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Chapter

Operating Instructions

ICR890 High-end CCD Camera System

8011325/0000/2006-10-24

Electrical installation

Cables no. 6021166/no. 6021175 for the camera (CAN 1-IN connection), PVC-free

Cable no. 6024861 for the camera (IN 1/IN 2 connections), standard

Cable no. 6027559 for the camera (OUT connection), standard

Signal

Wire colour

Shield

–

CAN_V+

red

CAN_GND

black

CAN_H

white

CAN_L

blue

Tab. 5-32: Wire colours assignment: Cables no. 6021166/no. 6021175 (CAN 1-IN), PVC-free

Signal

Wire colour

+24 V DC

brown

IN 1–/IN 2–

white

GND

blue

IN 1+/IN 2+

black

–

grey

Tab. 5-33: Wire colours assignment: Cable no.6024861 (IN 1/IN 2), standard

Signal

Wire colour

Result 1+

brown

Result 1–

white

Result 2–

blue

Result 2+

black

Tab. 5-34: Wire colours assignment: Cable no. 6027559 (OUT), standard

socket

plug

socket

Summary of Contents for ICR890

Page 1: ...Camera System for Reading 1 D and 2 D Codes with Superb Image Quality suitable for OCR and Video Coding Applications ICR890 High end CCD Camera System OPERATING INS TR UCTIONS ...

Page 2: ...o Ident Reute Plant Nimburger Strasse 11 79276 Reute Germany Trademark Windows98TM NTTM METM 2000TM XPTM and Internet ExplorerTM are registered trademarks or trademarks of the Microsoft Corporation in the USA and other countries Latest manual version For the latest version of this manual PDF see www sick com Software Tool Function Version ICR890 System SICK Firmware From version 1 0 0000 ICR890 De...

Page 3: ... 5 Electrical installation page 53 Familiarizing yourself with the device and its functions Chapter 3 Product description page 23 Chapter 6 3 6 Changing the device password for the user level Authorized Client page 88 Chapter 9 Technical data page 103 Starting up the device with the default setting Chapter 6 3 First startup page 80 Installing the SOPAS ET Configuration Software on the PC Chapter 6...

Page 4: ...R890 System to the MSC800 13 Connect the photoelectric reflex switch MLG Light Grid incremental encoder as well as data processing host and PC to the MSC800 configuration 14 Connect the MSC800 to the supply voltage 100 to 264 V AC 50 to 60 Hz 15 Switch on the MSC800 using the main switch The ICR890 System and the MSC800 start up automatically 16 Switch on the PC and install the SOPAS ET Configurat...

Page 5: ...2 5 2 Dispose of the device after decommissioning 21 3 Product description 23 3 1 Design 23 3 1 1 Device view 24 3 1 2 Included in delivery 25 3 1 3 Contents of the CD ROM 26 3 1 4 Device versions 26 3 2 System requirements 26 3 2 1 General system requirements 26 3 2 2 Installation requirements 27 3 2 3 Electrical installation requirements 28 3 2 4 Operation requirements 28 3 3 Product features an...

Page 6: ...rforming electrical installation 64 5 4 1 Connecting the power supply cable and the ICI890 Illumination control line 64 5 4 2 Power supply of the ICR890 System 64 5 4 3 Data interfaces HOST AUX 65 5 4 4 Data interface CAN 1 IN OUT 66 5 4 5 Wiring the Ethernet interface HOST ETHERNET 68 5 4 6 Wiring the Ethernet interfaces GBIT 1 and GBIT 2 69 5 4 7 Wiring the switching inputs IN 1 and IN 2 69 5 4 ...

Page 7: ... in the reading result of a 1 D code bar code 101 8 4 SICK support 102 9 Technical data 103 9 1 Data sheet for ICR890 Camera 103 9 2 Data sheet for ICI890 Illumination 105 9 3 Data sheet for deflection mirror 105 9 4 Specification diagram 106 9 4 1 Reading conditions for the diagram 106 9 4 2 Reading areas of the ICR890 System 106 9 4 3 Max resolution across the direction of transport 107 9 4 4 Ma...

Page 9: ...mera System JPEG Joint Photographic Expert Group pixel oriented file format for saving high compression photos compression process for tiff formats LED Light Emitting Diode lpi Lines per inch 1 inch 25 4 mm MAC Medium Access Control MLG Modular Light Grid MSC Modular System Controller MSC800 MTBF Mean Time Between Failure MTTR Mean Time To Repair O Output RAM Random Access Memory ROM Read Only Mem...

Page 10: ...ystem ICD890 Image Capture Device simplified ICD890 Camera ICI890 Image Capture Illumination simplified ICI890 Illumination MSC800 Modular System Controller simplified MSC800 MLG Light Grid Modular Light Grid simplified MLG Light Grid VMS4xx 5xx Volume Measuring System simplified VMS4xx 5xx SICK Open Portal for Application and Systems Engineering Tool simplified SOPAS ET Configuration Software The...

Page 11: ... lengths between ICR890 and the host 65 Tab 5 12 CAN bus Maximum cable lengths depending on the data transfer rate 66 Tab 5 13 CAN bus Maximum stub cable lengths depending on the data transfer rate 66 Tab 5 14 CAN bus Required wire cross section depending on the data cable length 67 Tab 5 15 Ratings of the switching inputs IN1 and IN 2 69 Tab 5 16 Ratings of the switching outputs Result 1 and Resu...

Page 12: ... alone device without MSC800 Overview of parameters which have to be set 86 Tab 8 1 Request Query warnings 99 Tab 8 2 Answer to the request Query warnings 99 Tab 8 3 Request Query errors 100 Tab 8 4 Answer to the request Query errors 100 Tab 8 5 Request Query fatal errors 100 Tab 8 6 Answer to the request Query fatal errors 100 Tab 8 7 Meaning of the ST error status in the reading result 101 Tab 9...

Page 13: ...umination 47 Abb 4 3 Arrangement above the conveyor system for single side reading from above 47 Abb 4 4 Arrangement at the conveyor system for multi side reading with VMS4xx 5xx 48 Abb 4 5 Arrangement at the conveyor system 48 Abb 4 6 Position of the components 49 Abb 4 7 180 bracket for the deflection mirror and the illumination 49 Abb 4 8 Removeable protective camera caps 51 Abb 4 9 Position of...

Page 14: ...ions of the ICR890 System 108 Abb 9 5 Total dimensions of the ICR890 System and the free space required for connecting 109 Abb 9 6 Dimensions of the deflection mirror 110 Abb 10 1 EC Declaration of Conformity for the ICD890 Camera page 1 scaled down version 124 Abb 10 2 EC Declaration of Conformity for the ICI890 Illumination page 1 scaled down version 125 Abb 10 3 Code samples of 1 D codes of var...

Page 15: ...CR890 System as a stand alone device is optimized to a single side reading from above or from the side Configuration of the ICR890 System for the application specific reading conditions and operation is carried out via the SOPAS ET Configuration Software at a WindowsTM PC The SOPAS ET Configuration Software contains an online help system to facilitate configuration Electrical installation of the M...

Page 16: ...dations help you carry out certain procedures more effectively TIP Tips explain settings in the SOPAS ET Configuration Software PROJECT This font indicates a term in the user interface of the SOPAS ET Configuration Software Icons refer to buttons in the user interface of the SOPAS ET Configuration Software 0x0 This font indicates messages output by the ICR890 System This symbol identifies sections...

Page 17: ...tions for the various tasks 2 1 1 Installation and maintenance Practical technical training Knowledge of current health and safety regulations at the workplace 2 1 2 Electrical installation and the replacement of system components Practical electrical training Knowledge of current electrical safety regulations Knowledge of startup and operation of the device in each operational area e g conveyor s...

Page 18: ...during Single or multi side reading The ICR890 System transfers the reading data via its HOST main data interface serial RS 232 RS 422 485 Ethernet or CAN with optionally selectable diagnosis data to a superordinate host processor for further processing The ICR890 System transfers its data via the CAN interface to the MSC800 in combination with the MSC800 The data can then be accessed from the HOS...

Page 19: ...ustrial environment 2 3 2 Installation work Risk of injuries due to falling components The combined weight of the ICD890 Camera and the ICI890 Illumination is approx 37 kg 81 6 lb without installation accessories Do not carry out installation work alone A second person should always secure components during installation 2 3 3 Electrical installation work Risk of injuries due to electrical current ...

Page 20: ...nism of the LED illumination during the reading process The LEDs are switched on in pulsed mode during the reading operation depending on the reading gate duration A time stage illumination timeout automatically switches off the illumination during the reading operation after 3 seconds default setting following the start of a continuous reading pulse This however does not switch off the reading pu...

Page 21: ... via MSC800 power supply ICI890 Illumination typically 350 W with 24 V DC 10 via MSC800 power supply MSC800 0000 logic controller typically 10 W with 24 V DC 10 2 5 2 Dispose of the device after decommissioning At present SICK AG will not accept the return of any devices which can no longer be operated or repaired Inoperable or irreparable devices must be disposed of in an environmentally friendly...

Page 23: ...rror The ICR890 System is operated in combination with the MSC800 Modular System Controller via a CAN bus The MSC800 supplies the ICR890 System with power For further information on the MSC800 see the MSC800 Operating Instructions no 8011540 External sensors are required for the reading pulse detection of the object distance and for creation of the increment signal These sensors and the superordin...

Page 24: ... cooling the ICI890 Illumination 4 Guide pins 4 x for use in 180 bracket 5 ICD890 Camera reading window 6 Electrical connections for the ICI890 Illumination 7 Electrical connections for the ICD890 Camera 8 Fixing for bracket 2 x 9 8 bl Complete ICR890 System from above Complete ICR890 System from below ICD890 Camera from below 1 7 bm bn bo 9 Handhold for camera 2 x bl Threaded centering pin for fi...

Page 25: ...installation kit Triggering the reading procedure 1 Connection cable For the power supply of the ICR890 System 1 Connection cable For the power supply of the ICI890 Illumination via the camera 1 Connection cable For control of the ICI890 Illumination via the camera 1 CAN bus data link For networking the ICR890 System with MSC800 via the CAN bus 1 Terminal resistance For CAN bus termination at the ...

Page 26: ...ng PDF files Note The current versions of publications and programs on the CD ROM can be downloaded at www sick com 3 1 4 Device versions The system components are available in the following versions 3 2 System requirements 3 2 1 General system requirements Type Order no Description ICD890 0000000 1027582 Camera with lens focal distance 135 mm 5 32 in standard device ICD890 0000001 1040277 the sam...

Page 27: ...tachment Note An installation frame made of 80 mm 3 15 in item aluminium profiles can be used for simple system installation Fig 3 4 The 180 brackets are aligned to these profiles Requirement Value Comment Max reading distance 3 000 mm 118 2 in from reading window Fig 3 3 page 26 Shortest permissible distance to the object 1 400 mm 55 2 in Aperture angle 25 Work area up to 2 400 mm 94 6 in Max tra...

Page 28: ...ost processor with RS 232 RS 422 485 data interface or Ethernet For further processing of the reading data via MSC800 also PROFIBUS DP Suitable visualization PC or PLC To display the system status Connection cables See Chapter 5 3 4 Assembled cables overview page 63 3 2 4 Operation requirements PC in the following version Minimum Pentium III 500 MHz 128 MB RAM CD drive RS 232 serial data interface...

Page 29: ...ded minimum power on time 3 s Automatic self test on system startup Diagnosis tools for system setup and system distance monitoring Configurable reading diagnosis data display in two reading result formats Operational data retrieval error code display on request in case of errors Activatable test string function for signalling readiness for operation Password protected configuration mode Back up o...

Page 30: ... Two 1 GBit Ethernet interfaces for fast image output Reading pulse External reading pulse via switching input s or data interface Electrical interfaces HOST data interface RS 232 RS 422 485 serial Ethernet or CAN various transfer rate and protocol configurations possible AUX data interface RS 232 RS 422 485 serial Ethernet or CAN permanent transfer rate data format and protocol CAN interface for ...

Page 31: ...side of moving objects in a conveyor system For single side readings the codes are detected from above below or from the side using a camera In order to allow easier installation and setup of the system the camera image is recorded using a deflection mirror Note Several cameras can be combined to allow detection of several sides in one passage multi side reading The method of operation is describe...

Page 32: ...der to scan the codes The threshold value can be adapted to the ambient conditions For more rapid analysis the analysis area can be restricted to across the direction of transport code position The SOPAS ET Configuration Software can among other things be used to configure features such as the code position and the symbol contrast PROJECT TREE ICR890 PARAMETER READING CONFIGURATION register tab CO...

Page 33: ...r dynamic focus control the ICD890 Camera requires continuous information on the distance to the object surface This data is provided by a lateral MLG Light Grid for readings from above The object dimensions are taken from the VMS4xx 5xx Volume Measurement System and processed via the MSC800 for readings from the side The SOPAS ET Configuration Software can among other things be used to configure ...

Page 34: ...run to the end due to an error e g when the conveyor system comes to a halt the illumination automatically switches off once the settable timeout has expired In order to prevent epilepsy the minimum power on time of the illumination is 3 s The illumination mode and the timeout for the ICI890 Illumination can be configured using the SOPAS ET Configuration Software PROJECT TREE ICR890 PARAMETER READ...

Page 35: ... an angle of approx 15 β skew on the object surface against the direction of transport The position and the angle of the camera and the deflection mirror can be configured using the SOPAS ET Configuration Software PROJECT TREE ICR890 PARAMETER POSITION register tabs OFFSET COORDINATES and ANGLES 3 4 6 Increment configuration In order to control the camera line frequency the ICR890 System requires ...

Page 36: ...sful decoding the marking of the corresponding image areas can also be displayed The image format and the scaling quality can be configured using the SOPAS ET Configuration Software PROJECT TREE ICR890 PARAMETER IMAGE ACQUISITION register tab REQUEST Decoding The recorded image is analyzed by the ICR890 System This identifies regions of interest in which codes are suspected Fig 3 10 Example of an ...

Page 37: ...ividually The SOPAS ET Configuration Software has individual register tabs for each type 3 4 9 Data processing Start Stop operation There is only one object in the reading area during start stop operation i e all the read codes should be unambiguously assigned to the object The start and stop of the reading process control two reading pulse sensors at the beginning and at the end of the reading ar...

Page 38: ...y 10 mm 394 mil of movement in the direction of transport see Chapter 3 4 6 Increment configuration page 35 This allows the ICR890 System to generate a clear display of the distance between the reading pulse sensor and the object release point Any fluctuations during startup of the conveyor technology or reductions in speed caused by heavy objects are also detected For clear separation of consecut...

Page 39: ...g the SOPAS ET Configuration Software PROJECT TREE ICR890 PARAMETER NETWORK ARCHITECTURE register tabs NETWORK OPTIONS and MASTER SLAVE 3 4 12 Data interfaces Numerous data interfaces are available at the ICR890 System The data interfaces can be configured using the SOPAS ET Configuration Software PROJECT TREE ICR890 PARAMETER INTERFACES SERIAL PROJECT TREE ICR890 PARAMETER INTERFACES ETHERNET PRO...

Page 40: ... can be used to display the system status The digital outputs can be configured using the SOPAS ET Configuration Software PROJECT TREE ICR890 PARAMETER DIGITAL OUTPUTS register tabs OUTPUT 1 and OUTPUT 2 3 4 14 Digital inputs The external sensor for the object trigger control photoelectric reflex switch and the incremental encoder can e g be connected to the two digital inputs The digital inputs c...

Page 41: ...e of an error startup and diagnosis can only be carried out via the SOPAS ET Configuration Software The system works fully automatically in normal operation Further operating elements are not available at the ICR890 System Parameter set on the SD memory card The configured parameter values are saved as a parameter set in the internal EEPROM of the ICR890 System and on the SD memory card of the ICD...

Page 42: ... ICD890 Camera LED Colour Indication DEVICE READY green Lights up after switching on and a successful self test Lights up permanently during reading operation Goes off when the configuration mode changes RESULT green Lights up during reading operation after a successful reading default setting Good Read 100 ms IllUMINATION green Lights up during reading operation if the ICI890 Illumination of the ...

Page 43: ...t depends on the reading distance to the object Fig 3 15 shows the curve gradient for the standard 135 mm 5 32 in lens and the CCD with 8 192 pixels Max line resolution in the direction of transport The line resolution in the direction of transport depends on the conveyor speed Fig 3 16 shows the curve gradient for the standard 135 mm 5 32 in lens and the CCD with 8 192 pixels with a max line rate...

Page 45: ...f the devices are opened the manufacturer s warranty shall not apply 4 2 Installation preparations 4 2 1 Layout the components which are to be installed The following components of the ICR890 System have to be placed ready for installation Deflection mirror with protective film ICI890 Illumination with protective caps ICD890 Camera with yellow and black protective caps For further components see C...

Page 46: ...g the installation location Dimensional sheet The general installation location requirements are described in Chapter 3 2 2 page 27 The project specific specifications position of the components distances angles etc are contained in a dimensional sheet and have to be adhered to when installing components Abb 4 1 Example of a project specific dimensional sheet for installation ...

Page 47: ...ws easy access to the connections 4 2 4 Arrangement at the conveyor system The arrangement of the components above the conveyor system depends on the project specific requirements and the number of systems Abb 4 2 Free space required for connecting the camera and the illumination Free space required for connecting L x W x H 496 mm 19 5 in x 250 mm 9 85 in x 210 mm 8 3 in Abb 4 3 Arrangement above ...

Page 48: ...amera is always installed together with a deflection mirror The front of the illumination and the reflector surface have to be exactly parallel to each other and aligned at a right angle to the conveyor system Abb 4 4 Arrangement at the conveyor system for multi side reading with VMS4xx 5xx Abb 4 5 Arrangement at the conveyor system Arrangement for reading from above below top view Arrangement for...

Page 49: ...In order to facilitate component alignment the deflection mirror and the unit consisting of the illumination and the camera are attached to the installation frame via 180 brackets After loosening the clamping screws the angle of the brackets can be adjusted from 0 to 180 as required To achieve this the clamping screws can be screwed into the various threaded holes Abb 4 6 Position of the component...

Page 50: ...esired angle and retighten the clamping screws 6 Remove the protective film from the deflection mirror 4 3 2 Installing the ICI890 Illumination and the ICD890 Camera The illumination is attached to the installation frame via two 180 brackets The position of the illumination is the result of the distance to the deflection mirror see pivotal point of the brackets Fig 4 6 page 49 The illumination has...

Page 51: ... The reading pulse sensor photoelectric reflex switch is attached to the right hand edge of the conveyor system according to the specifications in the project specific dimensional sheet The position of the photoelectric reflex switch is the reference point for the position of the other components see Fig 4 6 page 49 The photoelectric reflex switch has to be aligned as vertically as possible in the...

Page 52: ...installation frame For further information see the MLG Modular Light Grid Operating Instructions no 8009403 4 4 4 Installing the MSC800 Controller The MSC Controller is attached directly to the installation frame according to the specifications in the project specific dimensional sheet Select a position for the MSC800 which ensures that the cables to the controller are easy to lay Install the MSC8...

Page 53: ...ng the host processor RS 232 RS 422 485 Ethernet or CAN Connecting the reading pulse sensor s Connecting the MLG Light Grid RS 485 or the VMS4xx 5xx CAN Connecting the incremental encoder Connecting a PC laptop temporarily for startup configuration RS 232 or Ethernet Optional Wiring the switching outputs for system status indication Optional Connecting the special PC with 2 GBit Ethernet interface...

Page 54: ...ions on how to carry out the individual installation sequences are contained in Chapter 5 4 page 64 5 2 1 Electrical installation of the ICR890 System without MSC800 Block diagram of the ICR890 System without MSC800 for single side reading from above Abb 5 1 Block diagram connection principle of the ICR890 standard system ICR890 System IN 2 OUT 1 2 HOST ETHERNET PC laptop Configuration diagnosis t...

Page 55: ...livery 5 HOST or AUX Detection of object height MLG Light Grid RS 485 Included in delivery 6 IN 2 Increment signals Incremental encoder resolution 10 mm 394 mil incr Included in delivery 7 OUT 1 2 Indication of system status PLC optional No 6027559 10 m 32 8 ft 8 HOST or HOST ETHERNET Data output of the reading result Host processor RS 232 RS 422 485 or Ethernet RS 232 RS 422 485 no 6028420 10 m 3...

Page 56: ...bject height HOST ETHERNET PROFIBUS TRIGGER MLG Light Grid Reading result Host processor CAN 1 Increment Photoelectric reflex switch Incremental encoder ILLUMINATION POWER OUT OUT 1 2 HOST AUX HOST Reading pulse No ICD890 Camera connection Function Connection to Cable to be used 1 POWER OUT Illumination power supply POWER IN connection of the ICI890 Illumination No 2039397 2 ILLUMINATION Illuminat...

Page 57: ... reading pulse sensor Included in delivery 3 HOST or AUX Detection of object height MLG Light Grid RS 485 Included in delivery 4 INC Increment signals Incremental encoder resolution 0 2 mm 7 9 mil incr Included in delivery 5 HOST or ETHERNET or PROFIBUS Data output of the reading result at the ICR890 System Host processor RS 232 RS 422 485 or Ethernet Cable provided by the client 6 OUT 1 2 Indicat...

Page 58: ... IN OUT ILLUMINATION POWER OUT Increment VMS4xx 5xx CAN 1 GBIT 1 2 ETHERNET TACHO HOST No ICD890 Camera connection Function Connection to Cable to be used 1 POWER OUT Illumination power supply POWER IN connection of the ICI890 Illumination No 2039397 2 ILLUMINATION Illumination control ILLUMINATION connection of the ICI890 Illumination No 6030216 3 POWER IN Power supply 24 V DC Internal power supp...

Page 59: ...gger signals External reading pulse sensor Included in delivery 3 HOST or ETHERNET or PROFIBUS Data output of the reading result of all ICR890 Systems via the MSC800 Host processor RS 232 RS 422 485 or Ethernet Cable provided by the client 4 OUT 1 2 Indication of system status PLC optional Cable provided by the client 5 AUX or USB or ETHERNET Configuration Diagnosis Standard PC temporarily Cable p...

Page 60: ...ts ESD according to CE The protective caps have the following colours M12 connectors yellow plugs and black sockets RJ 45 connections Grey fixed to the device via a strap cannot be lost Power supply black RF interference in case of use in residential areas ICR890 High end CCD Camera System is exclusively intended for use in an industrial environment 5 3 1 Electrical connections of the ICD890 Camer...

Page 61: ...rk 1 CAN 2 OUT M 12 5 socket Output CAN SENSOR network 2 reserved CAN 2 IN M 12 5 plug Input CAN SENSOR network 2 reserved ILLUMINATION M 12 8 socket Control data interface ICI890 Illumination AUX M 12 8 plug Auxiliary data interface RS 232 RS 422 485 HOST M 12 8 plug Main data interface RS 232 RS 422 485 OUT M 12 4 plug Two digital switching outputs system status IN 1 M 12 5 socket Digital switch...

Page 62: ...xiliary data interface ETHERNET 2 RJ 45 8 socket Auxiliary data interface USB 1 USB 4 Auxiliary data interface ETHERNET 1 RJ 45 8 plug Main data interface AUX 2 Block 14 terminals Auxiliary data interface RS 232 RS 422 485 AUX 1 D Sub 9 plug Auxiliary data interface RS 232 RS 422 485 OUT Block 14 terminals Digital switching outputs system status IN Block 12 terminals Digital switching inputs TRIGG...

Page 63: ...5 CAN SENSOR network 6021167 CAN terminal resistance 5 pole M12 plug IP 65 Ethernet 6029776 Patch cable for GBit Ethernet CAT6 PVC free 10 m 32 8 ft RJ 45 plug RJ 45 plug IP 65 20 Ethernet 6029775 Crossover cable for GBit Ethernet CAT6 PVC free 10 m 32 8 ft RJ 45 plug RJ 45 plug IP 65 20 HOST Ethernet 6030928 Patch cable for HOST Ethernet 10 100 MBps CAT5 3 m 9 84 ft 4 pole M12 plug RJ 45 plug IP ...

Page 64: ...re end ferrules when fixing open wire ends to spring terminals since secure contact is otherwise not ensured 5 4 1 Connecting the power supply cable and the ICI890 Illumination control line The system internal connection between the ICD890 Camera and the ICI890 Illumination is realized via two short cables no 2039397 and no 6030216 included in the delivery Plug the power supply cable no 2039397 in...

Page 65: ...the data transfer rate Recommendation Use shielded data cables twisted pair To prevent interference do not lay data cables parallel to power supply cables and motor lines over a longer distance e g in cable channels Wiring the HOST AUX data interface Damage to the interface modules Incorrect wiring of the HOST AUX data interfaces can damage electronic components in the ICR890 System Wire the data ...

Page 66: ...length must not be exceeded The maximum length of each individual stub cable must not exceed 6 m 19 7 ft Abb 5 6 ICD890 Camera Wiring of the HOST AUX data interfaces RS 232 RS 422 ICR890 ICR890 3 2 5 9 pole D Sub plug at PC 3 4 5 4 6 7 6 7 Data transfer rate Maximum data cable length 10 kBps 4 976 m 16 325 ft 20 kBps 2 476 m 8 123 3 ft 50 kBps 976 m 3 202 ft 100 kBps 576 m 1 889 7 ft 125 kBps 476 ...

Page 67: ...ing the cable no 6021166 See Tab 5 32 page 76 for pin wire colour assignment Attach the open cable end to the CAN 1 connection in the MSC800 Attach the terminal resistance no 6021167 to the CAN1 OUT connection of the ICD890 Camera The signals for the reading pulse and increment are transmitted to the ICR890 System via the CAN bus Direct connection to the ICR890 System is thus not required The HOST...

Page 68: ... to the serial interface version RS 232 RS 422 485 Access to the ICR890 System via the SOPAS ET Configuration Software Connection as RDT400 Client system distance monitoring Connecting the ETHERNET HOST interface Connect the ICD890 Camera directly to the Ethernet card of the PC point to point connection using the crossover cable see Tab 10 4 page 115 or Connect the ICD890 Camera to the Ethernet ne...

Page 69: ...via the switching input IN 2 Fig 5 8 shows the wiring of switching input IN 1 as an example Tab 5 15 contains ratings for both inputs Connecting the switching inputs IN 1 and IN 2 1 Connect the reading pulse sensor photoelectric reflex switch to switching input IN 1 as shown in Fig 5 8 2 Connect the incremental encoder to switching input IN 2 as shown in Fig 5 8 3 For power supply via the ICD890 C...

Page 70: ...n example in Fig 5 9 Note In the Device Ready function the output supplies a static pulse if the ICR890 System is in reading operation Recommendation Wire the outputs with a load resistance to test the switching functions using a high resistance digital voltmeter Indication of incorrect voltages switching statuses is avoided this way Abb 5 9 Wiring of the switching outputs Result 1 and Result 2 IC...

Page 71: ...N 2 OUT connections CAN SENSOR networks Abb 5 10 ICD890 Camera Electrical connections standard system Ethernet GBit channels Power supply Ethernet host Pin Ethernet signal Function 1 TD Transmitter 2 TD Transmitter 3 RD Receiver 4 n c 5 n c 6 RD Receiver 7 n c 8 n c Tab 5 17 ICD890 Camera Pin assignment of the 8 pole RJ 45 sockets GBIT1 and GBIT2 Pin CAN signal Function 1 Shield Shielding 2 CAN_V ...

Page 72: ... CAN 2 IN Pin Signal Function 1 n c 2 LAMP_ON Illumination ON OFF 3 n c 4 n c 5 RD TD RS 485 Transmitter Receiver 6 RD TD RS 485 Transmitter Receiver 7 GND Ground 8 n c Tab 5 20 ICD890 Camera Pin assignment of the 8 pole M12 socket ILLUMINATION Pin Signal Function 1 n c 2 n c 3 RD RS 485 Receiver 4 RD RxD RS 485 RS 232 Receiver Receiver 5 TD RS 485 Transmitter 6 TD TxD RS 485 RS 232 Transmitter Tr...

Page 73: ...tput 2 Tab 5 23 ICD890 Camera Pin assignment of the 4 pole M12 plug OUT Pin Signal Function 1 24 V DC Power supply for sensor 2 IN 1 Switching input 1 optocoupler 3 GND Ground 4 IN 1 Switching input 1 optocoupler 5 Tab 5 24 ICD890 Camera Pin assignment of the 5 pole M12 socket IN 1 Pin Signal Function 1 24 V DC Power supply for sensor 2 IN 2 Switching input 2 optocoupler 3 GND Ground 4 IN 2 Switch...

Page 74: ...ND ICI890_1 Ground 3 24 V DC ICI890_1 Power supply IN 4 n c 5 n c 6 GND ICD890 Ground 7 24 V DC ICI890_2 Power supply IN 8 GND ICI890_2 Ground PE Protective ground Tab 5 27 ICD890 Camera Pin assignment of the 8 pole Harting HanQ8 plug POWER IN Pin Signal Function 1 n c 2 GND ICI890_1 Ground 3 24 V DC ICI890_1 Power supply OUT 4 n c 5 n c 6 n c 7 24 V DC ICI890_2 Power supply OUT 8 GND ICI890_2 Gro...

Page 75: ...ly IN 4 n c 5 n c 6 n c 7 24 V DC ICI890_2 Power supply IN 8 GND ICI890_2 Ground PE Protective ground Tab 5 29 ICI890 Illumination Pin assignment of the 8 pole Harting HanQ8 plug POWER IN Pin Signal Function 1 n c 2 LAMP_ON Illumination ON OFF 3 n c 4 n c 5 RD TD RS 485 Transmitter Receiver 6 RD TD RS 485 Transmitter Receiver 7 GND Ground 8 n c Tab 5 30 ICI890 Illumination Pin assignment of the 8 ...

Page 76: ...he camera OUT connection standard Pin Signal Wire colour 1 Shield 2 CAN_V red 3 CAN_GND black 4 CAN_H white 5 CAN_L blue Tab 5 32 Wire colours assignment Cables no 6021166 no 6021175 CAN 1 IN PVC free Pin Signal Wire colour 1 24 V DC brown 2 IN 1 IN 2 white 3 GND blue 4 IN 1 IN 2 black 5 grey Tab 5 33 Wire colours assignment Cable no 6024861 IN 1 IN 2 standard Pin Signal Wire colour 1 Result 1 bro...

Page 77: ...CI890_1 Wire 3 black 4 n c 5 n c 6 GND ICD890 Wire 2 black 7 24 V DC ICI890_2 Wire 5 black 8 GND ICI890_2 Wire 6 black PE green yellow Tab 5 35 Wire colours assignment Cable no 2039398 ICD890 Camera power supply standard Pin Signal Wire colour numbers printed on wires 1 24 V DC ICD890 Wire 1 black 2 GND ICI890_1 Wire 4 black 3 24 V DC ICI890_1 Wire 3 black 4 n c 5 n c 6 GND ICD890 Wire 2 black 7 2...

Page 79: ...S ET Configuration Software for the ICR890 System MSC800 overview The online help in the SOPAS ET Configuration Software describes the general functions of the software and their operation MENU HELP HELP F1 Selecting the menu language German English Setup communication with the ICR890 System MSC800 Password protected configuration for various operating levels Presentation of the image storage cont...

Page 80: ... not provide a reading result in configuration mode Parameter Value User interface language English1 Units of length Metric User group operating level Machine operator Download parameter for changes Immediate temporary RAM of the ICR890 System Upload parameter after online switching Automatic Window layout 3 project tree help work area Serial communication COM 1 9 600 Bd 19 200 Bd 8 data bits 1 st...

Page 81: ...rotocol at the PC has to be active to enable communication via TCP IP Connecting data interfaces Interconnect the PC and the ICR890 System MSC800 according to Tab 6 2 s Connection via At data interface Comment MSC800 ETHERNET 1 10 100 MBps Connect the PC Ethernet interface MSC800 ETHERNET 1 connection and the ICR890 System HOST ETHERNET connection to a joint switch using a patch cable no 6030928 1...

Page 82: ...nection 1 In the dialog window SCAN WIZARD under SERIAL PORT STANDARD PROTOCOL check the check box for ENABLE SERIAL COMMUNICATION 2 Click on the ADVANCED button 3 Under BITS PRO SEKUNDE deactivate all the baud rates except 57 6 kbd 4 Select the following PORT SETTINGS 8 data bits no parity 1 stop bit 5 Click on OK to confirm settings The dialog window ADVANCED SCAN SETTINGS closes Configuring the...

Page 83: ...t under PASSWORD Click on OK to confirm the dialog window The previously greyed out parameters on the register tabs are now accessible Settings at the ICR890 System for application as a stand alone device with MSC800 single side reading Step Entry in the project tree Register tab Parameter 1 Reading config Codelabel properties Minimum code position Maximum code position Symbol Contrast 2 Reading c...

Page 84: ...r Slave Network function 17 Serial Serial Host Interface Output format Baudrate Stopbits Databits Parity Hardware Protocol Blockcheck 18 Serial Serial Auxilliary Interface Mode 19 Ethernet General IP Address IP Mask IP Gate Address Speed 20 GBit Ethernet GBit Ethernet 1 2 IP Address IP Mask IP Gate Address Speed 21 CAN CAN 1 2 Mode Node ID Baudrate Output format 22 Digital Outputs Output 1 2 Outpu...

Page 85: ...onfig Symbologies Data Matrix PDF 417 6 Data processing Tracking Tracking mode Object release point 7 Output Format Output Formating 1 2 8 Network Architecture Master Slave Network function 9 Serial Serial Host Interface Output format Baudrate Stopbits Databits Parity Hardware Protocol Blockcheck 10 Serial Serial Auxilliary Interface Mode 11 Ethernet General IP Address IP Mask IP Gate Address Spee...

Page 86: ...t 7 Position Offsets X Offset Y Offset Z Offset 8 Position Coordinates X Coordinate Y Coordinate Z Coordinate Distance to deflecting mirror 9 Position Angles Alpha Beta Gamma 10 Increment config Increment Increment source Resolution Speed 11 Image Acquisition Request Request Image format Bitmap scaling JPEG Quality Activate Diagnosis Output Output limited by code position 12 1D Code config Symbolo...

Page 87: ...elect the menu item SAVE PROJECT AS in the menu bar under PROJECT 2 Enter a file name in the dialog window and confirm it via SAVE The SOPAS ET Configuration Software saves the current settings in a configuration file SPR 3 In order to print out the current parameter set select the command PRINT PRINT PREVIEW in the menu bar under PROJEKT The SOPAS ET Configuration Software displays a preview of a...

Page 88: ...tting are permanently saved in the ICR890 System ROM and in the database of the SOPAS ET Configuration Software in the device specific jar file see Fig 6 1 page 80 A PC is not required for system startup with the default setting 6 4 1 Resetting the default setting in the ICR890 System Prerequisite The SOPAS ET Configuration Software is connected online to the ICR890 System 1 In order to completely...

Page 89: ...f possible do not clean the deflection mirror due to its structure 7 2 1 Cleaning the front window LED radiation of class 1M according to EN IEC 60825 1 Incorrect use can result in hazardous radiation exposure and the LED class being exceeded The accessible radiation of the ICI890 Illumination is not hazardous under reasonably foreseeable conditions provided that the beam width is not reduced by o...

Page 90: ...ionally clean the front window with a clean damp lint free cloth and a mild anti static window cleaning fluid If the front window is scratched or damaged cracked broken it must be replaced Please contact the SICK Service 7 2 2 Cleaning the housing In order to ensure sufficient cooling for the illumination make sure that the air inlet and outlet opening are always clean Use a soft brush to free the...

Page 91: ...t and loose dirt particles using cleaned oil free air Do not use canned compressed air since it can contain alkaline substances which corrode the surface of the mirror Removing solid particles Carefully remove more solid particles with a degreased camel hair brush previously treated with acetone Ensure that acetone does not come into direct contact with the reflector surface Cleaning the deflectio...

Page 92: ...tive surfaces can be installed e g photoelectric reflex switch for external reading pulsing or MLG Light Grid for detecting the object distance Soiling of these sensors can cause incorrect switching behaviour In order to prevent incorrect switching behaviour remove soiling from the optical effective surfaces of the external sensors Abb 7 3 Cleaning of the external optical sensors reading pulse gen...

Page 93: ...g removal installation 7 3 1 Replacing the ICD890 Camera or ICI890 Illumination Removing connection cables 1 Switch off the power supply to the ICR890 System 2 Loosen and disconnect all external cable connectors and sockets at the camera 3 Remove both connecting cables between the camera and the illumination Disconnecting system components 1 Loosen but do not remove the two clamping screws in the ...

Page 94: ... attach it using four hexagon socket screws 6 Align the complete unit parallel to the conveyor level 7 Use the clamping screws to fix the 180 brackets Reconnecting cables 1 Reconnect both connecting cables between the system components 2 Reconnect all external cables to the camera 3 Switch on the power supply to the ICR890 System The ICR890 System starts up and loads the parameter set from the mem...

Page 95: ...from the illumination Disposing of the ICI890 Illumination 1 Remove the illumination housing 2 Remove the electronic assemblies of the illumination and dispose of them as hazardous waste 3 Remove the front window of the illumination and set it aside for glass recycling 4 Set aside the fresnel lens for plastics recycling 5 Set aside the illumination housing for the recycling of aluminium pressure d...

Page 97: ...ensors for detecting object heights positioned incorrectly Incremental encoder optional positioned incorrectly 8 1 2 Electrical installation error Interfaces of the ICR890 System wired incorrectly 8 1 3 Configuration error Functions have not been adjusted to the local conditions e g parameters for the main data interface set incorrectly Device related limits have not been considered e g reading di...

Page 98: ...ring a reading 8 2 3 Status protocol Note The status protocol remains even after switching the device off and on again The system differentiates between four error types Information Warning Error Fatal error The system only saves the last five entries for each of the error types Displaying the status protocol with the aid of the SOPAS ET Configuration Software In order to display the status protoc...

Page 99: ...rnings Telegram part Description Variable type Length byte Value range Type of command Answer SOPAS answer string 3 sRA Command Query warnings string 6 MSwarn Parameters are repeated five times per memory for warnings irrespective of whether it is full or not Error code Hex value of the saved error code uint_32 4 00000001h FFFFFFFFh FirstTimePwrOnCnt Status of the power on counter at the time of t...

Page 100: ...R4 ParameterFATALERROR5 Example Request sRN MSfat Answer sRA MSfat 4912C912h 00A4h 0255h 0005h 00A4h 0256h 0006h 0256h 0000h 00000000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 00000000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 00000000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 00000000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h Telegram part Description Variable type Len...

Page 101: ...rint quality Check conveyor speed Adjust the parameter Object speed in the ICR890 System Check the bar code height Check the print quality 7 The source of the reading result is the auxiliary input via the Aux interface The bar code was not been detected by the reading of the ICR890 System but subsequently entered via the auxiliary function of the Aux interface and transferred to the host in a sepa...

Page 102: ... which cannot be eliminated The telephone numbers and email addresses are listed on the back page of this manual For postal addresses see also www sick com Do not send the device to the SICK service without first contacting us F Function CHECK MIN NUMBER OF CODES PRÜFEN is active The ICR890 System has detected less valid bar codes in the reading pulse than specified under NUMBER OF CODES MINIMUM I...

Page 103: ...n Standard2 or FTP Ambient light compatability 2 000 lx on 1 D 2 D code PCS print contrast 40 1 D code types bar codes 2 5 interleaved code 39 code 128 EAN UPC with add on Codabar EAN 128 2 D code types Data Matrix ECC200 PDF417 in preparation Number of objects per second Max 10 Minimum object gap 50 mm 1 97 in Number of codes per object 1 D max 50 2 D max 10 Number of characters per 1 D code Max ...

Page 104: ...ST ILLUMINATION 4 x 4 pole M12 IN 1 IN 2 OUT HOST ETHERNET 2 x RJ 45 socket GBIT ETHERNET 2 x 8 pole Harting connector POWER IN POWER OUT Operating voltage 24 V DC 10 in accordance with IEC 364 4 41 VDE 0100 Part 410 Current consumption Typically 75 W Housing Aluminium die casting Excluding the housing the system does not contain any materials using silicone Enclosure rating IP 64 in accordance wi...

Page 105: ...s 3 in accordance with IEC 1010 1 EMC vibration shock test In accordance with EN 61000 6 2 2001 EN 61000 6 4 2001 IEC 68 2 6 FC Test IEC 68 2 27 EA Test Dimensions See Fig 9 4 page 108 Weight Approx 23 5 kg 51 7 lb Fixing 2 x angle support U shaped including 2 x guide pin each 6 mm 0 24 in and 2 x M8 threaded hole for use in 180 brackets Ambient operating temperature Storage temperature 0 to 40 C ...

Page 106: ...or B in accordance with ANSI Print contrast 90 Ambient light 2 000 lx Minimum resolution 2 pixels module Tilt 360 Pitch 15 to 15 Skew 15 to 15 Tab 9 4 Reading conditions for the specification diagram Abb 9 1 Reading areas of the ICR890 System standard Reading distance mm Reading area height mm Min module width mm inch 100 3 9 200 7 8 300 11 8 400 15 8 500 19 7 600 23 6 1 200 47 3 1 400 55 2 1 600 ...

Page 107: ...rt 9 4 4 Max resolution in the direction of transport Abb 9 2 Pixel resolution across the direction of transport standard device 135 mm 5 32 in lens Resolution on the object dpi CCD line dpi dots per inch Reading distance mm Abb 9 3 Line resolution in the direction of transport standard device 8 192 pixels CCD sensor Conveyor speed m s Resolution on the object lpi CCD line lpi line per inch ...

Page 108: ...uto Ident Germany All rights reserved 8011325 0000 2006 10 24 Technical data 9 5 System dimensional drawing ICR890 Abb 9 4 Dimensions of the ICR890 System All dimensions in mm mm inch 9 0 35 40 1 58 50 1 97 95 3 7 110 4 3 148 5 8 154 6 1 348 13 7 1 190 46 9 1 224 48 2 1 400 55 2 3 000 118 2 ...

Page 109: ...for connecting Free space required for connecting L x W x H 496 x 250 x 210 L x W x H 1 224 x 348 x 231 L x W x H 1 224 x 255 x 212 L x W x H 496 x 208 x 214 mm inch 180 7 1 208 8 2 212 8 35 214 8 4 231 9 1 255 10 1 348 13 7 496 19 5 1 224 48 2 mm inch 35 1 4 60 2 4 90 3 55 102 4 0 107 4 2 144 5 7 190 7 5 210 8 3 222 8 7 250 9 9 283 11 2 496 19 5 1 000 39 4 1 400 55 2 2 100 82 7 3 000 118 2 All di...

Page 110: ... SICK AG Division Auto Ident Germany All rights reserved 8011325 0000 2006 10 24 Technical data 9 6 Deflection mirror dimensional drawing Abb 9 6 Dimensions of the deflection mirror All dimensions in mm mm inch 4 0 16 19 0 75 69 8 2 8 101 6 4 0 170 6 7 178 7 0 1125 6 44 3 ...

Page 111: ...mmand strings via all the data interfaces Each command string can be displayed via the SOPAS ET Configuration Software To request a command string in the SOPAS ET Configuration Software use the right mouse button to click on a parameter Note Both the command strings and the SOPAS ET Configuration Software are based on command language which directly accesses the command interpreter of the ICR890 S...

Page 112: ...0 ICode 5 Calculated code length 2 5 Interleaved Number of wide elements bars and spaces Number 1 ICode 2 Calculated code length EAN n a 13 characters normal version 8 characters short version Activate 13 digit Activate 8 digit UPC n a 12 characters UPC A normal version 6 characters UPC E short version Activate version A Activate version E Codabar Number of bars Number 8 ICode 4 Calculated code le...

Page 113: ...f Display On request 1 x ICI890 Illumination and ICD890 Camera 1 x power supply cable for the illumination no 2039397 1 x control line for the illumination no 6030216 1 x deflection mirror no 2039600 4 x 180 bracket no 2034457 for one bracket 1 x WL18 3 Reading Pulse Sensor photoelectric reflex switch with connection cable and installation kit no 2034693 1 x ICD890 Camera power supply cable no 203...

Page 114: ... 2006 10 24 Appendix 10 4 2 Accessories Controller and object distance detector Order no Description Display 1040386 MSC800 2300 On request MLG Modular Light Grid On request VMS410 VMS510 Volume Measurement System On request VMS410 VMS510 Volume Measurement System Tab 10 3 In stock accessories Controller and object distance detector 1 x 2 x ...

Page 115: ...ernet 6030928 Patch cable for host connection screened twisted pair with RJ 45 connector IP 65 and RJ 45 connector IP 20 CAT5 10 m 32 8 ft ICD890 Camera to Ethernet 6029630 Patch cable for host connection screened twisted pair with RJ 45 connector IP 65 and RJ 45 connector IP 20 CAT5 3 m 9 84 ft ICD890 Camera to Ethernet Crossover cable for host connection screened twisted pair with RJ 45 connecto...

Page 116: ...ion 0 2 mm 7 9 mil pulse max 100 kHz operating voltage 10 to 30 V DC operating temperature 0 to 60 C 32 to 140 F With fixing bracket and fixing material 10 m 32 8 ft connection cable with 5 pole M12 socket and open end For operation with the ICR890 System and a VMS4xx 5xx 2039456 Incremental encoder with friction wheel resolution 1 mm 39 4 mil pulse max 100 kHz operating voltage 10 to 30 V DC oper...

Page 117: ...d configuration of the VMS410 VMS510 80104472 Operating Instructions VMS420 VMS520 Volume Measurement System German Description of installation startup and configuration of the VMS420 VMS520 80104482 Operating Instructions VMS420 VMS520 Volume Measurement System English Description of installation startup and configuration of the VMS420 VMS520 80108173 Installation Instructions Connector caps for ...

Page 118: ...ints in the centre and on the edges determines the data content which is defined by the specification In the case of error correction during reading the code is tagged with a redundancy by way of a mathematical process e g for Data Matrix ECC200 via error correction code words The unidirectional reading of 2 D codes is carried out by way of image processing Aperture angle α Aperture within the bou...

Page 119: ... the ICR890 System Directly accesses the command interpreter of the ICR890 System Use of the host requires a corresponding programming task The SOPAS ET Configuration Software is based on the command strings Configuration file SOPAS ET Configuration Software file in which a complete Ö parameter set of the ICR890 System is stored for archiving Can be printed out as a table Data forwarding Possibili...

Page 120: ...sages Optical Ö messages in coded form 4 digit alphanumerical characters with which the ICR890 System detects a diagnostic error during the reading operation The output is executed via the Aux interface only The error messages can be displayed by the user in the SOPAS ET Configuration Software Focus position Distance of the lens focal point in front of the reading window The distance determines th...

Page 121: ... result No read The ICR890 System did not recognize any or the requested number of codes specified by the configured analysis conditions during the last Ö reading pulse No read format Special configurable data block as a replacement for each expected and unrecognised code in the data output string of the Host CAN or Ethernet interface in case of a Ö no read Consists of the reading data with withou...

Page 122: ... application specific Ö parameter set can be stored on the ICR890 System either temporarily of permanently In the case of temporary storage the parameter set is only contained in the working memory RAM and is lost as soon as the power supply is switched off In the case of permanent storage the parameter set is also transferred to the EEPROM of the ICR890 System and saved as a current data set afte...

Page 123: ...ting of the ICR890 System Tracking operation In this type of continuous reading pulse several objects are simultaneously located in a row in the reading area For unambiguous allocation of the read codes to the objects a minimum gap must be maintained between two objects and band increment signals have to be available The ICR890 System can be used with other ICR890 Systems using the MSC800 e g unid...

Page 124: ...0 24 Appendix 10 7 EC Declaration of Conformity Fig 10 1 and Fig 10 2 show a scaled down version of the EC Declaration of Conformity page 1 for the ICD890 Camera and the ICI890 Illumination The complete EC Declaration of Conformity can be requested from SICK AG Abb 10 1 EC Declaration of Conformity for the ICD890 Camera page 1 scaled down version ...

Page 125: ...structions Chapter 10 ICR890 Appendix 8011325 0000 2006 10 24 SICK AG Division Auto Ident Germany All rights reserved 125 Abb 10 2 EC Declaration of Conformity for the ICI890 Illumination page 1 scaled down version ...

Page 127: ...10 3 Code samples of 1 D codes of various module widths print ratio 2 1 and 2 D code of various cell sizes 2 5 Interleaved EAN 13 digit Code 39 Module width 0 30 mm 11 8 mil Module width 0 35 mm 13 8 mil Module width 0 5 mm 19 7 mil Cell size 0 5 mm 19 7 mil Data Matrix ECC200 I C R 8 9 0 4 0 9 6 0 7 2 6 1 6 5 5 9 9 8 7 6 5 4 3 2 1 0 PDF417 Cell size 0 3 mm 11 8 mil ...

Page 128: ...7 67 81 50 00 E Mail austefjord sick no Österreich Phone 43 0 22 36 62 28 8 0 E Mail office sick at Polska Phone 48 22 837 40 50 E Mail info sick pl Republic of Korea Phone 82 2 786 6321 4 E Mail kang sickkorea net Republika Slowenija Phone 386 0 1 47 69 990 E Mail office sick si Russia Phone 7 495 775 05 34 E Mail denis kesaev sick automation ru Schweiz Phone 41 41 619 29 39 E Mail contact sick c...

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