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Beckhoff EK18 Series Documentation

Beckhoff EK18 Series Documentation

Ethercat bus coupler
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Documentation
EK18xx
EtherCAT Bus Coupler
Version:
Date:
2.2
03.04.2019

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Summary of Contents for Beckhoff EK18 Series

  • Page 1 Documentation EK18xx EtherCAT Bus Coupler Version: Date: 03.04.2019...
  • Page 3 Product overview EtherCAT Bus Coupler Product overview EtherCAT Bus Coupler EK1814 [} 20] EtherCAT Bus Coupler with 4 digital inputs and 4 digital outputs EK181 [} 20]8 EtherCAT Bus Coupler with 8 digital inputs and 4 digital outputs EK1828 [} 20] EtherCAT Bus Coupler with 4 digital inputs and 8 digital outputs EK1828-0010 [} 20] EtherCAT Bus Coupler with 8 digital outputs EK18xx Version: 2.2...

  • Page 4: Table Of Contents

    Table of contents Table of contents 1 Product overview EtherCAT Bus Coupler.................... 3 2 Foreword .............................. 7 Notes on the documentation...................... 7 Safety instructions .......................... 8 Documentation issue status ...................... 9 Version identification of EtherCAT devices .................. 9 3 Basic principles ............................ 14 EtherCAT basics.......................... 14 EtherCAT cabling – wire-bound....................... 14 EtherCAT State Machine ......................... 15 CoE - Interface: notes........................ 16 Distributed Clock .......................... 16...
  • Page 5 Table of contents Firmware Update EL/ES/EM/ELM/EPxxxx .................. 58 8.3.1 Device description ESI file/XML.................. 59 8.3.2 Firmware explanation ......................  62 8.3.3 Updating controller firmware *.efw...................  63 8.3.4 FPGA firmware *.rbf...................... 64 8.3.5 Simultaneous updating of several EtherCAT devices............ 68 Support and Service ........................ 69 EK18xx Version: 2.2...
  • Page 6 Table of contents Version: 2.2 EK18xx...

  • Page 7: Foreword

    The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Copyright © Beckhoff Automation GmbH & Co. KG, Germany.

  • Page 8: Safety Instructions

    All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

  • Page 9: Documentation Issue Status

    • First public issue • Corrections and addenda • Corrections and addenda • Preliminary version Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14-digit designation, made up of • family key • type • version • revision Example...
  • Page 10 Production lot/batch number/serial number/date code/D number The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

  • Page 11: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    Foreword Examples of markings Fig. 1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01) Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number Fig. 3: CU2016 switch with serial/ batch number EK18xx Version: 2.2...

  • Page 12: Fig. 4 El3202-0020 With Serial/ Batch Number 26131006 And Unique Id-Number 204418

    Foreword Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102 Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070 Fig. 7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701...

  • Page 13: Fig. 8 Elm3604-0002 Terminal With Unique Id Number (Qr Code) 100001051 And Serial/ Batch Num- Ber 44160201

    Foreword Fig. 8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201 EK18xx Version: 2.2...

  • Page 14: Basic Principles

    EtherCAT devices from Beckhoff. Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website! E-Bus supply A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule (see details in respective device documentation).

  • Page 15: Ethercat State Machine

    Basic principles Fig. 9: System manager current calculation NOTE Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! EtherCAT State Machine The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave.

  • Page 16: Coe - Interface: Notes

    This device has no CoE. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. Distributed Clock The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics: •...
  • Page 17 Basic principles • Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e. the variable overflows after approx. 4.2 seconds) • The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of <...

  • Page 18: Product Overview

    An EtherCAT coupler is required in order to connect EtherCAT Terminals with E-bus-communication (series ELxxxx, ESxxxx, EMxxxx) to an EtherCAT network. This coupler relays the communication from the higher- level EtherCAT network to the terminals, or functions as a master itself and generates telegrams. Beckhoff offers different components for different application scenarios.
  • Page 19 Product overview Characteristic EK1100 EK1101 EK1101-0010 EK1300 EK1501 EK1501-0010 EK1101-0080 Protection class IP20 IP20 IP20 IP20 IP20 IP20 Higher level 100 MBit FastEth- 100 MBit FastEth- 100 MBit FastEth- 100 MBit FastEth- 100 MBit FastEth- 100 MBit FastEth- network technol- ernet ernet ernet ernet ernet ernet...

  • Page 20: Ek18Xx

    Product overview EK18xx 4.2.1 Introduction Fig. 12: EK18xx EK18xx EtherCAT coupler with digital inputs and outputs The EK18xx EtherCAT couplers link the EtherCAT device protocol with the EtherCAT Terminals (ELxxxx/ ESxxxx/EMxxxx). Depending on the type, they contain a certain number of digital inputs 24 V (IEC61131-2 type 3) and outputs 24 V ;...

  • Page 21: Technical Data

    Product overview 4.2.2 Technical data Technical data EK1814-0000 EK1818-0000 EK1828-0000 EK1828-0010 Task in the EtherCAT system Coupling of EtherCAT Terminals (ELxxxx) to 100BASE-TX EtherCAT networks Number of digital inputs Number of simultaneously control- 4 (-25 °C ... +60 °C) 8 (-25 °C ... +55 °C) 4 (-25 °C ...

  • Page 22: Optional Distributed Clocks Support

    Product overview 4.2.3 Optional distributed clocks support Basic principles Distributed Clocks (DC) The EtherCAT Distributed Clocks system comprises local clocks that are integrated in the EtherCAT slaves and are synchronized by the EtherCAT master via special datagrams. Not all EtherCAT slaves support the Distributed Clocks procedure.

  • Page 23: Fig. 15 Twincat Setting For Using This Component As Reference Clock

    Product overview Device XML revision in the configuration Serial number of the component BK1150 from BK1150-0000-0016 from firmware 01: xxxx01yy CU1128 from CU1128-0000-0000 from firmware 00: xxxx00yy EK1100 from EK1100-0000-0017 from firmware 06: xxxx06yy EK1101 from EK1101-0000-0017 from firmware 01: xxxx01yy EK1501 from EK1501-0000-0017 from firmware 01: xxxx01yy...

  • Page 24: Ethercat Coupler Port Allocation

    Product overview 4.2.4 EtherCAT coupler port allocation According to the EtherCAT specification, an ESC (EtherCAT Slave Controller, hardware processing unit of the EtherCAT protocol) can have 1 to 4 ports, which it controls itself. Via an open port it can handle outgoing and incoming Ethernet traffic.

  • Page 25: Fig. 17 Internal And External Port Assignment Ek1100 Bus Coupler

    Product overview Fig. 17: Internal and external port assignment EK1100 Bus Coupler Frame processing sequence • The EtherCAT frame arriving at the EtherCAT signal input is passed on by Port 0 (A) to the EtherCAT processing unit. • The EtherCAT frame arrives at Port 1 (B) and the data frame departs via Port 1 (B) to the following slave in the EtherCAT terminal network (if a slave is connected there and reports "Link").
  • Page 26 Product overview Processing of the data The data in the EtherCAT datagrams are processed only between Ports 0 (A) and 3 (D) in the EtherCAT processing unit. The non-implemented (internal) Port 3 (D) is considered to be closed and passes on the datagram to Port 1 (B). Version: 2.2 EK18xx...

  • Page 27: Mounting And Wiring

    • Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to en- sure the protection class and ESD protection. Fig. 18: Spring contacts of the Beckhoff I/O components Installation on mounting rails...

  • Page 28: Fig. 19 Attaching On Mounting Rail

    Mounting and wiring Assembly Fig. 19: Attaching on mounting rail The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure: 1. First attach the fieldbus coupler to the mounting rail. 2.

  • Page 29: Fig. 20 Disassembling Of Terminal

    Mounting and wiring Disassembly Fig. 20: Disassembling of terminal Each terminal is secured by a lock on the mounting rail, which must be released for disassembly: 1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.

  • Page 30: Connection System

    Mounting and wiring Fig. 21: Power contact on left side NOTE Possible damage of the device Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V).

  • Page 31: Fig. 22 Standard Wiring

    Mounting and wiring Standard wiring Fig. 22: Standard wiring The terminals of KLxxxx and ELxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. Pluggable wiring Fig. 23: Pluggable wiring The terminals of KSxxxx and ESxxxx series feature a pluggable connection level. The assembly and wiring procedure for the KS series is the same as for the KLxxxx and ELxxxx series.

  • Page 32: Fig. 25 Mounting A Cable On A Terminal Connection

    Mounting and wiring Wiring HD Terminals The High Density (HD) Terminals of the KLx8xx and ELx8xx series doesn't support steady wiring. Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded"...
  • Page 33 Mounting and wiring Terminal housing High Density Housing Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75 mm Wire size width (single core wires) 0.08 ... 1.5 mm Wire size width (fine-wire conductors) 0.25 ... 1.5 mm Wire size width (ultrasonically “bonded" conductors) only 1.5 mm (see notice [} 32]!) Wire stripping length...

  • Page 34: Positioning Of Passive Terminals

    Mounting and wiring Positioning of passive Terminals Hint for positioning of passive terminals in the bus terminal block EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the bus terminal block are so called passive terminals. The passive terminals have no current consump- tion out of the E-Bus.

  • Page 35: Fig. 28 Potential Connection Diagram (Example Ek1814)

    Mounting and wiring NOTE E-bus power supply The EK18xx units supply the E-bus with max. 1000 mA E-bus current. Power feed terminals are to be inserted if the added terminals require more current! Input for power contacts The connections with spring-loaded terminals can be used for the peripheral supply. The spring-loaded terminals are linked with a power contact.

  • Page 36: Fig. 29 Gnd Concept Ek18Xx

    Mounting and wiring GND concept Fig. 29: GND concept EK18xx Fuse protection Coupler supply, fuse 1: depending on the required current consumption and hence the configured terminals typ. max 500 mA Calculating the fuse protection For dimensioning the fuse protection for the system voltage note the calculation of current con- sumption [} 21] in the technical data! Power contacts, fuse 2: permitted max.

  • Page 37: Ek18Xx - Connection

    Mounting and wiring EK18xx - connection 5.6.1 EK1814 - connection Fig. 30: Connection EK1814-0000 Connection Terminal point Description Name Us 24 V Power supply for Bus Coupler and E-bus electronics Input 1 Input channel 1 Input 3 Input channel 3 n.c. not connected n.c.

  • Page 38: Ek1818 - Connection

    Mounting and wiring 5.6.2 EK1818 - connection Fig. 31: Connection EK1818-0000 Connection Terminal point Description Name Us 24 V Power supply for Bus Coupler and E-bus electronics Input 1 Input channel 1 Input 3 Input channel 3 Input 5 Input channel 5 Input 7 Input channel 7 Up 24 V...

  • Page 39: Ek1828 - Connection

    Mounting and wiring 5.6.3 EK1828 - connection Fig. 32: Connection EK1828-0000 Connection Terminal point Description Name Us 24 V Power supply for Bus Coupler and E-bus electronics Input 1 Input channel 1 Input 3 Input channel 3 Output 1 Output channel 1 Output 3 Output channel 3 Up 24 V...

  • Page 40: Ek1828-0010 - Connection

    Mounting and wiring 5.6.4 EK1828-0010 - connection Fig. 33: Connection EK1828-0010 Connection Terminal point Description Name Us 24 V Power supply for Bus Coupler and E-bus electronics n.c. not connected n.c. not connected Output 1 Output channel 1 Output 3 Output channel 3 Up 24 V Power supply for the power contacts Output 5...

  • Page 41: Parameterization And Commissioning

    Configuration overview More detailed information on the configuration settings can be found in the EtherCAT system documentation on the Beckhoff website. Overview of process data In the TwinCAT System Manager, enter the EK18xx as an EtherCAT (Direct mode) device in Config mode under Devices.
  • Page 42 Parameterization and commissioning Extent of process data EK1814 Fig. 35: Extent of process data EK1814 TwinCAT Version: 2.2 EK18xx...

  • Page 43: Fig. 35 Extent Of Process Data Ek1814 Twincat

    Parameterization and commissioning Fig. 36: Extent of process data EK1814 TwinCAT PDO Assignment EK1814 SM1, PDO Assignment 0x1C11 Index Size (byte.bit) Name PDO content 0x1A00 Channel 1 Index 0x6000:01 - Input 0x1A01 Channel 2 Index 0x6010:01 - Input 0x1A02 Channel 3 Index 0x6020:01 - Input 0x1A03 Channel 4...

  • Page 44: Fig. 37 Twincat Tree Ek1818

    Parameterization and commissioning 6.2.2 EK1818 Fig. 37: TwinCAT tree EK1818 Version: 2.2 EK18xx...

  • Page 45: Ek1818

    Parameterization and commissioning Extent of process data EK1818 Fig. 38: Extent of process data EK1818 TwinCAT EK18xx Version: 2.2...

  • Page 46: Fig. 38 Extent Of Process Data Ek1818 Twincat

    Parameterization and commissioning Fig. 39: Extent of process data EK1818 TwinCAT PDO Assignment EK1818 SM1, PDO Assignment 0x1C11 Index Size (byte.bit) Name PDO content 0x1A00 Channel 1 Index 0x6000:01 - Input 0x1A01 Channel 2 Index 0x6010:01 - Input 0x1A02 Channel 3 Index 0x6020:01 - Input 0x1A03 Channel 4...

  • Page 47: Fig. 40 Twincat Tree Ek1828

    Parameterization and commissioning 6.2.3 EK1828 Fig. 40: TwinCAT tree EK1828 EK18xx Version: 2.2...

  • Page 48: Ek1828

    Parameterization and commissioning Extent of process data EK1828 Fig. 41: Extent of process data EK1828 TwinCAT Version: 2.2 EK18xx...
  • Page 49 Parameterization and commissioning Fig. 42: Extent of process data EK1828 TwinCAT EK18xx Version: 2.2...
  • Page 50 Parameterization and commissioning Fig. 43: Extent of process data EK1828 TwinCAT PDO Assignment EK1828 SM2, PDO assignment 0x1C12 Index Size (byte.bit) Name PDO content 0x1A00 Channel 1 Index 0x6000:01 - Input 0x1A01 Channel 2 Index 0x6010:01 - Input 0x1A02 Channel 3 Index 0x6020:01 - Input 0x1A03 Channel 4...

  • Page 51: Ek1828-0010

    Parameterization and commissioning SM1, PDO Assignment 0x1C11 Index Size (byte.bit) Name PDO content 0x1604 Channel 9 Index 0x7040:01 - Output 0x1605 Channel 10 Index 0x7050:01 - Output 0x1606 Channel 11 Index 0x7060:01 - Output 0x1607 Channel 12 Index 0x7070:01 - Output Table 5 + 6 + 7: ...
  • Page 52 Parameterization and commissioning Extent of process data EK1828-0010 Fig. 45: Extent of process data EK1828-0010 TwinCAT Version: 2.2 EK18xx...
  • Page 53 Parameterization and commissioning Fig. 46: Extent of process data EK1828-0010 TwinCAT PDO Assignment EK1828-0010 SM0, PDO Assignment 0x1C10 Index Size (byte.bit) Name PDO content 0x1600 Channel 1 Index 0x7000:01 - Output 0x1601 Channel 2 Index 0x7010:01 - Output 0x1602 Channel 3 Index 0x7020:01 - Output 0x1603 Channel 4...

  • Page 54: Error Handling And Diagnostics

    Error handling and diagnostics Error handling and diagnostics Diagnostic LEDs Fig. 47: Diagnostic LEDs LEDs for power supply diagnostics Display State Description green off No operating voltage present at the Bus Coupler 24 V operating voltage present at the Bus Coupler green off No power supply present at the power contacts 24 V power supply present at the power contacts...
  • Page 55 Error handling and diagnostics LEDs for fieldbus diagnostics Display State Description LINK / gree No connection on the incoming EtherCAT strand linked Preceding EtherCAT device connected (X1 IN) flashing active Communication with preceding EtherCAT device LINK / gree No connection on the incoming EtherCAT strand linked Following EtherCAT device connected (X2 OUT)

  • Page 56: Appendix

    Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.

  • Page 57: Firmware Compatibility

    Appendix Firmware compatibility The EK18xx couplers have no firmware. An update of the XML device description is described in chapter "Updating the device description [} 58]", depending on the hardware version and the revision number shown below. NOTE Malfunction possible! Note the information regarding XML update on the separate page [} 58]. Ensure that the XML device description is suitable for the hardware version of the device! EK1814 Hardware (HW)

  • Page 58: Firmware Update El/Es/Em/Elm/Epxxxx

    Check on the Beckhoff web page whether more up-to-date documentation is available. Firmware Update EL/ES/EM/ELM/EPxxxx This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.

  • Page 59: Device Description Esi File/Xml

    The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support. Display of ESI slave identifier...
  • Page 60 Appendix Fig. 49: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows Fig. 50: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 51: Change dialog In this example in Fig.
  • Page 61 Appendix Changing the ESI slave identifier The ESI/EEPROM identifier can be updated as follows under TwinCAT: • Trouble-free EtherCAT communication must be established with the slave. • The state of the slave is irrelevant. • Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM Update Fig. 52: EEPROM Update The new ESI description is selected in the following dialog, see Fig.

  • Page 62: Firmware Explanation

    • offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.

  • Page 63: Updating Controller Firmware *.Efw

    Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 55: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master. • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).

  • Page 64: Fpga Firmware *.Rbf

    Appendix • Switch EtherCAT Master to PreOP • Switch slave to INIT (A) • Switch slave to BOOTSTRAP • Check the current status (B, C) • Download the new *efw file (wait until it ends). A pass word will not be neccessary usually. •...
  • Page 65 Appendix Fig. 56: FPGA firmware version definition If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu. Fig. 57: Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display.
  • Page 66 Older firmware versions can only be updated by the manufacturer! Updating an EtherCAT device The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support): • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).
  • Page 67 Appendix • In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab: • The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button: EK18xx Version: 2.2...

  • Page 68: Simultaneous Updating Of Several Ethercat Devices

    Appendix • Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device: • Wait until download ends • Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.

  • Page 69: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 70 Example of an EK1100 EtherCAT coupler with 3 ports ............... Fig. 17 Internal and external port assignment EK1100 Bus Coupler............Fig. 18 Spring contacts of the Beckhoff I/O components................. Fig. 19 Attaching on mounting rail ......................Fig. 20 Disassembling of terminal......................
  • Page 71 List of illustrations Fig. 42 Extent of process data EK1828 TwinCAT ................... Fig. 43 Extent of process data EK1828 TwinCAT ................... Fig. 44 TwinCAT tree EK1828-0010......................Fig. 45 Extent of process data EK1828-0010 TwinCAT ................Fig. 46 Extent of process data EK1828-0010 TwinCAT ................Fig.

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