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- Page 1 SICK AG Erwin-Sick-Str. 1 · D-79183 Waldkirch Commissioning Instructions ATM60 / ATM90 / KHK53 with Profibus DP Interface to EN 50170 Vol. 2 Commissioning Instructions 8013512 Jan 2005...
- Page 2 © by SICK AG SICK AG claims the copyright to this documentation. This documentation must not be modified, extended, duplicated or passed to third parties without the agreement of SICK AG The data in this documentation describes the product. The properties, however, are not guaranteed.
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Page 3: Table Of Contents
Specification for Using the Encoder in “Continuous Mode” ........22 6.1.2 Case a) Scaling Function without Limitation to the Measuring Range (with Offset) .22 6.1.3 Case b) Adapted Scaling Functions (without Offset) ..........23 Data Storage......................25 Encoder Attributes/Parameters.................25 6.3.1 Fundamental Explanations ..................25 Dec 2021 ATM60 / ATM90 / KHK53... - Page 4 DDLM_Data_Exchange. - Data Assembly (A5). - Modul IN_08 .......43 8.5.6 DDLM_Data_Exchange. - Data Assembly (A6). - Module IO_08 ......44 Diagnostic Information...................45 Evaluation at Control Level..................45 Diagnostic Messages....................45 Standard Diagnostics....................46 9.3.1 Status-1 ........................46 9.3.2 Status-2 ........................46 9.3.3 Status-3 ........................47 Dec 2021 ATM60 / ATM90 / KHK53...
- Page 5 Encoder – Mounting and Connection ..............55 10.1 Mounting ........................55 10.2 Screening........................55 10.2.1 Screen Connection at the Bus Link Adapter with Cable Fitting ATM60-P/ATM90-P/ KHK53-P........................56 10.2.2 Screen Connection at the Bus Link Adapter with Screw-in System ATM90-P ..57 10.3 Connection to the Network ..................58 10.3.1...
- Page 6 Description of the Rotary Encoders ................68 11.2 Description of the Linear Encoder ................68 11.3 Profibus Interface – Brief Overview of Specific Features .........68 11.4 Profibus Interface – Specification ................69 List of Figures..........................70 Notes Dec 2021 ATM60 / ATM90 / KHK53...
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Page 8: Schedule Of Revisions
Revisions to the previous edition, which require a different procedure during commissioning. Inf. Revisions Chapter Date First edition of the document 1.00 Jan 2005 Change of address and addition of UK Declaration of Conformity Dec 2021 1.00 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 9: Introduction
Introduction Introduction Using these Commissioning Instructions These instructions give an overview of the ATM60/ATM90/KHK53 encoders with Profibus inter- face and describe configuration, installation, operation and maintenance of the devices in the Profibus network. These instructions have been written for trained persons who are responsible for installation, assembly and operation of the ATM60/ATM90/KHK53 encoders in industrial environments. - Page 10 Introduction Dec 2021 ATM60 / ATM90 / KHK53...
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Page 11: Designations And Abbreviations
Int (4 bytes) - (0...+2 .-1) SINT Signed Short Integer Int (1 byte) - (-128...+127) Signed Integer Int (2 bytes) - (-32,768...+32,767) DINT Signed Double Integer Int (4 bytes) - (-2 ...+2 - 1) Dec 2021 ATM60 / ATM90 / KHK53... -
Page 12: Encoder-Specific
Counts (steps) per sec. – hence (cps, CpS) Encoder speed: Revolutions per sec. – hence (rps, RpS) Encoder speed: Revolutions per min. – hence (rpm, RpM) METpM Encoder speed: Metres per min. 01METpM Encoder speed: 0.1 metres per min. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 13: Safety Precautions
SICK AG accepts no liability and no re-sponsibility for direct or indirect consequential damage due to improper handling or incorrect se-lection of products. -
Page 14: Authorised Users
• Non-compliance with the relevant safety and accident prevention regulations can lead to bodily harm or system damage. • The current and voltage sources in the encoders must comply with applicable technical guidelines. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 15: Encoder Safety Precautions For Installation, Operation And Maintenance
Safety Precautions Encoder Safety Precautions for Installation, Operation and Maintenance • The ATM60/ATM90/KHK53 encoders must only be fitted or main- tained when free from voltage. Consequently, for any electrical or electronic devices, machine and system parts linked to installa- tion, operation or maintenance, the voltage must previously have been switched off. -
Page 16: Introduction
Profibus DP only uses a part of the services of layer 2. These services are called via Service Access Points (SAPs) of layer 2 through higher layers (user interface). For Profibus DP, each SAP is allocated a precisely defined function. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 17: Dp-V0 Communication Protocol
Acyclical data exchange between master and slave -- DP-V1 protocol. • Deterministic data exchange between different slaves -- DP-V2 protocol. The ATM60, ATM90 and KHK53 encoders with Profibus interface support the DP-V0 communi- cation mode. 4.2.1 DP-V0 Communication Protocol This version provides the basic functionality of DP including the cyclical data exchange, as well as different types of diagnostics. -
Page 18: Physical Profibus Network Link
Class 2 DP Master (DPM2): developmental or diagnostic tools. • DP Slave: device with binary or analogue inputs/outputs. Physical Profibus Network Link 4.3.1 Network Topology The cabling and some specific features such as bus termination, are shown. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 19: Rs485 Transmission Technology
Trouble-free operation requires that the two bus terminations al- ways be supplied with voltage. For more than 32 subscribers, repeaters (line amplifiers) must be used to connect the individual bus segments. The encoders contain connectable bus terminations - (see DIP switch-n). Dec 2021 ATM60 / ATM90 / KHK53... -
Page 20: Profibus Cabling For Rs485
Loop resistance < 110 Ω/km Core diameter 0.64 mm Core cross-section > 0.34 mm • The cumulative length of all spurs is limited to 6 m (depending on how the stations are ar- ranged). Dec 2021 ATM60 / ATM90 / KHK53... -
Page 21: Cable Screening
Profibus DP is used in individual areas of application. When using the profiles, system operators and end users have the benefit of being able to in- terchange different manufacturers’ devices. The profiles thus lead to a significant reduction in development costs. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 22: Further Information
Profibus Profile for Encoders (V1.1), Order No. 3.062 • M. Popp, Profibus DP/DPV1, (Huethig, 2000), ISBN 3-7785-2781-9 • New Rapid Way to Profibus DP (2002), Order No. 4.072 • Profibus System Description (Vers. 10/ 2002), Order No. 4.002 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 23: Encoder Modes
4 bytes 2, 4, 6 ~ 20 ms - (*1) Time for generating a new data value (input to bus). (*2) Time for the correct processing of the output data (writing to EEPROM). Dec 2021 ATM60 / ATM90 / KHK53... -
Page 24: Encoder Parameters/Attributes
The customer-specified value for CMR is not matched to obtaining a 2 value for the relationship between CMR and CPR. -- The following limitations are defined: Relationship (quotient) between CMR and CPR (R) must be greater than or equal to 1. • Dec 2021 ATM60 / ATM90 / KHK53... -
Page 25: Case B) Adapted Scaling Functions (Without Offset)
CMR must be smaller than or equal to the physical measuring range supported by the en- coder. This function is currently not implemented for the ATM60/ATM90 encoders. 6.1.3 Case b) Adapted Scaling Functions (without Offset) The scaled measuring range is mapped completely in the physical measuring range. The cus-... - Page 26 (R = 2 ) based on parameter 'CPR'. The device automatically adapts the factor 'R' to the next possible lower value. Factor R (N = 0,1,...13) is limited to 8192 (max. number of revolutions). Dec 2021 ATM60 / ATM90 / KHK53...
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Page 27: Data Storage
The user needs to take this into account. 6.3.2 Counting Direction/Code Sequence This attribute defines whether ascending or descending position values are output when the en- coder shaft rotates clockwise (CW) or counter-clockwise (CCW), looking at the shaft end. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 28: Scaling Function Control -- [Sfc]
The preset is not matched to the current measuring range if the scaling parame- ters (CPR, CMR) are changed. A numerical value outside the measuring range is replaced by the default factory setting – zero (0). Dec 2021 ATM60 / ATM90 / KHK53... -
Page 29: Data Assemblies/Data Components
07 06 05 04 03 02 01 00 Number of revolutions (1...8192) CPR (1...8192)-[steps per rev.] [CMR] Example: -- Seen as UDINT value in the "Big Endian" data format. Byte_1 (MSB) Byte_2 Byte_3 Byte_4 (LSB) 81,938 == [00.01.40.12] Dec 2021 ATM60 / ATM90 / KHK53... -
Page 30: Speed Value
2-byte counter for external time measurement. The value is updated in time pulses of 1 ms. Range of values of { 0...65,535 }, corresponding with 65,535 seconds. Example: Seen as UINT value (16-bit) in the "Big Endian" data format. Byte_1 Byte_2 (LSB) Format/value 65,535 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 31: Preset Value
The use of the preset function leads to a change in the position value output. This could cause an unexpected movement which may lead to damage of the system, other objects or bodily harm. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 32: Device Integration/Projecting
It is used and interpreted in the network configuration tool (CFG-X) – a projecting tool for the master engineering system. - The basic functionality is: • Simple text description of the device properties for DP communication. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 33: Data Mapping Of A Uint32 (Udint) Value
Conversion of the hex. value byte {3 and 4 } back to decimal. – value 2 "..--(15_00)". This type of mapping affects the following parameters: • Steps per measuring unit (for rotary encoders: also steps per rev.) -- (CPR). • Steps over the total measuring range (CMR). Dec 2021 ATM60 / ATM90 / KHK53... -
Page 34: Use Of The 'Com Profibus' Configuration Tool
00.0C (h) Value 2 "..--(15_00)" 0 (d) 00.00 (h) Use of the ‘COM Profibus’ Configuration Tool 7.4.1 Module Configuration Only one (1) module can be selected for each encoder. Figure 7–3: Module Configuration Dec 2021 ATM60 / ATM90 / KHK53... -
Page 35: Parameter Settings - Rotary Encoders
The factory default setting of the parameters is shown: • Operating mode addressed at position byte 1. • Measuring units per revolution addressed at position byte 2…5. • Measuring range addressed at position byte 6…9. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 36: Parameter Settings - Linear Encoders
For linear encoders, the ‘Measuring Step’ parameter corresponds with bytes 2/3 and 4/5 of the ‘Measuring Units per Revolution’ (CPR) parameter for rotary encoders. The value is given in nanometres (nm) [32-bit unsigned]. The KHK53 linear encoder has a physical resolution of 0.1mm per measuring step. Dec 2021 ATM60 / ATM90 / KHK53... - Page 37 Within the factory (default) setting for the encoder resolution [‘Measuring Step’ parameter], a measuring range of 1,677 metres max. is supported according to the equation below. Max. measuring range: 16,777,216 steps x (0.1 mm/step) Dec 2021 ATM60 / ATM90 / KHK53...
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Page 38: System Configuration
Via a diagnostic telegram DDLM_Slave_Diag, the master can request an appropriate diagnosis from the slave, at any time. Further services may be activated via "Global Control Command (GCC)" telegrams. Figure 8–1: DP State Machine Dec 2021 ATM60 / ATM90 / KHK53... -
Page 39: Stipulations/Definitions
{ 10 ms x WD_Fact_1 x WD_Fact_2 }. (*n2) Earliest slave response time in { TBit }. -- (11 x TBit <--> max. TSDR). (*n3) Ident. number of the slaves (2 bytes, allocated by PNO) Dec 2021 ATM60 / ATM90 / KHK53... -
Page 40: Device-Specific Data
Setting per telegram is only possible if setting by hardware via DIP switch S1-(8) is OFF. The view to determine the counting direction is device-dependent: For the ATM90-P: looking at the baseplate; for the ATM60-P: looking at the shaft; and for the KHK53-P: beginning from the first measuring element (X0001). Dec 2021... -
Page 41: Class 2 Functionality
A change of the value to "EEPROM" may cause the allocation of a new address for this subscriber at next power-up. This depends on which value was param- eterised before (Set_Slave_Address) and stored in the EEPROM. -- The default address is "1". Dec 2021 ATM60 / ATM90 / KHK53... -
Page 42: Measuring Units Per Revolution -- [Cpr]
The default scaling values in the GSD file are set for the max. resolution (8192 x 8192). The scaling parameters are automatically matched to the upper physical limit values if, during projecting, no matching takes place. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 43: Configuration
IO_08 Manufacturer-specific-- 4 word input/4 word output (c1) This function is not supported by the ATM60-P, ATM90-P encoders. (c2) This function is not supported by the KHK53-P encoder. The composition of the input/output modules is described on the following pages. -
Page 44: Cyclical Data Traffic (Data Exchange Mode)
(Bit (Bit (Bit 15..8) (Bit 7..0) 31..24) 23..16) Byte_1 Byte_2 Byte_3 Byte_4 WORD_1 WORD_2 Byte_1 Byte_2 Byte_3 Byte_4 Preset value (O-1) (Bit (Bit (Bit 15..8) (Bit 7..0) 31..24) 23..16) Byte_1 Byte_2 Byte_3 Byte_4 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 45: Ddlm_Data_Exchange. - Data Assembly (A3). - Modul In_06
Byte_8 Position value (I-1) Speed Time stamp (I-3) (I-2) (Bit (Bit (Bit 15..8) (Bit 7..0) (Bit 15..8) (Bit 7..0) (Bit 15..8) (Bit 7..0) 31..24) 23..16) Byte_1 Byte_2 Byte_3 Byte_4 Byte_1 Byte_2 Byte_1 Byte_2 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 46: Ddlm_Data_Exchange. - Data Assembly (A6). - Module Io_08
Byte_3 Byte_4 Byte_1 Byte_2 Byte_1 Byte_2 WORD_1 WORD_2 WORD_3 WORD_4 Byte_1 Byte_2 Byte_3 Byte_4 (*1 – see 8.5) Preset value (O-1) (Bit (Bit (Bit 15..8) (Bit 7..0) 31..24) 23..16) Byte_1 Byte_2 Byte_3 Byte_4 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 47: Diagnostic Information
User-specific data (optional). The maximum number of octets (bytes) of user-specific diagnostic data is described in the GSD file. The ATM60/ATM90/KHK53 encoders support user-specific diagnostic data according to Class 1 and Class 2, resp., of the profile in the format: •... -
Page 48: Standard Diagnostics
The diagnostic data, however, is ready in the appropriate registers if the master itself wants to collect the diagnostic data. Further explanations see Sections 9.4.3 to 9.4.3.3. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 49: Status-3
The error display, too, will then no longer be present. Each correct detail within the supported alarms/additional alarms also triggers the alarm-specific Commissioning Diagnostics Alarm Bit. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 50: Commissioning Diagnostics Alarm
Wait for about 10 seconds. The EEPROM is now re-configured. • Turn off operating voltage and re-set to original node address. • Turn operating voltage back on and check the device for faulty behaviour. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 51: Operating Status
KHK53-P 05.F6 2 (linear, absolute) 9.4.6 Physical Resolution Span (PRS) For rotary encoders, the parameter shows the max. number of measuring steps per revolution. • The ATM60-P supports a resolution of { 8,192 } steps/rev. • ATM90-P supports resolution 2,048,... -
Page 52: Device-Specific Diagnostics - Class 2
The header information shows the length of the diagnostic data (including the header byte) in hex format. Octets 7 to 63 = user diagnostic data. 9.5.3 Additional Alarms Bit 15..8 Reserved for future use – not allocated Dec 2021 ATM60 / ATM90 / KHK53... -
Page 53: Supported Alarms
Bit 5 Battery charge warning Bit 4 Operating time limit warning Bit 3 CPU Watchdog status Bit 2 Optical power reserve warning (for optoelectronics) Bit 1 Temperature warning Bit 0 Frequency warning (max. speed) Dec 2021 ATM60 / ATM90 / KHK53... -
Page 54: Profile Version
Based on the max. physical resolution of 0.1 mm, which the KHK53-P supports, the resolution can be reduced by increasing the 'measuring step’ value. Specification of the data range (hex): Octet 40 Octet 41 Octet 42 Octet 43 0.1 mm 1. 0 mm 1.0 m Dec 2021 ATM60 / ATM90 / KHK53... -
Page 55: Number Of Counts Per Measuring Range -- [Cmr]
Commissioning diagnostics (m1) Bit 1 Class 2 functionality (ON, OFF) Bit 0 Counting direction (CW – clockwise, CCW – counter- clockwise). (m1) The ATM90-P provides these bits swapped, according to the Set_Param telegram. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 56: Dp Controller Status
Identifies the general status of the implemented DP controller (SPC3 Asic Register #04,05). Further details see Controller Manual. The figures below result from the normal operating state of the controller. Allocation for the rotary encoders ATM60-P, ATM90-P. Bit 15..12 Release number – always zero Bit 11..8 Baud rate selection { 0...9 }... -
Page 57: Encoder - Mounting And Connection
If the fixing method used does not have a well-conducting electrical connection, additional measures in the form of an earthing cable must be taken. Encoders of the type ATM 90-P may, due to their internal arrangement, require additional earthing even with a good metallic connection. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 58: Screen Connection At The Bus Link Adapter With Cable Fitting Atm60-P/Atm90-P/ Khk53-P
Encoder – Mounting and Connection 10.2.1 Screen Connection at the Bus Link Adapter with Cable Fitting ATM60-P/ATM90-P/ KHK53-P Components of the cable fit- Insert Profibus cable through Strip sheathing ting the inlay Bend braided screen back Observe the max. length of... -
Page 59: Screen Connection At The Bus Link Adapter With Screw-In System Atm90-P
Encoder – Mounting and Connection 10.2.2 Screen Connection at the Bus Link Adapter with Screw-in System ATM90-P Only insert cable into the inlay, up to the stop (arrow point) Figure 10–2: Screen Connection with Screw-in System ATM90-P. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 60: Connection To The Network
Figure 10–3: Pinout ATM 60 with Bus Link Adapter – Cable Fitting. For external bus termination or supplying the transmitter/receiver of a fibre-optic con- nection. Signal is optional, serves to detect the direction of a fibre-optic connection. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 61: Atm 60 With Bus Link Adapter - Screw-In System M12
B line Profibus DP Screen Housing potential Figure 10–4: Pinout ATM 60 Direct with Bus Link Adapter – Screw-in System M12. For external bus termination or supplying the transmitter/receiver of a fibre-optic con- nection. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 62: Atm 90 With Bus Link Adapter - Cable Fitting
Figure 10–5: Pinout ATM 90 with Bus Link Adapter. For external bus termination or supplying the transmitter/receiver of a fibre-optic con- nection. Signal is optional, serves to detect the direction of a fibre-optic connection. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 63: Atm 90 With Screw-In System M14 - Without Bus Link Adapter
Figure 10–6: Pinout ATM 90 Direct with Screw-in System M14 – without Bus Link Adapter. For external bus termination or supplying the transmitter/receiver of a fibre-optic con- nection. Signal is optional, serves to detect the direction of a fibre-optic connection. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 64: Linear Encoder Khk53 With Bus Link Adapter - Cable Fitting
Remove screw cap on the front of the encoder housing (ATM 90 with screw-in system M14). • Pull off bus link adapter housing (ATM 90 with bus link adapter/KHK53 with bus link adapter). Dec 2021 ATM60 / ATM90 / KHK53... -
Page 65: Figure 10-8: Device Handling In The Network 'Atm 60' (Dip Switch In The Bus Link Adapter)
Figure 10–9: Device Handling in the Network 'ATM 90' (Aperture for DIP Switch in the Encoder). In the version with a bus link adapter (ATM 90), the switches S1 and S2 are also inside the bus link adapter. Dec 2021 ATM60 / ATM90 / KHK53... -
Page 66: Address Setting
(default) is "1". The address must not be the same as for another subscriber in the network. DIP-7 DIP-6 DIP-5 DIP-4 DIP-3 DIP-2 DIP-1 Address (msb) (lsb) Figure 10–11: DIP Switch S1 Setting Dec 2021 ATM60 / ATM90 / KHK53... - Page 67 1110111 0011000 0111000 1011000 1111000 0011001 0111001 1011001 1111001 0011010 0111010 1011010 1111010 0011011 0111011 1011011 1111011 0011100 0111100 1011100 1111100 0011101 0111101 1011101 1111101 0011110 0111110 1011110 1111110 0011111 0111111 1011111 1111111 Dec 2021 ATM60 / ATM90 / KHK53...
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Page 68: Counting Direction
The view for determining the counting direction is device-dependent: • ATM90 looking at the baseplate • ATM60 looking at the shaft • KHK53 from the first material measure 10.4.3 Preset Function The encoder is set to a special, predefined value if the PRESET function is executed by press- ing pushbutton S3. -
Page 69: Status/Display Information
Valid data communication only means that master and slave can communicate with one another via telegrams. It does not mean that the data within the remote tele- grams is also correct --- e.g. incorrect position value, incorrect offset, ..Dec 2021 ATM60 / ATM90 / KHK53... -
Page 70: Technical Description
Enabling the SSA Service, selecting the address setting (switch or protocol), extended I/O data transmission (speed, time stamp). Storage of all important data parameters in the EEPROM. Formation of new position values at intervals of 0.250 ms. • Dec 2021 ATM60 / ATM90 / KHK53... -
Page 71: Profibus Interface - Specification
Via DIP switch. -- (for terminal only). Electrical connection PG-9 or metric cable fitting (3x). M14 screw-in system (3x). M12 screw-in system (3x) Encoder model: ATM 60, ATM 90, KHK 53 Encoder model: ATM 90 Encoder model: ATM 60 Dec 2021 ATM60 / ATM90 / KHK53... -
Page 72: List Of Figures
Figure 7–7: Parameter Data – Scaling........................34 Figure 8–1: DP State Machine..........................36 Figure 10–1: Screen Connection at the Bus Link Adapter with Cable ATM60-P/ATM90-P/ KHK53-P....56 Figure 10–2: Screen Connection with Screw-in System ATM90-P.................57 Figure 10–3: Pinout ATM 60 with Bus Link Adapter – Cable Fitting...............58 Figure 10–4: Pinout ATM 60 Direct with Bus Link Adapter –... -
Page 73: Notes
Technical Description Notes Dec 2021 ATM60 / ATM90 / KHK53... - Page 74 E-Mail office@sick.com.gr E-Mail info@sick.ru Vietnam Hong Kong Singapore Phone +65 6744 3732 Phone +852 2153 6300 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail ghk@sick.com.hk E-Mail sales.gsg@sick.com Detailed addresses and further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...
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