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System overview

Festo – SBRD-EN – 2017-11 – English

3.3

Software packages

The FFT software (Festo Field Device tool) and the CCS (Camera Configuration Studio) are used for com

missioning and operation.

Note

Minimum requirements that the PC must fulfil in connection with the software packages

are described in the Help of the respective software package.

The FFT software provides the following functions:

Subject

Function

Basic configuration

and commissioning

–

Changing of the device's network settings (IP address, gateway,

password, etc.)

–

Transmission of firmware to the controller

Tab. 3.4

Functions of the FFT software

The CCS software provides the following functions:

Subject

Function

Configuration and

commissioning,

creating jobs

–

Determination of the signal behaviour

–

Determination of the cameras and camera characteristics

–

Determination of the evalution and output functions

–

Determination of tools and tool characteristics

Analysis

–

Display of evaluated parts, live images, statistics and handling of jobs

Diagnostics

–

Display of the device characteristics

–

Display of errors

Service

–

Documentation of a system

Tab. 3.5

Functions of the CCS software

3.4

Accessories

Please select additional accessories from the catalogue

www.festo.com/catalogue.

Содержание SBRD

Страница 1: ...Manual 8077991 2017 11 8077993 SBRD Camera System ...

Страница 2: ...or serious injuries Caution Hazards that can cause minor injuries Other symbols Note Material damage or loss of function Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations Activities that may be carried out in any order 1 Activities that should be carried out in the order stated General lists è Result ...

Страница 3: ...D camera system 11 3 1 1 Components 11 3 1 2 Areas of application 11 3 1 3 Functional principle 11 3 2 Variants 12 3 3 Software packages 15 3 4 Accessories 15 4 Assembly 16 4 1 Mounting of the camera system 17 4 1 1 Mounting of the SBRD Q controller 17 4 1 2 Mounting of SBPB camera head 17 4 1 3 Mounting of NEBC connecting cable 17 4 2 Dimensions of SBRD camera system 18 4 2 1 SBRD Q controller 18...

Страница 4: ...terface with Telnet XML 41 6 5 Notes for operation 47 7 Diagnostics and error handling 48 7 1 General diagnostics options 48 7 1 1 Status indication 48 7 1 2 Error handling 51 G 2 Cleaning and maintenance 54 G 3 Siemens star 55 A Technical appendix 56 A 1 Technical data 56 A 2 Error messages 63 A 3 Address table for Telnet and Telnet XML 64 A 3 1 Input register 64 A 3 2 Output register 64 A 3 3 Qu...

Страница 5: ...ssioning parameterisation and diagnostics can be found in the help system of the software package and at è www festo com sp Type Title Table of contents Description of electronics Description of SBRD camera system Mounting installation and commissioning of the camera system Help system Help for CCS software Functional description and operation of CSS software Help system Help for FFT software Soft...

Страница 6: ...unication standard via TCP IP in automation technology Exposure time Time in which the sensor is subject to light in image acquisition The longer the exposure time is the more light that penetrates Selection of the exposure time depends for example on the speed of movement the available light and the light sensitivity of the sensor For moving objects exposure times that are too long cause blurred ...

Страница 7: ...from logic 0 to logic 1 rising Sensor Optoelectronic image sensor e g CMOS image sensor which converts light signals into electrical signals Besides the pure sensor function additional functions for image conversion such as lighting control and contrast correction can be integrated directly into the chip Status controlled Detection of a signal e g input reacts to a logic 1 or logic 0 TCP IP Combin...

Страница 8: ...Electrostatic charges can damage the internal electronics Never unplug or plug in a product when it is energised Observe the handling specifications for elec trostatically sensitive devices Before mounting and installation work switch off supply voltage Only switch on the supply voltage again when mounting and installation work are complete The product can generate high frequency malfunctions whic...

Страница 9: ...ust be observed The device is intended exclusively for use in an industrial environment Measures for interference sup pression may be required in residential areas 1 2 1 Range of applications and certifications Standards and test values which the product complies with and fulfils can be found in the Technical data section è Appendix A 1 The product relevant EC directives can be found in the declar...

Страница 10: ...2 Further information 10 Festo SBRD EN 2017 11 English 2 Further information Accessories è www festo com catalogue Spare parts è www festo com spareparts ...

Страница 11: ...current operating mode and the settings in the job especially by the evaluation mode Operating modes of the device Run mode normal operating mode A job stored on the device is executed Configuration mode limited operating mode for commissioning the device This takes place with the help of the CCS software The first configuration is designated as job Evaluation modes specified in the job Triggered ...

Страница 12: ...cs by the tools 3 Comparison of the inspection features with the specified tolerance ranges 4 Output of the results to the digital I O 5 Output of the results through the protocol based I O 6 Output of diagnostic data if applicable An evaluation can now be performed 3 2 Variants SBRD Q controller The SBRD Q controller is a compact evaluation unit with degree of protection IP 20 Up to 2 cameras of ...

Страница 13: ...tion machine vision Communication Ethernet 10 100 1000 Mbit s Interfaces pluggable connectors Camera interface 2x USB compatible for connection to the camera head LED status I Os Ethernet SD memory card slot SBPB camera head The SBPB camera heads are intended for image acquisition within the SBRD camera system The ca mera heads are optimised for use in an industrial environment The product is avai...

Страница 14: ...ng the SBRD Q controller to the SBPB camera heads Fig 3 3 NEBC connecting cables Feature Code Value Connecting cables NEBC For controllers Field device side Connectors left side U7 USB compatible type B micro Cable outlet left G Straight Number of pins wires left 10 10 pin Cable characteristics K Standard Cable design S With shielding Cable length 5 5 m Cable designation N Without label holder Typ...

Страница 15: ...assword etc Transmission of firmware to the controller Tab 3 4 Functions of the FFT software The CCS software provides the following functions Subject Function Configuration and commissioning creating jobs Determination of the signal behaviour Determination of the cameras and camera characteristics Determination of the evalution and output functions Determination of tools and tool characteristics ...

Страница 16: ...ternal light e g ceiling lights windows etc Note Handle lens of the camera carefully Avoid contamination Work in a clean environment Do not touch the inside of the camera lens elements or glass surfaces Note Connect to the product only devices approved by Festo In mixed operation there is the danger of electric destruction Note Camera connection is sensitive to electrostatic discharges These can r...

Страница 17: ...he inspection part suitably and without obstacle è Tab 4 1 Observe that the distance between camera and inspection part is adapted to the optics In case of high ambient temperatures mount the camera head on a cool surface A functional earth connection is present on the mounting plate of the SBAM camera Connect this to earth potential with low impedance 4 1 3 Mounting of NEBC connecting cable Plug ...

Страница 18: ... contained in the adapter kit SBOA HMSV 40 Adapter kit Adapter kit for mounting to dovetail plate e g HMSV 11 plate not included in the adapter kit SBOA HMSV 41 Adapter kit Adapter kit for mounting with female thread 20 UNC for mounting to commercially available photo video tripods SBAM C6 A2 AF Swivel mounting Swivelling and adjustable mounting for attachment of the camera heads using dovetail sy...

Страница 19: ...RD EN 2017 11 English 19 4 2 2 SBPB camera head 1 2 1 Lens not included in the scope of delivery 2 Optical axis Fig 4 2 Dimensions Please use the Support Portal è www festo com sp for further information about dimensions ...

Страница 20: ...e H rail with low impedance to the earth potential Note Long signal lines reduce the resistance to interference Make sure that the cable lengths listed in the following table are complied with Cable type Permissible cable lengths Signal lines Max 30 m NEBC connecting cable Max 5 m Ethernet 30 m Tab 5 1 Maximum permissible cable lengths Note Emergency off In accordance with EN 60204 1 Electrical sa...

Страница 21: ...rotection against direct and indirect contact is guaranteed in ac cordance with IEC DIN EN 60204 1 by using PELV circuits Electrical equipment of machines general requirements Warning Fire risk Injury from hot surfaces The product must be supplied from a single voltage source that meets the requirements for energy limited circuits or from an energy limited voltage source LPS or from a Class 2 circ...

Страница 22: ...X5 power supply outputs 6 Status LEDs 7 X7 camera interface 8 X8 Ethernet interface 9 X9 camera interface aJ X10 reserved aA SD memory card module Fig 5 1 SBRD Q controller The following connection options are available è Chapter 6 4 and Tab 6 2 5 2 1 Connection of the operating voltage supply and the I Os Caution Damage to components Ensure compliance with the permissible operating voltage range ...

Страница 23: ...on of the X1 plug to earth potential with low impedance Current must not exceed 450 mA per output Connect cable screening to earth potential with low impedance For inputs with integrated pull up resistor X2 0 and X2 1 use shielded cables and attach shield on both sides to the earth potential with low impedance Maximum unshielded length 100 mm Outputs and inputs are galvanically isolated Outputs ar...

Страница 24: ...echnology e g IEC 62443 ISO IEC 27001 An access password only protects against unintentional modification For commissioning and configuration of the camera system a connection with the PC must be made via Ethernet For special requirements of permanent use in an industrial environment use a Category 6 Ethernet cable which fulfills requirements for oil resistance bending radius permissible bending c...

Страница 25: ...e first attempt at communication between software and camera system a dialogue normally begins with information that this communication is blocked by the firewall The blockade can be permanently lifted in this dialogue Manual approval of communica tion can also be granted later in the firewall settings over the network Communication of the installed software packages with the camera system takes p...

Страница 26: ...r slow parts flow The trigger signal is triggered through a higher order controller or a sensor for example as soon as the inspection part is in the field of view of the cameras The inspection results are output after completion of the inspection then the device waits for the next valid trigger signal Free wheel unit Inspection of component or continuous parts at medium to fast continuous parts fl...

Страница 27: ... set for logic 1 only when the results are validly present at all outputs The results can now be processed by a higher order controller PLC IPC for example These results remain at the outputs until the next trigger signal Signal process with standard settings The signal process with standard settings of the job parameters in the triggered evaluation mode could appear as follows Fig 6 1 Triggered e...

Страница 28: ...s evaluation mode the device acts similarly to a simple sensor that inspects and outputs continuously As a result a continuous evaluation can be achieved But synchronisation of the outputs with a higher order controller PLC is only conditionally possible Note The results are written to the outputs only when the device is finished with image evaluation The outputs remain valid until the next image ...

Страница 29: ...ed at configuration of the job with the CCS software è Chap 6 4 Acceptance of the I O signals by a higher order controller can be accomplished with the rising edge of the ready for operation signal Note Simplified representation of the signal processes These contain no jitter run times or system related delays ...

Страница 30: ...nput X2 2 Pass on the input X2 3 Always off Always on Configuration mode Inspection result OK Inspection result not OK Orientation correct Orientation incorrect Type Communication over Ethernet interface protocol based I O Trigger signal Apply input signal Acknowledge signal error Job preselection Job parameter Job tolerances Ready to operate Warning and error status Detailed inspection results wi...

Страница 31: ...ts with signal function include Trigger signal Acknowledge error Acknowledge error apply input signal Apply input signal Other inputs These inputs are status controlled that is they react to logic 1 or logic 0 Example for normal input job preselection Note The inputs can be read through the Telnet communication protocols and in the job independently of the selected function Function assignment Con...

Страница 32: ... detected and accepted only as long as a logic 1 is present at the ready for operation output To read inputs again load job the apply signal inputs must at first be reset due to edge detection As long as the inputs are read and the job is loaded the ready for operation output sends a logic 0 During this time no parts can be inspected The trigger signal is not valid as long as the ready for opera t...

Страница 33: ...with the related acknowledge signal error function The acknowledge error signal is edge controlled detected Information on the errors description and recommendations for elimination is in Chapter 7 1 2 6 4 2 Use of the Ethernet interface with Telnet The device provides the Telnet protocol for communication with a higher order controller robot or PC This allows very comprehensive output and control...

Страница 34: ... Telnet function and also established additional pro tocol characteristics On normal function The device to be coupled does not use the Telnet S7 module end On S7 module end When the Telnet S7 module end is used on a corresponding controller 5 In the device to be coupled set IP address and the used Telnet port of the camera system 6 Program the device to be coupled in order to access data of the c...

Страница 35: ...ing up Telnet program telnet 192 168 4 2 9999 This builds up a connection to the camera system Telnet program with feedback SBRD Q 20 SBRD Q no authentication required Note If the entries in the Telnet are not visible the so called Local Echo must be activated in the Telnet Information on this can be found in the Telnet program help Note The Telnet function of the camera system supports up to 10 a...

Страница 36: ...ower supply If the settings are to be stored remanently the STORPRG command must also be used RFW Read FlagWord RFW address Outputs the current value of the specified flag word address as text è Appendix A 3 Up to 64 addresses can be read out with this command To achieve this the flag word addresses must be specified separated by commas RFW address1 address2 address3 Reading out flag word addresse...

Страница 37: ... not valid The characteristic values can only be requested with this command if their output was previously con figured in the CCS software in the selected job with the help of the protocol based I O result flag word è Job Navigator step 6 Configure I O selection result flag words The characteristic names are stored in the job and can be determined when the job is created in CSS software Preferabl...

Страница 38: ...binary coded Telnet Data Collection binary coded Telnet XML XML coded Note The structure and contents of the protocol based I Os are displayed in CCS in the results window of the respective I O As a result programming of the controller for acceptance of the data can be implemented easily IMAGE Image evaluation This IMAGE command is allowed only in the evaluation mode triggered and free wheel unit ...

Страница 39: ...onnected Message if connection already exists 6 ERROR Maximum number of connections reached Message with attempts to build up more than 10 connections 10 ERROR Camera not ready Camera system is not ready for operation when the command is executed 11 ERROR Timeout during last operation Allowed time exceeded during execution of the command 12 ERROR Response line overflow The response command line ex...

Страница 40: ... 6 4 5 Use of the Ethernet interface with Telnet streaming The device provides the Telnet protocol for streaming for communication with a higher order controller robot or PC This allows very comprehensive output and control options Inspection results can be processed further in the higher order controller for example to have a robot grasp a workpiece Note Support of the Telnet streaming function b...

Страница 41: ...robot or PC This allows very comprehensive output and control options Inspection results can be processed further in the higher order controller for example to have a robot grasp a workpiece Note Support of the Telnet XML function by the camera system must be activated through job parameters è CCS Reading and writing are performed through a text based command line with defined commands where the d...

Страница 42: ...s and related functions are located in the Appendix A 3 Test of the Telnet communication Most PC operating systems have a Telnet program on the command line level The Telnet connection to the camera system can be tested with this program Requirements in the Windows operating system Activate the Telnet Client option in Windows system control è Help functions in the Windows operating system Open win...

Страница 43: ..._RNV Read Data Output DataResult_RDO User defined Begin Name of the protocol based I O float32_1 RESULT float32_1 float32_2 RESULT float32_2 Name of the protocol based I O User defined End DataResult_RDO Detailed information on the individual commands are found in the section Telnet XML commands Example RNV Angle of the edge Camera DataResult_RNV 108 949 DataResult_RNV Camera Note The Telnet funct...

Страница 44: ...mera CommandResultCode 1 CommandResultCode CommandResultText OK operation successful CommandResultText Camera Note Changes to values and settings using WFW are not stored remanently but only until a job change or disconnection of the power supply If the settings are to be stored remanently the STORPRG command must also be used RFW Read FlagWord RFW address Outputs the current value of the specifie...

Страница 45: ...ppears in the following form Camera DataResult_RNV RESULT_VALUE DataResult_RNV Camera If no agreement is found the device issues the following message Camera CommandResultCode 55 CommandResultCode CommandResultText ERROR one or more feature name s not valid CommandResultText Camera The characteristic names are stored in the job and can be determined when the job is created in the CSS software The ...

Страница 46: ...e of the following characters for the name of the protocol based I O when configuring the job in CSS Square brackets Quotation marks Umlauts Special characters Pay attention to capital and small letters If the protocol based I Os exist and use the Telnet protocol the result appears in the following form Camera DataResult_RDO Name of the protocol based I O float32_1 RESULT_VALUE_1 float32_1 float32...

Страница 47: ...be stored remanently under the job number All parameter settings that were changed using WFW for example are first stored permanently on the device with the STOREPRG command EXIT The connection is terminated with this command The camera system closes the Telnet XML connection VERSION Sensing of the version of the Telnet XML server and of the version of the device Note Messages and error messages è...

Страница 48: ...nformation listed in the following section 7 1 1 Status indication Optical display of the operating statuses is through status LEDs Run LED LED Status Significance error handling LED illuminates green Device is ready for operation LED illuminated yellow Commissioning is running Job shifting is running Wait until commissioning or job switching is completed LED is off Uncertain status e g operating ...

Страница 49: ...handling Festo SBRD EN 2017 11 English 49 Speed LED LED Status Description LED illuminates green Speed ETH connection 1 Gbit s LED is off 100 Mbit s LED flashes 10 Mbps 1 1 1 Speed LED Tab 7 3 Speed LED connections X8 and X10 ...

Страница 50: ...nnection exists This LED goes out briefly if data are sent or received And so in operation active data traffic is signaled by irregular flashing of the LEDs Link Traffic LED LED Status Description LED is off ETH connection No link LED illuminates green Link LED flashes Traffic 1 1 1 Link Traffic LED Tab 7 4 Link Traffic LED connections X8 and X10 ...

Страница 51: ... images with the total result not OK Incorrect parts type Diagnostics of the procedure with CSS software Job is not correct Job parameter is not correct Check job configuration with CCS software Firmware of the device remains stuck Electromagnetic malfunction from the environment due to devices that are not CE conforming Eliminate source of malfunction Check for correct low impedance screen attach...

Страница 52: ...utside the focus range Maintain minimum distance dependent on the lens and the camera If necessary insert spacer ring between camera and lens Lens is not focused Focus lens Optical errors are in the evaluation image Lens or safety window is dirty Carefully clean lens or safety window CCS software cannot make a connection to the camera system Network is blocking the data traffic Make sure that the ...

Страница 53: ...such as routers etc No network connection Check whether network cables are correctly connected Check the power supply of the intermediate network components such as routers etc Firewall of the PC or network does not permit a connection Enable program or ports in firewall Network card of the PC is deactivated e g for notebook without power supply Adjust Windows settings è Energy options Device is a...

Страница 54: ...an result in optical errors Make sure that the lens is not scratched Do not use any abrasive cleaning agents Switch off operating voltage for cleaning Clean the lens in case of contamination or deposits with a soft cloth and gentle cleaning agents Clean device as necessary Cleaning agents include all non abrasive media ...

Страница 55: ...A Technical appendix Festo SBRD EN 2017 11 English 55 G 3 Siemens star Fig A 1 Siemens star The Siemens star depicted here is a helpful template for rough focusing ...

Страница 56: ...rent consumption with load free outputs mA 300 nominal at 24 V DC Supply voltage cable length m 30 Functional earth connection M4 Input output interface Input output interface function 2x digital input with integrated pull up resistor 10x digital input 8x digital output Power supply Ground Input output interface connection type Plug connector Number of inputs 12 Note on inputs 2 of the 12 inputs w...

Страница 57: ...t interface function Diagnostics programming Ethernet interface connection type Socket Ethernet interface connectors RJ45 Ethernet interface number of pins wires 8 Ethernet interface transmission speed Mbps 10 100 1000 Fieldbus interface Fieldbus interface function Without function Card slot Memory card microSD Storage capacity GB 32 File system FAT32 Immissions emissions Storage temperature C 20 ...

Страница 58: ...s Corrosion resistance class CRC 0 PWIS criterium PWIS free in accordance with FN 942010 Materials other Information on housing materials PA6 reinforced PA6 GB20 GF10 LG K2 Note on materials RoHS compliant 1 For inputs with integrated pull up resistor Tab A 1 Technical data ...

Страница 59: ...Socket USB compatible interface connectors USB 3 0 type B micro USB compatible interface number or pins wires 10 USB compatible interface type of mounting Screw type lock Nominal operating voltage DC V 5 Permissible voltage fluctuations 5 Max current consumption with load free outputs mA 300 300 600 Electrical power consumption W 1 3 1 5 1 3 1 5 2 3 3 Input output interface Input output interface ...

Страница 60: ... humidity 20 80 Interference immunity EN 61000 6 2 2005 Interference emission EN 61000 6 3 2007 A1 2011 Resistance to shocks Shock test SL2 in accordance with FN EN FN 942017 5 and EN 60068 2 27 Vibration resistance Transparency and discharge inception test SL2 according to FN EN in accordance with EN 60068 2 6 Corrosion resistance class CRC 2 PWIS criterium PWIS free in accordance with FN 942010 ...

Страница 61: ...ode NEBC Cable designation Without label holder Product weight g 282 Electrical connection 1 Function Field device side Design Corner Connection type Plug connector Cable outlet Straight Connection technology USB compatible 3 0 type B micro Number of pins wires 10 Assigned pins wires 9 Tightening torque Nm 0 4 Tightening torque tolerance 20 Electrical connection 2 Function Controller side Design C...

Страница 62: ...125 Cable diameter mm 7 3 Nominal conductor cross section mm2 0 21 0 26 Nominal conductor cross section AWG 23 24 Immissions emissions Degree of protection IP20 Ambient temperature C 20 80 Ambient temperature with flexible cable installation C 20 80 PWIS criterium PWIS free in accordance with FN 942010 Note on materials RoHS compliant halogen free Degree of contamination 1 Corrosion resistance cla...

Страница 63: ...ound E41 Job parameters cannot be read interpreted E43 Job is not compatible with firmware At least one of the following checks has not been passed Job may be used with firmware version Settings for the tools are compatible with the firmware version Settings for the protocol based I O are compatible with the firmware version Required job license is present on camera system E45 Job could not be act...

Страница 64: ... 0 or 1 Takeover of the preselected job by setting the input takeover signal The job preselection is binary coded bit 0 bit 7 Value range decimal 1 255 During reading the currently used job number is returned Job preselection bit 1 R W 9 Uint16 0 or 1 Job preselection bit 2 R W 10 Uint16 0 or 1 Job preselection bit 3 R W 11 Uint16 0 or 1 Job preselection bit 4 R W 12 Uint16 0 or 1 Job preselection...

Страница 65: ...e FW Value Type Allowed Values Comments Quick access to detected parts type R 32 Uint16 Corresponds to flag word 24 to 31 Quick access to job preselection R W 33 Uint16 1 to 255 during writing Corresponds to flag word 8 to 15 For takeover the input takeover signal must then be set During reading the currently used job number is returned Tab A 7 Quick access to input and output register A 3 4 Exten...

Страница 66: ... seconds R W 155 Uint16 0 to 59 Tab A 9 System time A 3 6 Overall tolerance of the type in the current job Name Read Write FW Value Type Allowed Values Comments Parts type 0 R W 200 Uint16 0 to 20 To store changed values permanently perform STOREPRG command Parts type 1 R W 201 Uint16 0 to 20 Parts type 2 R W 202 Uint16 0 to 20 Parts type 3 R W 203 Uint16 0 to 20 Parts type 4 R W 204 Uint16 0 to 2...

Страница 67: ... R 256 Uint16 Overall tolerance used for testing the part Part no low word LSW R 257 Uint16 Part no is binary coded with 32 bits and distributed among 2 FW FW257 1 bit 1 16 LSW FW258 1 bit 17 32 MSW Example Part no 500 000 FW257 1010 0001 0010 0000 FW258 0000 0000 0000 0111 Part no high word MSW R 258 Uint16 Date year of the image R 259 Uint16 With trigger signal Date month of the image R 260 Uint...

Страница 68: ... bits 1 flag word Characteristic result 0 Not OK 1 OK Only those characteristic results are considered that were previously configured in the CCS software in the selected job for output of result flag words è Job Navigator step 6 Configure I O selection result flag words Tab A 11 Basic results of the last test A 3 8 Freely usable flag words not remanent Name Read Write FW Value Type Comments Free ...

Страница 69: ...job A 3 10 Characteristics results of the last test Addressing of the characteristic values is summarised in sections The sections begin with flag word 10000 and are each offset by 100 Section of the first characteristic values begins with 10000 Section of the second characteristic values begins with 10100 Etc The number and sequence of the available characteristic sections is oriented on a protoc...

Страница 70: ...iation 32000 32000 Deviation with overall result OK 100 100 Characteristic value before the decimal point R 10079 Int 16 Characteristic value digits before the decimal point as an integer Maximum value 32767 Minimum value 32768 Characteristic value after the decimal point R 10080 Uint16 Characteristic value digits after the decimal point x 10 000 as an integer2 Valid Flag from the transferred char...

Страница 71: ...e firmware version of the device Note Contact your regional Festo contact person if you have technical questions è www festo com A 3 11 Job parameter Name Read Write FW Value Type Allowed Values Job parameter R W 7000 Uint16 è Dynamic help in the job parameter window of the CCS software Tab A 15 Job parameter ...

Страница 72: ...ization 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 Ruiter Straße 82 73734 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 E mail service_international festo com Internet www festo com ...

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