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Hardware ports, switches and LEDs

Deutschmann Automation GmbH & Co. KG

46

UNIGATE

®

fieldbus gateway UNIGATE

®

MB - EtherCAT

®

V. 1.4

17.7.17

9.3.7

LEDs (Error No. / Select ID)

If these 4 LEDs flash and LED “State“ simultaneously lights red, the error number is displayed in
binary notation (conversion table, see Annex) in accordance with the table in chapter "Error
handling". Additionally these LEDs are controllable via Script:

9.4 Switches

The Gateway features 4 switches with the following functions:

Termination Rx 422

switchable Rx 422-terminating resistor for the serial interface

Termination Tx 422

switchable Tx 422- or RS485-terminating resistor for the serial
interface

Rotary coding switch S4

ID High for serial interface i. e. configmode

Rotary coding switch S5

ID Low for serial interface i. e. configmode

9.4.1

Termination Rx 422 + Tx 422 (serial interface)

If the Gateway is operated as the physically first or last device in an RS485-bus or as 422, there
must be a bus termination at this Gateway. In order to do this the termination switch is set to posi-
tion ON. The resistor (150



) integrated in the Gateway is activated. In all other cases, the switch

remains in position OFF.
Please refer to the general RS485 literature for further information on the subject of bus termina-
tions.
If the integrated resistor is used, please allow for the fact that this also activates a pull-down
resistor (390



) to ground and a pull-up resistor (390



) to VCC.

At RS48 only the Tx 422-switch must be set to ON.
The Rx 422-switch has to be on OFF.

9.4.2

Rotary coding switches S4 + S5 (serial interface)

Via these two switches the RS485 -ID of the gateway is set to hexadecimal, as long as an ID is
necessary for the bus. (A conversion table from decimal to hexadecimal can be found in the
appendix.) This value is read in when the Gateway is switched on. The switch positions "EE"
(testmode) and "FF" (config mode) are not possible for RS422- or RS485-operation.

Note:

The switch position "DD" (ie, S4 and S5 in position "D") is reserved for internal purposes.

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Содержание UNIGATE MB EtherCAT

Страница 1: ...Instruction Manual Universal Fieldbus Gateway UNIGATE MB EtherCAT Deutschmann Automation GmbH Co KG www deutschmann com wiki deutschmann de ...

Страница 2: ...Manual Art No V4044E ...

Страница 3: ...S interfaces at the UNIGATE MB 14 5 2 Buffer sizes at the UNIGATE MB 14 5 3 Framing Check 14 6 SSI interface 15 6 1 Initiation of the SSI interface 15 6 1 1 Parameter sample frequency Clock stretch 15 6 1 2 Parameter Encoder monitoring Check Encoder 15 6 2 Hardware wiring 16 7 Mode of operation of the system 17 7 1 General explanation 17 7 2 Interfaces 17 7 3 Data exchange 17 7 4 Possible data len...

Страница 4: ...ieldbus side e g PROFIBUS 24 8 7 1 1 Example FC1 FC2 24 8 7 1 2 Example FC3 Read Holding Register FC4 Read Input Register 25 8 7 1 3 Example Write Single Coil FC5 25 8 7 1 4 Example Write Single Register FC6 27 8 7 1 5 Example Force multiple coils FC 15 27 8 7 1 6 Example Preset multiple register FC16 28 8 8 Protocol Universal Modbus RTU Master 29 8 8 1 Data structure Fieldbus side e g PROFIBUS 29...

Страница 5: ...r handling 47 10 1 Error handling at UNIGATE MB 47 11 Installation guidelines 49 11 1 Installation of the module 49 11 1 1 Mounting 49 11 1 2 Removal 49 11 2 Wiring 49 11 2 1 Connection systems 49 11 2 1 1 Power supply 49 11 2 1 2 Equipotential bonding connection 49 11 2 2 EtherCAT communication interface 50 11 2 3 Line routing shield and measures to combat interference voltage 50 11 2 4 General i...

Страница 6: ...mbH Co KG 6 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 17 7 17 14 Servicing 56 14 1 Returning a device 56 14 2 Downloading PC software 56 15 Annex 57 15 1 Explanations of the abbreviations 57 15 2 Hexadecimal table 58 ...

Страница 7: ...cessary amendments are incorporated in the following editions We would be pleased to receive any improvement proposals which you may have Copyright Copyright C Deutschmann Automation GmbH Co KG 1997 2017 All rights reserved This document may not be passed on nor duplicated nor may its contents be used or disclosed unless expressly permitted Violations of this clause will necessarily lead to compen...

Страница 8: ...ly with the following requirements Scope of application Requirement applicable to Emitted interference Interference immunity Industry EN 55011 cl A 2007 EN 61000 6 2 2005 1 3 Note installation guidelines The module complies with the requirements if you 1 comply with the installation guidelines described in the User Manual when installing and oper ating the module 2 also follow the rules below on i...

Страница 9: ...ive Consequently the module does not have a Declaration of Conformity in relation to the EU Machinery Directive 2 2 EU Machinery Directive The EU Machinery Directive stipulates the requirements applicable to a machine The term machine is taken to mean a totality of connected parts or fixtures see also EN 292 1 Para graph 3 1 The module is a part of the electrical equipment of the machine and must ...

Страница 10: ...apt a serial port to EtherCAT networks The terminal unit s protocol is converted in the UNIGATE via a Script The module MB EtherCAT essentially consists of the following hardware components Electrically isolated EtherCAT Interface EtherCAT controller ET1100 Microprocessor 89C51RD2 RAM and EEROM Serial interface RS232 RS485 and RS422 to the device connected externally ...

Страница 11: ...17 7 17 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 11 Deutschmann Automation GmbH Co KG Introduction 3 1 UNIGATE MB software flow chart ...

Страница 12: ...H Co KG 12 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 17 7 17 3 2 UNIGATE block diagram The following picture shows a typical UNIGATE module design 3 3 UNIGATE application diagram The following graph shows a typical connection scheme ...

Страница 13: ...t mode Now the Gateway has to be restarted with these settings by a short disconnection from the power supply In the test mode the Gateway always operates with the settings 9600 baud no parity 8 databits and 1 stopbit The test mode may be helpful to integrate the Gateway in the relevant environment for instance to test the parameters of the RS interfaces Mode of operation of the test mode After th...

Страница 14: ... output data each 5 3 Framing Check The length of the stop bit received by the Gateway is checked through the function Framing Check Here the stop bit generated by the Gateway is always long enough so that connected participants can evaluate the stop bit Please be aware that the function Framing Check becomes effective only in case of 8 data bit and the setting No parity An error is detected and i...

Страница 15: ...iting time 4 SSI Clock 110kHz Waiting time 5 SSI Clock 100kHz Waiting time 6 SSI Clock 88kHz Waiting time 7 SSI Clock 80kHz Waiting time 8 SSI Clock 72kHz Waiting time 9 SSI Clock 67kHz Waiting time A SSI Clock 62kHz Waiting time B SSI Clock 58kHz Waiting time C SSI Clock 54kHz Waiting time D SSI Clock 50kHz Waiting time E SSI Clock 48kHz Waiting time F SSI Clock 45kHz The bit time from which thes...

Страница 16: ...re wiring The clock wires of the SSI interface are placed onto the Tx wires of the RS422 interface and the data wires onto the Rx wires at the UNIGATE MB X1 3pin 4pin screw plug connector Pin no Name Function at SSI 1 Rx 232 n c 2 Tx 232 n c 3 AP GND n c 4 Rx 422 SSI DAT 5 Rx 422 SSI DAT 6 Tx 422 SSI CLK 7 Tx 422 SSI CLK ...

Страница 17: ...Gateway can be configured via the software WINGATE 7 2 Interfaces The Gateway features the RS232 RS422 and RS485 interfaces The switching of the inter faces is done via the configuration Parameter 232 Interface 7 3 Data exchange All data is transferred by the Gateway in dependence of the configuration 7 4 Possible data lengths The table below shows the maximum transferable data Input data max 1024...

Страница 18: ...l get lost and must be played in again The Script can be found on the Deutschmann Support DVD in the folder Software ProtocolDeveloper Example Universal 8 1 Protocol Transparent The data is transferred bidirectional from the UNIGATE 8 1 1 Data structure On the RS entry side the timeout time of 2 ms is firmly set If no more data is received within the timeout period then the data that has been rece...

Страница 19: ...e has no significance 8 2 3 3 End character 232 End character If this character is defined the gateway receives data from the RS232 interface up to this charac ter The Timeout criterion can be defined as a special case In this case the gateway continues to receive characters until a defined pause occurs In the special case Timeout the Length 232 byte has no significance At the transmit end the gat...

Страница 20: ...e low priority user If the low priority user also receives an STX in response to a transmitted STX it interrupts its transmit request reverts to Receive mode and acknowledges the received STX with DLE A DLE in the data string is duplicated and included in the checksum The BCC is computed from XORing all characters 8 3 3 2 Conflicts 8 3 3 3 Timeout times The timeout times are preset by the definiti...

Страница 21: ...be set In addition a Response time which corresponds to the maximum time up to which the Modbus Slave responds after a request must be set UNIGATE multiplies the value entered in WINGATE by 10 ms Since the Modbus operates with a variable data format dependent on the required function and data length but since the fieldbus requires a fixed data length this must be preset by means of a selection in ...

Страница 22: ...e valid length of the Modbus data if the length byte is not activated adds the CRC checksum and sends this data record as a request on the Modbus The response of the selected Slave is then sent to the fieldbus Master by the gateway without CRC checksum If no response occurs within the stipulated Response time the gateway sig nals a TIMEOUT ERROR 8 4 3 UNIGATE as MODBUS Slave 8 4 3 1 Preparation Be...

Страница 23: ...ASCII Master On request For the description see chapter 8 4 2 UNIGATE as MODBUS Master 8 5 The trigger byte Since the data is always transferred cyclically on PROFIBUS the gateway must detect when the user wishes to send new data via the serial interface This is normally done by the gateway com paring the data to be transferred via the PROFIBUS with the old data stored internally data exchange on ...

Страница 24: ...h function code 1 or 2 Note Modbus Master Request Address High Low Address request 01 08 will always be on address 01 Address request 09 16 will always be on address 09 Address request 17 24 will always be on 17 Configuration Fieldbus sends to UNIGATE 08 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A Note The 1 byte 0x08 is the fieldbus length byte This means only th...

Страница 25: ...19 1A 20 20 20 The configuration is Data exchange On Trigger with an additonal 1 control byte in the field bus data Fieldbus length byte active in this example 30h 48d the UNIGATE copies the following 48 Byte from the fieldbus into the internal storage Connected Modbus Master sends request to the RS232 484 side of the UNIGATE 01 03 00 00 00 14 45 c5 UNIGATE sends response via RS232 485 01 03 28 02...

Страница 26: ... 5 Address 0002 stays unchanged on 0 however the fieldbus output data is updated After a reset they are NULL 1st row at first and are then updated 2nd row 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1F 01 02 03 04 05 06 07 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 The 1 byte is the fieldbus length byte It contains the number of ...

Страница 27: ...0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1F 03 02 03 04 05 06 07 00 00 00 00 00 00 00 12 34 00 00 00 00 00 00 00 00 00 00 00 00 00 The 2nd row shows the fieldbus data AFTER the write command You can see that the value 00 07 is send as Address in the Modbus request As mentioned in the chapter Universal Modbus Master some Master pull System one as offset This leads to the Byt...

Страница 28: ...5 12 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2nd row AFTER the request Therefor the 1 process data value changed from 00h to 0Eh 8 7 1 6 Example Preset multiple register FC16 Only the content of the register address 0005 and 0006 was changed The 1st row shows the fieldbus BEFORE the request 1F 0E FF 03 04 05 06 07 FF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1F 0...

Страница 29: ...lication side According to Modbus RTU Master definition Supported functions Read coil status FC1 No of Points Bit Read input status FC2 No of Points Bit Read multiple register FC3 No of Points Word Read input registers FC4 No of Points Word Force single coil FC5 No of Points not used fix 1 Bit Preset single register FC6 No of Points not used fix 1 Word Force multiple coils FC15 No of Points Bit Pr...

Страница 30: ...us register from which should be read written Req 1 No of Points dec Number of the to read to write register coils Req 1 Fieldbus Map Adr Byte Position of the to be copied process value from to the fieldbus range depending on the write read command If the value is NULL the process data is automati cally lined up behind the other Up to 24 requests can be configured Additional configuration possibil...

Страница 31: ...0 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 0 1 Byte Trigger byte value 0x66 2 Byte Fieldbus length byte value 0x07 3 Byte Fieldbus Map Adr 0 value 0x00 4 Byte Fieldbus Map Adr 1 value 0x00 5 Byte Fieldbus Map Adr 2 value 0x00 6 Byte Fieldbus Map Adr 3 value 0x00 7 Byte Fieldbus Map Adr 4 value 0x00 8 Byte Fieldbus Map Adr 5 value 0x00 9 Byte Fieldbus Map Adr 6 value 0x01 see configuration 10 B...

Страница 32: ...here 9 Byte Fieldbus Map Adr 6 Wert 0x01 0x03 A modification of address 7 in the Modbus slave has no consequences to the fieldbus output side because No Of Points 2 is set in the configuration The value stays unchanged on 0x03 1F 07 00 00 00 00 00 00 03 00 00 00 0 8 8 3 2 Example Read input status FC2 The following example shows the content of address 10007 10009 is mapped copied into the 8 fieldb...

Страница 33: ...bus byte at 0x0A increases by 1 Byte 8 8 3 3 Example Read multiple register FC3 RX Poll Delay 0 is automatically set to 1 by the firmware Modbus Request Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Slave ID Modbus Function StartAdr High StartAdr Low No of Points High No of Points Low CRC High CRC Low 1 3 0x00 0x01 0 2 x y The CRC value is automatically calculated by the UNIGATE The UNIG...

Страница 34: ... the four byte No Of Points 2 process value Modbus Data will be copied to the fieldbus from Fieldbus Map Adr Byte 0 on Fieldbus data from UNIGATE SPS 51 13 02 02 03 03 30 04 01 00 01 00 00 00 02 57 00 01 03 00 00 00 00 00 00 00 Byte 0 Trigger Byte 0x51 Byte 1 Fieldbus length byte 0x13 Byte 2 Process value High from StartAdr 0x02 Byte 3 Process value Low from StartAdr 0x02 Byte 4 Process value High...

Страница 35: ...0 00 00 00 00 00 00 00 00 00 00 00 UNIGATE sends Modbus RTU request 01 06 00 05 ff 23 99 e2 Modbus Slave sends response 01 06 00 05 ff 23 99 e2 Storage content of Modbus Slave after Response 8 8 3 7 Example Force multiple coils FC15 Configuration Fieldbus Master sends 0E 00 FF 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 UNIGATE sends request 01 0f 00 02 00 0a 0...

Страница 36: ...1 is written at the value 0x05 Address 0013 would already be bit No 11 which is not transmitted anymore 8 8 3 8 Example Preset multiple register FC16 Configuration Fieldbus Master sends BA 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 UNIGATE sends Request 01 10 00 02 00 0a 14 01 02 03 04 05 06 07 08 09 0a 0b 0c 0d 0e 0f 10 11 12 13 14 3d e4 Modbus Slave sends Response 01 10...

Страница 37: ...mented protocols in UNIGATE MB 8 9 Protocol Universal Modbus ASCII Master Slave The fieldbus data exchange for Modbus ASCII is identical with RTU The UNIGATE automati cally transmits the data in ASCII format on the serial side 8 9 1 Appendix 8 9 1 1 Example Configuration 1 Hardware UNIGATE CL PROFIBUS ...

Страница 38: ...Implemented protocols in UNIGATE MB Deutschmann Automation GmbH Co KG 38 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 17 7 17 PROFIBUS Master sends and receives ...

Страница 39: ...mann Automation GmbH Co KG Implemented protocols in UNIGATE MB Modbus Slave storage content 8 9 1 2 Swap Word Configuration with Swap Word enabled Fieldbus data is swapped to the Modbus slave Mea ning High Byte and Low Byte are switched Fieldbus Master sends and receives ...

Страница 40: ...Implemented protocols in UNIGATE MB Deutschmann Automation GmbH Co KG 40 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 17 7 17 The swapping is bidirectional Modbus Slave Data content ...

Страница 41: ...17 7 17 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 41 Deutschmann Automation GmbH Co KG Implemented protocols in UNIGATE MB 8 9 1 3 Example with Fast Ethernet ...

Страница 42: ...Implemented protocols in UNIGATE MB Deutschmann Automation GmbH Co KG 42 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 17 7 17 ...

Страница 43: ...nector to the external device RS interface The serial interface is available at the plug accessible on the upper side of the device Pin assignment X1 3 pole and 4 pole screw type plug connector Pin No Name Function 1 Rx 232 Receive signal 2 Tx 232 Transmit signal 3 AP GND Application Ground 4 Rx 422 485 Receive signal 5 Rx 422 485 Receive signal 6 Tx 422 485 Transmit signal 7 Tx 422 485 Transmit s...

Страница 44: ...y The device must be powered with 10 33 VDC The voltage supply is made through the 4 pole screw plug connector at the device s bottom side Please note that the devices of the series UNIGATE should not be operated with AC voltage 9 3 LEDs The Gateway UNIGATE CL EtherCAT features 10 LEDs with the following significance LED EtherCAT Power green Supply voltage EtherCAT LED Link Act In green Ethernet l...

Страница 45: ...as occurred example 10ms IR Error RUN State gn Status Description Off INIT The device is in state INIT Blinking PRE OPERATIONAL The device is in state PRE OPERATIONAL Single Flash SAFE OPERATIONAL The device is in state SAFE OPERATIONAL On OPERATIONAL The device is in state OPERATIONAL Indicator State Definition On The indicator shall be constantly on Off The indicator shall be constantly off Blin...

Страница 46: ...r last device in an RS485 bus or as 422 there must be a bus termination at this Gateway In order to do this the termination switch is set to posi tion ON The resistor 150 integrated in the Gateway is activated In all other cases the switch remains in position OFF Please refer to the general RS485 literature for further information on the subject of bus termina tions If the integrated resistor is u...

Страница 47: ...are displayed for one minute simply for information purposes and are then automatically reset If such warnings occur frequently please inform After Sales Service In the configuration mode these displays are not valid and only meant for internal use LED8 LED4 LED2 LED1 Error no resp ID Error description 0 0 0 0 0 Reserved 0 0 0 1 1 Hardware fault 0 0 1 0 2 EEROM error 0 0 1 1 3 Internal memory erro...

Страница 48: ...tch the calculated one Modbus RTU Slave Universal Modbus RTU Slave Unknown error after response transmission 3964 R Error at data exchange e g Checksum error 1 1 0 0 12 Universal Modbus RTU Master Error in Response of Function code 1 1 0 0 12 SSI Error at the SSI communication 1 1 1 1 15 Modbus RTU Master Modbus ASCII Master General reception error at Modbus ASCII Exchange e g Checksum error 1 1 1...

Страница 49: ...The standard mounting channel may also be mounted vertically so that the module is mounted turned through 90 11 2 Wiring 11 2 1 Connection systems The following connection systems must resp may be used when wiring the module Standard screw type plug connection power supply RS 8 pin RJ45 plug in connection EtherCAT connection a In the case of standard screw type terminals one lead can be clamped pe...

Страница 50: ...ielded lines for DC voltages 60 V unshielded lines for AC voltage 25 V coaxial lines for monitors Group B unshielded lines for DC voltages 60 V and 400 V unshielded lines for AC voltage 24 V and 400 V Group C unshielded lines for DC voltages 400 V The table below allows you to read off the conditions for laying the line groups on the basis of the combination of the individual groups Group A Group ...

Страница 51: ...uencies Connecting the shield at one end may be more favorable if it is not possible to lay an equipotential bonding line analogue signals a few mV resp mA are to be transmitted foil shields static shields are used In the case of data lines for serial couplings always use metallic or metallized plugs and connec tors Attach the shield of the data line to the plug or connector housing If there are p...

Страница 52: ...y 7 Weight Approx 130 g 8 Operating temperature 25ºC 85ºC 9 Storage transport temperature 40ºC 85 ºC 10 Atmospheric pressure during operation during transport 795 hPa 1080 hPa 660 hPa 1080 hPa 11 Installation altitude 2000 m 4000 m Unrestricted Restricted Ambient temperature 40ºC 12 Relative humidity Max 80 No condensation no corrosive atmosphere 14 External power supply 10 33 V DC Standard power ...

Страница 53: ...ultimaster CSMA CD Master slave Master slave 4 Number of users Transmitters Receiver 65535 65535 1 1 32 32 5 Cable length Maximum Baud rate dependent 100 m 15 m no 1200 m 93 75 kBd 1200 m 312 kBd 500 m 625 kBd 250 m 6 Bus topology Line tree or star Point to point Line 7 Data rate Maximum Standard 100 Mbit s 100 Mbit s 120 kBit s 2 4 k B 4 8 k B 9 6 kBit s 19 2 kBit s 38 4 kBit s 625 kBaud 2 4 kBit...

Страница 54: ... cable this cable is generally available on site 10 33 V DC power supply DIN 19240 Type file or XML file and user manual a sample XML file as well as the user manual can be ordered separately or downloaded free of charge from our homepage at www deutschmann de 13 3 Installation The UNIGATE MB EC module features protection type IP20 and is thus suitable for switch cabinet use The device is designed...

Страница 55: ... process device Please also read the manual for the process device when commissioning the process device 13 8 Shield connection Earth the DIN rail onto which the module has been snapped 13 9 Connecting the supply voltage Please connect 10 33 DC voltage to the terminals provided for this 13 10 Project planning Use any project planning tool for project planning If the required XML file was not suppl...

Страница 56: ... to midday and from 1 pm to 4 pm Friday from 8 am to midday CET Deutschmann Automation GmbH Co KG Carl Zeiss Straße 8 D 65520 Bad Camberg Germany Central office and sales department 49 6434 9433 0 Technical Support 49 6434 9433 33 Fax sales department 49 6434 9433 40 Fax Technical Support 49 6434 9433 44 E mail Technical Support support deutschmann de 14 1 Returning a device If you return a device...

Страница 57: ... screw plug connector PL Board only without DIN rail module and without housing cover PD Board only without DIN rail module and with housing cover AG Gateway installed in a die cast aluminum housing EG Gateway installed in a stainless steel housing IC Product group IC IC design DIL32 IO8 Option I O8 16 Script memory expanded to 16KB 5V Operating voltage 5V 3 3V Operating voltage 3 3V Fieldbus ASI ...

Страница 58: ...e UNIGATE IC for the respective product PBDPX ProfibusDP version X see comparison table UNIGATE IC for the respective product PBDPV0 ProfibusDPV0 PBDPV1 ProfibusDPV1 RS Serial RS232 485 422 15 2 Hexadecimal table Hex Decimal Binary 0 0 0000 1 1 0001 2 2 0010 3 3 0011 4 4 0100 5 5 0101 6 6 0110 7 7 0111 8 8 1000 9 9 1001 A 10 1010 B 11 1011 C 12 1100 D 13 1101 E 14 1110 F 15 1111 ...

Страница 59: ...17 7 17 UNIGATE fieldbus gateway UNIGATE MB EtherCAT V 1 4 59 Deutschmann Automation GmbH Co KG Annex ...

Страница 60: ......

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