HSD3 Series AC Servo Drive. User's Manual (Version: 3.1.14) - page 1

Chapter III Distribution line ............................................................................................................................ 14

3.1

Main circuit wiring

....................................................................................................................................

- 14 -

3.1.1

The name and function of the main circuit terminal

...............................................................

- 14 -

3.1.2

Wiring method of the power connector (spring-type) of main circuit

...................................

- 14 -

3.1.3

Typical main circuit wiring example

...........................................................................................

- 15 -

3.2

Encoder signal wiring

..............................................................................................................................

- 17 -

3.2.1 Connection with the encoder interface (CN2A /CN2B) and output signal processing from

CN1 ................................................................................................................................-21-

3.3

Input and output signal wiring

...............................................................................................................

- 21 -

3.3.1

Speed / torque control mode (2500 line) ..........................................................................- 21 -

3.3.2

Position control mode (2500 line) .....................................................................................- 22 -

3.3.3

Speed / torque control mode (23 bits) ..............................................................................- 23 -

3.3.4

Position control mode (23 bits) .........................................................................................- 24 -

3.3.5

Input and output connector CN1 signal name and its function (2500 line) .......................- 25 -

3.3.6

Input and output connector CN1 signal name and its function (23bitds) ..........................- 26 -

3.3.7

Interface circuit .................................................................................................................- 27 -

3.4

Other wiring

..............................................................................................................................................

- 30 -

3.4.1

Matters need attention for wiring ......................................................................................- 30 -

3.4.2

Anti-interference wiring ....................................................................................................- 31 -

3.5

Electric motor wiring

...........................................................................................................................

....- 34 -

3.5.1

Motor encoder with connector terminal wiring ..................................................................- 34 -

3.5.2

Motor power supply connector terminal wiring .................................................................- 34 -

3.5.3

Motor brake adopts the terminal wiring of the connector .................................................- 34 -

Chapter IV The using method of the panel operator ....................................................................................- 35 -

4.1

Basic operation

.......................................................................................................................................

.- 35 -

4.1.1

The name and function of the key ....................................................................................- 35 -

4.1.2

The basic mode of selection and operation ......................................................................- 35 -

4.1.3

Status display mode .........................................................................................................- 36 -

4.2

The auxiliary function mode

（

□□□□）

........................................................................................- 37 -

4.2.1

Summary of auxiliary function execution pattern ................................................................- 37 -

- 5 -

4.2.2

Software version for displaying the servo ...........................................................................- 37 -

4.2.3

Position teaching operation .................................................................................................- 37 -

4.2.4

Recognition of the inertia percentage .................................................................................- 38 -

4.2.5

Confirmation of generator model ........................................................................................- 38 -

4.2.6

Initialize the user parameter setting value ..........................................................................- 39 -

4.2.7

Display the historical alarm data .........................................................................................- 39 -

4.3

Operation under the user parameters mode

（

□□□□）

..........................................................- 40 -

4.3.1

User parameters setting ......................................................................................................- 40 -

4.3.2

Input circuit signal distribution .............................................................................................- 42 -

4.3.3

Output circuit signal distribution ..........................................................................................- 45 -

4.4

Operation under the monitoring mode

（

□□□）

.....................................................................- 48 -

4.4.1

List of monitoring mode .......................................................................................................- 48 -

Chapter V Running .........................................................................................................................................- 50 -

5.1

Trial running ..................................................................................................................................- 50 -

5.1.1

Trial running of servo motor monomer ................................................................................- 50 -

5.1.2

Test run of servo motor via higher instruction ......................................................................- 51 -

5.1.3

Test operation of machine and servo motor ........................................................................- 53 -

5.1.4

The trial run of the servo motor with brake ..........................................................................- 54 -

5.1.5

Conduct position control through instruction controller .......................................................- 54 -

5.2

Control mode selection .................................................................................................................- 55 -

5.3

Setting of general basic function ..................................................................................................- 56 -

5.3.1

Servo ON setting .................................................................................................................- 56 -

5.3.2

Switch of rotation direction of motor ....................................................................................- 56 -

5.3.3

Over travel setting ...............................................................................................................- 56 -

5.3.4

Holding brake setting ..........................................................................................................- 58 -

5.3.5

Stop method selection while servo OFF .............................................................................- 61 -

5.4

The using method of absolute value encoder ..............................................................................- 62 -

5.4.1

Interface circuit ....................................................................................................................- 62 -

5.4.2

Absolute value encoder selection ........................................................................................- 63 -

5.4.3

The method of using battery ................................................................................................- 63 -

5.4.4

The receiving sequence of absolute value data ..................................................................- 63 -

5.4.5

Absolute value encoder setting ..........................................................................................- 64 -

5.4.6

Clear the absolute value encoder multi-loop data ..............................................................- 65 -

5.4.7

Clear the internal error of the bus encoder ........................................................................- 65 -

5.5

Speed control (analog voltage instruction) operation ..................................................................- 66 -

5.5.1

User parameters setting ....................................................................................................- 66 -

5.5.2

Input signal setting .............................................................................................................- 66 -

5.5.3

Adjustment of instruction offset ..........................................................................................- 67 -

5.5.4

Soft start .............................................................................................................................- 69 -

5.5.5

The use of zero clamping function .....................................................................................- 70 -

5.5.6

Encoder signal output .........................................................................................................- 71 -

5.5.7

Same speed detection output .............................................................................................- 72 -

5.6

Position control operation .............................................................................................................- 73

5.6.1

User parameters setting ......................................................................................................- 73 -

5.6.2

Setting of electronic gear .....................................................................................................- 74 -

- 6 -

5.6.3

Position instruction ............................................................................................................- 76 -

5.6.4

Smoothness ......................................................................................................................- 78 -

5.6.5

Positioning completed signal ............................................................................................- 78 -

5.6.6

Low frequency jitter suppression ......................................................................................- 79 -

5.6.7

Prohibition function of instruction pulse (INHIBIT function) ..............................................- 80 -

5.7

Torque control operation

........................................................................................................................

- 81 -

5.7.1

User parameters setting ...................................................................................................- 81 -

5.7.2

Torque instruction input ....................................................................................................- 81 -

5.7.3

Offset adjustment .............................................................................................................- 82 -

5.7.4

Speed limit for torque control ...........................................................................................- 84 -

5.8

Speed control (internal speed selection) operation

...........................................................................

- 85 -

5.8.1

User parameters setting ...................................................................................................- 85 -

5.8.2

Input signal setting ...........................................................................................................- 85 -

5.8.3

Internal set speed operation ............................................................................................- 86 -

5.9

Torque limit

...............................................................................................................................................

- 87 -

5.9.1

Internal torque limit (maximum output torque limit) ..........................................................- 87 -

5.9.2

External torque limit (external torque limit via input signal) .............................................- 88 -

5.9.3

Torque limit based on analog voltage instruction ............................................................- 89 -

5.9.4

Torque limit by external torque limit + analog voltage instruction. ...................................- 90 -

5.9.5

Confirmation of output torque limit ..................................................................................- 91 -

5.10 Control mode switching .............................................................................................................- 91 -

5.10.1 User parameters setting ..................................................................................................- 91 -
5.10.2 Control mode switching ...................................................................................................- 91 -

5.11 Other output signals ..................................................................................................................- 92 -

5.11.1 Servo alarm output (ALM) ...............................................................................................- 92 -
5.11.2 Rotation detection output

（

/TGON

）

............................................................................- 92 -

5.11.3 Servo ready output

（

/S-RDY

）

.....................................................................................- 92 -

5.12 Mode motion sequence mode ..................................................................................................- 93 -

5.12.1 Single data group mode .................................................................................................- 93 -
5.12.2 Data group sequence mode ...........................................................................................- 96 -
5.12.3 Locate the reference point (return to zero) operation .....................................................- 100 -

Chapter VI Communication ........................................................................................................................102

6.1

Communication connection ......................................................................................................- 102 -

6.2

User parameters .......................................................................................................................- 103 -

6.3

MODBUS communication protocol ...........................................................................................- 104 -

6.4

MODBUS communication address .........................................................................................- 111 -

Chapter VII Maintenance and inspection ................................................................................................. - 117

7.1

Exception diagnosis and treatment measures ........................................................................- 117 -

7.1.1

Alarm display summary .................................................................................................- 117 -

7.1.2

The causes of alarm display and of alarm display .........................................................- 119 -

7.1.3

The causes and treatment measures of other reverse conditions .................................- 122 -

7.2

Maintenance and inspection of servo driver ............................................................................- 124 -

7.2.1

Servo motor inspection ..................................................................................................- 124 -

7.2.2

Inspection of servo drive ................................................................................................- 124 -

7.2.3

General standards for replacement of internal components of servo drive ...................- 124 -

Appendix A User parameters list ..........................................................................................................- 125 -

- 7 -

Appendix B Alarm display list ............................................................................................................... - 151

- 8 -

Chapter I Outline

1.1 HSD3 Series servo drive basic function

Specifications

HSD3 type AC220V

03A□□

06 A□□

10 A□□

16 A□□

25 A□□

Continuous output current

（

）

3.0

6.0

HSD3 type AC380V

15D

□□

18D

□□

24D

□□

35D

□□

Continuous output current

（

）

Control Power source

Single-phase AC200

～

230V

（

-15

～

+10%

）

50/60Hz for HSD3 type AC220V

Single-phase AC380

～

420V

（

-15

～

+10%

）

50/60Hz for HSD3 type AC380V

Control mode

Position control, JOG operation, speed contact, etc.

Encoder feedback

Ordinary incremental encoder: 2500 lines incremental standard type, 2500 lines incremental

saving line type.
Serial encoder

：

bits incremental type encoder, 2

bits absolute value encoder, 2

bits absolute value encoder.

Conditions of

usage

Using ambient temperature/storage

temperature.

Using ambient temperature

：

0~+50

℃

，

storage temperature

：

-20~+85

℃

Environmental humidity/storage humidity.

Less than 90%RH

（

No freezing or condensation

）

Vibration/impact strength resistance

4.9m/s

／

19.6m/s

Structure

Pedestal mounting type

Performance

Speed control range

1:10000

（

The lower limit of the speed control range is in the stable running without crawling at

the rated load

）

Speed response

2.6KHz

Velocity volatility (load variation)

～

100% loading : less than ±0.01%

（

in rated speed

）

Velocity volatility rate (voltage variation)

Rated voltage ±10%

：

（

in rated speed

）

Velocity volatility rate (voltage variation)

25±25

℃：

less than ±0.1%

（

in rated speed

）

Simulation

speed

Command

Input

Command voltage

DC±10V

Input impedance

About 20KΩ

Circuit time parameter

47μs

Simulation

torque

Command

Input

Command voltage

DC±10V

Input impedance

About 20KΩ

Circuit time parameter

47μs

Sequence

control input

Signal

Number of points

8 points

Function

（

distributable

）

Servo ON (/ S - ON), P action (/P - CON), not forward the side drive (P - OT), not reverse side

drive (N-OT), alarm reset (/ALM-RST), forward side torque limit (/P-CL), reverse side torque

limit (/N-CL), zero position deviation (/CLR), internal set speed switch and so on

The distribution of the above signals and the change of positive/negative logic

Sequence

control output

Signal

Number of points

6 points

Function

（

distributable

）

Servo alarm (ALM), position completion (/COIN), speed consistency inspection (/V-CMP),

servo motor rotation detection (/TGON), servo readiness (/S-RDY), torque limit detection

(/CLT), brake (/BK), encoder zero output (PGC).

The distribution of the above signals and the change of positive/negative logic

Encoder frequency division pulse output

A phase, B phase, C phase: linear drive output; frequency division pulse number: it can be set

arbitrarily

RS-485

Newsletter

Communication protocol

MODBUS

1:N communication

The maximum can be N = 127 stops

Axis address setting

Via parameter setting

CAN

communication

Communication protocol

CANOpen

（

DS301 + DS402 profile

）

1:N communication

The maximum can be N = 127 stops

Axis address setting

Via parameter setting

Display function

CHARGE indicator light, 7 segment digital tube 5 bits

Regenerative treatment

Built-in regenerative resistors or external regenerative resistors (selected parts)

Over travel (OT) prevention function

Dynamic brake (DB) stopping, decelerate stopping, or free running stop when it is at P-OT,

N-OT input action

Protection function

Over current, overvoltage, under voltage, overload, over speed, regeneration fault, encoder

feedback error, etc.

Monitoring function

RPM current position, instruction pulse accumulation, position deviation, motor current,

running state, input and output signal, etc.

Secondary functional

Gain adjustment, alarm record, JOG operation, origin search, movement of inertia test, etc.

Intelligent function

Built-in gain automatic tuning function

Applicable load inertia

Less than 5 times of the inertia motor

Position

control

Feed forward compensation

0 to 100% (setting unit 1%)

Type of input pulse

Symbol + pulse sequence, CW+CCW pulse sequence, 90° phase difference two phase pulse

(A phase +B phase)

Input pulse form

Support linear drive and collector open circuit

The maximum input pulse frequency

Linear drive

Symbol + pulse sequence, CW+CCW pulse sequence: 500K pps

90° phase difference two phase pulse (A phase +B phase): 500K pps

Collector open circuit

Symbol + pulse sequence, CW+CCW pulse sequence: 200K pps

90° phase difference two phase pulse (A phase +B phase): 200K pps

- 9 -

1.2 HSD3 Series servo drive type explanation

1.3 HSD3 Series servo drive type explanation

Note:

1. The pulse/analog terminal definition and wiring on CN1 and MODBUS (RS485) protocol is only valid for model 00 and 01, they’re

not valid for other models which use communication protocol.

2. For AC380V type, there are four models include: 15D

□□

18D

□□

24D

□□

35D

□□

- 10 -

Chapter II The installation and size

2.1 servo drive

HSD3 Series servo drive is a pedestal mount type. Improper installation may cause failure as well, so, please install it properly

according to the following notes.

2.1.1 The storage conditions

It shall be kept at the temperature of [-20 ~ +85]

℃

when the servo drive is not used.

2.1.2 Installation site

■ Temperature

：

～

℃

；

■ The environment humidity: less than 90% RH (non condensation);
■ The elevation shall be less than 1000m

；

■ The limit of vibration 4.9m/s

;

■ The limit of impact 19.6m/s

;

■ Other precautions for installation:

Installation in control cabinet

It needs to make overall consideration for the size of control cabinet, placement mode of servo drive and cooling mode, so as to
guarantee that the servo drive is in 55

℃

environment temperature below, and the specific operational details can be as shown

in the description of the 1.2.2 related sections;

Installation near heat source

It needs to control the radiation of heat source and the temperature rise caused by convection current, so as to guarantee that
the servo drive is in 55

℃

environment temperature below;

It shall be installed near the vibration source

It needs to install vibration isolation device to avoid influencing the servo drive by the vibration transmission;

It is installed in the corrosive gas

The necessary measures shall be taken to prevent exposure to corrosive gas. Maybe, corrosive gas will not immediately
influence the servo drive, but obviously, it will cause the fault of electron component and related contractor parts;

Other situation

Do not put the driver in high temperature, high humidity, dewdrop, oil splashing, dust, and scrap iron or radiating places;

Note: when turn off the power and store the servo drive, please place the driver in the following environment: -20

～

℃

, not

higher than 90% RH (free from moisture condensation)

2.1.3 Direction of travel

As shown in the figure below, it should be mounted vertical to the installation surface, and two mounting holes are used to firmly fix

the servo drive on the installation base surface.

If necessary, a fan is provided for the forced cooling of servo drive.

- 11 -

2.1.4 Installation of multiple drives

If multiple servo drives need to be installed in the control cabinet side by side, please be sure to carry out installation • heat

dissipation according to the figure below.

■ Installation direction of the servo drive

Be sure to make the right side (wiring side) of servo drive facing to operators and make it vertical to the installation base surface.

■ Cooling

Enough space should be reserved around the servo drive to guarantee the cooling effect via fan or natural convection.

■ Installation side by side

As shown in the figure above, more than 10mm space should be reserved at both sides in horizontal direction, more than 50mm
space should be reserved at top and bottom parts in vertical direction. Be sure to keep the temperature in the control cabinet even
to avoid partial excess temperature of the servo drive, and if necessary, upper part of the servo drive is mounted with the fan for
forced cooling convection.

■ The normal working conditions of servo drive

1. Temperature

：

0~55

℃

2. Humidity

：

Less than 90%RH

，

non condensation

3. Vibration

：

less than 4.9m/s

4. In order to guarantee long-term and stable use, it is recommended to use products at 45

℃

environment temperature.

2.1.5 Exterior Dimensions

HSD3□-03/06/10A

□□

Exterior Dimensions

- 12 -

HSD3□-16/25A

□□

Exterior Dimensions

HSD3□-15/18D

□□

Exterior Dimensions

HSD3□-24/35D

□□

Exterior Dimensions

- 13 -

2.2 Servo motors

The servo motor can be mounted both in horizontal and vertical directions. And if there is existing error of mechanical coordination

during operation, it seriously influences the service life of the servo motor and causes unexpected accident.

Please install it correctly in accordance with the following notes.

Precautions before installation

Motor shaft end is painted with antirust agent, and before motor installation, please wipe up the antirust agent with a

piece of soft cloth dipped in diluents.

Please do not make the diluents touching other parts of the servo motor when you wipe antirust agent.

2.2.1 Storage temperature

It shall be kept in the environment of temperature at [-20 ~ +60]

℃

when the servo motor is not used.

2.2.2 Directionality

The servo motor shall be installed indoor and meet the following environmental conditions.



Non corrosive or flammable, explosive gas



Well ventilated, less dust with dry environment



The ambient temperature is in the range of 0 ~ 40

℃



The relative humidity is within the range of 26% to 80%RH, and non-condensation



Easy to maintain and clean

2.2.3 Install the concentricity

Try to use elastic coupling for mechanical connection, and furthermore, keep the axis of servo motor in parallel to the axis of

mechanical load. During installation, be sure to make the servo motor conforming to the requirements of concentricity tolerance in

the figure below.

Measurement is conducted at the quartering portion of a circle, the difference between the maximum and minimum

is less than 0.03mm. (Rotation with the coupler)



If concentricity tolerance is too high, it causes mechanical vibration, resulting in the bearing

damage of servo motor.



During coupler installation, axial knock is prohibited, or, it is very easy to damage the coder

of servo motor.

2.2.4 Installation direction

Servo motor can be installed in horizontal, vertical or any other direction.

2.2.5 Prevention measures for water and oil drop

The special treatment shall be taken to meet the protective requirements whether the product is used in water drop, oil drop or dew

formation area. However, it is necessary to meet the protection requirements of the axis penetrating part when the motor is leaving

the factory, and the motor model with oil seal shall be specified.

The shaft connection portion refers to the gap between the motor end extension and end face flange.

轴贯通部

2.2.6 Cable tension degree

During cable connection, bending radius should be not too small, and excessive tension should be also avoided to the cable.

Especially for the core wire of signal line, the wire diameter is very thin; usually 0.2 or 0.3mm and excessive tension should be also

avoided for wiring.

- 14 -

Chapter III Distribution line

3.1 Main circuit wiring

In this part, we will mainly describe the wiring examples of main circuit, functions of the main circuit terminal, ON sequence of

power supply, etc.

Please do not make the power line and signal line passing through a same pipe, nor bind them together. The power line and

signal line shall be apart over 30cm when wiring.

Or, may cause misoperation.

For the feedback line of signal line and coder (PG), please use stranded wire and multi-core stranded shielded wire.

Regarding the length of wiring, the longest instruction input line is 3m, and the longest PG feedback line is 20m.

There may be high voltage in the servo drive even if the power is off. Do not contact the power supply terminal in 5 minutes.

Please confirm that the inspection work is done after CHARGE indicator light turns off.

Do not ON/OFF power supply frequently. When it needs to carry out continuous power ON/OFF operation repeatedly,

please control it below once within 1min.

Because the power section of servo unit carries capacitance, there is relatively high charging current (charging time is 0.2s)

when turn ON the power. Therefore, if power ON/OFF operation is conducted frequently, it causes the performance

reduction of the main circuit components in the servo unit.

3.1.1 The name and function of the main circuit terminal

Terminal symbol

Title

Function

，

Main circuit power supply input terminal

Three phases 200 ~ 230VAC +10% - 15% (50/60Hz)

Three phases AC380

～

420VAC +10% - 15% (50/60Hz)

L1C

，

L2C

Control circuit power supply input terminal Single phase 200

～

230VAC +10% - 15% (50/60Hz)

Single phase 380

～

420VAC +10% - 15% (50/60Hz)

，

Discharge resistance connection terminal

The resistance is connected to B1 and B2 when the

external discharge resistance is used.

UA, VA, WA

A axis motor connecting terminal.

Connect to A axis servo motor.

，

B axis motor connecting terminal.

Connect to b axis servo motor.

Earth terminal

It is connected with power ground terminal and motor

ground terminal for earthing treatment.

3.1.2 Wiring method of the power connector (spring-type) of main circuit

When wiring is implemented to the power connector of main circuit, please obey the following notes.

During wiring period, please dismantle the power connector from the main body of servo unit.

Only 1 sheet of wire is inserted into the plug of the power connector.

When you plug in the wire, please avoid the short circuit between the core wire and adjacent wire.

The connector with dismountable power terminal of main circuit and control power terminal is used to the HSD3D□-03/06/10 driver.

Please wire the power connector according to the following steps.

(1) Wire size

The wire size as shown below can be used. The wire can be used after strip the cover of the wire.

When it is single line……0.5

～

1.6 mm

When the wire is twisted……AWG28

～

AWG12

(2) Connection method

1. Strip the cover of the wire.

2. The wire inserting portion of the power connector is opened via a tool. The opening methods include the 2 methods shown in the

Figure A and B

Under the condition of figure A, hang on the pull rod of the servo unit for opening.

In the case of Figure B, via normal screwdriver (the width of the blade 3.0 to 3.5mm) or the 54932-0000 produced by Japanese

MOLEX

Or the equivalent product can press the screwdriver into insert penning.

You may operate and choose any of the methods in the Figure A, B

- 15 -

3. Insert the core line part of the wire into the opening. After inserted, loosen the pull rod or normal screwdriver.

3.1.3 Typical main circuit wiring example



Three-phases 220V (Biaxial drive HSD3-EW-

□□

)

Noise Filters

L1 L2 L3 Three Phase

200~230V (50/60Hz)

Power

O FF

Power

O N

1SUP

A axis servo motor

Encoders

U
V

L2C

L1C

CN2A

+24

Surge Protector

Magnetic

contactors

1PL (

Servo alarm display

)

ALM+

ALM-

Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay

HSD3

Series Servo Drive

Be sure to ground

B axis servo motor

Encoders

U
V

CN2B

HSD3DW-

□□

External

regenerative resistor

Non-fuse

circuit breaker

Note:

For AC380 models, there’re three terminal B1, B2, B3. Details as below:

- 16 -



Three phases 220V (single axis drive HSD3-ES-

□□

)

L1 L2 L3

1SUP

Servo motor

L2C

L1C

CN2A

+24

ALM+

ALM-

Noise Filters

Three Phase

200~230V (50/60Hz)

Surge Protector

Be sure to ground

External

regenerative resistor

Non-fuse

circuit breaker

Encoders

1PL (

Servo alarm display

)

Power

O FF

Power

O N

Magnetic

contactors

Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay

HSD3

Series Servo Drive

HSD3DS-

□□

For AC380 models, there’re three terminal B1, B2, B3. Details as below:

--------------------------------------------------------------------------------------------------------------------------------------------------



The design of power supply ON sequence -

Please consider the following points in the power ON sequence design.

1. Please design the power ON sequence below: after output the signal of "servo alarm", be sure to make power supply being in OFF

status. (Please refer to the above circuit diagram.)

2. Please press the power button for more than 2 seconds. After turn ON the control power of servo unit, output the signal of "servo

alarm" for about 2s to the maximum (1Ry: OFF). This is the necessary step for the initial setting of the servo drive.

3. The power source specification of the use parts should be consistent with the input power.

------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

- 17 -

3.2 Encoder signal wiring

The cable jumper of the coder and servo drive as well as its wiring pin model varies from the servo motor.

The signal name of the coder interface (CN2A/CN2B) on 2500-wire servo drive side:

Terminal number

Signal name

V+

U+

C+

B+

A+

V-

U-

C-

B-

A-

W-

W+

GND

23 bits servo drive side encoder interface (CN2A/CN2B) signal name

Terminal number

Signal name

GND

E+

E-

SD+

SD-

3.2.1 Connection with the encoder interface (CN2A /CN2B) and output signal processing from CN1

(1) 2500 incremental saving line encoder

- 18 -

(2) 2500 incremental standard encoder

- 19 -

(3) Bus incremental encoder

Content .. 1 2 ..

//////////////////////