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PROFIBUS-PA communication

The PROFIBUS-PA is a fieldbus version for process automation based on the widely used

PROFIBUS-DP. The transmission technique conforms with the IEC 61158-2 standard and

therefore fulfills the requirements for the type of protection, intrinsic safety.
PROFIBUS-DP defines two types of masters:

Class 1 master

exchanges the data with the configured slaves.

Class 2 master

is used for acyclic data exchange for commissioning and diagnostics pur-

poses.

Profile

Basic device functions have been described in profiles by PNO (PROFIBUS user organiza-

tion) to supplement the EN 50170 standard.
The scope of functions of the Type 3730-4 Positioner is consistent with Profile 3.01 for final

control elements. However, it still fulfills all obligatory functions of Profile 3.02, e.g. the auto-

matic implementation on replacing old device models and versions or concerning the con-

densed state according to the NAMUR Recommendation NE 107.

KH 8384-4 EN

PROFIBUS-PA communication

Содержание 3730-4

Страница 1: ...eumatic Positioner Type 3730 4 Configuration and operation over PROFIBUS PA Configuration Manual KH 8384 4 EN Firmware version K 2 00 R 1 52 Edition May 2012 Fig 1 Configuration and operation over TRO...

Страница 2: ...IBUS PA network or over the SAMSON SSP interface The Mounting and Operating Instructions EB 8384 4 EN describe the mounting start up and on site operation This Manual KH 8384 4 EN describes the basic...

Страница 3: ...re of ID number adaptation acc to PROFIBUS PA Profile 3 02 added It allows a Type 3785 Positioner Profile 2 0 and Profile 3 0 to be directly replaced with a Type 3730 4 Positioner in the compatibility...

Страница 4: ...4 KH 8384 4 EN...

Страница 5: ...1 21 5 4 Status alarms according to Profile 3 01 Condensed Status 25 5 5 Standard diagnostics with PROFIBUS DP protocol 29 6 Acyclic data exchange 36 7 Partial stroke testing over DP V0 37 8 Parameter...

Страница 6: ...er is used for acyclic data exchange for commissioning and diagnostics pur poses 2 Profile Basic device functions have been described in profiles by PNO PROFIBUS user organiza tion to supplement the E...

Страница 7: ...the function block Range of values defined in PV_SCALE 4 RCAS_OUT Setpoint with status Reference variable w in RCAS mode Provided to a supervisory host z B PID Block or master class 1 Depending on the...

Страница 8: ...the cyclic exchange of process data setpoint status etc with the host system and for configuring the PROFIBUS network Each positioner and its GSD file has a unique ID number ident number assigned to i...

Страница 9: ...mode for Type 3785 Profile 3 0 the diagnosis telegram then communicates as with Type 3785 Diagnosis bits which were first introduced with Profile 3 01 are not set Additionally the DI Blocks of Type 3...

Страница 10: ...raction SP value floating point IEEE Status 4 Version 2 Module RCAS_IN RCAS_OUT 0xC4 0x84 0x84 0x08 0x05 0x08 0x05 Output Byte 0 1 2 3 4 Octet 1 sign exponent Octet 2 Exponent fraction Octet 3 fractio...

Страница 11: ...2 exponent fraction Octet 3 fraction Octet 4 fraction Octet 5 fraction Octet 1 Octet 2 READBACK value floating point IEEE Status POS_D value POS_D status 4 Version 4 Module SP CHECKBACK 0xC3 0x84 0x82...

Страница 12: ...ADBACK value floating point IEEE Status POS_D value POS_D status CHECK_ BACK 0 CHECK_ BACK 1 CHECK_ BACK 2 4 Version 6 Module RCAS_IN RCAS_OUT CHECKBACK 0xC5 0x84 0x87 0x08 0x05 0x08 0x05 0x0A Output...

Страница 13: ...ng point IEEE Status Input Byte 0 1 2 3 4 5 6 7 8 9 Octet 1 sign exponent Octet 2 exponent fraction Octet 3 fraction Octet 4 fraction Octet 5 fraction Octet 1 sign exponent Octet 2 exponent fraction O...

Страница 14: ...t provided from a data length of 3 bytes or 5 bytes Use the MOVE command for data types BYTE WORD and DWORD If the SFC 14 is to be used over several slots do not forget that the data length is always...

Страница 15: ...age for the optional integrated solenoid valve failed The positioner cannot function and moves to the fail safe position determined by the actuator regard less of the reference variable R 4 6 Not assi...

Страница 16: ...nded EXPERTplus valve diagnostics is active R 2 0 CB_TOT_VALVE_TRAV Limit value for total valve travel exceeded The current value for the total valve travel is above the entered or pre determined limi...

Страница 17: ...l diagram 4 Hysteresis test Tests out of service tests 4 Drive signal diagram over the full range of the valve 4 Hysteresis test diagram over the full range of the valve 4 Static characteristic 4 Part...

Страница 18: ...RAW parameters The following states can be selected refer to Fig 3 4 Maintenance alarm The positioner cannot perform its control task due to a functional fault in the device or in one of its periphera...

Страница 19: ...list refer to EB 8384 4 EN In addition the diagnostic parameters are available over the communica tion interface of the positioner The diagnostic functions can easily be displayed and config ured usin...

Страница 20: ...DIA_FUNCTION_CHECK Diagnosis condensed state Measured value status CHECKBACK acyclic CHECKBACK cyclic Automation system visualization operator Maintenance required Maintenance demanded Maintenance al...

Страница 21: ...PECIFIC Temperature 40 C 0x80 GOOD_NON_SPECIFIC Temperature 80 C 0x80 GOOD_NON_SPECIFIC Initialization errors x range 0x80 GOOD_NON_SPECIFIC Delta x range 0x80 GOOD_NON_SPECIFIC Incorrect attachment m...

Страница 22: ...ir supply Perhaps modified TEST 0x80 GOOD_NON_SPECIFIC Perhaps not enough TEST 0x80 GOOD_NON_SPECIFIC Perhaps not enough 0x80 GOOD_NON_SPECIFIC Working at full capacity 0x80 GOOD_NON_SPECIFIC Working...

Страница 23: ...umatics Perhaps existing TEST 0x80 GOOD_NON_SPECIFIC Perhaps existing 0x80 GOOD_NON_SPECIFIC Perhaps too large TEST 0x80 GOOD_NON_SPECIFIC Perhaps too large 0x80 GOOD_NON_SPECIFIC Limit range Down 0x8...

Страница 24: ...80 GOOD_NON_SPECIFIC Connection positioner valve No optimal travel transmission TEST 0x80 GOOD_NON_SPECIFIC Perhaps loose 0x80 GOOD_NON_SPECIFIC Perhaps limit range 0x80 GOOD_NON_SPECIFIC Perhaps loos...

Страница 25: ...IA_ZERO_ERR Autocorrection 0x80 GOOD_NON_SPECIFIC DIA_MAINTENANCE DIA_MEM_CHECKSUM Fatal error 0x24 BAD_MAINT_ALARM DIA_HW_ELECTR Extended diagnostics available 0x80 GOOD_NON_SPECIFIC DIA_MAINTENANCE...

Страница 26: ...A4 GOOD_MAINT_REQ DIA_MEM_CHECKSUM Interal device error 0xA4 GOOD_MAINT_REQ DIA_MEM_CHECKSUM General parameters 0xA4 GOOD_MAINT_REQ DIA_MEM_CHECKSUM Options parameters 0xA4 GOOD_MAINT_REQ DIA_MEM_CHEC...

Страница 27: ..._NON_SPECIFIC Much lower over partial range 0x80 GOOD_NON_SPECIFIC Much higher over whole range TEST 0x80 GOOD_NON_SPECIFIC Much lower over whole range TEST 0x80 GOOD_NON_SPECIFIC Much higher over par...

Страница 28: ...oint alternating average value above reference lines 0x80 GOOD_NON_SPECIFIC Zero point shift monotonously down wards average value below reference lines 0x80 GOOD_NON_SPECIFIC Zero point shift monoton...

Страница 29: ...e classified either as GOOD_FUNCTION_CHECK or BAD_FUNCTION_CHECK in firmware K 1 10 and higher See FEATURE_SELECT parameter on page 54 5 5 Standard diagnostics with PROFIBUS DP protocol Generated alar...

Страница 30: ...the Profile 3 01 the DIAG_EXT bit can be set when the measured value status has be assigned to BAD_DEVICE_FAILURE This only happens when the following errors which lead to device failure occur 4 Test...

Страница 31: ...t 6 DIA_NOT_INIT device not initialized self calibration not performed 7 DIA_INIT_ERR self calibration faulty 12 0 DIA_ZERO_ERR zero point error final position 1 2 DIA_CONF_INVAL configuration invalid...

Страница 32: ...e with EXPERT 2 16 3 0 x range see Code 50 1 Delta x range see Code 51 2 Attachment see Code 52 3 Initialization time exceeded see Code 53 4 Initialization solenoid valve see Code 54 5 Travel time too...

Страница 33: ...TEST 2 1 Air supply Perhaps not enough TEST 2 2 Air supply Perhaps not enough 2 3 Air supply At full capacity 2 4 Air supply At full capacity TEST 2 5 Air supply Perhaps modified 2 6 Actuator spring S...

Страница 34: ...kage shut off Perhaps larger than in original state 2 6 Inner leakage shut off Perhaps larger than original state TEST 2 7 Inner leakage shut off Perhaps present 2 24 3 0 External leakage Perhaps soon...

Страница 35: ...2 3 Reference test aborted 2 4 ESD Movement actuator possible 2 5 ESD Movement actuator not possible 2 6 ESD Solenoid valve error 2 7 Not assigned 2 1 Only on using the Condensed status und diagnostic...

Страница 36: ...ter settings and for diagnostic purposes The DD Device Description file can be downloaded from the SAMSON Internet site www samson de to configure parameters in Type 3730 4 Positioner over Siemens PDM...

Страница 37: ...test cannot be started when the fail safe action FSAFE_TYPE is active The partial stroke test is analyzed by the DI Function Block Discrete Input of the positioner In this case one of the following al...

Страница 38: ...y Supported modes O M A CAS RCAS ALL O S out of service mode MAN mode AUTO mode Cascade mode Remote cascade mode O M A CAS RCAS Note Parameters marked with an asterisk are included in the cyclic data...

Страница 39: ...condensed state A change is not permissible in the DATA_EXCHANGE cyclic state DESCRIPTOR 36 Storage class S Read write capability r w Supported modes ALL Any desired text to describe the application T...

Страница 40: ...emain active as long as the event still exists static alarms Bit 0 false 1 true Byte Bit According to PA V3 01 Description 0 0 DIA_HW_ELECTR Hardware error in the electronics 0 1 DIA_HW_MECH Hardware...

Страница 41: ...active 0 2 LV total valve travel Code 24 0 3 Control loop error Code 57 0 4 Zero point error Code 58 0 5 Autocorrection Code 59 0 6 Fatal error Code 60 0 7 Extended diagnostics available Only with EX...

Страница 42: ...ified 5 6 Actuator springs Spring stiffness reduced TEST 5 7 Actuator springs Pre tensioning reduced TEST DIAGNOSIS_MASK 31 Storage class Read capability r Availability of the status bit in DIAGNOSIS...

Страница 43: ...ST_DATE ADD_ GEAR_MAN ADD_GEAR_SER_NUM DEVICE_CALIB_DATE DEVICE_ CHARACT 1 DEVICE_ CONFIG_DATE TAG_DESC VALVE_MAINT_DATE VALVE_MAN VALVE_SER_NUM VALVE_TYPE DI1 2 Function Block TAG_DESC DI1 2 Transduc...

Страница 44: ...WARE_REVISION 25 Storage class Read capability r Hardware version electronics mechanics HW_WRITE_PROTECTION 41 Storage class Read capability r Position of the write protection switch on the device 0 N...

Страница 45: ...f blocks Blocks are grouped by entering the same value in the STRATEGY parameter of each block TAG_DESC 18 Storage class S Read write capability r w Supported modes ALL Used to enter a user selected t...

Страница 46: ..._MODE 22 MODE_BLK 23 ALM_SUM 24 SOFTWARE_REVISION 25 HARDWARE_REVISION 26 DEVICE_MAN_ID 27 DEVICE_ID 28 DEVICE_SER_NUM 29 DIAGNOSIS 30 DIAGNOSIS_EXT Index Parameter 31 DIAGNOSIS_MASK 32 DIAGNOSIS_MASK...

Страница 47: ...ith Function Block DI2 3 Solenoid valve CB_FAIL_SAFE DI2 The internal solenoid valve is used and the information so lenoid valve wired same as 1 is analyzed with Function Block DI2 This information is...

Страница 48: ...ALL Information communicated cyclically over the discrete input DI2 Status disk of input 2 1 Voltage signal applied 0 De energized Status of last PST 0 Error 1 OK 2 Not performed DATALOGGER_DS_1 111...

Страница 49: ...postioner DEV_REVISION_COMP 134 Storage class Read capability r Lowest positioner revision with which the device revision DEV_REVISION is compatible DEVICE_DP_STATUS 126 Storage class Read capability...

Страница 50: ...spring stiffness increased TEST 0 1 Actuator springs Working at full capacity 0 2 Actuator springs Working at full capacity TEST 0 3 Shift of working range Closed position 0 4 Shift of working range M...

Страница 51: ...ro point Shift monotonously downwards average value below reference lines 3 7 Zero point Shift monotonously upwards average value below reference lines 4 0 Zero point Alternating average value below r...

Страница 52: ...enoid valve forced venting 0x20 Transit time exceeded 0x40 Pin position 0x80 Test or calibration in progress DIAGNOSIS_INIT_2 129 Storage class Read capability r Diagnostic alarms 0x01 No emergency mo...

Страница 53: ...ameter name 0 Measured value 0 29 Measured value 29 30 Reference value ET_ENDLAGE 79 Storage class Read capability r Statistical information AUTO Structure for end position trend drive signal Element...

Страница 54: ...ION_CHECK During a diagnostic test a BAD_FUNCTION_CHECK would be activated according to the profile This can be prevented by activating this additional function which activates GOOD_FUNCTION_ CHECK fi...

Страница 55: ...T_VS_2 Data set 2 measured points 26 to 50 FST_VS_3 Data set 3 measured points 51 to 75 FST_VS_4 Data set 4 measured points 76 to 100 FST_ZEIT_1 152 to FST_ZEIT_4 155 Storage class Read capability r T...

Страница 56: ...istical information AUTO Structure for short term travel histogram Element Parameter name 0 X_INTERVAL_VALUE_0 valve position interval 0 21 X_INTERVAL_VALUE_21 valve position interval 21 22 X_AVERAGE...

Страница 57: ...terval 0 12 Z_INTERVAL_VALUE_11 cycle counter interval 12 13 Z_AVERAGE average value z for long term 14 TOTAL_NUMBER number of measuring points 15 DYNAMIC_FAKTOR dynamic stress factor HYS_STELLSIGNAL...

Страница 58: ...IDENT_LIMIT_SWITCHES 50 Storage class S Read write capability r w Supported modes ALL Describes whether the optional inductive limit switch is installed Not automatically recognized 0 Not installed 1...

Страница 59: ...stroke test PST Time data set 1 to 4 READING_DIRECTION 58 Storage class S Read write capability r w Supported modes ALL Reading on the display is turned by 180 STAT_AGAIN_VS 81 Storage class Read cap...

Страница 60: ...AL 82 Storage class Read capability r Tests MAN Drive signal diagram steady state Drive signal reference and repetition values Element Parameter 0 REFERENZZEITSTEMPEL reference time stamp 1 TESTINFO t...

Страница 61: ...gnment Physical Block Slot 0 Manufacturer specific parameters KH 8384 4 EN 61 Physical Block Slot 0 Manufacturer specific parameters Index Parameter 49 IDENT_OPTIONS 50 IDENT_LIMIT_SWITCHES 51 DEVICE_...

Страница 62: ..._SS_1 102 PST_SS_2 103 PST_E_1 104 PST_E_2 105 PST_E_3 106 PST_E_4 107 PST_ZEIT_1 Index Parameter 108 PST_ZEIT_2 109 PST_ZEIT_3 110 PST_ZEIT_4 111 DATALOGGER_DS_1 112 DATALOGGER_DS_2 113 DATALOGGER_DS...

Страница 63: ...LOCK_OBJ 16 Storage class Read capability r CHECK_BACK 49 Storage class Read capability r Detailed information on the device coded bitwise refer to section 4 KH 8384 4 EN 63 AO Function Block Slot 1 P...

Страница 64: ...ered 0 Note If the error still persists after the fail safe time has elapsed fail safe action is triggered The fail safe action of the AO Function Block is determined by FSAFE_TYPE in this Block FSAFE...

Страница 65: ...write capability r w Supported modes ALL Output value This output value is calculated by the Function Block from the SETPOINT for the Transducer Block in mm degrees or OUT_CHANNEL 38 Storage class S R...

Страница 66: ...ned in PV_SCALE RCAS_OUT 43 Storage class Read capability r Setpoint with status Reference variable w in RCAS mode Provided to a supervisory host e g PID Block or Master Class 1 Depending on mode of t...

Страница 67: ...to allow faster processing of blocks 0 Blocks are grouped by entering the same value in the STRATEGY parameter of each block Note These data are neither checked nor processed by the AO Function Block...

Страница 68: ...and valve needs to move through the rated travel range an gle of rotation to close the valve measured during initialization 1 0 s 68 KH 8384 4 EN AO Transducer Block Slot 1 Profile specific parameter...

Страница 69: ...ized 1 Opening towards 100 position 2 Closing towards 0 position 3 None saving position remains kept ACTUATOR_MAN 140 Storage class S Read write capability r w Supported modes ALL Manufacturer of the...

Страница 70: ...Read write capability r w Supported modes ALL Date of the last configuration of the positioner XX XX 20XX FEADBACK_VALUE 138 Storage class Read capability r Current valve position Unit of OUT_SCALE LI...

Страница 71: ...pecific calibration routine in the field device 0 No test normal operation 1 2 Start initialization 3 Cancel initialization 4 Start zero point calibration 5 Cancel zero point calibration 6 Search for...

Страница 72: ...61 Reset Communication controller 62 Reset Communication controller counter SW_W_DOG triggered 63 Reset Control parameter 64 Reset Closed loop controller counter 65 Reset Error message for bus connect...

Страница 73: ...he solenoid valve 21 to 29 30 Zero point error 31 to 253 254 Successful 255 No valid data from the closed loop control SERVO_GAIN_1 115 Storage class S Read write capability r w Supported modes ALL KP...

Страница 74: ...of blocks 0 Blocks are grouped by entering the same value in the STRATEGY parameter of each block TAG_DESC 82 Storage class S Read write capability r w Supported modes ALL Used to enter a user selecte...

Страница 75: ...ted 100 0 TRAVEL_RATE_DEC 129 Storage class S Read write capability r w Supported modes ALL Required transit time CLOSED s Minimum time required to move through the working range to 0 position 0 0 s T...

Страница 76: ...ODE_BLK 87 ALARM_SUM 89 ACT_STROKE_TIME_DEC 90 ACT_STROKE_TIME_INC 103 DEVICE_CALIB_DATE 104 DEVICE_CONFIG_DATE 105 LIN_TYPE 112 RATED_TRAVEL 113 SELF_CALIB_CMD 114 SELF_CALIB_STATUS 115 SERVO_GAIN_1...

Страница 77: ...tests EXPERTplus BLOCKING_POSITION 166 Storage class S Read write capability r w Supported modes ALL CHARACT_TYPE 173 Storage class S Read write capability r w Supported modes ALL Type of characteris...

Страница 78: ...AX_PRETRIGGERZEIT max pretrigger time 2 FORTSCHRITT progress flag 3 Z HLER_TAGE day counter 4 Z HLER_STUNDEN hour counter 5 Z HLER_MINUTEN minute counter 6 Z HLER_SEKUNDEN seconds counter 7 Z HLER_100...

Страница 79: ...DN 14 KVS unit 15 KVS coefficient 16 Seat diameter of the valve DEVICE_INIT_STATE 163 Storage class Read capability r Indicates whether the device has been initialized DIAG_MONITORING 187 Storage cla...

Страница 80: ...agnostic level EXPERT EXPERTplus Emergency shutdown ESD ELAPSED_HOURS_METERS 193 Storage class Read capability r Operating hours counter Element Parameter 0 ELAPSED_HOURS_METER time since first initia...

Страница 81: ...g 24 Reset Drive signal diagram steady state long term monitoring 25 Reset Drive signal diagram steady state short term monitoring 26 Reset Drive signal diagram hysteresis long term monitoring 27 Rese...

Страница 82: ...modes ALL Contains the output value received from the upstream Analog Output Function Block FINAL_VALUE_RANGE 179 Storage class S Read write capability r w Supported modes ALL Travel range angle of ro...

Страница 83: ...REACH Allowed time to reach full closed position FST_DISPLAY 227 Storage class Read capability r Information on the full stroke test FST PROGRESS_FLAG STATUS_FST NUMBER_OF_TESTS RECOMMEND_SCAN_RATE DU...

Страница 84: ...titute 4 Zero point MANUFAC_ACTUATOR_SIZE 209 Storage class S Read write capability r w Supported modes ALL MOVING_DIRECTION 164 Storage class S Read write capability r w Supported modes ALL Direction...

Страница 85: ...falling PST_MEAS_DATA1 3_DEAD_TI_FALL dead time falling PST_MEAS_DATA1 3_T63_FALLING T63 falling PST_MEAS_DATA1 3_T98_FALLING T98 falling PST_MEAS_DATA1 3_RISE_TI_FALLING rise time falling PST_MEAS_D...

Страница 86: ...rate DURATION_OF_TEST test duration TESTMODE_ACTUAL current test mode TEST_INFO test information PST_SETTINGS 216 Storage class S Read write capability r w Supported modes ALL Settings for partial str...

Страница 87: ...ressure friction PST_TEST_STAT1 3_W_STEP_TOO_HIGH difference w step start too high PST_TEST_STAT1 3_ABORT_REF_CHANG test aborted reference variable was changed PST_TEST_STAT1 3_MAX_BREAKTIME_EX max br...

Страница 88: ...modes ALL Fail safe position of the valve The positioner remains in AUTO mode The fail safe position is indicated on the positioner display by a blinking S 0 Not active 1 Set fail safe position 2 Res...

Страница 89: ...E end 2 WARTEZEIT_NACH_SPRUNG delay time after step 3 ANZAHL_BIS_UMKEHR number of measurement values until turn back STAT_KENNLINIE_RW_2 232 Storage class Read write capability r w Supported modes ALL...

Страница 90: ...ATE 3 RAMPE_UP 5 RAMPE_DOWN 6 LATENCY_AFTER_STEP 7 STEP_SELECTION SUB_MODE_INIT 162 Storage class Read capability r Status of substition mode SUb TOLERANCE_BAND 180 Storage class S Read write capabili...

Страница 91: ...class S Read write capability r w Supported modes ALL Enable travel angle lower limit TRAVEL_LIMIT_UP_ON 169 Storage class S Read write capability r w Supported modes ALL Enable travel angle upper li...

Страница 92: ...1 DELAY_TIME 182 STATUS_SOLENOID_VALVE 183 FINAL_POSITION_VALUE 184 FINAL_VALUE 185 DATALOGGER 186 DATALOGGER_READ 187 DIAG_MONITORING 188 STEP_RESPONSE_R 189 STEP_RESPONSE_RW Index Parameter 190 EVEN...

Страница 93: ...pported modes ALL Identification of the batch process BLOCK_OBJECT 16 Storage class Read capability r KH 8384 4 EN 93 DI1 2 Function Block Slot 2 3 Profile specific parameters Index Parameter 218 PST_...

Страница 94: ...or OUT_D when the sensor sensor electronics register an error 0 INVERT 31 Storage class S Read write capability r w Supported modes ALL Inversion of the input value PV_D from DI Transducer Block befor...

Страница 95: ...either checked nor processed by the DI Function Block TAG_DESC 18 Storage class S Read write capability r w Supported modes ALL Assigns a unique description to each block for clear identification Max...

Страница 96: ...96 KH 8384 4 EN DI1 2 Function Block Slot 2 3 Profile specific parameters Index Parameter 16 BLOCK_OBJECT 17 ST_REV 18 TAG_DESC 19 STRATEGY 20 ALERT_KEY 21 TARGET_MODE 22 MODE_BLK 23 ALM_SUM Index Pa...

Страница 97: ...t mode PV_D 72 Storage class Read capability r Process variable forwarded to the Function Block including status SENSOR_ID 69 Storage class S Read write capability r w Supported modes ALL Identificati...

Страница 98: ...LL Assigns a unique description to each block for clear identification Max 32 characters TARGET_MODE 65 Storage class S Read write capability r w Supported modes ALL Target mode 8 AUTO 16 MAN 128 O S...

Страница 99: ...KH 8384 4 EN 99...

Страница 100: ...SAMSON AG MESS UND REGELTECHNIK Weism llerstra e 3 60314 Frankfurt am Main Germany Phone 49 69 4009 0 Fax 49 69 4009 1507 Internet http www samson de KH 8384 4 EN 2012 06...

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