Brushless DC Motor Systems AXH Series

Transcription

1 Brushless DC Systems AXH Series The AXH Series combines a compact, brushless DC speed control motor and 24 VDC board-level driver. These systems provide space savings and high power output, and are easy to use. Combination Type (Pre-assembled Gearmotors) The combination type (pre-assembled gearmotors) come with the motor and its dedicated gearhead already assembled. This simplifies installation in equipment. s and gearheads are also available separately so they can be on hand to make changes or repairs. Except for W type Features Compact Board-Level The size of the AXH driver has been reduced by approximately 6% when compared to conventional DC brushless drivers. ( for W-W) volume reduced by approximately 6% 2.3 in. (4 mm) 2.76 in. (7 mm) 2.8 in. (7 mm).2 in. (26 mm) 3.94 in. ( mm) AXH Series HBL Series.42 in. (36 mm) Compact, High Power s The size of the AXH has been reduced by approximately % when compared to conventional AC speed control motors [ 3. in. ( 8mm) size]. The motor has extremely high output power for its small size. Superior Speed Stability The fluctuation is only % for load, voltage and temperature. These motors provide superior speed stability with minimal speed fluctuation. Constant Torque over a Wide Speed Range The speed can be set within the wide range of r/min to 3 r/min (3:). The AXH Series maintains a constant torque from low speed to high speed. Torque Limited Duty Region Continuous Duty Region 2 3 Speed [r/min] Gearheads Provide High Torque AXH geared type motors come pre-assembled with a gearhead. These gearheads provide torque up to 7.7 lb-in (2N m) for the W motors and up to 4 lb-in (6N m) with the W motors. Protective Functions The AXH Series is equipped with protective functions to handle overload, overvoltage, undervoltage, overspeed and out-of-phase power. When one of these protective functions detects an abnormality, a LED blinks and motor comes to a stop. Safety Standards and CE Marking Standards AXH type UL9 AXH23 type AXH4 type CSA C22.2 No.9 UL69 AXH type CSA C22.2 No.69 Certification Body UL UL Standards File No. E282 E282 CE Marking EMC Directives When the system is approved under various safety standards, the model names on the motor and driver nameplates are the approved model names. List of and Combinations Page B-68 Details of Safety Standards Page G-2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the equipment. B-8 Features B-8 System Configuration B-9 Specifications B-6 Characteristics B-62

2 System Configuration Mounting Brackets (Accessories) ( Page A-24) Geared Type/Combination Type (Pre-assembled Gearmotor) The system configuration shown is an example. Other configurations are available. AXH 4 K Flexible Couplings (Accessories) ( Page A-28) Product Number Code Series AXH: AXH Series C Frame Size :.6 in. sq (42 mm sq.) 2: 2.36 in. sq (6 mm sq.) 4: 3. in. sq (8 mm sq.) : 3.4 in. sq (9 mm sq.) Extension s (Accessories) ( Page B-69) AXH Series - Power Supply Voltage K: 24 VDC Output Power : W (/ HP) 3: 3W (/2 HP) : W (/ HP) : W (/8 HP) Speed Indicator (Accessories) Not a standard certified product. ( Page A-24) I/O Signal (Included) Power Supply (Included) External Speed Potentiometer (Accessories) ( Page A-26) Programmable Controller 24 VDC Power Supply Gear Ratio or Shaft Type Number: Gear Ratio A: Round Shaft Type C: Type None: Lead Wire Type (Not Supplied) (Not Supplied) Speed Control Systems Introduction BX FBL2 AXU AXH BHF ES US Before Using a Speed Control System Brushless DC Systems AC Input DC Input AC Systems Product Line Geared Type/Combination Type Output Power HP W Gear Ratio Output Power HP W / AXHK-,,, 2, 3,, / AXHK-A /2 / /8 3 AXH23KC- AXH4KC- AXHKC-,,, 2, 3,,, 2,,, 2, 3,,, 2,,, 2, 3,,, 2 /2 / /8 3 AXH23KC-A AXH4KC-A AXHKC-A AXHK- are Geared Type and the others are combination type. Enter the gear ratio in the box ( ) within the model name. Dimensions B-62 Connection and Operation B-66 and Combinations B-6 B-9

3 Specifications Geared Type/Combination Type Round Shaft Type Rated Output Power HP (W) Voltage Power Source Rated Input Current A Maximum Input Current A oz-in (N m) oz-in (N m) Permissible Load Inertia J oz-in 2 ( -4 kg m 2 ) Maximum Speed r/min Rated Speed r/min Variable Speed Range r/min Speed Regulation Load Voltage Temperature AXHK- AXHK-A / () The permissible load inertia specified above is only applicable for round shaft type. Permissible Load Inertia for Geared Type and Combination Type Page B-6 Enter the gear ratio in the box ( ) with the model name. The values for each item is for the motor only. Common Specifications RrC AXH23KC- AXH4KC- AXHKC- AXH23KC-A AXH4KC-A AXHKC-A /2 (3) / () /8 () 24 VDC % (.) 7 (.2) 28 (.2) 6 (.4).6 (.7) 2 (.) 34 (.24) 7 (.) 2.7 (.) 9.8 (.8) 8. (3.3) 3 (.6) Item Specifications Speed Control Method Any one of the following methods.. By built-in potentiometer 2. By external potentiometer 3. By DC voltage ( VDC) C-MOS negative logic L: (ON) :. VDC H: (OFF) : 4 VDC START/STOP input L: START H: STOP Input Signals Brake input L: RUN H: Instantaneous stop Direction of rotation input L: CW H: CCW Speed setting method L: Internal H: External Alarm reset L: Reset H: Normal Output Signals Open collector output External use conditions 26.4 VDC, ma Max. Speed Signal Output (SPEED OUT) 3 P/R, Alarm Signal Output (ALARM OUT) When the following are activated, the alarm signal will be output and the motor will come to a natural stop. Overload Protection: Activated when a load exceeding the rated torque is applied to the motor for approximately seconds or more. Out-of-Phase Protection: Activated when the sensor wire inside the motor cable is disconnected. Protection Functions Overvoltage Protection: Activated when the voltage applied to the driver exceeds 24 VDC by approximately % or more. Undervoltage Protection: Activated when the voltage applied to the driver falls at least 2% below 24 VDC. Over Speed Protection: Activated when the motor rotates at an abnormal speed above 3 r/min. Insulation Class 2 Class E [248 F (2 C)] Rating Continuous With the AXH Series the motor speed cannot be controlled in applications where the motor shaft is turned by the load, as in lowering operations. Also, the motor will stop naturally if the load exceeds the permissible load inertia or the overvoltage protection function is activated during load lowering operations. 2 insulation is recognized as class A [22 F( C)] by UL and CSA standards. General Specifications Item Insulation Resistance (3:) % Max. ( rated torque, at rated speed) % Max. (Power supply voltage %, at rated speed with no load) % Max. (32 F 22 F [ C C] at rated speed with no load) MΩ or more when VDC megger is applied between the windings and the frame after continuous operation under normal ambient temperature and humidity. MΩ or more when VDC megger is applied between the power supply input and the frame after continuous operation under normal ambient temperature and humidity. Dielectric Strength Temperature Rise Ambient Temperature Ambient Humidity Atmosphere Degree of Protection Sufficient to withstand. kvac at Hz applied between the windings and the frame for minute after continuous operation under normal ambient temperature and humidity. 9 F ( C) or less measured by the thermocoupler method after the temperature of the coil has stabilized under normal operation at the rated voltage and frequency under normal ambient temperature and humidity, with a connected gearhead or equivalent heat radiation plate. 32 F 22 F ( C C) (nonfreezing) 8% maximum (noncondensing) No corrosive gases or dust W Type: IP 4 3W W Type: IP6 (except for the mounting surface) Size of heat radiation plate (Material: Aluminum) AXH23KC-A: 4.3 in. 4.3 in. ( mm mm),.2 in. ( mm) thick AXH4KC-A:.3 in..3 in. (3 mm 3 mm),.2 in. ( mm) thick AXHKC-A: 7.87 in in.(2 mm 2 mm),.2 in. ( mm) thick Sufficient to withstand. kvac at Hz applied between the power supply input and the frame for minute after continuous operation under normal ambient temperature and humidity. B-6 Features B-8 System Configuration B-9 Specifications B-6 Characteristics B-62 / IP

4 Gearmotor Torque Table (Geared Type/Combination Type) AXHK- AXH23KC- AXH4KC- AXHKC- Speed Range r/min Gear Ratio Permissible Overhung Load and Permissible Thrust Load Geared Type/Combination Type 2 (2 6) ( 3) (6.7 2) 2 ( ) (3.3 ) Unit Upper values: lb-in/lower values: N. m 2 (2 6) 2 ( 3) Enter the gear ratio in the box ( ) within the model name. A colored background indicates gear shaft rotation in the same direction as the motor shaft; a white background indicates rotation in the opposite direction. Values inside parentheses ( ) are for the AXHK- model. AXHK- Gear Ratio AXH23KC AXH4KC AXHKC Enter the gear ratio in the box ( ) within the model name Permissible Overhung Load Permissible Thrust Load.39 in. ( mm) from shaft end.79 in. (2 mm) from shaft end lb. N lb. N lb. N.2 / / Speed Control Systems Introduction BX FBL2 AXU AXH BHF ES US Before Using a Speed Control System Brushless DC Systems AC Input DC Input AC Systems Permissible Overhung Load.39 in. (mm) from shaft end.79 in. (2 mm) from shaft end lb. N lb. N AXHK-A.2 / / AXH23KC-A AXH4KC-A AXHKC-A Permissible Thrust Load: Avoid thrust loads as much as possible. If thrust load is unavoidable, keep it to no more than half the motor weight. Permissible Load Inertia J for Geared Type/Combination Type Gear Ratio AXHK- AXH23KC- AXH4KC- AXHKC Enter the gear ratio in the box ( ) within the model name Unit Upper values: oz-in 2 /Lower values: -4 kg m Dimensions B-62 Connection and Operation B-66 and Combinations B-6 B-6

5 Speed Torque Characteristics For the geared type and combination type, the values are for the motor alone. Enter the gear ratio in the box ( ) within the model name. AXHK- /AXHK-A AXH23KC- /AXH23KC-A Torque [N m]..7. [oz-in] Limited Duty Region Continuous Duty Region 2 3 Speed [r /min] Torque [N m].2... [oz-in] 2 2 Limited Duty Region Continuous Duty Region Values for 24 VDC with no extension cable 2 3 Speed [r/min] % of AXH4KC- /AXH4KC-A Torque [N m] [oz-in] 3 2 Limited Duty Region Continuous Duty Region Values for 24 VDC with no extension cable 2 3 Speed [r /min] % of AXHKC- /AXHKC-A Torque [N m] Limited Duty Region % of 4.2 [oz-in] 3 2 Continuous Duty Region 2 3 Speed [r /min] Values for 24 VDC with no extension cable Dimensions Scale /4, Unit = inch (mm) Mounting screws are included with the combination type. Dimensions for screws Page B-33 Enter the gear ratio in the box ( ) within the model name. /Gearhead AXHK- (Geared Type) Geared motor: AXHMK- Weight:. lb. (. kg) d A388 AXHK-A : AXHMK-A Weight:. lb. (.2 kg) d A (43).6 (4) 3. (79).79 (2).2 ().2 (3).47 (2) 2 ().22 (.) ( 6-.2).3 (8).63 ( 6) 4 M4 P.7.3(8) Deep.6 ( 42).72.2 ( 43.8.).69 (43).6 (4).6 (42).79 (2).2 ().6 (.).9 () 2 ().22 (.) ( 6.2).483. ( ).38 ( 3.) 4 Holes.6 ( 42).89.2 ( 48.) Connector Housing: (AMP) Connector Housing : (AMP) B-62 Features B-8 System Configuration B-9 Specifications B-6 Characteristics B-62

6 /Gearhead AXH23KC- (Combination Type) : AXHM23KC-GFH Gearhead: GFH2G Weight (including gearhead): 2.2 lb. (. kg) d A294AU (GFH2G 2) A294BU (GFH2G3 ) A294CU (GFH2G2) 2.36 (6).43 ().6 (42) L.26 (32).3 (8).6 (4).98 (2) 2 inch ( mm) Length (.) ().94 ( 24) AXH23KC- 2: L =.34 (34) AXH23KC-3 : L =. (38) AXH23KC-2: L =.69 (43) /Gearhead AXH4KC- (Combination Type) : AXHM4KC-GFH Gearhead: GFH4G Weight (including gearhead): 4. lb. (.8 kg) d A296AU (GFH4G 2) A296BU (GFH4G3 ) A296CU (GFH4G2) 3. (8).6 (42).3 (8) L.38 (3).28 (7).98 (2) 2.36 ( 6).77 ( 4.) 4 Holes (3) Connector Housing: (AMP) (.8) (3).34 ( 34) Lead Wire Types are also available. Contact your Oriental Representative for more information (2 ±.2).7.2 (4.3 ) ( 7.) Key and Key Slot (Scale /2) (The key is provided with the gearhead.).7.2 (4.3) Lead Wire Types are also available. Contact your Oriental Representative for more information. 3. ( 8).26 ( 6.) 4 Holes ( 94.) AXH23KC-A : AXHM23KC-A Weight:. lb. (. kg) d A29U 2.36 (6).43 () (4 ).6 (42).3 (8) 2 inch ( mm) Length (24).8 (2). (2. ).63 (6).3 (7.) ( 8.) AXH4KC-A : AXHM4KC-A Weight:.76 lb. (.8 kg) d A297U 3. (8).6 (42).3 (8).26 (32).8 (2).98 (2).37(9.) ( 4.3) (.) ( 6).77 ( 4.) 4 Holes ( 7.) (3) Connector Housing: (AMP) ( 73.3) 3. ( 8).26 ( 6.) 4 Holes Speed Control Systems Introduction BX FBL2 AXU AXH BHF ES US Before Using a Speed Control System Brushless DC Systems AC Input DC Input AC Systems.43 () Lead Wire Types are also available. Contact your Oriental Representative for more information. Lead Wire Types are also available. Contact your Oriental Representative for more information ( 94.).43 () 2 inch ( mm) Length (3) Connector Housing: (AMP) 2 inch ( mm) Length (3) Connector Housing: (AMP) AXH4KC- 2: L =.6 (4) AXH4KC-3 : L =.8 (46) AXH4KC-2: L = 2. () Key and Key Slot (Scale /2) (The key is provided with the gearhead.) (2 ±.2) (.3) ( ) (.3 ). (3 ) Dimensions B-62 Connection and Operation B-66 and Combinations B-6 B-63

7 /Gearhead AXHKC- (Combination Type) : AXHMKC-GFH Gearhead: GFHG Weight (including gearhead): 6.4 lb. (2.9 kg) d A4AU (GFHG 2) A4BU (GFHG3 ) A4CU (GFHG2) AXHKC-A : AXHMKC-A Weight: 3. lb. (.4 kg) d A42U 3.4(9) 2.24(7) L.6.39().2() (42).98 (2) ( 8.8 ).7(8).7 ( 4) 3.4 ( 9).33 ( 8.) 4 Holes ( 4.) 3.4(9) 2.24(7).46 (37).39.8 () (2).8 (3).4(.) ( 2.8 ) ( 83.3) 3.4 ( 9).33 ( 8.) 4 Holes ( 4.).43() 2 inch ( mm) Length AXHKC-~2: L =.77 (4) AXHKC-3~: L = 2.28 (8) AXHKC-2: L = 2.2 (64) Key and Key Slot (Scale /2) (The key is provided with the gearhead.) (3) Connection Housing: (AMP) Connection Housing: 3 (MOLEX).43() (3) Connector Housing: (AMP) 2 inch ( mm) Length Connector Housing: 3 (MOLEX) (2.2) (6.3) (6.3) (6.4 ).38.4 (3.. ) B-64 Features B-8 System Configuration B-9 Specifications B-6 Characteristics B-62

8 AXHDK, AXHD3K, AXHDK Weight:.22 lb. (. kg) d A (6).6 (4) 2.8 (7) (63.2) CN3: Connection to AXHDK Weight:.66 lb. (.3 kg) d A43.8 (4.).2 (3) (2.) Speed Control Systems 2.3 (4).36.8 (34..2).4 ( 3.) 2 Holes CN2: (AMP) CN: (AMP) 2.76 (7).8.2 (47.).8 (4.).4 ( 3.) 2 Holes Introduction.2 (26).4 (3.).87.8 (22.2) (64.2).4 (3.) Input Signal (Included) For W, 3 W, W 2 (3) CN: (AMP) CN2: S2B-PHDSS-B (JST).42 (36) For W.4 (3.).4 (3.).7.2 (8.) CN3:3426- (MOLEX) CN4: (AMP) (23.) 2 (3).39 max. ().67 max.(7) BX FBL2 AXU AXH BHF ES US Brushless DC Systems AC Input DC Input AC Systems Connector Housing: (AMP) Leads UL Style 7, AWG 26 Power Supply (Included) For W, 3 W, W 2 (3) Leads UL Style 7, AWG 26 Connector Housing: PHDR-2VS (JST) For W 2 (3) Before Using a Speed Control System Leads UL Style 7, AWG 22 Connector Housing: (AMP) Connector Housing: (AMP) Leads UL Style 3266, AWG 8 List of and Combinations Geared Type/Combination Type Output Power / HP W /2 HP 3 W / HP W /8 HP W AXHK- AXH23KC- AXH4KC- AXHKC- AXHMK- AXHM23KC-GFH AXHM4KC-GFH AXHMKC-GFH Gearhead / GFH2G GFH4G GFHG AXHDK AXHD3K AXHDK AXHDK Enter the gear ratio in the box ( ) with in the model name. Geared Output Power / HP W /2 HP 3 W / HP W /8 HP W AXHK-A AXH23KC-A AXH4KC-A AXHKC-A AXHMK-A AXHM23KC-A AXHM4KC-A AXHMKC-A AXHDK AXHD3K AXHDK AXHDK Dimensions B-62 Connection and Operation B-66 and Combinations B-6 B-6

9 Connection and Operation Connection Diagrams W, 3 W, W Power supply connection 24 VDC ( %) Power Supply 2 24 V CN W Power supply connection 24 VDC ( %) Power Supply 2 24 V CN Black Start/Stop Input ON (L level): Start OFF (H level): Stop ON (L level): Run White Brake Input OFF (H level): Brake Rotation Direction ON (L level): CW Gray Switching Input OFF (H level): CCW Speed Potentiometer ON (L level): Internal Brown Selection Input OFF (H level): External Alarm Reset Input ON (L level): Reset Purple OFF (H level): Normal External DC Power Supply Speed Output Alarm Output VDC + ma min. _ Green Yellow Orange Red Brown N.C. INT.VR./EXT. Input 7 ALARM-RESET Input START/STOP RUN/BRAKE CW/CCW VRH VRM VRL SPEED Output ALARM Output CN2 (I/O) Alarm Output Speed Output External DC Power Supply VDC + ma min. _ Brown Red Orange Yellow Green ON (L level): Reset Purple Alarm Reset Input OFF (H level): Normal Speed Potentiometer ON (L level): Internal Brown Selection Input OFF (H level): External Rotation Direction ON (L level): CW Gray Switching Input OFF (H level): CCW ON (L level): Run White Brake Input OFF (H level): Brake Black Start/Stop Input ON (L level): Start OFF (H level): Stop ALARM Output 2 SPEED Output 3 4 VRL VRM 6 VRH 7 ALARM-RESET Input 8 INT.VR./EXT. Input 9 CW/CCW RUN/BRAKE START/STOP 2 N.C. CN2 (I/O) CN2 Pin No Board INT.VR. CN3 Internal Potentiometer INT.VR. CN3 CN4 When the motor cable needs to be extended, use an optional extension cable [sold separately, 4.9 ft. (. m)]. Extension Page B-69 Timing Chart Max. ms START/STOP Input CW/CCW Input RUN/BRAKE Input INT.VR./EXT.Input SPEED Output CW(Clockwise) operation pattern CCW (Counterclockwise) OFF (H level) ON (L level) OFF (H level) ON (L level) OFF (H level) ON (L level) OFF (H level) ON (L level) OFF (H level) ON (L level) 2-speed switching/stop START EXT. 2r/min r/min CW Run/Brake START Rotation direction switching CCW RUN RUN RUN INT.VR. EXT. INT.VR. EXT. CW Run/stop, instantaneous stopping and rotation direction switching operations can all be controlled with the START/STOP, RUN/BRAKE and CW/CCW signals. If both the START/STOP signal and the RUN/BRAKE signal are set to ON (L level), the motor rotates. At this time, if the CW/CCW signal is set to ON (L level), then the motor rotates clockwise as seen from the motor shaft side; if the CW/CCW signal is set to OFF (H level), the motor rotates in the counterclockwise direction. If the RUN/BRAKE signal is set to OFF (H level) while the START/STOP signal is ON (L level), the motor stops instantaneously. If the START/STOP signal is set to OFF (H level) while the RUN/BRAKE signal is set to ON (L level), the motor stops naturally. Wait for ms before switching the other input signals. Do not switch different input signals simultaneously. Wait for ms before switching the other input signals. B-66 Features B-8 System Configuration B-9 Specifications B-6 Characteristics B-62

10 Input Signal Circuit Input Circuit START/STOP RUN/BRAKE CW/CCW INT.VR./EXT. ALARM-RESET Example of Input Circuit Connection Control by Small Capacity Relay, Switch, or Similar Device Switch capacity: 24 VDC ma Start Run CW Internal ON Control by Controller Transistor output type Controller Transistor Stop Brake CCW External OFF internal circuit Input N.C. INT.VR./EXT. Input VRH Input V CW/CCW VRM VRL kω 2.2 kω START/STOP RUN/BRAKE ALARM-RESET Input SPEED Output ALARM Output C-MOS. F CN2 (I/O) START/STOP RUN/BRAKE CW/CCW INT.VR./EXT. ALARM-RESET Output Signal Circuit Output Circuit (Internal circuit) Example of Output Circuit Connection Output Signal Connections Controller 2SC248 equivalent SPEED Output The system outputs pulse signals (with a width of.3 ms) at a rate of 3 pulses per rotation of the motor output shaft, synchronized with the motor drive. You can measure the SPEED output frequency and calculate the motor speed. Speed output frequency [Hz] speed (r/min) 6 [r/min ] 3.3 ms Output SPEED output frequency (Hz) R Vcc ALARM Output The ALARM output is normally at the ON (L level) and switches to the OFF (H level) when there is an alarm. T External use condition 26.4 VDC Max. ma Max. T SPEED ALARM 2SC248 equivalent Speed Control Systems Introduction BX FBL2 AXU AXH BHF ES US Before Using a Speed Control System Brushless DC Systems AC Input DC Input AC Systems C-MOS type Controller V C-MOS Input START/STOP RUN/BRAKE CW/CCW INT.VR./EXT. ALARM-RESET ALARM-RESET When the motor is stopped, setting this signal to the ON (L level), then returning it to the OFF (H level) resets the alarm. Please return either the START/STOP input or the RUN/BRAKE input to the OFF (H level) before inputting the ALARM-RESET. The ALARM-RESET is not accepted if both these signals are at the ON (L level). Notes: Output signal is open collector output, so an external power supply (Vcc) is required. Use a power supply of no more than 26.4 VDC and connect a limit resistance (R) so that the output current does not exceed ma. When using neither the speed output function nor the alarm output function, this connection is not required. Dimensions B-62 Connection and Operation B-66 and Combinations B-6 B-67

11 Speed Setting Method Speed Control by Internal Potentiometer When INT.VR/EXT. input is set to the ON (L level), the speed can be set with the internal speed potentiometer. There is no need for this connection when the internal potentiometer is not used. 8 ON OFF 3 High speed Speed Control by External Potentiometer When separating the motor speed setting from the driver, connect the optional external potentiometer as follows. External speed potentiometer PAVR-2KZ (Sold separately) High speed 6 4 Speed [r/min] Dial plate value External Potentiometer Scale Speed Characteristics (Representative Values) Speed Control by External DC Voltage When setting the motor speed with an external DC voltage, do so in the following manner. External DC power supply VDC ma Min. 4 Speed [r/min] DC voltage [VDC] DC Voltage Speed Characteristics (Representative Values) Accessories (Sold Separately) Extension The maximum extended length is 6.6 ft. (2 m). For W, 3 W, W Two types of cables are available. Covered lead wire type and ribbon cable type. CC2AXH [4.9 ft. (. m)] FC2HBL [4.9 ft. (. m)] 4.9 ft. (. m) 4.9 ft. (. m) Housing (AMP) Housing (AMP) Housing (AMP) Housing (AMP) For W CC2AXH2 [4.9 ft. (. m)] 4.9 ft. (. m) (AMP) (AMP) 3- (MOLEX) 98- (MOLEX) B-68 Features B-8 System Configuration B-9 Specifications B-6 Characteristics B-62