Uploaded by Luis Petterson

POWER LOADER SCHEMATICS V2

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NEW
NEW
10/27/2021
GARCIA
Status
change
date
name
POWER_LOADER
00
POWER
POWER_LOADER
01
4/8
POWER_LOADER
02
4/8
Vo+
3/8 4
Vin-
3/8
3
8
CONVERTER
7
Trim
6
60V-24V
Vo-
1
PS1
Power Converter
CNT
1/8 2
1/8
SS+
5/8
Vin+
DC-DC
5/8
5
We reserve all rights in this document and in the informa- created with POWER LOADER SCHEMATICS_TEST
tion contained therein. Reproduction, use or disclosure
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to third parties without express authority is strictly
11/2/2021
forbidden.
Electric
© Zuken
11/2/2021 15:33
POWER_LOADER
03
+
BATTERY
60 V
45A
PWR
-
GND
2/2
2/2
-X18
1/2
-X19
POWER_LOADER
05
1/2
POWER_LOADER
04
POWER_LOADER
06
POWER_LOADER
19
J7A-H1
J9-29
J7A-H2
J9-30
J7A-H3
33/48
J9-31
J7A-H4
J9-32
J7A-J1
J9-33
J7A-J2
J7A-J3
POWER_LOADER
20
37/48
POWER_LOADER
21
POWER_LOADER
22
J9-34
J9-35
J7A-J4
J9-36
J7A-K1
J9-37
J7A-K2
J9-38
J7A-K3
J9-39
J7A-K4
J9-40
J7A-L1
J9-41
J7A-L2
J9-42
J7A-L3
J9-43
J7A-L4
J9-44
J7A-M1
J9-45
J7A-M2
J9-46
J7A-M3
J9-47
J7A-M4
J9-48
1/3
V+
GND
GND
2/3
3/3
3/3 -X93
J7C-Z53
J7C-Z52
MOTOR
27/50
28/50
28/50 28/50
28/50
29/50
29/50 29/50
29/50
30/50
30/50 30/50
30/50
31/50
31/50 31/50
31/50
32/50
32/50 32/50
32/50
33/50
33/50 33/50
33/50
34/50
34/50 34/50
34/50
35/50
35/50 35/50
35/50
36/50
36/50 36/50
36/50
37/50
37/50 37/50
37/50
38/50
38/50 38/50
38/50
39/50
39/50 39/50
39/50
40/50
40/50 40/50
40/50
41/50
41/50 41/50
41/50
42/50
42/50 42/50
42/50
43/50
43/50 43/50
43/50
44/50
44/50 44/50
44/50
45/50
45/50 45/50
45/50
46/50
46/50 46/50
46/50
47/50
47/50 47/50
47/50
48/50
48/50 48/50
48/50
49/50
49/50 49/50
49/50
50/50
50/50 50/50
50/50
J10-29
23/48
GND
SIGNAL
2/4
RECP_4
SIGNAL
3/4
2/4
2/6
2/6
24/48
24/48
1/4
1/4
2/4
2/4
3/4
3/4
-X127
RECP_4
3/4
3/6
1408987
-X124
1408987
25/48
3/6
25/48
4/6
4/6
26/48
26/48
5/6
5/6
27/48
27/48
6/6
6/6
28/48
28/48
-X142
ASM08AM06002
-X143
ASM08AF06002
DTM04-12P DTM06-12S
-X63
J10-36
J10-38
4/12
32/48
32/48
2
3/12
3/12
34/48
34/48
3
1/12
1/12
35/48
35/48
NC
NC
C
C
-X62
4/12
4
1
M7
J10-42
M8
J14-D2
J13-D3
J14-D3
J13-D4
J14-D4
J13-E1
J14-E1
J13-E2
J14-E2
J13-E3
J13-E4
J13-F1
J13-F2
J13-F3
J13-F4
J14-E3
A2
J14-E4
J14-F1
J14-F2
J14-F3
J14-F4
J13-G1 Power Loader Breakout Board J14-G1
J13-G2
J14-G2
J13-G3
J14-G3
J13-G4
J14-G4
J13-H1
J14-H1
J13-H2
J14-H2
J13-H3
J14-H3
J13-H4
J14-H4
J13-J1
J14-J1
J13-J2
J14-J2
J13-J3
J14-J3
J13-J4
J14-J4
J13-K1
J14-K1
J13-K2
J14-K2
J13-K3
J14-K3
J13-K4
J14-K4
J10-43
J13-L1
J14-L1
J10-44
J13-L2
J14-L2
J13-L3
J14-L3
J13-L4
J14-L4
J10-45
DTM04-12P
J10-46
-X63
J10-47
J10-48
J10-49
J10-50
DTM06-12S
-X62
5/12
5/12
45/48
6/12
6/12
46/48
7/12
7/12
47/48
8/12
8/12
48/48
J13-M1
J14-M1
J13-M2
J14-M2
J13-M3
J14-M3
J13-M4
J14-M4
Solenoid
-X114
21/48
22/48
Solenoid
-X115
1/6
3/6
2/6
2
1
V+
EXTENDED
RETRACTED
3
4
ENERGIZE
5/6
4/6
5
6
GND
EN GND
ASM08AM06002
6/6
6/6
ASM08AF06002
-X116
1/6
2/6
2
V+
EXTENDED
RETRACTED
3
3/6
ENERGIZE
4/6
4
EN GND
5
1410666
3/6
4/8 4/6
-X148
5/6
-X149
ASM08AF06002
20/48
6/6
20/48
1/4
VCC
2/4
2/4
TX
21/48
3/4
3/4
RX
22/48
-X135 4/4
23/48
23/48
1/6
1/6
ASM08AF04001
24/48
24/48
2/6
2/6
1/4
-X148
5/6
19/48
-X149
18/48
19/48
1410666
3/6
6/8 4/6
18/48
2/6
17/48
1/6
16/48
17/48
-X122
16/48
2/6
1/6
-X121
1410665
2 4/8
15/48
-F13
15/48
5/6
6/6
6
GND
ASM08AM06002
ASM08AF06002
6/6
-X148
5/6
-X149
-X148
14/48
1
1/6
2/6
2
1
V+
EXTENDED
RETRACTED
3
3/6
ENERGIZE
4/6
4
EN GND
6
5
1410666
3/6
2/8 4/6
1/8
1410665
1410665
1
2 2/8
13/48
14/48
IMU
Limit Sensor
LS10
VCC
Limit Sensor
LS12
V+
J13-D2
13/48
TX
2
RX
25/48
25/48
3/6
4/4 -X134
GND
ASM08AM04001
1/4
-X125
3/6
GND
1/4
2/4
2/4
3/4
3/4
1408987
-X132
RECP_4
1/4
26/48
26/48
4/6
4/6
27/48
27/48
5/6
5/6
2/4
2/4
28/48
28/48
6/6
6/6
3/4
3/4
-X145
ASM08AF06002
1/4
-X144
ASM08AM06002
-X126
1408987
-X63
41/48
41/48
45/48
45/48
V+
J14-D1
GND
J13-D1
12/48
GND
J14-C4
11/48
12/48
SIGNAL
J13-C4
11/48
SIGNAL
J14-C3
10/48
V+
J13-C3
10/48
V+
J14-C2
GND
J13-C2
9/48
GND
J14-C1
8/48
9/48
-X149
J13-C1
8/48
-X148
J14-B4
SIGNAL
-X147
-F16
1
V+
23/48
J13-B4
7/48
SIGNAL
26/26
1/6
J14-B3
6/48
7/48
1410665
2 6/8
26/26
1/6
J13-B3
6/48
-F18
25/26
J14-B2
5/48
1410665
5/8
1
25/26
J13-B2
5/48
1410666
5/8
22/48
J14-B1
-X149
22/48
1/4 -X123
J13-B1
4/48
-X148
24/26
17/48
J14-A4
3/48
4/48
1410665
3/8
1
24/26
11/48
J13-A4
3/48
1410666
3/8
21/48
GND
2/6
-F11
21/48
V+
6/6
-X149
23/26
Limit Sensor
LS11
1410666
1/8
-X61
23/26
-X131 1/4
1/6
-X120
V+
20/48
1
20/48
V+
5/6
ASM08AM06002
GND
-F12
ASM08AF06002
2
6/6
6/6
3
5/6
-X146
5/6
4
4/6
-X147
5
3/6
1410666
3/6
2/8
4/6
1410665
1 -F10 2 2/8
6
2/6
2/6
-X113
1/6
1/6
Solenoid
V+
ASM08AM06002
1 -X119
2
6/6
6/6
3
5/6
-X146
5/6
-X147
ASM08AF06002
EXTENDED
RETRACTED
4
4/6
EN GND
ENERGIZE
5
3/6
1410665
2
4/8
1410666
3/6
4/8 4/6
2/6
2/6
-X112
1/6
1/6
V+
ASM08AM06002
1-X118
22/26
J10-35
J10-41
ASM08AF06002
EXTENDED
22/26
J10-34
J10-40
2
19/48
J10-32
J10-39
6/6
5/6
-X146
5/6
18/48
19/48
J10-31
J10-37
6/6
RETRACTED
3
ENERGIZE
4
4/6
EN GND
5
3/6
1410666
3/6
6/8 4/6
GND
6
2/6
2/6
-X111
1/6
1/6
-X117
18/48
21/26
J10-30
J10-33
Solenoid
6
GND
-F07
1
2
17,48
-F06
1
16,45 2
10
-F05
1
15,42 2
-F04
1
20/26
J10-27
J10-28
Solenoid
ASM08AM06002
1
EXTENDED
RETRACTED
EN GND
GND
ENERGIZE
-X11
6,33-X12
18
14,39 2
-F03
13,36 2
-F02
2
J12-26
21/26
Limit Sensor
LS9
27/50 27/50
J10-26
J12-25
20/26
V+
27/50
J10-25
16/48
GND
26/50
5/8
16/48
141066617/48
1410665
2
6/8
26/50 26/50
5/8
1410665
GND
26/50
19/26
SIGNAL
25/50
18/26
19/26
SIGNAL
25/50 25/50
J12-24
18/26
GND
25/50
J10-24
15/48
GND
24/50
-X14615/48
4/4
24/50 24/50
J12-23
-X147
4/4
24/50
J10-23
17/26
TX
23/50
17/26
RX
23/50 23/50
J12-22
14/48
RX
23/50
J10-22
J12-21
13/48
14/48
3/4
22/50
J10-21
13/48
3/4
22/50 22/50
J12-20
16/26
VCC
22/50
J10-20
15/26
16/26
TX
21/50
J12-19
15/26
2/4
20/50
21/50 21/50
J10-19
12/48
2/4
20/50 20/50
21/50
J12-18
12/48
IMU
20/50
J10-18
14/26
VCC
19/50
J12-17
10/48
1/4
18/50
19/50 19/50
J10-17
3/8 10/48
1410666
11/48
1/4
18/50 18/50
19/50
J12-16
3/8
1410665
-X136
ASM08AM04001
18/50
J10-16
-X147
9/48
-X137
ASM08AF04001
17/50
J12-15
13/26
14/26
Solenoid
PWR
GND
-X11
-X9
5,30-X10
-X12
-X9
-X10
8
11
-X7
4,27 -X8
+
MOTOR
PWR
-X7
-X8
+
-
GND
PWR
GND
-
-X5
+
MOTOR
MOTOR
PWR
GND
-X5
-X6
3,25 -X6
-X3
-X4
+
MOTOR
PWR
GND
-X3
-X4
2,23
-X1
1,19 -X2
+
MOTOR
PWR
-X1
1
1
17/50 17/50
11/12
DTM04-12P
-X63
12/12
DTM04-12P
-X133
RECP_4
-X62
11/12
DTM06-12S
-X62
12/12
DTM06-12S
GND
6
EN GND
5
ENERGIZE
4/6
4/6
4
RETRACTED
3/6
3/6
3
EXTENDED
2/6
2/6
2
V+
1/6
1/6
-X108
1
17/50
J10-15
8/48
9/48
-X146
J14-A3
ASM08AM06002
53/53
53/53
ASM08AF06002
6/6
6/6
52/53
51/53
51/53
52/53
J7C-Z51
2 5/6
-F15
-X107
1/5
1/5
-X99
2/5
3/5
4/5
1 5/6
J7C-Z50
50/53
50/53
J7C-Z49
49/53
49/53
J7C-Z48
48/53
48/53
J7C-Z47
47/53
47/53
J7C-Z46
46/53
46/53
2/5
3/5
4/5
ASM08BM05002
5/5
5/5
3/3
-X98
1
SOL6
Solenoid
-X101
A
B
B
0
0
Encoder
LS8
Limit Sensor
A
ENC 2
2/3
1/3
1/5
2/5
3/5
-X100 4/5
ASM08BM05002 5/5
3/3
J7C-Z45
45/53
45/53
J7C-Z44
44/53
J7C-Z43
43/53
44/53
ASM08BF05002
43/53
J7C-Z42
J7C-Z41
41/53
41/53
3/3
2/3
1/5
1/3
-X104
2/5
3/5
4/5
5/5
3/3
ASM08AF03004
2/3
2/3
1/3
Limit Sensor
LS4
-X106
ASM08AM03004
ASM08BF05002
ASM08AF03004
40/53
40/53
J7C-Z40
39/53
39/53
J7C-Z39
38/53
38/53
J7C-Z38
37/53
37/53
J7C-Z37
36/53
36/53
J7C-Z36
35/53
35/53
J7C-Z35
34/53
34/53
J7C-Z34
33/53
33/53
J7C-Z33
32/53
32/53
J7C-Z32
J7C-Z31
31/53
31/53
J7C-Z30
J7C-Z29
29/53
-X97
ASM08BF05002
1/5
16/50
J12-14
8/48
1
J13-A3
2/48
V+
PWR
PWR
PWR
GND
GND
A
GND
A
A
A
B
0
ASM08AF03004
15/50
16/50 16/50
J10-14
13/26
5/48
J14-A2
1/48
2/48
GND
0
ENC 6
SIGNAL
2/3
V+
V+
B
SIGNAL
SIGNAL
SIGNAL
SIGNAL
GND
GND
V+
B
B
0
0
Encoder
1/3
ASM08AF03004
PWR
15/50 15/50
16/50
J12-13
4/48
J13-A2
1/48
GND
SIGNAL
ENC 4
-X89
-X103
ASM08AM03004
1/3
3/3
2/3
1/3
-X102
29/53
28/53
28/53
3/3 -X92
15/50
J10-13
12/26
3/48
J14-A1
-X59
GND
GND
Limit Sensor
3/3
V+
PWR
J9-50
14/50
12/26
3/48
-X146
1/84/48
1410666
5/48
J13-A1
SOL8
PWR
GND
LS16
SIGNAL
GND
Encoder
GND
2/3
2/5
GND
3/5
2/3
SIGNAL
4/5
GND
SIGNAL
ASM08AF03004
5/5
1/3
-X94
LS2
Limit Sensor
1/3
V+
SIGNAL
LS18
Limit Sensor
-X95
-X88
V+
ASM08AM03004
4/5
3/3
SIGNAL
3/5
3/3 -X91
2/5
SIGNAL
GND
1/5
LS6
2/3
2/3
V+
ASM08AM03004
1/3
GND
ASM08BM05002
POWER_LOADER
27
Limit Sensor
ASM08AM03004
1/3
V+
ASM08AF03004
27/53
27/53
J7C-Z28
26/53
26/53
J7C-Z27
25/53
25/53
J7C-Z26
24/53
24/53
J7C-Z25
23/53
23/53
J7C-Z24
22/53
22/53
J7C-Z23
21/53
21/53
J7C-Z22
J7C-Z21
20/53
20/53
J7C-Z20
19/53
19/53
J7C-Z19
18/53
18/53
J7C-Z18
17/53
17/53
J7C-Z17
16/53
16/53
J7C-Z16
15/53
15/53
J7C-Z15
14/53
14/53
J7C-Z14
13/53
13/53
J7C-Z13
12/53
12/53
J7C-Z12
J7C-Z11
11/53
V+
-X87
5/5
HMS
V+
POWER_LOADER
28
ASM08AF03004
GND
V+
ASM08AM03004
-X96
GND
3/3
POWER_LOADER
26
2/3
IN
1/3
OUT
IN
ASM08AM03004
OUT
11/53
J7C-Z10
J7C-Z9
10/53
10/53
3/3
3/3
9/53
9/53
2/3
2/3
J7C-Z8
8/53
8/53
-X86
POWER_LOADER
25
1/3
1/3
J7C-Z7
J7C-Z6
-X90
7/53
POWER_LOADER
24
7/53
J7C-Z5
J7C-Z4
J7C-Z3
J7C-Z2
POWER_LOADER
23
J7C-Z1
J9-49
13/50
14/50 14/50
J12-12
2/48
7/48
E-STOP
29/48
J9-28
13/50 13/50
14/50
J10-12
11/26
-X147
1/48
2/48
6/48
6/6
J7A-G4
13/50
J12-11
10/26
11/26
1410665
1/8
1/48
7/48
6/6
J9-27
12/50
J10-11
10/26
SOL7
SOL4
6/48
6
J7A-G3
J9-26
12/50 12/50
J12-10
9/26
SOL3
GND
J7A-G2
J9-25
12/50
J10-10
8/26
9/26
4/6
PL Main Board
J7A-G1
J9-24
11/50
J12-9
8/26
5
25/48
J9-23
10/50
11/50 11/50
J12-8
SEN_VCC
J9-22
10/50 10/50
11/50
J10-9
A13
SEN_B_VOUT
J9-21
10/50
J10-8
4/6
J9-20
9/50
3/6
J9-19
8/50
9/50
7/26
4
J9-18
8/50
9/50
7/26
3/6
J7A-E2
8/50
9/50
J12-7
3
J9-17
8/50
J10-7
6/26
SEN_A_VOUT
J7A-E1
7/50
J12-6
5/26
6/26
SEN_GND
J9-16
J7A-F4
POWER_LOADER
18
9
J7A-D4
J7A-F3
SOL1
2
J9-15
J7A-F2
SOL2
1
J7A-D3
7/50
J10-6
5/26
1/6
J9-14
7/50
J12-5
2
J7A-D2
J7A-F1
M6
-F09
J9-13
7/50
J10-5
1/6
J7A-D1
6/50
J12-4
4/26
1
J9-12
5/50
6/50
Motor Controller Board
3/26
4/26
PWR
J7A-C4
5/50
6/50
J10-4
3/26
MOTOR
J9-11
5/50
6/50
J12-3
6/6
J7A-C3
5/50
J10-3
6/6
J9-10
4/50
6
J7A-C2
A1
M5
GND
J9-9
3/50
4/50
2/26
SEN_VCC
J7A-C1
3/50
4/50
2/26
4/6
J9-8
3/50
4/50
J12-2
5 4/6
J7A-B4
3/50
J10-2
4 3/6
J9-7
2/50
1/26
SEN_B_VOUT
J7A-B3
2/50
1/26
SEN_A_VOUT
J9-6
2/50
J12-1
3/6
J7A-B2
J7A-E4
POWER_LOADER
17
+
GND
J9-5
J7A-E3
-X2
-
J7A-B1
2/50
J10-1
3
16/48
J9-4
1/50
2
POWER_LOADER
16
M4
1
14/48
J7A-A4
1/50
2 1/6
13/48
J9-3
1/50
SEN_GND
12/48
J9-2
1/50
-A13.X2 -X15
PWR
POWER_LOADER
15
J9-1
-X17 -A13.X1
2/2
-A1.X1 -X16
-F08
9/48
LS7
V+
-X81
ASM08AF03004
1/6
8/48
V+
1
5/48
GND
2/2
3/3
GND
J11-1
3/3
SIGNAL
SIGNAL
1/2
2/3
Limit Sensor
2/3
53/53
53/53
1/3
MOTOR
POWER_LOADER
14
M3
ASM08AM03004
-X85
1/3
J7B-Y53
52/53
J7B-Y52
52/53
51/53
51/53
J7B-Y51
J7B-Y50
49/53
50/53
50/53
49/53
OUT
J11-2
ASM08AF03004
IN
OUT
J7B-Y49
3/3
48/53
J7B-Y48
J7B-Y47
48/53
47/53
47/53
J7B-Y46
46/53
46/53
-X80
2/3
1/3
-X79
45/53
J7B-Y45
J7B-Y44
45/53
44/53
43/53
44/53
43/53
IN
J7A-A3
4/48
-F01
3/3
2/3
1/3
GND
3/3
2/3
1/3
GND
M2
7
HMS
V+
40A
LS5
V+
V+
1/2
3/3 -X83
2/3
1/3
GND
GND
2
Limit Sensor
SIGNAL
SIGNAL
-X49 -X48
V+
V+
J7B-Y43
J7B-Y42
41/53
J7B-Y41
LS1
ASM08AM03004
ASM08AM03004
GND
GND
V+
ASM08AF03004
3/3 -X82
3/3
SIGNAL
41/53
ASM08AF03004
2/3
J7B-Y39
J7B-Y38
39/53
39/53
-X78
1/3
2/3
1/3
SIGNAL
38/53
J7B-Y37
Limit Sensor
V+
M1
-X84
ASM08AM03004
V+
38/53
36/53
36/53
J7B-Y36
LS3
GND
Limit Sensor
LS15
ASM08AM03004
-X76
-X77
GND
ASM08AF03004
3/3
3/3
2/3
35/53
35/53
J7B-Y35
J7B-Y34
33/53
34/53
34/53
J7B-Y33
J7B-Y32
33/53
32/53
32/53
31/53
31/53
J7B-Y31
J7B-Y30
J7B-Y29
2/3
3/3
1/3
1/3
ASM08BM05002
-X69
-X70
5/5
28/53
28/53
J7B-Y28
SIGNAL
ASM08BF05002
0
B
5/5
4/5
4/5
J7B-Y27
J7B-Y26
27/53
3/5
26/53
26/53
27/53
3/5
A
GND
PWR
2/5
25/53
25/53
J7B-Y24
24/53
24/53
1/5
2/5
1/5
0
5/5
5/5
23/53
J7B-Y23
J7B-Y22
23/53
22/53
22/53
J7B-Y21
ASM08AF03004
2/3
0
B
A
B
4/5
4/5
A
21/53
21/53
20/53
20/53
SIGNAL
V+
40/53
1/3
1/3
Solenoid
Encoder
3/5
3/5
2/5
2/5 GND
GND
PWR
J7B-Y19
J7B-Y20
-X67
1/5 PWR
1/5
-X68
19/53
J7B-Y18
16/53
17/53
J7B-Y17
17/53
16/53
J7B-Y16
15/53
15/53
J7B-Y15
14/53
13/53
13/53
14/53
J7B-Y14
J7B-Y12
J7B-Y13
12/53
12/53
11/53
10/53
10/53
11/53
J7B-Y11
J7B-Y9
J7B-Y8
J7B-Y7
J7B-Y6
J7B-Y5
J7A-A2
J7B-Y4
J7A-A1
J7B-Y10
2/48
1/48
J7B-Y3
1/48
J7B-Y2
J7B-Y1
643201318 347630001_3
V+
ENC 5
19/53
ASM08BF05002 ASM08BM05002
5/5
4/5
3/5
9/53
9/53
8/53
8/53
7/53
POWER_LOADER
12
7/53
-X57
POWER_LOADER
11
GND
GND
EXTENDED
-X74
5/5
4/5
3/5
2/5
2/5
1/5
1/6
Encoder
SIGNAL
SIGNAL
40/53
V+
3/6
V+
V+
J7B-Y40
2/62
1/6 1
4/6
ENERGIZE
GND
Limit Sensor
RETRACTED
5/6
1
GND
LS17
4/64
3/63
0
0
2
SIGNAL
LEFT SIDE COMPONENTS
Limit Sensor
EN GND
GND
3/3
6/66
5/65
SIGNAL
-X73
6/6
-F14
-X66
ASM08BF05002
POWER_LOADER
10
POWER_LOADER
13
-X72
2/6
POWER_LOADER
09
SOL5
-X71
J7B-Y25
A
B
B
A
GND
PWR
-X64
GND
PWR
ENC 3
1/5
ASM08BM05002
POWER_LOADER
08
2/3
ASM08AF06002 ASM08AM06002
Encoder
ASM08AM03004
POWER_LOADER
07
RIGHT SIDE COMPONENTS
V+
POWER_LOADER
29
POWER LOADER BREKOUT BOARD
POWER_LOADER
30
MASTERHAUL
POWER LOADER
SCHEMATICS
POWER LOADER MAIN AND MOTOR CONTROLLER BOARD
DIEGO
JAVIER
Repl. by
date
User
Proved
Standard
NEW
10/27/2021
DIEGO GARCIA
MATEO RESTREPO
TBD
Origin
MASTERHAUL
Repl. f. NEW
POWER LOADER SCH 01
TBD
Sheet P
2 Sh.
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