Modbus Module User Guide

Modbus Module User Guide

User Guide

Modbus Module

For Digistart soft starters

Part Number: 0477-0009-03

Issue: 3

www.controltechniques.com

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 starter with the motor.

The contents of this guide are believed to be correct at the time of printing. In the interests of commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the content of the guide without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including, photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Copyright: © November 2011 Control Techniques

Issue 3 www.controltechniques.com

Contents

1.

Introduction ....................................................................................................................................................... 4

2.

Important User Information .............................................................................................................................. 4

3.

Installation ......................................................................................................................................................... 4

3.1

Physical installation ................................................................................................................................................................ 4

4.

Modbus Module Connection and Configuration ............................................................................................ 5

4.1

Adjustment ............................................................................................................................................................................. 5

4.2

Connection............................................................................................................................................................................. 5

4.3

Network Status LED ............................................................................................................................................................... 6

5.

Master Configuration ........................................................................................................................................ 6

6.

Modbus Functions ............................................................................................................................................ 6

6.1

Modbus Register .................................................................................................................................................................... 7

6.2

Trip Codes ............................................................................................................................................................................. 8

6.3

Cyclic redundancy check (CRC)............................................................................................................................................. 9

6.4

Examples ............................................................................................................................................................................... 9

6.5

Modbus Error Codes ............................................................................................................................................................ 10

7.

AP ASCII Protocol ........................................................................................................................................... 10

7.1

Commands .......................................................................................................................................................................... 11

7.2

Status Retrieval ................................................................................................................................................................... 11

7.3

Data Retrieval ...................................................................................................................................................................... 11

7.4

Calculating the Checksum (LRC) ......................................................................................................................................... 12

8.

Modbus Control via Remote Keypad ............................................................................................................ 12

8.1

Grounding and Shielding ...................................................................................................................................................... 12

8.2

Termination Resistors .......................................................................................................................................................... 12

8.3

RS485 Data Cable Connection ............................................................................................................................................ 13

8.4

Remote Keypad RS485 Network Connection Specifications ................................................................................................ 13

8.5

Using the Remote Keypad with Digistart CS ........................................................................................................................ 13

8.6

Programming ....................................................................................................................................................................... 14

8.7

Troubleshooting ................................................................................................................................................................... 15

9.

Specifications .................................................................................................................................................. 15

Modbus Module User Guide

Issue 3 www.controltechniques.com

3

1. Introduction

Control Techniques soft starters can be controlled and monitored across an RS485 serial communication network using the Modbus

RTU and AP ASCII protocols.

For users requiring simple control of Digistart CS and Digistart IS soft starters using Modbus RTU or AP ASCII, the instructions below describe the installation and operation of the Modbus Module.

Digistart CS soft starters can also connect to the network via a correctly configured Remote Keypad - see Modbus Control via

Remote Operator for details.

2. Important User Information

Observe all necessary safety precautions when controlling the soft starter remotely. Alert personnel that machinery may start without warning.

It is the installer's responsibility to follow all instructions in this manual and to follow correct electrical practice.

3. Installation

Remove mains and control voltage from the soft starter before attaching or removing accessories. Failure to do so may damage the equipment.

CAUTION

Install the Modbus Module using the following procedure:

3.1 Physical installation

1. Fully pull out the top and bottom retaining clips on the module.

2. Line up the module with the comms port slot.

3. Push in the top and bottom retaining clips to secure the module to the starter.

Figure 3-1 Attach the module to the starter

1 2 3

Figure 3-2 Remove the module from the starter

Remove the Modbus Module using the following procedure:

1. Remove control power and mains supply from the soft starter.

2. Disconnect all field wiring from the module.

3. Fully pull out the top and bottom retaining clips on the module.

4. Pull the module away from the soft starter.

4

www.controltechniques.com

Modbus Module User Guide

Issue 3

4. Modbus Module Connection and Configuration

4.1 Adjustment

Network communication parameters must be set on the Modbus Module. DIP switch settings take effect on the power-up of the

Modbus Module via the soft starter.

Figure 4-1 Adjustment switches

1

AP

ASCII

OFF

RTU

ON

7

6

A

2

+16

+8

+4

+2

+1

0

0

0

0

0

+16

+8

+4

+2

+1

0

0

0

0

0

ON ON

Protocol

Address

Baud rate

Parity

4.2 Connection

Figure 4-2 Modbus Module connections

Digistart CS

6

B

3

4

5

4800

OFF

OFF

No Parity

9600

OFF

ON

ODD

OFF

OFF

OFF

ON

No Time Out 10 s

OFF OFF

OFF ON

19200

ON

OFF

EVEN

ON

OFF

60 s

ON

OFF

38400

ON

ON

10 bit

ON

ON

100 s

ON

ON

Timeout (seconds)

DIP switch

Example: Address = 24

Digistart IS

1 1

3

2

3

2

Digistart CS Digistart IS (Remote mode)

Modbus Module

– RS485 serial port

DI2, +24V: Stop

RS485 connection onto Modbus network DI3, +24V: Reset

Modbus Module

– RS485 serial port

RS485 connection onto Modbus network

For the Modbus Module to accept serial commands, a link must be fitted across terminals CSL-DI2 on the soft starter.

Input links are required across the stop and reset inputs if the soft starter is being operated in Remote mode. In Local mode, links are not required.

If emergency stop is not required, change the setting of Pr 3A or connect a link across C53, C54.

Modbus Module User Guide

Issue 3 www.controltechniques.com

5

NOTE

Digistart IS Pr 3O Comms in Remote selects whether the soft starter will accept Start, Stop or Reset commands from the Serial Network Master while in Remote mode. See the Digistart IS User Manual for parameter details.

4.3 Network Status LED

The Network Status LED (1) indicates the state of the communications link between the module and the network. LED operation is as follows:

Figure 4-3 Feedback LEDs

Off

On

No connection or soft starter not powered up

Communication active

Flashing Communication inactive

1

NOTE

If communication is inactive, the soft starter may trip if the Communications Timeout function has been set on the module. When communication is restored, the soft starter will require a Reset.

5. Master Configuration

For standard Modbus 11-bit transmission, the Master must be configured for 2 stop bits with No Parity and 1 stop bit for odd or even parity.

For 10-bit transmission, the Master must be configured for 1 stop bit.

In all cases, the Master baud rate and slave address must match those set on the Modbus Module DIP switches.

6. Modbus Functions

The Modbus Module supports the following Modbus functions:

03 Read multiple registers

06 Write single register

16 Write multiple registers

Modbus broadcast functions are not supported.

Digistart CS soft starters (including Remote Keypad):

Read multiple registers 40003 to 40008

Write single register 40002

Digistart IS soft starters:

Read multiple registers starting from 40003 up to a maximum of 119 register blocks.

Single write single register 40002 or multiple write registers 40009 to 40599.

NOTE

A multiple read across register boundary 40008/40009 will result in a Modbus Error code 05 at the Master.

6

www.controltechniques.com

Modbus Module User Guide

Issue 3

6.1 Modbus Register

Table 6-1 Modbus register

Register

Address

Type Description Digistart

CS

Digistart

IS

Remote

Keypad

40002

Command

Single write 1 = Start

2 = Stop

3 = Reset

4 = Quick stop (coast to stop)

5 = Forced communication trip

6 = Start using Parameter Set 1

3

7 = Start using Parameter Set 2

3

Bit Description 40003

Starter status

40004

Trip Code

40005

1

Motor current

40006

Motor temperature

40007

Product type and version

Multiple read

Multiple read

Multiple read

Multiple read

Multiple read

0 to 3 1 = Ready

2 = Starting

3 = Running

4 = Stopping (including braking)

5 = Restart delay (including Temperature check)

6 = Tripped

7 = Program mode

8 = Jog forward

9 = Jog reverse

4

5

6

1 = Positive phase sequence (only valid if bit 6

= 1)

1 = Current exceeds full load current

0 = Uninitialised

1 = Initialised

7 0 = Communications are OK

1 = Communications device fault

See Trip Code table

Average 3 phase motor current (A)

Motor 1 temperature (thermal model)

Bit Description

0 to 2 Product parameter list version

3 to 7 4 = Digistart CS

8 = Digistart IS

40008

Serial protocol version

40009

2

Parameter manageme nt

Multiple read

Single write and multiple read

Pr 1A Motor Full Load Current to Digistart IS maximum register address (starter software dependent)

1

For models IS0430N and smaller this value will be 10 times greater than the value displayed on the keypad.

2

See the relevant soft starter literature for a complete parameter list. The first product parameter is always allocated to register

40009. The last product parameter is allocated to register 40XXX, where XXX = 008 plus total number of available parameters in the product.

3

Ensure that the programmable input is not set to Motor Set Select before using this function.

NOTE

If Pr 3A Input A Function for Digistart IS is set to motor set select, this will cause a conflict with motor set selection via serial communications.

Modbus Module User Guide

Issue 3 www.controltechniques.com

7

6.2 Trip Codes

Table 6-2 Trip messages

Trip

Code

Trip Name

4

5

6

7

1

2

3

8

10

11

12

13

14

15

16

17

20

1

23

24

26

27

28

29

30

31

32

33

2

35

36

37

38

1

39

1

40

1

41

1

42

1

43

1

45

Excess start time

Motor overload (thermal model)

Motor thermistor

Current imbalance

Frequency (Mains supply)

Phase sequence

Instantaneous overcurrent

Power loss/Power circuit

Heatsink overtemperature

Motor connection Tx

Input A trip

FLC too high (FLC out of range)

Unsupported option (function not available in inside delta)

Starter communication (between module and soft starter)

Network communication (between module and network)

Internal fault x (where x is the fault code detailed in the table below).

Ground fault

Parameter out of Range

Input B trip

L1 phase loss

L2 phase loss

L3 phase loss

L1-T1 shorted

L2-T2 shorted

L3-T3 shorted

Motor 2 overload (thermal model)

Time-overcurrent (Bypass overload)

Battery/clock

Thermistor circuit

RTD/PT100 A

RTD/PT100 B

RTD/PT100 C

RTD/PT100 D

RTD/PT100 E

RTD/PT100 F

RTD/PT100 G

RTD/PT100 X Circt

46

47

48

Analog input trip

Overpower

Underpower

255 No trip

1

Available with Digistart IS only if the appropriate option card is fitted.

2

For Digistart IS, time-overcurrent protection is only available on internally bypassed models.

Digistart CS Digistart IS

8

www.controltechniques.com

Modbus Module User Guide

Issue 3

6.2.1 Internal Fault x

The table below details the internal fault code associated with trip code 17.

Table 6-3 Internal fault X

Internal fault

82

83

84

85

86

77

78

79

80

81

70

71

72

73

74

75

76

93

94

95

96

87

89

90

91

92

97

98

Current Read Err Lx

Power On in Simulation mode

Motor connection Tx

Firing fail SCRx

VZC Fail Px

Message displayed on the keypad

Low Control Volts

Internal fault X

Contact your local supplier with the fault code (X).

6.3 Cyclic redundancy check (CRC)

The CRC is a 16bit cyclic redundancy check using a polynomial with a value A001.

The 16bit CRC is appended to the message and transmitted LSB first.

The CRC is calculated on all the bytes in the frame.

For further Modbus information, including the CRC calculation, refer to the Modbus protocol specifications available at http://www.modbus.org/specs.php http://www.modbus.org/specs.php.

6.4 Examples

Command: Start

Message

In

Out

Starter Address Function Code Register Address

20 06 40002

20 06 40002

Starter status: Running

Message

In

Out

Starter Address Function Code Register Address

20 03 40003

20 03 2

Trip code: Motor overload

Message

In

Out

Starter Address Function Code Register Address

20 03 40004

20 03 2

Data

1

1

Data

1 xxxx0011

Data

1

00000010

CRC

CRC1, CRC2

CRC1, CRC2

CRC

CRC1, CRC2

CRC1, CRC2

CRC

CRC1, CRC2

CRC1, CRC2

Modbus Module User Guide

Issue 3 www.controltechniques.com

9

Download parameter from starter

Digistart IS: Read parameter 3 (Pr 1C) Locked Rotor Time, 10 seconds

Message

In

Out

Starter Address

20

20

Function Code

03

03

Register Address

40011

2

Upload parameter to starter

Digistart IS: Write parameter 12 (Pr 2H), Stop Mode, set = 2 'Adaptive Control'

Message

In

Out

Starter Address

20

20

Function Code

06

06

Register Address

40020

40019

Data

1

10

Data

2

2

CRC

CRC1, CRC2

CRC1, CRC2

CRC

CRC1, CRC2

CRC1, CRC2

6.5 Modbus Error Codes

Table 6-4 Error codes

Code

05

06

07

08

01

02

03

04

09

10

Description Example

Illegal function code

Illegal data address

Not readable data

Not writable data

Data boundary fault

Invalid command code

Illegal parameter read

Illegal parameter write

Function other than 03 or 06

Register number invalid

Register not allowed for data reading

Register not allowed for data writing

Multiple data transfer across data boundary or data size more than 125 e.g. writing "6" into 40003

Invalid parameter number

Invalid parameter number, read only, or hidden parameter

Unsupported command Sending a serial command to Digistart IS with Pr 3O = Disable control in RMT.

Local communication error Communication error between Modbus slave and starter

NOTE

Some of the above codes are different from those defined in the Modbus Application Protocol Specification available on www.modbus.org.

7. AP ASCII Protocol

The message fragments used to communicate with the Modbus Module as an AP ASCII slave device are shown below. The message fragments may be assembled into complete messages as described in the sections that follow.

NOTE

Data must be transmitted in 8-bit ASCII, no parity, one stop bit.

Table 7-1 AP ASCII message fragments

Message Fragment Type

Send address

Send command

Send request

Receive data

Receive status

ACK (acknowledge)

NAK (negative acknowledge)

ERR (error) nn = lrc = ccc = dddd = ssss =

EOT

[04h]

STX

[02h]

STX

[02h]

STX

[02h]

ACK

[06h]

NAK

[15h]

BEL

[07h] nn nn ccc ccc dddd dddd ssss ssss

ASCII Character String or

(Hexadecimal Character String)

lrc lrc lrc lrc lrc lrc lrc lrc

ENQ

[05h]

ETX

[03h]

ETX

[03h]

ETX

[03h] two byte ASCII number representing the soft starter address where each decimal digit is represented by n. two byte longitudinal redundancy check in hexadecimal. three byte ASCII command number where each character is represented by c. four byte ASCII number representing the current or temperature data where each decimal digit is represented by d. four byte ASCII number. The first two bytes are ASCII zero. The last two bytes represent the nibbles of a single byte of status data in hexadecimal.

10

www.controltechniques.com

Modbus Module User Guide

Issue 3

7.1 Commands

Commands can be sent to the soft starter using the following format:

Figure 7-2 Command format

Send address

ACK Send command

Possible error responses:

= Master

Start

Stop

Reset

Quick stop

Command

Forced communication trip

ASCII

B10

B12

B14

B16

B18

ACK

NAK

= Slave

(soft starter)

(Invalid LRC)

Comment

Initiates a start

Initiates a stop

Resets a trip state

Initiates an immediate removal of voltage from the motor. Any soft stop settings are ignored.

Causes a communications trip

7.2 Status Retrieval

Soft starter status can be retrieved using the following format:

Figure 7-3 Status retrieval format

Send address

Possible error responses:

= Master

ACK Send request

Receive status

NAK

= Slave

(soft starter)

(Invalid LRC)

Request

Trip code

Starter status

ASCII

C18

C22

Receive Status (ssss)

See the trip code table.

Bit Description

0 to 3 1 = Ready

2 = Starting

3 = Running

4 = Stopping (including braking)

5 = Restart delay (including Temperature check)

6 = Tripped

7 = Program mode

4 1 = Positive phase sequence (only valid if bit 6 = 1)

5

6

7

1 = Current exceeds FLC

0 = Uninitialised

1 = Initialised

0 = Communications are OK

1 = Communications device fault

7.3 Data Retrieval

Data can be retrieved from the soft starter using the following format:

Figure 7-4 Data retrieval format

Send address

Possible error responses:

ACK

= Master

Send request

Receive data

NAK

= Slave

(soft starter)

(Invalid LRC)

Modbus Module User Guide

Issue 3 www.controltechniques.com

11

Request

Motor current

Motor temperature

ASCII

D10

D12

Receive Data (dddd)

Requests motor current. The data is four byte decimal ASCII. Minimum value 0000 A, maximum value 9999 A.

Requests the calculated value of the motor thermal model as a % of motor thermal capacity. The data is four byte decimal ASCII. Minimum value is 0000%. Trip point is 0105%.

7.4 Calculating the Checksum (LRC)

Each command string sent to and from the starter includes a checksum. The form used is the longitudinal redundancy check (LRC) in ASCII hex. This is an 8-bit binary number represented and transmitted as two ASCII hexadecimal characters.

To calculate LRC:

1. Sum all ASCII bytes

2. Mod 256

3. 2's complement

4. ASCII convert

For example Command String (Start):

ASCII STX B or

ASCII

STX

B

1

0

ASCII or

02h

Hex

02h

42h

31h

30h

A5h

A5h

5Ah

01h

5Bh

5

35h

42h

Binary

0000 0010

0100 0010

0011 0001

0011 0000

1010 0101

1010 0101

0101 1010

0000 0001

0101 1011

B

42h

1

31h

0

30h

SUM (1)

MOD 256 (2)

1's COMPLEMENT

+ 1 =

2's COMPLEMENT (3)

ASCII CONVERT (4)

LRC CHECKSUM

The complete command string becomes:

ASCII or

STX

02h

B

42h

1

31h

0

30h

To verify a received message containing an LRC:

1. Convert last two bytes of message from ASCII to binary

2. Left shift second to last byte four bits

3. Add to last byte to get binary LRC

4. Remove last two bytes from message

5. Add remaining bytes of message

6. Add binary LRC

7. Round to one byte

8. The result should be zero

Response or status bytes are sent from the starter as an ASCII string:

5

35h

STX d1 = d2 = d3 = d4 =

[d1]h

30h

[d2]h [d3]h [d4]h LRC1

30h

30h plus upper nibble of status byte right shifted by four binary places

30h plus lower nibble of status byte

For example status byte = 1Fh, response is:

STX 30h 30h 31h 46h LRC1

B

42h

LRC2

LRC2

ETX

03h

ETX

ETX

8. Modbus Control via Remote Keypad

The Modbus Module can be used to connect a Remote Operator to the soft starter, enabling control via an RS485 serial communications network. See the Remote Operator instructions for details.

8.1 Grounding and Shielding

Twisted pair data cable with ground shield is recommended. The cable shield should be connected to the GND device terminal at both ends and one point of the site protective ground.

8.2 Termination Resistors

In long cable runs prone to excessive noise interference, termination resistors should be installed between the data lines at both ends of the RS485 cable. This resistance should match the cable impedance (typically 120

Ω

). Do not use wire wound resistors.

12

www.controltechniques.com

Modbus Module User Guide

Issue 3

Figure 8-1 Installation with termination resistors

1 2 3

Network master RS485

Remote Keypad RS485

Soft starter RS485

8.3 RS485 Data Cable Connection

Daisy chain connection is recommended. This is achieved by parallel connections of the data cable at the actual device terminals.

8.4 Remote Keypad RS485 Network Connection Specifications

Input impedance:

Common mode voltage range:

Input sensitivity:

Minimum differential output voltage:

12 k

Ω

- 7 V to + 12 V

± 200 mV

1.5 V (with max loading of 54

Ω)

8.5 Using the Remote Keypad with Digistart CS

Figure 8-2 Modbus Module connections

1 3

4

+ GND -

2

+ GND -

+ - GND + - GND + ~/+ ~/-

Digistart CS

Module

– RS485 serial port

Modbus Module User Guide

Issue 3

Remote Keypad

B10, B11 - 4 to 20 mA analog output

B1, B2, B3 - RS485 starter connection

B6, B7, B8 - RS485 network connection

1, 2 - Supply voltage (18 to 30 Vac/Vdc)

RS485 Serial communication network connection

(Modbus RTU or AP ASCII) www.controltechniques.com

13

8.6 Programming

The Remote Keypad must be configured to operate on the network. In order to access Programming Mode, the Remote Keypad must be powered up when the soft starter is not running.

8.6.1 Programming Procedure

1. To enter Programming Mode, hold down the Data/Prog pushbutton for four seconds. The default value of the first parameter will be displayed.

2. Use the Data/Prog pushbutton to advance to the next parameter.

3. Use the Stop and Reset pushbuttons to adjust parameter values.

Programming Mode closes when the Data/Prog pushbutton is pressed after Pr 9.

NOTE

There is a 20 second timeout when the Remote Operator is in Programming Mode. Programming Mode will automatically close if no input is registered for 20 seconds. Any changes already made will be saved.

8.6.2 Programmable Parameters

The Remote Keypad offers the following programmable parameters:

Table 8-1 Programmable parameters

Parameter

Number

Description Default

Setting

Adjustable Range

1 RS485 network baud rate

4

(9600 baud)

0 seconds

(= off)

1

(AP ASCII)

0

(no parity)

2 = 2400 baud

3 = 4800 baud

4 = 9600 baud

5 = 19200 baud

6 = 38400 baud

1 to 99 2

3

4

5

RS485 network satellite address

RS485 network timeout

RS485 network protocol

Modbus protocol parity

20

0 to 100 seconds

1 = AP ASCII protocol

2 = Modbus RTU protocol

0 = no parity

1 = odd parity

2 = even parity

3 = 10-bit transmission

1 to 2868

80 to 120

6

7

8

9

Motor FLC (A)

Analog output

4 mA offset (%)

Start, Stop, Quick stop function disable

Current

10

10

100

0

0

0 = Remote Keypad and Network start, stop, quick stop function enabled.

1 = Remote Keypad start, stop, quick stop function enabled. Network start,

2 stop, quick stop function disabled.

2 = Remote Keypad start, stop, quick stop function disabled. Network start,

1 stop, quick stop function enabled.

3 = Remote Keypad start, stop, quick stop function disabled. Network start, stop, quick stop function disabled.

1, 2

0 = off (required for Digistart CS)

1 = on (not suitable for Digistart CS)

1

Remote Keypad Reset pushbutton is always enabled.

2

RS485 Network reset and forced communication trip functions are always enabled.

NOTE

Remote Operator Pr 9 Current

10 normalises the displayed current and analog output for models IS0023B to

IS0430N. Use Pr 9 in conjunction with Pr 6 Motor FLC as follows:

1. Set Pr 6 to a value 10 times greater than the actual motor nameplate FLC (e.g. for actual FLC = 4.6 A, set Pr 6 to

46).

2. Set Pr 9 = 1.

14

www.controltechniques.com

Modbus Module User Guide

Issue 3

8.7 Troubleshooting

The Remote Keypad display and status indication LEDs can indicate abnormal operating and system conditions.

Table 8-2 Error codes

Possible Solution Display

Indication

Problem

nEt on display

A loss of communication has been detected on the RS485 link to the network.

SP flashing on display

Soft starter is off and being programmed from the serial network.

The Remote Keypad has an RS485 Network Timeout Protection setting (Pr 3).

This error is reported when no communication occurs for longer than the timeout setting. The system will become active as soon as communication is restored.

To clear nEt from the display, press the Data/Prog pushbutton momentarily or send a Reset command from the network Master.

Finish soft starter network programming procedure and exit Programming Mode.

9. Specifications

Enclosure

Dimensions ........................................................................................................................... 40 mm (W) x 166 mm (H) x 90 mm (D)

Weight ..................................................................................................................................................................................... 250 g

Protection .................................................................................................................................................................................. IP20

Mounting

Spring-action plastic mounting clips (x 2)

Connections

Soft starter ......................................................................................................................................................... 6-way pin assembly

Network ................................................................................................... 5-way male and unpluggable female connector (supplied)

Maximum cable size ........................................................................................................................................................... 2.5 mm2

Settings

Protocol ....................................................................................................................................................... Modbus RTU, AP ASCII

Address range ....................................................................................................................................................................... 0 to 31

Data rate (bps) ......................................................................................................................................... 4800, 9600, 19200, 38400

Parity .......................................................................................................................................................... None, Odd, Even, 10-bit

Timeout ................................................................................................................................................. None (off), 10 s, 60 s, 100 s

Certification

C

......................................................................................................................................................................... IEC 60947-4-2

CE .......................................................................................................................................................................... IEC 60947-4-2

RoHS ................................................................................................................................. Compliant with EU Directive 2002/95/EC

Modbus Module User Guide

Issue 3 www.controltechniques.com

15

0477-0009-03

Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project