Manuale d’uso / di manutenzione del prodotto MDrive34Plus del fabbricante Intelligent Motion Systems
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MDrive34Plus Microstepping Integrated Motor and Driver TM.
The information in this book has been car efully check ed and is believed to be accurate; howe ver , no r esponsibility is assumed for inaccuracies . Intelligent Motion Systems, Inc., reser ves the right to mak e changes without further notice to any pr oducts herein to impr ove reliability , function or design.
Important information The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers.
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i T able Of Contents Getting S tarted: MDrive34Plus Microstepping .......................................................................... 1-1 Before Y ou Begin ........................................................................................
ii Minimum Requir ed Connections ............................................................................................ 2-20 Section 2.4: Connecting SP I Communications ......................................................................... 2-21 Connecting the SPI Interface .
iii Encoder Connections .............................................................................................................. A-26 Encoder Signals ...............................................................................................
iv F igure 2.5.10: SPI M otor Interface U pgrade Utility ................................................................ 2-32 F igure 2.5.11: SPI M otor Interface Initialization ..................................................................... 2-33 F igure 2.
v List of T ables Part 1: Hardware Specifications T able 1.2.1: MDrive34Plus M icrostepping Electrical S pecifications .......................................... 1-7 T able 1.2.2: MDrive34Plus M icrostepping Environmental S pecifications .............
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1-1 P art 1: Hardware S pecifications Note: A characteristic of all motors is back EMF . Back EMF is a source of current that can push the output of a power supply beyond the maximum operating voltage of the driver . As a result, damage to the stepper driver could occur over a period of time.
1-2 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Install the IMS SPI Motor Interface The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of your MD rive34Plus Microstepping.
1-3 P art 1: Hardware S pecifications Section 1.1: MDrive34Plus Microstepping Product Introduction Section 1.2: MDrive34Plus Microstepping Detailed Specifications Part 1: Hardware Specifications TM M.
1-4 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
1-5 P art 1: Hardware S pecifications SECTION 1.1 Introduction to the MDrive34Plus Microstepping The MDrive34Plus M icrostepping high torque inte- grated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics.
1-6 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Motor R un/Hold C urrent Motor Dir ection vs.
1-7 P art 1: Hardware S pecifications SECTION 1.2 MDrive34Plus Microstepping General Specifications Electrical Specifications Input V oltage (+V) Range* +12 to +75 VDC Max Power Supply Current (Per MDrive34Plus)* 4 A * Actual Power Supply Current will depend on Voltage and Load.
1-8 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Setup Parameters The following table illustrates the setup parameters. These are easily configured using the IMS SPI M otor Interface configuration utility .
1-9 P art 1: Hardware S pecifications Mechanical Specifications Dimensions in Inches (mm) Figur e 1.2.1: MDrive34Plus Microstepping Dimensional I nformation Ø 1.90 (Ø 48.3) L MAX2 Option - Control Knob Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010 ) 4X Ø 0.
1-10 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Connector Options The MDrive34Plus M icrostepping comes in three Connector Options 12" (30.5 cm) Flying Leads 1. Locking Wir e Crimp Connectors 2.
1-1 1 P art 1: Hardware S pecifications Pin Assignment And Description - Flying Leads V ersion P1 Connector - Power , I/O and Internal Optical Encoder (Optional) Pin Assignment - P1 Power and I/O Con.
1-12 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 White: OptoRef Orange: Step Clock Blue: Direction Brown: Enable Black: GND Red: +VDC Y ellow/Black: Ground Y ellow/Violet: Index Y ellow/Blue: Channel A Y ellow/Red: +5 VDC Input Y ellow/Brown: Channel B Figur e 1.
1-13 P art 1: Hardware S pecifications Note: The P2 Connector (10- Pin IDC, SPI Communications) is only available on the Flying Leads version of the MDrive34Plus Microstepping.
1-14 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Pin Assignment And Description - Pluggable Interface V ersion P1 Connector - I/O and SPI Communications, 12-Pin Locking W ire Crimp Pin Assignment - P1 Power , I/O and SPI Connections Pin # Function Description Pin 1 N/C No Connect.
1-15 P art 1: Hardware S pecifications P3 Connector - DC Power , 2-Pin Locking W ire Crimp Pin Assignment - P3 Power 2-Pin Locking Wire Crimp Function Description Pin 1 +V +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. Pin 2 GND Power Supply Return.
1-16 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Figur e 1.2.9: P4 Connector – Internal Differ ential Encoder I nterface P4 Recommended Cable: P/N.
1-17 P art 1: Hardware S pecifications Connectivity QuickStart Kit F or rapid design verification, all-inclusive QuickS tart Kits have communication converter , prototype develop- ment cable(s), instructions and CD for MDrivePlus initial functional setup and system testing.
1-18 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
2-1 P art 2: Interfacing and Configuring Section 2.1: Mounting and Interface Guidelines Section 2.2: Interfacing DC Power Section 2.3: Interfacing Logic Inputs Section 2.4: Interfacing SPI Communications Section 2.3: Using the IMS SPI Motor Interface Section 2.
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2-3 P art 2: Interfacing and Configuring SECTION 2.1 Mounting and Interface Guidelines Mounting Recommendations Flange mounting holes ar e drilled through with a diameter of 0.217" (5.51mm) to take standard 10-32 (M5) screws. The length of the screw used will be determined by the mounting flange width.
2-4 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Layout and Interface Guidelines Logic level cables must not run parallel to power cables. P ower cables will introduce noise into the logic level cables and make your system unreliable.
2-5 P art 2: Interfacing and Configuring Recommended W iring The following wiring/cabling is recommended for use with the MD rivePlus: Logic Wiring ......................................................................................................
2-6 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Figur e 2.1.3: T ypical MDrive Shown with Leads S ecured A dhesive Anchor/T ywrap P1: Logic Wiring P.
2-7 P art 2: Interfacing and Configuring SECTION 2.2 Interfacing DC Power Choosing a Power Supply for Y our MDrive When choosing a power supply for your MDrivePlus ther e are performance and sizing issues that must be addressed.
2-8 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 DC Power Supply Recommendations The power r equirements for the Motion Contr ol MDrive34Plus are: Output V oltage .....................................
2-9 P art 2: Interfacing and Configuring Connecting DC Power Connect the DC P ow er Supply to your MD rivePlus in accordance with the follo wing illustrations.
2-10 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Example C – Cabling 50 Feet or Greater , AC Power to Power Supply Shield to Earth Ground on Suppl.
2-1 1 P art 2: Interfacing and Configuring MDrive34Plus Recommended Power Supply Cable A WG 1 Amperes (Peak) 3 Amperes (Peak) Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100* Minimum.
2-12 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age I ntentionally Left Blank.
2-13 P art 2: Interfacing and Configuring SECTION 2.3 Isolated Input Interface and Connection Optically Isolated Logic Inputs The MDrivePlus Microstepping has three optically iso- lated inputs which are located at the flying leads or on connector P1.
2-14 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Figur e 2.3.2: Isolated I nput Pins and Connections 12-Pin Locking Wire Crimp 12” Flying Leads Co.
2-15 P art 2: Interfacing and Configuring Isolated Logic Input Characteristics Enable Input This input can be used to enable or disable the driver output circuitry .
2-16 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 T DSU T DH T SH T SL Direction Step T DC T CHL T CHL Channel A Channel B Direction Change T SH T SL T DC T SH T SL T DC Step Up Step Down STEP/DIRECTION TIMING QUADRA TURE TIMING UP/DOWN (CW/CCW) TIMING Figur e 2.
2-17 P art 2: Interfacing and Configuring NOTE: When connecting the Optocoupler Supply , it is recommended that you do not use MDrive DC Power Ground as Ground as this will defeat the optical isolation. Ground the Opto supply at the controller I/O ground.
2-18 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 + +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground + +5 to +24VDC Optoc.
2-19 P art 2: Interfacing and Configuring Switch Interface Example Switch Interface (Sinking) Switch Interface (Sourcing) + +5 to +24VDC Opto Ref. SPST Switch GND + Enable Input +5 to +24VDC GND SPST Switch MDrivePlus Speed Control MDrivePlus Speed Control Input Input Opto Ref.
2-20 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Minimum Required Connections The connections shown are the minimum r equired to operate the MDrivePlus M icrostepping. These are illustrated in both Sinking and Sour cing Configurations.
2-21 P art 2: Interfacing and Configuring SECTION 2.4 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial P eripheral Interface) is the communications and configuration interface. F or prototyping we recommend the purchase of the parameter setup cable MD-CC300-000.
2-22 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 SPI Pins and Connections Figur e 2.4.1: SPI Pins and Connection — A ll Connector Styles 12-Pin Lo.
2-23 P art 2: Interfacing and Configuring Logic Level Shifting and Conditioning Circuit The following circuit diagram is of a Logic Level shifting and conditioning cir cuit. This circuit should be used if you are making your o wn parameter cable and are using a laptop computer with 3.
2-24 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 SPI Master SPI Clock MOSI MISO CS SPI Clock MOSI MISO CS1 CS2 SPI Master MDriveACPlus Microstepping #1 MDriveACPlus Microstepping MDriveACPlus Microstepping #2 Figur e 2.
2-25 P art 2: Interfacing and Configuring SECTION 2.5 Using the IMS SPI Motor Interface Installation The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of your MD rivePlus Microstepping. I t is available both on the CD that came with your product and on the IMS web site at http:// www .
2-26 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.
2-27 P art 2: Interfacing and Configuring Recall! Retrieves the settings from the MD rivePlus Microstepping. Upgrade! U pgrades the MDrivePlus Micr ostepping firmware by placing the device in U pgrade Mode and launching the firmware upgrader utility .
2-28 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Screen 1: The Motion Settings Configuration Screen The IMS SPI M otor Interface Software opens b y default to the Motion Settings Scr een shown on the left.
2-29 P art 2: Interfacing and Configuring HCDT (Hold Current Delay T ime) The HCDT Motor H old Curr ent Delay sets time in milliseconds for the Run Curr ent to switch to Hold C urrent when motion is complete.
2-30 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed b y clicking View > IO Settings on the menu bar .
2-31 P art 2: Interfacing and Configuring IMS Part Number/Serial Number Screen The IMS P art Number and S erial Number scr een is accessed by clicking "View > P art and Serial N umbers". This screen is read-only and will display the part and serial number , as well as the fault code if existing.
2-32 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 NOTE: Once entered into Upgrade Mode, you MUST complete the upgrade.
2-33 P art 2: Interfacing and Configuring Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. 1. The U ser selects File > E xit when connected to the device.
2-34 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
2-35 P art 2: Interfacing and Configuring SECTION 2.6 Using User -Defined SPI The MDrivePlus can be configur ed and operated through the end-user's SPI interface without using the IMS SPI Motor I nterface software and optional parameter setup cable.
2-36 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 SPI Commands and Parameters U se the following table and figure found on the following page together as the B yte order read and written fr om the MDrivePlus M icrostepping, as well as the checksum at the end of a WRITE is critical.
2-37 P art 2: Interfacing and Configuring WA RNTEMP CLKIOF CLKTYP HCDT_LO HCDT_HI DIR_OVRID MSEL MHC MRC USR_ID3 USR_ID2 USR_ID1 VERSION DEVICE 80 0 0 0 256 5 25 S M I 1.
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A-1 Appendices Appendix A: MDrive34Plus Microstepping Motor Performance Appendix B: Planetary Gearboxes Appendix C: Connectivity Appendix D: Interfacing an Encoder Appendix E: Linear Slide Option Appe.
A-2 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age I ntentionally Left Blank.
A-3 Appendices appendix A MDrive34Plus Microstepping Motor Perfor mance Speed-T or que Curves Figur e A.1: MDrive34Plus Microstepping S ingle Length Speed-T orque Curves Figur e A.
A-4 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Double Length Holding T orque ............................................................................................... 575 oz-in/406 N-cm Detent T orque .
A-5 Appendices Appendix B Planetary Gearboxes Section Overview This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relev ant to this manual.
A-6 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Calculating the Shock Load Output T orque (T AB ) N ote: The following examples are based on picking “ temporary variables” which may be adjusted.
A-7 Appendices Nominal Output Torque Calculate the nominal output torque using the torque values from the MD rive ’ s Speed/T orque T ables. N ominal output torque (T N ) is the actual torque generated at the Planetary Gearbox output shaft which includes reduction ratio (i), gear efficiency ( η ) and the safety factor (s f ) for the MDriv e.
A-8 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Shock Load Output Torque The nominal output torque (T N ) is the actual working torque the Planetary Gearbox will generate.
A-9 Appendices System Inertia System inertia must be included in the selection of an MDrive and P lanetar y Gearbo x. Inertia is the resistance an object has relative to changes in velocity . Inertia must be calculated and matched to the motor inertia.
A-10 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Rack and Pinion In a system with a rack and pinion, the following must be consider ed: .
A-1 1 Appendices Rotary Table In a system with a rotary table, the following must be considered: The weight or mass and size of the table Any parts or load the table is carryin.
A-12 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Chain Drive In a system with a chain drive, the follo wing must be considered: the weig.
A-13 Appendices Figur e B.7: Planetary Gearbox Specifications for MDriv e34Plus Planetary Gearbox for MDrive34Plus MDrive34Plus Planetary Gearbox Parameters Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (oz/g) Radial Axial Gearbox with Flange 1-ST AGE 2832/20.
A-14 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age I ntentionally Left Blank.
A-15 Appendices WARN ING! DO NOT connect or disconnect the MD- CC300-001 C o m m un ic at i o n s C o n v er te r C a b l e f ro m MD r i v e w h i l e po we r i s applied! Appendix C Connectivity MD-.
A-16 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Note: Interactive installation tutorials are available at the IMS Web Site at http://www .
A-17 Appendices MD-CC303-001 The MD-CC3030-001 interfaces to the model MDrivePlus M icrostepping with a 12-Pin locking wire crimp type connector at location P1. This cable consists of two joined cables: 6' (1.8m) RJ-45 Cable which plugs into the RJ-45 J ack of the converter body .
A-18 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Connector Details Figur e C.4: 12-Pin Wire Crimp Mating Connector Kit p/n: CK-03 Description: 5 m atin g co nnec tor shel ls a nd c rimp pin s. R eco mmen d T yco Crim p to ol ( N ot i nclu ded) .
A-19 Appendices Installation Procedure for the MD-CC30x-000 These Installation procedur es are written for Microsoft Windows XP Service P ack 2 or greater . The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be do wnloaded from http://www .
A-20 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 86) S elect “Search for the best driver in these locations.” (a) Check “I nclude this location in the search.” (b) B rowse to the location where you extracted the files in S tep #2.
A-21 Appendices Determining the V irtual COM Port (VCP) The MD-CC30x-001 uses a Virtual COM P ort to communicate through the USB port to the MDrive. A V CP is a software driven serial port which emulates a hardwar e port in Windows. The drivers for the MD-CC30x-001 will automatically assign a V CP to the device during installation.
A-22 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Prototype Development Cable PD12-1434-FL3 Wire Color Code Pair Number (Cable/Pair) Color Combinatio.
A-23 Appendices Connector Details Connector Detail and Mating Connector Kit Should you choose to cr eate your own interface cable IMS now has mating connector kits available which assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp pins to create five interface cables.
A-24 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Connector Details Figur e C.16: PD02-3400-FL3 Mating Connector Kit p/n: CK-05 Description: 5 m atin g co nnec tor shel ls a nd c rimp pin s. R eco mmen d M ole x C rimp too l (N ot in - cluded).
A-25 Appendices Appendix D Interfacing an Encoder Factory Mounted Internal Encoder The MDrivePlus M icrostepping are available with a factory-mounted internal optical encoder . See T able E.1 for available line counts. Encoders are av ailable in both single-end and differential configurations.
A-26 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Encoder Connections Figur e D.1: Single-End and Differ ential Encoder Connections Yellow /Black: Gr.
A-27 Appendices C t1 t2 Po X Y Z 2.4 V 0.4 V 2.4 V 0.4 V 2.4 V 0.4 V Channel A Channel B Index Rotation: CW – B Leads A CCW – A Leads B C t1 t2 Po X Y Z 2.
A-28 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Encoder Cable IMS offers an assembled cable for use with the Differential E ncoder on MDM34 with the Pluggable Locking Wir e Crimp interface . The IMS P art Number is listed belo w .
A-29 Appendices Appendix E Linear Slide Option Features • Screwdrivenslideofferingexceptionallinearspeed,accuratepositioningandlonglifeatacompelling value • Highbidir ectionalrepeatabilityofupto50micro-inches(1.
A-30 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Specifications Screw Efficiency Nom. Screw Diam. Inch Lead Max Drag T orque Life @ ¼ Design Load T orque to Move Load Axial Design Load Screw Inertia Screw Lead % inches (mm) inches (mm) oz inch (Nm) inches (cm) oz inch/lb (Nm/kg) lbs (kg) oz.
W ARRANTY TWENTY -FOUR (24) MONTH LIMITED W ARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased.
© Intelligent Motion Systems, Inc. All Rights Reserved. REV071 108 IMS Product Disclaimer and most recent product information at www .imshome.com. Intelligent Motion Systems, Inc. 370 North Main Street, P .O. Box 457 Marlborough, CT 06447 - U.S.A. T el.
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Se non hai ancora comprato il Intelligent Motion Systems MDrive34Plus è un buon momento per familiarizzare con i dati di base del prodotto. Prime consultare le pagine iniziali del manuale d’uso, che si trova al di sopra. Dovresti trovare lì i dati tecnici più importanti del Intelligent Motion Systems MDrive34Plus - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso Intelligent Motion Systems MDrive34Plus imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul Intelligent Motion Systems MDrive34Plus ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il Intelligent Motion Systems MDrive34Plus, ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del Intelligent Motion Systems MDrive34Plus.
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