Electric Mini Slides MSC-EL

Transcription

1 Electric Mini Slides MSC-EL R10EN 2604 (11.08) The Drive & Control Company

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3 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Mini Slides, MSC-EL Product Description 4 Selection Guide 6 Maximum thrust 6 Performance Charts sizes 12 and 16 7 Performance Charts sizes and 25 8 Technical Data 9 Mounting Orientations and Calculations 10 Mounting orientations 10 Effect of load 10 Moment calculations 11 Mounting 12 Structural Design MSC-EL 1 Start-up 1 Dimensions, Ordering, MSC-EL Dimensions, Ordering, MSC-EL Dimensions, Ordering MSC-EL- 16 Dimensions, Ordering MSC-EL Accessories 18 Sensors 18 Extension cable for sensor (Reed / Hall) 19 Cable set with brake cores 19 Cable set without brake cores 19 Drive amplifier Bosch Rexroth version BLP14 Cable holder EMC-KIT Top-hat rail adapter Multi-range power unit 21 USB adapter 21 Mounting cable 21 Centering rings (Easy-2-Combine interface) 22 Extraction tool for centering rings 2 Maintenance 24 Lubrication 24 Lubricating stroke 24 Further information 24 Ordering example 24 Inquiry / Order 25 Notes 26

4 4 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Product Description Mini Slides, the compact electrically driven Linear Motion Systems from Bosch Rexroth, are economical, ready-to-install solutions. The advantages: High power density of the drive, referred to the overall dimensions Integrated drive (ball screw, timing belt side drive, motor) Maintenance-free, brushless, electronically commutated DC motor The Mini Slide can be mounted in any orientation Available in various standard lengths All sizes are available with a holding brake as an option Electric Mini Slides (MSC-EL) and Pneumatic Mini Slides have identical cross-sectional dimensions Interchangeable with Pneumatic MSC thanks to identical mounting hole patterns and connection dimensions Pre-assembled cable sets and standard accessories offer ready-to-install solutions Rapid and easy start-up Convenient parameter setting of the sequencing control through predefined axis-specific basic parameters With Easy-2-Combine interface in the carriage, in the front plate, and the underside of the frame (main body) Can be integrated into the camoline building system, thus enabling a variety of multiple-axis system solutions Maintenance-free due to long-term prelubrication Can be integrated into higher-level controls via digital inputs and outputs Energy-efficient electromechanical drive Application areas: Positioning tasks with up to 15 freely programmable positions Applications with high positioning and repeatability requirements Mechatronic solutions for handling tasks

5 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 5 MSC-EL without holding brake Front plate for end-face mounting with Easy-2-Combine interface MSC-EL with holding brake MSC-EL as a multiple-axis solution

6 6 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Selection Guide What you need to know before starting: Travel range, payload The selection guide will help you to generate a proposed solution for your specific system. If the result does not meet all of your requirements, simply contact us. We will be glad to assist you. Selection steps 1. Select the size from the table and the dimension drawings as appropriate for your application (e.g. travel, payload or thrust). 2. Read off the positioning time from the performance chart.. Check the permissible overall load (take note of the sections on Calculations and Mounting orientation). Overall load: Permitted: selected size can be used. Not permitted: select the next max. travel range for the same size (allowing higher max. permissible moments) or the next size (see Technical Data table), and repeat the selection steps. Size Maximum travel 1) (mm) Maximum payload m ex max (kg) Dimensions (mm) Horizontal Vertical A H MSC-EL-12 50; MSC-EL-16 50; 100; MSC-EL- 100; 150; MSC-EL ; 150; ) Maximum travel = effective stroke + 2 excess travel (see dimension drawings) For travel < 10 mm take note of the lubricating stroke. H A Maximum thrust Horizontal MSC-EL-12 MSC-EL-16 MSC-EL- MSC-EL-25 Thrust (N) Vertical When determining the maximum vertical thrust, consider the horizontal thrust and the moved masses (mass of system plus payload) ,01 0,02 0,0 0,04 0,05 0,06 0,07 0,08 Travel speed (m/s)

7 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 7 Performance Charts sizes 12 and 16 The characteristic curves show the fastest possible positioning time in relation to the travel. (For a duty cycle of 100%) MSC-EL-12 horizontal MSC-EL-12 vertical Positioning time (s) 0,6 0,5 0,4 0, Operating range Positioning time (s) 0,6 0,5 0,4 0, Operating range 0,2 0,2 0,1 0,1 0, Travel (mm) 0, Travel (mm) payload m ex 4 kg; a max =.0 m/s 2 ; v = 0.21 m/s payload m ex 2.00 kg; a max =.0 m/s 2 ; v = 0.21 m/s MSC-EL-16 horizontal MSC-EL-16 vertical Positioning time (s) 1,0 0,9 0,8 0,7 0,6 0,5 0,4 0, 0,2 0,1 Operating range Positioning time (s) 1,2 1,1 1,0 0,9 0,8 0,7 0,6 0,5 0,4 0, 0,2 0,1 Operating range 0, Travel (mm) 0, Travel (mm) payload m ex 5 kg; a max =.0 m/s 2 ; v = 0.21 m/s payload m ex 2.50 kg; a max =.0 m/s 2 ; v = 0.21 m/s

8 8 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Performance Charts sizes and 25 The characteristic curves show the fastest possible positioning time in relation to the travel. (For a duty cycle of 100%) MSC-EL- horizontal MSC-EL- vertical Positioning time (s) 0,7 0,6 0,5 0,4 0, Operating range Positioning time (s) 0,7 0,6 0,5 0,4 0, Operating range 0,2 0,2 0,1 0,1 0, Travel (mm) 0, Travel (mm) payload m ex 6.0 kg; a max = 4.0 m/s 2 ; v = m/s payload m ex.0 kg; a max =.0 m/s 2 ; v = m/s MSC-EL-25 horizontal MSC-EL-25 vertical Positioning time (s) 0,9 0,8 0,7 0,6 0,5 0,4 0, 0,2 Operating range Positioning time (s) 0,9 0,8 0,7 0,6 0,5 0,4 0, 0,2 Operating range 0,1 0,1 0, Travel (mm) 0, Travel (mm) payload m ex 9.0 kg; a max =.0 m/s 2 ; v = 0.82 m/s payload m ex 4.5 kg; a max =.0 m/s 2 ; v = 0.82 m/s

9 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 9 Technical Data H A Size Max. travel Width Height Recommended excess Ball Repeatability Max. travel speed Acceleration A H travel s e (mm) screw v mech (m/s) a max (m/s 2 ) d 0 x P max. min. Horizontal Vertical (mm) (mm) (mm) Horizontal Vertical (mm) (mm) MSC-EL MSC-EL x 2.5 ± MSC-EL ± MSC-EL x ± z y F z M t /M x max M L/Mz max F x x M L /M y max F y Size Max. travel Max. permissible forces (N) Max. permissible moments (Nm) Max. payload m ex max Mass without brake Mass with brake Moved mass of system m ca (mm) F y max M x max M y max (kg) (kg) (kg) (kg) F z max M z max Horizontal Vertical MSC-EL MSC-EL MSC-EL MSC-EL d 0 = nominal diameter of ball screw P = lead of ball screw The minimum life expectancy is 10 million full cycles when all catalog specifications are complied with.

10 10 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Mounting Orientations and Calculations Mounting orientations Effect of load Horizontal Central load Off-center load x 2 x z 2 z 1 S x 1 z 2 z z 1 S x 2 x x 1 Transverse Central load Off-center load x 2 x x 1 S Vertical Central load Off-center load S z 2 z 1 z Size Max travel (mm) x 1 (m) z 1 (m) MSC-EL MSC-EL MSC-EL MSC-EL Distance z 1 from the carriage upper edge to the application point (balls) of the effective force z1

11 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 11 Moment calculations Horizontal M y M x z z F z F z y F z M t /M x max M L/Mz max F x x 2 x1 x y M y = F z x + m ex a z M x = F z y M z = m ex a y x M L /M y max F y Transverse M z M x F y F y y z 1 z 2 M z = F y x + m ex a y M x = F y z M y = m ex a z Vertical M z M y y z F x F x z F x = force in x-direction (N) F y = force in y-direction (N) F z = force in z-direction (N) m ex = moved external load (kg) M L = dynamic longitudinal moment load capacity (Nm) M t = dynamic torsional moment load capacity (Nm) M x = torsional moment about the x-axis (Nm) M y = torsional moment about the y-axis (Nm) M z = torsional moment about the z-axis (Nm) S = load center of gravity z 1 = distance from the carriage upper edge to the application point of the effective force in z-direction (m) z 2 = distance from the carriage upper edge to the load center of gravity (m) x, y, z = distances for calculation of moments (m) x 1 = application point of the effective force in y-direction (m) x 2 = Distance from the front plate to the load center of gravity (m) a = acceleration (m/s 2 ) g = gravitational acceleration (m/s 2 ) M z = F x y + m ex a y M y = F x z + m ex a z M x = 0 ff Take account of the moved mass m ca of the system. Checking the permissible total load F z F z max F y F y max M x M x max M y M y max M z M z max ff When installing the MSC-EL in multi-axis systems, the passive acceleration of the MSC-EL must be factored into the moment calculations.

12 12 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Mounting General ff Take note of the Instructions for the MSC-EL. Fasten the MSC-EL only by the frame (2). Fasten the MSC-EL or accessories/ attachments or payloads to plane surfaces only. Attachments or payloads may only be attached to the carriage (1) or the front plate (). Mount the attachments or payloads so that the tilting moment resulting from the mass and the leverage z remains small. Take note of the Calculations section. F F 1 2 z 1 2 z 1 2 Mounting of attachments or payloads to the MSC-EL Attachments or payloads should be fastened using centering rings (4) and screws Fastening using centering rings and screws End-face fastening using centering rings and screws Mounting the MSC-EL The MSC-EL should be fastened using centering rings (4) and screws. Maintain distance b ( 14 mm) from components located alongside (e.g. magnetically conductive materials, iron, solenoids, neighboring systems, etc.) to assure reliability of the switch activation points. 4 4 Fixing from below 5 5 Fixing from above Components b 14 1) Carriage 2) Frame ) Front plate 4) Centering rings 5) Screw

13 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 1 Structural Design MSC-EL 1 Ball screw end bearing 2 Ball screw Ball recirculation raceway 4 Carriage 5 T-slot for switches 6 Motor 7 Timing belt side drive 8 Cable set (Accessories) 9 Frame with cover for ball screw and ball recirculation raceway 10 Front plate 11 Version with holding brake Start-up ff Before starting up the system electrically, read the Instructions for MSC-EL Download start-up software from 2. Connect up the MSC-EL electrically (using pre-assembled plug connectors). Select the MSC-EL in the software user interface. 4. Enter the data for application-specific motion profiles PC/Notebook 2 Multi-range power unit USB adapter 4 24 V DC connection 5 Drive amplifier BLP14 6 Customer control commands via digital inputs and outputs. 7 Cable set 8 Magnetic field sensor 9 MSC-EL Extension cable for magnetic field sensor 11 Software can be downloaded from the Internet 12 Mounting cable for releasing the holding brake for MSC-EL model with brake.

14 14 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Dimensions, Ordering, MSC-EL-12 All dimensions in mm. Drawings not to scale. N x M6-12 deep N 2 x Ø deep B - B Y W B 1 Ø 0,04 E E 49 1) Max. travel G 26,5 18,5 Ø 0,04 A F X Z B L 8 Y X Effective stroke Excess travel 2) A With brake 50 2,5 H 6.5 B Ø 0,04 B 4 42 N 1 x M4-8 deep B L 1 L Ø 0,04 C C Ø 0,04 D D X Ø 7 H7 M4 1,6 +0,2 Y Z Ø,9 W,1 6,4 2,1 +0,2 12,6 19, F) x Ø 7H deep / x M4-6.4 deep G) 2x M4-8 deep H) 2x Ø 7H deep / 2x M4-6.4 deep M 6 Ø 9 H7 2 Positioning tolerance for H7 countersinks only. Maximum travel (mm) B 1 L (mm) L 1 N 1 N 2 N Part number MSC-EL without brake with brake R R R R ) Clearance needed for mounting (it must be possible to move the carriage of the MSC-EL during mounting). 2) For excess travel, see Technical Data

15 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 15 Dimensions, Ordering, MSC-EL-16 All dimensions in mm. Drawings not to scale. N x M6-12 deep N 2 x Ø deep B - B G Y F Ø 0,04 A X W B 1 Ø 0,04 B E Y X 17 0 L 10 E 50 1) Max. travel Effective stroke 4,5 21,7 A With brake 64 2,5 H 11,7 Z 42 B 4 L 28,5 ±0,1 1 N 1 x M5-7 deep L Ø 0, 04 C 1 C Ø 0,04 D ,5 ±0,1 D X Ø 9 H7 M5 2,1 +0,2 Y Ø,9,1 B Ø 0,04 B Excess travel 2) Z W 5,9 2,1 +0,2 M6 Ø 9 H7 19, 24, F) 4x Ø 9H deep / 4x M5-7.9 deep G) 2x M5-10 deep H) 2x Ø 9H deep / 2x M5-7.9 deep Positioning tolerance for H7 countersinks only. Maximum travel (mm) B 1 L L 1 N 1 N 2 N Part number MSC-EL (mm) without brake with brake R R R R R R ) Clearance needed for mounting (it must be possible to move the carriage of the MSC-EL during mounting). 2) For excess travel, see Technical Data

16 16 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Dimensions, Ordering MSC-EL- All dimensions in mm. Drawings not to scale. B-B N x M8-16 deep N 2 x Ø 12 H deep Y W 44,5 29,5 A With brake G 80 19,5 F Ø 0,04 A Z 6,2 H B Ø 0,04 B Ø 0,04 E B 1 A-A X L B 1 N 1 x M5-9 deep,4 C L 1 L Ø 0,04 C B E 10 ±0,1 C 17 1) Max. travel Effective stroke Excess travel 2) Ø 0,04 D 55,8 8,5 C A 80 ±0,1 A D X Ø9 H7 M5 5,9 2,1 +0,2 (2,1 +0,2 ) Y Z W M8 Ø12 H , Ø,9 2 5,5 F) 4x Ø 9 H deep / 4x M5-8 deep G) 2x M5-10 deep H) x Ø 9 H deep / x M5-8 deep Positioning tolerance for H7 countersinks only. Maximum travel (mm) B 1 L L 1 N 1 N 2 N Part number MSC-EL (mm) (mm) (mm) without brake with brake R R R R R R ) Clearance needed for mounting (it must be possible to move the carriage of the MSC-EL during mounting). 2) For excess travel, see Technical Data

17 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 17 Dimensions, Ordering MSC-EL-25 All dimensions in mm. Drawings not to scale. B-B N x M8-16 deep N 2 x Ø 12 H7-2,1 +0,2 deep Y W Ø 0,04 E B 1 E ) G F Ø 0,04 A Z L B X 12 Max. travel Effective stroke Excess travel 2) 54,5,5 A With brake 98 19,5 9 B H Ø 0,04 B 52 N 1 x M6-12 deep,4 C L B 15 L 1 Ø 0,04 C 7 ±0,1 C Ø 0,04 D A A 45 D 5,5 C 45 ±0,1 85 X Ø12 H7 M6 7,9 2,1 0,2 2,1 +0,2 Y Z 112 Ø,9 W 2 5,5 F) 4x Ø 12 H deep / 4x M6-10 deep G) 4x M6-12 deep H) 2x Ø 12 H tief / 2x M6-10 deep Positioning tolerance for H7 countersinks only. M8 Ø12 H7 Maximum travel (mm) B 1 L L 1 N 1 N 2 N Part number MSC-EL (mm) (mm) (mm) without brake with brake R R R R R R ) Clearance needed for mounting (it must be possible to move the carriage of the MSC-EL during mounting). 2) For excess travel, see Technical Data

18 18 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Accessories Sensors ff One sensor (not included in delivery) is needed as a reference switch when starting up the axis. There are sensor slots on both sides of the frame. Switch activation is direct via a magnetic field sensor (no switching cam required). Up to sensors can be mounted per side. The sensors are inserted sideways into the sensor slot and fixed in place with a screw (LH thread). The sensor is connected directly to the drive amplifier (extension cable). BN = brown, BK = black, BU = blue * Note on the protective circuit in the case of an inductive load: DC voltage = diode or Z diode; AC voltage = resistor and capacitor or varistor III BN 1 BU BK 4 R L * +/ /~ /+/~ V BN 1 BU BK 4 R L * + Part number for magnetic field sensor R R R (recommendation) Contact type Reed sensor NO Sensor contactless PNP NO Sensor contactless PNP NC Symbol III (-wire) V (-wire) V (-wire) Material PUR PUR PUR Connection type M8 x 1 M8 x 1 M8 x 1 Thermal operating range 25 C to +75 C 25 C to +75 C 25 C to +75 C Operating voltage AC/DC V DC V DC V Switching current I max 100 ma 70 ma 70 ma Switching capacity max. W / 5 VA W / 5 VA 2 W R s 15 Ω Voltage drop U at I max I x R s < 2.5 V 2.5 V Operating current (w/o load) not switched < 8 ma < 8 ma Operating current (w/o load) switched < 5 ma < ma < ma Switching frequency max. 0.5 khz 1.0 khz 1.0 khz Short-circuit protection No Yes No Polarity safe Yes Yes Yes 1 Sensor element 2 Clamping screw LED X PNP approx. 6 mm Reed approx. 11 mm General characteristics: Degree of protection: IP 67 IEC (DIN VDE 0470) Switching point accuracy (at constant temperature): ±0.1 mm Indicator: LED (yellow = operating status: switched) Material of body: polyamide Reed: R s = protective resistor for reed contact Shock resistance max.: 0 g / 11 ms (contact closes) Vibration resistance: Hz, 1 mm Switching response times ON / OFF: ~ 0.5 ms / ~ 0.1 ms

19 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 19 Extension cable for sensor (Reed / Hall) The extension cable is supplied complete with a female connector M8x1 for connection to the sensor. Part number: Length 5 m R Connector contact wiring 1 ~5 M8x1 1 4 Protection class brown blue black IP 66 when connected ( VDC) (0 V ground) (output) Cable set with brake cores (for MSC-EL with or without holding brake) Consisting of: Power cable (orange sheath) Signal cable for motor encoder and hall sensors of the motor (green sheath), with connector CN. Connectors (supplied loose): CN1 power supply CN4 advanced I/O signal interface Part number: Length 5 m R Length 10 m R Length 15 m R Power cable (orange) Signal cable (green) Cable diameter d (mm) Number of bending cycles 5 million Bending radius, dynamic (mm) 7.5 d 10 d Bending radius, static (mm) 4 d 7.5 d Cable set without brake cores (for MSC-EL without holding brake) Consisting of: Power cable (gray sheath) Signal cable for motor encoder and hall sensors of the motor (green sheath) Connectors (supplied loose): CN1 power supply CN I/O signal interface CN4 advanced I/O signal interface Part number: Length 5 m R Power cable (gray) Signal cable (green) Cable diameter d (mm) Number of bending cycles 5 million Bending radius, dynamich (mm) 7.5 d 10 d Bending radius, static (mm) 4 d 7.5 d

20 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Accessories Drive amplifier Bosch Rexroth version BLP14 (with digital I/O interfaces) d d e Connection data: 24 V DC Features: 15 free positioning data sets 10 digital inputs 4 digital outputs 2 analog outputs CANopen Enclosure protection class IP Pulse width modulation PWM 80kHz Part number: R H g T a j c b B Dimensions (mm) Weight (kg) Cooling method H B T a b c d e f g i Free convection f Cable holder EMC-KIT Part number: R Top-hat rail adapter for BLP14 Part number: R

21 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 21 Multi-range power unit Tested and approved for all MSC-EL sizes and mounting orientations. Connection data: 24 V DC power supply (complies with PELV requirements) Type: VAP01.1H-W NN: Output 24 Volt DC, 10 Amp. Input AC / 0-2 V Mounting to top-hat rail TX 7.5 x 5 (EN 50022) Take note of mounting and start-up instructions (provided) Part number: R Dimensions (mm) H B T USB adapter For programming via PC during start-up. Adapter with USB plug and RJ45 socket Part number: R Length 2.5 m Mounting cable For releasing the holding brake in order to shift the carriage manually when mounting the MSC-EL model with brake. This allows free access to the mounting holes. 24 V DC required Part number: R Length 2 m

22 22 Тел. (499) Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Accessories Centering rings (Easy-2-Combine interface) Centering rings serve as an alignment and positioning aid for mounting: the MSC-EL to the mounting base attachments to the carriage or the front plate They also establish positive-locking connections between the components. Material: steel (corrosion-resistant) D ØF D ØF ØC ØA ØB ØB ØC ØA E H 2 ØA 1 ØB H Adjoining structure 2 Centering ring MSC-EL (carriage, front plate or frame) ØA H 2 Ø Dimensions (mm) Part number A B C D E ØF H 1 H 2 (mm) H7/k6 H7/k6 ± R R R R R R R R R R R

23 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 2 Extraction tool for centering rings The tool is used to grip the centering ring through the cross-holes for easy extraction. Part number: R

24 24 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Maintenance Normal operating conditions Ambient temperature must not fall below dew point 0 C... C ϑ Load See technical data Travel speed MSC-EL 12 0,001 (m/s) < 0.21 (m/s) MSC-EL 16 0,001 (m/s) < 0.21 (m/s) MSC-EL 0,001 (m/s) < 0.42 (m/s) MSC-EL 25 0,001 (m/s) < 0.8 (m/s) v Travel distance > 10 mm Protection class IP Contamination Not permitted Lubrication The prelubrication of the ball recirculation raceway and the ball screw assembly (BS) assures maintenance-free operation without any relubrication. The service life of the prelubrication is 10 million full cycles under normal operating conditions. Prelubrication with Dynalub 510 is carried out by the manufacturer prior to shipment. Lubricating stroke For applications with a stroke < 10 mm, the unit should be traversed over the maximum travel range (lubricating stroke) before shutting down. Further information Ordering example on: Project planning manuals Parameter files Start-up software can be found on the Internet at Instructions Catalog in PDF format D CAD generator Description Part number MSC-EL, size 12, travel range 50 mm, with holding brake R BLP14 EC motor drive amplifier R Cable set with brake cores (for MSC-EL with holding brake) 5 m R Cable holder EMC-KIT R Top-hat rail adapter for BLP14 R Multi-range power unit R Sensor, contactless PNP NC (preferred version as reference switch) R Extension cable for sensor (Reed/Hall) R USB adapter, black with cable R Mounting cable for releasing the holding brake R

25 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 25 Inquiry / Order Linear Motion and Assembly Technologies D Schweinfurt, Germany Telephone Telefax (direct) Rexroth Mini Slide MSC-EL To be completed by customer: Inquiry / Order Description Part number Quantity Comments: Order of: pcs, per month per year, per order, or Sender Company: Address: Name: Department: Telephone: Telefax:

26 26 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) Notes

27 Electric Mini Slides, MSC-EL R10EN 2604 (11.08) 27

28 Linear Motion and Assembly Technologies Ernst-Sachs-Straße Schweinfurt, Germany Tel Fax Find your local contact person here: Subject to technical modifications 11 Printed in Germany R10EN 2604 (11.08) EN DC-IA/MKT