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Summary of Contents for Minimotors DBS 55 Series
- Page 1 Installation, Use and Maintenance Manual DBS 55/---/--- MCDBS 55/50/--- DBSE 55/---/--- Rev 07 *** DBS Firmware ≥ v4.003 ***...
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Page 2: Table Of Contents
Table of contents General information ........................... 5 Introduction ............................5 Safety warnings ..........................5 Storage and Installation Environment ....................5 Transport, installation and wiring ..................... 5 Operation and adjustments ....................... 6 Maintenance and inspection ......................6 Product checks ........................... 7 Label Checks ............................ - Page 3 4.2.2 Control ............................24 4.2.3 Encoder ............................24 4.2.4 PMSM ............................25 System ............................. 25 Alarm ............................... 26 LED status ..............................27 Fieldbus Board CanOpen\Modbus ....................27 Fieldbus Board EtherCAT ......................... 28 Fieldbus Board Ethernet IP ......................30 Fieldbus Board Ethernet PowerLink ....................32 Fieldbus Board Ethernet ProfiNet IO ....................
- Page 4 Default PDO mapping ........................51 EMCY codes ............................. 52 Ethernet IP ..............................53 Overview ............................53 CIP Objects ............................53 9.2.1 COM object – 0x64 ........................54 9.2.2 PAR object – 0x65 ........................54 9.2.3 MISC object – 0x66 ........................55 9.2.4 CIA402 object –...
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Page 5: General Information
1 - General information 1 General information Introduction Thank you for choosing this product. This document is an integral part of the product, as it contains the procedures and parameters necessary for the assembly, installation, wiring, commissioning and support of the product. -
Page 6: Operation And Adjustments
1 - General information For control signal connections longer than 1m, it is recommended to use shielded cables with the shielding connected to an available earth signal; Make sure that the power supply voltage complies with the one on the rating plate; Ensure that there is sufficient ventilation to dissipate the heat produced by the product. -
Page 7: Product Checks
1 - General information Product checks Upon delivery of the product, we recommend checking that it corresponds to that ordered and is complete. Keep in mind that only the connectors to wire the device (power, signals and bus) are included in the package. Contact the supplier's technical support service for any problems relating to the product. -
Page 8: Product Technical Specification
1 - General information Product technical specification Technical Characteristic DBS55/50/xx DBS55/100/xx Nominal Supply 24Vdc - 48Vdc 48Vdc Voltage Nominal Supply Current 8Arms@24Vdc - 4.2Arms@48Vdc 6Arms Nominal Speed 3000rpm Nominal Torque 0.4Nm 0.75Nm Motor power output 125W 235W Motor rated current Nominal overload 200% per 60 seconds PWM Frequency... -
Page 9: Installation
2 - Installation 2 Installation Dimensions Product drawings and 3D models can be downloaded from the Cadenas’PART Community at the following links: • DBS 55/---/--- https://b2b.partcommunity.com/3d-cad-models/?info=minimotor%2Fbrushless%2Fdbs_asmtab.prj • MCDBS 55/50/--- https://b2b.partcommunity.com/3d-cad-models/mcdbs-servomotori-brushless-con-azionamento- integrato-e-riduttore-a-vite-senza-fine-mini- motor/?info=minimotor%2Fbrushless%2Fmcdbs%2Fmcdbs_asmtab.prj • DBSE 55/---/--- https://b2b.partcommunity.com/3d-cad-models/dbse-servomotori-brushless-con-azionamento-integrato- e-riduttore-epicicloidale-mini-motor/?info=minimotor%2Fbrushless%2Fdbse_asmtab.prj Electric connections Please note that the device power supply does not have a direct connection with the system earth. Power supply connector CN1 Descrizione 55/50/---- 55/100/-- Logic GND... -
Page 10: I/O Connector Cn2
2 - Installation I/O connector CN2 Use a shield cable Awg 22 for control connection Description DIN 1 Multifunction digital input 24Vdc pnp max 500kHz DIN 2 DIN 3 Multifunction digital input DIN 4 24Vdc pnp max 7kHz DIN 5 Digital input ground Positive input for analog AIN +... -
Page 11: Canopen/Modbus Rtu (55
2 - Installation 2.6.1 CanOpen/Modbus RTU (55/---/C) The wirings and LEDs in Errore. L'origine riferimento non è stata trovata. refer to the CanOpen/Modbus RTU equipped version. The pin function is the same for CN5 and CN6. WARNING: if more devices are connected together, pin 3 (GND) need to be connected ONLY if the logic power supply is not common (different GND). -
Page 12: Ethernet Ip (55
2 - Installation 2.6.3 Ethernet IP (55/---/EIP) The wirings and LEDs in Figure 11 refer to the Ethernet IP equipped version. The pin function is the same for CN5 and CN6. Connector CN5 = Connector CN6 = SWITCH Ethernet IP Figure 7 Details about Led status are explained on chapter 5.3 2.6.4... -
Page 13: Profinet (55
2 - Installation 2.6.5 Profinet (55/---/EPN) The wirings and LEDs in Figure 11 refer to the Profinet equipped version. The pin function is the same for CN5 and CN6. Connector CN5 = Connector CN6 = SWITCH CN5 connector --- Port CN6 connector --- Port B Profinet Figure 9... -
Page 14: Parametrization Interface
3 - Parametrization interface 3 Parametrization interface Software installation Download the “BSI software” e “BSI Usb Driver“ at the following link: http://www.minimotor.com/eng/products/servomotors-brushless-geared-motors/brushless- motor-with-integrated-drive/dbs/download Extract and run the downloaded files. Follow the installation guide procedure until it is finished. After the download extract the .zip file and run BSI.exe inside the folder (Figure 10). WARNING: this is not an installation file. -
Page 15: Software
3 - Parametrization interface Figure 12 Software Figure 13 The Figure 13 rapresents the main screen of BSI software. Following the menu it is possible to act on the motor parameter and to monitor the functional settings. 15 / 66... -
Page 16: Status
3 - Parametrization interface 3.2.1 Status Figure 14 Click on “Status” in order to know the motor status, manage the presence of fault and change the software user level. “Change User Level”: use this option in order to change the software user level and have acces to more setting parameters. -
Page 17: Alarm List
3 - Parametrization interface 3.2.2 Alarm list Figure 15 By selecting “list” under the “alarm” voice, it is possible to find the alarm history list. “Erase List”: use this command to erase the hole list. “Save”: use this botton to save the list into an external file. 3.2.3 Parameter Figure 16... -
Page 18: Monitoring
3 - Parametrization interface Figure 17 When the voice “parameter” is selected in the top of the window there are several usefull option: “Save Param”: allows to save the parameter setting into an external file. “Load Param”: allows to upload the parameter stored into an external file, directly in the driver storage. -
Page 19: Parameters
4 - Parameters 4 Parameters Appl 4.1.1 User NAME DESCRIPTION NOTE 1 Analog Input Speed, Torque Speed, Torque, Position, 2 ModBus + Dig.Input Homing Speed, Torque, Position, 3 ModBus Homing 4 Multispeed Speed Speed, Torque, Position, 5 CanOpen Homing Speed, Torque, Position, 6 CanOverECAT Homing Speed, Torque, Position,... - Page 20 4 - Parameters Acceleration for 1 15000 [rpm/s] P008 Ramp Acc speed/position control Deceleration for 1 15000 [rpm/s] P009 Ramp dec speed/position control Maximum operative 0 20.000 [A] P017 IMax current 1 None Disable Parameter to change P021 MotorChangeDir 2 Inverted...
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Page 21: Input Output
4 - Parameters 4.1.2 Input Output NAME DESCRIPTION NOTE Analog [0.0% 100.0%] P004 MinRefAnalog Min analog reference [0.0% 100.0%] P005 MaxRefAnalog Max analog reference 0 Voltage ref input 010 [V] 1 Voltage ref input -1010 [V] 2 Current ref input 020 [mA] P043 AinMode... -
Page 22: Homing
4 - Parameters Speed [rpm] Defines the window within the event 0 9999 P064 Torque [mA] TargReachedHyst “target reach” has to happen. Position [step] TargReachHyst Defines the time whiten the event [0 9999] [ms] P065 Time “target reach” has to be completed. Digital Multi Speed P110 MultiSpeed1 P111 MultiSpeed 2... - Page 23 4 - Parameters Position Scaling Defines the numerator used to calculate the scaling factor (position 0 32767 P160 PosFactorNum factor) used to represent the position in user defined unit. See 8.4.2 section. Defines the denumerator used to calculate the scaling factor (position 0 ...
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Page 24: Motor
4 - Parameters 0 – 1000 [ms] Valore 0 disabilita la P193 CanOPEN_GuardTime Defines the NMT Guard Time funzionalità 0 -50 Valore 0 disabilità la P194 CanOPEN_LifeFactor Defines the NMT Life Factor funzionalità. Ecat (EtherCAT) 0 32767 P195 StationAddress Defines the default station adress Set the EtherCAT product-id (and PROFILE... -
Page 25: Pmsm
4 - Parameters 1.000 28 bit. P054 FWVer Encoder Firmware Version 2.000 32 bit. (Read only) Indicates the number of pulses of the P055 EncNpulses 1024 (Read only) encoder Defines the time constant considered 0.001 1.000 [s] P252 EncLPFTau in the low-pass filter used to filter the speed measures from the encoder 4.2.4... -
Page 26: Alarm
4 - Parameters P074 VdcOvervoltage Maximun inpult voltage 55.0 [VDC] (Read only) User Free acces Advance Free access Define the user level at program start- P202 StartUL PW needed Service PW needed Alarm NAME DESCRIPTION NOTE Defines the number of autoresettable 0 ... -
Page 27: Led Status
5 - LED status 5 LED status LED color and operating modes (flashing / powering mode) depend on the fieldbus expansion Board mounted (i.e. CanOpen, Ethercat, etc). Fieldbus Board CanOpen\Modbus The indication LEDs are three and they are mapped on the drive’s LEDs in the following way: LED mapping on the drive Indication (*) Status... -
Page 28: Fieldbus Board Ethercat
5 - LED status Fieldbus Board EtherCAT The indication LEDs are two: RUN/ERR Bicolour LED Run stuats of the EtherCat slave. (Run/Error) Green/Red Error status of the Ethercat slave Red LED Represents the link status ("L", LINK) and Tx / Rx L/A IN ("A", ACT) - Page 29 5 - LED status No connection: The device has no link to the Ethernet ON (Green) Connected: The device is linked to the Ethernet, but does not send/receive Ethernet frames. L/A IN FLICKERING (Load dependent, Green) Activity: The device is linked to the Ethernet and sends/receives Ethernet frames.
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Page 30: Fieldbus Board Ethernet Ip
5 - LED status Fieldbus Board Ethernet IP The indication LEDs are three: Represents the operating state of the Drive seen as an Bicolour LED (Modul Status) EthernetIP adapter Green/Red Represents the network connection status of the Drive Bicolour LED (Network Status) Ethernet IP Adapter. - Page 31 5 - LED status Not powered, no IP address: The device doesn’t have an IP address (or is powered off). Connected: An IP address is configured, at least one CIP connection (any transport class) is established device has at least one established, and an Exclusive Owner connection has not timed out.
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Page 32: Fieldbus Board Ethernet Powerlink
5 - Led Fieldbus Board Ethernet PowerLink The indication LEDs are three: Bus status LED Green Bus error LED Red Ethernet Status (Link activity) LED Green and they are mapped on the drive’s LEDs in the following way: LED mapping on the drive Indication (*) Status power:... - Page 33 5 - Led No error: Slave has no error. ON (Red) Error: Slave has detected error. No connection: The device has no link to the Ethernet ON (Green) Link: The device is linked to the Ethernet, but does not send/receive Ethernet frames. FLICKERING Activity: The device is linked to the Ethernet and (Green)
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Page 34: Fieldbus Board Ethernet Profinet Io
5 - Led Fieldbus Board Ethernet ProfiNet IO The indication LEDs are three: System Failure RED LED Bus Failure RED LED L/RX/TX (Link / RX-TX Activity) Bicolour LED and they are mapped on the drive’s LEDs in the following way: L/RX/TX LED mapping on the drive Indication (*) - Page 35 5 - Led Indicator states Definition Constantly on Constantly off FLASHING (1 HZ, 3 S) The indicator turns on and off for 3 seconds with a frequency of 1 Hz: “on” for 500 ms, followed by “off” for 500 ms. FLASHING (2 HZ) The indicator turns on and off with a frequency of 2 Hz: “on”...
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Page 36: Alarm
6 - Alarm 6 Alarm NAME DESCRIPTION NONE No alarm USER User alarm DATAFLASH Data flash error OVERVOLT overvoltage autoresettable OVERCURR_HW overcurrent hardware autoresettable OVERCURR_SW overcurrent software autoresettable OVERTEMP_BOARD Board overtemperature autoresettable OVERTEMP_MOTOR Motor overtemperature autoresettable ENC_SPI_COMM encoder SPI communication error autoresettable UNDERVOLT Undervoltage... -
Page 37: Modbus Register
7 - Modbus register 7 Modbus register Note: Available only in CanOpen/Modbus RTU driver version ( DBS55/---/C) ** Update to DBS55 V4.002 ** Read and write register NAME DESCRIPTION NOTE None Available motor control type Torque Control type RW 16-bit unsigned integer Speed Equivalent to P016 parameter Position... -
Page 38: Read Only Register
7 - Modbus register Torque control Maximum motor current in torque control 0 20000 [mA] Max current RW 16-bit unsigned integer Equivalent to P017 parameter Maximum acceleration in speed/position control 1 15000 [rpm/s] acceleration RW 16-bit unsigned integer Equivalent to P008 parameter Maximum deceleration in speed/position control... - Page 39 7 - Modbus register Shows the rotating direction of the 0 Forward motor Motor direction 1 Reverse R 16-bit signed integer Analog input R 16-bit signed integer value Board Shows the board temperature temperature [0.1°C] R 16-bit signed integer Sensor 1 Board Shows the board temperature temperature...
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Page 40: Homing Register
7 - Modbus register 4 DECEL PWM on with deceleration control 5 STEADY PWM on with non-zero speed control 6 STOPPING PWM with deceleration until zero speed Indicates the drive status. Homing register NOME DESCRIZIONE NOTE Defines the homing type according to the CanOpen CIA402 standard. - Page 41 7 - Modbus register Defines the time limit to the data exchange during the homing procedure. If this limit is exceeded an error signal is Homing max generated time out Equivalent to P157 parameter RW 16-bit unsigned integer Defines the current limit during the homing procedure.
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Page 42: Canopen / Ethercat / Powerlink
8 - CanOpen / EtherCAT 8 CanOpen / EtherCAT / PowerLink Note: available only for drivers equipped with CanOpen/Modbus RTU, CanOpen over EtherCAT or Ethernet PowerLink. (DBS55/---/C ; DBS55/---/ETH ; DBS55/---/EPL). Overview The present document describes the adherence of the Minimotor stack to the following specification: CanOPEN •... -
Page 43: Time Protocol
8 - CanOpen / EtherCAT 8.2.3 TIME protocol The time protocol is NOT supported. 8.2.4 PDO protocol The implementation supports up to 4 Pdo TX and 4 Pdo RX; each object can map up to 8 objects; mapping can be done only using the whole size of the object (i.e. is not possible to map 8 bit of a 32 bit object). The following transmit type are implemented for PDO TX: Trasmission type PDO is emitted when changes after SYNC is received... -
Page 44: Object Dictionary
8 - CanOpen / EtherCAT Object dictionary Object dictionary is divided in the following sections: Range oggetti Funzioni 1000h ... 1FFFh Communication profile area 2000h ... 21FFh Manufactor parameter area 3000h ... 3FFFh Manufactor specific object area 6000h ... 67FFh Profiled objects Other areas are unused;... -
Page 45: Manufacturer Parameter Area
8 - CanOpen / EtherCAT 1C0C DLL_CnLossSoC_REC 1C0D DLL_CnLossSoA REC 1C0E DLL_CnSpCJitter REC 1C0F DLL_CnCRCError REC 1C10 Sync manager 0 config 1C11 Sync manager 1 config 1C12 Sync manager 2 config Sync manager 3 config (*2) 1C13 DLL_CnSocJitterRange (*2) 1C14 DLL_CnLossOfSocTolerance 1C32 Output sync parameters... -
Page 46: Manufacturer Specific Area
8 - CanOpen / EtherCAT 8.3.3 Manufacturer specific area This area contains several object that allows to read/write manufacturer specific data. Index Access Data type mappable Ain0 value 3000 INT16 -32768 ... 32768 Digital input bit0: digital input0 bit1: digital input1 bit2: 3001 UINT16 digital input2 bit3:... - Page 47 8 - CanOpen / EtherCAT 6065 Following error window 6066 Following error time 6067 Position window 6068 Position window time 606B Velocity demand 606C Velocity actual value 606D Velocity window 606E Velocity window time 606F Velocity threshold 6070 Velocity threshold time 6071 Target torque 6072...
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Page 48: Cia402 - Servodrive Application Profile
8 - CanOpen / EtherCAT Digital outputs 60FE.0 – number of sub-idx (2) 60FE 60FE.1 – physical outputs 60FE.2 – output mask 60FF Target velocity 6502 Supported mode of operation CiA402 – Servodrive application profile 8.4.1 Supported modes The following mode of operations are supported by the servodrive implementation Mode of operation encoding PROFILE POSITION MODE PROFILE VELOCITY MODE... -
Page 49: Profile Velocity
8 - CanOpen / EtherCAT • Standard (Set of set-point) mode: up to 5 position targets can be stored using NEW_SET/SET_ACK mechanism • Change Setpoint Immediately mode: after NEW_SET/SET_ACK the target is applied immediately • Relative/Absolute • Position limits (607Dh) •... -
Page 50: Touch Probe
8 - CanOpen / EtherCAT • Supported homing methods object (60E3h): the supported homing methods are described in the previous section and in the servodrive manual. 8.4.7 Touch probe This functionality is not implemented. 8.4.8 Interpolated mode (optional) This profile allows operation with a numerical control; target buffering on the device side is NOT implemented: one value needs to be sent by the master to the device for each sync period and the device will generate a ramp that will drive the motor to that position on the end of the NEXT sync period;... -
Page 51: Cyclic Synchronous Velocity Mode
8 - CanOpen / EtherCAT Figure 20 Using the offset objects, master can give feedforward actions in the inner loops of the servodrive allowing, for example, load torque compensation. The following optional functionalities are not supported in the CSP implementation: •... -
Page 52: Emcy Codes
8 - CanOpen / EtherCAT COB-ID: 0280h + NODEID – Enabled by default Mapping: • 606Ch: velocity actual value PDOTX2 • 3010h: tension value • 6061h: mode of operation display Trasm type: 255 + event time 100ms PDOTX3 COB-ID: 0380h + NODEID – Disabled by default PDOTX4 COB-ID: 0480h + NODEID –... -
Page 53: Ethernet Ip
9 - Ethernet IP 9 Ethernet IP Note: available only for drivers equipped with Ethernet IP optional board (55/---/EIP). Overview This document outline the conformance of the Ethernet/IP and CIP stack implemented in the servodrive; the following documents applies except otherwise stated: •... -
Page 54: Com Object - 0X64
9 - Ethernet IP 9.2.1 COM object – 0x64 Instance Attribute ID Name Data Type Unit meas. Access 0x01 Revision UINT 0x01 Software edition UINT 0x02 Software CRC UDINT Save parameters 0x10 NOTE: to save parameter, value UDINT 0x65766173 should be written 9.2.2 PAR object –... -
Page 55: Misc Object - 0X66
9 - Ethernet IP 9.2.3 MISC object – 0x66 Instance Attribute ID Name Data Type Unit meas. Access 0x01 Revision UINT 0x00 Analog input 0 UINT 0x01 Digital inputs UINT 0x02 Digital outputs UINT 0x03 Heatsink temperature UINT 0.1 °C 0x30 0x05 Board temperature... - Page 56 9 - Ethernet IP thousand-th 0x71 Target torque of rated thousand-th 0x72 Max torque of rated thousand-th 0x73 Max current of rated 0x75 Motor rated current DINT milliA 0x76 Motor rated torque DINT milliNm thousand-th 0x77 Torque actual value of rated thousand-th 0x78 Current actual value...
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Page 57: Process Data
9 - Ethernet IP Process data The configuration for process data is the following: • Assembly 0x64 (Originator to Target, DBS55 inputs - PLC outputs) Assembly length : 50bytes Offset Type Attribute Class Instance Attribute Default Meaning 0x00 U16 ControlWord 0x67 0x60 0x40... -
Page 58: Profinet
10 - ProfiNET 10 ProfiNET Note: available only for drivers equipped with ProfiNET optional board (55/---/EPN). 10.1 Overview This document outline the details of the Profinet implementation for Minimotor DBS55 integrated servomotor. By enabling Profinet/DSP402 “reference mode”, the servodrive is commanded by means of CanOPEN DSP402 state machine and profiles. - Page 59 10 - ProfiNET ProfilePosition 0x0E Mode of Operation 6060h.0 See Dsp402 0x0F Padding 2 0x10 Profile Velocity 6081h.0 3000 0x14 Profile Acceleration 6083h.0 3000 Rpm/s 0x18 Profile Deceleration 6084h.0 3000 Rpm/s 0x1C Negative position limit 607Dh.1 -2147483648 Pulses 0x20 Positivee position limit 607Dh.2 +2147483647 Pulses...
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Page 60: Homing Types
11 - Homing types 11 Homing types Note: available only for drivers equipped with CanOpen/Modbus RTU optional board. 11.1 Type 1: Homing on anticlockwise limit switch and index pulse (resolver zero). The initial direction of movement is anticlockwise towards the (anticlockwise) limit switch if this is inactive. The reference (home) position is on the first index pulse (resolver zero) to the right of the anticlockwise limit switch, when the value on the latter switches to low. -
Page 61: Type 3 And 4: Homing On The Positive Home Switch And Index Pulse (Resolver Zero)
11 - Homing types 11.3 Type 3 and 4: homing on the positive Home Switch and Index Pulse (resolver zero) The initial direction of movement depends on the state of the home switch. The reference (home) position is on the index pulse (resolver zero) to the left (type 4) or right (type 3) of the switching point of the home switch. -
Page 62: Type 5 And 6: Homing On The Negative Home Switch And Index Pulse (Resolver Zero)
11 - Homing types 11.4 Type 5 and 6: homing on the negative Home Switch and Index Pulse (resolver zero) The initial direction of movement depends on the state of the home switch. The reference (home) position is on the index pulse (resolver zero) to the left (type 6) or right (type 5) of the switching point of the home switch. -
Page 63: Type 7, 8, 9, 10, 11, 12, 13, 14: Homing On The Home Switch And Index Pulse (Resolver Zero)
11 - Homing types 11.5 Type 7, 8, 9, 10, 11, 12, 13, 14: homing on the Home Switch and Index Pulse (resolver zero) The initial direction of movement is clockwise for types 7 to 10 and anticlockwise for types 11 to 14, except when the Home Switch is high at the beginning of movement. -
Page 64: Types 33 And 34:Homing On Index Pulse (Resolver Zero)
11 - Homing types Index Pulse Home Switch Ccw Limit Switch Figure 26 11.6 Types 33 and 34:Homing on Index Pulse (resolver zero). Index Pulse Figure 27 With Homing type 33, initial motion direction is counter clockwise; vice versa, with type 34 it is clockwise. The reference position (Home Position) is on the first Index Pulse (resolver zero) found in the direction selected. -
Page 65: Warranty Conditions
12 - Warranty Conditions 12 Warranty Conditions We recommend reading this document closely and ensuring you have understood it before purchasing the product. Contact the manufacturer directly with any queries. The manufacturer guarantees its products from defects in materials and/or workmanship for a period of twelve (12) months (unless otherwise specified in contractual documentation) from the date of delivery. -
Page 66: Disclaimer
13 - Disclaimer 13 Disclaimer The manufacturer shall not be liable: • For determining the suitability of the product to meet the customer's needs; this shall remain the responsibility of the customer themselves • For the use of this product as a safety device for machinery which represents a hazard to persons or property •... - Page 67 Mini Motor S.r.l. via E.Fermi, 5 42011 Bagnolo in Piano (RE), Italy Tel. +39 0522 951889 Fax. +39 0522 952610 info@minimotor.com www.minimotor.com...
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