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Device Description HG G-71910-C | English, Revision 03 | Date: 17.09.2019

22

Chapter 5 – Components and Operation

3 different CAN message objects can be output and 1 can be sent. In addition it is to
be set whether telegrams are to be output permanently at the set update rate or only
as long as a transponder is within range. Remote operation is also possible. Objects
are activated within the CAN menu, through the input of an address unequal 0 (refer
to section 6.3.2.5.1 on page 40).

5.2.2.3.2 CAN Message Object 1 (Send-Object)

5.2.2.3.3 CAN Message Object 2 (Send-Object)

5.2.2.3.4 CAN Message Object 3 (Send-Object)

5.2.2.3.5 CAN Message Object 4 (Reception-Object, Transponder Program

-

ming)

Via the reception Message Object 4 commands can be sent to the antenna. It has
the same ID as the send object Message Object 1 and a length of 8 byte.

Table 9

Structure of the CAN message object 1

Byte # Length Type

Description

1,2

2 Byte unsigned int

Possible system status messages according to 
Table 7 on page 19

3,4,5,6 4 Byte unsigned long 32 bit transponder code
7

1 Byte unsigned char Number of code readings of the last transpon

-

der crossing

Table 10

Structure of the CAN message object 2

Byte # Length Type

Description

1,2

2 Byte unsigned int

Possible system status messages according to 
Table 7 on page 19

3,4,5,6 4 Byte unsigned long 32 bit transponder code
7,8

2 Byte signed int

Dummy value

Table 11

Structure of the CAN message object 3

Byte # Length Type

Description

1,2

2 Byte unsigned int

Possible system status messages according to 
Table 7 on page 19

3,4

2 Byte unsigned int

the lowest 16 bit of the transponder code

5,6

2 Byte unsigned int

voltage generated by transponder in frame 
antenna (in samples)

7

1 Byte unsigned char number of code readings of the last transponder 

crossing

8

1 Byte unsigned char number of mal readings since last transponder 

crossing

Table 12

Structure of CAN message object 4

Byte #

Length

Type

Description

1,2,3,4

2 Byte

Unsigned int

Command (see Table 13 below)

5,6,7,8

4 Byte

Unsigned long

Parameter (see Table 13 below)

Содержание HG G-71910-C

Страница 1: ...nsponder Antenna HG G 71910 C 1 dimensional indoor English Revision 03 Date 17 09 2019 Dev by WM AK Author s RAD Device Description HG G 71910 C Transponder Innovation through Guidance www goetting agv com ...

Страница 2: ...iption HG G 71910 C English Revision 03 Date 17 09 2019 2 Overview 2019 Götting KG errors and modifications reserved The Götting KG in D 31275 Lehrte has a certified quality management system according to ISO 9001 ...

Страница 3: ... VC 18 5 2 1 3 Connection Plan of the 6 Pin Hirschmann Connector HG G 71910UC 18 5 2 2 Interfaces 18 5 2 2 1 RS 232 all Variants 18 5 2 2 1 1 List of System Data that may be Output 19 5 2 2 1 2 List of System Commands 20 5 2 2 1 3 Programming of Transponders serial 21 5 2 2 1 4 System Monitor 21 5 2 2 2 Positioning Pulse all Variants 21 5 2 2 3 CAN Version HG G 71910ZC 21 5 2 2 3 1 Description 21 ...

Страница 4: ...pdate 43 6 4 1 Installation of the Flash Program 43 6 4 2 Using the Flash Program 43 7 Trouble Shooting 44 8 Technical Data 45 9 Appendix 47 9 1 Physical Basics 47 9 1 1 Field Arrangement of the Energy Field 47 9 1 2 Field Arrangement of the Transponder s Reverse Signal 47 9 1 3 Induced Voltages in Sum and Difference Antenna 48 9 2 Procedure 3964R 48 0 1 Data direction antenna PLC 48 9 2 1 Data di...

Страница 5: ...ity of the danger The paragraph kind or source of the danger names the kind or source of the danger The paragraph consequences describes the consequences of not observing the warning notice The paragraphs for danger prevention explain how to avoid the danger The signal words have the following meanings SIGNAL WORD Kind or source of the danger Consequences Danger prevention Table 1 Hazard classific...

Страница 6: ...ww goetting de yyy Indicates tips for easier operation of the product The check mark lists a requirement The arrow shows an action step The indentation shows the result of an action or an action sequence Program texts and variables are indicated through the use of a fixed width font Menu items and parameters are shown in cursive characters Whenever the pressing of letter keys is required for progr...

Страница 7: ...d by an exactly mea surable and reproducible phase alteration The transponders used in this system are HG G 71325 resp HW DEV00095 read write These transponders are fair priced and especially suited for the applications of this system track guided or rail mounted vehicles with fairly small reading dis tances This manual refers to antennas with software version 1 43 or higher 2 1 System Components ...

Страница 8: ...antenna decodes the transponder code Each crossing of the coordinate axis in driving direction generates a position ing pulse with an adjustable duration The serial output signal is a non isolated RS 232 Alternatively it is possible to use a CAN Bus The positioning pulse is not galvanically separated but available as a 24 V 20 mA operational voltage switched output Optional a 15 bit parallel outpu...

Страница 9: ...Closed metallic structures or smaller metallic structures that form loops The following minimum distances apply 3 1 1 Smaller Metallic Structures That do Not Form a Loop Around the antenna smaller metallic structures that do not form loops may violate the metal free space They must have a minimum distance of 50 mm Figure 2 Metal free space around the antenna for smaller metallic structures top vie...

Страница 10: ...could make code reading difficult or falsify the code 3 2 Transponder The maximum reading distance for all transponders can only be achieved when the minimum distance to metal surfaces is maintained To clarify the configuration it is essential to carry out tests As mentioned above it is recommendable to maintain the minimum distances with in the metal free area section 3 1 2 above The impact on po...

Страница 11: ...ent any adverse effects on the system The space around the antenna should be metal free see section 3 1 on page 9 Do not operate the reading antenna while the upper side reading side is located directly above a metal surface as this would de tune the antenna severely in such a way that the power consumption of the output stage would increase considerably For an undisturbed operation of the transpo...

Страница 12: ...ve the transponder The voltage S should decrease to very small values if there is no transponder within the field The code display must disappear the display of the number of readings will be preserved If this is not the case there are interferences in the frequency band of 64 kHz If no errors have occurred exit the monitor program Don t forget to save altered val ues If certain parameters have be...

Страница 13: ...he sum voltage increases initially Once the threshold Threshold for Decoding has been exceeded the bit TRANS_IN_FIELD is set Following 4 x 8 ms 4 data points the transponder code is decoded The duration depends on the setting for Number of Equal Codes within the menu Time Code In this example this parameter is 2 i e the newly received code is compared to two codes which were already received Once ...

Страница 14: ...ven influences the transponder signal As a result it takes 9 x 8 ms until the transponder 207 is decoded see Figure 8 on page 14 For the slow crossing speed 0 5 m s 140 mm 33 x 8 m s it is still sufficient for generating a POSI Pulse but at high speed it would no longer be possible to decode this tran sponder with 3 m s Figure 8 Diagram Commissioning Protocol jammed decoding function still ensured...

Страница 15: ...s example the thresholds are set to 100 units The bit TRANS_IN_FIELD is permanently set After a successful transponder decoding initially a correct POSI Pulse is generated However as the software does not realize that the transponder leaves the antenna field each zero crossing of the difference voltage not shown in the diagram will generate another POSI Pulse False POSI Pulse generated by noise an...

Страница 16: ...ed currents with spectral parts between 64 kHz 4 kHz The following environmental conditions have no effect on the system Snow ice water Oil tar earth dirt etc Code structure The system decodes and outputs the entire code string of 20 bits when using the parallel interface only the 15 lowest bits are output The data protection within the transponders is done by line of 3 bit each and column parity ...

Страница 17: ...of the antenna Binder female connector 723 series YC Parallel interface cable entry on the narrow side of the antenna 25 pol SUB D male connector XC Parallel interface cable entry on the side of the antenna 25 pol SUB D male connector VC Parallel interface male connector on the narrow side of the antenna 25 pol SUB D male connector UC Serial interface cable entry on the narrow side of the antenna ...

Страница 18: ...the output protocol may be chosen as either transparent or 3964 R see also sections 9 3 on page 49 and 9 2 on page 48 Apart from that the content of the telegrams is configurable as the user may choose from a list of parameters Serial commands are used for activating a system monitor Table 4 HG G 71910YC XC VC Connection plan of the 26 pin flat band round cable of the SUB D connector Contact SUB D...

Страница 19: ...m sta tus for bytes 13 and 14 from Table 6 Table 6 Data words in a telegram of 15 byte length corresponding to 14 data byte Byte Length Valency Type Description 1 1 Byte 0000 0001 unsigned char Start character ASCII 061 2 3 2 Byte 0000 0002 signed int Dummy value 4 5 6 7 2 Byte 0000 0004 unsigned long 32 Bit transponder code 8 9 2 Byte 0000 0008 unsigned int Voltage generated by the transpon der w...

Страница 20: ...as to be sent as well The monitor mode should not be used during normal operation e g from a PLC as the following output is not carried out according to a transparent or 3964 R protocol but only suitable for display on a VT 52 terminal and used for the manual alteration of parameters There are 3 predefined commands 0040 0080 0100 RW_TRANSPON DER Transponder is writeable 0200 TRANS_IN_FIELD Transpo...

Страница 21: ...rection of travel X direction Its duration is adjustable within a millisecond pat tern In addition it can be limited to one pulse per crossing 5 2 2 3 CAN Version HG G 71910ZC If the antenna is the last device on the CAN bus you need to activate a terminating resistor You can find it on the board of the antenna see section 6 3 2 5 2 on page 41 5 2 2 3 1 Description Either Basic or Full CAN mode is...

Страница 22: ...gned int Possible system status messages according to Table 7 on page 19 3 4 5 6 4 Byte unsigned long 32 bit transponder code 7 1 Byte unsigned char Number of code readings of the last transpon der crossing Table 10 Structure of the CAN message object 2 Byte Length Type Description 1 2 2 Byte unsigned int Possible system status messages according to Table 7 on page 19 3 4 5 6 4 Byte unsigned long ...

Страница 23: ... Defaults The CAN baud rate defaults to 125Kbaud the Node ID to 1 Those defaults can ei ther be altered with the help of a terminal program e g Hyperterm on a PC or via the SDOs of the CANopen protocol 5 2 2 4 2 Description of the Process Data Objects PDO The PDO operational mode can be set to cyclical synchronous or asynchronous mode In order to avoid a bus load being too high due to constant cha...

Страница 24: ...d with a confirma tion that means that each reception is confirmed with a message The identifiers for read and write access are Table 14 Meaning of the PDO_1 data bytes Value Type Value range Hex Meaning Code_0 Unsigned 8 0 0xff Low order code bits 0 7 Code_1 Unsigned 8 0 0xff Code bits 8 15 Code_2 Unsigned 8 0 0xff Code bits 16 23 Code_3 Unsigned 8 0 0xff High order code bits 24 31 Status_0 Unsig...

Страница 25: ...NSUPPORTED 0x06010000 Non supported access to an object SDO_ABORT_NOT_EXISTS 0x06020000 Object is not implemented SDO_ABORT_READONLY 0x06010002 Writing access to a Read only object SDO_ABORT_SIGNATURE 0x08000020 At saving or loading of the param eters the signature save resp load has not been used SDO_ABORT_PARA_VALUE 0x06090030 Value range of parameters exceeded SDO_ABORT_PARA_TO_HIGH 0x06090031 ...

Страница 26: ... 4 RO Specification of Appl Object 4 5 RO Specification of Appl Object 5 6 RO Specification of Appl Object 6 0x1A01 0 RO Number of Objects mapped to Transmit PDO_2 1 RO Specification of Appl Object 1 2 RO Specification of Appl Object 2 3 RO Specification of Appl Object 3 4 RO Specification of Appl Object 4 5 RO Specification of Appl Object 5 Here only the highest bit can be changed in order to tem...

Страница 27: ...s bits 0 7 low order 6 RO Status bits 8 15 high order 7 RO Read Count 8 RO Error Count 0x6100 0 RO Number of 16 Bit Inputs 1 RO Transponder code bits 0 15 2 RO Transponder code bits 16 23 3 RO Status bits 0 15 0x6400 0 RO Number of Elements 1 RO Ref signal 2 RO Pos signal Table 22 Device Type Index Sub Index Name Type Attr Map Default Meaning 1000 00 Device Type Unsigned 32 RO No 0x00010191 Digita...

Страница 28: ...acturer Hardware Version Index Sub Index Name Type Attr Map Default Meaning 1009 00 Manufacturer Hard ware Version Visible String RO No A6 Board version Table 27 Manufacturer Software Version Index Sub Index Name Type Attr Map Default Meaning 100A 00 Manufacturer Soft ware Version Visible String RO No 1 43 Software version Table 28 Save Parameter Index Sub Index Name Type Attr Map Default Meaning ...

Страница 29: ...0000180 Node ID PDO_1 valid ID 0x180 Node ID 02 Transmission Type Unsigned 8 RW No 1 240 255 Synchronous or asyn chronous 03 Inhibit Time Unsigned 16 RW No 10 shortest time between two transmissions in ms 04 Dummy 05 Event Time Unsigned 16 RW No 100 Cycle time in ms Here only the highest bit can be changed in order to temporarily de activate the PDO Table 33 Transmit PDO_2 Parameter Index Sub Inde...

Страница 30: ...05 5th mapped object Unsigned 32 RO No 0x60000508 mapped to Index 0x6000 05 length 8 Bit Status 0 7 06 6th mapped object Unsigned 32 RO No 0x60000608 mapped to Index 0x6000 06 length 8 Bit Status 8 15 Table 35 Mapping TxPDO_2 Index Sub Index Name Type Attr Map Default Meaning 1A01 00 number of mapped objects Unsigned 8 RO No 0x05 Number of Sub Indexes 01 1st mapped object Unsigned 32 RO No 0x60000...

Страница 31: ...nsigned 16 RW No 200 Range of values 10 1023 03 Threshold for Positioning Unsigned 16 RW No 300 Range of values 10 1023 04 Posipulse time Unsigned 16 RW No 100 Range of values 1 1000 ms 05 High Nibble of RW Code Unsigned 8 RW No 16 Range of values 0 16 06 Number of equal codes Unsigned 8 RW No 1 Range of values 0 15 Table 37 Manufacture Parameter Node parameter Index Sub Index Name Type Attr Map D...

Страница 32: ...er of 8 Bit inputs 01 8 bit digital input Unsigned 8 RO Yes Transponder code Bits 0 7 02 8 bit digital input Unsigned 8 RO Yes Transponder code Bits 8 15 03 8 bit digital input Unsigned 8 RO Yes Transponder code Bits 16 23 04 8 bit digital input Unsigned 8 RO Yes Transponder code Bits 24 31 05 8 bit digital input Unsigned 8 RO Yes Status Bits 0 7 06 8 bit digital input Unsigned 8 RO Yes Status Bit...

Страница 33: ... Nevertheless any other terminal program can be utilized provided that it contains VT52 emulation If you should use a different program please read the documenta tion and adjust it to the values shown below 6 2 Parameter Presettings Dependent upon what you want to do starting the monitor program or the software update different parameters are necessary When you are using HyperTerminal you do not n...

Страница 34: ...ed directly via a PC Therefore run your terminal program In order to start the communication you need one of the configuration files described below You can download those files from our internet server the address is http www goetting agv com components transponderconf If you are using HyperTerminal it can now be started directly by double clicking the respective ht file Monitor9600 ht at 9600 Ba...

Страница 35: ...the right file the monitor program will be started The menus will then appear directly in the HyperTerminal window At first you will see the main menu from Figure 13 on page 36 6 3 2 How to work with the monitor program Any change to the interface parameters will be activated after a system reset switch the antenna off and on again Afterwards it may be necessary to use a different file from the fo...

Страница 36: ... on page 38 Table 43 Description of the system variables monitor program Description of the system variables S Measured voltage of the sum coil within the cover of the casing in samples max 1023 X Measured voltage of the difference coil within the cover of the cas ing in samples max 1023 DELTA_X Output value for the distance from the center axis of the antenna in direction of travel including adju...

Страница 37: ...f the output telegram The check sum of the tran sponder protocol can not be removed Based on the values given in Table 6 Data words in a telegram of 15 byte length corresponding to 14 data byte on page 19 you can define the desired elements of your telegram by hexadecimal addition The sequence of the parameters cannot be influenced It will always comply with the sequence in the table Example You o...

Страница 38: ... the configured telegram for the calcula tion refer to Figure 12 on page 19 6 3 2 4 T ime Code This menu enables the setting of timing values for the transponder decoding the po sition calculation and the positioning pulse Figure 16 Menu T ime Code Since the code transfer is only secured by a simple parity check two additional safe ty strategies have been implemented in order to achieve a higher d...

Страница 39: ... lies between the generation of the parallel code and the output of the DTR pulse please refer to section 9 7 Timing Diagramm of the Parallel Inter face on page 53 in the appendix determines if only one transponder generates a DTR pulse by a new code 1 or if transponders after leaving the detection area and reentering this area once again are generating a DTR pulse once again 0 determines at which...

Страница 40: ...sage Objects 2 and 3 see sections 5 2 2 3 3 on page 22 and 5 2 2 3 4 on page 22 With 0 the objects are disabled Via you can choose the CAN baud rate switches between a permanent output 1 according to the Data Clock set via and a mode where data is only output when a transponder is decoded in the field 0 With the remote mode is active at ed Then the antenna only answers on Remote Frames with a corr...

Страница 41: ...ivates CANopen simultaneously Basic CAN is deactivated enables setting the node address in the area 1 127 enables setting the baud rate Autobaud is not implemented switches the autostart function on and off Autostart off After switching the antenna on only the heartbeat message if set is transmitted the device is in preoperational mode Autostart on Immediately after switching the antenna on the PD...

Страница 42: ...d Values Text only format that is especially suited for importing the data into common spreadsheet ap plications The transmission parameters are 38 400 Baud 8 Bit even parity The transmission continues until a key is pressed Afterwards the antenna is reset and starts back into the normal mode with the stored transmission parameters not the monitor mode The monitor program e g HyperTerminal can be ...

Страница 43: ...ersion of Windows in use 6 4 2 Using the Flash Program Start the flash program by double clicking on FLASH269 EXE in the folder you created above The following program window is shown Figure 20 Screenshot Flash ST10F269 Use Select Hex File to select the firmware file from the disk The set the relevant COM port Switch to the Terminal program and in monitor mode press to enter the password 815 Then ...

Страница 44: ... the voltage No contact is possible only unintelligible charac ters are sent 1 1 CAN exchanged with CAN by mistake 2 Incorrect setting of transfer parameters 3 Incorrect transfer procedure selected 1 Check the corresponding con nections 2 Select only 9600 or 19200 Baud 8 Bit even parity 3 Select the correct procedure etc with the PC and the system monitor program Output values are not reproducible...

Страница 45: ...e Figure 4 on page 11 Protection class IP 65 Version HG G 71910VC IP 40 Connectors see variant overview in Table 2 on page 17 Reading distance 30 to 70 mm distance transponder underside reading antenna Nominal reading distance 50 mm Positioning accuracy 3 mm on the center axis Repeat accuracy 2 mm Max pass over speed 1 m s with positioning 2 m s without positioning Programming time approx 30 ms Se...

Страница 46: ...omagnetic compatibility EMV Examination of In accordance with European Testing Standard Emitted interference Noise radiation EN 55 022 class A Stability Casing Electromagnetic HF field amplitude modulated EN 61000 4 3 Discharge of statical electricity EN 61000 4 2 Signal tap High frequency asymmetric EN 61000 4 6 Fast transients EN 61000 4 4 ...

Страница 47: ...ppendix 9 1 Physical Basics 9 1 1 Field Arrangement of the Energy Field Figure 21 Field arrangement of the energy field fc 128 kHz 9 1 2 Field Arrangement of the Transponder s Reverse Signal Figure 22 Field arrangement of the transponder s reverse signal fc 64 kHz Difference antenna Sum antenna ...

Страница 48: ...is set to 1 start bit 8 data bit even parity 1 stop bit baud rate 9600 baud default or 19200 baud 0 1 Data direction antenna PLC In this direction the antenna data is transmitted cyclically A set of data always starts with an character hex 0x3d The cycle time is parameterizeable and should be an integer part or a multiple thereof of the transponder code s transmission time For this system the dura...

Страница 49: ...Figure 24 Figure 25 Status diagram procedure 3964R PLC Antenna 9 3 Procedure transparent For the interconnection antenna PLC a transparent protocol can be used The following settings have to be observed for the data transmission 1 start bit 8 data bit parity even 1 stop bit Baud rate 9600 Baud default or 19200 Baud 9 3 1 Data direction antenna PLC In this direction cyclical antenna data is transmi...

Страница 50: ...r code valid the lower 15 bit will be set to the cor responding outputs The appropriate transponders of the driver circuit are set up to 24 V Additionally the DTR output is activated for the duration adjustable The in creasing edge slope of this pulse can be used for the storage of the parallel data e g of an PLC The edge duration adjustable via Time Code DTR Setup Time see 6 3 2 4 on page 38 will...

Страница 51: ... er female connector on the narrow side of the antenna Figure 27 Casing and dimensions Antenna HG G 71910YC Interface Parallel cable entry on the narrow side of the antenna 25 pin SUB D male connector View from below Mounting holes ROSE Casing 09 09 08 16 09 Direction of travel View from below Mounting Holes Mounting Place e g Vehicle Reading direction Transponder 4 M4 Mounting Screws not within s...

Страница 52: ...asing and dimensions Antenna HG G 71910VC Interface Parallel 25 pin SUB D male connector on the narrow side of the antenna View from below Mounting Holes 4 M4 Mounting Screws not within scope of supply Mounting Place e g Vehicle Reading direction Transponder Direction of travel View from below Mounting Holes 4 M4 Mounting Screws not within scope of supply Mounting Place Reading Direction Transpond...

Страница 53: ...iming diagram parallel interface Can be adjusted in the menu Time Code section 6 3 2 4 on page 38 80 85 160 50 148 View form below Mounting Holes 4 M4 Mounting Screws not within scope of supply Mounting Place e g Vehicle Reading Direction Transponder Visible Length of the Connection Cable 1 Meter Direction of travel Antenna D0 to D14 Antenna Data Ready PLC Data Ready PLC D0 to D14 Antenna HG G 719...

Страница 54: ...e 17 Figure 12 Formula Minimum update rate 19 Figure 13 Main menu of the monitor program 36 Figure 14 Menu S erial Output 37 Figure 15 Output D isplay Telegram Content 38 Figure 16 Menu T ime Code 38 Figure 17 Menu Basic C A N Parameter 40 Figure 18 Position of the jumper for the activation of the terminating resistor 41 Figure 19 Menu CA N Open 41 Figure 20 Screenshot Flash ST10F269 43 Figure 21 ...

Страница 55: ...scription HG G 71910 C English Revision 03 Date 17 09 2019 55 List of Figures Chapter 10 Hirschmann male connector cable entry on the narrow side of the an tenna 53 Figure 31 Timing diagram parallel interface 53 ...

Страница 56: ...mmands CAN message object 4 23 Table 14 Meaning of the PDO_1 data bytes 24 Table 15 Meaning of PDO_2 data bytes 24 Table 16 Codes of the Heartbeat mode 24 Table 17 Identifiers for read and write access 25 Table 18 Error codes SDO telegrams 25 Table 19 Communication specific entries between 0x1000 and 0x1FFF 25 Table 20 Manufacturer specific entries at 0x2000 26 Table 21 Standard Device Profile Ran...

Страница 57: ...able 40 16 Bit Digital Inputs 32 Table 41 16 Bit Analog Inputs 32 Table 42 Terminal settings for the monitor program 33 Table 43 Description of the system variables monitor program 36 Table 44 Trouble Shooting 44 Table 45 Technical Data Antenna HG 71910 C 45 Table 46 Electromagnetic Compatibility 46 ...

Страница 58: ...Hazard classification 5 HG 71325 7 16 71910 7 11 16 45 HW DEV00095 7 16 I 13934 7 I interfaces 18 CAN 21 parallel 16 32 posi pulse 21 RS 232 18 M monitor program 34 parameter presettings 33 Usage 35 O output telegram 19 P PLC 20 21 32 50 Positionierantenne 16 Prozedur transparent 49 Prozedur 3964R 48 S Software 33 Symbole 6 system commands 21 System components 7 System monitor 34 system variables ...

Страница 59: ... if the systems are used according to the description This instruction manual has been drawn up to the best of our knowledge Installa tion setup and operation of the device will be on the customer s own risk Liability for consequential defects is excluded We reserve the right for changes encouraging technical improvements We also reserve the right to change the contents of this manual without havi...

Страница 60: ...Innovation through Guidance Götting KG Celler Str 5 D 31275 Lehrte Tel 49 0 5136 8096 0 Fax 49 0 5136 8096 80 info goetting agv com www goetting agv com www goetting agv com ...

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