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Baumer SXG, User Manual

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38

Trigger Input / Trigger Delay

8.8 

Trigger signals are used to synchronize the camera exposure and a machine cycle or, in 

case of a software trigger, to take images at predefined time intervals

. 

Different trigger sources can be used here:

Line0

Actioncommand

Line1

Off

Line2
SW-Trigger

Possible settings of the Trigger Delay 

Delay

0-2 sec

Number of tracked Triggers

512

Step

1 µsec

There are three types of trigger 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

Edge controlled Exposure

 

Trigger (valid)

Exposure

Readout

Time

B

C

Figure 43 ▲

Trigger  signal,  valid  for 

Baumer cameras.

high

low

U

t

0

4 5V

11V

30V

Camera in trigger 
mode:
A - 

Trigger delay

B - 

Exposure time

C - Readout time

Summary of Contents for SXG

Page 1: ...Baumer SXG User s Guide for Dual Gigabit Ethernet Cameras with Kodak Sensors ...

Page 2: ...2 ...

Page 3: ... 18 6 4 Process and Data Interface 19 6 4 1 Pin Assignment Interface 19 6 4 2 Pin Assignment Power Supply and Digital IOs 19 6 4 3 LED Signaling 19 6 5 Environmental Requirements 20 6 5 1 Temperature and Humidity Range for Storage and Operation 20 6 5 2 Heat Transmission 20 6 5 3 Mechanical Tests 21 7 Software 22 7 1 Baumer GAPI 22 7 2 3rd Party Software 22 8 Camera Functionalities 23 8 1 Image Ac...

Page 4: ...4 Timer 41 8 8 5 Counter 42 8 9 User Sets 42 8 10 Factory Settings 42 9 Interface Functionalities 43 9 1 Link Aggregation Group Configuration 43 9 1 1 Camera Control 43 9 1 2 Image data stream 43 9 2 Device Information 44 9 3 Baumer Image Info Header 45 9 4 Packet Size and Maximum Transmission Unit MTU 45 9 5 Packet Delay PD 46 9 5 1 Example 1 Multi Camera Operation Minimal IPG 46 9 5 2 Example 2 ...

Page 5: ...Behaviour 59 10 1 Start Stop Acquisition Camera 59 10 2 Start Stop Interface 59 10 3 Pause Resume Interface 59 10 4 Acquisition Modes 59 10 4 1 Free Running 59 10 4 2 Trigger 59 10 4 3 Sequencer 59 11 Lens install 60 12 Cleaning 61 13 Transport Storage 61 14 Disposal 61 15 Warranty Information 62 16 Support 62 17 Conformity 63 17 1 CE 63 17 2 FCC Class B Device 63 ...

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: ... The surface of the camera may be hot during operation and immediately after use Be careful when handling the camera and avoid contact over a longer period Intended Use 3 The camera is used to capture images that can be transferred over two GigE interfaces to a PC General Description 4 1 2 3 4 5 6 Nr Description Nr Description 1 respective lens mount 4 Digial IO supply 2 Power supply 5 GigE Port 1...

Page 8: ... SXG21 2 3 1920 x 1080 64 SXG40 1 2336 x 1752 32 SXG80 4 3 3296 x 2472 16 Color SXG10c 1 2 1024 x 1024 120 SXG20c 2 3 1600 x 1200 68 SXG21c 2 3 1920 x 1080 64 SXG40c 1 2336 x 1752 32 SXG80c 4 3 3296 x 2472 16 Dimensions 26 36 26 36 16 xM3 depth 6 UNC1 4 20 52 52 26 36 72 Figure 1 Front view of a Baumer SXG C Mount camera Figure 2 Dimensions of a Baumer SXG camera ...

Page 9: ...3 1920 x 1080 64 SXG40 F 1 2336 x 1752 32 SXG80 F 4 3 3296 x 2472 16 Color SXG21c F 2 3 1920 x 1080 64 SXG40c F 1 2336 x 1752 32 SXG80c F 4 3 3296 x 2472 16 Dimensions 26 36 26 36 16 x M3 depth 6 UNC1 4 20 52 52 26 36 72 Figure 3 Front view of a Baumer SXG F camera Figure 4 Dimensions of a Baumer SXG F camera ...

Page 10: ...50 850 950 1050 Wave Length nm Quantum Efficiency SXG color 6 1 2 Progressive Scan All cameras of the SXG series are equipped with Progressive Scan Pixel Active Area Photodiode Storage Area Microlens Progressive Scan means that all pixels of the sensor are reset and afterwards exposed for a specified interval texposure For each pixel an adjacent storage area exists Once the exposure time elapsed t...

Page 11: ... fered to the memory Once the information have left the output register the readout is done This mode provides the full potential of the sensor and leads to the maximum frame rate Dual Mode 6 1 3 2 On dual readout mode two taps Tap 1 Tap 2 and Tap 3 Tap 4 are combined The data of all pixels of one tap are moved to the output register and afterwards trans fered to the memory Once the information ha...

Page 12: ... output register and afterwards trans fered to the memory Once the information have left the output register the readout is done Due to the fact that the complete sensor needs to be read out the readout time treadout is increased compared to quad and dual readout mode It is considered treadout Single Mode 4 treadout Quad Mode Figure 10 Single Tap Readout Mode ...

Page 13: ...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 6 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 texposure and image format the camera is operated overlapped In case of...

Page 14: ... 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 15: ...imulated 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 16: ...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 17: ... 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 18: ... of the sensor X Y Y X ß M M R R Camera Type xM typ mm yM typ mm xR typ mm yR typ mm βtyp ztyp mm C Mount ztyp mm F Mount SXG10 0 11 0 11 0 11 0 11 0 51 0 025 SXG20 0 11 0 11 0 11 0 11 0 51 0 025 SXG21 0 11 0 11 0 11 0 11 0 51 0 025 0 05 SXG40 0 11 0 11 0 11 0 11 0 55 0 025 0 05 SXG80 0 11 0 11 0 11 0 11 0 47 0 025 0 05 Figure 11 Sensor accuracy of Baumer SXG cameras ...

Page 19: ... blue white 2 MX1 green negative positive Vport 6 MX2 orange positive negative Vport 2 MX1 green negative positive Vport 6 MX2 orange positive negative Vport 3 MX2 orange white positive negative Vport 7 MX4 brown white 3 MX2 orange white positive negative Vport 7 MX4 brown white 4 MX3 blue 8 MX4 brown 4 MX3 blue 8 MX4 brown 6 4 2 Pin Assignment Power Supply and Digital IOs M8 3 pins M8 8 pins 1 4 ...

Page 20: ...ting Humidity 10 90 non condensing T 6 5 2 Heat Transmission Caution Provide adequate dissipation of heat to ensure that the temperature does not exceed 60 C 140 F The surface of the camera may be hot during operation and immediately after use Be careful when handling the camera and avoid contact over a longer period As there are numerous possibilities for installation Baumer does not specifiy a s...

Page 21: ... Hz Amplitude under neath crossover frequencies 1 5 mm Acceleration 1 g Test duration 15 min Vibration broad band IEC 60068 2 64 Frequency range 20 1000 Hz Acceleration 10 g Displacement 5 7 mm Test duration 300 min Shock IEC 60068 2 27 Puls time 11 ms 6 ms Acceleration 50 g 80 g Bump IEC60068 2 29 Pulse Time 2 ms Acceleration 80 g ...

Page 22: ...ts Windows XP Vista and Win 7 and Linux from Kernel 2 6 x oper ating systems in 32 bit as well as in 64 bit It provides interfaces to several programming languages such 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 The SXG camera features are supported from BGAPI V 1 7 0 7 2 3rd Party Software Stri...

Page 23: ...ge formats depending on the type of camera Compared with standard cameras the image format on Baumer cameras not only in cludes resolution but a set of predefined parameter These parameters are Resolution horizontal and vertical dimensions in pixels Binning Mode see chapter 8 1 8 Camera Type Full frame Binning 2x2 Binning 1x2 Binning 2x1 Monochrome SXG10 SXG20 SXG21 SXG40 SXG80 Color SXG10c SXG20c...

Page 24: ...c SXG80c Definitions 8 1 2 2 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 o...

Page 25: ...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 quater of the sample rate This decreases the necessary bandwith by half in ...

Page 26: ...exposure time can be set within the following ranges step size 1μsec Camera Type texposure min texposure max Monochrome SXG10 10 μsec 1 sec SXG20 10 μsec 1 sec SXG21 10 μsec 1 sec SXG40 10 μsec 1 sec SXG80 10 μsec 1 sec Color SXG10c 10 μsec 1 sec SXG20c 10 μsec 1 sec SXG21c 10 μsec 1 sec SXG40c 10 μsec 1 sec SXG80c 10 μsec 1 sec Look Up Table 8 1 4 The Look Up Table LUT is employed on Baumer monoc...

Page 27: ... of view is of interest It is coupled to a reduction in resolution The ROI is specified by four values Offset X x coordinate of the first relevant pixel Offset Y y coordinate of the first relevant pixel Size X horizontal size of the ROI Size Y vertical size of the ROI Start ROI End ROI 8 1 7 ROI Readout For the readout of the ROI the vertical subdivision of the sensor see 6 1 3 Readout Modes is un...

Page 28: ... in the figures 21 and 22 is the same On asymmetrically spread ROI s the readout time is affected by the bigger part of the ROI An example for this fact is shown in the figure below The ROI has the same size as in figure 21 but is not symmetrically spread to both sen sor halves In this special case the time for the readout of the same number of pixels is increased by 50 caused only by ROI s positi...

Page 29: ...tal and bidirectional In unidirectional binning vertically or horizontally neighboring pixels are aggregated and reported to the software as one single superpixel In bidirectional binning a square of neighboring pixels is aggregated Binning Illustration Example without 1x2 2x1 2x2 Figure 26 Full frame image no binning of pixels Figure 27 Vertical binning causes a vertically compressed image with d...

Page 30: ...ndependent adjustment of the three color channels red green and blue by employing of a correction factor for each channel User specific 8 2 1 Color Adjustment The user specific color adjustment in Baumer color cameras facilitates adjustment of the correction factors for each color gain This way the user is able to adjust the amplifica tion of each color channel exactly to his needs The correction ...

Page 31: ... significant bit Camera Type Step Size 1 LSB Relating to Monochrome SXG10 14 bit SXG20 14 bit SXG21 14 bit SXG40 14 bit SXG80 14 bit Color SXG10c 14 bit SXG20c 14 bit SXG21c 14 bit SXG40c 14 bit SXG80c 14 bit 8 4 2 Gain In industrial environments motion blur is unacceptable Due to this fact exposure times are limited However this causes low output signals from the camera and results in dark images...

Page 32: ...ble defect pixels are identified during the production process of the camera The coordinates of these pixels are stored in the factory settings of the camera see 8 5 3 Defectpixellist Once the sensor readout is completed correction takes place Before any other processing the values of one neighboring pixels on the left and the right side of the defect pixel will be read out Then the average value ...

Page 33: ...determined 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 fra...

Page 34: ...er in this case the parameters are maintained 8 6 2 2 Sequencer Controlled by Machine Steps trigger A A B B C C Trigger Sequencer Start The figure above shows an example for a half automated sequencer with three sets of parameters A B and C from the previous example The frame counter z is set to 2 This means the camera records two pictures after an incoming trigger signal Capability Characteristic...

Page 35: ...xels of the 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 SXG cameras this feature is realized within the sequencer In order to generate this sequence the sequence...

Page 36: ...wer 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 User Definable 8 7 1 2 Inputs The wiring of these input connectors 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 analyzed and processed on the software si...

Page 37: ...ss an incoming 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 de...

Page 38: ...y Delay 0 2 sec Number of tracked Triggers 512 Step 1 µsec There are three types of trigger 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 Edge controlled Exposure Trigger valid Exposure Readout Time B C Figure 43 Trigger signal va...

Page 39: ...l p r o g r a m m able logic c o n t r o 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 44 Examples of possible trigger sources ...

Page 40: ... 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 41: ...μsec TimerDuration By this feature the activation time of the timer is adjustable 10 μsec 2 sec step 1 μsec Different Timer Trigger sources can be used Timer Trigger sources Input Line0 Exposure Start Input Line1 Exposure End Input Line2 Frame Start SW Trigger Frame End ActionCommandTrigger TriggerSkipped For example the using of a timer allows you to control the flash signal in that way that the ...

Page 42: ...eset the counter When the reset event is reached or the counter is reset by software with reset counter then the count value is stored under CounterValueAtReset and set the counter value back to 0 8 9 User Sets Three user sets 1 3 are available for the Baumer cameras of the SXG series The user sets can contain the following information Parameters Binning Mode Mirroring Control Defectpixellist Part...

Page 43: ...physical link Grouping configuration All links are automatically grouped on the device Manual grouping must be performed on the PC often called teaming Camera Control 9 1 1 The communication for the camera control is always sent on the same physical link of the LAG Image data stream 9 1 2 A round robin distribution algorithm allows for a uniform distribution of the bandwidth as sociated to the ima...

Page 44: ...ce version Serial number User defined name user programmable string Single GigE By using Single GigE all data packets are sequentially transmitted over one cable At the beginning of a frame will transmitted a Header and at the end will transmitted a Trailer Dual GigE By using Dual GigE the data packets are alternately distributed over both cables The Header and the Trailer are always transmitted o...

Page 45: ...ich Black Level to retrieve data from ChunkBlackLevel Returns the black level used to capture the image included in the payload ChunkFrameID Returns the unique Identifier of the frame or image includ ed in the payload 9 4 Packet Size and Maximum Transmission Unit MTU Network packets can be of different sizes The size depends on the network components employed When using GigE Vision compliant devic...

Page 46: ...n 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 internal buffer ...

Page 47: ...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 52 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 48: ...according to the specified transmission delays subsequently Thereby the first camera starts the transmission immediately with a transmission delay 0 Time Saving in Multi Camera Operation 9 6 1 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 can...

Page 49: ...GigE for full Dual GigE transfer rate is calculated as follows Transfer Time Dual GigE Resulting Data Volume 10243 500 msec 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 HXG20 Trigger Camera 2 HXG40 Camera 3 SXG80 texposure Camera 1 texposure Camera 2 texposure Camera 3 treadout...

Page 50: ...ut Camera 1 texposure Camera 2 tTransmissionDelay Camera 3 texposure Camera 1 treadout Camera 1 texposure Camera 3 ttransferGige Camera 2 Solving this equations leads to tTransmissionDelay Camera 2 6 msec 8 msec 6 msec 8 msec 8000000 ticks tTransmissionDelay Camera 3 6 msec 8 msec 6 msec 7 15 msec 15 15 msec 15150000 ticks Notice In BGAPI the delay is specified in ticks How do convert microseconds...

Page 51: ...to 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 ...

Page 52: ...ters 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 me...

Page 53: ...oned 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...

Page 54: ...t order from the camera to the PC The probability of this happening is more then 99 Fault 1 9 9 2 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 55: ...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 Termination Conditions 9 9 4 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 c...

Page 56: ...Edge 7 falling 0x9007 Line3FallingEdge 8 rising 0x9008 Line4RisingEdge 9 falling 0x9009 Line4FallingEdge 10 rising 0x900A Line5RisingEdge 11 falling 0x900B Line5FallingEdge 12 rising 0x900C ExposureStart 13 rising 0x900D ExposureEnd 14 rising 0x900E FrameStart 15 rising 0x900F FrameEnd 16 rising 0x9010 TriggerReady 17 rising 0x9011 TriggerOverlapped 18 rising 0x9012 TriggerSkipped 19 rising 0x9013...

Page 57: ... 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 Group Mask for extension of the ...

Page 58: ...e figure below show a PC with 1 n connected cameras which are receives the Action Command Timestamp from the PC Thus the time signal of all 1 n cameras can simul taneously set to 0 Figure 66 Timestamping of mul tiple cameras over Eth ernet ...

Page 59: ...f 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 Pause Resume 10 3 Interface Pausing while the interface is operational results in an interim storage of the recorded images within the internal buffer of the camera Aft...

Page 60: ...ses in an environment that is as dust free as possible Keep the dust covers on camera and lens as long as possible Hold the camera downwards with unprotected sensor or filter cover glass Avoid contact with any optical surface of the camera or lens 1 Turn the camera with the lens mount to the bottom 2 Unscrew the protective cap 3 Screw the lens on the lens mount Figure 67 Procedure of lens in stall...

Page 61: ...he original packaging When the camera is not installed then storage the camera in original packaging Storage Environment Storage temperature 10 C 70 C 14 F 158 F Storage Humidy 10 90 non condensing Disposal 14 Dispose of outdated products with electrical or electronic circuits not in the normal domestic waste but rather according to your national law and the directives 2002 96 EC and 2006 66 EC fo...

Page 62: ...ed reworked or repaired by other than Baumer technicians Baumer Optronic will not take any responsibility for the subse quent performance and quality of the device Support 16 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 c...

Page 63: ...o frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communi cations However there is no guarantee that interference will not occure in a particular installation If this equipment does cause harmful interference to radio or television recep tion which can be determined by turning the equipment off an on the user is encouraged ...

Page 64: ...386 86 sales baumeroptronic com www baumer com DE 01454 Radeberg Germany Phone 49 0 3528 4386 0 Fax 49 0 3528 4386 86 sales baumeroptronic com www baumeroptronic com Technical data has been fully checked but accuracy of printed matter not guaranteed Subject to change without notice Printed in Germany 07 13 v1 5 11079156 ...

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