Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Bedienungsanleitung

Direct Drive Motor

User's Manual

-TM-RFM

-TM-RG2M

-TM-RU2M

Mitsubishi Electric AC Servo System

SAFETY INSTRUCTIONS

(Please read the instructions carefully before using the equipment.)

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read

through this manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full

knowledge of the equipment, safety information and instructions.

In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Note that the CAUTION level may lead to a serious consequence depending on conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into

"POINT".

After reading this guide, keep it accessible to the operator.

[Installation/wiring]

[Maintenance]

WARNING

●To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring

and/or inspection.

●To prevent an electric shock, ground the direct drive motor securely.

●To prevent an electric shock, any person who is involved in wiring should be fully competent to do the

work.

●To prevent an electric shock, do not attempt to wire the direct drive motor until it has been installed.

●To prevent an electric shock, do not touch the conductive parts.

CAUTION

●To prevent injury, do not touch the rotor of the direct drive motor during operation.

●To prevent injury, transport the products correctly according to their mass.

WARNING

●To prevent an electric shock, any person who is involved in inspection should be fully competent to do

the work.

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in

death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in

medium or slight injury.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

DISPOSAL OF WASTE

Please dispose this product and other options according to your local laws and regulations.

CABLES USED FOR WIRING

The wiring cables mentioned in this User's Manual are selected based on the ambient temperature of 40 °C.

U.S. CUSTOMARY UNITS

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

CONTENTS

SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

DISPOSAL OF WASTE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

CABLES USED FOR WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

CHAPTER 1 INTRODUCTION 5

1.1 Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2 Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.3 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4 Instructions on storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.5 Design Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.6 Instructions on maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

CHAPTER 2 INSTALLATION 7

2.1 Equipment configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.2 Mounting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.3 Load mounting/dismounting precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.4 Permissible load for the rotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.5 Protection from oil and water. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.6 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.7 Parts having life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.8 Machine accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.9 Flange size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.10 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m . . . . . . . . . . . . . . . 12

2.11 Magnetic shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

CHAPTER 3 CONNECTORS USED FOR DIRECT DRIVE MOTOR WIRING 13

3.1 Selection of connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2 Wiring connectors (connector configurations A/B/C/D/E). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

CHAPTER 4 CONNECTOR DIMENSIONS 16

CHAPTER 5 CONNECTION OF SERVO AMPLIFIER AND DIRECT DRIVE MOTOR 21

5.1 Precautions for wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.2 Direct drive motor power cable wiring diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.3 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

CHAPTER 6 Wiring option 24

6.1 Connector set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Combinations of connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Connector list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.2 Encoder connector set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Combinations of encoder cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Fabrication of the encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Shield procedure of CN2, CN2A, CN2B, and CN2C side connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

6.3 Absolute position storage unit MR-BTAS01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

CHAPTER 7 TM-RFM SERIES 37

7.1 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

7.2 Combinations of servo amplifier and direct drive motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

1-axis servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Multi-axis servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

7.3 Specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

TM-RFM series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

7.4 Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

TM-RFM002C20, TM-RFM004C20, TM-RFM006C20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

TM-RFM006E20, TM-RFM012E20, TM-RFM018E20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

TM-RFM012G20, TM-RFM048G20, TM-RFM072G20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

TM-RFM040J10, TM-RFM120J10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

CHAPTER 8 TM-RG2M SERIES/TM-RU2M SERIES 47

8.1 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.2 Combinations of servo amplifier and direct drive motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

1-axis servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Multi-axis servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

8.3 Specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

TM-RG2M series/RU2M series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.4 Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.5 Installation method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.6 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

TM-RG2M002C30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

TM-RG2M004E30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

TM-RG2M009G30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

TM-RU2M002C30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

TM-RU2M004E30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

TM-RU2M009G30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

CHAPTER 9 COMPLIANCE WITH EACH REGION 55

9.1 Compliance with CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

For compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

9.2 Compliance with UL/CSA standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

CHAPTER 10 APPENDIX 58

10.1 Fabrication of the encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

1 INTRODUCTION

1.1 Rating plate 5

1INTRODUCTION

Precautions

• Use direct drive motors manufactured after June 2019.

• MR-J5-_G_-RJ and MR-J5-_A_-RJ will be available in the future.

1.1 Rating plate

The following shows an example of the rating plate for explanation of each item.

*1 Production year and month of the direct drive motor are indicated in a serial number on the rating plate.

The year and month of manufacture are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and

Z (12)].

For January 2012, the Serial No. would be "SER. _ _ _ _ _ _ _ _ _ 121".

*2 Certified products by the Authorized Bodies are marked.

The mark depends on the related Authorized Bodies.

1.2 Environment

*1 Do not use in an environment where there is exposure to oil mist, oil, and water.

*2 Refer to the following for restrictions on using this product at an altitude exceeding 1000 m and up to 2000 m.

Page 12 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m

*3 Do not place the direct drive motor near magnetic sources, such as a magnet. If it is unavoidable, block the magnetic force by installing

a shielding plate or others.

Operation Storage/transportation

Ambient

temperature

0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing)

Ambient humidity 10 %RH to 80 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing)

Ambience *1*3 Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude 2000 m or less *2

Vibration

resistance

Refer to the following.

Page 39 Specification list

Page 49 Specification list

Induced voltage constant, IP rating, serial number

Model

Input power, rated torque, mass

Insulation class, rated speed, maximum ambient temperature

Country of origin

Manufacturer

61 INTRODUCTION

1.3 Parts identification

1.4 Instructions on storage

Precautions

Note the following when storing the direct drive motor for an extended period of time (guideline: three months or longer).

• Always store the linear servo motor indoors, in a clean and dry place.

• When storing in a dusty and humid area, take measures such as covering the whole product.

• If the insulation resistance of the winding decreases, check how to store the equipment.

• Although the servo motor has been given rust prevention treatment with paint and preventive oil before shipment, rust may

still appear depending on the storage period and conditions. If the servo motor is to be stored for longer than six months,

apply rust prevention oil again, especially on the machine surfaces of the rotating parts and others.

• Before using the product after an extended storage, hand-turn the rotor (output shaft) of the direct drive motor, and check to

ensure that there is no abnormality.

• When the product has been stored for an extended period of time, contact your local sales office.

1.5 Design Instructions

Precautions

• If a hazardous condition is suspected at the time of stoppage and product malfunction, provide an external braking system

as a prevention.

1.6 Instructions on maintenance

Precautions

• For repair and parts replacement, contact your local sales office.

Rotor (output shaft)

Encoder connector

Power connector

Power supply (U/V/W)

Grounding ( )

Z-phase mark

2 INSTALLATION

2INSTALLATION

Precautions

• The cables should not be damaged, stressed, loaded, or pinched.

• Install the direct drive motor on incombustible material. Installing them directly or close to combustibles will lead to smoke

or a fire.

• Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from

entering the direct drive motor.

• Direct drive motor may be hot depending on the operating method. Take safety measures such as providing covers.

• Stacking in excess of the specified number of product packages is not allowed.

• Do not hold the cables, connectors, rotor, or encoder when carrying the direct drive motor. Otherwise, it may drop.

• Install the direct drive motor in a load-bearing place in accordance with the user’s manual.

• The equipment must be installed in the specified direction.

• Use the product within the specified environment. For the environment, refer to the specifications of the direct drive motor.

• Securely fix the direct drive motor to the machine. If attached insecurely, the motor may come off during operation.

• Do not install or operate a direct drive motor, which has been damaged or has any parts missing.

• To prevent a malfunction on the encoder, do not apply shocks, e.g. hit with a hammer, when coupling the rotor of the direct

drive motor.

• To prevent the rotor from being damaged, do not subject the rotor of the direct drive motor to more than the permissible

load.

• To prevent a connection failure, malfunction, or others, do not strike the connector.

• Be sure to measure the vibration level with the direct drive motor mounted on the machine. A great vibration may cause

early damage to a bearing and encoder. The great vibration may also cause the poor connector connection or screw

looseness.

• For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a

measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause

early damage to the direct drive motor.

• To illustrate details, the equipment in the diagrams of this manual may have been drawn without covers and safety guards.

When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be

performed in accordance with this user’s manual.

• To prevent the vibration during direct drive motor operation, or the cause of the damage to the bearings and encoder, the

balance level of the load needs to be as even as possible. To prevent malfunction, do not use the direct drive motor where

the shaft-through portion may be subject to pressure (e.g. compressed air).

• Take safety measures such as providing covers to avoid accidentally touching the rotor of direct drive motor during

operation.

• Do not get on or put heavy load on the equipment.

• Do not drop or strike the direct drive motor.

• To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and

wire the linear servo motor in accordance with the user’s manual.

• To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or

modified products are not covered under warranty.

• When coupling a load to the direct drive motor, make sure to align and center the load on the motor flange rabbet.

Particularly, when a rigid coupling is used, even a slight center deviation may reduce position accuracy or damage the rotor.

82 INSTALLATION

2.1 Equipment configuration

The following shows the configuration of a direct drive motor. When using the direct drive motor, note the following.

Minimum oscillation angle

For a direct drive motor that performs a rotating oscillating motion within 70 °, rotate the motor more than 90 ° at least once a

day to keep the bearings lubricated.

Z-phase position

Z-phase pulse is on (Z-phase mark passing) when the Z-phase mark on the rotor end of the direct drive motor is in the

connector area. Keep the Z-phase position visible even after the direct drive motor is installed to a machine.

Precautions for Z-phase mark passing

After power on, the Z-phase mark of the direct drive motor must pass the connector area once. In a system which prevents

the direct drive motor from making a full rotation or more, install the direct drive motor in a position where the Z-phase mark

can pass over the connector area.

In order to turn the Z-phase pulse, Z phase mark needs to be rotated ±15° or more with respect to the center of the connector

mounting part.

For vertical axis (lift)

For the system where the unbalanced torque occurs, such as a vertical axis system (lift), use the direct drive motor in the

absolute position detection system. In the absolute position detection system, the absolute position is established when the Z-

phase mark passes the connector area once. Therefore, at system startup, make the Z-phase mark pass over the connector

area, and switch the servo amplifier's power supply from off to on.

If the direct drive motor can be rotated manually, make the Z-phase mark pass over the connector area while only the servo

amplifier's control circuit power supply is on. After that, switch the servo amplifier's power supply from off to on.

If the direct drive motor cannot be rotated manually, detect the magnetic poles while the torque is balanced, then run the direct

drive motor in the test mode to make its Z-phase mark pass over the connector area. After that, switch the servo amplifier's

power supply from off to on. After the Z-phase mark passes over the connector area once, magnetic poles detection is not

required.

Z-phase pulse is on

(Z-phase mark passing)

when the Z-phase mark

on the rotor end of the

direct drive motor is in

the connector area.

Rotor (output shaft)

Encoder connector

Connector mounting part

Power connector

Z-phase mark

Andere Handbücher für MELSERVO-J5 MR-J5-G Series

Dieses Handbuch passt für folgende Modelle

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