KEBCO COMBIVERT F4-F User manual

BETRIEBSANLEITUNG Steuerteil
INSTRUCTION MANUAL Control Circuit
02/98
COMBIVERT
0F.F4.01B-K120
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
F4-F
Erst Betriebsanleitung Teil 1 lesen!
Read Instruction manual part 1 first!
STOP
ANTRIEBSTECHNIK
D
GB

Seite D 3……D 44
Page GB 3……GB 44
D
GB

GB 3
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Table of Contents
1. Operating Specifications......................................................GB 4
1.1 Application ....................................................................................GB 5
1.2 Moving or Rotating Parts .............................................................GB 5
1.3 High Operating Temperatures......................................................GB 5
1.4 Connection Instructions...............................................................GB 5
1.5 Operating Instructions .................................................................GB 6
1.6 Interference Protection of Electric Systems ..............................GB 7
1.7 Interference Protection of the Frequency Inverter ....................GB 7
2. Connection.............................................................................GB 8
2.1 Summary .......................................................................................GB 8
2.2 Terminal X2 ...................................................................................GB 9
2.3 Parameter Interface ....................................................................GB 11
2.4 Connection X4 Incremental Encoder ........................................GB 12
2.5 Connection X5 Option ................................................................GB 13
3. Operation of the Unit...........................................................GB 14
3.1 Keyboard .....................................................................................GB 14
3.2. Parameter Summary ...................................................................GB 15
4. Parameter Description........................................................GB 16
5. Drive-Mode............................................................................ GB 36
5.1 Adjustment Possibilities ............................................................GB 36
5.2 Condition .....................................................................................GB 36
5.3 Display and Keyboard ................................................................GB 36
5.4 Set Value Display / Set Value Presetting ...................................GB 36
5.5 Rotation Presetting.....................................................................GB 37
5.6 Start / Stop / RUN........................................................................GB 37
6. Error Diagnosis..................................................................... GB 38
7. Start-up ................................................................................. GB 40
8. Short Manual ......................................................................... GB 42
9. Password .............................................................................. GB 43

GB 4
GB
Information
Danger
Warning
Caution
Attention
This manual
– is valid for the frequency inverter KEB COMBIVERT F4-F
– must be made available to every user
Beforeworkingwiththisunityoumustfamiliarizeyourselfwith
it. Payspecialattentiontothesafetyandwarningguides.Make
sure to read ‘Technical Documentation Part 1’!
KEB COMBIVERT F4-F has very extensive programming options.
To make the operation and start-up simpler for the user, a special
operator level was created in which the most important parameters
are found. However, if the parameters pre-defined by KEB are not
sufficient for your application an application manual is available
for a small fee.
It includes: - Creating an individual operator level
- Listing and description of other parameters
The pictograms used in this manual mean:
Usedwhenthelifeorhealthoftheuserisexposedtodangerorwhen
considerable damage to property can occur.
Must be observed!
Special instructions for a safe and trouble-free operation.
Assistance, Tip
1. Operating Specifications

GB 5
ANTRIEBSTECHNIK
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ThefrequencyinverterKEBCOMBIVERTF4-Fisadrivecomponent,
which is intended for installation in electrical systems or machines.
The frequency inverter is exclusively for stepless speed control/
regulation of three-phase asynchronous motors. The operation of
other electrical consumers is not permitted and can lead to the
destruction of the unit.
1.1 Application
1.2 Moving or Rotating
Parts • Motor shaft • Feed axis and parts connected to it
Prior to any work on the machine (e.g. exchange
of tools), disconnect it and secure against
unintended restart!
Safelysecuremovementrangeofmachineduring
operation! Danger of injury!
1.3 High Operating
Temperatures
Motor housing and braking resistor can attain
very high temperatures! Danger of injury!
• Housing of the motor
• Braking resistors
°C
100
0
1. Operating Specifications
1.4 Connection Instructions A trouble-free and safe operation of the frequency inverter is only
guaranteedwhenthefollowingconnectioninstructionsareobserved.
When deviated from, malfunctions and damages may occur in
isolated cases.
- The frequency inverter KEB COMBIVERT is only designed for a
stationary connection.
- Do not interchange power cables and motor lines.
- Install control and power lines separately (min. 10 cm distance).

GB 6
GB
Theconnectionsontheterminalstripandencoder
inputs are safely isolated in accordance with
VDE 0100. The person who installs the system /
machine must make sure that the existing or
newlywiredcircuitmeetstheVDErequirements.
- Only connect control lines to switching elements and setting
devices (relay, switch, potentiometer), that are suitable for extra-
low voltages.
- Useshielded/twistedcontrollines.Connecttheshieldonlysingle-
sided to PE of the frequency inverter.
- Use shielded motor cables. Connect shield to the PE and
extensively connect to motor housing.
- Earth frequency inverter very well: star-shaped earthing, avoid
earth loops, shortest connection to main earthing terminal.
1. Operating Specifications
1.5 Operating Instructions
- Installanisolatingswitchbetweenthevoltagesupplyandinverter,
so that KEB COMBIVERT can shut off independently.
- Frequent switching between mains and inverter is not permitted!
- Switchingbetweenmotorandinverterduringoperationisprohibited!
- TheKEBCOMBIVERT istobeoperatedundersuitableconditions
(see Ambient Conditions in Part 2).
- Whenchangingtheprogrammingofafrequencyinverter(deviation
from factory setting) check it once more before start up. !Wrong
setting can lead to unintended behaviour of the drive!
- Shoulda malfunction oradefect occuronthe KEB COMBIVERT,
in spite of keeping to the connection and operating instructions, it
can lead to undefined operating conditions. Consequently the
actuation of software-type proctective measures like e.g. limit
switch,the correct performanceofa brake orthecorrectreaction
to setpoint value settings is not guaranteed.
- Theprotectionofaplantonlythroughsoftwareprotectivefunctions
is not sufficient, it is absolutety necessary to install external
protective measures that are independent from the KEB
COMBIVERT.
To avoid damages to the inverter as well as
material damages and injuries to persons,
oberserve the following instructions:

GB 7
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Thecontrolandpowerinputsofthefrequencyinverter
are protected against interferences.
For more operational reliability and additional
protection against malfunctions following these
measures:
1.7 InterferenceProtectionof
the Frequency Inverter
– Use of mains filter, when the mains voltage is affected by the
connection of large consumers (reactive-power compensation
equipment, HF-furnaces etc.)
– Protectivewiringofinductiveconsumers(solenoidvalves,relays,
electromagnets) with RC elements or similar devices to absorb
the energy released when the unit is switched off.
– Install wires, as described in the connection directions, to avoid
inductive and capacitive coupling of interference pulses.
Paired-twistedcablesprotectagainstinductiveparasiticvoltages,
shielding provides protection against capacitive parasitic
voltages.Optimalprotectionisachievedwithtwistedandshielded
cables when signal and power lines are installed separately.
1.6 Interference Protection
of Electric Systems The frequency inverter KEB COMBIVERT transmits waves of high frequency. To reduce arising interference pulses, that may effect
electric systems in the vicinity of the frequency inverter, do the
following:
– Install the frequency inverter in metal housing.
– Shield motor cables.
The shield must be connected to PE of the frequency inverter
and to the housing of the motor (connect extensive shield). The
shielding shall not be used as protective earthing. Only an
uninterrupted shield beginning as close as possible to the
frequency inverter or motor ensures a safe function of the
shielding.
– Good earthing (metal-powder tape or 10 mm2earth lead)
– Use radio interference suppression filters.
1. Operating Specifications

GB 8
GB
START
STOP
ENTER
F/R FUNC.
SPEED
START
STOP
ENTER
F/R FUNC.
SPEED
2.1 Summary
Housing Sizes
D - E
2. Connection
Optional Operator
with 9-pole Sub-D Socket
Parameter Interface
see page GB 11
X4
15-pole Sub-D Socket
connection
Incremental Encoder
X5
9-pole Sub-D Socket
OPTION
X2
Terminal
connection
Control Terminal
Housing Sizes
G - L
X4
15-pole Sub-D Socket
connection
Incremental Encoder
X5
9-pole Sub-D Socket
OPTION
X2
Terminal
connection
Control Terminals
Optional Operator
with 9-pole Sub-D Socket
Parameter Interface
see page GB 11
Observe the ma-
ximal width of
connectorsforX4
andX5.
Observe the ma-
ximal width of
connectorsforX4
andX5.

GB 9
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........
2.2. Terminal X2
digital output signal 2
see also parameter CP.22
digital output signal 1
see also parameter CP.21
Input for external fault stopping mode
see also parameter CP.15
Input for jogging speed reverse
see also parameter CP.11
2. Connection
Input for jogging speed forward
see also parameter CP.11
internal
voltagesupply
1234567891011 23
ST RST F R I1 I2 I3 D1 D2 Uout 0 V Ext.
Volt.
PNP-Logic
The earth-fault terminal is
found in the power circuit!
(see instruction manual
part 2).
Isolation between terminals for digital
signals(X2.1-X2.11,X2.23)andterminals
for analog signals (X2.12 - X2.19).
Digital In- / Outputs
Software limit switch forward / *1
forward direction of rotation
Software limit switch forward / *1
reverse direction of rotation
Terminal Name Function
1 ST Control release Digital Inputs
2 RST Reset Noise immunity: 2 kV
3 F logic 1: ± 12…30 V
4 R Interal input resistor: approx. 2,7 kΩ
5 I1 PNP-Logic
6 I2 * The function must be activated with CP.35.
If the unit is defective there is no guarantee
7 I3 that the software protective function will work.
8 D1 programmable PNP - transistor outputs
9 D2 14...30V / max. 20 mA (per Output)
10 Uout + 18 V Voltage output
11 0 V Mass for Uout und digital I/Os
23 Ext. Volt. External power supply of control card + 24 (+/- 25%) external voltage input
Ground:0V(terminalX2.11)
(dependentonpowercircuit/
refer to Instruction Manual Part 2)
Voltage supply supplied from the inverter for digital
inputsandoutputs
Uout:14...30V(dependingonpowercircuitandload)
Iout:max. 60 mA

GB 10
GB
Terminal Name Function
12 CRF +10 V reference voltage +10V (+/- 3%) ; max. 4 mA
13 COM Mass for analog I/Os
14 REF 1 + analog setpoint input differential voltage input
- 10 V… + 10 V / resolution: +/- 11 Bit
15 REF 1 – see also parameter CP.16 + CP.17 Ri = 24 kΩ / 40 kΩ(see wiring diagram)
16 REF 2 + programmable analog input smoothing time: 1 ms
17 REF 2 – see also parameter CP.36 deceleration time: 1...3 ms
18 A1 -10V…+10V / resolution: +/- 9 Bit Ri = 100 Ω
conditionally short-circuit proof ( <1 min )
19 A2
20 RLA Output relay:
21 RLB RLA / RLC : standard operating state 30 VDC / 1 A
22 RLC RLB / RLC : POWER OFF / fault
12 13 14 15 16 17 18 19
CRF COM REF1 REF1 REF2 REF2 A1 A2
+–+–
-10V…+10V
setpoint
source
e.g.: PLC
-10V…+10V
programm-
able analog
input
(CP.36 !)
1)
Analog Inputs / Outputs
Ouput of the actual speed
see also parameter CP.20
programmable analog output
see also parameter CP.18 + CP.19
20 21 22
RLA RLB RLC
Output Relay
2.2. Terminal X2
Ri = 40 kΩ(REF1 / REF2)
real differential input
1) differential input with internal ground (COM)
Ri = 24 kΩ(REF1 / REF2)
Isolationbetweenterminalsfordigital signals(X2.1
- X2.11, X2.23) and terminals for analog signals
(X2.12 - X2.19).
2. Connection
Lies on the same potential as the supply voltage
for incremental encoder ( sub-D-socket X4 )

GB 11
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An operator is a necessary accessory for local operation of the
inverter COMBIVERT F4. To prevent maloperation, the inverter
must be brought into the nOp status (control release terminal X2.1)
before it is connected/disconnected.
The operator is available in several versions:
Digital-Operator
Part No. 00.F4.010-2009
Operator Panel
Operation/errordisplay
Normal: LED on
Error: LED blinks
5-digit LED display
RS232/RS485
PE-Connection
Information about other operators available from KEB!
PIN RS485 Signal Description
1 – – reserved
2 – TxD transmission data / RS232
3 – RxD receiving data / RS232
4 A' RxD-A receiving data A / RS485
5 B' RxD-B receiving data B / RS485
6 – VP supply voltage plus +5V (Imax=10 mA)
7 C/C' DGND Data ground
8 A TxD-A transmission data A / RS485
9 B TxD-B transmission data B / RS485
12345
6789
Interface-Operator
Part No. 00.F4.010-1009
An isolated interface RS232/RS485 is additionally integrated into
the Interface Operator.
2.3. Parameter Interface
Operator
only optional
2. Connection

GB 12
GB
2.4 Connection X4
Incremental Encoder
2. Connection
The incremental encoder of the motor is connected onto the 15-pole
sub-D-socket.
Signal PIN-No.
+14...+18 V 1) 11
~ +5,2 V 12
GND 13
A + 8
A - 3
B + 9
B - 4
N + 15
N - 14
shield housing
54321
987
6
15 14 13 12 11
10
Theplug mayonlybeconnected/disconnected when
the inverter and supply voltage are disconnected!
Input Wiring
A +
B +
A -
B -
ca.
150 Ω
The14...18 V supplyvoltage(PIN 11)at
X4 can be loaded with maximal 85 mA.
Alternatively the +5,2 V supply voltage
can be loaded with 250 mA.
1) dependentonpowercircuit
Encoder Specifications: 1- Encoder voltage: ~ 5,2 V
2- Encoder line number:256 - 10000Inc.(recommended: 2500 Inc.
for applications with a maximum speed <
4500 rpm)
cut-off frequency of the Interface: 200 kHz
Observe cut-off frequency of the encoder:
increments • nmax
flimit > ————————— Hz
60

GB 13
ANTRIEBSTECHNIK
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2.5 Connection X4
Option The 9-pole sub-D-socket is used for options. For Connection and Startup see Application Manual!
12345
6789
Signal PIN-No.
- dependent on the option -
2. Connection
3- Output signals:
2...5 V
0 V
U0 + 0,5 V (+/-20 %)
U0 - 0,5 V (+/-20 %)
U0 ⇒ca. 2,5 V
B+
B-
A+
A-
B+
B-
A+
A-
3.1- Rectangular Twosquare-wavepulsesthatareelectricallyby90°
Signal out of phase and their inverse signals (TTL-push-
pull signals / RS422-conform)
3.2- sinusoidal Twosquare-wavepulsesthatareelectricallyby90°
1 Vss-signals out of phase and their inverse signals
4- linelength: At maximum the encoder line may be so long
thatthesumofthe voltagedropontheencoder
line andthemin.encodersupplyvoltageisless
than +5,2 V.
[ (IEncoder • RLine) + UEncoder (min) ] < +5,2 V

GB 14
GB
WhenKEBCOMBIVERTF4isstarted,thevalueofparameterCP.1
is displayed (actual speed display).
STOP
START
3.1 Keyboard
STOP
START
FUNC.
SPEED
•
•
•
Error
FUNC.
SPEED
ENTER
F/R
ENTER
F/R
If a disturbance occurs during operation, the actual display is
overwrittenwiththeerrormessage. Press ENTER toresettheerror
message.
UsetheENTERkeytoresettheerrormessageintheactualdisplay.
In the status display (CP.2) the error will still be shown.
To reset the error yourself, remove the cause of the error and do a
reset on terminal X2.2, or a power-on-reset.
The adjusted value is not immediately accepted in the ENTER
parameters. When this type of parameter is changed, a point
appears behind the last digit. The adjusted parameter is accepted
and permanently stored when ENTER is pressed (Point deleted).
With UP ( ) and
DOWN () the
parameter number,
or with changeable
parameters,the
value is increased/
decreased.
Usethefunction-key
to change between
parameter value and
parameter number.
3. Operation

ANTRIEBSTECHNIK
GB 15
GB
Parameter Parameter Describtion Adjustment Resolution Factory Setting
Number Range
CP.0 Password Input 0…9999 1 –
CP.1 Actual speed display 1) – 0,5 rpm –
CP.2 Status display – – –
CP.3 Apparent motor current 1) – 0,1 A –
CP.4 Max. apparent motor current 1) – 0,1 A –
CP.5 Actual torque display 1) – 0,1 Nm –
CP.6 Speed reference display 1) – 0,5 rpm –
CP.7 Acceleration time 0…320 s 0,01 s 2,0 s
CP.8 Deceleration time 0…320 s 0,01 s 2,0 s
CP.9 Torque limit 2) 0…5 x MNNm 0,1 Nm dependent on size
CP.10 Maximum setpoint speed 0…6000 rpm 0,5 rpm 2100 rpm
CP.11 Jogging speed 0…6000 rpm 0,5 rpm 100 rpm
CP.12 P-factor speed controller 0…65535 1 400
CP.13 I-factor speed controller 0…65535 1 200
CP.14 Encoder 1 (inc/r) 256…10000 1 2500
CP.15 Behaviour at external fault 0…6 1 0
CP.16 Offset REF 1 -100…+100 % 0,1 % 0 %
CP.17 Zero point hysteresis REF 1 0…10 % 0,1 % 0,2 %
CP.18 Function output A1 0…6 1 1
CP.19 Gain output A1 -20…+20 0,01 1
CP.20 Gain output A2 -20…+20 0,01 1
CP.21 Output condition D1 0…20 1 20
CP.22 Output condition D2 0…20 1 18
CP.23 Torque level D1 1) 0…50 Nm 0,1 Nm 0 Nm
CP.24 Speed level D2 1) 0…9999,5 rpm 0,5 rpm 0 rpm
CP.25 Rated motor power 2) 0,01...75 kW 0,01 kW dependent on size
CP.26 Rated motor speed 2) 100...6000 rpm 1 rpm dependent on size
CP.27 Rated motor current 2) 0,1...50 A 0,1 A dependent on size
CP.28 Rated motor frequency 20...300 Hz 1 Hz dependent on size
CP.29 Rated motor cos (Phi) 2) 0,05...1 0,01 dependent on size
CP.30 Rated motor voltage 100...400 V 1 V 400 V
CP.31 Load motor dependent parameter 0...2 1 0
CP.32 Speed control on/off 0...1 1 0
CP.33 Boost 0...25 % 0,1 % 2 %
CP.34 Change encoder 1 rotation 0...1 1 0
CP.35 Reaction to limit switch 0...6 1 6
CP.36 Aux function 0...5 1 0
3. Operation
3.2. Parameter Summary
1) Resolution means the program internal resolution of parameters.
The accuracy of the detection / calculation of the parameter values may be worse than the resolution.
2) See table for parameter values that are dependent on the size (page GB 35)!
Due to the calculation / measuring accuracies, tolerances with the current and torque displays as well as with
the switching levels and limitations, must be taken into consideration. The given tolerances (see parameter
description) refer to the respective maximum values with the dimensioning KEB COMBIVERT: Motor = 1:1.
Dependent on the data from the motor manufacturer, larger tolerances at the torque displays are
possible, due to the usual variations in the machine parameters and temperature drifts.

GB 16
GB
4. Parameter Description
The inverters are delivered from the factory without password
protection, i.e. all changeable parameters can be altered. After
parameterization the unit can be barred against unauthorized
access. The adjusted mode is stored.
The passwords are found on page GB 43 !
STOP
START
ENTER
F/R
START
FUNC.
SPEED
Parameter
locked
Parameter
enabled
Password
1)
1) Wrong password !
Repeat entry.
START
Enabling CP-Parameters
Parameter
locked
Password
1)
STOP
Parameter
enabled
1) Wrong password !
Repeat entry.
Password Input
ENTER
F/R
START
FUNC.
SPEED
Locking CP-Parameters

ANTRIEBSTECHNIK
GB 17
GB
Direction Actual Resolution
Display of Rotation Motor Speed of Display
"forward" 1837,5 rpm 0,5 rpm
"reverse" 1837,0 rpm 1 rpm
or
1837,5 rpm
Display of the actual motor speed (incremental encoder).
For a correct display value, observe the adjustment of encoder 1
(inc/r) (CP.14) and the change encoder 1 rotation (CP.34) of the
incremental encoder!
Example:
4. Parameter Description
Actual Speed Display
Status Display
Shows the actual operating state of the inverter. Possible displays
and their meaning:
no Operation
Forward
Acceleration
Forward
deceleration
reverse
Acceleration
reverse
deceleration
Forward
constant
reverse
constant
– Control release (terminal X2.1) not activated
– Modulation off
– Output voltage = 0 V/drive uncontrolled
– Drive accelerates forward
– Drive decelerates forward
– Drive accelerates in reverse
– Drive decelerates in reverse
– Drive runs with constant speed and forward
– Drive runs with constant speed and reverse
(Theinternalresolution
ofthespeedis0.5rpm)

GB 18
GB
A
b
n
o
r
m
a
l
S
t
o
p
p
i
n
g
Base-Block
Time
external
fault
Prohibited
rotation
forward
Prohibited
rotation
reverse
– TheBase-Block-Time(motorsuppressiontime)
runs out. The power transistors are locked.
– The external fault is triggered (terminal X2.7).
The drive's response to external errors is
adjusted in parameter CP.15.
– Rotation release on terminal X2.3 is missing:
Drive does not start with positive setpoint and/
or decelerates until standstill.
See also parameter CP.35
– Rotation release on terminal X2.4 missing:
Drive does not start with negative setpoint and/
or decelerates until standstill.
See also parameter CP.35
Displays the actual apparent current in ampere.
Resolution: 0,1 A
max. tolerance: approx. ±10 %
Apparent Motor Current
Displays the maximum apparent motor current, which is measured
during operation. The display is in ampere.
During operation, using UP ( ) or DOWN ( ) you can reset the
peakvalue.ThepeakvalueisdeletedwhentheunitisPOWEROFF.
Resolution: 0,1 A
max. tolerance: approx. ±10 %
Max. Apparent Motor Current
Actual Torque Display
Displays the actual torque in newtonmeter.
Resolution: 0,1 Nm
max. tolerance: approx. ±30 % in base speed range
(In the field weakening range larger tolerances are possible.
also see reference on page GB 15)
During open-loop operation (CP.32 = 0) value 0 is always shown.
4. Parameter Description

ANTRIEBSTECHNIK
GB 19
GB
Speed Reference Display
Displays the speed reference at the output of the ramp generator in
rpm.
Whenthemodulationisswitchedoffthesetpoint0rpmisdisplayed.
Resolution: 0,5 rpm
positive speed: direction of rotation "forward"
negative speed: direction of rotation "reverse"
Defines the time needed to accelerate from 0 to 1000 rpm. The
actual acceleration time is proportional to the speed change (∆n).
Adjustment Range: 0…320 s
Resolution: 0,01 s
Factory setting: 2,0 s
∆n speed change
∆t acceleration time for ∆n
Acceleration Time
∆t
CP.7 = x 1000 rpm
∆n
Example:
The drive should accelerate from 300 rpm to 800 rpm in 1 s.
∆∆
∆∆
∆n = 800 rpm - 300 rpm = 500 rpm
∆∆
∆∆
∆t =1 s
∆t1s
CP.7 = x 1000 rpm = x 1000 rpm = 2 s
∆n 500 rpm
t [s]
CP.7
n [rpm]
1000
800
300
00,5 1 1,5 2
∆t
∆n
acceleration time
Set Speed
displayed
Analog Setpoint Input
t [s]
n
[rpm]
4. Parameter Description

GB 20
GB
Defines the time needed to decelerate from 1000 to 0 rpm. The
actual deceleration time is proportional to the speed change (∆n).
Adjustment Range: 0…320 s
Resolution: 0,01 s
Factory setting: 2,0 s
Deceleration Time
∆n speed change
∆t deceleration for ∆n
∆t
CP.8 = x 1000 rpm
∆n
Example:
The drive should decelerate from 800 rpm to 300 rpm in 1 s.
∆∆
∆∆
∆n = 800 rpm - 300 rpm = 500 rpm
∆∆
∆∆
∆t =1 s
∆t1s
CP.8 = x 1000 rpm = x 1000 rpm = 2 s
∆n 500 rpm
t [s]
CP.8
n [rpm]
1000
800
300
00,5 1 1,5 2
∆t
∆n
Torque Limit
Adjuststhemaximumpermissibletorqueofthedrive.Theparameter
can be influenced by the analog torque limitation. During open-
loop operation (CP.32 = 0) this parameter has no function.
A djustment Range:0…5 x M
N
Nm
Resolution: 0,1 Nm
Factory setting: dependent on size
max. tolerance: approx. ±20 % in base speed range
(In the field weakening range larger tolerances are possible.
also see reference on page GB 15)
Analog Limiting
Terminals X2.16 / X2.17
! only when CP.36 = 5 !
CP.9
+100
M [Nm]
U [V]
(REF 2)
4. Parameter Description