INSTALLATIONINSTRUCTIONS

forSLO-SYN®

SS2000D12 PACKAGED DRIVE

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TABLE OF CONTENTS

PageTHINGS TO KNOW BEFORE USINGTHIS EQUIPMENT ..............................2

WARRANTY INFORMATION .............2

SECTION 1: INTRODUCTION ...........3

1.1 Using This Manual ...................31.2 Product Features .....................3

SECTION 2: EXPRESS START UPPROCEDURE .....................................4

SECTION 3: INSTALLATIONGUIDELINES .......................................5

3.1 General Wiring Guidelines ......53.2 Mounting ..................................73.3 Connector Locations And Pin

Assignments ............................8

SECTION 4: SPECIFICATIONS ................ 104.1 Mechanical Specifications .................. 104.2 Electrical Specifications ...................... 104.3 Environmental Specifications ............. 104.4 Motor Compatibility ............................. 104.5 Current Settings .................................. 114.6 Step Resolution .................................. 114.7 Signal Specifications .......................... 114.8 Indicator Lights ................................... 134.9 Test ................................................. 13

SECTION 5: TORQUE VERSUSSPEED CHARACTERISTICS .................... 14

5.1 Motor Performance ............................. 145.2 Torque vs. Speed Curves ................... 14

SECTION 6: TROUBLESHOOTING ......... 18

APPENDIX A: TROUBLESHOOTINGELECTRICAL INTERFERENCEPROBLEMS ............................................... 19

THINGS TO KNOW BEFORE USING THIS EQUIPMENT

• Only qualified personnel should install orperform servicing procedures on thisequipment. Do not operate the unit with-out the enclosures in place as voltagepresent in this unit can cause serious orfatal injury.

• Before performing any work on the unit,allow at least five minutes for the capaci-tors to discharge fully.

• Voltage as high as 350 Vdc are suppliedto the motor terminals on this drive at alltimes, including when the motor is stop-ped.

• The "PWR ON" LED must be off for ap-proximately 30 seconds before making orbreaking the motor connections.

• Motors powered by this drive may developextremely high torque. Be sure to discon-nect ac power to this drive before doing anymechanical work.

WARRANTY INFORMATION

Reconfiguration of the circuit in any fashion notshown in this manual will void the Warranty.

Failure to follow proper wiring practices as de-scribed in Section 3.1 will void the Warranty.

©1994, Superior Electric.

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SECTION 1: INTRODUCTION

1.1 USING THIS MANUAL

It is important that you understand how thisSLO-SYN 2000 unit is installed and operatedbefore you attempt to use it. We stronglyrecommend that you read this manualcompletely before proceeding with the in-stallation of this unit.

This manual is an installation and operatingguide to the SLO-SYN 2000 Drive. Section 1gives an overview of the Drive and its fea-tures. Section 2 describes the steps neces-sary to place the drive into operation. Gen-eral wiring guidelines as well as the physicalmounting of the unit and connections to thedrive portion are covered in Section 3.

Complete specifications, listed in Section 4,provide easily referenced information concer-ning electrical, mechanical and performancespecifications. The procedure for setting themotor current level is also covered in thissection.

Torque versus speed characteristics arediscussed in Section 5. Section 6, Trouble-shooting, describes procedures to follow ifthe SLO-SYN 2000 drive fails to operateproperly.

Appendix A provides procedures for trouble-shooting electrical interference problems.

1.2 PRODUCT FEATURES

SLO-SYN 2000 drives are bipolar, speedadjustable, two-phase chopper drives whichuse IGBT devices. They can be set to oper-ate a stepper motor in full or half steps or inresolutions of 1/5, 1/10, 1/16, 1/36, 1/50,1/100, 1/125 or 1/250 microsteps. The maxi-mum running speed is 20,000 full steps persecond. To reduce the chances of electricalnoise problems, the control signals are opti-cally isolated from the drive circuit.

• Switch selectable current levels of 2through 12 amperes

• Latched short circuit protection (phase-to-phase and phase-to-ground)

• Latched overtemperature protection• Unlatched undervoltage and transient

overvoltage protection• Inputs are optically isolated• Boost/Reduce Current and Windings Off

capabilities• Drive Ready output• Built-in ac line filter plus MOV• Self-test function

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SECTION 2: EXPRESS START UPPROCEDURE

The following instructions define the mini-mum steps necessary to make your Driveoperational.

CAUTION:

Always disconnect the ac power to theunit and be certain that the “PWR ON”LED is OFF before connecting or discon-necting the motor leads. FAILURE TO DOTHIS WILL RESULT IN A SHOCK HAZARD.

Always operate the Motor and the DriveGROUNDED. Be sure to twist together thewires for each motor phase. Six twists perfoot is a good guideline.

1. Check to see that the motor used is com-patible with the drive. Refer to Section 4.4for a list of compatible motors.

2. Set the correct current level for the motorbeing used per the instructions in Section4.5.

3. Select the appropriate step resolution andset the front panel switches as describedin Section 4.6.

4. Connect the appropriate signal lines tothe drive interface connector (PULSE,DIRECTION, etc.).

5. Wire the motor per the "Motor Connec-tions" description in Section 3.3.

6. Connect the power source to the AC inputterminal strip. Terminals labeled "L1" and"L2" are for line connections, and " "is for ground.

NOTES: If the motor operates erratically,refer to Section 5, "Torque VersusSpeed Characteristics".

Clockwise and counterclockwise direc-tions are properly oriented when viewingthe motor from the end opposite themounting flange.

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SECTION 3: INSTALLATIONGUIDELINES

3.1 GENERAL WIRING GUIDELINES

SLO-SYN 2000 drives use modernsolid-state electronics to provide the featuresneeded for advanced motion control applica-tions. In some cases, these applicationsproduce electromagnetic interference (EMI,or electrical "noise") that may cause inappro-priate operation of the digital logic used in thedrive, or in any other computer-type equip-ment in the user's system.

In general, any equipment that causes arcsor sparks or that switches voltage or currentat high frequencies can cause interference.In addition, ac utility lines are often "polluted"with electrical noise from sources outside auser's control (such as equipment in the fac-tory next door). Some of the more commoncauses of electrical interference are:

• power from the utility ac line

• relays, contactors and solenoids

• light dimmers

• arc welders

• motors and motor starters

• induction heaters

• radio controls or transmitters

• switch-mode power supplies

• computer-based equipment

• high frequency lighting equipment

• dc servo and stepper motors anddrives

The following wiring practices should be usedto reduce noise interference.

• Solid grounding of the system is es-sential. Be sure that there is a solid con-nection to the ac system earth ground.Bond the drive case to the system enclo-sure. Use a single-point grounding sys-tem for all related components of a sys-tem (a "hub and spokes" arrangement).Keep the ground connection short and di-rect.

• Keep signal and power wiring wellseparated. If possible, use separate con-duit or ducts for each. If the wires mustcross, they should do so at right angles tominimize coupling.

Note: Power wiring includes ac wiring,motor wiring, etc. and signal wiring in-cludes inputs and outputs (I/O), serialcommunications (RS232 lines), etc.

• Use shielded, twisted-pair cables forDrive to motor wiring. BE SURE TOGROUND THE SHIELD AT THE DRIVEEND.

• Suppress all relays to prevent noisegeneration. Typical suppressors are ca-pacitors or MOV’s. (See manufacturer'sliterature for complete information).Whenever possible, use solid-state relaysinstead of mechanical contact types tominimize noise generation.

If you are experiencing problems with driveoperation which might be related to EMI,refer to Appendix A for Troubleshootingpointers.

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Recommended Wiring Practices For Drive InstallationFigure 3.1

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3.2 MOUNTING

The SLO-SYN Drive is designed to be mounted to a flat surface as shown in Figure 3.2.

Figure 3.2, Mounting Diagram

NOTE: Mount the unit in an upright position as shown. Do not block the fan inlet. Main-tain two-inches of space at the top of the unit to allow proper air flow.

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3.3 CONNECTOR LOCATIONS AND PINASSIGNMENTS

Figure 3.3 shows the connector locations forthe SLO-SYN 2000 drive.

MOTOR CONNECTIONS

All motor connections are made via the 5-pinterminal strip. Terminal assignments are:

Drive Motor Terminal Assignment Terminals

1 M1 (Phase A) #12 M3 (Phase A) #33 M4 (Phase B) #44 M5 (Phase B) #55 Shield Shield

NOTE: Motor phase A is M1 and M3 andmotor phase B is M4 and M5. The motorframe must be grounded.

Cabling from the drive to the motor should bedone with a shielded, twisted pair cable. As aguideline, the wires for each motor phaseshould be twisted about six times per foot.

Figure 3.3, Connector Locations

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Figure 3.4, Motor Wiring Configurations

POWER INPUT

The ac input power is connected to a 3-screw terminal strip. The terminals are labeled as follows:

Neutral Line-To-LineConnected Connected

Terminal System System"L1" Line Line 1"L2" Neutral Line 2" " (Ground) Ground Ground

The voltage from "Line" to ground in the neutral connected system, or "Line 1" and "Line 2" toground in the line-to-line connected system must not exceed 264 volts ac.

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SECTION 4: SPECIFICATIONS

4.1 MECHANICAL SPECIFICATIONS

Size (Inches) 13.13 W x 9.7 H x 7.51 D(mm) 334 W x 246 H x 191 D

Weight 18 pounds (8.2 kg)

4.2 ELECTRICAL SPECIFICATIONS

AC Input Range 90 to 264 Vac, 50/60 HzAC Current 16 amperes

Fuse Rating** 250 volts, 20 amperesFuse Type** Littelfuse part number

326020 or Bussman partnumber MDA-20

Drive Power Dissipation(Worst Case)200 watts

** If this fuse blows, the power supply will beprevented from energizing any of its outputs,hence, the unit will not operate. Usually, thisfuse will only blow if an internal failure oc-curs.

4.3 ENVIRONMENTAL SPECIFICATIONS

TemperatureOperating +32° F to +122° F

(0° C to +50° C) free airambient, fan cooled

Storage -40° F to +167° F(-40° C to +75° C)

Humidity 95% max. noncondensingAltitude 10,000 feet (3048 m) max.

4.4 MOTOR COMPATIBILITY

Motor Types Superior Electric MHSeries

Frame Sizes MH112 throughMH172

Number of Connections 4, 8Minimum Inductance 2 millihenrysMaximum Resistance

= 0.1 x Vac / current setting

NOTE: Maximum resistance is total ofmotor plus cable.

CAUTION: Do not use larger frame sizemotor than those listed, or the drive maybe damaged.

MOTORS FOR USE WITH THE SS2000D12DRIVE

CurrentMotor Connection (Amperes)M111-FF206 5M112-FF206 6MH112-FJ4201 6MH112-FJ8020 Series 8MH112-FJ8020 Parallel 12MH112-FF206 6M112-FF401 6MH112-FJ8030 Series 12M172-FF401 8MH172-FD4201 8MH172-FJ8030 Series 12MH172-FJ8030 Parallel 12

NOTE: DUTY CYCLE LIMITING OREXTERNAL MOTOR COOLINGMAY BE REQUIRED TO KEEP THESHELL TEMPERATURE BELOWITS RATING..

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4.5 CURRENT SETTINGS

The proper current setting for each motor is shown onthe individual torque vs. speed curves. Use this currentlevel to obtain the torque shown. The access hole forthe switches which set the motor current level is lo-cated on the front of the unit (see Figure 3.3). Selectthe desired operating current by setting the appropriateswitch to the "ON" position. Only one switch should beON. If two or more switches are ON, the one whichselects the highest current level will be the activeswitch. The switch settings are as follows:

CurrentPosition (amperes)

8 2.07 3.06 4.05 5.04 6.03 8.02 10.01 12.0

4.6 STEP RESOLUTION

The number of pulses per revolution is selected usingthe rotary switch on the front panel. The arrow on theswitch knob can point to any of ten positions. The fol-lowing chart shows the number of pulses per revolutionselected by each switch position.

Switch Pulses PerPosition Revolution

1 2002 4003 1,0004 2,0005 3,2006 7,2007 10,0008 20,0009 25,0000 50,000

MOTORCURRENTSWITCHES

STEPRESOLUTIONSWITCHES

Figure 4.1Switches for Setting Current Level

And Step Resolution

4.7 SIGNAL SPECIFICATIONS

4.7.1 Connector Pin Assignments

All connections are made via the 8-pin connector, partnumber 220878-008 (supplied).

Pin Assignment1 OPTO2 PULSE3 DIR4 AWO5 RDCE6 BOOST7 RESET8 READY

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4.7.2 Signal Descriptions

OPTO Opto-Isolator SupplyUser supplied power for the opto-isolators.

PULSE Pulse InputA low to high transition on this pin advanc-es the motor one step. The step size isdetermined by the Step Resolution switchsetting.

DIR Direction InputWhen this signal is high, motor rotation willbe clockwise. Motor rotation will be coun-terclockwise when this signal is low.

Clockwise and counterclockwise directionsare properly oriented when viewing themotor from the end opposite the mountingflange.

AWO All Windings Off InputWhen this signal is low, AC and DC currentto the motor will be zero. Caution: Therewill be no holding torque when the AWOsignal is low.

RDCE Reduce Current InputThe motor current will be 50% of the se-lected value when this signal is low. Cau-tion: Holding torque will also be re-duced when this signal is low.

BOOST Boost Current InputWhen this signal is low, the motor currentwill be 150% of the selected level up to amaximum of 12 amperes.

RESET Reset InputThe translator will go to the "power up"state when this signal goes low.

READY Ready OutputThis pin is the emitter of an opto-isolatorthat activates when the drive is ready to runa motor.

4.7.3 Level Requirements

OPTOVoltage ..................................4.5 to 6.0 volts dcCurrent ..................................20 mA per signal used

READYVoltage ..................................4.5 to 6.0 volts dc (de-

pends on OPTO level)Current ..................................0.5 mA source

Other SignalsVoltage

Low...........................≤0.8 Vdc≥0.0 Vdc

High ..........................≤OPTO≥OPTO - 1 volt

CurrentLow...........................≤20 mAHigh ..........................≤0.2 mA

4.7.4 Timing Requirements

PULSEMax. Frequency ..............1 megahertzMax. Rise And

Fall Times.................1 microsecondMin. Pulse

Width ........................0.4 microseconds

Other SignalsResponse Time...............≤50 microseconds

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Suggested Methods ForControl Interface

Figure 4.2

4.8 INDICATOR LIGHTS

"POWER" LED, RedLights when the drive logic power supply is pres-ent, indicating that the drive is energized.

"OVERCURRENT" LED, RedLights to indicate overcurrent condition. This con-dition is a result of motor wiring errors or a groundfault. Recovery from this condition requires remov-ing ac power, correcting the problem, then reener-gizing ac power.

"OVER TEMP" LED, RedLights to indicate the air temperature inside thedrive has exceeded a safe level for reliable opera-tion. Recovery from this condition requires remov-ing and then reapplying the ac power.

4.9 TEST

A pushbutton Test switch is located on the front panel.To operate the Test function, disconnect the translatorinput connector and then actuate the switch. If thedrive and motor are wired correctly, the motor willrotate clockwise at about 1/2 revolution per second.

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SECTION 5: TORQUE VERSUS SPEEDCHARACTERISTICS

5.1 MOTOR PERFORMANCE

All stepper motors exhibit instability at their natural fre-quency and harmonics of that frequency. Typically,this instability will occur at speeds between 50 and 500full steps per second and, depending on the dynamicmotor load parameters, can cause excessive velocitymodulation or improper positioning.

There are also other instabilities which may cause aloss of torque at stepping rates outside the range ofnatural resonance frequencies. One such instability isbroadly defined as mid-range instability. Usually, thedamping of the system and acceleration/decelerationthrough the resonance areas aid in reducing instabilityto a level that provides smooth shaft velocity andaccurate positioning.

If instability does cause unacceptable performanceunder actual operating conditions, the following tech-niques can be used to reduce velocity modulation.

1) Avoid constant speed operation at the motorsunstable frequencies. Select a base speed that isabove the motors resonant frequencies and adjustacceleration and deceleration to move the motorthrough unstable regions quickly.

2) The motor winding current can be reduced asdescribed in Section 4.5. Lowering the current willreduce torque proportionally. The reduced energydelivered to the motor can decrease velocity mo-dulation.

3) Use the half-step mode of operation or use micro-stepping to provide smoother operation and re-duce the effects of mid range instability. Note thatmicrostepping reduces the shaft speed for a givenpulse input rate.

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SECTION 6: TROUBLESHOOTING

WARNING:Motors connected to this drive can develop hightorque and large amounts of mechanical energy.

Keep clear of the motor shaft and all parts me-chanically linked to the motor shaft.

Turn off all power to the drive before performingwork on parts mechanically coupled to the motor.

If installation and operating instructions have beenfollowed carefully, this unit should perform correctly. Ifthe motor fails to step properly, the following checklistwill be helpful in locating and correcting the problem.

In General:

• Check all installation wiring carefully for wiringerrors or poor connections.

• Check to see that the proper voltage levels arebeing supplied to the unit. Be sure that the "POW-ER" LED lights when ac power is applied.

• Be sure that the motor is a correct model for usewith this unit.

• Disconnect the control interface connector. Withthe motor connected and ac power applied to thedrive, push the front panel "Test" switch. The mo-tor should rotate at about 1/2 rev. per second. If itdoes rotate, the motor, drive, ac input and associ-ated wiring are probably ok. The problem is mostlikely in the user's control (pulse source) or in thecontrol wiring to the drive.

If the motor does not turn, there is a problem withthe drive, motor, ac input or associated wiring.

Specifically:

IF MOTOR DIRECTION (CW, CCW) IS REVERSED,Check For:

Reversed connections to the Motor Connector. Re-versing the phase A or the phase B connections willreverse the direction of motor rotation.

IF THE MOTOR MOTION IS ERRATIC, Check For:

Supply voltage out of tolerance.

Proper motion parameters (low speed, acceleration/de-celeration, jog speed, home speed and feed rate). Setparameters on controller supplying pulse input to drive.

IF TORQUE IS LOW, Check For:

All Windings Off active or Reduced Current active.

Improper supply voltage.

IF "POWER" INDICATOR IS NOT LIT, Check For:

Improper ac input wiring and voltage levels

Blown supply circuit fuse or tripped input circuit breaker

Check for blown drive fuse

IF "OVERCURRENT" INDICATOR IS LIT, CheckFor:

Improper motor wiring

Grounded or shorted wiring to the motor or shortedmotor

Improper motor type or incorrect Current Select switchsetting

IF THE "OVERTEMP" INDICATOR IS LIT, CheckFor:

Ambient temperature around drive above 50°C (122°F)

Restricted airflow around drive

If a malfunction occurs that cannot be corrected bymaking the preceding checks, contact Superior Elec-tric.

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APPENDIX A: TROUBLESHOOTINGELECTRICAL INTERFERENCE PROBLEMS

Electrical interference problems are common withtoday’s computer-based controls, and such problemsare often difficult to diagnose and cure. If such a prob-lem occurs with your system, it is recommended thatthe following checks be made to locate the cause ofthe problem.

1. Check the quality of the ac line voltage using anoscilloscope and a line monitor, such as the Su-perior Electric VMS series. If line voltage problemsexist, use appropriate line conditioning, such asline filters or isolation transformers.

2. Be certain all of the recommended wiring practicesare followed for location, grounding, wiring andrelay suppression (see Section 3.1).

3. Double check the grounding connections to besure they are good electrical connections andare as short and direct as possible.

4. Try operating the drive with all suspected noisesources switched off. If the drive functions prop-erly, switch the noise sources on again, one at atime, and try to isolate which ones are causingthe interference problems. When a noise sourceis located, try rerouting wiring, suppressing re-lays or other measures to eliminate the problem.

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Motor Dimensions

M111-FF206 AND M112-FF206 MOTORS

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Motor Dimensions

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WARRANTY AND LIMITATION OF LIABILITYSuperior Electric (the "Company"), Bristol, Connecticut, warrants to the first end user purchaser (the "purchaser") of equipment manufacturedby the Company that such equipment, if new, unused and in original unopened cartons at the time of purchase, will be free from defects inmaterial and workmanship under normal use and service for a period of one year from date of shipment from the Company's factory or a ware-house of the Company in the event that the equipment is purchased from the Company or for a period of one year from the date of shipmentfrom the business establishment of an authorized distributor of the Company in the event that the equipment is purchased from an authorizeddistributor.

THE COMPANY'S OBLIGATION UNDER THIS WARRANTY SHALL BE STRICTLY AND EXCLUSIVELY LIMITED TO REPAIRING ORREPLACING, AT THE FACTORY OR A SERVICE CENTER OF THE COMPANY, ANY SUCH EQUIPMENT OR PARTS THEREOF WHICHAN AUTHORIZED REPRESENTATIVE OF THE COMPANY FINDS TO BE DEFECTIVE IN MATERIAL OR WORKMANSHIP UNDERNORMAL USE AND SERVICE WITHIN SUCH PERIOD OF ONE YEAR. THE COMPANY RESERVES THE RIGHT TO SATISFY SUCHOBLIGATION IN FULL BY REFUNDING THE FULL PURCHASE PRICE OF ANY SUCH DEFECTIVE EQUIPMENT. This warranty does notapply to any equipment which has been tampered with or altered in any way, which has been improperly installed or which has been subject tomisuse, neglect or accident.

THE FOREGOING WARRANTY IS IN LIEU OF ANY OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION,ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, and of any other obligations or liabilitieson the part of the Company; and no person is authorized to assume for the Company any other liability with respect to equipment manufacturedby the Company. The Company shall have no liability with respect to equipment not of its manufacture. THE COMPANY SHALL HAVE NOLIABILITY WHATSOEVER IN ANY EVENT FOR PAYMENT OF ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING,WITHOUT LIMITATION, DAMAGES FOR INJURY TO ANY PERSON OR PROPERTY.

Written authorization to return any equipment or parts thereof must be obtained from the Company. The Company shall not be responsible forany transportation charges.

IF FOR ANY REASON ANY OF THE FOREGOING PROVISIONS SHALL BE INEFFECTIVE, THE COMPANY'S LIABILITY FOR DAMAGESARISING OUT OF ITS MANUFACTURE OR SALE OF EQUIPMENT, OR USE THEREOF, WHETHER SUCH LIABILITY IS BASED ONWARRANTY, CONTRACT, NEGLIGENCE, STRICT LIABILITY IN TORT OR OTHERWISE, SHALL NOT IN ANY EVENT EXCEED THE FULLPURCHASE PRICE OF SUCH EQUIPMENT.

Any action against the Company based upon any liability or obligation arising hereunder or under any law applicable to the sale of equipment,or the use thereof, must be commenced within one year after the cause of such action arises.

These products are sold subject to the standard Limitation of Liability and/or Warranty of Superior Electric.

The right to make engineering refinements on all products is reserved. Dimensions and other details are subject to change.

#***"*+*##,-./0,1 2345,'#%!% 6789:.;,89,<0=0>0

Distribution Coast-to-Coast and International

Superior Electric products are available worldwide through an extensive authorized distributornetwork. These distributors offer literature, technical assistance, and a wide range of modelsoff the shelf for fastest possible delivery and service.In addition, Superiorr Elctric sales engineers are conviently located to provide prompt attentionto customers’ needs. Call the nearest office listed for ordering and application information orfor the address of the closest authorized distributor.

IN U.S.A. AND CANADA383 Middle StreetBristol, CT 06010Tel: (860) 585-4500FAX: 860-589-2136Customer Service: 1-800-787-3532Product Application: 1 800 787-3532Fax: 1-800-766-6366Product Literature Request: 1 800 787-3532

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www.superiorelectric.com

383 Middle Street � Bristol, CT 06010(860)585-4500 �Fax:(860)589-2136