Kiln, Clinker, and Aggregate Handling in Cement Plants
A cement plant is one continuous bulk-handling chain: quarry stone is crushed and ground into kiln feed, burned into clinker in a rotary kiln, cooled, stored, and ground with gypsum into cement that leaves by truck, rail, or bag. UTEC Industrial designs, engineers, machines, fabricates, and installs custom material handling systems for aerospace and heavy industry from its Spokane Valley, WA facility, integrating Allen-Bradley PLC and motion control with in-house CNC machining, heat treating, and stress relief. This article follows that chain from the producer's side: which rules govern a cement plant and its quarry, what the kiln's riding rings, rollers, and drive demand, how hot clinker is cooled and conveyed, how silos and conveyors are guarded and locked out, and what sensing and control the equipment needs. Every machine along the way is designed and built along one chain, design → engineering → parts machining → fabrication → assembly → weld fatigue → stress relief → drives → controls → tuning → monitoring, so a roller seat machined out of tolerance or a silo discharge without a lockable control can show up years later as a worn tyre or an entrapment hazard.
What makes cement plant material handling different from other bulk handling?
Scale and continuity. The U.S. Geological Survey estimates that U.S. plants produced about 82 million metric tons of portland and blended cement and about 2.1 million metric tons of masonry cement in 2025, from 97 plants in 34 States and Puerto Rico. Estimated clinker output was about 69 million metric tons, down from about 79.6 million in 2021; mine-and-mill employment was about 13,000, and 70 to 75 percent of sales went to ready-mixed concrete producers.
EPA's AP-42 divides the process into four primary components:
- Raw materials acquisition and handling. Calcareous raw materials such as limestone, chalk, and marl are typically obtained from open-face quarries, though underground mines and dredging are also used. About one third of that mass is lost as carbon dioxide in the kiln, so plants are located close to the calcareous source whenever possible.
- Kiln feed preparation. Raw materials arrive with a moisture content from 1 to more than 50 percent, and at a dry-process plant it is usually reduced to less than 1 percent before or during grinding.
- Pyroprocessing. The kiln burns the raw mix into clinker, and the cooler makes it conveyable.
- Finished cement grinding. Up to 5 percent gypsum or natural anhydrite is added to the clinker during grinding, almost exclusively in ball or tube mills, and the cement goes to silos and loadout.
The material changes character at each step, from lump rock at the crusher to a dry, pneumatically blended powder at the raw mill, glass-hard nodules at the cooler, and a fine hydraulic powder in the silos; as engineering reasoning, the handling runs around the clock because the kiln does. The USGS figures are estimates and should be read as approximate (Hatfield 2026, Mineral Commodity Summaries 2026: Cement; EPA AP-42 Section 11.6-2025, §11.6.1).
Which safety rules govern handling equipment at a cement plant and its quarry?
Cement plants fall under the Mine Safety and Health Administration, not OSHA's general-industry rules. The 1979 MSHA–OSHA Interagency Agreement states that MSHA jurisdiction includes alumina and cement plants. Its Appendix A lists the milling processes MSHA regulates, including crushing, grinding, pulverizing, sizing, washing, drying, calcining, and kiln treatment (the last two when part of other milling processes). It lists quarrying among MSHA's mining operations and sand and gravel and crushed stone among the nonmetal subgroups, so, as this article reads it, an aggregate quarry sits on the same side of the line. OSHA keeps concrete batch plants and asphalt batch and hot mix plants, whether or not on mine property, and salt and cement distribution terminals not located on mine property.
The governing safety text for a surface cement plant and its quarry is therefore 30 CFR Part 56, Safety and Health Standards for Surface Metal and Nonmetal Mines. Its sections reach the handling equipment directly:
- §56.14107, guarding of moving machine parts
- §56.14109, conveyors next to travelways
- §56.14201, conveyor start-up warnings
- §56.12016, lockout of electrically powered equipment
- §56.14105, blocking against hazardous motion during repairs
- §56.16002, bins, hoppers, silos, tanks, and surge piles
As specification advice drawn from the agreement, a purchase specification for a cement plant conveyor, silo discharge, or kiln-area platform should name Part 56 as its safety basis; a package written only to 29 CFR 1910 answers the rulebook for a different kind of site. The same equipment at an off-mine cement terminal would be read against OSHA, so the site, not the equipment type, decides the rule set (MSHA and OSHA Interagency Agreement 1979, Part B para. 6 and Appendix A; MSHA 30 CFR Part 56-2026).
How does quarry stone become raw feed for the kiln?
Quarry handling at a cement plant can be read against AP-42's crushed-stone description. Quarried stone is normally delivered to the processing plant by truck and dumped into a bin, and a feeder or screen separates large boulders from finer rock that does not need primary crushing, reducing the load on the primary crusher. Jaw, impactor, or gyratory crushers are usually used for initial reduction, normally to about 3 to 12 in (7.5 to 30 cm), and the product and the grizzly throughs are discharged onto a belt conveyor, usually to a surge pile. Cone crushers are commonly used, and impact crushers sometimes, for the secondary stage, which typically reduces material to about 1 to 4 in (2.5 to 10 cm).
From there the cement raw circuit departs from an aggregate plant. The raw materials are ground to a fine powder, and in a dry-process plant AP-42 lists the transport used with the raw milling system as screw conveyors, belt conveyors, drag conveyors, bucket elevators, air slide conveyors, and pneumatic conveying systems. The dry raw mix is pneumatically blended and stored in specially constructed silos until it is fed to the pyroprocessing system. A wet-process plant instead grinds with water into a pumpable slurry of about 65 percent solids and stores it in tanks or basins.
As engineering reasoning, each change of form changes the equipment: lump rock needs impact-rated feeders and chutes, while dried raw meal depends on silo discharge and air-slide design to move at all, and drying removes the moisture that would otherwise suppress its dust. The most efficient and widely used heat source for drying is the hot exit gas from the pyroprocessing system, so where a plant dries with kiln gas, raw-mill drying depends on the kiln running (EPA AP-42 Section 11.19.2-2004, §11.19.2.1; EPA AP-42 Section 11.6-2025, §11.6.1).
How do aggregate crushing and screening plants move stone?
An aggregate plant sells crushed stone rather than burning it; the major rock types of the crushed stone industry include limestone, granite, dolomite, traprock, sandstone, quartz, and quartzite. After primary crushing, the stone from the surge pile is conveyed to a vibrating inclined scalping screen. Undersize becomes base material, oversize goes to the secondary crusher, and the tertiary circuit of a sizing screen and a cone or impact crusher returns product of about 3/16 to 1 in (0.50 to 2.5 cm) to the sizing screen. Some plants add a fines screen and a cone crusher or hammermill to make manufactured sand with a maximum size of 3/16 in. Products are conveyed or trucked to bins, open stockpiles, washing, or air separation.
EPA's new source performance standard for the industry lists those machines as affected facilities: 40 CFR Part 60 Subpart OOO applies to each crusher, grinding mill, screening operation, bucket elevator, belt conveyor, bagging operation, storage bin, and enclosed truck or railcar loading station in a nonmetallic mineral processing plant. It has two boundaries a specifier needs to know:
- Plant size. Fixed sand and gravel or crushed stone plants of 25 tons per hour (23 Mg/h) or less, and portable plants of 150 tons per hour (136 Mg/h) or less, are exempt.
- Cement plant overlap. An affected facility that is subject to Subpart F or Subpart I, or that follows such a facility in the plant process, is not subject to Subpart OOO.
The boundary is drawn facility by facility, so the plant's permit engineer should confirm which subpart each crusher, screen, and conveyor falls under before the equipment is specified; the opacity limits that follow are covered in this library's dust-control material (EPA AP-42 Section 11.19.2-2004, §11.19.2.1; EPA 40 CFR Part 60 Subpart OOO-2026, §60.670).
What does a rotary kiln demand of its supports and drive?
The kiln is the plant's central machine. AP-42 describes rotary kilns as long, cylindrical, slightly inclined furnaces lined with refractory to protect the steel shell and retain heat. Raw mix enters the elevated end, fuel is fired at the lower end, and the material moves slowly downhill as the kiln rotates. Kiln length-to-diameter ratios run from 15:1 to 40:1 depending on the process; some wet-process kilns are as long as 210 m (700 ft), while many wet kilns and all dry kilns are shorter. A preheater tower of cyclone vessels shortens the kiln, and even with a precalciner at least 40 percent of the thermal energy is still required in the rotary kiln. Material reaches about 1,510 °C (2,750 °F) in the burning zone.
The shell rides on support stations. Shrubchenko and co-authors describe each support as a tyre, or riding ring, on the shell that runs on two support rollers mounted in rolling bearings. They give rollers up to 2,200 mm in diameter and tyres up to 8,000 mm, a roller face usually 100 to 200 mm wider than the tyre, an included angle of about 60 to 65° between the roller centres measured at the tyre centre, and drum speeds up to about 1.25 rpm. Where the kiln is turned by an open girth gear and pinion, ANSI/AGMA 6014-B15 (R2025) provides a method to determine the power rating of spur and helical gear sets for cylindrical grinding mills, kilns, coolers, and dryers, limited to open or semi-enclosed gearing and excluding completely enclosed drives, according to its publisher's page.
As engineering reasoning, the result is an unusual duty: a very large, slowly turning mass on a few rolling contacts, running continuously, with radiant shell heat on every bearing, seal, and sensor near it, so kiln-area supports, drives, and access structures are sized against that combination rather than a general conveyor duty (EPA AP-42 Section 11.6-2025, §11.6.1; Shrubchenko et al. 2015, pp. 195 and 199; ANSI/AGMA 6014-B15).
Why do kiln riding rings and support rollers wear and lose contact?
The rolling contact between tyre and roller carries the weight of the drum, its tyres, and the material inside it. Žiga and Kačmarčik trace support-roller stress to three sources: the temperature gradient, the shrink fit between shaft and roller, and the contact with the kiln tyre; they analyse it analytically and numerically and compare the results.
Shrubchenko and co-authors put numbers on the contact:
- Contact length. The axial length of the contact patch should be not less than 60 percent of the tyre width, and contact stress must stay below yield.
- Misalignment. A relative rotation of the tyre and roller axes of 2 to 3° leaves the patch length nearly unchanged but raises the peak contact stress by 25 to 30 percent over parallel axes.
- Magnitude. Their worked Hertz line-contact check for a 4 MN roller load on a 1 m face gives a contact stress of about 347 MPa, with a finite-element model within 2 percent.
- Wear shape. Rolling surfaces wear saddle-shaped on the roller and convex on the tyre, and roller misalignment accelerates this wear.
- Matched hardness. The hardness difference between tyre parts in one unit should not exceed 10 percent.
As engineering reasoning, the failure modes follow: peak contact stress and progressive deformation of the rolling surfaces when misalignment or lost form shrinks the contact patch, saddle wear that shrinks it further, and roller stress from shrink fit and temperature gradient added to contact stress, each set upstream by material, machined profile, and shrink fit. UTEC Industrial states that it has built dryer drums up to 80 tons and 125 ft long, which ride on the same kind of tyre-and-roller supports (Žiga and Kačmarčik 2017; Shrubchenko et al. 2015, pp. 195-196, 199 and 201).
How are kiln alignment and roller skew kept in adjustment?
Alignment is a continuing maintenance task, not a one-time setup. Shrubchenko and co-authors state that the roller axes must lie in one plane at the kiln inclination, both to avoid bending the kiln axis and to avoid overloading individual supports, and they distinguish three geometric cases: parallel axes, non-parallel axes in one plane, and crossed or skewed axes. Gebhart's 2010 paper on kiln alignment adds that alignment is essential but only the first step toward good support-roller performance. It describes most kilns then in operation as lacking self-aligning or self-skewing rollers and sitting on stationary bases and bearings, and it details how simple manual roller adjustments on a routine basis can extend the kiln's mechanical reliability.
Mogilny and Sholomitskii review the alignment methods used on rotary kilns and propose a method based on reflectorless laser measurement, with a precise geodetic reference network as its geometric basis; their accuracy analysis of cold alignment concludes that present-day total stations, with optimal measurement techniques, allow reliable estimation of the machine's state and its efficient adjustment. When the faces have already worn out of form, Shrubchenko and co-authors note that tyre and roller surfaces are restored in place with portable turning and grinding machines.
Where a roller adjustment is made with the kiln turning, Part 56 permits machinery motion during adjustment only to the extent the adjustment cannot be performed without it, and only if persons are effectively protected from hazardous motion. As engineering reasoning, adjusting screws, bearing housings, guards, and platforms therefore have to let the crew make the adjustment from outside the nip between tyre and roller, and the failure mode to design out is adjusting bolts reachable only by leaning over the running contact (Shrubchenko et al. 2015, pp. 195-197 and 202; Gebhart 2010; Mogilny and Sholomitskii 2017; MSHA 30 CFR Part 56-2026, §56.14105).
How is hot clinker cooled and conveyed to storage?
The clinker cooler is the step that makes clinker handleable. AP-42 describes clinker as gray, glass-hard, spherically shaped nodules from about 0.125 to 2.0 in (0.32 to 5.1 cm) in diameter. The cooler recoups up to 30 percent of the heat input to the kiln system, locks in the desired mineralogy, and makes it possible to handle the cooled clinker with conventional conveying equipment. The more common cooler types are reciprocating grate, planetary, and rotary coolers, in which ambient air passing through the clinker cools it from about 1,100 °C to 93 °C (2,000 °F to 200 °F) and then serves as combustion air. A reciprocating grate cooler reaches lower discharge temperatures by passing extra air through the clinker, which is then vented, used for drying coal or raw materials, or sent to the precalciner.
Downstream of the cooler the material is hard, abrasive, and still warm. Where clinker is carried by chain conveyors, relevant chain standards include the ASME B29 series:
- ASME B29.200-2001 (R2021) covers welded-steel mill chains, welded-steel drag chains, their attachments, and sprocket teeth.
- ASME B29.15M-1997 (S2025) covers steel roller-type conveyor chains, attachments, and sprocket teeth.
- The American Chain Association's Standard Handbook of Chains is a reference that gives guidance on the selection, design, use, and maintenance of chains for power transmission and material handling.
As engineering reasoning, the conveyor's selection rests on the cooler working. A grate or cooler-air failure that sends clinker forward hotter than the design discharge temperature loads the belt, chain, and bearings beyond the condition they were selected for, so cooler discharge temperature belongs in the handling system's interlocks rather than in an assumption on the equipment data sheet (EPA AP-42 Section 11.6-2025, §11.6.1; ASME B29.200-2001, reaffirmed 2021; ASME B29.15M-1997, stabilized 2025; American Chain Association, Standard Handbook of Chains, 2005).
What rules apply to clinker storage, cement silos, and loadout?
Storage is where material handling and entrapment hazards meet. Under 30 CFR 56.16002, bins, hoppers, silos, tanks, and surge piles where loose unconsolidated materials are stored, handled, or transferred must be:
- equipped with mechanical devices or other effective means of handling materials, so that during normal operations persons are not required to enter where they are exposed to entrapment by the caving or sliding of materials
- equipped with supply and discharge operating controls located so that spills or overruns will not endanger persons
Walkways or passageways are required where persons must move around or over such facilities. For maintenance or inspection entry, ladders, platforms, or staging are required, no one may enter until the supply and discharge of materials have stopped and the supply and discharge equipment is locked out, and the entrant must wear a safety belt or harness with a lifeline, tended by a second, similarly equipped person.
EPA's cement NESHAP adds the dust side. Subpart LLL lists clinker coolers, raw and finish mills, and open clinker storage piles as affected sources. At major sources it also lists raw material, clinker, and finished product storage bins, conveying system transfer points, bagging, and bulk loading and unloading systems, and those points are held to 10 percent opacity. An open clinker storage pile must follow the fugitive dust control measures in the plant's operation and maintenance plan.
As engineering reasoning, one failure mode is the hung-up silo that someone enters to clear; the rule's answer is mechanical devices or other effective means of handling the material, so that persons need not enter during normal operations (MSHA 30 CFR Part 56-2026, §56.16002; EPA 40 CFR Part 63 Subpart LLL-2026, §63.1340, §63.1343 paragraph c and §63.1345).
How must conveyors, drives, and elevators be guarded and locked out?
Part 56's guarding, travelway, start-up, and lockout rules, §56.14107, §56.14109, §56.14201, and §56.12016, apply at a cement plant exactly as at a mine, and Material Handling in Mining and Mineral Processing (MSHA 30 CFR) sets them out. Two points bear on cement equipment in particular. First, repairs are made only after the power is off and the machinery is blocked against hazardous motion, with the narrow exception for adjustments or testing described above (§56.14105); as design practice rather than an MSHA requirement, a loaded bucket elevator or inclined conveyor therefore gets a designed blocking point. Second, conveyor pulleys may not be cleaned manually while the conveyor is in motion (§56.14202).
ASME B20.1-2024, the Safety Standard for Conveyors and Related Equipment, applies to the design, construction, installation, maintenance, inspection, and operation of conveyors and conveying systems in relation to hazards, and as design practice it can be read alongside Part 56 (MSHA 30 CFR Part 56-2026, §56.12016, §56.14105, §56.14107, §56.14109, §56.14201 and §56.14202; ASME B20.1-2024).
What sensing, PLC control, and interlocks do kiln and clinker handling need?
The intelligence layer lets a cement plant run the handling chain continuously without people at each transfer point:
- Kiln shell scanning. Sadighi, Shirvani, and Ahmad combined a steady-state heat-and-mass-balance model of the kiln with measured process variables and the shell temperature measured by a shell scanner to estimate coating thickness in the burning zone, which they describe as important for kiln productivity. On three data sets from a commercial cement kiln the average absolute estimation error was 3.26, 2.82, and 2.21 cm. As engineering reasoning, the scanner is then a condition-monitoring input the control system trends, not only an operator display.
- Silo and bin controls. As design practice, level sensing and discharge permissives back up §56.16002, which requires supply and discharge controls located so that spills or overruns will not endanger persons.
- Conveyor start, stop, and safety logic. The warn-time-start sequence, stop devices, drives, and safety-controller logic are the same as for a mine conveyor line and are covered in the mining and mineral processing article.
UTEC Industrial, a Rockwell Automation Recognized System Integrator, builds UL 508A panels with Allen-Bradley ControlLogix and CompactLogix control for the handling equipment it builds (Sadighi et al. 2011; MSHA 30 CFR Part 56-2026, §56.14109, §56.14201 and §56.16002).
How are cement plant handling systems tuned and monitored once running?
A kiln line that runs continuously depends on the last two links of the build chain, tuning and monitoring:
- Tuning. The Kinetix 5700 commissioning procedure includes a tuning step for each axis, and Rockwell Automation notes that autotuned loop bandwidths depend on the application and can require adjustment once the motor and load are connected. As design practice, a positioner or spout axis tuned empty is checked again under its working load.
- Support-station trending. Because Gebhart describes most kilns as lacking self-aligning rollers and recommends routine manual roller adjustment, trending roller bearing temperatures, thrust-roller behavior, and drive current gives the maintenance crew evidence for each adjustment instead of adjusting by feel.
- Shell temperature trending. As design practice, a shell scanner history shows how the burning-zone coating changes between inspections.
- Defect handling. Part 56 requires defects on equipment, machinery, and tools that affect safety to be corrected in a timely manner, and when a defect makes continued operation hazardous, the item must be taken out of service and placed in a designated area, or tagged or otherwise marked to prohibit further use until corrected.
One failure mode to design against is the stop device that is never exercised: a pull-cord switch packed with cement fines that no longer trips. As design practice, periodic functional testing, logged by the control system, finds it first (Rockwell Automation 2198-UM002E-EN-P, Kinetix 5700, 2018; Gebhart 2010; Sadighi et al. 2011; MSHA 30 CFR Part 56-2026, §56.14100).
What should a cement producer define before requesting kiln, clinker, or aggregate handling equipment?
A request that states only capacity and conveyor length leaves out most of what decides the design. A complete specification defines:
- Rule set. 30 CFR Part 56 for safety, and whether each point falls under EPA Subpart LLL (cement plant) or Subpart OOO (nonmetallic mineral processing) for air emissions.
- Material at each point. Lump size from the crusher, raw meal fineness and moisture, clinker nodule size up to about 2 in, and the cooler's design discharge temperature, so conveyors are not selected for a condition the cooler does not guarantee.
- Duty. Hours per year, surge rates tied to kiln output, and the maintenance stoppage windows.
- Maintenance tasks. Roller adjustment access at each kiln station, silo inspection and cleanout routes that satisfy §56.16002, and chain and liner change methods.
- Controls and acceptance. PLC platform, start-up warnings, stop devices, silo permissives, condition-monitoring inputs, and the factory and site tests of every interlock.
As engineering reasoning along the build chain, kiln-support contacts, shrink fits, and the welded frames of feeders, drag conveyors, and elevators see continuous load, heat, and vibration, so machined geometry, weld fatigue, and stress relief decide their life. UTEC Industrial stress-relieves and machines welded frames in-house and performs factory acceptance testing and on-site commissioning, so the specified interlocks are demonstrated before equipment ships (MSHA 30 CFR Part 56-2026; EPA AP-42 Section 11.6-2025, §11.6.1; Žiga and Kačmarčik 2017).
- Abrasion and Dust Control in Cement Plant Material Handling — abrasion and dust control in cement handling
- Material Handling in Mining and Mineral Processing (MSHA 30 CFR) — the MSHA Part 56 rules shared by mines and cement plants
- Trunnion Wheel Specification for Rotary Kilns and Dryers — support-roller material, hardness, and contact geometry
- Riding Rings, Trunnions, and Thrust Rollers: Supporting a Rotary Drum — riding rings and trunnion rollers shared with rotary kilns
- Bulk Material Handling in Abrasive Mineral Processing Service — wear, restarts, and bin design in abrasive mineral service
References
- Hatfield AK. "Cement." Mineral Commodity Summaries 2026. U.S. Geological Survey, 2026.
- EPA AP-42, Fifth Edition, Volume I, Section 11.6: Portland Cement Manufacturing. U.S. Environmental Protection Agency, 2025.
- EPA AP-42, Fifth Edition, Volume I, Section 11.19.2: Crushed Stone Processing and Pulverized Mineral Processing. U.S. Environmental Protection Agency, 2004.
- EPA 40 CFR Part 60 Subpart OOO-2026: Standards of Performance for Nonmetallic Mineral Processing Plants. U.S. Environmental Protection Agency, 2026.
- EPA 40 CFR Part 63 Subpart LLL-2026: National Emission Standards for Hazardous Air Pollutants From the Portland Cement Manufacturing Industry. U.S. Environmental Protection Agency, 2026.
- MSHA and OSHA. Interagency Agreement Between the Mine Safety and Health Administration and the Occupational Safety and Health Administration. U.S. Department of Labor, 1979.
- MSHA 30 CFR Part 56-2026: Safety and Health Standards—Surface Metal and Nonmetal Mines. U.S. Department of Labor, 2026.
- Shrubchenko IV, Hurtasenko AV, Sharapov RR, Duyun TA, Shchetinin NA (2015). "Investigation of Characteristics of Contact Bandages and Support Rollers of Rotating Technological Drums." Modern Applied Science, 9(1), 195-203. DOI 10.5539/mas.v9n1p195
- Žiga A, Kačmarčik J (2017). "Stress State in Rotary Kiln Support Rollers." Mašinstvo, 14(1), 3-10. DOI 10.62456/jmem.2017.01.003
- Gebhart W (2010). "Optimization of kiln alignment." 2010 IEEE-IAS/PCA 52nd Cement Industry Technical Conference, 1-6. DOI 10.1109/CITCON.2010.5469766
- Mogilny SG, Sholomitskii AA (2017). "Precision Analysis of Geometric Parameters for Rotating Machines during Cold Alignment." Procedia Engineering, 206, 1709-1715. DOI 10.1016/j.proeng.2017.10.702
- ANSI/AGMA 6014-B15 (R2025): Gear Power Rating for Cylindrical Shell and Trunnion Supported Equipment. American Gear Manufacturers Association, 2015.
- ASME B29.200-2001 (R2021): Welded-Steel-Type Mill Chains, Welded-Steel-Type Drag Chains, Attachments, and Sprocket Teeth. ASME, 2001.
- ASME B29.15M-1997 (S2025): Steel Roller Type Conveyor Chains, Attachments, and Sprocket Teeth. ASME, 1997.
- American Chain Association. Standard Handbook of Chains: Chains for Power Transmission and Material Handling, 2nd ed. CRC Press, 2005. ISBN 9781574446470.
- ASME B20.1-2024: Safety Standard for Conveyors and Related Equipment. ASME, 2024.
- Sadighi S, Shirvani M, Ahmad A (2011). "Rotary cement kiln coating estimator: Integrated modelling of kiln with shell temperature measurement." The Canadian Journal of Chemical Engineering, 89(1), 116-125. DOI 10.1002/cjce.20365
- Rockwell Automation 2198-UM002E-EN-P (2018): Kinetix 5700 Servo Drives User Manual. Rockwell Automation, 2018.
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