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SEW-Eurodrive INTERBUS UFI11A, Руководство пользователя

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Manual – Fieldbus Interface INTERBUS UFI11A 

21

5

INTERBUS Interface

Not all combinations are available. You will find the valid settings in the following table.
The insert with ID Code has to correspond to the setting of DIP switches 6 and 7. The
process data channel setting has to correspond to the setting of DIP switches 1-5. Any
conflicting settings will prevent operation of the INTERBUS. See also the section on con-
figuration of the Interbus interface via DIP switches.“

Program setting

Function

ID Code

3 dez (03 hex)

No parameter channel PCP 

Process data 
channel:

16 Bit

1 process data word (1 PD)

32 Bit

2 process Data Words (2 PD)

48 Bit

3 process data words (3 PD)

64 Bit

4 process data words (4 PD)

80 Bit

5 process data words (5 PD)

96 Bit

6 process data words (6 PD)

112 Bit

7 process data words (7 PD)

128 Bit

8 process data words (8 PD)

144 Bit

9 process data words (9 PD)

160 Bit

10 process data words (10 PD)

192 Bit

12 process data words (12 PD)

224 Bit

14 process data words (14 PD)

256 Bit

16 process data words (16 PD)

384 Bit

24 process data words (24 PD)

ID Code

227 dez (E3 hex)

Parameter channel PCP: 1 word 

Process data 
channel:

16 Bit

1 process data word (Param + 1 PD)

32 Bit

2 process data words (Param + 2 PD)

48 Bit

3 process data words (Param + 3 PD)

64 Bit

4 process data words (Param + 4 PD)

80 Bit

5 process data words (Param + 5 PD)

96 Bit

6 process data words (Param + 6 PD)

112 Bit

7 process data words (Param + 7 PD)

128 Bit

8 process data words (Param + 8 PD)

144 Bit

9 process data words (Param + 9 PD)

176 Bit

11 process data words (Param + 11PD)

218 Bit

13 process data words (Param + 13 PD)

240 Bit

15 process data words (Param + 15 PD)

368 Bit

23 process data words (Param + 23 PD)

Содержание INTERBUS UFI11A

Страница 1: ...INTERBUS UFI11A Fieldbus Interface Edition 06 2002 Manual 1052 5114 EN ...

Страница 2: ......

Страница 3: ...ace 28 5 3 Examples of DIP switch settings for process data and PCP communication in Autosetup mode 31 5 4 Control via INTERBUS 34 5 5 PCP interface 35 5 6 Return codes for parameter setting 44 5 7 Autosetup 46 6 Error Response 48 6 1 Fieldbus timeout 48 6 2 SBus timeout 48 6 3 Unit errors 48 7 Diagnostic LEDs 49 7 1 States of the LEDs UL RC BA TR and RD 49 8 DIP Switches 51 9 Application examples...

Страница 4: ...RBUS Se veral inverters can be connected to the INTERBUS UFI11A interface via the SBus The INTERBUS UFI11A interface provides the translation between the INTERBUS and the SBus Copying data The UFI11A settings can be copied with the UBP11A parameter module from UFI11A to UFI11A For safety reasons all inverters connected to the UFI11A must be turned off when writing data 05373AXX Fig 1 Overview of t...

Страница 5: ... DIP switches X1 SBus and 24 V connection X2 Diagnostic interface X3 INTERBUS remote in incoming remote bus X4 INTERBUS remote out outgoing remote bus S1 DIP switches UL Logic voltage RC Incoming remote bus OK BA Bus mode active RD Outgoing remote bus switched off TR Parameter data exchange via PCP channel SYS F System fault USER Expert mode ...

Страница 6: ...onnected e g MOVITRAC 07 In laying out the system consider the maximum cable length and the fact that the UFI11A must be the first or last node on the system bus SBus The UFI11A must have additional HF compliant grounding if the DIN rail mounting opti on is used in conjunction with SBus cables more than 1 m in length Pin assignment The UFI11A fieldbus interface is equipped with a 9 pin sub D male ...

Страница 7: ...e selecting the bus connector The cable is connected to the INTERBUS plug using pins 6 and 1 DO and DO and pins 7 and 2 DI and DI Communication takes place via these contacts The RS 485 signals DO and DO as well as DI and DI must have the same contacts on all INTER BUS stations Otherwise communication via the bus will not function 05374AXX Fig 4 Pinout of the 9 pin sub D female connector X4 to EN ...

Страница 8: ...t cables are suitable for example Conductor cross section 0 75 mm2 AWG18 Cable resistance 120 Ω at 1 MHz Capacitance per unit length 40 pF m 12 pF ft at 1 kHz The permitted total cable length depends on the baud rate setting of the SBus 250 kbaud 160 m 528 ft 500 kbaud 80 m 264 ft 1000 kbaud 40 m 132 ft 05375AXX Fig 5 System bus connection UFI11A COM RS 485 reference DO Data out inverted DO Data o...

Страница 9: ...tighten the retaining screws of plugs modules and equipotential bonding con ductors Use only connectors with a metal housing or a metallized housing Maximize the contact area between the shield and the connector housing Shield the bus cable on both ends Do not route the signal and bus cables in parallel with the power cables motor leads use separate cable ducts if possible Only use grounded metal ...

Страница 10: ... 24 V enable CW direction of rotation DI02 CCW STOP applied to 24 V enable CCW direction of rotation DI03 FIX SETPT SW OV not connected DI04 n11 n21 not connected DI05 n12 n22 not connected Program the unused terminals to NO FUNCTION if you are using a MOVIDRIVE or MOVIDRIVE compact Important If you need to set P815 SBus timeout delay for MOVITRAC 07 this is only possible using a PC The default va...

Страница 11: ...have to set 9 words in case you are operating three MOVITRAC 07 units A change in the DIP switch settings will become active after turning the UFI11A off and on again Start the CMD Tool project planning software for your INTERBUS interface Enter the bus setup via Configuration frame Read in or Read in configuration frame Assign program addresses of the control program to the INTERBUS process data ...

Страница 12: ...ll inverters connected to the UFI11A in contiguous data packages It is important for you to know where a particular inverter is located in the data package process image The relation ship is shown in the following illustration You can enable the inverter by writing the value 0006h in the corresponding control word You can enter the speed setpoint in the following word it is scaled with 0 2 1 min p...

Страница 13: ...to be connected e g MOVITRAC 07 In laying out the system consider the maximum cable length and the fact that the UFI11A must be the first or last node on the system bus SBus The UFI11A must have additional HF compliant grounding if the DIN rail mounting opti on is used in conjunction with SBus cables more than 1 m in length Pin assignment The UFI11A fieldbus interface is equipped with a 9 pin sub ...

Страница 14: ...selecting the bus connector The cable is connected to the INTERBUS plug using pins 6 and 1 DO and DO and pins 7 and 2 DI and DI Communication takes place via these contacts The RS 485 signals DO and DO as well as DI and DI must have the same contacts on all INTER BUS stations Otherwise communication via the bus will not function 05374AXX Fig 8 Pinout of the 9 pin sub D female connector X4 to EN 50...

Страница 15: ...ceNet cables are suitable Conductor cross section 0 75 mm2 AWG18 Cable resistance 120 Ω at 1 MHz Capacitance per unit length 40 pF m 12 pF ft at 1 kHz The permitted total cable length depends on the baud rate setting of the SBus 250 kbaud 160 m 528 ft 500 kbaud 80 m 264 ft 1000 kbaud 40 m 132 ft 05375AXX Fig 9 System bus connection UFI11A COM RS 485 reference DO Data out inverted DO Data out DI Da...

Страница 16: ...ghten the retaining screws of plugs modules and equipotential bonding con ductors Use only connectors with a metal housing or a metallized housing Maximize the contact area between the shield and the connector housing Shield the bus cable on both ends Do not route the signal and bus cables in parallel with the power cables motor leads use separate cable ducts if possible Only use grounded metal ca...

Страница 17: ...the software Select the COM to which the UFI11A has been connected and press the Update button The UFI11A should appear at address 0 and the connec ted inverters on the following addresses In case you do not see an entry in the win dow please check the COM interface and the connection via the UWS21 If you only see the UFI11A as an entry in the window please check the SBus cabling and the terminati...

Страница 18: ...ou will find detailed information in the section INTERBUS interface Set the required process data length via DIP switches 1 5 You will need three pro cess data words for each drive inverter connected to the UFI11A That means you will have to set 9 words in case you are operating three MOVITRAC 07 units A change in the DIP switch settings will become active after turning the UFI11A off and on again...

Страница 19: ...ual values of all inverters connected to the UFI11A in contiguous data packages It is important for you to know where a particular inverter is located in the data package process image The relation ship can be seen in the process data monitor of the UFx Configurator You can enable the inverter by writing the value 0006h in the corresponding control word You can enter the speed setpoint in the foll...

Страница 20: ...wing illustrations show the CMD Tool settings for a UFI11A configured with 3PD 2PCP according to Fig 10 on the input output addresses 144 149 of the control Configuring the bus structure Off line configuration Insert with ID code You can configure the bus structure with the CMD Tool on line or off line In the off ine status the drive inverter will be configured with the menu item Edit Insert with ...

Страница 21: ...ords 5 PD 96 Bit 6 process data words 6 PD 112 Bit 7 process data words 7 PD 128 Bit 8 process data words 8 PD 144 Bit 9 process data words 9 PD 160 Bit 10 process data words 10 PD 192 Bit 12 process data words 12 PD 224 Bit 14 process data words 14 PD 256 Bit 16 process data words 16 PD 384 Bit 24 process data words 24 PD ID Code 227 dez E3 hex Parameter channel PCP 1 word Process data channel 16...

Страница 22: ...ess data words Param 6 PD 112 Bit 7 process data words Param 7 PD 128 Bit 8 process data words Param 8 PD 160 Bit 10 process data words Param 10 PD 192 Bit 12 process data words Param 12 PD 224 Bit 14 process data words Param 14 PD 352 Bit 22 process data words Param 22 PD 384 Bit 24 process data words Param 24 PD ID Code 225 dez E1 hex Parameter channel PCP 4 words Process data channel 16 Bit 1 p...

Страница 23: ...escribe the INTERBUS stations The following entries are of im portance in this instance In the fields Manufacturer Name and Device Type you must enter the Manufacturer Name SEW EURODRIVE Device Type UFI so that the drive can be configured via the INTERBUS interface module Fig 12 with a management PC from the management level Select Remote Bus as interface type 05655AXX Fig 12 Device description fo...

Страница 24: ...n copy your own ICO files in the directory IBSCMD Pict32 Fig 13 for easier identification of the drive inverter You will find the INTERBUS description files for CMD Tool under Software Movitrac on the SEW homepage at http www SEW EURODRIVE com 03716AXX Fig 13 Linking device description with ICO files ...

Страница 25: ...nverter connected to the UFI11A Message Lengths Transmit Receive 243 bytes each Supported Parameter Channel Services Standard Read Write Assigning pro cess data You assign the INTERBUS process data of the drive inverters to the program addresses of the control system with the context menu Process Data 03717AXX Fig 14 Setting the parameter channel PCP 05657AXX Fig 15 Assignment of INTERBUS process ...

Страница 26: ...blishing a PCP connection with this method and read the parameter list object directory stored in the device Change the CMD Tool to the Monitoring operating state Click on the UFI to which you would like to establish a PCP connection Open the con text menu with the right mouse button and select the menu item Device Parameteriza tion 05658AXX Fig 16 Change the CMD Tool to the MONITO RING operating ...

Страница 27: ...sage instead of the progression bar check the PCP configuration and assignment of the CRs You may want to format the parameterization memory of the interface module once again and wri te the current project once again into the parameterization memory Repeat the configu ration of the interface module and the sequence for testing the PCP connection 03722AXX Fig 18 Window for device parameterization ...

Страница 28: ...for setting the parameters of the UFI11A and the connected inverters The process data channel is the means by which the connected inverters are controlled and their status read Since all data of the connected inverters are transmitted by the INTERBUS you will have to enter the sum of the process data lengths of all individual inverters In Autosetup this means three words per inverter Fig 21 shows ...

Страница 29: ...ission speed Fig 8 shows the possible settings for the PCP channel Note that if the total of process data and PCP words exceeds 10 words you must select a value equal to or greater than your required data length from the following settings 0 10 words set directly 12 words 14 words 16 words 24 words and 26 words A maximum of 3PDs can be assigned to one station on the SBus 05378AXX Fig 22 Possible s...

Страница 30: ...t ready ID code 38h if the settings of DIP switches S1 1 to S1 7 are invalid Number of process data words 0 PCP words 1 PCP word 2 PCP words 4 PCP words 1 X X X X 2 X X X X 3 X X X X 4 X X X X 5 X X X X 6 X X X X 7 X X X 8 X X X X 9 X X 10 X X X 11 X 12 X X X 13 X 14 X X 15 X 16 X 17 18 19 20 X 21 22 X X 23 X 24 X X De energize the UFI11A before adjusting the DIP switch settings The settings of DI...

Страница 31: ...er 3 process data words 3 process data words are set 0 1 2 and 4 PCP words can be set using DIP switches PCP1 and PCP2 2 inverters 6 process data words 6 process data words are set 0 1 2 and 4 PCP words can be set using DIP switches PCP1 and PCP2 3 inverters 9 process data words 9 process data words are set 0 and 1 PCP word can be set using DIP switches PCP1 and PCP2 ...

Страница 32: ...rds are set 0 2 and 4 PCP words can be set using DIP switches PCP1 and PCP2 5 inverters 15 process data words 15 process data words are set Only 1 PCP word can be set using DIP switches PCP1 and PCP2 6 inverters 18 process data words 20 process data words are set 4 PCP words must be set using DIP switches PCP1 and PCP2 ...

Страница 33: ...terface 7 inverters 21 process data words 22 process data words are set 2 and 4 PCP words can be set using DIP switches PCP1 and PCP2 8 inverters 24 process data words 24 process data words are set 0 and 2 PCP words can be set using DIP switches PCP1 and PCP2 ...

Страница 34: ...verter is 3 words with Autosetup The inverters are located in ascending SBus address sequence with their associated process data lengths in the process image for example an inverter with address 1 and 3 words then an inverter with address 2 and 3 words then an inverter with address 3 and 2 words etc 50394AXX Fig 23 Representation of the INTERBUS data in the PLC address area 1 PLC address area U f ...

Страница 35: ...rds using the DIP switches on the UFI11A to enable access to the parameter values of the UFI11A fieldbus interface or the inverter Changing the number of PCP words varies the access speed to parameter va lues via the PCP channel The PCP interface is implemented using PCP version 3 0 in the UFI11A PCP services The UFI11A fieldbus interface supports the PCP services shown in Fig 10 However only the ...

Страница 36: ...on Canceling the communications link with Abort The Abort PCP service cancels an existing communications link between the INTER BUS master and the fieldbus interface Abort is an unconfirmed PCP service and can be triggered either from the INTERBUS master or from the fieldbus interface Reading parame ter values with Read The Read PCP service gives the INTERBUS master read access to all communicatio...

Страница 37: ... all Write all attribute in the object list because the inverter undertakes the corresponding check itself and sends back a return code if necessary The following table shows the object description of all parameters Parameter index decimal Name of the communication object 8288 Variable data channel with acyclical routing UFI11A and parameters of the con nected inverters can be reached 8296 Downloa...

Страница 38: ...type is fixed at 8 bytes Variable data channel performs a write service If a write service is performed via the data channel e g write parameter or write para meter volatile the UFI11A responds with the current service confirmation when the ser vice has been performed The corresponding error code is returned if the write service is not successful This method offers the advantage that the write ser...

Страница 39: ... evaluated and the reques ted service performed 2 Service confirmation is entered in the data channel and can be evaluated by READ access in the master The variable data channel with acyclical routing object is only handled locally on the fieldbus interface and is defined as in the following table Control master UFI11A fieldbus interface 1 Initiate the service coded in the parameter channel by mea...

Страница 40: ... user data area is defined as 38 x 6 2 bytes 230 bytes byte format The following table shows the structure of the download parameter block object The download parameter block object is only handled locally on the fieldbus interface and is defined as in the following table Octet Meaning Note 0 Address Target address 0 or 254 for the UFI11A or SBus address of the target inverter 1 Number of paramete...

Страница 41: ...re the error occurred see example Example Write error response for an error when writing the 11th parameter Error class 8 Other Error code 0 Other Additional code high 11dec Error when writing parameter 11 Additional code low 15hex Value too large Note the following points when using the download parameter block Do not perform a factory setting within the download parameter block All parameters wr...

Страница 42: ...lical parameter channel e g write parameter or write parameter volatile the UFI11A responds with the current service confirmation when the service has been performed The appropriate error code is returned if the write access is not successful This method offers the advantage that the write services are processed simply by sen ding a WRITE MOVILINK parameter channel once and evaluating the write co...

Страница 43: ...ameter channel is evaluated and the re quested service performed 2 Service confirmation is entered in the parameter channel and can be evaluated by READ access in the master The acyclical MOVILINK parameter channel is only handled locally on the fieldbus inter face and is defined as in the following table Control master UFI11A fieldbus interface 1 Initiate the service coded in the parameter channe...

Страница 44: ...card in case of communication problems Return codes genera ted by the inverter system are all classified as error class 8 Other error You will get a more detailed analysis of the error with the element Additional code Error code The element Error code gives you more detailed information on the reason for the error within the Error class and is generated by the communication software of the fieldbu...

Страница 45: ...and on again to start a new initialization Add code high hex Add code low hex Meaning 00 00 No error 00 10 Incorrect parameter index 00 11 Function parameter not available 00 12 Read access only 00 13 Parameter block is active 00 14 Factory setting is active 00 15 Value too large for parameter 00 16 Value too small for parameter 00 17 No option card available for this function parameter 00 18 Erro...

Страница 46: ...ata assignments it is recommended to assign the addresses from address 1 ans wor king in ascending order according to the arrangement of inverters in the control cabinet The process image on the fieldbus side will be extended by three words for each located inverter The SYS FLT LED stays on if no inverters are found A maximum of eight in verters can be configured The figure shows the process image...

Страница 47: ...Manual Fieldbus Interface INTERBUS UFI11A 47 5 INTERBUS Interface 05431AXX Fig 25 Data exchange INTERBUS master UFI11A inverter ...

Страница 48: ...y the UFI11A the UFI11A enters error code 91 System error in status word 1 of the corresponding in verter The SYS FLT LED lights up and the error is also displayed via the diagnostic in terface P815 SBus timeout delay must be set to a value other than 0 on the inverter if it is to stop The error is self resetting on the UFI11A meaning the current process data are exchanged again immediately after ...

Страница 49: ... LED RC Cable Check green LED BA Bus Active green LED RD Remote Bus Disable red Status Meaning Remedy on Supply voltage of bus electro nics is present off Supply voltage of bus electro nics is missing Check the 24V voltage supply of the UFI11A Status Meaning Remedy on Incoming remote bus connec tion is ok off Incoming remote bus connec tion is faulty Check the incoming remote bus connection Status...

Страница 50: ...nd the UFI11A is currently set ting up its configuration If this status lasts for more than one minute turn off the Autosetup mode and turn it on again Replace the module if the behavior persists FLASHES regularly UFI11A is in error status If you started the UFI11A using the Autosetup DIP switch turn the UFI11A off and on again If the LED is still on restart Autosetup by turning the DIP switch off...

Страница 51: ...e 0 1 2 and 4 words Process data length Please note that INTERBUS does not support all data lengths which can be set The to tal data length of process data and PCP words can be 1 10 12 14 16 24 26 and 36 words If you require a number of words which lies between these settings the next higher num ber must be used For example 9PD 4 words PCP results in 14 words AUTO SETUP See Sec Quickstart without ...

Страница 52: ...ditional information concerning control of the drive inverters via the pro cess data channel especially coding of the control and status word in the manual for the fieldbus unit profile of the corresponding drive inverter 9 2 Parameter setting via the PCP interface This section describes how you can read or write parameters and IPOS variables via the standardized INTERBUS PCP services Read and Wri...

Страница 53: ...ation Protocol PCP of the INTERBUS standardizes the ac cess to parameter data of INTERBUS stations and establishes the following sequence Establishing the PCP connection with the Initiate service Reading or writing parameters with the Read and Write services If the communication connection is no longer necessary it can be disconnected with the Abort service not explained here since it often is not...

Страница 54: ...206Dhex After sending the service you should receive a confirmation with Read_Confirmation The parameter data are displayed as follows in the Motorola format Simatic format 00 28 01 00 hex Identification for UFI11A You will find additional information on the UFI11A parameters in the section Parameter List Word Meaning Coding hex 1 Command_Code Read_Request 00 81 2 Parameter_Count 00 03 3 Invoke_ID...

Страница 55: ...is available via index 8288 dez 2060 hex Example Writing the value 74565 of the IPOS variable H0 Index 11000 dez 2AF8 hex The value 74565 dez 0001 2345 hex has to be written to the drive inverter with SBus address 1 After sending this service you will receive the Write_Confirmation You can once again use the return codes for the evaluation of a negative message Word Meaning Coding hex 1 Command_Co...

Страница 56: ...ting The variable data channel with acyclical routing is available via index 8288 dez 2060 hex Example Reading the IPOS variable H0 Index 11000 dez 2AF8 hex of the drive inverter with SBus address 1 After receiving the positive Write_Confirmation there will be a read access to the variable data channel with acyclical routing that will read in the data read with the read order defined in the Write_...

Страница 57: ... 00 09 3 Invoke_ID Comm _Reference 00 02 4 Result 00 00 5 Length 00 0C 6 Data 1 Subkanal Data 2 Subadresse 01 01 7 Data 3 Frametyp Data 4 Datenlänge 86 08 8 Data 5 Verwaltung Data 6 Reserviert 31 00 9 Data 7 Index High Data 8 Index Low 2A F8 10 Data 9 Data 10 00 01 11 Data 11 Data 12 23 45 Bits 15 8 7 0 Word Meaning Coding hex 1 Command_Code Read_Confirmation 80 81 2 Parameter_Count 00 03 3 Invoke...

Страница 58: ...PI1 actual value 8458 RO 0 098 PI2 actual value 8459 RO 0 099 PI3 actual value 8460 RO 0 802 Factory setting 8594 R RW 0 0 NO 1 YES 2 DELIVERY STATUS 810 RS485 address 8597 R0 0 812 RS485 timeout delay 8599 s R RW 1 816 SBUS Baud rate 8603 R RW 0 0 125 kBaud 1 250 kBaud 2 500 kBaud 3 1000 kBaud 819 Fieldbus timeout delay 8606 s RO 0 630 831 RESPONSE fieldbus timeout 8610 R RW 10 0 NO RESPONSE 10 P...

Страница 59: ...up default setting perform reset and set parameters of UFI11A again Contact SEW Ser vice for advice if this reoccurs 28 Fieldbus time out Connected inver ters stopped control word 0 No master slave communication took place within the configured response monitoring period Check master communication routine Extend the fieldbus timeout delay response monitoring in the master configuration or turn off...

Страница 60: ... the fieldbus Check the voltage supply and the SBus cabling check the SBus ter minating resistors Check the con figuration if the UFI11A was configured with the PC Switch the UFI11A off and on again Check the error code using the diagnostic interface if the error remains and take the action described in this table 97 Copy data SBus communi cation stopped An error occurred while the data record was...

Страница 61: ...ostic interface RS 485 Parameter setting Autoconfiguration Using MOVITOOLS from V 2 70 or la ter Diagnostics LEDs on the front panel of the unit MOVITOOLS Mounting Screw mounting or support rail Ambient temperature 10 C 50 C SBus Maximum transmission speed 1 MBaud Transfer protocol MOVILINK Number of units on SBus max 8 Process data words per unit max 3 PD Connection technology Disconnectable scre...

Страница 62: ...13 62 Manual Fieldbus Interface INTERBUS UFI11A Dimensions 13 Dimensions 05114AXX Fig 27 Dimension drawing ...

Страница 63: ...O files 24 Initiate 36 Installation notes 6 13 Internal communication error 45 Inverter parameters 10 17 L Last PCP index 41 LED BA 49 LED CC 49 LED RD 49 LED SYS FAULT 50 LED TR 50 LED UL 49 LEDs 49 List of errors 59 M MOVILINK parameter channel acyclical 42 O Object description 37 P Parameter channel 25 Parameter list 58 Parameter module 4 Parameter setting via the PCP interface 52 Parameter set...

Страница 64: ...l data 61 TR 50 Transmit 50 U UL 49 U Logic 49 Unit errors 48 Unit structure 5 UWS21A 17 V Variable data channel with acyclical routing object 38 W Write 35 36 38 42 Write parameter values 35 36 38 42 Writing of UFI11A or drive parameters via object 8288 55 ...

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Страница 68: ...SEW EURODRIVE GmbH Co P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 http www sew eurodrive com sew sew eurodrive com ...

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