITE BROWN 2 5 1 5 BLUE BLUE 2 5 15 GREEN YELLOW WHITE DB9 OPTIONAL CABLE FOR PROGRAMMING GREEN FRONT VIEW AHDSP2 WIRING DIAGRAM Fig 16 Wiring diagram for AHDSP2 Printed 30 03 2009 for TechnoCrane Europe Limited Page 28 30 AHDSP2v2 Service Manual date 18 09 2003 ver 2107 2207 POWER SUPPLY WIRING DIAGRAM AA CABLES 35V 8A ref 102509 balck 0 5 colour thickness mm2 LED GREEN m ref OUTPUT 35V 8A XLR 3F ref 102503 ref 102510 red 0 5 AC IN 100 240VAC 4A ref 102502 uw Rocker switch a 3k3 0 5W Lo o FUSE O en brown 1 5 ref 102512 ref 102501 red 4 0 NEUTRIK NAC3MPA blue 1 5 brown 1 5 balck 0 5 black 4 0
3. 1 62V lt Er 23 gt then displayed is error SD CP power low and stopped program supply Solution check voltage at R41 and at R42 9V should be less than few milivolts if is more then trouble can be in power transistors Q4 Q7 or driver U9 if current not flow through R41 and R42 then check U26 14 should be 5 ps 3 15V 1 58Vif is more than 1 60V then trouble can be in U26 R143 R144 R145 R146 R147 or too high difference between SGND and GND check R150 other possibility is that the power supply of U26 is not correct if output U26 14 is correct then check R142 C200 and U25 Er 24 Incorrect Startup In this stage voltage of leg MOTA should have Er 25 motor leg value approx PS12V 0 8V Ur 24 MOTA If MOTA is lower than 10V Ur 24 or higher than Ur 25 voltage 14V lt Ur 25 gt then displayed is warning and after 1 5s program continue work If MOTA is lower than 9V Er 24 or higher than 15V Er 25 then displayed is error SD CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R86 R87 R88 R89 C97 C98 U20 Er 26 Incorrect Startup In this stage voltage of leg MOTB should have Er 27 motor leg value approx PS12V 0 8V Ur 26 MOTB If MOTB is lower than 10V Ur 26 or higher than Ur 27 voltage 14V lt Ur 27 gt then displayed is warning and after 1 5s program continue work If MOTB is
4. C98 U20 Er 31 Incorrect Startup Ur 31 motor leg MOTA voltage after turn off Q5 In this stage transistor 05 is turned off Voltage of leg MOTA should have approx PS 35V because driver is turned on all mosfets are off so divider R108 R109 make half PS 35V Leg MOTA voltage is measured after 2ms from turn off Q5 time If MOTA is lower than PS35V 2V or higher than PS35V 2V then displayed is warning lt Ur 31 gt and after 1 5s program continue work If MOTA is lower than PS35V 4V or higher than PS35V 4V then displayed is error lt Er 31 gt PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 Q7 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R86 R87 R88 R89 C97 C98 U20 Printed 30 03 2009 for TechnoCrane Europe Limited Page 16 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 32 Too high Startup Ur 32 voltage on turned on Q7 In this stage only transistor Q7 is turned on Voltage on Q7 should be less than few milivolts but leg MOTB is measured trough filter so the max Allowed voltage is specified for measure after 2ms from turn on Q7 time If MOTB is higher than 0 3V then displayed is warning lt Ur 32 gt and after 1 5s program continue work If MOTB is higher than 0 6V then displayed is error lt Er 32 gt Q7 i
5. p 7 quadrature A channel negative 8 quadrature A channel positive 9 5V power supply for encoder max 250mA 10 connected with pin 9 5V Junction J3 Centre encoder RS422 5V connector 1 0V 2 0V 3 index channel negative IN 4 index channel positive IN 5 quadrature B channel negative 6 quadrature B channel positive 7 quadrature A channel negative 8 quadrature A channel positive 9 5V power supply for encoder max 250mA 10 connected with pin 9 5V Printed 30 03 2009 for TechnoCrane Europe Limited Page 26 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Junction J4 inclinometer connector 5V 1 OV 2 inclinometer input 3 inclinometer input 4 5V power supply for inclinometer max 250mA Junction J5 RS232 connector 1 GND 2 RXD 3 TXD 4 GND Junction J6 Red Green Led connector 1 Kathode 2 Green anode 3 Red anode Junction J7 Motor connector 1 Screen 2 MOTA MOT 3 MOTA MOT 4 MOTB MOT 5 MOTB MOT 6 Screen Junction J8 Tachogenerator input connector 1 TG 2 TG 3 Screen Junction J10 Direction switch connector open 3V closed 15mA 1 SW 2 SW 3 SW 4 SW Printed 30 03 2009 for TechnoCrane Europe Limited Page 27 30 AHDSP2v2 Service Manual date 18 09 2003 ver 2107 2207 LEMO12 FRONT VIEW 3 TEMPERATURE
6. warning lt Ur 38 gt and after 1 5s program continue work If MOTB is lower than PS35V 4V or higher than 4 PS35V 4V then displayed is error lt Er 38 gt PWM ON high SD CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R 90 R91 R92 R93 C99 C100 U20 Printed 30 03 2009 for TechnoCrane Europe Limited Page 18 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 39 Incorrect Startup In this stage PWM generator is turned on with Ur 39 motor leg pulse width 50 Voltage of leg MOTA should have MOTA approx PS 35V because driver is turned on and voltage pulse width is 50 so after filtering MOTA after should half PS 35V turn on If MOTA is lower than 5 PS35V 2V or higher PWM than PS35V 2V then displayed is warning lt Ur frequency 39 gt and after 1 5s program continue work If 18 43kHz MOTA is lower than PS35V 4V or higher than gt PS35V 4V then displayed is error lt Er 39 gt PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R86 R87 R88 R89 C97 C98 U20 Er 40 Incorrect Startup In this stage PWM generator is turned on with Ur 40 motor leg
7. 54 Too high Startup In this stage measured is voltage from Ur 54 offset tachogenerator If during measurement motor will from change position checked by motor encoder the tachogene measure is repeated The average value of 256 rator measurements is stored as initial tachogenerator system offset value for correction at work zero measure calibrating If offset is higher than 16mV then displayed is warning lt Ur 54 gt and after 1 5s program continue work If offset is higher than 60mV then displayed is error lt Er 54 gt turn off 5Ve PWM_ON high SD_CP low and stopped program Solution check voltage from tachogenerator J8 1 and J8 2 check R50 R64 C56 C68 U11 U12 Ul4 U27 ps 3 15V SERVICE MODES AHDSP2v1 has eight service mode which are available in MODE SWICH 2 in ON state Normal operation works like in no service mode Current regulator adjustment described in chapter 3 Velocity regulator adjustment described in chapter 3 Position regulator adjustment described in chapter 3 Inclinometer settings described in chapter 3 Normal operation readout use for checking value of power supply voltage temperature motor voltage and current etc Key test use for on PCB key test Low level tests use for PWM checking 5V output 9V charge pump HR IO e 7 8 Display test use for display test GENERAL CONSIDERATION ABOUT DISPLAYING Value on display in most ca
8. CHASSIS yellow green 1 5 yellow green 1 5 yellow green 1 5 150R 200W ref 102515 3 150R 200W TechoVision Poland Dobrzen Wielki 46 081 Poland Wroclawska 77 Kasprzak Grzegorz Power Supply 35V for AHDSP2v1 2 1 0 0 Size FCSM No DWG No Rev 12 05 2004 B 0 Scale Sheet Prototype 1 4of4 Fig 16 Power supply for AHDSP2v1 Printed 30 03 2009 for TechnoCrane Europe Limited Page 29 30 AHDSP2v2 Service Manual date 18 09 2003 ver 2107 2207 Printed 30 03 2009 for TechnoCrane Europe Limited Page 30 30
9. green 5V Lemo 3 CONIN PLUG SOLDER SIDE Fig 12 Encoder cable connections Printed 30 03 2009 for TechnoCrane Europe Limited Page 24 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 SAFE VOLTAGE POWER SUPPLY CABLE NEUTRIK 3FRC BAG3 pole 1 Power supply 35V plus NEUTRIK 3MRC BAG3 pole 1 Power supply 35V plus 2 Power supply 35V minus 3 Screen 2 Power supply 35V minus 3 Screen NEUTRIK 3MRC BAG3 PLUG NEUTRIK 3FRC BAG3 PLUG FRONT VIEW FRONT VIEW NEUTRIK 3MRC BAG3 PLUG NEUTRIK 3FRC BAG3 PLUG SOLDER SIDE SOLDER SIDE OFig 13 35V cable connections Printed 30 03 2009 for TechnoCrane Europe Limited Page 25 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 PCB JUNCTIONS ARRANGE The junction arrange is shown on fig 14 O ET A Dir switch nclinometer al j J4 4 pin 9 le eee le o Tacho RG LED O Motor encoder 2 J2 10pin RS232 J5 4pin 2096 ere SELS J3 10 pin pm po o g he E o O Power supply J1 5 pin O ee 9 e 9 Fig 14 Arrange of junctions on PCB Junction J1 35V 9A Power supply 1 35V input 2 35V input 3 Screen 4 OV input 5 0V input Junction J2 Motor encoder RS422 5V connector 1 0V 2 0V 3 index channel negative IN 4 index channel positive IN 5 quadrature B channel negative 6 quadrature B channel
10. 03 AC mains cable for power supply ref 10 004 Power supply box ref 10 005 MOTOR TACHOMETER ENCODER CENTER TACHO INCLINOMETER Fig 1 AHDSP2 system FUNCTIONAL DESCRIPTION The AHDSP2 works like electronics gear with level correction based on inclinometer Current Position Ratio regulator type regulator type 14 308142 PI limits Pl P limits for 26 teeth CP CI CL ER Centre encoder angle sensor DIR SWITCH Fig 2 Functional diagram Printed 30 03 2009 for TechnoCrane Europe Limited Page 3 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Besides the main task of AHDSP2 the software check property work of hardware at startup time and all time at the work time see Fig 3 MAIN PROCEDURE Fig 3 Test are second task of AHDSP2 Printed 30 03 2009 for TechnoCrane Europe Limited Page 4 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 2 SPECIFICATIONS PERFORMANCE SPECIFICATIONS Operation temperature 20C to 50C OF 122F the case of AHDSP2 can have temperature 20C 36F higher than air Maximum operating angle 102deg from middle state Maximum velocity 60deg sec Level correction from inclinometer aprox 1 2deg sec for 18sec or 0 12deg sec for infinity leveling time Level correction active time aprox 18 sec from startup or infinite ELECTRICAL SPEC
11. 9 C20 C51 C17 C18 and external devices connected to J2 J3 and J4 Er 43 Output Startup In this stage the 5e ON is low U19 5 and the Ur 43 5 0V for 5Ve output is on motor runtime If output 5V for motor encoder 5Vel voltage encoder value is less than 5Ve 0 5V then displayed is not warning lt Ur 43 gt and after 1 5s program continue correct work If dropout is more than 0 8V then displayed is error lt Er 43 gt turn off 5Ve PWM ON high SD CP low and stopped program Solution check Q2 R10 R11 F3 and external device connected to J2 Printed 30 03 2009 for TechnoCrane Europe Limited Page 19 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 44 Output Startup In this stage the 5e ON is low U19 5 and the Ur 44 5 0V for i 5Ve output is on centre runtime If output 5V for centre encoder 5Ve2 voltage encoder value is less than 5Ve 0 5V then displayed is not warning lt Ur 44 gt and after 1 5s program continue correct work If dropout is more than 0 8V then displayed is error lt Er 44 gt turn off 5Ve PWM_ON high SD_CP low and stopped program Solution check Q2 R10 R11 F4 and external device connected to J3 Er 45 Output Startup In this stage the 5e ON is low U19 5 and the Ur 45 5 0V for 5Ve output is on inclinome runtime If output 5V for inclinometer 5Ve3 voltage ter not value is less than 5Ve 0 5
12. AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 AHDSP 2v1 2v2 Service Manual F 2107 F 2207 Printed for TechnoCrane Europe Date 30 03 2009 Printed 30 03 2009 for TechnoCrane Europe Limited Page 1 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 CONTENTS 1 GENERAL DESCRIPTION scsssssssssssssssssssscasssssssssessssassssessessssessasessessasessessessssessesessessesessessesessessesesseseess 3 DESCRIPTION A A A Da ana 3 FUNCTIONAL DESCRIPTION o i n E A SS ete ne 3 2 SPECIFICATIONS sssssenennnnnnnnnnnnnnsnnnsnnnsnenensnenenneneenenneneenenneneenenseneeneeenenesesee 5 PERFORMANCE SPECIFICATIONS 000000 ae iris 5 ELECTRICAE SPECIFICATIONS prii aid or e a ERG Meri Pa te de o bee detienen 5 A POnn 6 INTERNAL ADJUSTMENTS ictor rl to ede RE dr Dae een te dein 6 CURRENIAREGUEATOR ADJUSTMENT cocoa aid EIE OO HR HER t Rie ds 7 VELOCITY REGULATOR ADJUSTMENT aasan nen nente entren nest eee eene 8 POSITION REGULATOR ADJUSTMENT it etae het ada tert ee Reip aia 9 INCLINOMETER OFFSET ADJUSTMENT preirar aeni a aa nennen retener EE E anne anna eren 10 4 DIAGNOSTICS AND TROUBLESHOOTING 11 EUSEAND LEDINDICATORS ON PCB nee eH id 11 ERRORS AND WARNINGS LIST a a 11 SERVICE MODES ita e e et p o re tt ita t
13. I 5W CI 1uF 100V MK 220R Fig 7b Measure current motor on To PCB J7 PC Fig 7a Measure current motor with serial resistor For the best result use DC input in osciloscope AC can cheat shape on osciloscope Current regulator adjustment needs steps STEP 1 Setting MODE SWICH 2 in ON state for come in service mode STEP 2 Setting HEX SWITCH in 1 state current regulator parameters access STEP 3 Pushing for 1 second RST button key state are reading after reset system STEP 4 After boot from menu is possible to selection CP CI CL by JOY SWITCH LEFT RIGHT direction STEP 5 Selecting CP parameter by pressing JOY SWITCH the current ramp generator will turn on motor current 3A 125Hz STEP 6 Setting the best response of the current watching on the osciloscope by JOY SWITCH UP DOWN STEP 7 For saving parameter value press key YES NO for cancel STEP 8 In the same way adjustment CI parameter Printed 30 03 2009 for TechnoCrane Europe Limited Page 7 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 The possible response are shown on fig 6 Increase value of parameters makes stiffness motor but increase noise from the motor Fig 8 Current response depend by CP and CI parameter shape 1 gain too low 2 gain good 3 gain too high The shape present on Fig 8 can be noise by PWM frequency 18 43kHz Use current limit C
14. IFICATIONS Power supply AHDSP2 nominal 35VDC 8A the range 31V 39V Power supply box input 100 240 VAC 4A output 35V 8 5A PWM frequency 18 43 kHz Current loop bandwidth aprox 1 5kHz Velocity loop bandwidth aprox 100Hz Printed 30 03 2009 for TechnoCrane Europe Limited Page 5 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 3 MAINTIENCE INTERNAL ADJUSTMENTS The adjustments are accomplish with few keys and 6 digit LED Arrange of keys and display is shown on fig 5 O Inclinometer z RGLED HE o 6 digit LED Co e o e a e H 2090999 O Fig 5 Display and keys arrange on PCB The structure of key combination is shown on fig 6 Fig 6 Display and keys arrange on PCB Printed 30 03 2009 for TechnoCrane Europe Limited Page 6 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 CURRENT REGULATOR ADJUSTMENT The current regulator has three parameters for adjustment 1 CP proportional gain 2 CI integrate gain time 3 CL current limit value For the best results use osciloscope for motor current measure see fig 7a or 7b Settings for osciloscope Fig 7a 0 1V div give 1A div lms div offset voltage 0 V Fig 7b 0 2V div give 1 6A div or 0 1V div give 0 8A div lms div offset voltage 1 58V To Motor To osciloscope To osciloscope R2 U26 14 100R BNC SGND OR
15. L parameter for change maximum allowed motor current 0 9 to 9 A VELOCITY REGULATOR ADJUSTMENT The velocity regulator has two parameters for adjustment 4 UP proportional gain 5 UI integrate gain time For the best results use osciloscope for motor velocity measure see fig 10a or 10b Settings for osciloscope for Fig 10a 0 5V div 20ms div offset voltage 0 V Fig 10b 0 1V div or 0 05V div 20ms div offset voltage 1 58V J8 To osciloscope R4 1 2 100R 3 BNC Tacho Connect to SGND and one of TG input TG or TG To osciloscope R3 U11 14 100R BNC SGND Fig 10a Measure motor velocity direct on TG Fig 10b Measure motor velocity on PCB Printed 30 03 2009 for TechnoCrane Europe Limited Page 8 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 For the best result use DC input in osciloscope AC can cheat shape on osciloscope Velocity regulator adjustment needs steps STEP 1 Setting MODE SWICH 2 in ON state for come in service mode STEP 2 Setting HEX SWITCH in 2 state current regulator parameters access STEP 3 Pushing for 1 second RST button key state are reading after reset system STEP 4 After boot from menu is possible to selection UP gt UI gt by JOY SWITCH LEFT RIGHT direction STEP 5 Selecting UP parameter by pressing JOY SWITCH the velocity ramp generator will turn o
16. V then displayed is correct warning lt Ur 45 gt and after 1 5s program continue work If dropout is more than 0 8V then displayed is error lt Er 45 gt turn off 5Ve PWM_ON high SD_CP low and stopped program Solution check Q2 R10 R11 F5 and external device connected to J4 Er 46 Motor Startup One or more motor encoder connections missing encoder 5 OE1 high connectio runtime If error then displayed lt Er 46 gt turn off 5Ve n fault PWM ON high SD CP low and stopped program Solution check encoder connections and EF5 EF10 R16 R17 R18 C22 C21 U4 check encoder Er 47 Centre Startup One or more centre encoder connections missing encoder OE2 high connectio runtime If error then displayed lt Er 47 gt turn off 5Ve n fault PWM ON high SD CP low and stopped program Solution check encoder connections and EF11 EF16 R19 R20 R21 C24 C23 U5 check encoder Er 48 Motor Startup Connections J2 7 or and J2 8 from motor encoder encoder missing AQA1 high connectio If error then displayed lt Er 48 gt turn off 5Ve n A A PWM ON high SD CP low and stopped program fault Solution check encoder connections and EF5 EF6 R16 U4 check encoder line A A Er 49 Motor Startup Connections J2 5 or and J2 6 from motor encoder encoder missing AQB1 high If error then connectio displayed lt Er 49 gt turn off 5Ve PWM ON n B B high SD CP low and stopped program fault Sol
17. ata 21 GENERAL CONSIDERATION ABOUT DISPLAYING een eren renes 21 POSSIBLE READOUTS IN SERVICE MODE 5 usaq ata entente entente nennen ennt enne Sia enne 21 POSSIBLE TESTS IN SERVICE MODE 7 s ueni eei UE EROR UT d UE deis 22 SETTINGS rate dado d aede rto redi e dt ro mre ead e e eder eren 22 n 23 ENCODER CABLE nasua a o tei edit dead 23 SAFE VOLTAGE POWER SUPPLY CABLE aaa qanqa a i aea tenete ener en rennen 24 PCB JUNCTIONS ARRANGE dn ette un oia 25 POWER SUPPLY WIRING DIAGRAM eset tite rana 28 Printed 30 03 2009 for TechnoCrane Europe Limited Page 2 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 1 GENERAL DESCRIPTION AHDSP2 is a Automatic Leveling System designed for camera cranes The main task for electronics is trace angle of the arm sensor incremental encoder calculating gear and driving motor to desired position sensor incremental encoder In addition used level inclinometer allow to automatic correction of level AHDSP2 have build in advanced self tests procedures for startup and run time diagnostics DESCRIPTION The AHDSP2v1 is a PCB which is a part of Automatic Leveling System The system contents AHDSP2 PCB enclosure with motor gear and inclinometer ref 10 006 Centre encoder yoke encoder ref 10 001 Encoder cable with plugs ref 10 002 Safe voltage cable power supply ref 10 0
18. ays displays displays displays displays displays displays current leg B value In some cases display incorect 3 3V power supply value 5 0V power supply value 12V power supply value 9V power supply value 9V power supply value 35Vpower supply value 5Ve output power supply value 5Vel output power supply value for motor encoder 5Ve2 output power supply value for centre encoder 5Ve3 output power supply value for inclinometer tachogenerator voltage value displays max Motor current value positiv displays max Motor current value negativ displays max Motor voltage value positiv displays max Motor voltage value negativ displays max Tachogenerator voltage value positiv displays max Tachogenerator voltage value negativ Button YES resets all max Values to zero POSSIBLE TESTS IN SERVICE MODE 7 Off On 5Ve turn off turn on Off On 9V turn off turn on 5E 9U Pl P2 P3 P4 Pd Off Off Off Off Off On 18 4 turn off turn on On 18 4 turn off turn on On 18 4 turn off turn on On 18 4 turn off turn on 18 4kHz square wave 18 4kHz square wave 18 4kHz square wave 18 4kHz square wave MSS A SL On turn off turn on L Off On rEd GrE turn off turn on red on green on Button YES for on off or on 18 4 off option button NO for 18 4 off SETTINGS In this chapter are written default eeprom fault and prefered values
19. displayed is error lt Er 36 gt PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R86 R87 R88 R89 C97 C98 U20 Er 37 Too high Ur 37 voltage on turned on 06 Startup In this stage the 07 is turned on for 2ms charging C48 trough D13 then after lms Q6 is turn on Measure MOTB trough filter is done after 2ms from turn on Q7 time Voltage of leg MOTB should have almost PS 35V because driver is turned on and Q6 is on If MOTB is lower than PS35V 0 3V then displayed is warning lt Ur 37 gt and after 1 5s program continue work If MOTB is lower than PS35V 0 6V then displayed is error lt Er 37 gt Q6 is turn off PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R90 R91 R92 R93 C99 C100 U20 Er 38 Incorrect Ur 38 motor leg MOTB voltage after turn off 06 Startup In this stage transistor 06 is turned off Voltage of leg MOTB should have approx PS 35V because driver is turned on all mosfets are off so divider R110 R111 make half PS 35V Leg MOTB voltage is measured after 2ms from turn off Q6 time If MOTB is lower than PS35V 2V or higher than PS35V 2V then displayed is
20. hen displayed is warning and Ur 06 correct runtime after 1 5s program continue work If ps 35V is Ur 07 lower than 26V lt Er 06 gt or higher than 43V lt Er 07 gt then displayed is error and stopped program Solution check ps 35V and 3 15V if ps Has correct value then check R116 R117 R118 C79 C80 U20 Er 08 PS 12V Startup If ps 12V is lower than 10V lt Ur 08 gt or higher Er 09 not i than 14V lt Ur 09 gt then displayed is warning and Ur 08 correct runtime after 1 5s program continue work If ps 12V is Ur 09 lower than 9V lt Er 08 gt or higher than 15V lt Er 09 gt then displayed is error and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check R107 R120 C89 Er 10 Temperatu Startup If voltage at U25 1 is lower than 0 7V 15 C Er 11 re value i lt Ur 10 gt or higher than 1 9V 45 C lt Ur 11 gt then Ur 10 from runtime displayed is warning and after 1 5s program Ur 11 sensor continue work If voltage at U25 1 is lower U24 not than 0 5V 25 C lt Er 10 gt or higher than correct 2 3V 65 C lt Er 11 gt then displayed is error and stopped program Solution check sensor U24 pin 1 GND pin 2 5V pin3 10mV Temp C 0 5V and 3 15V if sensor and ps Has correct value then check R127 C110 R128 R129 U25 Ur 12 Eeprom Startup If data from eeprom is impossible to read or Ur 13 data they are not correct then displayed is warning fault lt Ur 12 gt and after 1 5s program contin
21. lower than 9V Er 26 or higher than 15V Er 27 then displayed is error SD CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R90 R91 R92 R93 C99 C100 U20 Er 28 Incorrect Startup In this stage PWM ON low U19 2 3 3Vlogic Ur 28 motor leg reference SGND translated through U19 and MOTA optocoupler OC1 to 5V logic with reference to voltage GND voltage of leg MOTA should have approx after low PS 35V because driver is turned on all mosfets DIS are off so divider R108 R109 make half PS 35V HIP4081 If MOTA is lower than PS35V 2V or higher U9 than PS35V 2V then displayed is warning lt Ur 28 gt and after 1 5s program continue work If MOTA is lower than PS35V 4V or higher than gt PS35V 4V then displayed is error lt Er 28 gt PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 Q7 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R86 R87 R88 R89 C97 C98 U20 Printed 30 03 2009 for TechnoCrane Europe Limited Page 15 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 29 Incorrect Startup Ur 29 motor leg MOTB voltage after low DIS HIP4081 U9 In this stage PWM_ON low U19 2 3 3Vlogic reference SGND translated thr
22. lower than 6 5V lt Er 19 gt or higher than 12V lt Er 20 gt then is displayed error SD_CP low and stopped program Solution check ps 3 15V if ps Has correct value then check ps 9V too low voltage can be come from too high load check U26 or can be broken down capacitors C102 C103 C104 C105 C106 C107 or U23 If error appear then ps 9V has the same value as SGND then if dropout between SGND and ps 9V is too high more than 0 1V it can be broken down U23 or U26 Check R124 R125 U20 Er 21 Ur 21 Too high current la or too high offset after turn on power supply 9V Startup After positive test power measured Ia see step 14 If voltage at U25 7 is higher than ps 3 15V 20mV 1 60V then displayed is warning lt Ur 21 gt and after 1 5s program continue work If voltage at U25 7 is higher than ps 3 15V 40mV 1 62V lt Er 14 gt then displayed is error SD CP low and stopped program Solution check voltage at R41 should be less than few milivolts if is more then trouble can be in power transistors Q4 Q7 or driver U9 if current not flow through R41 then check U26 1 should be ps 3 15V 1 58Vif is more than 1 60V then trouble can be in U26 R131 R132 R133 R134 R135 or too high difference between SGND and GND check R150 other possibility is that the power supply of U26 is not correct if output U26 1 is correct then check R130 and U25 supply 9Vagain is E
23. n velocity 60rpm 10Hz STEP 6 Setting the best response of the velocity watching on the osciloscope by JOY SWITCH UP DOWN STEP 7 For saving parameter value press key YES NO for cancel STEP 8 In the same way adjustment UI parameter POSITION REGULATOR ADJUSTMENT The position regulator has one parameter for adjustment 6 PP proportional gain Position regulator adjustment needs steps STEP 1 Setting MODE SWICH 2 in ON state for come in service mode STEP 2 Setting HEX SWITCH in 3 state position regulator parameter access STEP 3 Pushing for 1 second RST button key state are reading after reset system STEP 4 After boot from menu is possible to selection only PP gt STEP 5 Selecting PP parameter by pressing JOY SWITCH the position ramp generator will turn on position 3 deg 2Hz STEP 6 Setting the best response of the positioning by JOY SWITCH UP DOWN STEP 7 For saving parameter value press key YES NO for cancel Printed 30 03 2009 for TechnoCrane Europe Limited Page 9 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 INCLINOMETER OFFSET ADJUSTMENT The inclinometer has two parameters for adjustment 7 OF inclinometer offset 8 In inclinometer on off Inclinometer offset adjustment needs steps STEP 1 Setting MODE SWICH 2 in ON state for come in service mode STEP 2 Setting HEX SWITCH in 4 state inclinometer off
24. nue work If voltage at U25 4 is higher than 4 ps 3 15V 40mV 1 62V lt Er 15 gt then displayed is error and stopped program Solution check voltage at R42 should be less than few milivolts if is more then trouble can be in power transistors O4 Q7 or driver U9 if current not flow through R42 then check U26 7 should be ps 3 15V 1 58Vif is more than 1 60V then trouble can be in U26 R137 R138 R139 R140 R141 or too high difference between SGND and GND check R150 other possibility is that the power supply of U26 is not correct at this stage should be ps 9V min 4 8V and ps 9V max 0 2V else check U23 if output U26 7 is correct then check R136 and U25 Er 16 Ur 16 Too high current Imot or too high offset Startup If voltage at U25 8 is higher than ps 3 15V 20mV 1 60V then displayed is warning lt Ur 16 gt and after 1 5s program continue work If voltage at U25 8 is higher than 4 ps 3 15V 40mV 1 62V lt Er 16 gt then displayed is error and stopped program Solution check voltage at R41 and at R42 should be less than few milivolts if is more then trouble can be in power transistors Q4 O7 or driver U9 if current not flow through R41 and R42 then check U26 14 should be ps 3 15V 1 58Vif is more than 1 60V then trouble can be in U26 R143 R144 R145 R146 R147 or too high difference between SGND and GND check R150 other possibility is that the power suppl
25. of parameters DEFAULT SETTINGS FOR F2107 CP CI CL VP VI PP 888888 2200 2200 7800 7500 5000 3000 PREFERED SETTINGS FOR F2107 CP 2200 CI 2200 CL 9000 VP 7500 VI 5000 PP 4500 Printed 30 03 2009 for TechnoCrane Europe Limited Page 22 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 DEFAULT SETTINGS FOR F2207 888888 CP CI CL VP VI PP 2200 2200 7800 3500 2500 3000 PREFERED SETTINGS FOR F2107 CP 2200 CI 2200 CL 9000 VP 3500 VI 2500 PP 4500 Printed 30 03 2009 for TechnoCrane Europe Limited Page 23 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 5 DIAGRAMS ENCODER CABLE LEMO 12 pole 1 brown pos A CONIN 5 green neg A CONIN 6 brown grren 5V CONIN 12 ashen pos B CONIN 8 pink neg B CONIN 1 screen screen CONIN 9 white green GND CONIN 10 red pos N CONIN 3 black neg N CONIN 4 10 white NC CONIN 11 11 violet alarm CONIN 7 12 blue SenseVcc CONIN 2 LEMO PLUG SOLDER SIDE CONIN 12 pole 1 pink 2 blue 3 red pos N Lemo 8 4 black neg N Lemo 9 5 6 7 violet alarm 8 ashen pos B Lemo 4 screen screen Lemo 6 neg B Lemo 5 SenseVcc Lemo 12 brown pos A Lemo 1 green neg A Lemo 2 Lemo 11 10 white green GND Lemo 7 11 white NC Lemo 10 12 brown
26. ough U19 and optocoupler OC1 to 5V logic with reference to GND voltage of leg MOTB should have approx PS 35V because driver is turned on all mosfets are off so divider R110 R111 make half PS 35V If MOTA is lower than PS35V 2V or higher than PS35V 2V then displayed is warning lt Ur 29 gt and after 1 5s program continue work If MOTA is lower than PS35V 4V or higher than PS35V 4V then displayed is error lt Er 29 gt PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R90 R91 R92 R93 c99 C100 U20 Er 30 Too high Startup Ur 30 voltage on turned on 05 In this stage only transistor Q5 is turned on Voltage on Q5 should be less than few milivolts but leg MOTA is measured trough filter so the max Allowed voltage is specified for measure after 2ms from turn on Q5 time If MOTA is higher than 0 3V then displayed is warning lt Ur 30 gt and after 1 5s program continue work If MOTA is higher than 0 6V then displayed is error lt Er 30 gt 05 is turned off PWM ON high SD CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R37 R38 R39 R40 D201 D202 D203 D204 R86 R87 R88 R89 C97
27. pulse width 50 Voltage of leg MOTB should have MOTB approx PS 35V because driver is turned on and voltage pulse width is 50 so after filtering MOTB after should half PS 35V turn on If MOTB is lower than PS35V 2V or higher PWM than PS35V 2V then displayed is warning lt Ur frequency 40 and after 1 5s program continue work If 18 43kHz MOTB is lower than PS35V 4V or higher than PS35V 4V then displayed is error Er 40 PWM ON high SD CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 Q7 driver U9 and D12 D13 C47 C48 R41 R42 R 90 R91 R92 R93 C99 C100 U20 Ur 41 Too high Startup If output 5 0V is higher than 3V in turn off 5Ve state then displayed is warning lt Ur 41 gt and output after 1 5s program continue work voltage Solution check Q2 R10 R11 U19 and external when Q2 devices connected to J2 J3 and J4 is turn off Er 42 Output Startup In this stage the 5e ON gets low U19 5 and Ur 42 5 0Ve n the 5Ve output is on Voltage 5Ve measure is not runtime done after 50ms correct If output 5Ve voltage value is less than ps 5V 0 5V then displayed is warning lt Ur 42 gt and after 1 5s program continue work If dropout is more than 0 8V then displayed is error lt Er 42 gt turn off 5Ve PWM ON high SD CP low and stopped program Solution check 02 R10 R11 U19 R14 R15 R65 EF3 EF4 EF18 C1
28. r 22 Ur 22 Too high current Ib or too high offset after turn on power supply 9V Startup After positive test power supply measured Ib see step 15 If voltage at U25 4 is higher than ps 3 15V 20mV 1 60V then displayed is warning lt Ur 22 gt and after 1 5s program continue work If voltage at U25 4 is higher than ps 3 15V 40mV 1 62V lt Er 22 gt then displayed is error SD CP low and stopped program Solution check voltage at R42 should be less than few milivolts if is more then trouble can be in power transistors 04 O7 or driver U9 if current not flow through R42 then check U26 7 should be ps 3 15V 1 58Vif is more than 1 60V then trouble can be in U26 R137 R138 R139 R140 R141 or too high difference between SGND and GND check R150 other possibility is that the power supply of U26 is not correct if output U26 7 is correct then check R136 and U25 9Vagain is Printed 30 03 2009 for TechnoCrane Europe Limited Page 14 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 23 Too high Startup After positive test power supply 9Vagain is Ur 23 current measured Imot see step 16 Imot or If voltage at U25 8 is higher than ps 3 15V too high 20mV 1 60V then displayed is warning lt Ur 23 gt offset and after 1 5s program continue work If voltage after at U25 8 is higher than 4 ps 3 15V 40mV turn on
29. s turned off PWM_ON high SD CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 07 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R37 R38 R39 R40 D201 D202 D203 D204 R90 R91 R92 R93 C99 C100 U20 Ur 33 Disconnec Startup ted motor In this stage transistor 07 is turned on Voltage on leg MOTA should be the same as MOTB if motor is connected If MOTA is higher than 0 6V then displayed is warning lt Ur 32 gt and after 1 5s program continue work Solution check motor connections J7 Motor connector Er 34 Incorrect Startup Ur 34 motor leg MOTB voltage after turn off 07 In this stage transistor 07 is turned off Voltage of leg MOTB should have approx PS 35V because driver is turned on all mosfets are off so divider R110 R111 make half PS 35V Leg MOTB voltage is measured after 2ms from turn off Q7 time If MOTB is lower than PS35V 2V or higher than PS35V 2V then displayed is warning lt Ur 34 gt and after 1 5s program continue work If MOTB is lower than PS35V 4V or higher than PS35V 4V then displayed is error lt Er 34 gt PWM_ON high SD_CP low and stopped program Solution check ps 12V and 3 15V if ps Has correct value then check power transistors Q4 Q7 driver U9 and D12 D13 C47 C48 R41 R42 R108 R109 R110 R111 R90 R91 R92 R93 C99 C100 U20
30. set parameter access STEP 3 Pushing for 1 second RST button key state are reading after reset system STEP 4 After boot from menu is possible to selection lt oF gt lt In gt STEP 5 Select oF parameter by pressing JOY SWITCH STEP 6 Setting level offset by JOY SWITCH UP DOWN STEP 7 For saving parameter value press key YES NO for cancel For turn off on inclinometer do steps 1 4 and then STEP 5 Select In parameter by pressing JOY SWITCH STEP 6 Set inclinometer on or off by JOY SWITCH UP DOWN STEP 7 For saving setting value press key YES NO for cancel Printed 30 03 2009 for TechnoCrane Europe Limited Page 10 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 4 DIAGNOSTICS AND TROUBLESHOOTING FUSE AND LED INDICATORS ON PCB LED indicators helps to find defect on PCB Arrange of fuse and LED is shown on fig 11 Es gO Motor enc 5V D10 gt e d x ii O beacadl Inclinometer 5V D16 D14 E PS3 15V e D100 w 5 ee HB e O m U Centre 5V 2 C D11 C HB H zZ gt z O is a ag O beses PS35V D3 w FUSE NANO 10Amp s Fig 11 Fuse and LED indicators arrange on PCB ERRORS AND WARNINGS LIST No What When Troubleshooting Er 01 3Verr high state Startup If 3Verr is in high state it means too low ps 3 15 reference voltage reall
31. ue work If trial of writing default value gets still fault then displayed is warning lt Ur 13 gt and after 1 5s program continue work Solution check eeprom Ul3 selector Ul4 and other SPI bus components Ul2 U27 Er 14 Too high Startup If voltage at U25 7 is higher than ps 3 15V Ur 14 current 20mV 1 60V then displayed is warning lt Ur 14 gt Ia or too and after 1 5s program continue work If voltage high at U25 7 is higher than ps 3 15V 40mV offset 1 62V lt Er 14 gt then displayed is error and stopped program Solution check voltage at R41 should be less than few milivolts if is more then trouble can be in power transistors O4 Q7 or driver U9 if current not flow through R41 then check U26 1 should be ps 3 15V 1 58Vif is more than 1 60V then trouble can be in U26 R131 R132 R133 R134 R135 or too high difference between SGND and GND check R150 other possibility is that the power supply of U26 is not correct at this stage should be ps 9V min 4 8V and ps 9V max 0 2V else check U23 if output U26 1 is correct then check R130 and U25 Printed 30 03 2009 for TechnoCrane Europe Limited Page 12 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 15 Ur 15 Too high current Ib or too high offset Startup If voltage at U25 4 is higher than ps 3 15V 20mV 1 60V then displayed is warning lt Ur 15 gt and after 1 5s program conti
32. uses has two letter parameter shortcut and max Four digits of value The negative value is displayed with all comma on after adequate comma eg lt 1 2 3 4 gt 1 234 lt 12 3 4 gt 12 34 If value is bigger than 9999 then is displayed with comma on end lt 9999 gt POSSIBLE READOUTS IN SERVICE MODE 5 lt CE gt displays centre encoder counter value lt ME gt displays motor encoder counter value lt In gt displays inclinometer voltage value lt Sd nor gt or lt Sd rEu gt direction switch state lt tE gt displays temperature value lt MA gt displays motor leg A voltage value refer to GND lt Mb gt displays motor leg B voltage value refer to GND lt MU gt displays motor voltage value lt MC gt displays motor current value lt CA gt displays current leg A value In some cases display incorect value Printed 30 03 2009 for TechnoCrane Europe Limited Page 21 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 lt Cb gt value lt A3 gt lt A5 gt A2 lt A9 gt lt AB gt lt PS gt lt 5E gt l1E lt 2E gt lt 3E gt ELA e lt M C gt e MC gt lt M U gt MU gt e lt t A gt e tA gt displays displays displays displays displays displ
33. ution check encoder connections and EF7 EF8 R17 U4 check encoder line B B Er 50 Centre Startup Connections J3 7 or and J3 8 from centre encoder encoder missing AQA2 high If error then connectio displayed lt Er 50 gt turn off 5Ve PWM ON n A A high SD CP low and stopped program fault Solution check encoder connections and EFll EF12 R19 U5 check encoder line A A Er 51 Centre Startup Connections J2 5 or and J2 6 from motor encoder encoder missing AQB2 high If error then connectio displayed lt Er 51 gt turn off 5Ve PWM ON n B B high SD CP low and stopped program fault Solution check encoder connections and EF13 EF14 R20 U5 check encoder line B B Printed 30 03 2009 for TechnoCrane Europe Limited Page 20 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 52 Motor Startup Connections J2 3 or and J2 4 from motor encoder encoder missing AQZ1 high If error then connectio displayed lt Er 52 gt turn off 5Ve PWM_ON n I I high SD CP low and stopped program fault Solution check encoder connections and EF9 EF10 R18 U4 check encoder line I I Er 53 Centre Startup Connections J3 3 or and J3 4 from centre encoder encoder missing AQZ2 high If error then connectio displayed lt Er 53 gt turn off 5Ve PWM ON n I I high SD CP low and stopped program fault Solution check encoder connections and EFl5 EF16 R21 U5 check encoder line I I Er
34. y of U26 is not correct at this stage should be ps 9V min 4 8V and ps 9V max 0 2V else check U23 if output U26 14 is correct then check R142 C200 and U25 Er 17 Er 18 Ur 17 Ur 18 PS 9V not correct Startup r runtime First is turned on SD_CP high signal U19 6 3 3V logic Ul9 translate to 5v logic to SD CP 5 U23 6 After 0 1s output of 9V is measured If ps 9V is lower than 8V lt Ur 17 gt or higher than 10V lt Ur 18 gt then displayed is warning and after 1 5s program continue work If ps 9V is lower than 7V lt Er 17 gt or higher than 12V Er 18 then is displayed error SD CP low and stopped program Solution check ps 3 15V if ps Has correct value then check ps 9V too low voltage can be come from too high load check U26 or can be broken down capacitors C102 C103 C104 C105 C106 C107 or U23 If error appear then ps 9V has the same value as ps 5V then if dropout between ps 5V and ps 9V is too high more than 0 1V it can be broken down U23 or U26 Check R122 R123 C108 Printed 30 03 2009 for TechnoCrane Europe Limited Page 13 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 19 Er 20 Ur 19 Ur 20 PS 9V not correct Startup r runtime If ps 9V is lower than 7 5V lt Ur 19 gt or higher than 10V lt Ur 20 gt then displayed is warning and after 1 5s program continue work If ps 9V is
35. y voltage dropout ps 3 3V ps 3 15V is high more than 0 5V that means if ps 3 3V has correct value then the reference ps 3 15V have less than 2 7V or if ps 3 15V has correct value then ps 3 3V has more than 3 65V Solution check ps 3 3V ps 3 15V if ps Has correct value then check 03 and R85 Er 02 Er 03 Ur 02 Ur 03 PS 3 3V not correct Startup runtime If ps 3 3V is lower than 3 2V lt Ur 02 gt or higher than 3 4V lt Ur 03 gt then displayed is warning and after 1 5s program continue work If ps 3 3V is lower than 3 1V lt Er 02 gt or higher than 3 5V Er 03 then displayed is error and stopped program Solution check ps 3 3V and 3 15V if ps Has correct value then check R106 R105 and C88 Er 04 Er 05 Ur 04 Ur 05 PS 5 0V not correct Startup r runtime If ps 5 0V is lower than 4 8V lt Ur 04 gt or higher than 5 2V lt Ur 05 gt then displayed is warning and after 1 5s program continue work If ps 5 0V is lower than 4 6V lt Er 04 gt or higher than 5 4V lt Er 05 gt then displayed is error and stopped program Solution check ps 5 0V and 3 15V if ps Has correct value then check R95 R96 and C83 Printed 30 03 2009 for TechnoCrane Europe Limited Page 11 30 AHDSP2v2 Service Manual date 11 05 2004 ver 2107 2207 Er 06 PS 35V Startup If ps 35V is lower than 30V lt Ur 06 gt or higher Er 07 not 7 than 40V lt Ur 07 gt t
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