Pepperl+Fuchs ENA58PL-S CANopen redundant Series Manual
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Pepperl+Fuchs ENA58PL-S CANopen redundant Series Manual

Absolute rotary encoder with redundant canopen interface
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Absolute Rotary Encoder
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Summary of Contents for Pepperl+Fuchs ENA58PL-S CANopen redundant Series

  • Page 1 Absolute Rotary Encoder with redundant CANopen Interface Manual...
  • Page 2 Phone: +49 621 776 - 0 E-mail: info@de.pepperl-fuchs.com North American Headquarters Pepperl+Fuchs Inc. 1600 Enterprise Parkway Twinsburg, Ohio 44087 Phone: +1 330 425-3555 E-mail: sales@us.pepperl-fuchs.com Asia Headquarters Pepperl+Fuchs Pte. Ltd. P+F Building 18 Ayer Rajah Crescent Singapore 139942 Phone: +65 6779-9091 E-mail: sales@sg.pepperl-fuchs.com https://www.pepperl-fuchs.com...

  • Page 3: Table Of Contents

    Absolute Rotary Encoder Contents Introduction........................ 7 Content of this Document ................7 Target Group, Personnel ................7 Symbols Used ....................8 Declaration of conformity ..................9 CE conformity ....................9 Safety ........................10 Symbols relevant to safety ................. 10 Intended Use ....................10 General safety instructions ................
  • Page 4 Absolute Rotary Encoder Contents Normal Operating..................28 Storing Parameter ..................29 7.3.1 List of storable Parameters ....................29 7.3.2 Storing Procedure......................30 Restoring Parameters..................30 Usage of Layer Setting Services (LSS)............30 Programmable Parameters ..................31 Programming example: Preset Value ............32 8.1.1 Set Encoder Preset Value ....................32 Communication Profile DS301 specific objects from 1000h –...
  • Page 5 Absolute Rotary Encoder Contents Object Descriptions..................36 8.5.1 Object 1000h: Device Type ....................36 8.5.2 Object 1001h: Error Register .................... 36 8.5.3 Object 1003h: Pre-Defined Error Field ................37 8.5.4 Object 1005h: COB-ID Sync ..................... 37 8.5.5 Object 1008h: Manufacturer Device Name ............... 37 8.5.6 Object 1009h: Manufacturer Hardware Version..............
  • Page 6 Absolute Rotary Encoder Contents 8.5.52 Object 6000h: Operating Parameters................55 8.5.53 Object 6001h: Measuring Units per Revolution ..............56 8.5.54 Object 6002h: Total Measuring Range in Measuring Units ..........56 8.5.55 Object 6003h: Preset Value....................56 8.5.56 Object 6004h: Position Value .................... 56 8.5.57 Object 6008h: High Resolution Position Value ..............

  • Page 7: Introduction

    Absolute Rotary Encoder Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: • Product identification • Delivery, transport, and storage •...

  • Page 8: Symbols Used

    Absolute Rotary Encoder Introduction Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid prop- erty damage.

  • Page 9: Declaration Of Conformity

    Absolute Rotary Encoder Declaration of conformity Declaration of conformity CE conformity This product was developed and manufactured under observance of the applicable European standards and guidelines. Note A declaration of conformity can be requested from the manufacturer.

  • Page 10: Safety

    Absolute Rotary Encoder Safety Safety Symbols relevant to safety Danger! This symbol indicates an imminent danger. Non-observance will result in personal injury or death. Warning! This symbol indicates a possible fault or danger. Non-observance may cause personal injury or serious property damage. Caution! This symbol indicates a possible fault.

  • Page 11: General Safety Instructions

    In the event of any serious errors, stop using the device. Secure the device against unintended operation. To have the device repaired, return it to your local Pepperl+Fuchs representative or your sales center. Note Disposal Electronic waste is dangerous.

  • Page 12: General Information On System Integration

    Absolute Rotary Encoder General Information on System Integration General Information on System Integration Overview This manual explains how to install and configure the absolute rotary encoders ENA58PL*** CANopen redundant, applicable for industrial applications with CANopen interface. The CANopen rotary encoder is equipped with an independent photoelectric and magnetic encoder built up in one housing and flange with shaft.
  • Page 13 Absolute Rotary Encoder General Information on System Integration Magnetic absolute rotary encoders are fully compliant with standard DS406.3.2 Photoelectric absolute rotary encoders are fully compliant with following CiA standards: • DS301V402 CANopen Application Layer • DR303-1 cabling and connector pin assignment •...

  • Page 14: General Canopen Information

    It is easy to align and program the rotary encoders using the EDS (electronic data sheet) configuration file provided on the Pepperl+Fuchs website, see www.pepperl-fuchs.com Further Information is available at: CAN in Automation (CiA) International Users and Manufacturers Group e.V.

  • Page 15: Mttf Values For Encoder Parts

    Absolute Rotary Encoder General Information on System Integration MTTF Values for Encoder Parts In the following table you find the denotation of MTTF for each channel related to the MTTF each channel. By limitation of MTTF to maximum of 100 years in the standard ISO 13849-1 it shall be prevented, that with one very high MTTF value another other bad channel is compen- sated.

  • Page 16: Installation

    Absolute Rotary Encoder Installation Installation Signal Assignment of Connectors The rotary encoder is designed in accordance to CiA normative DR303-1 connector pin assignment. The absolute rotary encoder is equipped with an independent photoelectric and magnetic sam- pling. Optionally a combined or separate connector outlet for each sampling technology is available.

  • Page 17: Activation Of The Terminator

    Absolute Rotary Encoder Installation Activation of the Terminator There is a terminator provided in rotary encoder which must be used as a line termination on the last device. The terminator can be acitvated or deactivated by programming Object 3002h. Caution! Activated bus termination works only when device is powered.

  • Page 18: Quick Start Guide

    Absolute Rotary Encoder Quick Start Guide Quick Start Guide Intention of this chapter is to help the user getting an absolute rotary encoder easy and fast to operate. The user is still responsible to configure the absolute rotary encoder in the right way and reading the whole manual carefully.
  • Page 19 Absolute Rotary Encoder Quick Start Guide Example for magnetic encoder with node number 1Fh (31 decimal). Identifier Service/Process data NN = 20h Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 700h + NN = 71Fh Table 6.2 NN = node number of encoder...
  • Page 20 Absolute Rotary Encoder Quick Start Guide Message received from Magnetic Encoder Identifier DLC Command Index Subindex Service/Process data NN = 1Fh Download 3000h Byte 4 Byte 5 Byte 6 Byte 7 580h + NN = 59F Table 6.6 Note The following sequences show the configuration of a photoelectric encoder as an example. They should be conducted for both, photoelectric and magnetic encoder if default settings are not suitable for the running network.

  • Page 21: Configure Application-Specific Encoder Parameters

    Absolute Rotary Encoder Quick Start Guide Store Configuration Object 1010h, Subindex 01 Signature "save" >> "73617665" Message sent to Encoder Identifier DLC Command Index Subindex Service/Process data NN = 20h Download 1010h Byte 4 Byte 5 Byte 6 Byte 7 600h + NN = 620h Table 6.9...
  • Page 22 Absolute Rotary Encoder Quick Start Guide Message received from Encoder Identifier DLC Command Index Subindex Service/Process data Download 6001h Byte 4 Byte 5 Byte 6 Byte 7 580h + NN = 58Bh Table 6.12 Configuration of total Measuring Range Object 6002h Example: 7200 dec >>...
  • Page 23 Absolute Rotary Encoder Quick Start Guide Message received from Encoder Identifier DLC Command Index Subindex Service/Process data Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 580h + NN = 58Bh Table 6.16 Note If preset value is used, then please execute the store configuration, otherwise you will see a position jump after power cycle.
  • Page 24 Absolute Rotary Encoder Quick Start Guide Store Configuration Object 1010h, Subindex 01 Signature "save" >> "73617665" Message sent to Encoder Identifier DLC Command Index Subindex Service/Process data NN = 20h Download 1010h Byte 4 Byte 5 Byte 6 Byte 7 600h + NN = 620h Table 6.19...

  • Page 25: Configuration

    Absolute Rotary Encoder Configuration Configuration The following chapter describes the configuration of photoelectric and magnetic absolute rotary encoders with CANopen interface. Operating Modes 7.1.1 General The rotary encoder accesses the CAN network after power-up in preoperational mode: Bootup message: 700 hex + node number It is recommended that the parameters can be changed by the user when the rotary encoder is in pre-operational mode.

  • Page 26: Reinitialization Of The Rotary Encoder

    Absolute Rotary Encoder Configuration 7.1.5 Reinitialization of the Rotary Encoder If a node is not operating correctly, it is advisable to carry out a reinitialization: Identifier Byte 0 Byte 1 Description Reset communication Reset node Table 7.4 NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
  • Page 27 Absolute Rotary Encoder Configuration Example Time difference of transmitted values: 2 ms Shaft speed: 10 rpm Position difference = v x t, v = velocity of encoder shaft t = time difference Position difference = [10 rpm x 65536 steps/revolution x (min/60 s) x (1 s/1000 ms)] x 2 ms  22 steps This is the minimum position difference between both position values, which can be increased by topics mentioned above leading to higher response times like priority or bus load.

  • Page 28: Normal Operating

    Absolute Rotary Encoder Configuration Normal Operating CAN Transmission Mode Description Modes Description Polled Modes By a remote-transmission-request telegram the connected host calls for the current process value. The encoder reads the current position value, calcu- lates eventually set-parameters and sends back the obtained process value by the same identifier.

  • Page 29: Storing Parameter

    Absolute Rotary Encoder Configuration Storing Parameter 7.3.1 List of storable Parameters Object Index Object Description 1005h COB-ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1 1801h Communication parameter PDO 2 1A00h...

  • Page 30: Storing Procedure

    Absolute Rotary Encoder Configuration 7.3.2 Storing Procedure The parameter settings can be stored in a non-volatile E PROM. The parameter settings are stored in RAM when being programmed. When all the parameters are set and proved, they can be transferred in one burn cycle to the E PROM by the parameter memory transfer.

  • Page 31: Programmable Parameters

    Absolute Rotary Encoder Programmable Parameters Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org) General Command Byte Description Command Function Telegram Description Domain Download Request Parameter to Encoder Recommended Method 23h, 27h, Domain Download Request Parameter to Encoder (Bytes indicated) 2Bh, 2Fh (*)

  • Page 32: Programming Example: Preset Value

    Absolute Rotary Encoder Programmable Parameters Programming example: Preset Value If a CANopen device is connected and configured with the right baud rate and also configured to an unused node number, it will start up into the pre-operational mode and send a bootup massage to the master.

  • Page 33: Communication Profile Ds301 Specific Objects From 1000H - 1Fffh

    Absolute Rotary Encoder Programmable Parameters Communication Profile DS301 specific objects from 1000h – 1FFFh In this manual we refer to the communication profile DS301 V4.02. Object Dictionary 1000h - 1FFFh Object Object Description Supported by Supported by Magnetic Encoder Photoelectric Encoder 1000h Device Type 1001h...

  • Page 34: Manufacturer Specific Objects From 2000H - 5Fffh

    Absolute Rotary Encoder Programmable Parameters Manufacturer specific objects from 2000h – 5FFFh Object Dictionary 2000h - 5FFFh Object Object Description Supported by Supported by Magnetic Encoder Photoelectrical Encoder 2000h Position Value 2100h Operating Parameters 2101h Resolution per Revolution 2102h Total Resolution 2103h Preset Value 2104h...

  • Page 35: Application Specific Objects From 6000H - 67Feh

    Absolute Rotary Encoder Programmable Parameters Application specific objects from 6000h – 67FEh Object Dictionary 6000h - 6FFFh Supported by Mag- Supported by Photo- Object Object Description netic Encoder electric Encoder 6000h Operating Parameters 6001h Measuring Units per Revolu- tion 6002h Total Measuring Range in Measuring Units 6003h...

  • Page 36: Object Descriptions

    Absolute Rotary Encoder Programmable Parameters Object Descriptions In the following chapter you will find detailed information of the object dictionary related to the encoder device. To provide a brief and clear presentation the objects are described in object tables containing the following abbreviations: Abbreviation Description...

  • Page 37: Object 1003H: Pre-Defined Error Field

    Absolute Rotary Encoder Programmable Parameters 8.5.3 Object 1003h: Pre-Defined Error Field The object holds the errors that have occurred on the device and have been signaled via the Emergency Object. • The error code is located in the least significant word. •...

  • Page 38: Object 100Ah: Manufacturer Software Version

    Absolute Rotary Encoder Programmable Parameters 8.5.7 Object 100Ah: Manufacturer Software Version This object contains the manufacturer software version. Currently the version is as data type string “1.xx”, whereby x stands as place holder. Restore after Subindex Description Data Type Default Value Access Boot up String Table 8.20...

  • Page 39: Object 1011H: Restore Parameters

    Absolute Rotary Encoder Programmable Parameters 8.5.11 Object 1011h: Restore Parameters This object is used to restore device and CANopen related parameters to factory settings. Restore after Subindex Description Data Type Default Value Access Boot up Number of sub indi- Unsigned 8 Store all parameters Unsigned 32 "load"...

  • Page 40: Object 1016H: Consumer Heartbeat Time

    Absolute Rotary Encoder Programmable Parameters 8.5.15 Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only monitor one corresponding device. If the time is set to 0 the monitoring is not active. The value of this object must be higher than the corresponding time (object 1017) of the monitored device.

  • Page 41: Object 1020H: Verify Configuration

    Absolute Rotary Encoder Programmable Parameters 8.5.18 Object 1020h: Verify Configuration This object indicates the downloaded configuration date and time. Restore after Subindex Description Data Type Default Value Access Boot up Number of entries Unsigned 8 Configuration date Unsigned 32 Configuration time Unsigned 32 Table 8.34 8.5.19...

  • Page 42: Object 1801H: 2Nd Transmit Pdo Communication Parameter

    Absolute Rotary Encoder Programmable Parameters 8.5.21 Object 1801h: 2 Transmit PDO Communication Parameter This object contains the communication parameter of the 2 transmit PDO Restore after Subindex Description Data Type Default Value Access Boot up Number of sub indi- Unsigned 8 COB-ID Unsigned 32 280h + Node...

  • Page 43: Object 1A00H: 1St Transmit Pdo Mapping Parameter

    Absolute Rotary Encoder Programmable Parameters 8.5.22 Object 1A00h: 1 Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1 transmit PDO. Restore after Subindex Description Data Type Default Value Access Boot up Number of sub indi- Unsigned 8 1st mapped object Unsigned 32 60040020h...

  • Page 44: Object 2000H: Position Value

    Absolute Rotary Encoder Programmable Parameters 8.5.26 Object 2000h: Position Value This object contains the position value. Restore after Subindex Description Data Type Default Value Access Boot up Position Value Unsigned 32 n. a. Table 8.43 8.5.27 Object 2100h: Operating Parameters As operating parameters the code sequence (complement) can be selected and the limit switches can be turned on or off.

  • Page 45: Object 2102H: Total Resolution

    Absolute Rotary Encoder Programmable Parameters 8.5.29 Object 2102h: Total Resolution This object contains the desired total resolution of the encoder. Restore after Subindex Description Data Type Default Value Access Boot up Total Resolution Unsigned 32 see name plate rw Table 8.46 This parameter is used to program the desired number of measuring units over the total mea- suring range.

  • Page 46: Object 2104H: Limit Switch, Min

    Absolute Rotary Encoder Programmable Parameters 8.5.31 Object 2104h: Limit Switch, min. Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit process value is set to high. Both programmed values must not exceed the parameter total resolution to avoid run-time errors.

  • Page 47: Object 2160H: Customer Storage

    Absolute Rotary Encoder Programmable Parameters 8.5.33 Object 2160h: Customer Storage This object provides for the customer the possibility to store any value. Restore after Subindex Description Data Type Default Value Access Boot up Number of sub indi- Unsigned 8 Customer Storage 1 Unsigned 32 Customer Storage 2 Unsigned 32...

  • Page 48: Object 2600H: High-Resolution Position Value

    Table 8.55 8.5.37 Object 3000h: Node Number This object contains the node number of the device. The Pepperl+Fuchs standard node num- ber is 32 decimal. Note Ensure, that the node number exist unique in the network, otherwise unexpected behavior of the devices will occur.

  • Page 49: Object 3001H: Baud Rate

    Absolute Rotary Encoder Programmable Parameters 8.5.38 Object 3001h: Baud Rate This object contains the baud rate of the device. Note For devices with active Auto Baud Detection this setting is not relevant, if the baud rate is detected within the Time Out interval. See object 3003h. The successful result of the auto baud mode is stored automatically in this object.

  • Page 50: Object 3003H: Auto Baud Detection

    Absolute Rotary Encoder Programmable Parameters 8.5.40 Object 3003h: Auto Baud Detection This object controls the baud rate measurement of the device after power-up or NMT reset. With this feature the user can add the encoder to a network without knowing the baud rate. Just the specified baud rates in CANopen are supported and also 100 kBbd as listed in object 3001h baud rate.

  • Page 51: Object 3005H: Auto Boot Up

    Absolute Rotary Encoder Programmable Parameters 8.5.41 Object 3005h: Auto Boot up With this flag the start-up behavior of the encoder is defined. Restore after Subindex Description Data Type Default Value Access Boot up Auto Boot Up Boolean Table 8.60 True: Encoder enters after power-up autonomously the state operational without receiving an NMT start command.

  • Page 52: Object 3020H: Acceleration Control

    Absolute Rotary Encoder Programmable Parameters 8.5.44 Object 3020h: Acceleration Control This object contains the acceleration control. Acceleration output is not supported by this device. This object is present only for compatibility reasons. Restore after Subindex Description Data Type Default Value Access Boot up Number of subindices Unsigned 8 Enable Acceleration...

  • Page 53: Object 3040H: Life Cycle Counter

    Absolute Rotary Encoder Programmable Parameters Example for accessing object 3030h Setting Security Code (Value “MBYT” -> 4D425954h) Telegram master to Encoder Identifier DLC Command Index Subindex Service/Process data NN =1h Download 3030h Byte 4 Byte 5 Byte 6 Byte 7 600h + NN = 601h Table 8.66...

  • Page 54: Object 4000H: Bootloader Control

    Absolute Rotary Encoder Programmable Parameters 8.5.49 Object 4000h: Bootloader Control This object controls the Bootloader functionality. Writing the security code to this object causes erasing the EEPROM and application information in the flash memory and resets the device. After a power-up, the Bootloader checks the user application and detects no more information. The Bootloader starts up with a pre-defined CANopen node ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits.

  • Page 55: Object 4020H: A/B Phase Shift

    Absolute Rotary Encoder Programmable Parameters 8.5.51 Object 4020h: A/B Phase Shift This object controls the incremental resolution per revolution as pulses per channel for A and Restore after Subindex Description Data Type Default Value Access Boot up A/B Phase Shift Unsigned 8 400h Table 8.72...

  • Page 56: Object 6001H: Measuring Units Per Revolution

    Absolute Rotary Encoder Programmable Parameters 8.5.53 Object 6001h: Measuring Units per Revolution This object shall indicate the number of distinguishable steps per revolution. Restore after Subindex Description Data Type Default Value Access Boot up Measuring Units per Unsigned 32 See nameplate rw Revolution Table 8.75 8.5.54...

  • Page 57: Object 6008H: High Resolution Position Value

    See nameplate to get the information about the maximum resolution of your device. Multiturn encoder with resolution 32 bits is available upon request at Pepperl+Fuchs GmbH but there are the following functional restrictions: Preset function and scaling function are not pos- sible.

  • Page 58: Object 6200H: Cyclic Timer

    Absolute Rotary Encoder Programmable Parameters 8.5.60 Object 6200h: Cyclic Timer This object contains the value of the event timer of the corresponding TPDOs. The value can be changed between 1-65538 ms. The object 6200h is hardwired to the objects 1800h subindex 5h and 2200h and provide the cycle time for the cyclic mode.

  • Page 59: Object 6302H: Cam Polarity Register

    Absolute Rotary Encoder Programmable Parameters 8.5.63 Object 6302h: Cam Polarity Register This object contains the cam polarity register. Restore after Subindex Description Data Type Default Value Access Boot up Number of subindices Unsigned 8 Cam polarity channel Unsigned 8 Table 8.85 List of Cam Objects Index Subindex...
  • Page 60 Absolute Rotary Encoder Programmable Parameters Index Subindex Type Description Data Type Access Value Cam8 low limit channel 1 6320h Cam1 high limit Highest subindex Unsigned 8 supported Cam1 high limit channel 1 6321h Cam2 high limit Highest subindex Unsigned 8 supported Cam2 high limit channel 1...
  • Page 61 Absolute Rotary Encoder Programmable Parameters Index Subindex Type Description Data Type Access Value 6331h Cam2 hysteresis Highest subindex Unsigned 8 supported Cam2 hysteresis channel 1 6332h Cam3 hysteresis Highest subindex Unsigned 8 supported Cam3 hysteresis channel 1 6333h Cam4 hysteresis Highest subindex Unsigned 8 supported...

  • Page 62: Object 6400H: Area State Register

    Absolute Rotary Encoder Programmable Parameters 8.5.64 Object 6400h: Area State Register This object contains the area state register. The object provides the actual area status of the encoder position. Restore after Subindex Description Data Type Default Value Access Boot up Number of subindices Unsigned 8 Cam state channel 1 Unsigned 8 romap...

  • Page 63: Object 6402H: Work Area High Limit

    Absolute Rotary Encoder Programmable Parameters 8.5.66 Object 6402h: Work Area High Limit This object indicates the position value, at which bit 1 of the according work area state channel in object 6400h shall flag the overflow of the related work area. This object is hardwired with 2105h (Limit Switch Max).

  • Page 64: Object 6503H: Alarms

    Absolute Rotary Encoder Programmable Parameters 8.5.70 Object 6503h: Alarms Additionally to the emergency messages in CiA301, this object shall provide further alarm mes- sages. An alarm shall be set if a malfunction in the encoder could lead to incorrect position value.

  • Page 65: Object 6505H: Warnings

    Absolute Rotary Encoder Programmable Parameters 8.5.72 Object 6505h: Warnings This object shall provide the warnings. Warnings indicate that tolerance for certain internal parameters of the encoder have been exceeded. In contrast to alarm and emergency mes- sages warnings do not imply incorrect position values. All warnings shall be cleared if the toler- ances are again within normal parameters.

  • Page 66: Object 6507H: Profile And Software Version

    Absolute Rotary Encoder Programmable Parameters 8.5.74 Object 6507h: Profile and Software Version This object provides the implemented encoder device profile version and the manufacturer- specific software version. Restore after Subindex Description Data Type Default Value Access Boot up Profile and Software Unsigned 32 04040302h Version...

  • Page 67: Object 6509H: Module Identification

    Absolute Rotary Encoder Programmable Parameters 8.5.77 Object 6509h: Module identification This object shall provide the manufacturer-specific offset value, the manufacturer-specific min- imum and maximum position value. Restore after Subindex Description Data Type Default Value Access Boot up Highest supported Integer 32 subindex Manufacturer offset Integer 32...

  • Page 68: Troubleshooting

    Absolute Rotary Encoder Troubleshooting Troubleshooting What to Do in Case of a Fault In case of a fault, check whether an encoder fault can be remedied according to the following checklist. Checklist Problem Description Possible Solution Power on – encoder doesn’t The bus is active but the •...
  • Page 69 Pepperl+Fuchs Quality Download our latest policy here: www.pepperl-fuchs.com/quality www.pepperl-fuchs.com © Pepperl+Fuchs · Subject to modifications / DOCT-6547...

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