Panasonic FMU Technical Manual Download Page 29

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Specifications

FMU Technical Manual

PDO data sent from a node will not be cleared in the receive process data interface of the
CANopen master if the node disappears from the network.

Additional features for the CANopen master

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127

nodes

•

7168 bytes I/O data

•

Min.

boot-up

•

COB ID distribution: default/via SDO

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Emergency

message

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Node/life guarding, heartbeat

•

Event

trigger

•

PDO: cyclic, acyclic, asynchronous

•

Remote

request

Summary of Contents for FMU

Page 1: ...programmable logic controller FMU Technical Manual ...

Page 2: ...ur comments on this manual Please email us at tech doc eu pewg panasonic com Please direct support matters and technical questions to your local Panasonic representative LIMITED WARRANTY If physical defects caused by distribution are found PEWEU will replace repair the product free of charge Exceptions include When physical defects are due to different usage treatment of the product other than des...

Page 3: ......

Page 4: ...cal injury CAUTION Indicates that you should proceed with caution Failure to do so may result in injury or significant damage to instruments or their contents e g data NOTE Contains important additional information EXAMPLE Contains an illustrative example of the previous text section 1 2 3 Procedure Indicates that a step by step procedure follows REFERENCE Indicates where you can find additional i...

Page 5: ...points in a concise manner SHORTCUTS Provides helpful keyboard shortcuts EXPLANATION Provides brief explanation of a function e g why or when you should use it next page Indicates that the text will be continued on the next page ...

Page 6: ...nsion Restrictions for the FPΣ FMU 3 1 2 3 Limitations on Current Consumption 3 2 Parts and Functions 5 2 1 FP2 FMU 6 2 2 FPΣ FMU 8 2 3 FP FMU LEDs and Connectors 10 2 3 1 FP PROFIBUS DP 11 2 3 2 FP DeviceNet 12 2 3 3 FP CANopen 13 3 Specifications 15 3 1 FMU General Specifications 16 3 2 FP PROFIBUS DP Communication Specifications 17 3 3 FP DeviceNet Communication Specifications 18 3 4 FP CANopen...

Page 7: ... 2 GetPointer Function 35 5 3 FMU_DataExchange 36 5 3 1 dutNetworkStatus Output 37 5 3 1 1 GlobalBusStateField for PROFIBUS 38 5 3 1 2 GlobalBusStateField for DeviceNet 41 5 3 1 3 GlobalBusStateField for CANopen 45 5 3 2 Slaves_abIsConfigured Output 48 5 3 2 1 Sl_cfg for PROFIBUS 48 5 3 2 2 Sl_cfg for DeviceNet 48 5 3 2 3 Sl_cfg for CANopen 49 5 3 3 Slaves_abIsConnected Output 49 5 3 3 1 Sl_state ...

Page 8: ...3 6 SlaveDiagnostic_iHasError Output 53 5 3 7 SlaveDiagnostic_awData Output 54 5 3 7 1 DiagData for PROFIBUS 55 5 3 7 2 DiagData for DeviceNet 56 5 3 7 3 DiagData for CANopen 58 5 4 FMU_GetUnitInfo 60 6 Outline Dimensions 61 6 1 Outline Dimensions of the FP2 FMU 62 6 2 Outline Dimensions of the FPΣ FMU 63 7 Index 65 ...

Page 9: ......

Page 10: ...Chapter 1 Features and Restrictions ...

Page 11: ...ter CANopen Master Expansion for FP2 FP2 CAN M FPΣ PROFIBUS Master PROFIBUS DP Master Expansion for FPΣ FPG DPV1 M FPΣ DeviceNet Master DeviceNet Master Expansion for FPΣ FPG DEV M FPΣ CANopen Master CANopen Master Expansion for FPΣ FPG CAN M Software Make sure you use at least version 5 3 of FPWIN Pro into which the functions necessary for programming the FP FMU blocks are integrated You will req...

Page 12: ...d to the left side of the control unit via the FPΣ expansion connector Up to 2 expansion units can be connected to the left side of the control unit 1 2 3 Limitations on Current Consumption The 5V DC power used to drive the internal circuit of each unit is supplied from the power supply unit of the FP2 through the internal bus of the backplane or from the FPΣ control unit through the expansion con...

Page 13: ......

Page 14: ...Chapter 2 Parts and Functions ...

Page 15: ...U COM RS485 PROFIBUS SYS COM DPV1 M DeviceNet MNS COM DEV M CANopen SYS COM CAN M FP2 PROFIBUS DP Master Unit FP2 DPV1 M AFP27971 FP2 DeviceNet Master Unit FP2 DEV M AFP27972 FP2 CANopen Master Unit FP2 CAN M AFP27973 FP2 Fieldbus Master Units front view ...

Page 16: ...anual 2 1 FP2 FMU 7 1 2 3 4 5 FP2 Fieldbus Master Units back view side view on backplane 1 Backplane 2 DIN rail attachment lever 3 DIN standard rail attachment 4 Connector to the slot on the backplane 5 Expansion hook ...

Page 17: ...M PROFIBUS Master COM SYS FPG CAN M CANopen Master COM SYS FPG DEV M DeviceNet Master MNS SYS FPΣ PROFIBUS DP Master Unit FPG DPV1 M AFPG7971 FPΣ DeviceNet Master Unit FPG DEV M AFPG7972 FPΣ CANopen Master Unit FPG CAN M AFPG7973 FPΣ Fieldbus Master Units front view ...

Page 18: ...o a DIN rail The lever is also used for installation on the FP0 slim 30 type mounting plate part no AFP0811 4 Expansion hook Used to secure an expansion unit The hook is also used for installation on the FP0 flat type mounting plate part no AFP0804 5 Function earth connector At least one of the 2 pins must be connected to function earth to achieve proper EMC behavior The FPΣ FMU is connected to th...

Page 19: ...0 1 5 FMU is in bootloader mode and is waiting for firmware download Flashing 5Hz s ON 0 0 1 0 2 0 OFF Firmware download in progress Yellow Acyclic flashing 3 times fast at 5Hz 8 times between 0 5Hz and 1Hz For example s ON 0 0 1 0 2 0 OFF 3 0 8x Hardware or severe runtime error detected FMU or firmware needs replacement Contact your Panasonic representative ON FMU has established at least one con...

Page 20: ...twork Red ON FMU has detected a communication problem with at least one PROFIBUS slave device Connection timeout PROFIBUS connector DB9F 9 pin Sub D female Connector Pin Signal Description 1 2 3 B Line Positive RxD TxD RS485 level 4 RTS Request to send 5 GND Bus ground isolated 6 5V bus output see note 5V termination power isolated 7 8 A Line Negative RxD TxD RS485 level 9 1 9 6 5 Housing Cable sh...

Page 21: ...lished Configuration missing FMU has passed the duplicate MAC ID check but has not established connection to another device Red ON FMU cannot access the network BUS off because of severe CAN faults Duplicate MAC ID detected OFF FMU is not online Duplicate MAC ID test not completed Power may not be supplied DeviceNet Connector Connector Pin Signal Description 1 V Negative bus supply voltage see not...

Page 22: ...N telegram Yellow OFF FMU has finished sending a CAN telegram Red ON FMU has detected a communication problem with at least one CANopen node device Connection timout CANopen Interface Connector Pin Signal Description 1 2 CAN_L CAN low bus line dominant low 3 CAN_GND Negative bus power supply input 4 5 6 7 CAN_H CAN high bus line dominant high 8 1 9 6 5 9 ...

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Page 24: ...Chapter 3 Specifications ...

Page 25: ...ng Vibration resistance 10 to 55Hz 1 cycle min double amplitude of 0 75mm 0 030in 10 min on 3 axes Shock resistance Shock of 98m s2 or more 4 times on 3 axes Operation condition Free from corrosive gases and excessive dust Current consumption 5V FP2 DPV1 M 450mA FP2 CAN M 450mA FP2 DEV M 150mA Current consumption 24V FPΣ DPV1 M 135mA FPΣ CAN M 135mA FPΣ DEV M 45mA Weight FP2 DPV1 M 118g FP2 CAN M ...

Page 26: ...fault address Address 0 Master class 2 default address No of process data per slave 244 input and 244 output bytes Max number of process data 3584 bytes input 3584 bytes output Max number of diagnostic bytes per slave 100 Max number of configuration data bytes per slave 244 Max number of parameter data bytes per slave 244 Max number of modules per modular slave 244 Baud rates supported 9 6kBaud 19...

Page 27: ...ication Specifications Item Limit No of slaves 63 No of bytes for I O data 7168 input 3584 output 3584 Baud rates supported 150kBaud 250kBaud 500kBaud Additional features Polling bit strobe Cyclic COS change of state UCMM via groups 1 2 3 Predefined connection set ...

Page 28: ...fy configuration boot up process Optional heartbeat protocol Boot up process in accordance with DS 302 NMT master SDO up download protocol Coexistence of a second NMT master Simple boot up process reading object 1000H for identifying Modular devices Synchronous counter for SYNC protocol Limits of the implementation The following device specific limitations apply to the CANopen implementation Item ...

Page 29: ...s data interface of the CANopen master if the node disappears from the network Additional features for the CANopen master 127 nodes 7168 bytes I O data Min boot up COB ID distribution default via SDO Emergency message Node life guarding heartbeat Event trigger PDO cyclic acyclic asynchronous Remote request ...

Page 30: ...Chapter 4 Installation and Wiring ...

Page 31: ...r alcohol or other organic solvents or strong alkaline solutions such as ammonia or caustic soda Excessive vibration or shock Direct sunlight Water or oil in any form including spray or mist Static electricity Before touching the unit or equiprment always touch some grounded metal to discharge any static electricity you may have generated especially in dry locations The discharge of static electri...

Page 32: ... TOOL port facing outward on the bottom in order to prevent the generation of heat Do NOT install the CPU as shown below Input and output connectors face down Input and output connectors on top Horizontal installation of the unit Upside down Air duct blocked Do not install the unit above devices which generate heat such as heaters transformers ...

Page 33: ...ng ducts of the unit and other devices to allow heat radiation and unit replacement 50 mm 1 97 in or more 50 mm 1 97 in or more Maintain a minimum of 100mm 3 937in between devices to avoid adverse affects from noise and heat when installing a device or panel door to the front of the unit 100 mm 3 937 in or more Panel door PLC unit Other device ...

Page 34: ... the FP2 FPΣ Unit 25 For the FP2 FP2SH keep the first 170mm from the PLC front surface clear of objects to allow the connecting of programming tools For the FPΣ the distance should be at least 130mm Approx 110mm FP PC cable CPU 170mm or more ...

Page 35: ...g the FPΣ FMU max FMUs 2 to the left side of the FPΣ CPU You can mount all units on a DIN rail REFERENCE For more information please refer to the FPΣ User s Manual FP2 FMU Install the FP2 FMU on the FP2 backplane You can mount the backplane on a DIN rail REFERENCE For more information please refer to the FP2 Hardware Manual ...

Page 36: ...ndard CANopen cable and a standard 9 pin Sub D CANopen connector DeviceNet Use a standard DeviceNet cable The round cable contains five wires one twisted pair red and black for 24V DC power one twisted pair blue and white for signal and a drain wire bare You can find proposals for standard cables on the Open DeviceNet Vendor Association s Web site ODVA http www odva org http www odva org default a...

Page 37: ... use the standard CAN 5 poles open style connectors manufactured by Phoenix Contact No of contacts Phoenix Contact product ID Model no Product no 5 MSTB 2 5 5 ST 5 08 ABGY AU 1849037 Terminal block for DeviceNet For a suitable wire please refer to cable selection see page 27 Wiring method Attach a plug in open style connector to a cable 1 2 3 Procedure 1 Strip 65mm 2 6in to 75mm 3in of the outer j...

Page 38: ...lamping cavity of the open style connector or the screw terminal on the device according to the color of the cable insulation Wire color Wire identity Usage White CAN_H Signal Blue CAN_L Signal Bare Drain Shield Black V Power Red V Power 5 Tighten the clamping screws to secure each conductor The male contacts of the device connector must match the female contacts of the connector NOTES When removi...

Page 39: ...ing make sure stress is not applied to the wire In the terminal block socket make sure to clamp the wire in place by turning the tightening screw clockwise OK 4 4 3 CANopen Wiring Use a standard CANopen cable and standard 9 pin Sub D female CANopen connectors ...

Page 40: ...Product no 2 MC 1 5 2 ST 3 5 18 40 36 6 Suitable wire No of wires Size Cross sectional area 1 AWG 28 16 0 14 1 5 mm NOTE Either fixed or flexible wires can be used to connect the function earth Fixed wires with a diameter 0 14mm and flexible wires with a wire end ferrule can be used Wiring method CAUTION When removing the wire s insulation be careful not to scratch the core wire Do not twist the w...

Page 41: ...n and Wiring FMU Technical Manual 32 1 2 3 Procedure 1 Remove a portion of the wire s insulation 7mm 2 Insert the wire into the screw terminal 3 Clamp the wire in place by turning the tightening screw clockwise OK ...

Page 42: ...Chapter 5 Programming Information for Control FPWIN Pro ...

Page 43: ...tions necessary for programming the FP FMUs The function blocks described in this section are used to configure the various FMUs and to start communication with the specific network The functions and function blocks can be used for either the FP2 FMU or FPΣ FMU unit You can download the function blocks free of charge from the Panasonic Electric Works Europe AG Web site ...

Page 44: ...uts the size area and offset of the input variable and writes it to the output variable of the type POINTER Connect the output of this function directly to the respective input of the function block REFERENCE For more information about the GetPointer function please refer to the FPWIN Pro online help ...

Page 45: ...bRun If true network communication runs POINTER DataExchange_pInputData Pointer to the input s process data table POINTER DataExchange_pOutputData Pointer to the output s process data table BOOL SlaveDiagnostic_bStart If rising edge slave diagnostic starts on time INT SlaveDiagnostic_iNumber Node number for diagnostic BOOL bMasterReset If true the unit is in reset stage Outputs Data type Output Fu...

Page 46: ...des for the function block FMU_DataExchange Error code Indication 16 0000 No error 16 0001 Input data variable is too big 16 0002 Output data variable is too big 16 0003 Unit not available 5 3 1 dutNetworkStatus Output Connected to the output pin dutNetworkStatus is the variable GlobalBusState which in turn is part of the DUT GlobalBusStateField included in the FMU library for Control FPWIN Pro Th...

Page 47: ...n arise from either the FMU itself value 255 or be detected and reported by a network device In this case the lower byte represents the station address Range 0 to 125 Error event ErrRemAddr_ErrEvent Higher byte of the WORD Each error is assigned a number The errors are explained following the table Bus error count BusErrorCnt Counts severe bus errors e g bus short circuits Timeout count TimeOutCou...

Page 48: ...ates bus short circuits while the master interrupts the communication The number of detected timeouts are fixed in the TimeOutCount variable The bit is set when the first timeout is detected 7 Reserved Errors The following error numbers are valid for the error event if Error remote address is 255 ErrEvent Explanation Source of error Recommendation 0 No errors 50 User interface task not found FMU C...

Page 49: ...o clear mode was activated because one slave was missing during runtime 225 No further segments FMU Contact technical support The following error numbers are valid for the error event if Error remote address is not equal to 255 ErrEvent Explanation Source of error Recommendation 2 Station reports overflow Master telegram Check length of configured slave configuration or parameter data 3 Request fu...

Page 50: ... byte of the WORD Each error is assigned a number The errors are explained following the table Bus error count BusErrorCnt This variable is incremented whenever the error frame counter of the Philips CAN chip used has reached the warning limit due to disturbed bus communication Timeout count TimeOutCount This variable is incremented when the CAN chip reports that it is no longer involved in bus ac...

Page 51: ...bit is set the host program ist NOT ready to communicate 6 Duplicate MAC ID detected The FMU has detected another device in the network with the same MAC ID 7 Duplicate MAC ID check in progress As long this bit is set the FMU is checking for duplicate MAC IDs Errors The following error numbers are valid for the error event if Error remote address is 255 ErrEvent Explanation Source of error Recomme...

Page 52: ...n Use single device diagnostic to get true consumed connection size 39 Connection already requested Device Connection will be automatically released 40 Number of CAN message data bytes read in the produced or consumed connection size response unequal to 4 Device Device cannot operate with the FMU and norm description 41 Predefined master slave connection already exits Device FMU Connection will be...

Page 53: ...ort 62 Size of predefined master slave I O configuration table is corrupt Configuration Download error in the current database Contact technical support 63 Predefined master slave I O configuration does not correspond to the additional table Configuration Number of I O units and the number of configured offset addresses are different 64 Size indicator of parameter data table is corrupt Configurati...

Page 54: ...ration 5 3 1 3 GlobalBusStateField for CANopen Identifier part Identifier Explanation Global bits GlobBit_Status Lower byte of the WORD Details follow the table Status GlobBit_Status Higher byte of the WORD The master system can be in one of the following states 16 00 OFFLINE 16 40 STOP 16 80 CLEAR 16 C0 OPERATE Error remote address ErrRemAddr_ErrEvent Lower byte of the WORD If the global bits con...

Page 55: ...etected events are fixed in the BusErrorCnt variable The bit is set when the first event is detected 5 Host not ready notification If the bit is set the host program ist NOT ready to communicate 6 Timeout error The FMU has detected an overstepped timeout supervision time of at least one CAN message to be sent The transmission of this message was aborted The data is lost It indicated that no other ...

Page 56: ...de Check whether node can handle remote frames 34 No response of the node while being configured Node Check whether node is connected and operational 35 The node profile number configured in the master differs from the actual node profile number Project planning Check the supported profile number of the node I O encoder etc 36 The device type configured in the master differs from the actual node d...

Page 57: ...e 48 Sl_cfg for CANopen see page 49 5 3 2 1 Sl_cfg for PROFIBUS This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU slave The bit for the corresponding slave is logical 1 the slave is configured in the FMU 0 the slave is not configured in the FMU 5 3 2 2 Sl_cfg for DeviceNet This variable is an ARRAY 0 127 of BOOL i e a field of 8 words...

Page 58: ...s example the identifier is SI_state This variable is used for all network types but the information stored in the variable is nevertheless network specific SI_state for PROFIBUS see page 49 SI_state for DeviceNET see page 50 SI_state for CANopen see page 50 5 3 3 1 Sl_state for PROFIBUS This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each F...

Page 59: ...r 4 words ARRAY 64 127 of BOOL store the state for the device s I O connection The bit of the corresponding device is logical 1 the device s I O connection is in the established state 0 the device s I O connection is not in the established state 5 3 3 3 Sl_state for CANopen This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU node The bi...

Page 60: ...iag for PROFIBUS This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the diagnostic bit for each FMU slave The bit of the corresponding slave station is logical 1 latest received slave diagnostic data is available in the internal diagnostic buffer If the bit is set to 1 you can enter the corresponding slave station number at the input Slave_Diagnostic_iNumber and FPWIN Pro ...

Page 61: ... FPWIN Pro will tell you what the error is 0 since the last diagnostic buffer read access of the host no values have changed in the internal diagnostic buffer The values in the variable Sl_state are only valid if the master is in the OPERATE state The following table shows the relationship between the SI_state bit and the SI_diag bit SI_state 0 SI_state 1 Sl_diag 0 Device not operative no process ...

Page 62: ...ing node guarding failed The master holds newly received diagnostic data in the internal diagnostic buffer Node is present on the bus node guarding is active PDO exchange The master holds newly received diagnostic data in the internal diagnostic buffer 5 3 5 SlaveDiagnostic_bIsDone Output The inputs and outputs found on the lower half of the function block help you diagnose problems Connected to t...

Page 63: ... S Network in general Check master DP address or highest station address of other masters Examine bus wiring for short circuits 161 Remote address requested out of range All Master Check slave node address in request message 5 3 7 SlaveDiagnostic_awData Output The inputs and outputs found on the lower half of the function block help you diagnose problems Connected to the output pin SlaveDiagnostic...

Page 64: ...5 Inplausible response from slave 6 Last parameter telegram faulty 7 Slave parameterized by another master 8 Slave must be parameterized 9 Get diagnostic from slave until the bit is set to OFF 16 0000 10 1 11 Watchdog activated 12 Freeze command activated 13 Sync command activated 14 Reserved by system 15 Slave not projected ARRAY 1 addtional slave status For ARRAY 1 the lower byte contains additi...

Page 65: ...n device produced and consumed connection size to the resulting configured ones 4 6 Reserved by system 7 Device is deactivated in current configuration and not handled ARRAY 0 higher byte state of device For each device the FMU has a state machine handler For ARRAY 0 the higher byte stores values that correspond to a state in the device Value Description 0 State machine enter 1 Device inactive not...

Page 66: ...connected explicit connection request 2nd time 33 Wait for unconnected explicit connection response 34 Close unconnected connection request 35 Wait for close unconnected connection response 36 Release all established connections request 37 Wait for connection release response 38 Open user unconnected explicit connection request 39 Wait for user explicit connection response 40 User predefined maste...

Page 67: ...dditional error code of each incoming error response message of the device ARRAY 2 higher byte and ARRAY 3 lower byte timeout information The higher byte of ARRAY 2 and the lower byte of ARRAY 3 contain timeout information If a device is supervised by the expected packet rate of a connection and times out the timer will be incremented The actual value gives an overview of how good the transmission...

Page 68: ...manual Here is an extract Device profile for I O modules 401 16 0191 Device profile for drives and motion control 402 16 0192 Device profile for encode 406 16 0196 ARRAY 2 higher byte node state If the node guarding protocol is active for this node node status register read is written into this variable The following values are defined in the CANopen specification Value Description 1 Disconnected ...

Page 69: ... have to be of one of the following data types Pin Data type Input Output Function INT iUnitSlotNumber Installation position of the unit DUT dutUnitInfo The DUT attached consists of several variables of the data type STRING that contain information about the unit specifed Connected to the output pin dutUnitInfo is the variable ModuleInfo which in turn is part of the DUT UnitInfo included in the FM...

Page 70: ...Chapter 6 Outline Dimensions ...

Page 71: ...Outline Dimensions FMU Technical Manual 62 6 1 Outline Dimensions of the FP2 FMU 80 4mm 93 0mm 27 7mm 100mm PROFIBUS SYS COM DPV1 M DeviceNet MNS COM DEV M CANopen SYS COM CAN M Front Side ...

Page 72: ... 2 Outline Dimensions of the FPΣ FMU 63 6 2 Outline Dimensions of the FPΣ FMU 30 0mm 4 5mm 90 0mm 60 0mm 3 5mm FPG DPV1 M PROFIBUS Master COM SYS FPG CAN M CANopen Master COM SYS FPG DEV M DeviceNet Master MNS SYS Front Side ...

Page 73: ......

Page 74: ...pen Communication Specifications 19 FP DeviceNet 12 FP DeviceNet Communication Specifications 18 FP FMU LEDs and Connectors 10 FP PROFIBUS DP 11 FP PROFIBUS DP Communication Specifications 17 FPΣ FMU 8 G General Information 34 GetPointer 35 GetPointer Function 35 GlobalBusStateField for CANopen 45 GlobalBusStateField for DeviceNet 41 GlobalBusStateField for PROFIBUS 38 I Important Symbols iii Inst...

Page 75: ...IBUS 51 Sl_state for CANopen 50 Sl_state for DeviceNet 50 Sl_state for PROFIBUS 49 SlaveDiagnostic_awData Output 54 SlaveDiagnostic_bIsDone Output 53 SlaveDiagnostic_iHasError Output 53 Slaves_abHasDiagnostic Output 50 Slaves_abIsConfigured Output 48 Slaves_abIsConnected Output 49 Specifications 15 SYS LED 10 U UnitInfo DUT 60 W Wiring of the FP FMU Connectors 28 Wiring of the FPΣ FMU 31 ...

Page 76: ...Record of Changes Manual No Date Description of changes ACGM0161V10EN July 2008 First edition ...

Page 77: ...blica 24 20154 Milano MI Tel 39022900 5391 Fax 39022900 3466 www panasonic building materials com Nordic Countries Panasonic Electric Works Nordic AB Sjöängsvägen 10 19272 Sollentuna Sweden Tel 4659476680 Fax 46859476690 www panasonic electric works se PEW Fire Security Technology Europe AB Citadellsvägen 23 21118 Malmö Tel 46406977000 Fax 46406977099 www panasonic fire security com Poland Panason...

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