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MC27 v1.04
Operating Instructions
nanodac recorder/controller/programmer
The contents of section 4 onward are extracted from Eurotherm
nanodac manual HA030554/8 February 2014
for nanodac versions 5.00 and later
Sections not relevant to use in Carbolite products have been removed.
There is a possibility of references to notes that are not included.
For full operating instructions the nanodac manual is available on the
product tools DVD
Seitenansicht 0
1 2 3 4 5 6 ... 121 122

Inhaltsverzeichnis

Seite 1 - Operating Instructions

MC27 v1.04 Operating Instructions nanodac™ recorder/controller/programmer The contents of section 4 onward are extracted f

Seite 2

nanodac™ MC27 –EN– 1.04 8 Navigation Pushbuttons (Cont.) PAGE BUTTON From any non-configuration page, pressing this push button causes the top leve

Seite 3 - Contents

nanodac™ MC27 –EN– 1.04 98 11. Appendix C: REFERENCE C1 BATTERY This instrument is fitted with a battery which has a minimum life of 1 year unpow

Seite 4

nanodac™ 99 MC27 –EN–1.04 C2 SETTING UP AN FTP SERVER USING FILEZILLA C2.1 DOWNLOADING ‘FileZilla’ is a free download from the internet (search for

Seite 5 - 2. Login

nanodac™ MC27 –EN– 1.04 100 C2.1 DOWNLOADING (Cont.) 7. Choose the destination for the file 8. Select startup settings

Seite 6 - MC27 –EN– 1.04 4

nanodac™ 101 MC27 –EN–1.04 C2.2 SERVER SETUP 1. Create a new folder (directory) called, for this example, ‘Archive’ in a suitable location such as

Seite 7 - 3. Cascade

nanodac™ MC27 –EN– 1.04 102 C2.3 PC SETUP 1. Operate the ‘Start’ button, and select ‘Control Panel’ from the window that appears. Double click on

Seite 8 - OVER-TEMPERATURE CONTROL

nanodac™ 103 MC27 –EN–1.04 C2.5 ARCHIVE ACTIVITY Once a demand or unattended archive is initiated, the FileZilla Server page shows the activity stat

Seite 9 - 4. OPERATION

nanodac™ MC27 –EN– 1.04 104 12. Appendix E: WEB SERVER The Web Browser has been added from firmware release V5.00. 12.1 Browsers The following brow

Seite 10

nanodac™ 105 MC27 –EN–1.04 12.5 Home Page The Home Page is the first page the user is directed to on completion of a successful log in. If Security

Seite 11 - 9 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 106 12.8 Bar Graph Page The channels that have been configured to be trended on the nanodac instrument will automatically be

Seite 12

nanodac™ 107 MC27 –EN–1.04 12.9 Line Graph Page The channels that have been configured to be trended on the nanodac will automatically be displayed

Seite 13 - 11 MC27 –EN–1.04

nanodac™ 9 MC27 –EN–1.04 4.2 PROCESS VARIABLE DISPLAY As discussed above, the operator interface consists of a display screen and associated push bu

Seite 14 - MC27 –EN– 1.04 12

nanodac™ MC27 –EN– 1.04 108 12.10 Numeric Page This page displays the process value and channel descriptor. The process value (PV) will not be dis

Seite 15 - 13 MC27 –EN–1.04

nanodac™ 109 MC27 –EN–1.04 12.12 Message Summary Page This page provides the last 30 messages in chronological order This page does not auto-refr

Seite 16 - 4.3 TOP LEVEL MENU

nanodac™ MC27 –EN– 1.04 110 12.14 Historical Line Page The channels that have been configured to be trended in the nanodac instrument will automat

Seite 17 - 15 MC27 –EN–1.04

nanodac™ 111 MC27 –EN–1.04 12.15 Status Icons The Status icons are shown in the lower left of those pages that are automatically updated (i.e. not

Seite 18 - Scroll key

nanodac™ MC27 –EN– 1.04 112 13. Appendix F: Labview Driver The purpose of this section is to describe how to download, install and configure examp

Seite 19 - 17 MC27 –EN–1.04

nanodac™ 113 MC27 –EN–1.04 From the opening view, Figure F1; press Run Enter the IP address of the nanodac instrument. Enter the Modbus address o

Seite 20

nanodac™ MC27 –EN– 1.04 114 The application view then becomes live Figure F1c Heat Cool Live Application The following parameters may be monitor

Seite 21 - 19 MC27 –EN–1.04

nanodac™ 115 MC27 –EN–1.04 13.2 Application Example 2 - Program Load by Program Number The "Program_LoadControl.vi" is an Application examp

Seite 22

nanodac™ MC27 –EN– 1.04 116 13.3 Full driver capabilities list As a general summary, with the nanodac Ethernet Labview Driver the user can: Confi

Seite 23 - 21 MC27 –EN–1.04

nanodac™ 117 MC27 –EN–1.04 Start Program (Reset, Run, Hold) Read Steriliser Parameters Read Program parameters

Seite 24 - 4.4 DISPLAY MODES

nanodac™ MC27 –EN– 1.04 10 Alarm Icons (Cont.) Table 1.2.1 Alarm icons 4.2.2 Status Bar Icons The following items can appear in a dedic

Seite 25 - 23 MC27 –EN–1.04

MC27 –EN– 1.04 118

Seite 26

nanodac™ Copyright © 2014 Carbolite Limited Carbolite, Parsons Lane, Hope, Hope Valley, S33 6RB, England. Telephone: +44 (0)1433 620011 Fax: +44 (0)

Seite 27 - 25 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 120

Seite 28

nanodac™ 11 MC27 –EN–1.04 Status Bar Icons (Cont.) FTP Primary Server Failure This error occurs if the recorder fails to establish connection with t

Seite 29 - 27 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 12 The FTP icon appears whenever transfer activity is taking place.

Seite 30

nanodac™ 13 MC27 –EN–1.04 Status Bar Icons (Cont.) RECORD ICON One of four icons appears at the bottom left corner of the display to indicate record

Seite 31 - 29 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 14 4.3 TOP LEVEL MENU This menu appears when the page key is operated from any non-configuration page. The menu items disp

Seite 32

nanodac™ 15 MC27 –EN–1.04 4.3.3 Go to View Operating the scroll key whilst the ‘Go to view’ item is highlighted, calls the Go to view submenu (figure

Seite 33 - 31 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 16 Go To View (Cont.) ALARM SUMMARY For each active alarm, this page displays the channel identifier with alarm number (e.g

Seite 34

nanodac™ 17 MC27 –EN–1.04 Go To View (Cont.) MESSAGE SUMMARY Operating the scroll key whilst the ‘Message summary’ field is highlighted displays the

Seite 36

nanodac™ MC27 –EN– 1.04 18 Go To View (Cont.) DISPLAY MODE SELECTION Use the up/down arrow buttons to highlight the required display mode. Once th

Seite 37 - 35 MC27 –EN–1.04

nanodac™ 19 MC27 –EN–1.04 Demand Archiving (Cont.) ARCHIVE MENU Figure 1.3.7 Demand Archiving menu (Local Archiving on left; Remote Ar

Seite 38

nanodac™ MC27 –EN– 1.04 20 Demand Archiving (Cont.) FTP SERVER ARCHIVING This allows the archiving of recorder files to a remote computer via the R

Seite 39 - 37 MC27 –EN–1.04

nanodac™ 21 MC27 –EN–1.04 Login (Cont.) SUPERVISOR ACCESS LEVEL In addition to the logged out level function, this access level allows the user to v

Seite 40

nanodac™ MC27 –EN– 1.04 22 To log in as Engineer (See section 1): 1. Operate the up arrow key three times, to display ‘Engineer’. 2. Press the sc

Seite 41

nanodac™ 23 MC27 –EN–1.04 One of the channels is said to be the ‘current’ or ‘scale’ channel. This channel is identified by its pen icon being displ

Seite 42

nanodac™ MC27 –EN– 1.04 24 Figure 1.4.3 Vertical bargraph display mode Use of the up arrow button causes the next enabled display mode

Seite 43 - 41 MC27 –EN–1.04

nanodac™ 25 MC27 –EN–1.04 Figure 1.4.5a Numeric display mode (six enabled channels) The figure above shows an example where the Trend group cont

Seite 44

nanodac™ MC27 –EN– 1.04 26 Figure 1.4.6b Alarm panel display layouts for trend groups with fewer than six channels 4.4.7 Control Loop1/Loop2 These

Seite 45

nanodac™ 27 MC27 –EN–1.04 4.4.8 Cascade Display Mode This display mode appears only if ’Cascade’ has been enabled in the Instrument.Display area

Seite 46

1 MC27 –EN–1.04 Contents 1. NANODAC PASSWORD SECURITY ... 3

Seite 47 - 45 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 28 Figure 3.4.9a Programmer displays (typical) This display mode (if enabled - see Error! Reference source

Seite 48

nanodac™ 29 MC27 –EN–1.04 Programmer Display Mode (cont.) PV The current process value of the signal wired to Ch1(2) PV Input. Ch1(2)PSP This is t

Seite 49 - 47 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 30 Programmer Display Mode (cont.) PROGRAM RUN/RESET/HOLD Programs can be controlled by users with the correct access level

Seite 50

nanodac™ 31 MC27 –EN–1.04 Programmer Display Mode (cont.) PROGRAM EDITING The program edit page is accessed by operating the scroll button once to h

Seite 51 - Enter trend history mode

nanodac™ MC27 –EN– 1.04 32 Programmer Display Mode (cont.) PROGRAM DETAILS Operation This allows the user to select one of the following (see als

Seite 52

nanodac™ 33 MC27 –EN–1.04 Programmer Display Mode (cont.) PROGRAM DETAILS (Cont.) HOLDBACK Holdback pauses the program (freezes the Programmer setpoi

Seite 53 - Press and hold scroll

nanodac™ MC27 –EN– 1.04 34 Programmer Display Mode (cont.) SEGMENT CONFIGURATION (Cont.) Type Select a segment type. Default is ‘End’. Ramp. Fo

Seite 54 - 5. CONFIGURATION

nanodac™ 35 MC27 –EN–1.04 Ch1(2) Holdback Select ‘Off’, ‘Low’, High’, or ‘Band’ (see description in Program details above). Ch1(2) Holdback Val The

Seite 55 - 53 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 36 Programmer Display Mode (cont.) SEGMENT CONFIGURATION (Cont.) Figure 1.4.9h iTools example showing Ch1 UserVal being use

Seite 56

nanodac™ 37 MC27 –EN–1.04 Programmer Display Mode (cont.) PROGRAM STORE Note: The access levels required for the operations described below are con

Seite 57 - 55 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 2 6.3.3 Context Menu ...

Seite 58

nanodac™ MC27 –EN– 1.04 38 PROGRAM LOAD - QUICK ACCESS From firmware version V5.00 and above a quick selection of an internally stored program may b

Seite 59 - 57 MC27 –EN–1.04

nanodac™ 39 MC27 –EN–1.04 PROGRAM LOAD VIA A PROGRAM NUMBER This feature has been added to firmware versions V5.00 and above. To allow a program (sto

Seite 60 - 5.2 GROUP CONFIGURATION

nanodac™ MC27 –EN– 1.04 40 3. If parameters which appear only in certain circumstances are selected, then they appear in the promote list only when

Seite 61 - 59 MC27 –EN–1.04

nanodac™ 41 MC27 –EN–1.04 A pair of animated indicators in the top left-hand corner of the screen show the connection status of the two possible slav

Seite 62 - 6. iTOOLS

nanodac™ MC27 –EN– 1.04 42 Modbus Master Display Mode (Cont.) PING DETAILS Figure 1.4.12b Slave 2 ping initiation (Slave 1 similar)

Seite 63

nanodac™ 43 MC27 –EN–1.04 4.4.12 EtherNet/IP display mode This display mode appears only if enabled in Instrument.Display configuration and is used

Seite 64

nanodac™ MC27 –EN– 1.04 44 Ethernet/IP Display Mode (Cont.) If the EtherNet/IP option has been ordered and enabled, the nanodac can be configured as

Seite 65 - 63 MC27 –EN–1.04

nanodac™ 45 MC27 –EN–1.04 Ethernet/IP Display Mode (Cont.) Adding parameters to the input and output tables can be achieved only through the propriet

Seite 66

nanodac™ MC27 –EN– 1.04 46 Ethernet/IP Display Mode (Cont.) An alternative to the click-drag technique is to right click on the required output (fiv

Seite 67 - 6.3 PARAMETER EXPLORER

nanodac™ 47 MC27 –EN–1.04 Ethernet/IP Display Mode (Cont.) Figure 1.4.13e explicit messaging example Et

Seite 68 - Context menu

nanodac™ 3 MC27 –EN–1.04 1. Nanodac password security While in Logged out mode the control loop can be viewed but no alterations can be made. The

Seite 69 - 67 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 48 Ethernet/IP Display Mode (Cont.) USING TAGS When acting as servers, many PLCs present their data in a tag format instead

Seite 70 - 6.4 WATCH/RECIPE EDITOR

nanodac™ 49 MC27 –EN–1.04 4.5 TREND HISTORY Entered from the top level menu (Section 4.1), this allows vertical and horizontal traces to be revie

Seite 71 - 69 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 50 4.5.2 History Options Menu Operating the page key from within a history display, causes the History Options menu to appea

Seite 72 - 6.5 PROGRAMMER OPTION

nanodac™ 51 MC27 –EN–1.04 4.6 TEXT ENTRY The user is often required to enter text characters or numbers (when editing operator notes, for example).

Seite 73 - 71 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 52 5. CONFIGURATION Entered from the top level menu (Section 4.3) this allows the recorder configuration to be accessed an

Seite 74

nanodac™ 53 MC27 –EN–1.04 5.1.1 Interface This area of configuration allows the user to set up an IP address for the instrument, either by typing one

Seite 75 - 73 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 54 5.1.2 Archiving This area of configuration is used to set up the parameters for use during unattended archiving. Some of

Seite 76

nanodac™ 55 MC27 –EN–1.04 Archiving (Cont.) Rate Allows the user to specify the frequency at which the contents of the Flash memory are archived to

Seite 77 - 75 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 56 On Media Full For ‘Destination’ = ‘USB’ only, this allows the user to select ‘Overwrite’ or ‘Stop’ as the action to be

Seite 78

nanodac™ 57 MC27 –EN–1.04 5.1.4 Modbus TCP This allows the user to configure the recorder so as to allow it to communicate using Modbus Transmission

Seite 79 - 77 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 4 Use the arrow UP/DOWN buttons to select the operator mode as shown below. Press the Scroll button to accept the operator

Seite 80 - Figure 3.6.10c

nanodac™ MC27 –EN– 1.04 58 = 8; Number of stop bits = 1; no flow control. Can be set to ‘Modbus Slave’ or ‘Off’. The unit must be restarted before

Seite 81 - 79 MC27 –EN–1.04

nanodac™ 59 MC27 –EN–1.04 5.2.2 Group Recording configuration Similar to Trend configuration, above, but for saving the data to Flash memory histor

Seite 82 - Figure 3.6.10f

nanodac™ MC27 –EN– 1.04 60 6. iTOOLS iTools software running on a pc allows quick and easy access to the configuration of the unit. The parameters u

Seite 83 - 7. USER WIRING

nanodac™ 61 MC27 –EN–1.04 6.1 iTools CONNECTION The following descriptions assume that iTools software has been correctly installed on the pc. 6

Seite 84 - 7.1 COUNTER EXAMPLE

nanodac™ MC27 –EN– 1.04 62 Ethernet (TCP/IP) Communications (Cont.) To check that the pc can now communicate with the instrument, Click ‘Start’. ‘A

Seite 85

nanodac™ 63 MC27 –EN–1.04 6.1.2 Direct Connection This section describes how to connect a pc directly to the instrument. WIRING Connection is made

Seite 86

nanodac™ MC27 –EN– 1.04 64 6.2 SCANNING FOR INSTRUMENTS Clicking on the ‘Scan’ toolbar icon causes a dialogue box (shown below) to appear. This al

Seite 87 - 8. USB DEVICES

nanodac™ 65 MC27 –EN–1.04 6.3 PARAMETER EXPLORER This view can be displayed: 1. by clicking on the ‘Parameter Explorer’ toolbar icon, 2. by

Seite 88 - 9.1 RECORDER SPECIFICATION

nanodac™ MC27 –EN– 1.04 66 6.4 Parameter Explorer (Cont.) Figure 3.4b Column enable/disable 6.3.1 Parameter explorer detail Figure

Seite 89 - 87 MC27 –EN–1.04

nanodac™ 67 MC27 –EN–1.04 Parameter Explorer Detail (Cont.) Figure 3.4.1b Show/Hide parameters 6.3.2 Explorer tools A number of tool

Seite 90 - Table A3a RTD type details

nanodac™ 5 MC27 –EN–1.04 3. Cascade 3.1. PRINCIPLE OF CASCADE CONTROL When cascade control is fitted, the Load Loop in the Nanodac senses the temp

Seite 91 - 10.1 Autotune

nanodac™ MC27 –EN– 1.04 68 6.4 WATCH/RECIPE EDITOR The watch/recipe editor is opened by clicking on the Watch/Recipe tool icon, by selecting ‘Wat

Seite 92

nanodac™ 69 MC27 –EN–1.04 6.5.1 Creating A Watch List (Cont.) DATA SET CREATION (Cont.) Individual data values can now be edited by typing directl

Seite 93 - 91 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 70 6.5 PROGRAMMER OPTION Clicking on the Programmer tool bar icon opens the programmer configuration window, displaying t

Seite 94

nanodac™ 71 MC27 –EN–1.04 Segment Editing (Cont.) GO BACK TO For GoBack segments only, this allows the user to enter a segment number for the progra

Seite 95 - 93 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 72 6.5.2 Digital Event display Clicking on the ‘Digital Events Output’ tool bar icon produces a segment display, allowing t

Seite 96 - Temperature

nanodac™ 73 MC27 –EN–1.04 6.5.4 Adding and deleting segments. INSERT SEGMENT As shown in figure 3.6.4, to insert a segment, click in the segment numb

Seite 97 - 95 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 74 The four program operation keys at the top left of the programmer window allow the user to load a program from or save a

Seite 98 - ′) at this point

nanodac™ 75 MC27 –EN–1.04 6.6.6 Toolbar Icons (Cont.) Figure 3.6.6 Logarithmic scale example 6.5.7 Context menus SEGMENT CONTEXT MENU Righ

Seite 99 -  1200 = 120

nanodac™ MC27 –EN– 1.04 76 6.5.8 Programmer menu Clicking on the ‘Programmer’ menu item near the top of the iTools window causes the Programmer menu

Seite 100 - 11. Appendix C: REFERENCE

nanodac™ 77 MC27 –EN–1.04 6.5.9 Two channel programs The display and editing of segment and program parameters for two-channel programmers is carried

Seite 101 - C2.1 DOWNLOADING

nanodac™ MC27 –EN– 1.04 6 3.4. OVER-TEMPERATURE CONTROL Where over-temperature control is fitted, it normally protects against failure of the con

Seite 102

nanodac™ MC27 –EN– 1.04 78 6.5.10 To Set Up OEM Security This will be illustrated by the following two examples: EXAMPLE 1: Make the parameter Ne

Seite 103 - C2.2 SERVER SETUP

nanodac™ 79 MC27 –EN–1.04 EXAMPLE 2: Make the parameter ‘Loop1.PID.ProportionalBand’ read only when OEM security is enabled and the instrument is i

Seite 104 - C2.3 PC SETUP

nanodac™ MC27 –EN– 1.04 80 TO ENABLE OEM SECURITY In ‘OEMEntry’ enter the security code. This is the same code as entered in Engineer level in ‘OEM

Seite 105 - C2.5 ARCHIVE ACTIVITY

nanodac™ 81 MC27 –EN–1.04 7. USER WIRING User wiring, created from the instrument front panel, allows parameters to be wired together so that, f

Seite 106 - 12. Appendix E: WEB SERVER

nanodac™ MC27 –EN– 1.04 82 7.1 COUNTER EXAMPLE This example shows how to set up a counter to be incremented each time Channel 1 Alarm 1 becomes act

Seite 107 - 12.7 Contact Page

nanodac™ 83 MC27 –EN–1.04 Counter Example (Cont.) 8. Operate the Scroll key to highlight ‘Add new wire’, then again to display the top level parame

Seite 108 - 12.8 Bar Graph Page

nanodac™ MC27 –EN– 1.04 84 Counter Example (Cont.) 14. At Virtual Channel.3.Main, use the down arrow to select ‘Preset’. Press and hold the scrol

Seite 109 - 12.9 Line Graph Page

nanodac™ 85 MC27 –EN–1.04 8. USB DEVICES The devices listed below can be plugged into the USB connector at the back of the instrument, providing tha

Seite 110 - 12.11 Alarm Summary Page

nanodac™ MC27 –EN– 1.04 86 9. Appendix A: TECHNICAL SPECIFICATION 9.1 RECORDER SPECIFICATION I/O types Analogue i/p Four (eight if dual input

Seite 111 - 12.13 Promote Page

nanodac™ 87 MC27 –EN–1.04 RECORDER SPECIFICATION (Cont.) USB port Number of ports One at rear of instrument Standard USB1.1 Transmission speeds

Seite 112 - 12.14 Historical Line Page

nanodac™ 7 MC27 –EN–1.04 4. OPERATION On power up a default or custom splash screen appears and remains visible whilst the unit is initialising. I

Seite 113 - 12.18 Languages

nanodac™ MC27 –EN– 1.04 88 ANALOGUE INPUT SPECIFICATION (Cont.) DC Input ranges (Cont.) 10V Range Range: -3V to +10V Resolution 500μV Measur

Seite 114

nanodac™ 89 MC27 –EN–1.04 10. Appendix B TUNING CONSIDERATIONS If a process includes adjacent interactive zones, each zone should be tuned indepe

Seite 115 - 113 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 90 AUTOTUNE (Cont.) Autotune can be performed at any time, but normally it is performed only once, during the initial commis

Seite 116

nanodac™ 91 MC27 –EN–1.04 AUTOTUNE (Cont.) EXAMPLE 1: AUTOTUNE FROM BELOW SP (HEAT/COOL) The point at which Automatic tuning is performed (Tune Cont

Seite 117 - 115 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 92 AUTOTUNE (Cont.) EXAMPLE 2: AUTOTUNE FROM BELOW SP (HEAT ONLY) The sequence of operation for a heat only loop is the sam

Seite 118

nanodac™ 93 MC27 –EN–1.04 AUTOTUNE (Cont.) EXAMPLE 3: AUTOTUNE AT SP (HEAT /COOL) It is sometimes necessary to tune at the actual setpoint being use

Seite 119 - 117 MC27 –EN–1.04

nanodac™ MC27 –EN– 1.04 94 AUTOTUNE (Cont.) AT.R2G Some load types and process conditions can cause autotune to set an incorrect value for R2G resul

Seite 120 - MC27 –EN– 1.04 118

nanodac™ 95 MC27 –EN–1.04 AUTOTUNE (Cont.) FAILURE MODES The conditions for performing an autotune are monitored by the Tune menu parameter ‘State’.

Seite 121

nanodac™ MC27 –EN– 1.04 96 EXAMPLE 4: WHEN TUNE R2G = R2GPD, AUTOTUNE FROM BELOW SETPOINT Figure 6.4.6 Autotune from below setpoin

Seite 122 - MC27 –EN– 1.04 120

nanodac™ 97 MC27 –EN–1.04 Table 6.4.7 Calculate parameter values Figure 6.4.6a Relative Cool Gain CUTBACK VALUES The PID term

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