User Guide SM-EtherCAT Unidrive SP Affinity Digitax ST Commander SK Mentor MP Part Number: 0471-0128-02 Issue: 2 www.controltechniques.
General Information The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing.
Contents 1 Safety Information ..........................................................5 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 Warnings, cautions and notes ......................................................................5 Electrical safety - general warning ...............................................................5 System design and safety of personnel .......................................................5 Environmental limits .....................................................................
9 Diagnostics ...................................................................56 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9 9.10 9.11 Module identification parameters ...............................................................56 Network configuration objects ....................................................................57 Diagnostic parameters ...............................................................................58 Drive trip display codes ...............................................
1.1 Warnings, cautions and notes Introduction Safety Information Safety Information 1 A Warning contains information, which is essential for avoiding a safety hazard. A Caution contains information, which is necessary for avoiding a risk of damage to the product or other equipment. Electrical Installation CAUTION NOTE A Note contains information, which helps to ensure correct operation of the product.
Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behavior or through incorrect operation due to a fault.
General safety considerations for remote operation SM-EtherCAT enables the possibility of remotely controlling a machine from a distance. It is vital that when connecting to a machine remotely, adequate safety procedures are implemented to prevent damage to the machine or injury to personnel. It is the responsibility of the machine builder to ensure that such a system is safe and complies with current legislation.
2 Introduction 2.1 Features 2.2 • Standard RJ45 connectivity with support for shielded twisted pair. • Dual 100Mbps EtherCAT interfaces for use in line topologies i.e. daisy chaining. • Supports the Unidrive SP drives range, Mentor MP, Affinity, Digitax ST and Commander SK. • Control loop synchronisation. • Control cycle times down to 250µs.
Date code format Safety Information 2.4.1 The date code is split into two sections: a letter followed by a number. The letters are alphabetical in order, starting with A in 1991 (B in 1992, C in 1993 etc.). Example: 2.5 Conventions used in this guide Pr MM.xx - where MM signifies the menu allocated to the Solution Module (this could be 15, 16 or 17 on the Unidrive SP, Digitax ST or Mentor MP, 15 or 16 on the Affinity, but will always be 15 on the Commander SK) and xx signifies the parameter number.
3 WARNING 3.1 Mechanical Installation Before installing or removing a Solutions Module in any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety Information on page 5. If using a DC bus supply ensure this is fully discharged before working on any drive or Solutions Module. General Installation The installation of a Solutions Module is illustrated in Figure 3-1.
Safety Information 4 Electrical Installation 4.1.1 SM-EtherCAT module information Bus media The SM-EtherCAT option module incorporates two x 100 BASE-TX RJ45 interfaces. Cabling considerations To ensure long-term reliability it is recommended that any cables used to connect a system together be tested using a suitable Ethernet cable tester, this is of particular importance when cables are constructed on site. Cable Electrical Installation 4.1.
4.3 Network topology Control Techniques recommend implementing daisy chaining on EtherCAT networks (see Figure 4-1). Other Ethernet network topologies can be used but care must be taken to ensure that the system still operates within the constraints specified by the designer. Figure 4-1 SM-EtherCAT daisy chain network topology Unidrive SP Master / PLC Digitax ST Commander SK I/ O SM EtherCAT 4.
5.1 Quick start guide 5.1.1 SM-EtherCAT version compatibility Table 5.1 SM-EtherCAT version compatibility SM-EtherCAT firmware V01.00.00 or later Affinity V01.02.00 or later V01.00.00 or later Digitax ST V01.02.00 or later V01.00.00 or later Commander SK V01.06.00 or later V01.00.00 or later Mentor MP V01.00.00 or later V01.02.00 or later Getting Started Drive Firmware V01.08.00 or later Electrical Installation Drive Type Unidrive SP Table 5.
5.1.3 Configuring the SM-EtherCAT module for cyclic communications Unlike other Control Techniques fieldbus communication protocols, CoE does not require that any module parameters be changed in order to achieve communications. The baud rate of the network is fixed and the module is automatically allocated an address.
TxPDO6: Object: 0x1A05 Sub-index: 0x00 Size: 1 Value: 2 Sub-index: 0x01 Size: 4 Value: 0x20121610 Sub-index: 0x02 Size: 4 Value: 0x20141620 Introduction Mechanical Installation Electrical Installation Not Used Getting Started Table 5.
Assigning RxPDO to the Sync Manager To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects: • Index: 0x1C12 • Sub index: 0x00 • Size: 1 • Value: 1 Setting object 0x1C12, sub-index 0 to a value of 1 (as above) indicates that one RxPDO will be assigned to the sync manager 2 assignment.
Quick start flowchart Figure 5-3 details the steps required to achieve cyclic communications on the EtherCAT network. This flowchart should be used as the starting point for all configurations. Introduction Figure 5-3 Quick start flowchart Safety Information 5.2 START Mechanical Installation Ensure the Control Techniques .
5.3 Saving parameters to the drive On the Unidrive SP, Affinity, Digitax ST and Commander SK to avoid loss of the configured settings when the drive is powered down it is necessary to write 1000 to Pr MM.00 followed by pressing the reset button to perform a drive save. On Mentor MP Pr MM.00 needs to be set to a value of ‘SAVE’ followed by pressing the reset button. To store drive parameters: • • Set Pr MM.00 to 1000 (Mentor MP Pr MM.00=SAVE). Press the red RESET button.
Safety Information Protocols 6.1 CANopen over EtherCAT (CoE) The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary. This is specified in Table 6.1: Table 6.1 CoE object dictionary Object dictionary area Data type area 0x1000 to 0x1FFF CoE communication area 0x2000 to 0x5FFF Manufacturer specific area Profile area 0xA000 to 0xFFFF Reserved area Electrical Installation 0x6000 to 0x9FFF Mechanical Installation Index 0x0000 to 0x0FFF Table 6.
Definitions: 6.1.1 • : A signed 16-bit number. This is the index of the object dictionary entry specified in four hexadecimal characters. • : A value describing how the object may be accessed (RW = read/ write, RO = read-only and WO = write-only). • : The size of the object/sub-index in bytes. • : The physical unit (e.g. ms, counts per second etc.). CoE communication area The first set of objects specify general communication settings. Table 6.
RxPDO mappings Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The mappings from DSP-402 are included as standard (the PDO mappings will have the following default values): Introduction Table 6.
Table 6.8 RxPDO mapping 2 0x1601 Receive PDO mapping 2 Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Default: 2 Description: The number of mapped objects in this PDO. Unit: N/A Sub-index 1: 1st mapped object Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Default: 0x60400010 - the DSP-402 control word (0x6040) Description: A mapping to an object with the following format: Unit: N/A Bits 0 to 7: Length of the mapped object in bits, e.g.
Safety Information Table 6.10 RxPDO mapping 22 0x1615 Receive PDO mapping 22 Sub-index 0: Number of mapped objects Range: 0 to (CF) Size: 1 byte Default: 0 Description: The number of mapped objects in thie PDO Unit: N/A Introduction Access: RW Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO. Range: 0 to 0xFFFFFFFF Size: 4 bytes Default: 0 Description: A mapping to an object with the following format: Unit: N/A 6.1.3 TxPDO mappings Table 6.
Table 6.13 TxPDO mapping 2 0x1A01 Transmit PDO mapping 2 Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Default: 2 Description: The number of mapped objects in this PDO. Unit: N/A Sub-index 1: 1st mapped object Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Default: 0x60410010 - the DSP-402 status word (0x6041) Description: A mapping to an object with the following format: Unit: N/A Bits 0 to 7: Length of the mapped object in bits, e.g.
Safety Information Table 6.15 TxPDO mapping 6 0x1A05 Transmit PDO mapping 6 Sub-index 0: Number of mapped objects Range: 0 to (CF) Size: 1 byte Default: 2 Description: The number of mapped objects in this PDO.
6.1.4 Sync manager configuration The sync managers are the EtherCAT means for setting access attributes for different areas of memory and triggering or notifying the application when the memory is accessed. The following objects specify how the sync managers (and thus corresponding memory areas) are utilised by the CoE protocol. Table 6.
Safety Information Table 6.20 Sync manager 2 PDO assignment object 0x1C12 Sync manager 2 PDO assignment Sub-index 0 Range: 0 to 512 Size: 1 byte Unit: N/A Default: 1 Description: The number of RxPDOs assigned to this sync manager (used for process data output). Introduction Access: RW Sub-indices 1 to (sub-index 0) Range: 0x1600 to 0x17FF Size: 2 bytes Unit: N/A Default: 0x1605 Description: The object index of an RxPDO to assign to this sync manager.
7 Drive profile (DSP-402) support SM-EtherCAT supports the following modes of the DSP-402 profile: 7.1 • Interpolated position mode • vl velocity mode • Profile torque mode 0x6040 Controlword This provides the primary method of controlling the behavior of the drive e.g. enabling, disabling, resetting, etc. Table 7.1 describes the format of the control word. The individual bits are used in combinations (see Table 7.2) to sequence the drive through the state machine described in Figure 7-1. Table 7.
0x6041 Statusword This provides feedback about the current operating state of the drive. Table 7.4 describes the format of the status word and illustrates how the individual statusword bits are combined to represent the current state of the drive. Introduction Table 7.4 Statusword 0x6041 Statusword Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: N/A N/A Description: This provides feedback about the current operating state of the drive. Mechanical Installation Default: Table 7.
The behavior of the sequencing control is shown in Figure 7-1 CoE state machine diagram . This state machine indicates how the drive will be controlled. For clarity the Statusword is abbreviated to ‘SW’ in the diagram. When in the ‘QUICK STOP ACTIVE’ state, the currently selected mode of operation indicates how a quick stop function should be handled.
Power disabled Fault 13 Any drive trip 0 Drive not tripped Pr 10.01 = 1 Fault reaction complete Electrical Installation NOT READY TO SWITCH ON 1 FAULT 15 Getting Started Fault reset Pr 10.
Table 7.
Introduction Pr 6.43 to On • Pr 3.22 to 0 (where present) • Pr 3.23 to On (where present) • Pr 3.13 to Off (In open-loop operating modes) • Pr 2.10 to 1 • Pr 2.20 to 1 • Pr 2.02 to On • Pr 1.04 to 0 • Pr 1.21 to 0 • Pr 1.38 to 0 • Pr 1.08 to Off • Pr 1.10 to On • Pr 1.09 to Off • Pr 1.15 to 1 • Pr 1.14 to 3 Electrical Installation Pr 6.
7.3.3 0x605B Shutdown_option_code This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state. Table 7.11 Shutdown_option_code 0x605B Shutdown_option_code Access: RW Range: 0 to 1 Size: Unsigned 16 Unit: N/A Default: N/A Description: Used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state. Table 7.12 Shutdown_option_code values 7.3.
0x6060 Modes_of_operation Safety Information 7.3.6 This object is used to request a change in the mode of operation. Table 7.17 Modes_of_operation Modes_of_operation Access: RW Range: 0 to 7 Size: Unsigned 8 Default: 2 Description: This object is used to request a change in the mode of operation. Introduction 0x6060 Unit: N/A Mechanical Installation Table 7.
7.3.9 Profile units The implementation provides a means to convert profile units into position controller and drive units. All scaling values are standard profile objects. The following objects are supported: Table 7.22 Supported profile units Index Name 0x608F position_encoder_resolution 0x6091 gear_ratio 0x6092 feed_constant For positions, the scaling control includes a feed constant, a gear ratio and an encoder revolution.
Safety Information Table 7.24 Gear_ratio 0x6091 Gear_ratio Sub-index 0 Default: Range: N/A Size: Unsigned 8 Unit: N/A Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A Size: Unsigned 32 Unit: N/A Introduction Access: RO 2 Description: Sub-index 1 Default: 1 Description: Motor revolutions Mechanical Installation Access: RW Sub-index 2 Access: RW Range: 0 to 0xFFFFFFFF 1 Description: Shaft revolutions Electrical Installation Default: This is used to configure a feed constant.
Table 7.26 lists the objects that are supported: Table 7.26 Basic position control supported objects Index Name 0x6062 position_demand_value 0x6064 position_actual_value 0x6065 following_error_window 0x6067 position_window 0x60F4 following_error_actual_value 0x60FB position_control_parameter_set 7.3.14 0x6062 Position_demand_value This read only object is used to provide the currently demanded position value. The value is given in user defined position units. Table 7.
Safety Information 7.3.17 0x60FB Position_control_parameter_set object Table 7.30 Position_control_parameter_set object 0x60FB Position_control_parameter_set Access: RO Range: N/A Size: Unsigned 8 Default: 2 Description: The number of control loop parameters. Introduction Sub-index 0 Unit: N/A Access: RW Range: 0 to 65535 Size: Unsigned 16 Default: 2500 Description: The position controller proportional gain. Mechanical Installation Sub-index 1 Unit: 0.
7.4.2 0x60C1 Interpolation_data_record This object is used to specify the target position. Linear interpolation is used to generate position demand values every 250µs. The position is specified in user-defined position units. The value is written into sub-index 1. Table 7.33 0x60C1 Interpolation_data_record 0x60C1 Interpolation_data_record Sub-index 0 Access: RO Range: N/A Size: Unsigned 8 Default: 1 Description: This object is used to specify the target position.
vl velocity mode Table 7.36 vl velocity mode supported objects vl_target_velocity 0x6043 vl_velocity_demand 0x6044 vl_velocity_actual_value 0x6046 vl_velocity_min_max_amount 0x6047 vl_velocity_min_max 0x6048 vl_velocity_accleration 0x6049 vl_velocity_deceleration 0x604A vl_velocity_quick_stop 0x604B vl_setpoint_factor 0x604C vl_dimension_factor Drive profile (DSP-402) support Name 0x6042 Protocols 0x6042 vl_target_velocity Table 7.
7.5.2 0x6043 vl_velocity_demand This read only object provides the instantaneous velocity demand generated by the drive ramp function. The value is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction. Table 7.38 vl_velocity_demand 0x6043 vl_velocity_demand Access: RO 7.5.
0x6047 vl_velocity_min_max This object is used to configure the minimum and maximum velocity. The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the value is in user units. Introduction Table 7.41 0x6047 vl_velocity_min_max 0x6047 vl_velocity_min_max Sub-index 0 Range: N/A Size: Unsigned 8 Default: 4 Description: The number of last sub-indexes in this object.
7.5.7 0x6049 vl_velocity_deceleration This object is used to configure the delta speed and delta time of the slope of the deceleration ramp. Example: To decelerate by 800 rpm in 10s, possible values for delta speed and delta time are 8000 and 100 respectively. vl_velocity_deceleration = delta speed / delta time Table 7.
0x604B vl_setpoint_factor Table 7.45 0x604B vl_setpoint_factor 0x604B vl_setpoint_factor Access: C Range: N/A Size: Unsigned 8 Default: 2 Description: The number of last sub-indexes in this object. Mechanical Installation Sub-index 0 Introduction This object is used to configure the numerator and denominator of the vl_setpoint_factor. The vl_setpoint_factor modifies the resolution or directing range of the specified setpoint.
The object vl_velocity_min_max is handled every profile cycle. The vl_target_velocity is limited according to the values set in the object vl_velocity_min_max, which is read every profile cycle. The object vl_velocity_min_max_amount is mapped to vl_velocity_min_max. The value of the vl_velocity_demand object is calculated in the background. The option reads the value of parameter Pr 2.
0x6075 Motor_rated_current This object indicates the configured motor rated current. It is taken from the motor’s Table 7.49 0x6075 Motor_rated_current 0x6075 Motor_rated_current 7.6.3 Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Default: 0 Description: Indicates the configured motor rated current (Pr 5.07). Unit: mA Mechanical Installation Access: RO 0x6078 Current_actual_value Table 7.
By choosing a homing method the following behaviour is determined: The homing signal (positive limit switch, negative limit switch, home switch), the direction of actuation and where appropriate the position of the index pulse. An encircled number in Figure 7-3 to Figure 7-10 indicates the code for selection of this homing position. The direction of movement is also indicated.
Figure 7-5 Homing on positive home switch and index pulse Introduction Using these methods as shown in Figure 7-5 Homing on positive home switch and index pulse on page 49, the initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state.
using methods 11 to 14 the initial direction of movement shall be to the left except if the home switch is active at the start of the motion. In this case the initial direction of motion shall be dependent on the edge being sought.
Safety Information Method 15 and 16: Reserved These methods are reserved. Method 17 to 30: Homing without index pulse Mechanical Installation Figure 7-9 Homing on positive home switch Introduction These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 7-9 Homing on positive home switch on page 51.
Use of controlword and statusword The homing mode uses some bits of the controlword and the statusword for modespecific purposes. Table 7.52 Definition of bits 4 and 8 of the controlword on page 52 defines the values for bits 4 and 8 of the controlword. Table 7.52 Definition of bits 4 and 8 of the controlword Bit 4 8 Value Definition 0 Do not start homing procedure. 1 Start or continue homing procedure. 0 Enable bit 4. 1 Stop axis according to halt option code (0x605D). Table 7.
Table 7.55 Freeze object Introduction 0x2804 Freeze object Sub-index 0 Access: RO Range: N/A Size: Unigned 8 Unit: N/A Mechanical Installation Default: 2 Description: The number of the last sub-index in this object. Sub-index 1 Access: RW Range: 0 to 1 Size: Unsigned 8 Unit: N/A Description: Route the option freeze onto the drive. Setting a value of 1 here will route the option digital input 0 onto the drive freeze line.
0x6098 Homing method This object indicates the configured homing method that shall be used. Table 7.57 Homing method on page 54 specifies the object description, and Table 7.58 Homing method values on page 54 specifies the value ranges for this object. Table 7.57 Homing method 0x6098 Homing Method Access: RW Range: 0 - 35 Size: Unsigned 8 Default: 0 Description: The homing method that shall be used. Unit: N/A Table 7.
8.1 Distributed clocks SM-EtherCAT supports Distributed clocks. This is the scheme used by EtherCAT to accurately time synchronize slave devices. Position, speed and current control loops can all be synchronized. SM-EtherCAT protocol support Getting Started 8.2 In CoE interpolated position mode the position command provided by the master every interpolation cycle time is used to generate a position command for the drive every 250µs.
9 Diagnostics 9.1 Module identification parameters The basic menu parameters can be accessed through the slot menu in the drive, Pr MM.PP, where MM is the menu for SM-EtherCAT in the host drive. The basic menu parameters may also be accessed using menu 60, i.e. Pr 60.PP. 9.1.1 SM-EtherCAT module ID code Table 9.1 SM-EtherCAT module ID code SM-EtherCAT module ID code Pr MM.
9.2 Mechanical Installation 9.2.1 Network configuration objects SM-EtherCAT network loss trip Table 9.4 Network loss behavior object 0x2813 Introduction The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and Pr 15.51 displays zz (e.g. for software version 01.01.00 Pr 15.02 will display 1.01 and Pr 15.51 will display 0). Safety Information Commander SK / Commander SL The software version of the Solutions Module can be identified by looking at Pr 15.02 and Pr 15.51.
9.3 Diagnostic parameters Table 9.5 SM-EtherCAT operating status SM-EtherCAT operating status Pr MM.06 9.3.1 Default N/A Range -9999 to 9999 Access RO Running states Table 9.6 Diagnostic information - running states Pr MM.06 Meaning Description 0 Link established A link has been established but no frames are being transmitted or received. >0 Handled messages per second The number of cyclic PDO messages that the active EtherCAT is handling per second. Table 9.
Drive trip display codes Table 9.9 shows the possible trip codes that will be displayed on the drive when a problem is detected with SM-EtherCAT or when SM-EtherCAT initiates a trip. SLX.HF/ SL.HF Hardware fault SLX.Er/ SL.Er Error SLX.nF/ SL.nF Not fitted This trip will occur if a drive slot is configured for an option module, but no module is fitted in the slot. SLX.dF/ SL.
9.7 SM-EtherCAT error codes Table 9.12 SM-EtherCAT error codes SM-EtherCAT error codes Pr MM.50 Default N/A Range 0 to 255 Access RO If an error is detected during operation the module will force a trip on the drive and update the error code parameter (Pr MM.50). Table 9.13 shows the SM-EtherCAT error codes. Table 9.13 SM-EtherCAT error codes 60 Error code Fault 1 No fieldbus mode has been selected. 2 Critical task over-run.
Critical task % free Safety Information 9.8 Table 9.14 SM-EtherCAT critical task % free SM-EtherCAT critical task % free N/A Range 0 to 100 Access RO Worst case critical task % free Mechanical Installation 9.9 Default Introduction Pr MM.46 Table 9.15 Worst case critical task % free SM-EtherCAT worst case critical task % free Default N/A Range 0 to 100 Access RO 9.10 FLASH file system % free Protocols Table 9.
10 Quick Reference Table 10.1 and Table 10.2 list of all the SM-EtherCAT set-up objects and parameters that are required to configure the module. Table 10.1 SM-EtherCAT objects reference Object 62 0x10000 0 Name Description Cross reference Device type Specifies the device profile being used (DSP-402). Section 6.1.1 on page 20 0x1018 Identity object Contains SM-EtherCAT specific identity information. Section 6.1.
Object 0x6044 Name Description vl_velocity_actual Provides the velocity at the motor spindle or load. value Cross reference Section 7.5.3 on page 42 0x6047 vl_velocity_min max This object is used to configure the miniSection 7.5.5 on page 43 mum and maximum velocity. 0x6048 vl_velocity acceleration This object is used to configure the delta speed and delta time of the slope of the Section 7.5.6 on page 43 acceleration ramp.
Table 10.1 SM-EtherCAT objects reference Object 0x60C0 Name Description Cross reference Interpolation Specifies the interpolation type. sub-mode_select Section 7.4.1 on page 39 0x60C1 Interpolation data_record This object is used to specify the target position. 0x60C2 Interpolation time_period The number of time units between interSection 7.4.3 on page 40 polator re-starts. Section 7.4.2 on page 40 Table 10.2 SM-EtherCAT parameter reference Object 64 Description Default Range Pr MM.
Safety Information 11 Glossary Of Terms Mechanical Installation Bit: A binary digit, this may have the value of 1 or 0. Introduction Address: This is the unique network identification given to a networked device to allow communication on a network. When a device sends or receives data the address is used to determine the source and the destination of the message. Byte: A collection of eight binary digits that collectively store a value. This may be signed or unsigned.
Scan rate: See Poll rate. Screening: A connection to provide additional immunity to noise used on a network cable. Shielding: A connection to provide additional immunity to noise used on a network cable. Status word: A value that denotes the status of the drive. Each bit within the word will have a specific meaning. Word: A collection of sixteen binary digits. 66 www.controltechniques.
Safety Information Index Introduction A Address ......................................................................................................65 Adjusting parameters ...................................................................................6 B Mechanical Installation Bit ...............................................................................................................65 Byte ...................................................................................................
P PC ..............................................................................................................65 PLC ............................................................................................................65 Poll rate ......................................................................................................65 Q Quick Reference .........................................................................................62 S Safety considerations ............................
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