Vision & Control Vicosys 5400 Instructions For Use Manual Download Page 61

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vicosys

5400

Disposal

999.994.729.10-en-2.3

9 DISPOSAL

The device and its accessories and packaging must be sent to environmentally

compatible recycling.
Do not throw electrical devices or tools into the household waste!

According to European Directive 2012/19/EU on waste electrical and electronic

equipment and its implementation in national law, unusable electric tools must

be collected separately, and sent to environmentally compatible recycling.
Disposal, including that of individual components, must also always be in a way

that does not harm the environment, that is it must be done in accordance with

the currently valid legal regulations.
Please contact the manufacturer, your local specialist dealer or the relevant

national authority for the proper disposal of old devices.
The electrical and electronic components must be sent to a specialist recycling

company or to the manufacturer for proper disposal.

Summary of Contents for Vicosys 5400

Page 1: ...Instructions for Use 999 994 729 10 en 2 3 Vision Control GmbH 2017 vicosys 5400 Multi Camera System ...

Page 2: ...ts in as far as this has not been expressly authorized Offenders will be liable for damages All rights are reserved with respect to patent utility sample and design patent registrations as well as for rights of use within the scope of copyright vicotar vicolux pictor vicosys and vcwin are registered trademarks of Vision Control GmbH The products and brand names of other manufacturers or suppliers ...

Page 3: ...ic component camera card Designation Description Order no Camera interface 4 Port Gigabit Ethernet 4 21 172 The device can contain one of the following optional components process interfaces Designation Description Order no Digital I O card ADDI DATA 16 IN 16 OUT PNP Model APCIe 1500 4 21 170 Digital I O card ADLINK 16 IN 16 OUT NPN Model LPCIe 7230 4 21 171 The device can contain following option...

Page 4: ...e Views 14 4 2 Interfaces and Connectors 15 4 3 Display and Operating Elements 16 4 4 Notices on the device 17 4 5 Technical Drawings 18 5 Technical Data 19 5 1 General Parameters 19 5 2 Electrical Parameters 20 5 3 Interfaces 21 5 3 1 Ethernet interfaces 21 5 3 2 RS232 interfaces 22 5 3 3 USB interfaces 23 5 3 4 CAN interfaces 25 5 3 5 Digital on board I O interface 26 5 3 5 1 Digital input chann...

Page 5: ...gital on board I O interface 44 6 3 6 Connect the CAN interface optional software 45 6 3 7 Connect the digital I O interface Digital I O card ADDI DATA 46 6 3 8 Connect the digital I O interface Digital I O card ADLINK 49 6 3 9 Connecting and switching on the operating voltage 53 6 4 Creating a connection 55 6 4 1 Create a LAN connection direct connection 55 6 4 2 Create a serial connection 57 7 O...

Page 6: ...nstructions of use carefully and keep them for future reference 1 2 Intended Use The device is intended exclusively for use as a machine vision system for industrial image processing in automation technology The device is not suitable for use in potentially explosive areas It is intended for use in a confined environment The device may only be used if it is in technically faultless condition and o...

Page 7: ...ding specifications in the instructions of use Using spare parts which are not original parts from the manufacturer Using incompatible accessory components Improper maintenance and repair works Unauthorised modifications to the device 1 4 Qualified Personnel The device may only be assembled commissioned operated maintained installed set up cleaned repaired and transported by qualified skilled pers...

Page 8: ...m the use of this edition of the manual and rejects any warranty derived therefrom Within the bounds of the legal requirements the manufacturer shall only be responsible for the technical safety characteristics of the device if the maintenance repairs and modifications to the device are performed by himself or by authorised skilled personnel in accordance with his instructions Loss of warranty The...

Page 9: ... the measures to prevent conceivable consequences of the danger These measures must be taken DANGER Indicates an imminent danger with high risk resulting in severe injuries or death if not avoided WARNING Indicates a hazardous situation with medium risk possibly resulting in severe injuries or death if not avoided CAUTION Indicates a hazardous situation with low risk resulting in minor or medium i...

Page 10: ...er people and to avoid damage to the device and the connected technical equipment Hazards going beyond the general safety instructions are referred to separately at the relevant points in this manual Electric shock CAUTION Risk of injury due to electric shock Before starting work on the device disconnect it from the operating voltage supply Follow all applicable safety regulations for the preparat...

Page 11: ... SDDML und EDS files 1 x Small parts bag Operating voltage connector VGA DVI adapter IO connector 1 x Instructions for Use vicosys 5400 1 x 3 2 Accessories On the following pages you will find a detailed overview of all available accessories You will find more detailed technical information about the accessories on the data sheets in the product catalogue under www vision control com Mounting Desi...

Page 12: ...y Pad including connection cable length 2 m to operate the vcwin pro monitor menus 4 20 206 Key Pad Key Pad without cable to operate the vcwin pro monitor menus 4 20 204 Key Pad RS232 cable Key Pad connection cable length 2 m 4 40 264 Maintenance Designation Description Order no vicostick 2 0 Update backup and restore tool for vicosys image processing systems 4 21 016 Cameras Designation Descripti...

Page 13: ...h the terminal board D Sub DC 37 Length 2 m 4 40 266 I O cable with 1 x D Sub Cable for direct connection of PLC inputs and outputs to the I O expansion board Length 2 m Length 5 m Length 10 m 4 40 267 4 40 273 4 40 274 Accessories for the option Digital I O card ADLINK Designation Description Order no Terminal board SCSI II 50 pin Terminal board with a 50 pin SCSI II Connector and DIN rail Mounti...

Page 14: ...bH 2017 4 DEVICE DESCRIPTION 4 1 Device Views 1 2 3 4 5 6 7 8 1 8 5400 421166 1501 15 000001 Image 1 Device views 1 Heat sink 5 Side panel right 2 Side panel left 6 Ventilation opening back 3 Interfaces and Connectors 7 Type plate 4 Ventilation opening front 8 Mounting rails ...

Page 15: ... 2 USB CAN 2 CAN 1 Serial 2 LED CAN 1 CAN 2 LED R V DC 1 2 3 4 5 6 7 8 9 Serial 1 LAN 1 CFAST HD PWR RST PWR I O Image 2 Interfaces and Connectors 1 2 x Gigabit Ethernet 6 1 x On board Digital I O 2 4 x USB 7 Power supply input 3 DVI output 8 Process interface optional 4 2 x RS232 9 Camera interface obligatory 5 1 x CAN ...

Page 16: ... 4 Image 3 Display and Operating Elements Display Elements Pos Designation Description Status 1 HD Displays the status of the internal SATA drive Yellow Flashes if SATA is active 2 PWR Displays the status of the operating voltage supply Green Operating voltage present Operating Elements Pos Designation Description 3 PWR Power button Switches the system on and off 4 RST Reset button Reset the devic...

Page 17: ...10 en 2 3 17 4 4 Notices on the device Following notices are on the back of the device 421165 1501 15 000001 1 2 5 4 3 Image 4 Type plate 1 Serial number as 2D Data Matrix code 2 Serial number as plain text 3 Manufacturer information 4 Device designation 5 Version number ...

Page 18: ...vicosys 5400 Device Description 18 999 994 729 10 en 2 3 Vision Control GmbH 2017 4 5 Technical Drawings 171 0 147 0 147 0 218 0 230 0 118 0 26 4 8 5 4 5 Image 5 Technical drawing all values in mm ...

Page 19: ...100 1000 Mbit LAN direct connection 1 x USB 3 0 3 x USB 2 0 1 x RS232 process communication data transfer 1 x RS232 Key Pad Communication inter faces 1 x CAN for usage licence required Camera interface 4 x GigE Vision On board process interface On board digital I O 4 IN 4 OUT PNP Digital I O card ADDI DATA 16 IN 16 OUT PNP Process interface expansion 1 Digital I O card ADLINK 16 IN 16 OUT NPN Vide...

Page 20: ...nised sheet steel varnished on the outside Dimensions W x D x H 147 mm x 171 mm x 230 mm Weight approx 2 8 kg Degree of protection IP IP 20 Safety class Class III operation on safety extra low voltage SELV 5 2 Electrical Parameters Parameter Min Nom Max Operating voltage UO 20 V 24 V 34 V Power consumption at UO 24 V DC 16 W ...

Page 21: ...thernet interfaces 1 LAN 1 2 LAN 2 Characteristics Ethernet interfaces 1 LAN 1 Integration of the device in a LAN suitable for process communication as well as parametrisation with the operating software vcwin pro Ethernet interfaces 2 LAN 2 Direct connection to a PC running the operating software vcwin pro service connection LAN 10 100 1000 Mbps Configuration The device supports auto MDI X To int...

Page 22: ...interfaces DVI LAN 2 USB CAN 2 CAN 1 Serial 2 LED CAN 1 CAN 2 LED R V DC Serial 1 LAN 1 CFAST HD PWR RST PWR I O 1 2 Image 7 RS232 interfaces 1 Serial 1 2 Serial 2 Characteristics Serial 1 RS232 1 Serial communication with a process computer or the PC The baud rate is set in the factory to 9 600 kbit s The baud rate can be adjusted with the operating software vcwin pro Characteristics Serial 2 RS2...

Page 23: ...nic decoupling non existent 1 Factory setting 5 3 3 USB interfaces NOTICE Overheating due overload Each USB port can deliver a maximum output current of 900 mA The maximum output current for USB port 1 to 4 must not exceed 1500 mA ADVICE Data loss due to incorrect disconnecting of devices Always unmount USB storage devices before switching off or disconnecting Unmount in vcwin pro Using the instru...

Page 24: ... 2 USB CAN 2 CAN 1 Serial 2 LED CAN 1 CAN 2 LED R V DC Serial 1 LAN 1 CFAST HD PWR RST PWR I O 1 2 Image 8 USB interfaces 1 3 x USB 2 0 2 1 x USB 3 0 Characteristics Archiving of images on USB storage devices USB sticks or USB hard drives with the file system FAT32 Performing updates backups or restores by means of the vicostick accessories ...

Page 25: ...e DVI LAN 2 USB CAN 2 CAN 1 Serial 2 LED CAN 1 CAN 2 LED R V DC Serial 1 LAN 1 CFAST HD PWR RST PWR I O 1 Image 9 CAN interface 1 CAN interface Characteristics For communicating in the serial bus system CAN Connector 9 pin Sub D connector Parameter Parameter Min Nom Max Specification CAN 2 0B Baut rate 10 kBit s 1 MBit s Protocol CANopen CiA 301 Galvanic decoupling present Termination 120 Ohm ...

Page 26: ...he digital on board I Os are disabled DVI LAN 2 USB CAN 2 CAN 1 Serial 2 LED CAN 1 CAN 2 LED R V DC Serial 1 LAN 1 CFAST HD PWR RST PWR I O 1 Image 10 Digital on board I O interface 1 Digital on board I O interface 5 3 5 1 Digital input channels GND IO IN X 4 7kΩ 0 25 W INx GND Image 11 Schematic layout of digital input channels Characteristics Polarity protection Galvanic decoupled The input and ...

Page 27: ...ent Low 0 mA 1 mA Input voltage High 2 5 mA 7 mA Input resistance 4 7 kOhm 0 25 W Switching frequency 0 Hz 1 kHz Galvanic decoupling present 1 Greater input voltages will destroy the digital input channel being used 5 3 5 2 Digital output channels OUT X VDD OUTx GND GND IO GND IO undervoltage shut down free wheeling diode current limiter overtemperature protection Output driver Image 12 Schematic ...

Page 28: ...ng voltage VDD The input and output channels have a common GND connection GND IO Parameter Parameter Min Nom Max Number of outputs 4 Supply voltage VDD DC 10 V 1 24 V 34 V Output current per output 2 500 mA Output current of all outputs 3 1 A Short circuit current output 4 2 5 A Switching frequency 0 Hz 2 kHz 5 Galvanic decoupling present 1 Supply voltage VDD 8 V leads to an switch off of all outp...

Page 29: ...nterface 4 Port Gigabit Ethernet 1 Image 13 4xGigE Vision interfaces 1 4xGigE Vision interfaces Characteristics LAN 10 100 1000 Mbps Connection 4 Port 4 x RJ45 Power supply via PoE yes Status indicators LED Colour Status Description Off Port disconnected not connected On Port connected no data transmission Active Link Yellow Flashing Port connected Send Receive data Green On 10 100 Mbps Speed LED ...

Page 30: ...external digital I O interface 16 IN 16 OUT PNP for the configuration Digital I O card ADDI DATA The digital on board I O interface is disabled when using this configuration 1 Image 14 Expansion card ADDI DATA 1 Expansion card ADDI DATA Characteristics Installed by manufacturer PNP Open Collector Connector 37 pin D Sub connector ...

Page 31: ...nic decoupled Inputs have ESD protection and interference signal filter The input channels have a common GND connection GND IN Parameter Parameter Min Nom Max Number of inputs 16 Input voltage VIN DC 0 V 24 V 30 V 1 Input voltage Low 0 V 14 V Input voltage High 19 V 30 V Input current Vin 24 V 2 mA Input frequency at Vin 24 V 5 kHz Galvanic decoupling present 1 Greater input voltages will destroy ...

Page 32: ...c layout of digital output channels 1 to 16 Characteristics Galvanic decoupled Overload protection short circuit overtemperature Output current limit via polyswitch fuse Supply voltage monitoring Output channels as high side driver high active The output channels are supplied by the operating voltage VDD ESD protection and output signal filter The output channels have a common GND connection GND O...

Page 33: ...e VDD DC 11 V 1 24 V 36 V Output current per output 500 mA Output current for 8 outputs 1 5 A Short circuit current output 2 1 5 A Turn on time 3 50 µs Turn off time 3 75 µs Galvanic decoupling present 1 Supply voltage VDD 7 V leads to an switch off of all output channels 2 At pulse current at 24 V and Rload 0 1 Ohm 3 At Iout 0 5 A and ohmic load ...

Page 34: ...n external digital I O interface 16 IN 16 OUT NPN for the configuration Digital I O card ADLINK The digital on board I O interface is disabled when using this configuration 1 Image 17 Expansion card ADLINK 1 Expansion card ADLINK Characteristics Installed by manufacturer NPN Open Collector Connector 50 pin SCSI II Connector ...

Page 35: ...8 Characteristics Non polarised Galvanic decoupled among each other For each input channel both input signals are lead out to the connector Digital input channels 9 to 16 COM IN IN X 1 2 kΩ 0 5 W INx GND Image 19 Schematic layout of digital output channels 9 to 16 Characteristics Non polarised Galvanic decoupled For each input channel an input signal and an input signal for all input channels 9 to...

Page 36: ...V 1 5 V Input voltage High 5 V 24 V Input current Low 0 mA 1 5 mA Input voltage High 4 2 mA 20 mA Input resistance 1 2 kOhm 0 5 W Switching frequency 0 Hz 10 kHz Galvanic decoupling present 1 Greater input voltages will destroy the digital input channel being used 5 4 3 2 Digital output channels OUT X VDD OUTx GND OUT GND IO VDD GND 5 V Image 20 Schematic layout of digital output channels ...

Page 37: ...have a common GND connection GND OUT Parameter Parameter Min Nom Max Number of outputs 16 Operating voltage VDD DC 5 V 24 V 35 V Output current per output 1 500 mA Output current of all outputs 2 370 mA Output current of all outputs 3 130 mA Galvanic decoupling present 1 Duty cycle unlimited On single output channel 2 Duty cycle max 25 ms ON all 16 output channels simultaneously duty factor ON OFF...

Page 38: ...e device in shock proof box if possible in the original packaging For accessories connected devices and components observe the specific information in the associated instructions for use Ambient Conditions Operation Storage Transport Temperature 10 C to 45 C 25 C to 60 C Air humidity 20 to 80 20 to 95 Condensation water not permissible not permissible ...

Page 39: ...perature differences Do not subject the device to large temperature fluctuations After storage and transport allow the device to adjust slowly to the ambient temperature at the place of use 1 Opening the carton carefully cut open the adhesive tape with a suitable tool knife or similar 2 Remove the diaphragm cover 3 Remove the device from the carton 4 Keep packing material or dispose it ...

Page 40: ...ions may only be performed in the off and de energised state NOTICE Damage or destruction caused by overheating Do not cover the device Do not operate the device packed Leave sufficient room for air circulation Do not cover the fan Operate the device in ambient conditions according to the specifications in these instructions of use ...

Page 41: ...r wall and table mounting Note the mounting positions Montage fläche 1 1 oben 4 3 2 Montage fläche oben 1 3 1 4 2 Screw the mounting rails of the device 1 to a suitable mounting surface Do not block the ventilation holes 2 or the heat sink 3 of the device Allow sufficient space for connecting the plug connectors on the front 4 ...

Page 42: ...6 3 1 Connect the Ethernet interfaces Connect the device with the LAN via Ethernet cable Use the Ethernet interface LAN 1 for process communication and parametrisation Use the Ethernet interface LAN 2 for direct connection to a PC 6 3 2 Connect the RS232 interface The components required for connecting are available as accessories see Operation Page 12 For serial communication connect the device t...

Page 43: ...responding ports The ports provide a supply voltage for cameras via PoE If the connected camera does not support PoE an external power supply is required Connect these according to manufacturer s specifications Use of switches By using a Gigabit Ethernet switch up to 8 cameras can be connected to the device However in this process the bandwidth is divided between the cameras used so the full frame...

Page 44: ... output channels as follows Pin assignment Pin Signal Description 1 IN 1 Digital input channel 1 2 IN 2 Digital input channel 2 3 IN 3 Digital input channel 3 4 IN 4 Digital input channel 4 5 GND IO Common ground connection of the digital input and output channels 6 VDD Supply voltage of the digital outputs 24 V DC nom 7 OUT 1 Digital output channel 1 8 OUT 2 Digital output channel 2 9 OUT 3 Digit...

Page 45: ...ccording to the pin assignment Pin assignment Pin Signal Description 1 N C Not connected 2 CAN_L CAN Low Signal 3 CAN_GND Ground 4 N C Not connected 5 N C Not connected 6 GND Ground 7 CAN_H CAN High Signal 8 N C Not connected 1 6 9 RV Reserved Table 2 Pin assignment CAN interface The EDS file required for configuration is included on the Product DVD scope of delivery ...

Page 46: ...ences The ground potential GND of the digital inputs and outputs of the device must be connected to the ground potential GND of the control voltage of the device to be controlled Connecting The components required for connecting are available as accessories see Accessories for the option Digital I O card ADDI DATA Page 13 Connect the 37 pin D Sub connector of the device s I O expansion card to the...

Page 47: ...nk IN 6 Digital input channel 6 4 Blue IN 7 Digital input channel 7 23 Red IN 8 Digital input channel 8 5 Black IN 9 Digital input channel 9 24 Violet IN 10 Digital input channel 10 6 Pink Grey IN 11 Digital input channel 11 25 Blue Red IN 12 Digital input channel 12 7 White Green IN 13 Digital input channel 13 26 Brown Green IN 14 Digital input channel 14 8 White Yellow IN 15 Digital input channe...

Page 48: ...output channel 6 14 Grey Green OUT 7 Digital output channel 7 33 Yellow Grey OUT 8 Digital output channel 8 15 Pink Green OUT 9 Digital output channel 9 34 Yellow Pink OUT 10 Digital output channel 10 16 Green Blue OUT 11 Digital output channel 11 35 Yellow Blue OUT 12 Digital output channel 12 17 Green Red OUT 13 Digital output channel 13 36 Yellow Red OUT 14 Digital output channel 14 18 Green Bl...

Page 49: ...Connecting The components required for connecting are available as accessories see Accessories for the option Digital I O card ADLINK Page 13 1 Connect the I O cable 50 pin SCSI II with the SCSI II connector of the expansion card 2 Connect the other end of the cable with the SCSI II 50 pin terminal block 3 Connect the ground potential GND of the digital inputs and outputs of the device with the gr...

Page 50: ... 9 to 16 5 OUT 8 Digital output channel 8 6 OUT 7 Digital output channel 7 7 OUT 6 Digital output channel 6 8 OUT 5 Digital output channel 5 9 OUT 4 Digital output channel 4 10 OUT 3 Digital output channel 3 11 OUT 2 Digital output channel 2 12 OUT 1 Digital output channel 1 13 IN 4 H Digital input channel 4 H 14 IN 4 L Digital input channel 4 L 15 IN 3 H Digital input channel 3 H 16 IN 3 L Digita...

Page 51: ...V output 28 COM IN Common ground connection of the digital input channels 9 to 16 29 COM IN Common ground connection of the digital input channels 9 to 16 30 OUT 15 Digital output channel 15 31 OUT 16 Digital output channel 16 32 OUT 13 Digital output channel 13 33 OUT 14 Digital output channel 14 34 OUT 11 Digital output channel 11 35 OUT 12 Digital output channel 12 36 OUT 9 Digital output chann...

Page 52: ...al input channel 6 H 43 IN 6 L Digital input channel 6 L 44 IN 5 H Digital input channel 5 H 45 IN 5 L Digital input channel 5 L 46 IN 16 Digital input channel 16 47 IN 15 Digital input channel 15 48 IN 14 Digital input channel 14 49 IN 13 Digital input channel 13 50 GND OUT GND supply voltage digital outputs Table 4 Pin assignment Digital I O card ADLINK ...

Page 53: ...tage connector scope of delivery on the device CAN 2 CAN 1 Serial 2 LED CAN 1 CAN 2 LED R V DC CFAST HD PWR RST PWR I O 1 VDC GND Image 21 Operating voltage connector 1 Operating voltage connector 1 Ensure that the power supply is switched off 2 Unscrew the operating voltage connector from the device 3 Connect the positive voltage plus to V DC and the negative voltage ground to GND Pin Signal Desc...

Page 54: ...ision Control GmbH 2017 Switch on the operating voltage 5 Switch on the operating voltage supply 24 VDC The device boots automatically ADVICE Connect a monitor to the DVI interface before switching on the operating voltage You can observe the boot process ...

Page 55: ...m the Windows start menu by calling Start Programs Vision Control GmbH vcwin pro Vision Control vcwin pro Terminate vcwin pro with ALT F4 or with the menu item File Exit Choose the interface in vcwin pro After having started vcwin pro you should choose the port to which the vision system is connected by calling Communication Interface from the menu Connecting the device with vcwin pro Connect the ...

Page 56: ...iate device 6 Optionally you can also enter the name and IP address of your device 7 Click the OK button to accept the values ADVICE Factory setting The device searches for a DHCP server during initialization in the LAN If no DHCP server is available a static IP address is used default 192 168 3 180 If the device can not be found a monitor can be connected and the IP can be read off during initial...

Page 57: ...ion The Serial 1 interface on the device is used for serial communication 1 Connect the device directly to the PC using a RS232 cable 2 Start the operating software vcwin pro on the PC Configure the interface by calling Communication Interface in the menu 1 2 4 5 3 3 Switch to the RS232 tab 4 Select the COM interface of your computer 5 Set the baud rate to 9600 Once connected the baud rate can be ...

Page 58: ...PWR button Alternatively the device can be switched off by pressing the PWR button 5 seconds Press the key again to switch the device on 7 2 Operation via vcwin pro ADVICE Creating and managing programs are performed using the operating software vcwin pro The vcwin pro Instructions for Use is included on the Product DVD scope of delivery Further information on the use of the software can be found ...

Page 59: ... steel sheet cleaner Refer to the instructions of the cleaner Cleaners must not be applied directly to the housing and the housing must not be bathed The interfaces must be clean and dry before the device is connected and put into operation 8 2 Service Technical Support Please contact our Technical Support if you have any technical questions concerning our products Competent employees will deal wi...

Page 60: ...rt 8 3 Backups via vicostick The vicostick is a special storage medium that is used to create and restore vicosys backups The vicostick is available as an accessory see Maintenance Page 12 For this device a vicostick 2 0 with the version 1 6 is required ADVICE To prevent data loss the unit must be shut down before removing the vicostick ADVICE Restoring of a backup will only work if there is alrea...

Page 61: ...al law unusable electric tools must be collected separately and sent to environmentally compatible recycling Disposal including that of individual components must also always be in a way that does not harm the environment that is it must be done in accordance with the currently valid legal regulations Please contact the manufacturer your local specialist dealer or the relevant national authority f...

Page 62: ...e documents 2014 30 EU Electromagnetic compatibility EMC directive DIN EN 61000 6 2 2005 Electromagnetic compatibility EMC Immunity for industrial environments DIN EN 61000 6 4 2011 09 Electromagnetic compatibility EMC Immunity for industrial environments DIN EN 61326 1 2013 07 Electrical equipment for measurement control and laboratory use EMC requirements European Parliament and of the Council o...

Page 63: ...vicosys 5400 Vision Control GmbH 2017 999 994 729 10 en 2 3 63 ...

Page 64: ...Vision Control GmbH Mittelbergstraße 16 98527 Suhl Germany Telephone 49 0 3681 7974 0 Telefax 49 0 3681 7974 33 www vision control com ...

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