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Festo CMSX-...-C-U-F1 series, Руководство пользователя

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CMSX-...-C-U-F1-...

Festo – CMSX-...-C-U-F1-... – 1506a English

39

Operation

Selection in the PARA menu

Parameter value

Briefly press Add

1

Continue to the next selection

Increase value

Briefly press Sub

2

Back to the previous selection

Reduce value

Briefly press Set

3

Confirm selection

Back to the selection

Press and hold Set

6

Confirm selection and back to the main menu

Tab. 19

Operation in the Parameter menu (3)

Dead zone (DEADBAND)

The parameter DEADBAND (dead zone) establishes the lower and upper limit of the zone within which a

change in the controlled variable has no influence on the setpoint specification. A change in the set­

point specification takes place only if the dead zone is exceeded. The setpoint specification is only

constant if the deviation lies within half the dead zone (b > deviation > ­b).

1

2

3

4

a = DEADBAND

b = ½ DEADBAND

1

Setpoint specification (controller output signal)

2

Deviation (controller input signal)

3

Upper limit (DEADBAND (+))

4

Lower limit (DEADBAND (-))

Fig. 28

Dead zone

The size of the dead zone influences the positioning accuracy and sensitivity with which the positioner

reacts to a deviation.

A dead zone that is too small results in vibration tendencies around the setpoint position up to perman­

ent oscillations (instability). Through this, the fast-switching valves in the positioner and the drive are

subject to unnecessary loads. A dead zone that is too large results in low positioning accuracy.

Содержание CMSX-...-C-U-F1 series

Страница 1: ...Description 8046752 1506a 8046754 Positioner CMSX C U F1 ...

Страница 2: ... Festo CMSX C U F1 1506a Symbols Installation and commissioning may only be performed in accordance with these instructions by technicians with appropriate qualifications Warning Caution Note Environment Accessories ...

Страница 3: ... 2 2 CMSX S S rotary single acting 11 3 2 3 CMSX SE D linear double acting 11 4 Transport and storage 13 5 Requirements for product use 13 6 Installation 14 6 1 Mechanical installation 14 6 1 1 CMSX S rotary 14 6 1 2 CMSX SE linear 16 6 2 Pneumatic installation 17 6 3 Electrical installation 18 7 Commissioning 24 7 1 Prerequisites 24 7 2 Checking operating conditions 24 7 3 Switch on sequence 24 7...

Страница 4: ...c curve menu 4 43 7 6 9 Information menu 5 45 7 6 10 Initialization menu 6 45 7 7 Commissioning steps 47 7 7 1 Performance test and check of the sensing range 47 7 7 2 Initialisation 49 7 7 3 Performance of automatic initialization Autoinit 50 7 7 4 Executing the user guided initialization Userinit 52 7 7 5 Set parameters 53 7 7 6 Conclusion of commissioning 54 8 Operation 54 9 Maintenance and car...

Страница 5: ...aB 6 6 6 6 3 1 Housing cover 2 Inspection window for LCD display 3 Housing screws 4 Blanking plug 5 Cable entry with cable connector 6 Mounting thread 7 Shaft 8 Mechanical coupling 9 Back plate aJ Housing aA Pneumatic connections G1 8 aB Earth terminal Fig 1 Operating elements and connections CMSX S rotary ...

Страница 6: ... include Two valves CMSX S S single acting or four valves CMSX D double acting with con nection block and pneumatic ports è Fig 1 aA and Fig 2 9 as a positioning system for the pneumatic drive A shaft towards the outside è Fig 1 7 with potentiometer as feedback system Equipment electronics with microprocessor and electronics for signal processing and control Terminals and cable entry with cable co...

Страница 7: ...ion and commissioning Terminal strips for electrical connection 1 2 3 4 5 6 7 1 LCD display 2 Terminal strip pin 1 14 3 Terminal strip pin 15 16 4 Set key 5 Sub key 6 Add key 7 Earth terminal Fig 4 Operating elements and connections in the device example of a linear version With the Add Sub and Set keys configuration and commissioning can be carried out in a menu driven manner During commissioning...

Страница 8: ...ary drives and double acting linear drives in process automation systems The product is intended for use in industrial environments Outside of industrial environments e g in commercial and mixed residential areas actions to suppress interference may have to be taken Appropriate for operation are drives with a mechanical interface in accordance with VDI VDE Direct ive 3845 Appropriate mechanical mo...

Страница 9: ... an external setpoint generator è Fig 5 1 The positioner with potentiometer and fast switching valves è Fig 5 2 and the semi rotary drive with process valve è Fig 5 5 6 are connected to each other in such a way that a closed control circuit results In this control circuit the position of the drive represents the controlled variable The potentiometer registers permanently the position of the drive ...

Страница 10: ...tive again immedi ately If the regulator is activated the current setpoint value is valid again immediately 3 2 1 CMSX S D rotary double acting For the product variant CMSX A è Fig 6 1 work ing port 2 è Fig 6 2 is pres surized and working port 4 è Fig 6 4 is exhausted Dependent on the tubing con nection of the CMSX with the drive è Fig 6 3 the pro cess valve is opened or closed Fig 6 Neutral posit...

Страница 11: ...tion of the CMSX with the drive è Fig 8 3 the process valve is opened or closed Fig 8 Neutral position for CMSX S S A 1 3 V2 V1 3 2 3 2 3 CMSX SE D linear double acting For the product variant CMSX A è Fig 9 1 work ing port 2 è Fig 9 2 is pres surized and working port 4 è Fig 9 4 is exhausted Dependent on the tubing con nection of the CMSX with the drive è Fig 9 3 the process valve is opened or cl...

Страница 12: ... English For the product variant CMSX C è Fig 10 1 the working ports 2 and 4 è Fig 10 2 and 4 are pres surized in order to maintain the current position of the drive è Fig 10 3 Fig 10 Neutral position for CMSX SE D C 1 3 V1 V4 V3 V2 3 3 2 4 ...

Страница 13: ...cal condition Observe the product labelling Comply with all applicable national and international regulations Only use compressed air in accordance with specifications è Technical data The supplied cable connector is used only for cable throughfeed To ensure the specified degree of protection IP65 seal each cable entry tight cable connector blanking plug Return to Festo Hazardous substances can en...

Страница 14: ...g adapters Accessories è www festo com catalogue The angle position of the semi rotary drive is sensed by the integrated potentiometer through the shaft of the positioner The shaft of the positioner can be turned in any way since it does not have a mechan ical stop But the permissible sensing range is 100 The sensing range and correct alignment of the shaft of the positioner is depicted on the und...

Страница 15: ...Please select the corresponding accessories from our catalogue accessories è www festo com catalogue 1 Determine the direction of rotation of the semi rotary drive 2 Close process valve 3 Switch off the compressed air and the power supply 4 Fasten the mounting adapter to the positioner 4 housing screws 4 Tightening torque 1 5 Nm 20 5 Secure the mechanical coupling 5 to the shaft of the positioner ...

Страница 16: ... 5 to the linear drive 6 4 mounting screws 4 Tightening torque è Tab 2 5 Secure the mounting adapter 1 to the housing flange socket 5 4 mounting screws 4 Tightening torque 1 5 Nm 20 6 Secure the positioner with mounting adapter to the housing flange socket 4 mounting screws 2 Tightening torque 3 Nm 20 Fig 13 Mechanical installation CMSX SE linear 1 2 4 5 6 3 Design DFPI 100 E P G2 to DFPI 160 E P ...

Страница 17: ...nd tubes of type PUN Prior to the pneumatic installation 1 Ensure there is no voltage or pressure applied 2 Secure the system against being switched back on 4 1 2 6 5 3 1 Supply port 2 Working port 2 3 Working port 4 4 QS push in fitting accessories 5 Silencer accessory 6 Exhaust port Fig 14 Pneumatic connections 1 Switch off the compressed air and power supplies 2 Connect working port 2 2 and wor...

Страница 18: ...e devices Ensure assembly personnel are electrostatically discharged Note The IP 65 degree of protection depends on the type of electrical connection Inappropri ate cables or an incorrect installation will reduce the degree of protection of the posi tioner Note Long signal lines reduce the resistance to interference Keep signal lines shorter than 30 m Note The signal value is unstable if different...

Страница 19: ... errors can damage the electronics and fast switching valves or cause mal functions Leave the cable at pin 9 unchanged è Tab 4 This cable is internally connected to the earth terminal at the plant è Fig 16 2 4 Wire connections è Tab 4 Tightening torque Max 0 6 Nm 5 Connect the earth terminal è Fig 16 2 with low impedance short cable with large cross section to the earth potential 6 Tighten the uni...

Страница 20: ...t output signal 9 connected to the earth terminal at the plant 10 ALARM Alarm digital output Alarm output 11 D OUT1 Digital output Out 1 Status output 12 D OUT2 Digital output Out 2 13 24 V DC Load voltage supply for outputs 24 V DC Supply to digital outputs 14 0 V DC Load voltage supply for outputs 0 V DC Supply to digital outputs 15 D IN Digital input Control input1 16 D IN Digital input Control...

Страница 21: ... DC 15 D IN Digital input Control input1 16 D IN Digital input 1 Permits split circuits if separate power supply units are used Tab 4 Pin allocation Operating voltage supplyand earthing Correct earthing is important for trouble free operation of the device The positioner CMSX has an earth terminal on the left hand side è Fig 16 2 For earthing you must produce a low impedance connection between the...

Страница 22: ...osition VP is made available for higher order systems as a current signal it is influenced through the Open parameter è Tab 16 Digital outputs ALARM D OUT1 D OUT2 è Pin 10 11 12 and pin 14 The ALARM output delivers high level if the maximum positioning time is exceeded at initialization The outputs D OUT1 and D OUT2 can be wired as PNP or NPN outputs Their behaviour can be con figured è Tab 16 To ...

Страница 23: ...gital input è Pin 15 16 The behaviour on a signal at the digital input can be configured è Tab 16 In the case of a control signal the PID controller is deactivated Dependent on the configuration working ports of the device can be pressurized exhausted or blocked è Tab 16 16 15 1 1 Reference potential Fig 20 Connection of digital outputs example ...

Страница 24: ...hing valve return to the normal position Observe the switch on sequence 7 3 Switch on sequence 1 Switch on the operating voltage supply 2 Switch on the setpoint specification 3 Switch on the compressed air Note During initialization movement takes place to both end positions in succession inde pendently of the present setpoint value Caution If there is a failure of the operating voltage supply dur...

Страница 25: ...c operation ACTUAT Stopped PID controller stopped Main menu level CONFIG SIGNAL 4 20 mA Current input activated 4 20 mA OPEN2 anti clk Valve opens anti clockwise DIRECT increase Open valve with rising setpoint value CHARACTE linear Character of the characteristic curve setpoint value Linear D OUT1 D OUT2 power L power L Low level if load voltage supply is present for outputs D IN stop H In case of...

Страница 26: ...CMSX prior to commissioning For further information è Section 7 5 and 7 6 When you have familiarised yourself with the menu system the key functions and parameters of the CMSX Perform commissioning as described in section 7 7 7 5 Moving in the menu system LCD display and keys of the CMSX permit you to perform commissioning directly at the CMSX The CMSX offers a simple menu structure The menu struc...

Страница 27: ... 2 CONFIG MENU 3 PARA SENSOR MENU 4 CURVE CONFIG signal open direct characte d out1 d out2 d in PARA deadband pid p pid d min max spmin spmax CURDEF 0 0 0 5 5 0 95 95 0 100 100 6 3 1 2 6 3 SENSOR Error 1 2 MENU 5 INFORM MENU 6 INIT INITIA Autoinit Userinit Fcty Rst Sytm Rst SetAsDef INFORM L1 L2 V1 V2 Ver 1 2 6 3 3 2 1 2 1 3 1 2 1 2 6 1 2 1 2 1 2 1 2 1 2 1 2 4 5 3 3 3 6 3 6 3 3 3 1 2 3 ...

Страница 28: ...DEF 0 0 0 5 5 0 95 95 0 100 100 6 3 1 2 6 3 SENSOR Error 1 2 MENU 5 INFORM MENU 6 INIT INITIA Autoinit Userinit Fcty Rst Sytm Rst SetAsDef INFORM L1 IN L2 OUT V1 V2 Ver 1 2 6 3 3 2 1 2 1 3 1 2 1 2 6 1 2 1 2 1 2 1 2 1 2 1 2 4 5 3 3 3 6 3 6 3 3 3 1 2 3 1 Basic menu level 2 Main menu level 3 1 Press Add 2 Press Sub 3 Press Set 4 Press and hold Add for 3 seconds 5 Press and hold Sub for 3 seconds 6 Pr...

Страница 29: ...rt Dependent on the configuration working ports of the device can be pressurized or exhausted è Tab 16 50 0 VP 50 1 Automatic or manual override controller is stopped The CMSX is in automatic operation or manual override in the operating status controller stopped Stopped and shows the setpoint position and the current valve position in percent 1 SP setpoint position VP valve position digital contr...

Страница 30: ...ration Briefly press Add 1 Increase setpoint value by 1 with over flow2 1 Briefly press Sub 2 Reduce setpoint value by 1 with overflow2 Briefly press Set 3 Continue within the basic menu level è Fig 22 Hold down Add 4 Increase setpoint value continuously in 10 steps with overflow2 1 Hold down Sub 5 Reduce setpoint value continuously in 10 steps with overflow2 Press Set for approx 3 seconds 6 Open ...

Страница 31: ... is in operation Controller is stopped Briefly press Add 1 Stop controller immediately Start controller immediately Briefly press Sub 2 Briefly press Set 3 Continue within the basic menu level è Fig 21 Tab 9 Operation with display of the operating status After the Add or Sub button is pressed è Fig 21 the controller is immediately started or stopped After the Set button is pressed the active opera...

Страница 32: ...setpoint value signal area MENU 4 CURVE Menu 4 Characterist ic curve For definition of a user defined characteristic curve over 21 support points MENU 5 INFORM Menu 5 Information Shows the smallest and largest sensor position after the last initialization process the number of switching cycles of the valves and the firmware design of the positioner MENU 6 INIT Menu 6 Initialization Makes available...

Страница 33: ...en correctly aligned on the movement range of the drive In this case the mechanical structure must be corrected è Section 6 1 Display Description MENU 1 SENSOR The display shows the sensor signal through a small plus sign With the Sub and Add keys the working ports 2 and 4 of the CMSX can be pressurized and exhausted è Tab 15 As a result the drive is moved Dependent on the sensor signal the plus s...

Страница 34: ...ts D OUT 1 D OUT 2 power H High level if load voltage supply is present for outputs power L Low level if load voltage supply is present for outputs presetting limit1 H High level if end position 1 is reached limit1 L Low level if end position is 1 reached limit2 H High level if end position 2 is reached limit2 L Low level if end position 2 is reached limits H High level if end position 1 or end po...

Страница 35: ...tatus by changing settings even in the controller stopped operating status MENU 2 CONFIG CONFIG signal open direct 6 3 SIGNAL 0 10V 4 20mA 0 20mA 3 6 1 2 1 2 1 2 1 Select function with Add 1 and Sub 2 2 Select setting with Add 1 and Sub 2 Fig 24 Movement in the menu configuration 2 example SIGNAL Operation Selection in the CONFIG menu Setting e g SIGNAL Briefly press Add 1 Continue to the next sel...

Страница 36: ...RECT Signal direction DIRECT The parameter DIRECT establishes the signal direction for increasing the setpoint position SP The setpoint position SP is raised either with increasing setpoint signal or with falling setpoint signal The parameter is effective independently of the character of the setpoint characteristic curve For example the parameter is effective with a linear setpoint characteristic...

Страница 37: ... 2 3 Linear 1 25 1 33 1 50 4 SPMAX SPMIN 1 Setpoint position SP in setpoint posi tion 2 Linear characteristic curve è also Fig 25 3 Equal percentage characteristic curve here 1 50 4 Setpoint signal scaling is dependent on the parameters SPMIN and SPMAX Fig 26 Character of the setpoint characteristic curve example DIRECT increase With User Def a user defined setpoint value characteristic curve can ...

Страница 38: ...stablishes the upper limit of the valve operating area è Fig 29 MIN 1 100 Valve position in of the actual work space presetting 100 SPMIN Establishes the minimum setpoint signal presetting 0 1 0 SPMAX 20 Smallest setpoint value in of the complete work range SPMAX Establishes the maximum setpoint signal presetting 100 1 SPMIN 20 100 Largest setpoint value in of the complete work range 1 This limits...

Страница 39: ...change in the set point specification takes place only if the dead zone is exceeded The setpoint specification is only constant if the deviation lies within half the dead zone b deviation b 1 2 3 4 a DEADBAND b DEADBAND 1 Setpoint specification controller output signal 2 Deviation controller input signal 3 Upper limit DEADBAND 4 Lower limit DEADBAND Fig 28 Dead zone The size of the dead zone influ...

Страница 40: ... P The parameter PID P influences the P part of the PID controller Increasing the value increases the setpoint specification change in the case of a deviation A P share that is too high results in overswings Reduction in the value causes a reduction in the setpoint specification change in the case of a devi ation A P share that is too small results in slower regulation PID D The parameter PID D in...

Страница 41: ...er valve position The following figure shows as an example the influence of the parameters on the linear set point value characteristic curve with the setting MIN 20 and MAX 80 1 2 MAX 80 MIN 20 Presetting User defined 1 Physical stroke 2 Setpoint position SP in setpoint posi tion Fig 29 Influence of the parameters MIN and MAX on the setpoint characteristics curve example Typically the smallest ph...

Страница 42: ...n The following figure shows as an example the influence of the parameters on the linear setpoint value characteristic curve with the setting SPMIN 20 and SPMAX 80 DIRECT increase 1 2 Presetting User defined SPMAX SPMIN 0 4 mA 10 V 0 V 20 mA 20 80 1 Setpoint position SP in 2 Signal range Fig 30 Influence of the parameters SPMIN SPMAX on the signal range of the setpoint value specification example ...

Страница 43: ...00 Tab 20 Characteristic curve menu 4 MENU 4 CURVE CURDEF 0 0 0 5 5 0 95 95 0 100 100 6 3 3 1 2 3 1 2 4 5 1 Support points for setpoint signal 2 Setpoint position SP value of the support points 3 Edit value è Tab 21 Fig 31 Move in the characteristic curve menu 4 example support point 0 Operation Selection in the CURDEF menu Briefly press Add 1 Increase support point by 0 1 with overflow1 Briefly p...

Страница 44: ...d process valve characteristics curve is activated with the parameter CHARACTE in the menu CONFIG è Section 7 6 6 1 2 3 4 75 SPMAX SPMIN 1 Setpoint position SP 2 Support point here for analogue setpoint value 75 3 Scaling is dependent on the parameters SPMIN and SPMAX 4 Analogue setpoint value signal range Fig 32 User defined process valve characteristic curve with 21 support points example For th...

Страница 45: ...lue1 1000 V2 k Number of switching cycles of the fast switching valve V2 since the last initialization k Numerical value1 1000 Ver A3 3 Firmware design of the device 3 x Version number 1 k for kilo thousands Tab 22 Information menu 5 MENU 5 INFORM INFORM L1 L2 V1 k 6 3 1 2 Fig 33 Movement in the Information menu 5 Operation Selection in the INFORM menu Briefly press Add 1 Continue to the next sele...

Страница 46: ...ngs valid from the plant delivery status è Tab 5 Sytm Rst Resets all current settings to the individual presettings previously saved with SET AS DEF SET AS DEF Saves all current settings as individual presettings 1 In initialization the positioner determines the swivel angle and a maximum positioning time In doing so it coordinates control of the fast switching valves with the direction of rotatio...

Страница 47: ...ype CMSX A Check safety function The tubing connection of the CMSX must be adapted to the desired behaviour è Section 3 2 3 If flow control valves are used in the working lines of the CMSX Adjust the flow control valves so that the max permissible speed cannot be exceeded 4 The following commissioning steps can be carried out in any order Initialization Configuration of the setpoint signal and the...

Страница 48: ...nt the CMSX so that the physical sensing range of the internal potentiometer completely covers the swivel angle of the drive see section 6 1 If the current position lies within the measuring range you can now pressurize one working port and exhaust the other working port with the Add and Sub keys The working ports are pressurized and exhausted as long as the respective key is held down è Tab 15 5 ...

Страница 49: ... direction of rotation of the potentiometer and creates the relationship between the measured variable and position In addition the CMSX determines a maximum positioning time For this purpose both end positions of the drive are travelled to and saved as limits Always perform an initialization in the following cases After installation at the initial start up After re adjustment of the flow control ...

Страница 50: ... initial position e g 0 0 VP 0 0 3 Press the Set key for approx 3 s The CMSX then displays the first menu MENU 1 Sensor 4 Briefly press the Sub key Then the CMSX shows the menu 6 Alternatively you can also press the Add key 5 times to switch from menu 1 to menu 6 MENU 6 INIT 5 To open the menu briefly press the Set key The first command in the menu is then displayed INITIA Autoinit 6 To start auto...

Страница 51: ...ress the Set button as often as necessary until the menu is displayed again Then repeat automatic initialization or carry out manual initialization è Section 7 7 4 7 Briefly press the Set key Then the first command in the menu is displayed again INITIA Autoinit 8 To switch back to the main menu briefly press the Set key The CMSX then displays menu 6 again MENU 6 INIT 9 If the initial position shou...

Страница 52: ...rst menu MENU 1 Sensor 4 Briefly press the Sub key Then the CMSX shows the menu 6 Alternatively you can also press the Add key 5 times to switch from menu 1 to menu 6 MENU 6 INIT 5 To open the menu briefly press the Set key The first command in the menu is then displayed INITIA Autoinit 6 To switch further to the next command briefly press the Add key INITIA Userinit 7 To start user guided automat...

Страница 53: ...ed operating status if you wish to avoid activation of the semi rotary drive during parameterisation But note that the CMSX can always react to control signals at the control port D IN or to changes in the parameter D IN è Tab 16 After installation and initialization configuration and parameterisation of the positioner must be ex ecuted Settings and parameters are preset at the plant delivery stat...

Страница 54: ...ng voltage supply and the setpoint input and only then the compressed air supply Observe the operating conditions Observe permitted limit values After the supply voltage is switched on the CMSX is in the same operating status and the same operat ing mode that was valid before the supply voltage was switched off After commissioning has taken place this is typically Operating mode automatic Auto Ope...

Страница 55: ...ing ports with the help of the Sensor function before you remove the tubing lines è Section 7 6 5 Note The CMSX contains electrostatically sensitive devices Electrostatic discharges caused by improper handling or incorrect earthing can damage the internal electronics Observe the handling specifications for electrostatically sensitive devices Discharge yourself from static discharges before assembl...

Страница 56: ...ck especially when replacing the positioner to see which settings are necessary and make sure that these are restored if necessary The device has certain presettings from the factory Presettings for configuration è Tab 16 Presettings for parameterisation è Tab 18 Before replacement Check the pneumatic tubing connection of the device Check the complete electric cabling of the device Check device se...

Страница 57: ...nection between CMSX and semi rotary drive è Section 3 2 The device does not react to setpoint value specifications Compressed air supply is lacking Establish compressed air supply Display shows the Sensor Error message as the sensing range of the sensor has been exceeded Correct alignment and mechanical connection between CMSX and semi rotary drive è Section 6 1 The device is in the Controller st...

Страница 58: ...ng pressure bar 3 8 Setpoint value mA 0 20 4 20 V 0 10 Safety instructions behaviour in case of voltage failure Adjustable opening closing hold Operating voltage range DC V DC 21 6 26 4 Max load resistance of current output Ω 500 Idle current mA 100 300 Max current consumption A 1 Max output current mA 500 Switching level V Signal 0 5 Signal 1 10 Max current consumption of the digital inputs at 24...

Страница 59: ... duration 5 shocks per direc tion2 Cable connector M20x1 5 Type of mounting on flange to ISO 5211 with accessories Max product weight g 970 Pneumatic port G1 8 Standard nominal flow rate CMSX 50 l min 50 CMSX 130 l min 130 Materials Housing PCs Threaded coupling coupling High alloy stainless steel Seals NBR Adapter plate Aluminium Plate back plate Aluminium Cable connection PA 2 Only in combinatio...

Страница 60: ...tial positions 30 Initialization 45 49 Input setpoint value 20 Installation electrical 18 Mechanical 14 Pneumatic 17 K Key functions 39 43 M Maintenance 54 Manual override 31 Menu level 32 Menu structure 28 30 O Operating elements 5 6 Operating voltage supply 21 Operational level 29 P Performance test 47 Pin allocation Pin 1 to pin 14 21 Pin numbering 20 Pneumatic ports 17 Ports 5 6 17 Presettings...

Страница 61: ...ation is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Postfach 73726 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 e mail service_international festo com Internet www festo com Original de ...

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