Omron SMARTSTEP SERVO DRIVE Quick guide

153SmartStep servo drive
R7D-AP@
SmartStep servo drive
A new concept in servo systems
the smart alternative to stepper motors
• Easy to setup, easy to operate. SmartStep is as
easy to use as a stepper motor
• Front-panel switches make settings easy and
eliminate the need for time-consuming parameter
settings
• Auto-tuning on-line mode, dynamic brake setting,
alarm display, high torque performance
• Easy to wire with prebuilt cables
• Oscilloscope available via CX-Drive software
(CX-One)
• Windows based configuration and commissioning
software
Ratings
• 230 VAC single-phase 30 W to 750 W (2.39 Nm)
System configuration
SmartStep
Servo Drive
SmartStep
Servo Motor
(Refer to chapter SmartStep servo motors)
Connector terminal block
General purpose controller
(with pulse output)
Position control
unit
Personal computer
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154 AC servo systems
General specifications
Performance specifications
I/O specifications
Terminal specifications
Servo motor supported
Servo motor
Family Voltage Models rated torque Remarks
R7M-A (3000 min-1) 230 V 0.095 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details
R7M-AP(3000 min-1) 230 V 0.318 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for details
Servo drive specifications
Item Specification
Ambient operating temperature 0 to 55 °C
Ambient operating humidity 90% max. (with no condensation)
Ambient storage temperature -20 to 85 °C
Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or acceleration of 4.9 m/s2max.,
whichever is smaller
Impact resistance Acceleration 19.6 m/s2max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 0.5 MΩmin. (at 500 VDC)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and case: 500 VAC for 1 min
Protective structure Built into panel (IP10).
International standards Approval obtained for UL, cUL, and EN (EMC directiveand low-voltage directive)
Item 200 VAC input type
30 W 50 W 100 W 200 W 400 W 750 W
R7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H
Continuous output current (rms) 0.42 0.6 0.89 2.0 2.6 4.4
Momentary maximum output current (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Control power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
Main-circuit power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz
(three-phase 200/230 VAC can be used with the 750 W model.)
Control method All-digital servo
Speed feedback 2,000 pulses/revolution incremental encoder
Inverter method PWM method based on IGBT
PWM frequency 11.7 kHz
Weight 0.8 0.8 0.8 0.8 1.1 1.7
Compatible motor voltage 200 V
Compatible motor capacity 30 W 50 W 100 W 200 W 400 W 750 W
Command pulse response 250 kHz
Applicable servo motor
(R7M-) A03030 A05030 A10030 AP10030 A20030 AP20030 A40030 AP40030 A75030 AP75030
Symbol Name Function
L1 and L2
or
L1, L2, and L3
Main-circuit power supply
terminals These are the input terminals for the main-circuit power supply.
DC reactor terminals Normally short-circuit between +1 and +2.
If harmonic control measures are required, connect a DC reactor between +1 and +2.
Main-circuit DC output Do not connect anything to this terminal.
L1C Control circuit power
supply terminals These are the input terminals for the control power supply.
L2C
B1 and B2 or
B1, B2, and B3 External regeneration resistance terminals Connect an external regeneration resistor to these terminals if the regenerative capacity of the internal capacitor is exceeded. (An external regeneration resistor cannot be connected to the 30 to 200 W models.)
U Servo motor
terminals Red These are the terminals for outputs to the servo motor.
V White
WBlue
Frame ground This is the ground terminal.
+
1
+2
−
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SmartStep servo drive 155
Control I/O (CN1) specifications
Encoder connector (CN2) specifications
Communications connector (CN3) specifications
Monitor output (CN4) specifications
Pin Symbol Name Function
1 +PULS/CW/A Feed pulses, reverse pulses,
or 90°phase difference pulses (A phase) Line-driver input: 7 mA at 3 V Open-collector input
Input impedance: 200 Ω
Maximum response frequency: 250 kpps
Position control is performed based on the pulses that have been input.
2−PULS/CW/A
3 +SIGN/CCW/B Direction signal, forward pulses,
or 90°phase difference pulses (B phase)
4−SIGN/CCW/B
5 +ECRST Deviation counter reset Line-driver input: 7 mA at 3 V
Open-collector input: 16 mA at 5 V
Input impedance: 200 Ω
ON: resets deviation counter.
6−ECRST
7 BKIR Brake interlock output Outputs holding brake timing signals.
8 INP Positioning completed output ON when the position error is within the positioning completed range.
10 OGND Output ground common Ground common for output signals (pins 7 and 8).
13 +24V +24 VDC power input for control Power supply input (+24 VDC) for pins 14 and 18.
14 RUN RUN command input ON: servo ON (starts power to servo motor)
18 RESET Alarm reset input ON: servo alarm status is reset.
19 GND RS-422A ground Ground for RS-422A
20 RXD+ RS-422A reception data Interface for RS-422A data transfers
21 RXD−
22 TXD+ RS-422A transmission data
23 TXD−
24 RT Termination resistance terminal Connect to RXD- (pin 21) in the unit at the end of the line.
32 Z Encoder phase-Z open-collector output Output goes ON when the encoder’s phase-Z signal (1 pulse/revolution)
is detected.
Open-collector output: 20 mA max. at 30 VDC
33 ZCOM
34 ALM Alarm output Output goes OFF when alarm is detected.
Open-collector output: 50 mA max. at 30 VDC
35 ALMCOM
Shell FG Cable shield ground Ground for cable's shield wire.
Pin Symbol Name Function
1, 2, 3 E0V Encoder power supply GND Power supply output for encoder
4, 5, 6 E5V Encoder power supply +5 V
8 S+ Encoder + phase-S input Line driver input (conforms to EIA-RS422A)
(Input impedance: 220 Ω±5%)
9S−Encoder −phase-S input
10 A+ Encoder + phase-A input Line driver input (conforms to EIA-RS422A)
(Input impedance: 220 Ω±5%)
11 A−Encoder −phase-A input
12 B+ Encoder + phase-B input Line driver input (conforms to EIA-RS422A)
(Input impedance: 220 Ω±5%)
13 B−Encoder −phase-B input
Shell FG Cable shield ground Ground for cable's shield wire.
Pin Symbol Name Function
1 /TXD Transmission data Transmission data: RS-232C output
Reception data: RS-232C input
2 /RXD Reception data
3 PRMU Unit switching Switching terminal for a parameter unit
7 +5V +5 V output This is the +5 V power supply output to the parameter unit.
8 GND Ground
Shell FG Cable shield ground Ground for cable's shield wire.
Pin Symbol Name Function
1 NM Speed monitor Speed monitor output: 1 V per 1,000 r/min
2 AM Current monitor Current monitor: 1 V / rated torque
3 GND Ground Grounds for monitor output
4 GND Ground
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156 AC servo systems
General specifications
Function specifications
Mode change specifications
Digital operator specifications
Item Specification
Ambient operating temperature 0 to 55 °C
Ambient operating humidity 90% max. (with no condensation)
Ambient storage temperature -20 to 85 °C
Ambient storage humidity 90% max. (with no condensation)
Storage/operating atmosphere No corrosive gases.
Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or
acceleration of 9.8 m/s2max., whichever is smaller
Impact resistance Acceleration 19.6 m/s2max., in X, Y, and Z directions, three times
Item Function
Setting mode Display or change parameter settings.
Monitor mode Display monitor values.
Execute function mode Execute each function mode.
Display alarms Display alarms that have occurred.
Copy parameters Read or save parameters from the servo drive.
Write parameters to the servo drive.
Compare parameters in the servo drive with parameters in the
parameter unit.
SCROLL
SCROLL
MODE/SET
MODE/SET
DATA
DATA
RESET
JOG
JOG
RUN
RUN
DRIVER
DRIVERޓ


PR
PR
PR
PRޓ


DRIVER
DRIVER
READ
READ
WRITE
WRITE
R7A–PR02A PARAMETER UNIT
B.B
B.B
INP
INP
VCMP
VCMP
TGON
TGON
REF
REF
POWER
POWER
R7A-PR02A
Un000 = 3000r/min
Un002 = 40%
Un008 = 00100pulse
Un00D = 10000000
-PRM/MON-
BB BB
BB BB
BB BB
A. 70 A. 70
Fn000
Fn001
Fn002
Fn003
-FUNCTION-
Pn000 = 0000
Un002 = 40%
Un008 = 00100pulse
Un00D = 10000000
-PRM/MON-
MODE/SET
MODE/SET
MODE/SET
1: DRIVER→PR
2: PR→DRIVER
3: Verify
4: LIST
-COPY-
1: A.00
2: A.02
3: A.10
4: A.71
-ALARM-
1: DRIVER→PR
2: PR→DRIVER
3: Verify
4: LIST
-COPY-
Fn001
Fn002
Fn003
Fn005
-FUNCTION-
2: A.02
3: A.10
4: A.71
5: A.72
-ALARM-
Power ON
Parameter/monitor mode
Function mode
Copy parameters mode
Display alarms mode
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SmartStep servo drive 157
Components
Switch operations
Gain adjustment switch
Adjusts the motor’s responsiveness.
When this switch is set to 0, the unit will operate according to the set-
tings in the internal parameters (Pn100, Pn101, Pn102, and Pn401).
When this switch is set to 1 through F, the unit will operate according to
the rotary switch’s setting.
Decrease the switch setting to lower the motor’s responsiveness
(i.e., so that it moves more smoothly).
Increase the switch setting to raise the motor’s responsiveness
(i.e., so that it moves faster).
Operation
Unit number switch
Gain adjustment switch
DIP switch
Autotuning switch
•Resolution setting
•Command pulse input setting
•Dynamic brake setting
Alarm indicator
Monitor output connector (CN4)
Power indicator
Control I/O connector (CN1)
Communications connector (CN3)
Encoder input connector (CN2)
Charge indicator
Control-circuit power terminals
Main-circuit power terminals
External regeneration
Resistor terminals
DC reactor terminals
Servo motor power terminals
Ground terminals for
power supply and
servo motor power
0
F1
2
Setting Position loop
gain Speed loop gain Speed loop integral
constant
Torque
command filter
time constant
0 Enables parameter settings
(including settings other than gain settings).
1 15 15 4,000 250
2 20 20 3,500 200
3 30 30 3,000 150
4 40 40 2,000 100
560601,50070
685851,00050
7 120 120 800 30
8 160 160 600 20
9 200 200 500 15
A 250 250 400 10
B 250 250 400 10
C 250 250 400 10
D 250 250 400 10
E 250 250 400 10
F 250 250 400 10
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158 AC servo systems
Enable switch/parameter setting
Pin 6 of the DIP switch selects whether the servo drive operates according to the
DIP switch settings or parameter settings.
Online autotuning setting
The autotuning switch selects whether the gain will be adjusted auto-
matically during operation.
Resolution setting
Pins 4 and 5 select the positioning resolution.
If the resolution is set to 1,000 (the default setting), the motor makes
one revolution for every 1,000 pulses input.
Command pulse input setting
Pin 3 selects the command pulse mode. Select “Forward pulse/reverse
pulse: positive logic” or “feed pulses/direction signal: positive logic.”
Dynamic brake setting
Pin 2 enables or disables dynamic brake operation. If the dynamic brake is ena-
bled, the motor can be brought to an emergency stop when the RUN command
goes OFF or an alarm occurs.
Alarm Table
Note: 1. These parameters are read when the power is turned
ON. Parameter Pn110.2 is valid when online. 2. When using a regeneration resistor, set the resistor’s capacity when the temperature has risen to 120 °C.
Set this parameter to 0 if a regeneration resistor is not
being used.
Pin 6 Function
OFF Enables the DIP switch settings.
ON Enables the parameter settings.
Pins Resolution
5 4
OFF OFF 1,000 pulses/revolution
(0.36°/step)
OFF ON 10,000 pulses/revolution
(0.036°/step)
ON OFF 500 pulses/revolution
(0.72°/step)
ON ON 5,000 pulses/revolution
(0.072°/step)
(Default setting)
6
5
4
3
2
1
ON OFF
1
1
ON OFF
ON OFF
Perform online autotuning.
Complete online autotuning.
The result is stored in the inertia ratio
parameter (Pn103) and the servo drive
runs.
6
5
4
3
2
1
ON OFF
(Default setting)
Pin 3 Command pulse mode
OFF Forward pulse/reverse pulse:
positive logic
ON Feed pulses/direction signal:
positive logic
Pin 2 Dynamic brake mode
OFF Dynamic brake disabled.
ON Dynamic brake enabled.
6
5
4
3
2
1
ON OFF
(Default setting)
6
5
4
3
2
1
ON OFF
(Default setting)
Display ALM output Error detection function Display ALM output Error detection function
A.04* OFF Parameter setting error A.7A OFF Overheat
A.10* OFF Overcurrent A.bF* OFF System error
A.30 OFF Regeneration error A.C1 OFF Runaway detected
A.32 OFF Regeneration overload A.C2* OFF Phase not detected
A.40 OFF Overvoltage/undervoltage A.C3* OFF Encoder disconnect detected
A.51 OFF Overspeed A.d0 OFF Deviation counter overflow
A.70 OFF Overload CPF00 --- Parameter unit transmission error 1
A.73 OFF Dynamic brake overload CPF01 --- Parameter unit transmission error 2
A.74 OFF Inrush resistance overload A.91 --- Overload warning
A.92 --- Regeneration overload warning
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SmartStep servo drive 159
Servo drives
R7D-APA3H/APA5H/AP01H/AP02H (230 V, 30 to 200 W) R7D-AP04H (230 V, 400 W)
R7D-AP08H (230 V, 750 W)
Filters
R88A-FIW104-SE R88A-FIW107-SE, R88A-FIW115-SE
Dimensions
55
Two, M4
(75) 130
160 149.5
±0.5
160
(5) 5
55
5.5
17
Mounting dimensions
17
149.5
160
(75) 130
Two, M4
149.5±0.5
160
(5) 12
75
5.5
(5)
5.5
75
5
12 (63)
Mounting dimensions
5 dia. hole
Two, M4
149.5±0.5
160
(5) 27
5.5
90
94
96
160
35 55
90 (75) 180
17
Mounting dimensions
5 dia. hole
32(1.26)
56(2.20)
33(1.30)
6(0.24)
5
(0.20)
265 (10.43 )
+5 0 +0.20
0
240 (9.45 )
+5 0 +0.20
0
11.5(0.45) 1
(0.04)
202(7.95)
192(7.56)
149.5(5.89)
168(6.61)
M4
GNYE
wires AWG16
M4(2
× )
70(2.76)
19(0.75)
14(0.55)
5.5(0.22)
M4
φ5
(φ0.20)
φ10(φ0.39)
15(0.59)
28.25(1.11)
Units: mm (in)
Model R88A-FIW107-SE R88A-FIW115-SE
Dimensions
in mm A75 90
B240
+5 300+5
C50 60
D12 15
E1 1.2
M4
GNYE
M4
φ5
10 wires AWG16
265
B
C
5
D
A
32
E
+5 0
168
19
14
5.5
15
70
15028
192
202
M4(2 × )
Units: mm
16
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160 AC servo systems
Note: * A regeneration resistor can be connected across the B1 and B2 terminals with 400 W and 750 W servo drives.
When using an external regeneration resistor with a 400 W servo drive, just connect it across the B1 and B2 terminals.
When using an external regeneration resistor with a 750 W servo drive, remove the jumper bar from the B2 and B3 terminals and then
connect the regeneration resistor across the B1 and B2 terminals.
Installation
M
RE
U
V
W
ALMCOM
18
RESET
RUN
+24VIN
24 VDC 14
13
6
5
4
3
2
1200 Ω
200 Ω
220 Ω
200 Ω
CN1
CN2
3.3k
3.3k
ALM
ZCOM
Z
OGND
BKIR
INP
RT
RXD−
RXD+
TXD−
TXD+
35
34
33
32
10
7
8
24
21
20
23
22
−ECRST
+ECRST
−CCW
+CCW
−CW
+CW
1MC
L1
*
1MC X
1MC
ONOFF
1MCCB
L2
B2B1
L1C
L2C
+ 2
+ 1
Single-phase 200 to 230 VAC +10%/-15% (50/60 Hz)
(the 750 W servo drives can input three-phase 200 to 230 VAC.)
Noise filter Main-circuit
power supply Main-circuit
contactor
Surge
suppressor
If necessary, connect a
DC Reactor to these
terminals to suppress
high harmonics in the
power supply.
Always ground
this terminal.
Position
commands
Reverse
Pulses
Forward
Pulses
Deviation
Counter
Reset
RUN
command
Alarm reset
SMARTSTEP A-series
Servo drive
Attach the shield wire to
the terminal securely.
Transmission
data
Reception
data
Terminating
resistor
RS-422 Interface
Compatible line drivers
Texas Inst. SN75174,
MC3487 or equivalent
Compatible Line Receivers
Texas Inst. SN75175,
MC3486 or equivalent
Positioning
completed
output
Brake
interlock
output
Alarm output
Max. operating voltage: 30 VDC
Max. output current: 50 mA
(Phase-z output is 20 mA max.)
Shell
FG (frame ground)
Connect the shield wire to the
connector shell.
Servo motor
Encoder
Phase Z
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SmartStep servo drive 161
Note: The symbols ABCDE... show the recommended sequence to select the components in a SmartStep servo system
Servo motors
Note: ARefer to the SmartStep servo motor chapter for detailed motor specifications and selection
Servo drives
Servo motor cables (for CN2)
Standard cable (power + encoder)
Flexible cables (power + encoder)
Ordering information
Symbol Specifications SmartStep drive
model Compatible servo motors A
Cylindrical type Flat type
C200 VAC 30 W R7D-APA3H R7M-A03030-@-
50 W R7D-APA5H R7M-A05030-@-
100 W R7D-AP01H R7M-A10030-@R7M-AP10030-@
200 W R7D-AP02H R7M-A20030-@R7M-AP20030-@
400 W R7D-AP04H R7M-A40030-@R7M-AP40030-@
750 W R7D-AP08H R7M-A75030-@R7M-AP75030-@
Symbol Drive Specifications Power cable model Encoder cable model Appearance
BSmartStep For servo motors
without brake
R7M-A(P)@@@30-S1-D
3 m R7A-CEA003S-DE
5 m R7A-CEA005S-DE
10 m R7A-CEA010S-DE
15 m R7A-CEA015S-DE
20 m R7A-CEA020S-DE
For servo motors
with brake
R7M-A(P)@@@30-BS1-D
3 m R7A-CEA003B-DE
5 m R7A-CEA005B-DE
10 m R7A-CEA010B-DE
15 m R7A-CEA015B-DE
20 m R7A-CEA020B-DE
Symbol Drive Specifications Power cable model Encoder cable model Appearance
BSmartStep For servo motors
without brake
R7M-A(P)@@@30-S1-D
3 m R88A-CAWA003S-DE R7A-CRA003-FDE
5 m R88A-CAWA005S-DE R7A-CRA005-FDE
10 m R88A-CAWA010S-DE R7A-CRA010-FDE
15 m R88A-CAWA015S-DE R7A-CRA015-FDE
20 m R88A-CAWA020S-DE R7A-CRA020-FDE
For servo motors
with brake
R7M-A(P)@@@30-BS1-D
3 m R88A-CAWA003B-DE R7A-CRA003-FDE
5 m R88A-CAWA005B-DE R7A-CRA005-FDE
10 m R88A-CAWA010B-DE R7A-CRA010-FDE
15 m R88A-CAWA015B-DE R7A-CRA015-FDE
20 m R88A-CAWA020B-DE R7A-CRA020-FDE
C
B
A
F
H
J
I
E
G
D
K
H
SmartStep
Servo Drive
SmartStep
Servo Motor
(Refer to chapter SmartStep servo motors)
Connector terminal block
General purpose controller
(with pulse output)
Position control
unit
Personal computer
R7A-CEA0___-DE
Only for brake
models
R88A-CAWA0___-DE
R7A-CRA0___-FDE
Only for brake
models
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162 AC servo systems
Control cables (for CN1)
Cable for CN3 Cable for CN4
Filters
Connectors
External regeneration resistor
Parameter unit & computer software
Symbol Name Compatible units Model Available lengths
DServo relay unit Use with position control units
(doesn’t support communications functions.)
Units: CS1W-NC113/133, CJ1W-NC113/133, C200HW-NC113, and
C200H-NC112
XW2B-20J6-1B
(1 axis) ---
Use with position control units
(doesn’t support communications functions.)
Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433,
C200HW-NC213/413, C500-NC113/211, and C200H-NC211
XW2B-40J6-2B
(2 axes)
Use with position control units
(doesn’t support communications functions.)
Units: CQM1H-PLB21, and CQM1-CPU43-V1
XW2B-20J6-3B
(1 axis)
Use with position control units (supports communications functions.)
Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433 XW2B-40J6-4A (2 axes)
Use with CJ1M-CPU22/23
(doesn’t support communications functions.) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes)
ECable to servo drive Doesn’t support communications functions. (For the XW2B-@@J6-@B) XW2Z-@@@J-B5 1 m or 2 m
(the cable length goes in
the empty boxes.)
Supports communications functions. (For the XW2B-@@J6-4B) XW2Z-@@@J-B7
FCable to position
control unit CQM1H-PLB21 and CQM1-CPU43-V1 XW2Z-@@@J-A3 0.5 m or 1 m (the cable length goes in
the empty boxes.)
C200H-NC112 XW2Z-@@@J-A4
C200H-NC211 and C500-NC113/211 XW2Z-@@@J-A5
CS1W-NC113 and C200HW-NC113 XW2Z-@@@J-A8
CS1W-NC213/413 and C200HW-NC213/413 XW2Z-@@@J-A9
CS1W-NC133 XW2Z-@@@J-A12
CS1W-NC233/433 XW2Z-@@@J-A13
CJ1W-NC113 XW2Z-@@@J-A16
CJ1W-NC213/413 XW2Z-@@@J-A17
CJ1W-NC133 XW2Z-@@@J-A20
CS1W-NC233/433 XW2Z-@@@J-A21
CJ1M-CPU22/23 XW2Z-@@@J-A26
GControl cable For general-purpose controllers R88A-CPU@@@S 1 m or 2 m
(the cable length goes in
the empty boxes.)
HConnector terminal block
cable For general-purpose controllers R88A-CTU@@@N
Connector terminal block XW2B-40F5-P ---
Symbol Name Model
IComputer monitor cable R7A-CCA002P2
Symbol Name Model
JAnalog monitor cable R88A-CMW001S
Symbol Applicable servo drive Filter model Rated current Rated voltage
KR7D-APA3H, R7D-APA5H, R7D-AP01H, R7D-AP02H R88A-FIW104-E 4A 250 VAC single phase
R7D-AP04H R88A-FIW107-E 7A
R7D-AP08H R88A-FIW115-E 15A
Specifications Model
Control I/O connector (for CN1) R88A-CNU01C
SmartStep connectors kit. Models included in kit R7A-CNA00K-DE
SmartStep encoder connector (for CN2) R7A-CNA01R
Hypertac power connector female SPOC-06K-FSDN169
Hypertac encoder connector female SPOC-17H-FRON169
Hypertac power connector male (used in the motor) SRUC-06J-MSCN236
Hypertac encoder connector male (used in the motor) SRUC-17G-MRWN087
Specification Model
220 W, 47 ΩR88A-RR22047S
Specifications Model
Parameter copy unit (with cable) R7A-PR02A
Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.11 or higher) CX-drive
Complete OMRON software package including CX-drive. (CX-One version 1.1 or higher) CX-One
In the interest of product improvement, specifications are subject to change without notice.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I46E-EN-01
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