Baumer LXG series User Manual Download Page 45

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10.7

User Sets

Notice

The

Visual Applet

design parameters are not stored in the user sets.

Three user sets (1-3) are available for the Baumer LXG cameras with

Visual Applets

. The

user sets can contain the following information:

Parameter

ChunkModeActive

Events

ChunkEnable

AcquisitionFrameRateEnable

DeviceTapGeometry

AcquisitionFrameRate

DeviceClockFrequency

PixelFormat

HDREnable

BlackLevel

BlackReferenceCorrectionEnable

Gain

FixedPatternNoiseCorrection

TestPattern

SensorEffectCorrection

ReverseX

ReadoutMode

ReverseY

BoSequencerEnable

LineMode

DefectPixelCorrection

LineStatus

ExposureTime

LineInverter

TriggerMode

LineSource

TriggerWidth

TimerDuration

TriggerSource

TimerDelay

TriggerDelay

TimerTriggerSource

PacketDelay

TimerTriggerActivation

TransmissionDelay

ActionGroupKey
ActionGroupMask

These user sets are stored within the camera and and cannot be saved outside the de-

vice.

By employing a so-called "user set default selector", one of the three possible user sets

can be selected as default, which means, the camera starts up with these adjusted pa

rameters.

10.8 Factory Settings

The factory settings are stored in an additional parametrization set which is used by de-

fault. This settings are not editable.

Summary of Contents for LXG series

Page 1: ...User s Guide LXG cameras with Visual Applets Gigabit Ethernet Document Version v1 1 Release 06 04 16 Document Number 11162763 ...

Page 2: ...2 ...

Page 3: ...t Power Supply and Digital IOs 15 7 3 LED Signaling 16 8 Product Specifications 17 8 1 Sensor Specifications 17 8 1 1 Quantum Efficiency for Baumer LXG Cameras with Visual Applets 17 8 1 2 Shutter 18 8 1 3 Digitization Taps 18 8 1 4 Field of View Position 19 8 2 Timings 20 8 2 1 Free Running Mode 20 8 2 2 Trigger Mode 21 9 Software 25 9 1 Baumer GAPI SDK 25 9 2 3rd Party Software 25 10 Camera Func...

Page 4: ...ge Info Header Chunk Data 47 11 3 Packet Size and Maximum Transmission Unit MTU 48 11 4 Inter Packet Gap IPG 49 11 4 1 Example 1 Multi Camera Operation Minimal IPG 49 11 4 2 Example 2 Multi Camera Operation Optimal IPG 50 11 5 Frame Delay 51 11 5 1 Time Saving in Multi Camera Operation 51 11 5 2 Configuration Example 52 11 6 Multicast 54 11 7 IP Configuration 55 11 7 1 Persistent IP 55 11 7 2 DHCP...

Page 5: ...ning 61 12 4 2 Trigger 61 12 4 3 Sequencer 61 13 Cleaning 62 13 1 Sensor 62 13 2 Cover glass 62 13 3 Housing 62 14 Transport Storage 63 15 Disposal 63 16 Warranty Information 63 17 Conformity 64 17 1 CE 64 18 Support 64 ...

Page 6: ...lication or reprinting of this documentation in whole or in part and the reproduc tion of the illustrations even in modified form is permitted only with the written approval of Baumer This document is subject to change without notice Classification of the safety instructions In the User s Guide the safety instructions are classified as follows Notice Gives helpful notes on operation or other gener...

Page 7: ... a longer period 3 Intended Use The camera is used to capture images that can be transferred over a GigE interface to a PC Notice Use the camera only for its intended purpose For any use that is not described in the technical documentation poses dangers and will void the warranty The risk has to be borne solely by the unit s owner 4 General Description 1 2 3 4 5 No Description No Description 1 LXG...

Page 8: ...XG Cameras with Visual Applets LXG 40M P LXG 120M P LXG 200M P Camera Type Sensor Size Resolution Full Frames max fps Monochrome Color LXG 40M P 1 2048 x 2048 74 LXG 120M P APS C 4096 x 3072 25 LXG 200M P 35 mm 5120 x 3840 16 ...

Page 9: ...75 8 26 8 x M3 x 6 8 26 30 6 19 7 20 17 5 48 8 14 7 14 7 35 8 LXG 40M P 47 60 47 60 M58 x 0 75 Pixel 0 0 4 x M3 x 6 44 75 52 35 54 25 35 8 8 26 8 x M3 x 6 8 26 12 0 25 8 26 14 7 19 7 20 17 5 48 8 14 7 LXG 120M P LXG 200M P Figure 1 Dimensions of the Bau mer LXG cameras with Visual Applets ...

Page 10: ...ace only Adapter M58 F Mount Art No 11117852 59 ø 40 43 F Mount M58x0 75 Adapter M58 M42x1 Mount 26 8mm Art No 11127232 20 75 59 ø M58x0 75 M42x1 3 ø 50 Notice suitable for Zeiss M42 lenses e g Biogon T 2 8 21 Z M42 I Biogon T 2 35 Z M42 I C Sonnar T 1 5 50 Z M42 I ...

Page 11: ... ø M58x0 75 M42x1 3 ø 50 Notice suitable for Zeiss e g Distagon T 2 25 Z M42 I Planar T 1 4 50 Z M42 I Makro Planar T 2 50 Z M42 I and KOWA M42 lenses e g LM28LF P Mount LM35LF P Mount Adapter M58 C Mount Art No 11115198 C Mount M58x0 75 59 ø 30 ø 4 46 7 3 ø 50 ...

Page 12: ... free as possible Keep the dust cover foil on camera as long as possible Hold the print with the sensor downwards with unprotected sensor Avoid contact with any optical surface of the camera 6 1 Environmental Requirements Temperature Storage temperature 10 C 70 C 14 F 158 F Operating temperature see Heat Transmission If the environmental temperature exceeds the values listed in the table below the...

Page 13: ...method for proper heat dissipation but suggest the following prin ciples operate the cameras only in mounted condition mounting in combination with forced convection may provide proper heat dissipation T T Measure Point Maximal Temperature T 50 C 122 F For remote temperature monitoring of the camera a temperature sensor is integrated Notice The temperature sensor is able to deliver values of 0 C 3...

Page 14: ...sonance 10 2000 Hz Amplitude un derneath cross over frequencies 0 75 mm Acceleration 1 g Test duration 15 min axis 45 min total Vibration broad band IEC 60068 2 64 Frequency range 10 1000 Hz Acceleration 10 g Test duration 300 min axis 15 h total Shock IEC 60068 2 27 Puls time 11 ms 6 ms Acceleration 50 g 100 g Bump IEC60068 2 29 Pulse Time 2 ms Acceleration 100 g ...

Page 15: ...and Digital IOs Power and Process Interface 1 SACC DSI M8FS 8CON M10 L180 SH Power and Process Interface 2 SACC DSI M8MS 8CON M8 L180 SH M8 8 pins wire colors of the connecting cable 8 5 7 3 1 4 2 6 8 5 7 3 1 4 2 6 1 white OUT 3 line 3 1 white In2_RS485 line4 2 brown Power VCC 2 brown In2_RS485 line4 3 green IN 1 line 0 3 green In2_RS485 line5 4 yellow IO GND 4 yellow In2_RS485 line5 5 grey IO Pow...

Page 16: ...D Signal Meaning Camera LED green on Power on link good green blinking Power on no link red on Error red blinking Warning update in progress don t switch off yellow Readout active Figure 3 LED positions on Baumer LXG cameras ...

Page 17: ...of lenses and light sources without filters into consideration but are measured with an AR coated cover glass Values relating to the respective technical data sheets of the sensors manufacturer 350 450 550 650 750 850 950 1050 Wave Length nm Quantum Efficiency LXG 40M P Mono Mono 350 450 550 650 750 850 950 1050 Wave Length nm Quantum Efficiency LXG 120M P Mono 350 450 550 650 750 850 950 1050 Wav...

Page 18: ...ce the exposure time elapsed the information of a pixel is transferred immediately to its circuit and read out from there Due to the fact that photosensitive area gets lost by the implementation of the circuit area the pixels are equipped with microlenses which focus the light on the pixel 8 1 3 Digitization Taps The CMOSIS sensors are read out with 16 channels in parallel Figure 5 Structure of an...

Page 19: ...d the table below β A A A A Y X X Y M M R R LXG 40M P A A Y X X Y M M R R β A A LXG 120M P LXG 200M P Camera Type xM typ mm yM typ mm xR typ mm yR typ mm βtyp LXG 40M P 0 09 0 09 0 1 0 1 0 4 LXG 120M P 0 07 0 06 0 08 0 07 0 26 LXG 200M P 0 08 0 08 0 09 0 08 0 27 Figure 7 Sensor accuracy of Baumer LXG cameras with Visual Applets ...

Page 20: ...ere the time intervals are long enough to process exposure and readout succes sively In this operation the exposure of a frame n 1 takes place during the readout of frame n Exposure Readout Exposure Readout 8 2 1 Free Running Mode In the Free Running mode the camera records images permanently and sends them to the PC In order to achieve an optimal with regard to the adjusted exposure time texposur...

Page 21: ... to process occuring trigger signals tnotready This interval is situated between two exposures When this process time tnotready has elapsed the camera is able to react to external events again After tnotready has elapsed the timing of E depends on the readout time of the current im age treadout n and exposure time of the next image texposure n 1 It can be determined by the formulas mentioned above...

Page 22: ...mulated with the formulas mentioned above no 2 or 4 as is the case Exposure Readout texposure n treadout n 1 treadout n texposure n 1 texposure n 2 ttriggerdelay tmin Trigger Flash tflash n tflashdelay tflash n 1 TriggerReady tnotready Image parameters Offset Gain Mode Partial Scan Timings A exposure time frame n effective B image parameters frame n effective C exposure time frame n 1 effective D ...

Page 23: ...t start the trigger will be skipped Exposure Readout texposure n treadout n 1 treadout n texposure n 1 texposure n 2 ttriggerdelay tmin Trigger Flash tflash n tflashdelay tflash n 1 TriggerReady tnotready Notice From a certain frequency of the trigger signal skipping triggers is unavoidable In gen eral this frequency depends on the combination of exposure and readout times Image parameters Offset ...

Page 24: ... overlapped Exposure Readout texposure n treadout n 1 treadout n texposure n 1 ttriggerdelay tmin Trigger Flash tflash n tflashdelay tflash n 1 TriggerReady tnotready Image parameters Offset Gain Mode Partial Scan Timings A exposure time frame n effective B image parameters frame n effective C exposure time frame n 1 effective D image parameters frame n 1 effective E earliest possible trigger ...

Page 25: ...as C C and the NET Framework on Windows as well as Mono on Linux operating systems which offers the use of other languages such as e g C or VB NET For LXG cameras with Visual Applets Baumer GAPI SDK v 2 3 SP1 and higher is re quired 9 2 3rd Party Software Strict compliance with the GenICam standard allows Baumer to offer the use of 3rd Party Software for operation with cameras You can find a curre...

Page 26: ... 1 Image Format The cameras support the native resolution of the sensor In ROI mode the resolution horizontal and vertical dimensions in pixels can be adjusted Binning and Decimation are not available but can be implemented within Visual Applets if required ...

Page 27: ...itions Notice Below is a general description of pixel formats The table above shows which camera support which formats Bayer Raw data format of color sensors Color filters are placed on these sensors in a checkerboard pattern generally in a 50 green 25 red and 25 blue array Mono Monochrome The color range of mono images consists of shades of a single color In general shades of gray or black and wh...

Page 28: ...ch of the three components has the same sample rate Therefore there is no subsampling here YUV 4 2 2 The chroma components are sampled at half the sample rate This reduces the necessary bandwidth to two thirds in relation to 4 4 4 and causes no or low visual differences YUV 4 1 1 Here the chroma components are sampled at a quarter of the sample rate This decreases the necessary bandwith by half in...

Page 29: ...ection FPN Fixed Pattern Noise CMOS sensors exhibit nonuniformities that are often called fixed pattern noise FPN However it is no noise but a fixed variation from pixel to pixel that can be corrected The advantage of using this correction is a more homogeneous picture which may simplify the image analysis Variations from pixel to pixel of the dark signal are called dark signal non uniformity DSNU...

Page 30: ... threshold remain unchanged The clipping can be adjusted two times within a single exposure by configuring the respective time slices and clipping voltage levels See the figure below for details In this mode the values for tExpo0 tExpo1 Pot0 and Pot1 can be edited The value for tExpo2 will be calculated automatically in the camera tExpo2 texposure tExpo0 tExpo1 HDR Off HDR On Low Illumination H i ...

Page 31: ...coordinate of the first relevant pixel Offset Y y coordinate of the first relevant pixel Width horizontal size of the ROI Height vertical size of the ROI Notice The values of the Offset X and Size X must be a multible of 32 The step size in Y direction is 1 pixel at monochrome cameras and 2 pixel at color cam eras Notice If defect pixels should exist in the first mono cameras or in the first two c...

Page 32: ...unim portant only the vertical subdivision is of importance Notice The activation of ROI turns off all Multi ROIs Start ROI End ROI The readout is line based which means always a complete line of pixels needs to be read out and afterwards the irrelevant information is discarded Start ROI End ROI Figure 15 ROI Readout ...

Page 33: ... color cameras rows or columns of a ROI these cannot be corrected with the defect pixel correction In this case you need to move or increase the ROI by a few pixels The coordinates of defect pixels can be read out with the Camera Explorer Category Control LUT 10 3 1 General information A certain probability for abnormal pixels the so called defect pixels applies to the sen sors of all manufacturer...

Page 34: ...he same color on the left and the right side of the defect pixel will be read out Then the average value of these pixels is determined Finally the value of the defect pixel is substituted by the previously determined average value This works horizontally and vertically With this approach whole defect rows and defect columns can be corrected Defect Pixel Average Value Corrected Pixel 10 3 3 DefectP...

Page 35: ...ermined before The additional frame counter z is used to create a half automated sequencer It is ab solutely independent from the other three counters and used to determine the number of frames per external trigger event The following timeline displays the temporal course of a sequence with n A 5 B 3 C 2 repetitions per set of parameters o 3 sets of parameters A B and C m 1 sequence and z 2 frames...

Page 36: ... BoSequencerGain Parameter gain BoSequencerOffsetX ROI Offset X BoSequencerOffsetY ROI Offset Y BoSequencerIOSelector Selected output lines BoSequencerIOStatus Status of all Sequencer outputs BoSequencerSetRepeats Number of repetitions n BoSequencerSetSelector Configure set of parameters 10 4 3 Examples 10 4 3 1 Sequencer without Machine Cycle Sequencer Start A A B B C C The figure above shows an ...

Page 37: ...xample The frame counter z is set to 2 This means the camera records two pictures after an incoming trigger signal 10 4 4 Capability Characteristics of Baumer GAPI Sequencer Module up to 128 sets of parameters up to 2 billion loop passes up to 2 billion repetitions of sets of parameters up to 2 billion images per trigger event free running mode without initial trigger Figure 22 Example for a half ...

Page 38: ...he sensor are recepitve again shortly after the first exposure In order to realize the second short exposure time without an overrun of the sensor a second short flash must be employed and any subsequent extraneous light prevented Trigger Prevent Light Exposure Readout Flash On Baumer LXG cameras with Visual Applets this feature is realized within the sequencer In order to generate this sequence t...

Page 39: ...ND Out n Pin Camera Customer Device IO Power VCC RL IOUT IO GND Out Uext Pin Out1 2 3 Out1 or Out2 or Out3 Camera Customer Device IO GND DRV IN1 Pin IN_GND Pin 10 5 1 2 User Definable Inputs The wiring of the input connector is left to the user Sole exception is the compliance with predetermined high and low levels 0 4 5V low 11 30V high The defined signals will have no direct effect but can be an...

Page 40: ...coming trigger signal TriggerOverlapped The camera operates in overlapped mode TriggerSkipped Camera rejected an incoming trigger signal ExposureActive Sensor exposure in progress TransferActive Image transfer via hardware interface in progress ExposureEnlarged This output marks the period of enlarged exposure time Beside the 10 signals mentioned above each output can be wired to a user defined si...

Page 41: ...Possible settings of the Trigger Delay Delay 0 2 sec Number of tracked Triggers 512 Step 1 µsec There are three types of modes The timing diagrams for the three types you can see below Normal Trigger with adjusted Exposure Trigger valid Exposure Readout Time A B C Pulse Width controlled Exposure Trigger valid Exposure Readout Time B C Figure 26 Trigger signal valid for Baumer cameras high low U t ...

Page 42: ...l p r o g r a m m able logic c o n t r o l l e r others s oftware trigg e r Hardware trigger Each trigger source has to be activated separately When the trigger mode is activated the hardware trigger is activated by default Figure 27 Examples of possible trigger sources ...

Page 43: ... as end of the signal The debouncing times tDebounceHigh and tDebounceLow are adjustable from 0 to 5 msec in steps of 1 μsec This feature is disabled by default low high U t 0 4 5V 11V 30V low high U t 0 4 5V 11V 30V t t1 tx high time of the signal tDebounceHigh user defined debouncer delay for state high tDebounceLow user defined debouncer delay for state low tDebounceHigh t2 t3 t4 t5 t6 tDebounc...

Page 44: ...tart of the timer 0 μsec 2 sec step 1 μsec TimerDuration By this feature the activation time of the timer is adjustable 10 μsec 2 sec step 1 μsec Different Timer sources can be used Input Line0 Frame Start SW Trigger Frame End ActionCommandTrigger TriggerSkipped Exposure Start Exposure End For example the using of a timer allows you to control the flash signal in that way that the illumination doe...

Page 45: ...tMode ReverseY BoSequencerEnable LineMode DefectPixelCorrection LineStatus ExposureTime LineInverter TriggerMode LineSource TriggerWidth TimerDuration TriggerSource TimerDelay TriggerDelay TimerTriggerSource PacketDelay TimerTriggerActivation TransmissionDelay ActionGroupKey ActionGroupMask These user sets are stored within the camera and and cannot be saved outside the de vice By employing a so c...

Page 46: ...mation MAC address Current IP configuration persistent IP DHCP LLA Current IP parameters IP address subnet mask gateway Manufacturer s name Manufacturer specific information Device version Serial number User defined name user programmable string At the beginning of a frame will transmitted a Leader and at the end will transmitted a Trailer Figure 29 Transmission of data packets ...

Page 47: ...from the origin to the area of interest in pix els ChunkWidth Returns the Width of the image included in the payload ChunkHeight Returns the Height of the image included in the payload ChunkPixelFormat Returns the PixelFormat of the image included in the pay load ChunkExposureTime Returns the exposure time used to capture the image ChunkBlackLevelSelector Selects which Black Level to retrieve data...

Page 48: ...ne hand the overhead per packet is smaller on the other hand larger packets cause less CPU load The packet size of UDP packets can differ from 576 Bytes up to the MTU The MTU describes the maximal packet size which can be handled by all network com ponents involved In principle modern network hardware supports a packet size of 1518 Byte which is spec ified in the network standard However so called...

Page 49: ...full load on the network Such bursts can lead to an overload of several network components and a loss of packets This can occur especially when using several cameras In the case of two cameras sending images at the same time this would theoretically oc cur at a transfer rate of 2 Gbits sec The switch has to buffer this data and transfer it at a speed of 1 Gbit sec afterwards Depending on the inter...

Page 50: ...mal IPG In this way both data packets can be transferred successively zipper principle and the switch does not need to buffer the packets Figure 33 Operation of two camer as employing an optimal inter packet gap IPG Max IPG On the Gigabit Ethernet the max IPG and the data packet must not exceed 1 Gbit Otherwise data pack ets can be lost ...

Page 51: ...according to the specified transmission delays subsequently Thereby the first camera starts the transmission immediately with a transmission delay 0 11 5 1 Time Saving in Multi Camera Operation As previously stated the Frame delay feature was especially designed for multi camera operation with employment of different camera models Just here an significant accelera tion of the image transmission ca...

Page 52: ...lated as follows Resulting Data Volume horizontal Pixels vertical Pixels Pixel Depth All the cameras are triggered simultaniously The transmission delay is realized as a counter that is started immediately after the sen sor readout is started Camera 1 SXG10 Trigger Camera 2 SXG20 Camera 3 SXG80 texposure Camera 1 texposure Camera 2 texposure Camera 3 treadout Camera 3 ttransferGigE Camera 3 treado...

Page 53: ...issionDelay Camera 3 texposure Camera 1 treadout Camera 1 texposure Camera 3 ttransferGige Camera 2 Solving this equations leads to tTransmissionDelay Camera 2 6 msec 30 768 msec 6 msec 30 768 msec 30768000 ticks tTransmissionDelay Camera 3 6 msec 30 768 msec 6 msec 73 27 msec 104 038 msec 10403800 ticks Notice In Baumer GAPI the delay is specified in ticks How do convert microseconds into ticks 1...

Page 54: ...o an intelligent network node an IGMP Internet Group Management Protocol capable Switch or Router and distributed to the receiver group with the specific address range In the example on the figure below multicast is used to process image and message data separately on two differents PC s Multicast Addresses For multicasting Baumer suggests an adress range from 232 0 1 0 to 232 255 255 255 Figure 3...

Page 55: ...eters such as IP addresses sub net masks and gateways This process takes up to 12 sec Oncethedevice client isconnectedtoaDHCP enablednetwork fourstepsareprocessed DHCP Discovery In order to find a DHCP server the client sends a so called DHCPDISCOVER broad cast to the network DHCP Offer After reception of this broadcast the DHCP server will answer the request by a unicast known as DHCPOFFER This m...

Page 56: ...ed above Once an address is chosen this is sent together with an ARP Address Resolution Pro tocol query to the network to check if it already exists Depending on the response the IP address will be assigned to the device if not existing or the process is repeated This method may take some time the GigE Vision standard stipulates that establishing connection in the LLA should not take longer than 4...

Page 57: ...t order from the camera to the PC The probability of this happening is more then 99 11 8 2 Fault 1 Lost Packet within Data Stream If one or more packets are lost within the data stream this is detected by the fact that packet number n is not followed by packet number n 1 In this case the application sends a resend request A Following this request the camera sends the next packet and then resends B...

Page 58: ...packets from no 3 to no 5 are lost This fault is detected after the pre defined time has elapsed and the resend request A is triggered The camera then re sends packets no 3 to no 5 B to complete the image transfer 11 8 4 Termination Conditions The resend mechanism will continue until all packets have reached the pc the maximum of resend repetitions is reached the resend timeout has occured or the ...

Page 59: ...tionSwitch Hardware Events 0 rising 0x9000 Line0RisingEdge 1 falling 0x9001 Line0FallingEdge 2 rising 0x9002 Line1RisingEdge 3 falling 0x9003 Line1FallingEdge 4 rising 0x9004 Line2RisingEdge 5 falling 0x9005 Line2FallingEdge 6 rising 0x9006 Line3RisingEdge 7 falling 0x9007 Line3FallingEdge 12 rising 0x900C ExposureStart 13 rising 0x900D ExposureEnd 14 rising 0x900E FrameStart 15 rising 0x900F Fram...

Page 60: ...this is a com fortable method for synchronizing cameras with software additions The action command is sent as a broadcast In addition it is possible to group cameras so that not all attached cameras respond to a broadcast action command Such an action command contains a Device Key for authorization of the action on this device a Group Key for triggering actions on separated groups of devices a Gro...

Page 61: ...n of image data from the camera to the PC will not proceed If the image acquisition is started befor the interface is activated the recorded images are lost If the interface is stopped during a transmission this is aborted immediately 12 3 Pause Resume Interface Pausing while the interface is operational results in an interim storage of the recorded images within the internal buffer of the camera ...

Page 62: ...ion 5 Clean the contamination on the sensor using one drop pure alcohol on a swab Wipe the swab from left to right or conversely but only in one direction Do this in an overlapping pattern turning the swab after the first wipe and with each subsequent wipe Avoid swiping back and forth with the same swab in order to ensure that particles are removed and not transferred to a new location on the sens...

Page 63: ...e resources and prevent possible adverse effects on human health and the environment The return of the packaging to the material cycle helps conserve raw mate rials an reduces the production of waste When no longer required dispose of the packaging materials in accordance with the local regulations in force Keep the original packaging during the warranty period in order to be able to pack the devi...

Page 64: ...umer LXG cameras with Visual Applets conform with the directives of the CE electromagnetic com patibility EMC 2004 108EC 18 Support If you have any problems with the camera then feel free to contact our support Worldwide Baumer Optronic GmbH Badstrasse 30 DE 01454 Radeberg Germany Tel 49 0 3528 4386 845 Mail support cameras baumer com Website www baumer com ...

Page 65: ...65 ...

Page 66: ...454 Radeberg Germany Phone 49 0 3528 4386 0 Fax 49 0 3528 4386 86 sales baumeroptronic com www baumer com Technical data has been fully checked but accuracy of printed matter not guaranteed Subject to change without notice Printed in Germany ...

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