Drum Digital Servo Drive Installation Guide April 2008 (Ver. 1.
Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Drum servo drive in its installation. The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.
Drum Installation Guide MAN-DRUIG (Ver. 1.0) Contents Chapter 1: Safety Information ........................................................................................ 1-1 1.1 Warnings.............................................................................................................. 1-2 1.2 Cautions ............................................................................................................... 1-2 1.3 Directives and Standards .................................................
Drum Installation Guide Contents MAN-DRUIG (Ver. 1.0) 3.5.2 Initializing the System ..............................................................................3-45 3.6 Heat Dissipation................................................................................................ 3-46 3.6.1 Drum Thermal Data..................................................................................3-46 3.6.2 Heat Dissipation Data...............................................................................
Drum Installation Guide Contents MAN-DRUIG (Ver. 1.0) A.10.7 Packing.......................................................................................................A-18 A.10.8 WEEE* ........................................................................................................A-18 A.10.9 RoHS...........................................................................................................
Drum Installation Guide MAN-DRUIG (Ver. 1.0) Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Drum servo drives, it is imperative that you implement the safety procedures included in this installation guide. This information is provided to protect you and to keep your work area safe when operating the Drum as well as the accompanying equipment. Please read this chapter carefully before you begin the installation process.
Drum Installation Guide Safety Information MAN-DRUIG (Ver. 1.0) 1.1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source is on. Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Drum from all voltage sources before it is opened for servicing. The Drum servo drives contain grounding conduits for electric current protection.
Drum Installation Guide Safety Information MAN-DRUIG (Ver. 1.0) 1.
Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) Chapter 2: Introduction This installation guide describes the Drum servo drives and the steps for its wiring, installation and power-up. Following these guidelines ensures maximum functionality of the drive and the system to which it is connected. 2.1 Drive Description The Drum series are highly resilient digital servo drives designed to deliver “the highest density of power and intelligence”. The Drum delivers up to 9.
Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) Automatic gain scheduling, to compensate for variations in the DC bus power supply 2.2.2 Velocity Control Fully digital Programmable PI and FFW (feed forward) control filters Sample rate two times current loop sample time “On-the-fly” gain scheduling Automatic, manual and advanced manual tuning and determination of optimal gain and phase margins 2.2.
Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) • Absolute Encoder o Heidenhain 2.1 o Stegmann • Elmo drives provide supply voltage for all the feedback options 2.2.
Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) 2.4 How to Use this Guide In order to install and operate your Elmo Drum servo drives, you will use this manual in conjunction with a set of Elmo documentation.
Drum Installation Guide Installation 3-1 Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Drum by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F) Maximum relative humidity 90% non-condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) Component Main and Auxiliary Feedbacks Cable Digital I/O and Analog Input Cable (if needed) RS232 Communication Cable CANopen Communication cable(s) (if needed) PC for drive setup and tuning Motor data sheet or manual Connector Described in Section FEEDBACK A and FEEDBACK B 3.4.4 GENERAL I/O J1 3.4.7.1 RS232 3.4.8.1 CAN (in), CAN (out) and Backup Option 3.4.8.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.2 3-3 Unpacking the Drive Components Before you begin working with the Drum system, verify that you have all of its components, as follows: The Drum servo drive The Composer software and software manual The Drum is shipped in a cardboard box with styrofoam protection. To unpack the Drum: 1. Carefully remove the servo drive from the box and the Styrofoam. 2. Check the drive to ensure that there is no visible damage to the instrument.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.3 Mounting the Drum The Drum has been designed for two standard mounting options: “Wall Mount” along the back (can also be mounted horizontally on a metal surface) “Book Shelf” along the side M5 round head screws, one through each opening in the heat sink, are used to mount the Drum (see the diagram below).
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4 3-5 Connecting the Cables 3.4.1 Wiring the Drum Once the Drum is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the Drum. Follow these instructions to ensure safe and proper wiring: Use twisted pair shielded cables for control, feedback and communication connections.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.2 Connecting the Power Cables The main power connector located at the bottom of the Drum, as follows: Pin Function Cable Pin Positions VP+ Pos.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.2.1 3-10 Connecting the Motor Cable Connect the motor power cable to the M1, M2, and M3 terminals of the main power connector and the fourth wire to the PE (Protective Earth) on the heat sink (see diagram above). The phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-11 Drum Figure 3-4: Isolated DC Power Supply In this case the isolation is achieved by the isolation transformer. It is highly recommended to connect the network PE to the Return (negative terminal) of the Power Supply. Drum Figure 3-5: Isolated Power Supply In this case the isolation is achieved by using a battery. It is highly recommended to connect the PE to the Return (negative terminal) of the Power Supply.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-12 Drum Figure 3-6: Non-Isolated DC Power Supply The Power Supply is directly connected to the AC line (The AC must be limited to 135 VAC not to exceed the max 190 VDC in case of 200 VDC drive). The network PE MUST NOT be connected to the Return of the Power Supply. Drum Figure 3-7: Non-Isolated DC Power Supply The Power Supply is directly connected to the AC line through an Autotransformer.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-13 Notes for connecting the DC power supply: Be aware: The Drum can operate from either an: o isolated DC power supply or o non-isolated DC power supply For best immunity, it is highly recommended to use twisted cables for the DC power supply cable. A 3-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) Pin Signal Function J1-9 +VDC Backup Supply +VDC back-up supply J1-8 RET Backup Supply Return (common) of the back-up supply 3-14 Pin Position J1 Male Table 3-6: Back-up Cable Plug Figure 3-8: Back-up Supply Connection Diagram “Smart” Control Supply Options Internal DC-to-DC converter allowing for operation from DC power (no need for auxiliary external supply for normal operation).
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-15 Use only a D-sub connector with a metal housing. Attach the braid shield tightly to the metal housing of the D-type connector. On the motor side connections, ground the shield to the motor chassis. On controller side connections, follow the controller manufacturer’s recommendations concerning the shield.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) Pin 1 Port A– Incremental Encoder Interpolated Analog Encoder Resolver Tachometer and Potentiometer DRU XX/YYY_ DRU XX/YYYI DRU XX/YYYR DRU XX/YYYT Signal CHA Function Signal Function Signal Channel A A+ Sine A S1 Channel A A- Sine A S3 Function Signal Function Sine A Tac1+ Sine A Tac1- Tacho Input 1 Pos. (20 V max) Tacho Input 1 Neg. (20 V max) Tacho Input 2 Pos. (50 V max) Tacho Input 2 Neg.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) Incremental Encoder Interpolated Analog Encoder Resolver Tachometer and Potentiometer DRU XX/YYY_ DRU XX/YYYI DRU XX/YYYR DRU XX/YYYT Pin Port Signal 13 B2 – Aux. CHBO- Output 14 B2 – Aux. INDEXO Output Function Aux./Main Signal CHBO- Function Aux./ Signal CHBO- B2 – Aux. Output Aux./ Signal CHBO- Function Aux.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-18 Incremental Encoder Interpolated Analog Encoder Resolver Tachometer and Potentiometer DRU XX/YYY_ DRU XX/YYYI DRU XX/YYYR DRU XX/YYYT Pin Port Signal 22 B1 – Aux.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-19 Absolute Encoders DRU XX/YYY Pin 1 Port A– Main Signal Heidenhain 2.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-20 Absolute Encoders DRU XX/YYY Pin 22 Port Signal B1– Aux. CHB- Input/ Heidenhain 2.1 Emulated channel B low output/ Signal CHB- Auxiliary channel B low input Stegmann Emulated channel B low output/ Auxiliary channel B low input Output 23 B1– Aux.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) Figure 3-17: Main Feedback – Heidenhain (EnDat 2.
Drum Installation Guide MAN-DRUIG (Ver. 1.0) Installation 3-25 Figure 3-18: Main Feedback – Heidenhain (EnDat 2.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.5 3-28 Main and Auxiliary Feedback Combinations The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often, but not always used. The Auxiliary Feedback connector on the Drum, “FEEDBACK B” has two ports, Port B1 and Port B2.
Drum Installation Guide Installation 3-29 MAN-DRUIG (Ver. 1.0) FEEDBACK B Ports B1 and B2 FEEDBACK A YA[4] = 4 YA[4] = 2 B1- Output Potentiometer Input A-input Potentiometer Potentiometer Position Data Emulated in Incremental Encoder Format (signals are quadrature, differential & buffered) B2- Output same as B1 Typical Any application where the Applications main encoder is used, not only for the drive, but also for other purposes such as position controllers and/or other drives.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.6.1 3-30 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B (YA[4]=4) Through FEEDBACK B (Ports B1 and B2) the Drum can provide two simultaneous buffered main, or emulated, encoder signals to other controllers or drives. This option can be used when: The Drum is used as a current amplifier to provide position data to the position controller.
Drum Installation Guide MAN-DRUIG (Ver. 1.0) Installation 3-31 FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 26-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.4.3 (Feedback Control and Communication Cable Assemblies).
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.6.2 3-32 Differential Auxiliary Encoder Input Option on FEEDBACK B (YA[4]=2) The Drum can be used as a slave by receiving the position of the master encoder data (on Port B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in follower or ECAM mode.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-33 FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 26-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.4.3 (Feedback Control and Communication Cable Assemblies).
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.6.3 3-34 Single-ended Auxiliary Input Option on FEEDBACK B (YA[4]=2) The Drum can be used as a slave by receiving the position data (on Port B1) of the master encoder in Follower or ECAM mode. In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in Follower or ECAM mode.
Drum Installation Guide MAN-DRUIG (Ver. 1.0) Installation 3-35 FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 26-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.4.3 (Feedback Control and Communication Cable Assemblies).
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.6.4 3-36 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) This mode is used for input of differential or single-ended pulse-and-direction position commands on Port B1. In this mode Port B2 provides differential buffered pulse-anddirection outputs for another axis.
Drum Installation Guide MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-38 Below are the signals on the Auxiliary Feedback ports when set up to run as a differential pulse-and-direction input: Port Pin Signal Function B2 10 CHAO Channel A output B2 11 CHAO- Channel A complement output B2 12 CHBO Channel B output.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.7 3-40 I/O Cables The Drum has one I/O port, J3. J3 is a general I/O which can be used to connect 6 digital inputs, 2 digital outputs and 1 analog input. 3.4.7.1 I/O J3 Port Digital Input 6 Digital Output 2 Analog Input 1 General I/O Port (J3) Port J3 has a 15-pin high density D-Sub plug. When assembling this I/O cable, follow the instructions in Section 3.4.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.4.8 3-42 Communication Cables The communication cables use a 9-pin D-sub plug that connect to the RS-232 and 9-pin D-sub socket that connects to the CANopen ports on the Drum. The communication interface may differ according to the user’s hardware. The Drum can communicate using the following options: a. RS-232, full duplex b.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-43 Figure 3-27: RS-232 Connection Diagram 3.4.8.2 CANopen Communication Notes for connecting the CANopen communication cable: Use 24, 26 or 28 AWG twisted pair shielded cables (24 AWG cable is recommended). For best results, the shield should have aluminum foil and covered by copper braid with a drain wire Connect the shield to the ground of the host (PC).
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) Figure 3-28: CANopen Connection Diagram 3-44 Caution: When installing CANopen communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CANopen network may hang.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.5 3-45 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specifications (the Appendix of this guide). The supply source must comply with the safety aspects of the relevant requirements, in accordance with the most recent version of the standard EN60950 or equivalent Low Voltage Directive Standard, all according to the applicable over-voltage category.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.6 3-46 Heat Dissipation For full power output capability the Drum is designed to be mounted on an external heatsink. It is highly recommended that the “Wall” on which the Drum is mounted will have heat dissipation capabilities. The Drum at “free air convection” (without an additional heatsink) can dissipate around 12 W for 40 °C ambient temperature and not exceeding 80 °C on the heatsink.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3-47 Power Dissipation 100V series 120 Power Dissipation (W) 100 80 20VDC 40VDC 60VDC 80VDC 60 96VDC 40 20 0 0 8.3 16.7 25.0 33.3 41.7 50.0 58.3 66.7 75.0 Motor's Current (Ampere) Power Dissipation 200V series 250 Power Dissipation (W) 200 40VDC 80VDC 150 120VDC 160VDC 196VDC 100 50 0 0 6.7 13.3 20.0 26.7 33.3 40.0 Motor's Current (Ampere) 46.7 53.3 60.
Drum Installation Guide Installation MAN-DRUIG (Ver. 1.0) 3.6.3 3-48 How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% - 50% better power dissipation. To determine if your application needs a heatsink: 1. Allow maximum heatsink temperature to be 80°C or less (shunt down is 6 °C – 8 °C higher). 2. Determine the ambient operating temperature of the Drum as ≤ 40 °C. 3.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) Appendix: Drum Technical Specifications A.1 Features A.1.1 Motion Control Modes • Current/Torque • Velocity • Position - A.1.2 up to 3.5 kHz sampling rate PTP, PT, PVT, ECAM, Follower, Dual Loop Fast event capturing inputs Fast output compare (OC) Motion Commands: Analog, PWM, digital (SW) and Pulse and Direction Advanced Filters and Gain Scheduling • • • • A.1.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A-2 • Absolute Encoder - Heidenhain 2.1 and Stegmann Sine/Cosine Encoder– up to 250 kHz Internal Interpolation - up to x4096 Automatic correction of amplitude mismatch, phase mismatch, signal offset Differential encoder buffered outputs • Auxiliary Encoder inputs (ECAM, follower, etc.) A, B, Index Differential encoder buffered outputs Quadrate A.1.
Drum Installation Guide MAN-DRUIG (Ver. 1.0) A.1.8 • A.1.
Drum Installation Guide MAN-DRUIG (Ver. 1.0) A.
Drum Installation Guide Drum Technical Specifications A-5 MAN-DRUIG (Ver. 1.0) A.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.4.1 Auxiliary Supply Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 12 VDC ~ 195 VDC Auxiliary supply input power < 4 VA (this includes the 5V/200 mA load for the main encoder only) < 5.5 VA (this includes the 5V/400 mA load on the main encoder and feedback B) A.5 Control Specifications A.5.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.5.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.6 Feedbacks A.6.1 Feedback Supply Voltage The Drum has two feedback ports (main and auxiliary). The drives supply voltage to the main and auxiliary feedback devices (200 mA to the main feedback and 200 mA to the auxiliary feedback). Feature Details Main encoder supply voltage 5 V +5% @ 200 mA Auxiliary encoder supply voltage 5 V +5% @ 200 mA A.6.2 Main Feedback Options A.6.2.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.6.2.2 Digital Halls Feature Details Halls inputs H A , H B, H C . Single ended inputs Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range: 0 V < VIn_Hall < 5 V Maximum absolute: -1 V < VIn_Hall < 15 V High level input voltage: V InHigh > 2.5 V Low level input voltage: V InLow < 1 V Input current Sink current (when input pulled to the common): 3 mA Maximum frequency fMAX : 2 kHz A.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) Feature Details Reference frequency 1/Ts (Ts = sample time in seconds) Reference voltage Supplied by the Drum Reference current up to ±50 mA Encoder outputs See Auxiliary Encoder Output specifications (0) A-10 A.6.2.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.6.2.6 Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Drum Potentiometer Resistance 100 Ω ~ 1 kΩ … above this range, linearity is affected detrimentally Input Resistance 100 kΩ Resolution 14 Bit A.6.2.7 Absolute Encoder Feature Details Analog encoder format Sine and Cosine signals Analog input signal level Offset voltage: 2.2 V – 2.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A-13 Figure A-2: Auxiliary Feedback - Encoder Phase Diagram A.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.7.1 A-14 Digital Input Interfaces Feature Details Type of input Input current Connector Location Optically isolated Single ended PLC level Iin = Vin − 6.5V 2500Ω * Iin = 2.2 mA @ Vin = 12 V Input current for high speed inputs Iin = Vin − 6.5V 1250Ω * Iin = 4.4 mA @ Vin = 12 V High-level input voltage 12 V < Vin < 30 V, 24 V typical Low-level input voltage 0 V < Vin < 6.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.7.2 Digital Output Interface Feature Details Type of output Optically isolated Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.3 V + 0.02 * Iout (mA) RL External resistor RL must be selected to limit output current to no more than 15 mA.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.8 A-16 Communications Specification Details RS-232 Signals: RxD , TxD , Gnd Full duplex, serial communication for setup and control Baud Rate of 9,600 ~ 57,600 bit/sec CANopen CANbus Signals: CAN_H, CAN_L, CAN_GND Maximum Baud Rate of 1 Mbit/sec Version: DS 301 V4.01 Device Profile (drive and motion control): DS 402 A.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.10.3 A-17 Safety Specification Description In compliance with UL508c Power conversion equipment In compliance with UL840 Insulation coordination, including clearance and creepage distances of electrical equipment In compliance with UL60950 Safety of information technology equipment, including electrical business equipment In compliance with EN60204-1 Low voltage directive, 72/23/EEC A.10.
Drum Installation Guide Drum Technical Specifications MAN-DRUIG (Ver. 1.0) A.10.7 A-18 Packing Specification Description In compliance with EN100015 Protection of electrostatic sensitive devices A.10.8 WEEE* Specification Description In compliance with 2002/96/EC Waste Electrical and Electronic Equipment regulations * Please send out-of-service Elmo drives to the nearest Elmo sales office. A.10.
