Mitsubishi Electric MELSEC iQ-R Series Quick Start Manual
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Mitsubishi Electric MELSEC iQ-R Series Quick Start Manual

Servo system, simple motion module
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Servo System Controllers
Quick Start Guide
Quick Start Guide
Quick Start Guide
MELSEC iQ-R Series Simple Motion Module
Let's Start!
FACTORY AUTOMATION
Applicable Model
- RD77MS2
- RD77MS4
- RD77MS8
- RD77MS16

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Summary of Contents for Mitsubishi Electric MELSEC iQ-R Series

  • Page 1 FACTORY AUTOMATION Servo System Controllers Quick Start Guide Let's Start! Quick Start Guide Quick Start Guide MELSEC iQ-R Series Simple Motion Module Applicable Model - RD77MS2 - RD77MS4 - RD77MS8 - RD77MS16...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
  • Page 4 [Design Precautions] WARNING ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
  • Page 5 [Design Precautions] WARNING ● Do not remove the SSCNET cable while turning on the control circuit power supply of the module and servo amplifier. Do not see directly the light generated from SSCNET connector of the module or servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel something wrong with eyes.
  • Page 6 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use a solderless terminal with an insulation sleeve for terminal block wiring. Note that up to two solderless terminals can be connected per terminal block.
  • Page 8 [Wiring Precautions] CAUTION ● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction. ● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring.
  • Page 9 [Startup and Maintenance Precautions] CAUTION ● Tighten the screws within the specified torque range. Undertightening can cause drop of the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction. ●...
  • Page 10 [Operating Precautions] CAUTION ● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.

  • Page 11: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CHAPTER 1 OVERVIEW Simple Motion Module Features .

  • Page 12: Chapter 1 Overview

    To view instructions in video form, scan the QR codes listed in this quick start guide with your smartphone or similar device. Videos are posted on the official MITSUBISHI ELECTRIC Factory Automation Youtube channel. • Official MITSUBISHI ELECTRIC Factory Automation channel URL : youtube.com/c/MitsubishiElectricFA 1 OVERVIEW 1.1 Simple Motion Module Features...
  • Page 13 MEMO 1 OVERVIEW 1.3 Video-based instructions...

  • Page 14: Chapter 2 Module Startup

    MODULE STARTUP A 1-axis system with ball screw is used as an example in Chapter 2 to 3. View video: [Machine] [Specifications] Ball screw lead (PB) : 10000.0μm (=10mm) Reduction ratio (NL/NM) : 1/2 (Load side [NL]/Motor side [NM]) • The load-side ball screw is made to rotate once by rotating the motor twice. Encoder resolution : 4194304 [pulse/rev] Servo amplifier : MR-J4-10B Servo motor : HG-KR series...

  • Page 15: System Configuration

    System Configuration The following shows a system example using the Simple Motion module, MR-J4-10B, and a servo motor. RD77MS4 GX Works3 Output module (RY42NT2P) Input module (RX42C4) R04CPU Molded-case circuit breaker (MCCB) Magnetic contactor (MC) MR-J4-10B SSCNET III cable Servo motor power cable Encoder cable Servo motor...

  • Page 16: Device Preparation

    Device Preparation Prepare the following devices, cables, and software. Simple Motion module Engineering Software RD77MS4 MELSOFT GX Works3 Servo amplifier Servo motor MR-J4-10B HG-KR13 Main base unit Power supply module PLC CPU module Input/output module R35B R61P R04CPU RX42C4(Input) RY42NT2P(Output) Encoder cable Servo motor power cable SSCNET III cable...

  • Page 17: Startup Procedure

    Startup Procedure The following sections explain operation details and procedures required for system startup. 2. MODULE STARTUP 2.1 System configuration 2.2 Device preparation 2.3 Startup procedure 2.4 Installation of modules • 1. Installing a battery • 2. Inserting an extended SRAM cassette and a SD memory card •...

  • Page 18: Installation Of Modules

    Installation of Modules Install the modules. Installing a battery The connector plug of the Q6BAT is disconnected from the jack of the CPU module before shipment. To use the battery, connect the connector, following the procedure below. View video: 1. Open the battery cover located on the bottom of the CPU module. 2.

  • Page 19: Wiring And Cable Connection

    Wiring and Cable Connection The following shows the wiring and cable connection example for the Simple Motion module and servo amplifiers. The system below uses the cables for MR-J4-10B. If the capacity of the servo amplifier is different, refer to SERVO AMPLIFIER INSTRUCTION MANUAL for each model.
  • Page 20 Connection of each cable Connect the SSCNET III cable, the encoder cable, and the servo motor power cable. For between the personal computer and PLC CPU, connect a USB cable. View video: Axis selection rotary switch of servo amplifier "0" to "F" of the axis selection rotary switch correspond to "d01" to "d16". The following table shows the correspondence between SSCNET configuration and the switch No.
  • Page 21 Power-on of servo amplifier Turn the power ON after checking the following items. 1. Check the wiring for servo amplifier. 2. Turn the servo amplifier ON. The communication status with the Simple Motion module can be checked on the display. Servo amplifier Status Description...

  • Page 22: Chapter 3 Positioning Control Startup

    POSITIONING CONTROL STARTUP Creating a New Project Installing engineering software Install MELSOFT iQ Works or MELSOFT GX Works3, following the Installation Instruction provided with the software package. View video: Product Model Description MELSOFT iQ Works SW2DND-iQWK-E FA Engineering Software • System Management Software [MELSOFT Navigator] •...
  • Page 23 For "Use module labels", select [Yes]. Connecting the PLC CPU to a personal computer Confirm the connection between the personal computer and the PLC CPU. 1. Connect the CPU module to the personal computer. 2. Select [Online]  [Current Connection Destination] to open the [Specify Connection Destination Connection] window. 3.
  • Page 24 Settings for sequence program parameters Set the system parameter and each module parameter. [Creating a module configuration] 1. Select the main base unit, CPU, I/O, and Simple Motion module to be used from the POU list and drag & drop them onto the "Module Configuration"...

  • Page 25: Sequence Program Creation

    Sequence Program Creation The use of label and function block (FB) removes the need to remember devices when programming. View video: New sequence programs creation Appendix 3 provides the sequence program example. Multiple comments display setting Check the "Enable Multiple Comments Display" box and “Target” boxes for each language to switch the language for comments in sequence programs.
  • Page 26 [Global label setting examples] Label Name Data type Class Device Description bDuringJOGInchingOperation VAR_GLOBAL JOG/Inching Operation flag bJogEND VAR_GLOBAL JOG End Flag bJogOK VAR_GLOBAL JOG OK flag bJogERR VAR_GLOBAL JOG Error flag bStartEND VAR_GLOBAL Positioning Start Operation flag bStartOK VAR_GLOBAL Positioning Start OK bStartERR VAR_GLOBAL Positioning Start Error...
  • Page 27 Sequence program creation with module labels 1. Select [Module Label]. 2. Select a label from the module label list. 3. Drag & drop the module label. 4. Change the contact to an arbitrary contact or coil by double-clicking it. 5. Click [OK] to create a circuit. 6.
  • Page 28 Sequence program creation with module FB 1. Drag & drop a necessary module FB. 2. "FB Instance Name" window appears. Select whether the instance is registered as a global label or a local label, and input an instance name. 3. Double click on where a circuit addition is made. 4.
  • Page 29 7. Move the cursor to where the circuit is added and click F9. 8. Click [OK] to create the circuit. 3 POSITIONING CONTROL STARTUP 3.2 Sequence Program Creation...
  • Page 30 9. Drag & drop "RD77_1" from under [Module Label] to write the module label. 10. Create another circuit in the same manner and select [F4 (convert)]. The circuits are converted. 3 POSITIONING CONTROL STARTUP 3.2 Sequence Program Creation...
  • Page 31 Saving a project Save a created project. 1. Select [Project]  [Save as], then click [Save] after entering the file name. [Saving data] • Parameters and sequence programs of the PLC CPU • Positioning data and parameters of the Simple Motion module •...

  • Page 32: Parameter Settings For Simple Motion Module

    Parameter Settings for Simple Motion Module Start of Simple Motion module setting function 1. Double click [Simple Motion Module Setting] in the menu of MELSOFT GX Works3 to open the Simple Motion Module Setting Function window. View video: GX Works3 Menu [Simple Motion Module Setting Function] 3 POSITIONING CONTROL STARTUP 3.3 Parameter Settings for Simple Motion Module...
  • Page 33 System settings 1. Select the [System Configuration]. 2. Set the servo amplifiers according to the machine. 3. Set the details of servo amplifiers. 4. Click [OK], then the set servo amplifier is colored. Parameter settings [Equipment specifications] Machine configuration : Horizontal ball screw Unit setting : 0:mm Ball screw pitch : 10000.0 [μm] Reduction ratio (NL/NM) : 1/2 (Load side [NL]/Motor side [NM])
  • Page 34 1. Set [Pr.82 Forced stop valid/invalid selection] to "1: Invalid". [Pr.82 Forced stop valid/invalid selection] is set to “valid” as default for safety. Since the machine does not use forced stop, change it to "1: Invalid". 2. Set the "Input type" in [Pr.116 FLS signal selection], [Pr.117 RLS signal selection], [Pr.118 DOG signal selection], and [Pr.119 STOP signal selection].
  • Page 35 Servo parameter settings [Operation procedure] 1. Select [Servo parameter] in the menu. 2. Click [Basic] to open [Common - Basic]. 3. Set [Rotation direction]. Set rotation direction according to the machine. Select from [CCW direction during forward pulse input, CW direction during reverse pulse input], or [CW direction during forward pulse input, CCW direction during reverse pulse input].
  • Page 36 5. Select "Component parts" to open the Component parts window. 6. [Absolute position detection system/Incremental system selection] Select "Disabled (Used in incremental system)" for absolute position detection system selection. 7. For the home position setting condition, select "1: Not need to pass servo motor Z-phase after power on". When "1: Not need to pass servo motor Z-phase after power on"...
  • Page 37 [Operation procedure] 1. Select "Axis #1 Positioning Data" in the menu. 2. Select [Data Setting Assistant]. 3. Select the positioning control method and enter each item. Positioning Positioning Positioning Command Operation Acceleration Deceleration Dwell time M-code control data No. address speed pattern time No.
  • Page 38 4. Click [Set] to close the Data Setting Assistant window and display the positioning data window. Create the positioning data in the same manner for the axis moving back to the home position from P1. Operation Control Axis to be Acceleration Deceleration Positioning...
  • Page 39 Writing to the Simple Motion module 1. Select [Online]  [Write to PLC…] to open the Online Data Operation window on MELSOFT GX Works3. 2. Select the Simple Motion module setting. 3. Click [Execute] to write the parameters and data to the Simple Motion module via the PLC CPU. 4.

  • Page 40: Operation Check

    Operation Check The sequence program used in this section is an example using R04CPU and RD77MS4. When another different module is used, the signal assignment differs. Refer to MELSEC iQ-R Simple Motion Module User's Manual (Application) for details of each signal. 3.4.1 JOG operation Servo ON Servo amplifiers become servo ON status by turning ON [All axis servo ON (Y1)].
  • Page 41 JOG start Confirm that the workpiece moves in the “+” direction by forward command, and in the “-“ direction by reverse command. 1. Select Axis 1 (X61). 2. Select either the JOG Forward Start req (X6E) or the JOG Reverse Start req (X6F). Move the cursor to "JOG Forward Start req"...
  • Page 42 Check the status of each area in the Axis Monitor window during JOG operation. Axis monitor Checking details PLC READY (Y0) READY (X0) Synchronization flag (X1) All axes servo ON (Y1)  Md.20: Feed current value Md.21: Machine feed value Md.26: Axis operating status JOG operation Md.28: Axis federate...
  • Page 43 Confirming the motor rotation direction Switch the motor rotation direction to forward/reverse. 1. Select [Servo Parameter]. 2. Select [Basic]. 3. Select the servo motor rotation direction according to your machine. Set the rotation direction according to the machine. Select from [CCW direction during forward pulse input, CW direction during reverse pulse input], or [CW direction during forward pulse input, CCW direction during reverse pulse input].

  • Page 44: Home Position Return (Establishment Of The Home Position)

    3.4.2 Home position return (Establishment of the home position) There are two types of home position return control: • Machine home position return which does not use address information to establish the home position. • Fast home position return which performs positioning by using the coordinate defined by machine home position. This document explains the method of performing the machine home position return using Data set method.
  • Page 45 3 POSITIONING CONTROL STARTUP 3.4 Operation Check...
  • Page 46 Confirming the home position return 1. Check the status and monitor display values shown above in the Axis Monitor window. Axis monitor Checking value Md.20: Feed current value 0.0[μm] Md.21: Machine feed value 0.0[μm] Md.26: Axis operating status Waiting Md.28: Axis feedrate 0.00[mm/min] Md.31: Status: HPR request flag Md.31: Status: HPR complete flag...

  • Page 47: Positioning Control

    3.4.3 Positioning control This section explains the operation check method for positioning control which performs positioning to a specified position using address information. Positioning is started by a sequence program or a function block. In this example, positioning control is started by a function block, and synchronous control is started by a sequence program. View video: [Operation example when the axis moves back to the home position (P0) after moving to P1] <Position [mm]>...
  • Page 48 Positioning start 2. To start the positioning, double click M80 while pressing SHIFT. Confirmation of Axis 1 positioning control Check that Axis 1 moves to 100.0 mm and goes back to 0.0 mm through the Feed current value for Axis 1 in the Axis Monitor window.
  • Page 49 Axis monitor Checking details  Md.20: Feed current value Md.21: Machine feed value  Md.26: Axis operating status Position control Md.28: Axis feedrate 2000.00[mm/min] Md.30: External input signal: Lower limit Md.30: External input signal: Upper limit Md.31: Status: HPR request flag OFF? Module information Checking details...

  • Page 50: Chapter 4 Synchronous Control Startup

    SYNCHRONOUS CONTROL STARTUP This chapter describes synchronous control, mainly about the synchronous control parameter, positioning data for synchronous control, and operation check for synchronous control. Axis 1 operation is the same as that described in Chapter 2. Refer to Chapter 2 to 3 for details of the parameters and servo parameters. View video: [Flying Cutter] Without stopping the conveyor axis (Axis 2), cutter axis (Axis 1) synchronizes to the movement of the conveyor belt and cuts...

  • Page 51: System Configuration

    System Configuration The following shows a system example consisting of the RD77MS, MR-J4-10B, and servo motors. RD77MS4 GX Works3 Output module (RY42NT2P) Input module (RX42C4) R04CPU Molded-case circuit breaker (MCCB) SSCNET III cable Magnetic contactor MR-J4-10B (MC) Servo motor power cable Encoder cable Servo motor...

  • Page 52: Startup Procedure For Synchronous Control

    Startup Procedure for Synchronous Control 4. SYNCHRONOUS CONTROL STARTUP 4.1 System configuration 4.2 Startup procedure for synchronous control 4.3 Parameter creation for synchronous control 4.3.1 System configuration settings 4.3.2 Parameters and servo parameters settings 4.3.3 Positioning data settings • 1. Positioning data selection 4.3.4 Synchronous control parameter settings •...

  • Page 53: Parameter Creation For Synchronous Control

    Parameter Creation for Synchronous Control 4.3.1 System configuration settings Configure a 2-axis system. View video: 4 SYNCHRONOUS CONTROL STARTUP 4.3 Parameter Creation for Synchronous Control...

  • Page 54: Parameters And Servo Parameters Settings

    4.3.2 Parameters and servo parameters settings Set parameters and servo parameters for Axis 1 and Axis 2. The following shows the setting details of the electronic gear setting for the belt conveyor. [Input] Machine Unit Setting Outer diameter of Reduction Gear Ratio (NL/NM) Encoder resolution Components Roll...

  • Page 55: Positioning Data Settings

    4.3.3 Positioning data settings Create a program in which the belt conveyor (Axis 2) moves from the home position to P1. For Axis 1 operated with cam control, create cam data in which Axis 1 synchronizes to the belt conveyor. [Data example in which the axis moves from the home position to P1] Belt conveyor (Axis 2) position 157.0796mm...

  • Page 56: Synchronous Control Parameter Settings

    4.3.4 Synchronous control parameter settings Set parameters for Axis 1 which synchronizes to the input axis (Axis 2) feed current value in cam operation. Item Description Input axis parameter Set the servo input axis type for the main shaft. (Set “1: Feed current value ” for Axis 2) Axis 1 synchronous control parameter Set the Axis 1 synchronous control parameter.
  • Page 57 3. Change the items that are marked with "*" in the table below. [Synchronous parameter Axis 1] Item Details Main shaft Main input axis No. Pr.400: Type 1: Servo input axis Pr.400: Axis No. Sub input axis No. Pr.401:Type 0: Invalid Pr.401: Axis No.
  • Page 58 Input axis parameter settings The following explains the settings that synchronize Axis 1 to the feed current value of Axis 2. 1. Select [Input Axis Parameter]. 2. Select [1: Feed Current Value] for [Pr.300 servo input axis type] for Axis 2. [Input axis parameter (Axis 2)] Item Description...
  • Page 59 Transition of synchronous control parameter window 1. Select [Axis #1 Synchronous Parameter] from the menu. Axis #1 synchronous parameters can now be set. 2. Click [Synchronous Control Image] to open the image screen. [Synchronous parameter] [Input axis parameter] 3. Select the main shaft to open the input axis parameter. Parameters related to the input axis (Axis 2) can now be set.

  • Page 60: Cam Data Creation

    4.3.5 Cam data creation Creating a new cam data 1. Right click on [Cam Data], and select [Add New Data…] to open the New Data window. 2. Set the cam No. 3. Select "Set by Stroke Ratio" and "Cam Curve" in the Setting Method. 4.

  • Page 61: Saving A Project

    Cam curve creation A cam data graph can be generated by inputting the end point and the stroke. [Cam data] Section No. Start point[degree] End point[degree] Stroke[%] Cam curve 0.00000 1.60000 0.0929926 Constant speed 1.60000 3.20000 0.3628677 Constant speed 3.20000 4.80000 0.7832080 Constant speed...

  • Page 62: Operation Check For Synchronous Control

    Operation Check for Synchronous Control Refer to Chapter 3 for details regarding JOG operation, home position return, and positioning control. This section explains operation check for synchronous control. Follow the procedure below so that the Axis 1 synchronizes to the feed current value of Axis 2 with cam operation. View video: 4.4.1 Home position return Perform home position return for Axis 1 and 2.

  • Page 63: Synchronous Control Start

    4.4.2 Synchronous control start Set the [Cd.380 synchronous control parameter] for each output axis to start synchronous control. Once the synchronous control starts, output axes operate in synchronization with the input axis operation. Start and confirmation of output axis to be synchronized 1.
  • Page 64 Start and confirmation of the main shaft (input axis) 1. Set the axis No. for the main shaft (input axis). Double click X62 while pressing SHIFT. 2. Set the program No. for Axis 2. Double click X66 while pressing SHIFT. 3.
  • Page 65 Operation check for main shaft (input axis) Check that the servo motors for Axis 1 and Axis 2 start operation. Item Axis 1 Axis 2   Md.20: Feed current value Md.21: Machine feed value   Md.26: Axis operating status Synchronous control Positioning control Md.28: Axis federate...

  • Page 66: Operation Check With Digital Oscilloscope

    4.4.3 Operation check with digital oscilloscope The section explains how to check the cam operation with the assistant function of digital oscilloscope. View video: Start of digital oscilloscope 1. Select [Digital Oscilloscope] from the menu. Selecting probe 1. Click [Assistant Screen] to open the Assistant window. 2.
  • Page 67 Trigger condition settings (No need to change) Set the trigger condition where necessary. The default values are normally used. 1. Clicking [Edit]  [Sampling Setting]  [Trigger Setting] will display the "Trigger Setting" screen. 2. Select the Trigger Mode from Bit OR, Bit AND, Word OR, and NONE. 3.
  • Page 68 Checking cam data Check that the created cam data and the digital oscilloscope data (Axis 1 feed current value) have a matching waveform. Operation check is completed. 4 SYNCHRONOUS CONTROL STARTUP 4.4 Operation Check for Synchronous Control...

  • Page 69: Chapter 5 Application Examples

    APPLICATION EXAMPLES Here we offer application examples where a Simple Motion module is used. Horizontal pillow bag packaging machine In this example, advanced synchronous control is applied to a horizontal pillow bag packaging machine. Horizontal pillow bag packaging machine View video: Filling machine In this example, cam control is applied to a filling machine.
  • Page 70 MEMO 5 APPLICATION EXAMPLES...

  • Page 71: Appendices

    APPENDICES Appendix 1 Simulation The MELSOFT GX Works3 can simulate the program on a personal computer without an actual machine during the debugging process, shortening the startup time. View video: Starting the simulation. Selecting [Add System] will display the screen for changing project settings. Change settings for the specified project upon start-up of GX Works3.
  • Page 72 Connection destination settings Click [Debug]  [Simulation]  [System Simulation]  [Connection Destination Settings]. After confirming the connection destination, click "Connect". Writing programs Clicking [Online]  [Write to PLC] will display the write screen for parameters and programs. Select all of the areas shown below, then click "Execute" to write the program. APPX Appendix 1 Simulation...
  • Page 73 Resetting the simulation Reset GX Simulator3. After resetting, select "RUN". After selecting "RUN", the simulation can now be executed. APPX Appendix 1 Simulation...
  • Page 74 Debug by simulation Pressing F3 and switching to the monitor allows you to debug for the Simple Motion module with GX Simulator3. Axis Monitor screen APPX Appendix 1 Simulation...

  • Page 75: Appendix 2 Parameter And Positioning Data

    Appendix 2 Parameter and Positioning Data Parameters APPX Appendix 2 Parameter and Positioning Data...
  • Page 76 APPX Appendix 2 Parameter and Positioning Data...
  • Page 77 Positioning data [Axis-1 positioning data] Operationp Control Axis to be Acceleration Deceleration Positioning Command Dwell attern system interpolated time No. time No. address address speed time code  1:CONT 1:1000 1:1000 100000.0 0.0μm 2000.00 linear 1 μm mm/min 0:END  1:1000 1:1000 0.0μm...

  • Page 78: Appendix 3 Sample Program

    Appendix 3 Sample Program CAUTION The sequence program in the appendix is a program example used in this Quick Start Guide. When applying the program examples provided in this document to an actual system, ensure the applicability and confirm that it will not cause system control problems. Devices used Classification Device No.
  • Page 79 Sequence program example APPX Appendix 3 Sample Program...
  • Page 80 APPX Appendix 3 Sample Program...
  • Page 81 MEMO APPX Appendix 3 Sample Program...

  • Page 82: Revisions

    Japanese manual number: L(NA)-03113-C This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 84 France Mitsubishi Electric Europe B.V. French Branch Tel : +33-1-55-68-55-68 25, Boulevard des Bouvets, 92741 Nanterre Cedex, France Czech Republic Mitsubishi Electric Europe B.V. Czech Branch, Prague Office Tel : +420-255-719-200 Pekarska 621/7, 155 00 Praha 5, Czech Republic Poland Mitsubishi Electric Europe B.V.

This manual is also suitable for:

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